mirror of https://github.com/ArduPilot/ardupilot
108 lines
2.0 KiB
C++
108 lines
2.0 KiB
C++
#include <errno.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <signal.h>
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#include <AP_HAL/AP_HAL.h>
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#include "ConsoleDevice.h"
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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ConsoleDevice::ConsoleDevice()
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{
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}
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ConsoleDevice::~ConsoleDevice()
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{
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close();
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}
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bool ConsoleDevice::close()
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{
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_closed = true;
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return true;
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}
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bool ConsoleDevice::open()
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{
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#if APM_BUILD_TYPE(APM_BUILD_Replay)
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// we do not want a ConsoleDevice for Replay or any examples. It
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// screws up the terminal settings and creates all sorts of
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// weirdnesses in Replay's output.
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return false;
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#endif
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_rd_fd = STDIN_FILENO;
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_wr_fd = STDOUT_FILENO;
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_closed = false;
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if (!_set_signal_handlers()) {
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close();
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return false;
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}
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return true;
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}
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bool ConsoleDevice::_set_signal_handlers(void) const
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{
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struct sigaction sa {};
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sigemptyset(&sa.sa_mask);
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sa.sa_handler = SIG_IGN;
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return (sigaction(SIGTTIN, &sa, nullptr) == 0);
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}
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ssize_t ConsoleDevice::read(uint8_t *buf, uint16_t n)
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{
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if (_closed) {
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return -EAGAIN;
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}
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return ::read(_rd_fd, buf, n);
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}
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ssize_t ConsoleDevice::write(const uint8_t *buf, uint16_t n)
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{
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if (_closed) {
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return -EAGAIN;
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}
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return ::write(_wr_fd, buf, n);
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}
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void ConsoleDevice::set_blocking(bool blocking)
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{
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int rd_flags;
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int wr_flags;
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rd_flags = fcntl(_rd_fd, F_GETFL, 0);
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wr_flags = fcntl(_wr_fd, F_GETFL, 0);
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if (blocking) {
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rd_flags = rd_flags & ~O_NONBLOCK;
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wr_flags = wr_flags & ~O_NONBLOCK;
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} else {
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rd_flags = rd_flags | O_NONBLOCK;
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wr_flags = wr_flags | O_NONBLOCK;
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}
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if (fcntl(_rd_fd, F_SETFL, rd_flags) < 0) {
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::fprintf(stderr, "Failed to set Console nonblocking %s\n", strerror(errno));
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}
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if (fcntl(_wr_fd, F_SETFL, wr_flags) < 0) {
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::fprintf(stderr, "Failed to set Console nonblocking %s\n",strerror(errno));
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}
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}
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void ConsoleDevice::set_speed(uint32_t baudrate)
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{
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}
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