Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_HAL/AP_HAL.h>
       4             : 
       5             : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
       6             : 
       7             : #include "AP_HAL_SITL.h"
       8             : #include "AP_HAL_SITL_Namespace.h"
       9             : #include "SITL_State.h"
      10             : 
      11             : class HAL_SITL : public AP_HAL::HAL {
      12             : public:
      13             :     HAL_SITL();
      14             :     void run(int argc, char * const argv[], Callbacks* callbacks) const override;
      15             :     static void actually_reboot();
      16             : 
      17        2094 :     void set_storage_posix_enabled(bool _enabled) {
      18        2094 :         storage_posix_enabled = _enabled;
      19        2094 :     }
      20       97840 :     bool get_storage_posix_enabled() const { return storage_posix_enabled; }
      21        2094 :     void set_storage_flash_enabled(bool _enabled) {
      22        2094 :         storage_flash_enabled = _enabled;
      23        2094 :     }
      24        2156 :     bool get_storage_flash_enabled() const { return storage_flash_enabled; }
      25        2094 :     void set_storage_fram_enabled(bool _enabled) {
      26        2094 :         storage_fram_enabled = _enabled;
      27        2094 :     }
      28        2096 :     bool get_storage_fram_enabled() const { return storage_fram_enabled; }
      29             : 
      30             :     bool get_dds_use_sim_time() const { return dds_use_sim_time; }
      31             :     void set_dds_use_sim_time(bool _enabled) {
      32             :         dds_use_sim_time = _enabled;
      33             :     }
      34             : 
      35             :     /*
      36             :       instructs the simulation to wipe any storage as it opens it:
      37             :      */
      38         294 :     void set_wipe_storage(bool _wipe_storage) {
      39         294 :         wipe_storage = _wipe_storage;
      40         294 :     }
      41           8 :     bool get_wipe_storage() const { return wipe_storage; }
      42             : 
      43             :     uint8_t get_instance() const;
      44             : 
      45             : #if defined(HAL_BUILD_AP_PERIPH)
      46             :     bool run_in_maintenance_mode() const;
      47             : #endif
      48             : 
      49             :     uint32_t get_uart_output_full_queue_count() const;
      50             : 
      51             :     HALSITL::SITL_State * get_sitl_state() { return _sitl_state; }
      52             : 
      53             : private:
      54             :     HALSITL::SITL_State *_sitl_state;
      55             : 
      56             :     void setup_signal_handlers() const;
      57             :     static void exit_signal_handler(int);
      58             : 
      59             :     bool storage_posix_enabled = true;
      60             :     bool storage_flash_enabled;
      61             :     bool storage_fram_enabled;
      62             :     bool dds_use_sim_time = false;
      63             : 
      64             :     // set to true if simulation is to wipe storage as it is opened:
      65             :     bool wipe_storage;
      66             : };
      67             : 
      68             : #if HAL_NUM_CAN_IFACES
      69             : typedef HALSITL::CANIface HAL_CANIface;
      70             : #endif
      71             : 
      72             : #endif  // CONFIG_HAL_BOARD == HAL_BOARD_SITL