mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
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#ifndef __AP_HAL_LINUX_UTIL_H__
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#define __AP_HAL_LINUX_UTIL_H__
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_Linux_Namespace.h"
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#include "ToneAlarmDriver.h"
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#include "Semaphores.h"
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enum hw_type {
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UTIL_HARDWARE_RPI1 = 0,
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UTIL_HARDWARE_RPI2,
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UTIL_HARDWARE_BEBOP,
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UTIL_HARDWARE_BEBOP2,
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UTIL_NUM_HARDWARES,
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};
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class Linux::Util : public AP_HAL::Util {
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public:
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static Util *from(AP_HAL::Util *util) {
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return static_cast<Util*>(util);
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}
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void init(int argc, char * const *argv);
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
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/**
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return commandline arguments, if available
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*/
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void commandline_arguments(uint8_t &argc, char * const *&argv);
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bool toneAlarm_init();
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void toneAlarm_set_tune(uint8_t tune);
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void _toneAlarm_timer_tick();
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/*
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set system clock in UTC microseconds
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*/
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void set_system_clock(uint64_t time_utc_usec);
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const char* get_custom_log_directory() { return custom_log_directory; }
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const char* get_custom_terrain_directory() { return custom_terrain_directory; }
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void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
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void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
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bool is_chardev_node(const char *path);
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void set_imu_temp(float current);
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uint32_t available_memory(void) override;
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/*
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* Write a string as specified by @fmt to the file in @path. Note this
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* should not be used on hot path since it will open, write and close the
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* file for each call.
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*/
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int write_file(const char *path, const char *fmt, ...) FMT_PRINTF(3, 4);
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/*
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* Read a string as specified by @fmt from the file in @path. Note this
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* should not be used on hot path since it will open, read and close the
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* file for each call.
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*/
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int read_file(const char *path, const char *fmt, ...) FMT_SCANF(3, 4);
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perf_counter_t perf_alloc(perf_counter_type t, const char *name) override;
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void perf_begin(perf_counter_t perf) override;
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void perf_end(perf_counter_t perf) override;
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void perf_count(perf_counter_t perf) override;
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// create a new semaphore
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AP_HAL::Semaphore *new_semaphore(void) override { return new Linux::Semaphore; }
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int get_hw_arm32();
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private:
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static Linux::ToneAlarm _toneAlarm;
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Linux::Heat *_heat;
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int saved_argc;
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char* const *saved_argv;
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const char* custom_log_directory = NULL;
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const char* custom_terrain_directory = NULL;
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static const char *_hw_names[UTIL_NUM_HARDWARES];
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};
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#endif // __AP_HAL_LINUX_UTIL_H__
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