Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   base class for serially-attached simulated devices
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_config.h"
      22             : 
      23             : #include <unistd.h>
      24             : #include <AP_HAL/utility/RingBuffer.h>
      25             : 
      26             : #if AP_SIM_SERIALDEVICE_NETWORK_ENABLED
      27             : #include <AP_HAL/utility/Socket_native.h>
      28             : #endif  // AP_SIM_SERIALDEVICE_NETWORK_ENABLED
      29             : 
      30             : namespace SITL {
      31             : 
      32             : class SerialDevice {
      33             : public:
      34             : 
      35             :     SerialDevice(uint16_t tx_bufsize=512, uint16_t rx_bufsize=512);
      36             : 
      37             : 
      38             :     // methods for autopilot to use to talk to device:
      39             :     ssize_t read_from_device(char *buffer, size_t size) const;
      40             :     ssize_t write_to_device(const char *buffer, size_t size) const;
      41       14933 :     void set_autopilot_baud(uint32_t baud) { autopilot_baud = baud; }
      42             : 
      43             :     // methods for simulated device to use:
      44             :     ssize_t read_from_autopilot(char *buffer, size_t size) const;
      45             :     virtual ssize_t write_to_autopilot(const char *buffer, size_t size) const;
      46    13460733 :     virtual uint32_t device_baud() const { return 0; }  // 0 meaning unset
      47             : 
      48             : #if AP_SIM_SERIALDEVICE_NETWORK_ENABLED
      49             :     // attach this device to a TCP server socket rather than to a
      50             :     // simulated serial port.  This simulates a device which the
      51             :     // autopilot reaches over the network (e.g. via a NET_Pn port)
      52             :     // rather than over one of its serial ports.  Returns true on success
      53             :     bool listen_on_tcp_port(uint16_t port) WARN_IF_UNUSED;
      54             : 
      55             :     // true if this device is attached to the autopilot via a network
      56             :     // socket rather than via a simulated serial port
      57        2761 :     bool is_network_attached() const { return listener != nullptr; }
      58             : 
      59             :     // move bytes between the network socket and this device.  Does
      60             :     // nothing if the device is not attached to a socket
      61             :     void network_update();
      62             : #else
      63             :     bool is_network_attached() const { return false; }
      64             : #endif  // AP_SIM_SERIALDEVICE_NETWORK_ENABLED
      65             : 
      66             : protected:
      67             : 
      68             :     class SIM *_sitl;
      69             : 
      70             :     ByteBuffer *to_autopilot;
      71             :     ByteBuffer *from_autopilot;
      72             : 
      73             :     bool init_sitl_pointer() WARN_IF_UNUSED;
      74             : 
      75             : private:
      76             : 
      77             :     bool is_match_baud(void) const;
      78             : 
      79             :     // baudrate the autopilot has this device open at; zero if the
      80             :     // device is not attached to a simulated serial port
      81             :     uint32_t autopilot_baud;
      82             : 
      83             : #if AP_SIM_SERIALDEVICE_NETWORK_ENABLED
      84             :     SocketAPM_native *listener = nullptr;  // socket the autopilot connects to, nullptr if serially attached
      85             :     SocketAPM_native *sock = nullptr;      // socket to the connected autopilot, nullptr if not connected
      86             : #endif  // AP_SIM_SERIALDEVICE_NETWORK_ENABLED
      87             : 
      88             :     ssize_t corrupt_transfer(char *buffer, const ssize_t ret, const size_t size) const;
      89             : };
      90             : 
      91             : }