mirror of
https://github.com/ArduPilot/ardupilot.git
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Peter BarkerandClaude Opus 4.8
f5441e0626
this lets us simulate a device which the autopilot talks to over one of its network ports rather than over one of its serial ports Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
92 lines
3.1 KiB
C++
92 lines
3.1 KiB
C++
/*
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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 "SIM_config.h"
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#include <unistd.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#if AP_SIM_SERIALDEVICE_NETWORK_ENABLED
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#include <AP_HAL/utility/Socket_native.h>
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#endif // AP_SIM_SERIALDEVICE_NETWORK_ENABLED
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namespace SITL {
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class SerialDevice {
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public:
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SerialDevice(uint16_t tx_bufsize=512, uint16_t rx_bufsize=512);
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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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void set_autopilot_baud(uint32_t baud) { autopilot_baud = baud; }
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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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virtual uint32_t device_baud() const { return 0; } // 0 meaning unset
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#if AP_SIM_SERIALDEVICE_NETWORK_ENABLED
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// attach this device to a TCP server socket rather than to a
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// simulated serial port. This simulates a device which the
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// autopilot reaches over the network (e.g. via a NET_Pn port)
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// rather than over one of its serial ports. Returns true on success
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bool listen_on_tcp_port(uint16_t port) WARN_IF_UNUSED;
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// true if this device is attached to the autopilot via a network
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// socket rather than via a simulated serial port
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bool is_network_attached() const { return listener != nullptr; }
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// move bytes between the network socket and this device. Does
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// nothing if the device is not attached to a socket
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void network_update();
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#else
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bool is_network_attached() const { return false; }
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#endif // AP_SIM_SERIALDEVICE_NETWORK_ENABLED
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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() WARN_IF_UNUSED;
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private:
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bool is_match_baud(void) const;
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// baudrate the autopilot has this device open at; zero if the
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// device is not attached to a simulated serial port
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uint32_t autopilot_baud;
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#if AP_SIM_SERIALDEVICE_NETWORK_ENABLED
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SocketAPM_native *listener = nullptr; // socket the autopilot connects to, nullptr if serially attached
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SocketAPM_native *sock = nullptr; // socket to the connected autopilot, nullptr if not connected
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#endif // AP_SIM_SERIALDEVICE_NETWORK_ENABLED
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ssize_t corrupt_transfer(char *buffer, const ssize_t ret, const size_t size) const;
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};
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}
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