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87 lines
2.4 KiB
87 lines
2.4 KiB
10 years ago
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/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file simulator.h
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* A device simulator
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*/
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#pragma once
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#include <semaphore.h>
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class Simulator {
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public:
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static Simulator *getInstance();
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enum sim_dev_t {
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SIM_GYRO,
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SIM_ACCEL,
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SIM_MAG
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};
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struct sample {
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float x;
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float y;
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float z;
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sample() : x(0), y(0), z(0) {}
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sample(float a, float b, float c) : x(a), y(b), z(c) {}
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};
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static int start(int argc, char *argv[]);
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int getSample(sim_dev_t dev, sample &val);
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private:
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Simulator();
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~Simulator() { _instance=NULL; }
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void updateSamples();
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void read_lock();
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void read_unlock();
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void write_lock();
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void write_unlock();
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int _readidx;
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sample _accel[2];
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sample _gyro[2];
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sample _mag[2];
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static Simulator *_instance;
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sem_t _lock;
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const int _max_readers;
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};
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