mirror of https://github.com/ArduPilot/ardupilot
110 lines
3.2 KiB
C++
110 lines
3.2 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
base class for serially-attached simulated devices
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <SITL/SITL.h>
|
|
|
|
#include "SIM_SerialDevice.h"
|
|
|
|
#include <stdio.h>
|
|
#include <unistd.h>
|
|
#include <fcntl.h>
|
|
|
|
using namespace SITL;
|
|
|
|
SerialDevice::SerialDevice()
|
|
{
|
|
// pipe for device to write to:
|
|
int tmp[2];
|
|
if (pipe(tmp) == -1) {
|
|
AP_HAL::panic("pipe() failed");
|
|
}
|
|
fd_my_end = tmp[1];
|
|
fd_their_end = tmp[0];
|
|
|
|
// close file descriptors on exec:
|
|
fcntl(fd_my_end, F_SETFD, FD_CLOEXEC);
|
|
fcntl(fd_their_end, F_SETFD, FD_CLOEXEC);
|
|
|
|
// make sure we don't screw the simulation up by blocking:
|
|
fcntl(fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK);
|
|
fcntl(fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK);
|
|
|
|
|
|
// pipe for device to read from:
|
|
if (pipe(tmp) == -1) {
|
|
AP_HAL::panic("pipe() failed");
|
|
}
|
|
read_fd_my_end = tmp[0];
|
|
read_fd_their_end = tmp[1];
|
|
|
|
// close file descriptors on exec:
|
|
fcntl(read_fd_my_end, F_SETFD, FD_CLOEXEC);
|
|
fcntl(read_fd_their_end, F_SETFD, FD_CLOEXEC);
|
|
|
|
// make sure we don't screw the simulation up by blocking:
|
|
fcntl(read_fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK);
|
|
fcntl(read_fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK);
|
|
|
|
}
|
|
|
|
bool SerialDevice::init_sitl_pointer()
|
|
{
|
|
if (_sitl == nullptr) {
|
|
_sitl = AP::sitl();
|
|
if (_sitl == nullptr) {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size) const
|
|
{
|
|
const ssize_t ret = ::read(read_fd_my_end, buffer, size);
|
|
// if (ret > 0) {
|
|
// ::fprintf(stderr, "SIM_SerialDevice: read from autopilot (%u): (", (unsigned)ret);
|
|
// for (ssize_t i=0; i<ret; i++) {
|
|
// const uint8_t x = buffer[i];
|
|
// ::fprintf(stderr, "%02X", (unsigned)x);
|
|
// }
|
|
// ::fprintf(stderr, " ");
|
|
// for (ssize_t i=0; i<ret; i++) {
|
|
// ::fprintf(stderr, "%c", buffer[i]);
|
|
// }
|
|
// ::fprintf(stderr, ")\n");
|
|
// }
|
|
return ret;
|
|
}
|
|
|
|
ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size) const
|
|
{
|
|
const ssize_t ret = write(fd_my_end, buffer, size);
|
|
// ::fprintf(stderr, "write to autopilot: (");
|
|
// for (ssize_t i=0; i<ret; i++) {
|
|
// ::fprintf(stderr, "%02X", (uint8_t)buffer[i]);
|
|
// }
|
|
// ::fprintf(stderr, ") (\n");
|
|
// for (ssize_t i=0; i<ret; i++) {
|
|
// ::fprintf(stderr, "%c", (uint8_t)buffer[i]);
|
|
// }
|
|
// ::fprintf(stderr, ")\n");
|
|
return ret;
|
|
}
|