ardupilot/libraries/SITL/SIM_SerialDevice.h

51 lines
1.3 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
*/
#pragma once
#include <unistd.h>
#include <AP_HAL/utility/RingBuffer.h>
namespace SITL {
class SerialDevice {
public:
SerialDevice();
// methods for autopilot to use to talk to device:
ssize_t read_from_device(char *buffer, size_t size) const;
ssize_t write_to_device(const char *buffer, size_t size) const;
// methods for simulated device to use:
ssize_t read_from_autopilot(char *buffer, size_t size) const;
virtual ssize_t write_to_autopilot(const char *buffer, size_t size) const;
protected:
class SIM *_sitl;
ByteBuffer *to_autopilot;
ByteBuffer *from_autopilot;
bool init_sitl_pointer();
};
}