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https://github.com/ArduPilot/ardupilot.git
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a077e4a3ed
Allows a script to simulate a device attached via any serial protocol. The script can read and write data and have it handled according to the protocol as if exchanged over a serial port. The script can then do protocol translation, data filtering and validation, hardware-in-the-loop simulation, experimentation, etc., especially in combination with the scripting protocol which lets the script itself handle an attached device and so interpose any communication.
62 lines
1.5 KiB
C++
62 lines
1.5 KiB
C++
#pragma once
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#include <AP_SerialManager/AP_SerialManager.h>
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#ifndef AP_SCRIPTING_SERIALDEVICE_NUM_PORTS
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#define AP_SCRIPTING_SERIALDEVICE_NUM_PORTS 3
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#endif
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class AP_Scripting;
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class AP_Scripting_SerialDevice
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{
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public:
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Scripting_SerialDevice);
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AP_Scripting_SerialDevice() {}
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AP_Int8 enable;
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void init(void);
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public:
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class Port : public AP_SerialManager::RegisteredPort {
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public:
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friend class AP_Scripting_SerialDevice;
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void init(void);
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size_t device_write(const uint8_t *buffer, size_t size);
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ssize_t device_read(uint8_t *buffer, uint16_t count);
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uint32_t device_available(void);
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private:
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bool is_initialized() override {
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return true;
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}
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bool tx_pending() override {
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return false;
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}
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bool init_buffers(const uint32_t size_rx, const uint32_t size_tx);
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uint32_t txspace() override;
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void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
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size_t _write(const uint8_t *buffer, size_t size) override;
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ssize_t _read(uint8_t *buffer, uint16_t count) override;
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uint32_t _available() override;
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void _end() override {}
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void _flush() override {}
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bool _discard_input() override;
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ByteBuffer *readbuffer;
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ByteBuffer *writebuffer;
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uint32_t last_size_tx;
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uint32_t last_size_rx;
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HAL_Semaphore sem;
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};
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Port ports[AP_SCRIPTING_SERIALDEVICE_NUM_PORTS];
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};
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