ardupilot/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp

105 lines
2.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <assert.h>
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "Scheduler.h"
#include "AnalogIn.h"
#include "UARTDriver.h"
#include "Storage.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "SITL_State.h"
#include "Util.h"
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
using namespace HALSITL;
static EEPROMStorage sitlEEPROMStorage;
static SITL_State sitlState;
static Scheduler sitlScheduler(&sitlState);
static RCInput sitlRCInput(&sitlState);
static RCOutput sitlRCOutput(&sitlState);
static AnalogIn sitlAnalogIn(&sitlState);
// use the Empty HAL for hardware we don't emulate
static Empty::GPIO emptyGPIO;
static Empty::Semaphore emptyI2Csemaphore;
static Empty::I2CDriver emptyI2C(&emptyI2Csemaphore);
static Empty::I2CDeviceManager i2c_mgr_instance;
static Empty::SPIDeviceManager emptySPI;
static Empty::OpticalFlow emptyOpticalFlow;
static UARTDriver sitlUart0Driver(0, &sitlState);
static UARTDriver sitlUart1Driver(1, &sitlState);
static UARTDriver sitlUart2Driver(2, &sitlState);
static UARTDriver sitlUart3Driver(3, &sitlState);
static UARTDriver sitlUart4Driver(4, &sitlState);
static UARTDriver sitlUart5Driver(5, &sitlState);
static Util utilInstance(&sitlState);
HAL_SITL::HAL_SITL() :
AP_HAL::HAL(
&sitlUart0Driver, /* uartA */
&sitlUart1Driver, /* uartB */
&sitlUart2Driver, /* uartC */
&sitlUart3Driver, /* uartD */
&sitlUart4Driver, /* uartE */
&sitlUart5Driver, /* uartF */
&i2c_mgr_instance,
&emptyI2C, /* i2c */
&emptyI2C, /* i2c */
&emptyI2C, /* i2c */
&emptySPI, /* spi */
&sitlAnalogIn, /* analogin */
&sitlEEPROMStorage, /* storage */
&sitlUart0Driver, /* console */
&emptyGPIO, /* gpio */
&sitlRCInput, /* rcinput */
&sitlRCOutput, /* rcoutput */
&sitlScheduler, /* scheduler */
&utilInstance, /* util */
&emptyOpticalFlow), /* onboard optical flow */
_sitl_state(&sitlState)
{}
void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
{
assert(callbacks);
_sitl_state->init(argc, argv);
scheduler->init();
uartA->begin(115200);
rcin->init();
rcout->init();
//spi->init();
//i2c->begin();
//i2c->setTimeout(100);
analogin->init();
callbacks->setup();
scheduler->system_initialized();
for (;;) {
callbacks->loop();
}
}
const AP_HAL::HAL& AP_HAL::get_HAL() {
static const HAL_SITL hal;
return hal;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL