mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.9 KiB
C++
70 lines
1.9 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_SITL_Namespace.h"
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#include "AP_HAL_SITL.h"
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#include "Semaphores.h"
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#include "ToneAlarm_SF.h"
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class HALSITL::Util : public AP_HAL::Util {
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public:
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Util(SITL_State *_sitlState) :
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sitlState(_sitlState) {}
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bool run_debug_shell(AP_HAL::BetterStream *stream) override {
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return false;
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}
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/**
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how much free memory do we have in bytes.
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*/
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uint32_t available_memory(void) override {
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// SITL is assumed to always have plenty of memory. Return 128k for now
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return 0x20000;
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}
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// get path to custom defaults file for AP_Param
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const char* get_custom_defaults_file() const override {
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return sitlState->defaults_path;
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}
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uint64_t get_hw_rtc() const override;
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bool get_system_id(char buf[40]) override;
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bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
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#ifdef ENABLE_HEAP
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// heap functions, note that a heap once alloc'd cannot be dealloc'd
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virtual void *allocate_heap_memory(size_t size);
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virtual void *heap_realloc(void *heap, void *ptr, size_t new_size);
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#endif // ENABLE_HEAP
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#ifdef WITH_SITL_TONEALARM
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bool toneAlarm_init() override { return _toneAlarm.init(); }
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override {
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_toneAlarm.set_buzzer_tone(frequency, volume, duration_ms);
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}
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#endif
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// return true if the reason for the reboot was a watchdog reset
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bool was_watchdog_reset() const override { return getenv("SITL_WATCHDOG_RESET") != nullptr; }
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private:
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SITL_State *sitlState;
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#ifdef WITH_SITL_TONEALARM
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static ToneAlarm_SF _toneAlarm;
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#endif
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#ifdef ENABLE_HEAP
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struct heap_allocation_header {
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size_t allocation_size; // size of allocated block, not including this header
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};
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struct heap {
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size_t scripting_max_heap_size;
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size_t current_heap_usage;
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};
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#endif // ENABLE_HEAP
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};
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