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109 lines
3.2 KiB
109 lines
3.2 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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base class for serially-attached simulated devices |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <SITL/SITL.h> |
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#include "SIM_SerialDevice.h" |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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using namespace SITL; |
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SerialDevice::SerialDevice() |
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{ |
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// pipe for device to write to: |
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int tmp[2]; |
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if (pipe(tmp) == -1) { |
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AP_HAL::panic("pipe() failed"); |
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} |
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fd_my_end = tmp[1]; |
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fd_their_end = tmp[0]; |
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// close file descriptors on exec: |
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fcntl(fd_my_end, F_SETFD, FD_CLOEXEC); |
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fcntl(fd_their_end, F_SETFD, FD_CLOEXEC); |
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// make sure we don't screw the simulation up by blocking: |
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fcntl(fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK); |
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fcntl(fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK); |
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// pipe for device to read from: |
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if (pipe(tmp) == -1) { |
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AP_HAL::panic("pipe() failed"); |
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} |
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read_fd_my_end = tmp[0]; |
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read_fd_their_end = tmp[1]; |
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// close file descriptors on exec: |
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fcntl(read_fd_my_end, F_SETFD, FD_CLOEXEC); |
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fcntl(read_fd_their_end, F_SETFD, FD_CLOEXEC); |
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// make sure we don't screw the simulation up by blocking: |
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fcntl(read_fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK); |
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fcntl(read_fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK); |
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} |
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bool SerialDevice::init_sitl_pointer() |
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{ |
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if (_sitl == nullptr) { |
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_sitl = AP::sitl(); |
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if (_sitl == nullptr) { |
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return false; |
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} |
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} |
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return true; |
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} |
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ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size) const |
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{ |
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const ssize_t ret = ::read(read_fd_my_end, buffer, size); |
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// if (ret > 0) { |
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// ::fprintf(stderr, "SIM_SerialDevice: read from autopilot (%u): (", (unsigned)ret); |
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// for (ssize_t i=0; i<ret; i++) { |
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// const uint8_t x = buffer[i]; |
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// ::fprintf(stderr, "%02X", (unsigned)x); |
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// } |
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// ::fprintf(stderr, " "); |
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// for (ssize_t i=0; i<ret; i++) { |
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// ::fprintf(stderr, "%c", buffer[i]); |
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// } |
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// ::fprintf(stderr, ")\n"); |
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// } |
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return ret; |
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} |
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ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size) const |
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{ |
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const ssize_t ret = write(fd_my_end, buffer, size); |
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// ::fprintf(stderr, "write to autopilot: ("); |
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// for (ssize_t i=0; i<ret; i++) { |
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// ::fprintf(stderr, "%02X", (uint8_t)buffer[i]); |
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// } |
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// ::fprintf(stderr, ") (\n"); |
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// for (ssize_t i=0; i<ret; i++) { |
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// ::fprintf(stderr, "%c", (uint8_t)buffer[i]); |
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// } |
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// ::fprintf(stderr, ")\n"); |
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return ret; |
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}
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