SITL: move simulated megasquirt to SerialDevice framework

libraries/SITL/SIM_EFI_MegaSquirt.cpp

@@ -40,12 +40,6 @@ void EFI_MegaSquirt::update()
     if (!sitl || sitl->efi_type == SIM::EFI_TYPE_NONE) {
         return;
     }
-    if (!connected) {
-        connected = sock.connect("127.0.0.1", 5763);
-    }
-    if (!connected) {
-        return;
-    }
     float rpm = sitl->state.rpm[0];
 
     table7.rpm = rpm;
@@ -59,13 +53,9 @@ void EFI_MegaSquirt::update()
     table7.ct_cF = 3940;
     table7.afr_target1 = 148;
 
-    if (!sock.pollin(0)) {
-        return;
-    }
-
     // receive command
     while (ofs < sizeof(r_command)) {
-        if (sock.recv(&buf[ofs], 1, 0) != 1) {
+        if (read_from_autopilot((char*)&buf[ofs], 1) != 1) {
             break;
         }
         switch (ofs) {
@@ -141,8 +131,8 @@ void EFI_MegaSquirt::send_table(void)
     outbuf[0] = 0;
     swab(table_offset+(const uint8_t *)&table7, &outbuf[1], table_size);
 
-    sock.send(&len, sizeof(len));
-    sock.send(outbuf, sizeof(outbuf));
+    write_to_autopilot((const char*)&len, sizeof(len));
+    write_to_autopilot((const char*)outbuf, sizeof(outbuf));
     uint32_t crc = htobe32(CRC32_MS(outbuf, sizeof(outbuf)));
-    sock.send((const uint8_t *)&crc, sizeof(crc));
+    write_to_autopilot((const char *)&crc, sizeof(crc));
 }

libraries/SITL/SIM_EFI_MegaSquirt.h

@@ -14,25 +14,37 @@
  */
 /*
   simulate MegaSquirt EFI system
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --uartF=sim:megasquirt --speedup=1
+param set SERIAL5_PROTOCOL 24
+param set SIM_EFI_TYPE 1
+param set EFI_TYPE 1
+reboot
+status EFI_STATUS
+
+./Tools/autotest/autotest.py --gdb --debug build.Plane test.Plane.MegaSquirt
+
 */
 
 #pragma once
 
 #include <SITL/SITL.h>
 #include <AP_HAL/utility/Socket.h>
+#include "SIM_SerialDevice.h"
 
 namespace SITL {
 
-class EFI_MegaSquirt {
+class EFI_MegaSquirt : public SerialDevice {
 public:
+
+    using SerialDevice::SerialDevice;
+
     void update();
 
 private:
     void send_table();
-    SocketAPM sock{false};
 
     uint32_t time_send_ms;
-    bool connected;
 
     struct PACKED {
         uint16_t size;

libraries/SITL/SITL.h

@@ -439,8 +439,6 @@ public:
         uint32_t send_counter;
     } led;
 
-    EFI_MegaSquirt efi_ms;
-
     AP_Int8 led_layout;
 
     // vicon parameters