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50 lines
1.3 KiB
50 lines
1.3 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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#pragma once |
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#include <unistd.h> |
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#include <AP_HAL/utility/RingBuffer.h> |
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namespace SITL { |
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class SerialDevice { |
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public: |
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SerialDevice(); |
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// methods for autopilot to use to talk to device: |
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ssize_t read_from_device(char *buffer, size_t size) const; |
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ssize_t write_to_device(const char *buffer, size_t size) const; |
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// methods for simulated device to use: |
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ssize_t read_from_autopilot(char *buffer, size_t size) const; |
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virtual ssize_t write_to_autopilot(const char *buffer, size_t size) const; |
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protected: |
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class SIM *_sitl; |
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ByteBuffer *to_autopilot; |
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ByteBuffer *from_autopilot; |
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bool init_sitl_pointer(); |
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}; |
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}
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