mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.8 KiB
C++
120 lines
3.8 KiB
C++
#pragma once
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#include <stdarg.h>
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#include "AP_HAL_Namespace.h"
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class AP_HAL::Util {
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public:
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int snprintf(char* str, size_t size,
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const char *format, ...);
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int vsnprintf(char* str, size_t size,
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const char *format, va_list ap);
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void set_soft_armed(const bool b) { soft_armed = b; }
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bool get_soft_armed() const { return soft_armed; }
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void set_capabilities(uint64_t cap) { capabilities |= cap; }
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void clear_capabilities(uint64_t cap) { capabilities &= ~(cap); }
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uint64_t get_capabilities() const { return capabilities; }
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virtual const char* get_custom_log_directory() { return NULL; }
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virtual const char* get_custom_terrain_directory() const { return NULL; }
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// get path to custom defaults file for AP_Param
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virtual const char* get_custom_defaults_file() const {
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return HAL_PARAM_DEFAULTS_PATH;
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}
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// run a debug shall on the given stream if possible. This is used
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// to support dropping into a debug shell to run firmware upgrade
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// commands
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virtual bool run_debug_shell(AP_HAL::BetterStream *stream) = 0;
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enum safety_state {
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SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED
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};
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/*
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return state of safety switch, if applicable
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*/
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virtual enum safety_state safety_switch_state(void) { return SAFETY_NONE; }
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/*
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set system clock in UTC microseconds
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*/
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virtual void set_system_clock(uint64_t time_utc_usec) {}
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/*
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get system clock in UTC milliseconds
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*/
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uint64_t get_system_clock_ms() const;
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/*
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get system time in UTC hours, minutes, seconds and milliseconds
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*/
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void get_system_clock_utc(int32_t &hour, int32_t &min, int32_t &sec, int32_t &ms) const;
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uint32_t get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms) const;
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/*
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get system identifier (eg. serial number)
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return false if a system identifier is not available
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Buf should be filled with a printable string and must be null
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terminated
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*/
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virtual bool get_system_id(char buf[40]) { return false; }
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/**
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how much free memory do we have in bytes. If unknown return 4096
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*/
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virtual uint32_t available_memory(void) { return 4096; }
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/**
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return commandline arguments, if available
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*/
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virtual void commandline_arguments(uint8_t &argc, char * const *&argv) { argc = 0; }
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/*
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ToneAlarm Driver
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*/
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virtual bool toneAlarm_init() { return false;}
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virtual void toneAlarm_set_tune(uint8_t tune) {}
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virtual void _toneAlarm_timer_tick() {}
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/*
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return a stream for access to a system shell, if available
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*/
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virtual AP_HAL::Stream *get_shell_stream() { return NULL; }
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/* Support for an imu heating system */
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virtual void set_imu_temp(float current) {}
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/* Support for an imu heating system */
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virtual void set_imu_target_temp(int8_t *target) {}
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/*
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performance counter calls - wrapper around original PX4 interface
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*/
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enum perf_counter_type {
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PC_COUNT, /**< count the number of times an event occurs */
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PC_ELAPSED, /**< measure the time elapsed performing an event */
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PC_INTERVAL /**< measure the interval between instances of an event */
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};
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typedef void *perf_counter_t;
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virtual perf_counter_t perf_alloc(perf_counter_type t, const char *name) { return NULL; }
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virtual void perf_begin(perf_counter_t h) {}
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virtual void perf_end(perf_counter_t h) {}
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virtual void perf_count(perf_counter_t h) {}
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// create a new semaphore
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virtual Semaphore *new_semaphore(void) { return nullptr; }
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protected:
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// we start soft_armed false, so that actuators don't send any
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// values until the vehicle code has fully started
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bool soft_armed = false;
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uint64_t capabilities = 0;
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};
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