#include <Util.h>

Inheritance diagram for Linux::Util:

Collaboration diagram for Linux::Util:

Public Member Functions
void	init (int argc, char const argv)

bool	run_debug_shell (AP_HAL::BetterStream *stream)

void	commandline_arguments (uint8_t &argc, char const &argv)

bool	toneAlarm_init ()

void	toneAlarm_set_tune (uint8_t tune)

void	_toneAlarm_timer_tick ()

void	set_system_clock (uint64_t time_utc_usec)

const char *	get_custom_log_directory () const override final

const char *	get_custom_terrain_directory () const override final

const char *	get_custom_storage_directory () const override final

void	set_custom_log_directory (const char *_custom_log_directory)

void	set_custom_terrain_directory (const char *_custom_terrain_directory)

void	set_custom_storage_directory (const char *_custom_storage_directory)

bool	is_chardev_node (const char *path)

void	set_imu_temp (float current) override

void	set_imu_target_temp (int8_t *target) override

uint32_t	available_memory (void) override

int	write_file (const char path, const char fmt,...) FMT_PRINTF(3

int int	read_file (const char path, const char fmt,...) FMT_SCANF(3

int int perf_counter_t	perf_alloc (enum perf_counter_type t, const char *name) override

void	perf_begin (perf_counter_t perf) override

void	perf_end (perf_counter_t perf) override

void	perf_count (perf_counter_t perf) override

AP_HAL::Semaphore *	new_semaphore (void) override

int	get_hw_arm32 ()

Public Member Functions inherited from AP_HAL::Util
int	snprintf (char str, size_t size, const char format,...)

int	vsnprintf (char str, size_t size, const char format, va_list ap)

void	set_soft_armed (const bool b)

bool	get_soft_armed () const

void	set_capabilities (uint64_t cap)

void	clear_capabilities (uint64_t cap)

uint64_t	get_capabilities () const

virtual const char *	get_custom_defaults_file () const

virtual enum safety_state	safety_switch_state (void)

uint64_t	get_system_clock_ms () const

void	get_system_clock_utc (int32_t &hour, int32_t &min, int32_t &sec, int32_t &ms) const

uint32_t	get_time_utc (int32_t hour, int32_t min, int32_t sec, int32_t ms) const

virtual bool	get_system_id (char buf[40])

virtual AP_HAL::BetterStream *	get_shell_stream ()

virtual void *	malloc_type (size_t size, Memory_Type mem_type)

virtual void	free_type (void *ptr, size_t size, Memory_Type mem_type)

Static Public Member Functions
static Util *	from (AP_HAL::Util *util)

Private Attributes
int	saved_argc

Heat *	_heat

char const	saved_argv

const char *	custom_log_directory = nullptr

const char *	custom_terrain_directory = nullptr

const char *	custom_storage_directory = nullptr

Static Private Attributes
static ToneAlarm_Disco	_toneAlarm

static const char *	_hw_names [UTIL_NUM_HARDWARES]

Additional Inherited Members
Public Types inherited from AP_HAL::Util
enum	safety_state { SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED }

enum	perf_counter_type { PC_COUNT, PC_ELAPSED, PC_INTERVAL }

enum	Memory_Type { MEM_DMA_SAFE, MEM_FAST }

typedef void *	perf_counter_t

Protected Attributes inherited from AP_HAL::Util
bool	soft_armed = false

uint64_t	capabilities = 0

Detailed Description

Definition at line 25 of file Util.h.

Member Function Documentation

◆ _toneAlarm_timer_tick()

void Util::_toneAlarm_timer_tick ( )

virtual

Reimplemented from AP_HAL::Util.

Definition at line 76 of file Util.cpp.

Referenced by Linux::Scheduler::_tonealarm_task(), and run_debug_shell().

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◆ available_memory()

uint32_t Util::available_memory ( void )

overridevirtual

how much free memory do we have in bytes. If unknown return 4096

Reimplemented from AP_HAL::Util.

Definition at line 121 of file Util.cpp.

Referenced by set_custom_storage_directory().

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◆ commandline_arguments()

void Util::commandline_arguments	(	uint8_t &	argc,
		char const &	argv
	)

virtual

return commandline arguments, if available

Reimplemented from AP_HAL::Util.

Definition at line 60 of file Util.cpp.

Referenced by run_debug_shell().

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◆ from()

static Util* Linux::Util::from ( AP_HAL::Util * util )

inlinestatic

Definition at line 27 of file Util.h.

Referenced by Linux::UtilRPI::_check_rpi_version(), Linux::GPIO_Sysfs::_pinMode(), Linux::RCOutput_Bebop::_run_rcout(), Linux::Scheduler::_tonealarm_task(), Linux::PWM_Sysfs_Base::enable(), Linux::PWM_Sysfs_Base::get_period(), Linux::PWM_Sysfs_Base::get_polarity(), Linux::PWM_Sysfs_Base::init(), Linux::Led_Sysfs::init(), Linux::PWM_Sysfs_Base::is_enabled(), Linux::PWM_Sysfs_Base::set_period(), and Linux::PWM_Sysfs_Base::set_polarity().

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◆ get_custom_log_directory()

const char* Linux::Util::get_custom_log_directory ( ) const

inlinefinaloverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 48 of file Util.h.

◆ get_custom_storage_directory()

const char* Linux::Util::get_custom_storage_directory ( ) const

inlinefinaloverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 50 of file Util.h.

◆ get_custom_terrain_directory()

const char* Linux::Util::get_custom_terrain_directory ( ) const

inlinefinaloverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 49 of file Util.h.

◆ get_hw_arm32()

int Util::get_hw_arm32 ( )

Definition at line 185 of file Util.cpp.

Referenced by Linux::UtilRPI::_check_rpi_version(), Linux::RCOutput_Bebop::_run_rcout(), and new_semaphore().

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◆ init()

void Util::init	(	int	argc,
		char const	argv
	)

Definition at line 27 of file Util.cpp.

Referenced by from(), and HAL_Linux::run().

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◆ is_chardev_node()

bool Util::is_chardev_node ( const char * path )

Definition at line 104 of file Util.cpp.

Referenced by set_custom_storage_directory().

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◆ new_semaphore()

AP_HAL::Semaphore* Linux::Util::new_semaphore ( void )

inlineoverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 99 of file Util.h.

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◆ perf_alloc()

int int perf_counter_t Linux::Util::perf_alloc	(	enum perf_counter_type	t,
		const char *	name
	)

inlineoverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 78 of file Util.h.

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◆ perf_begin()

void Linux::Util::perf_begin ( perf_counter_t perf )

inlineoverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 83 of file Util.h.

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◆ perf_count()

void Linux::Util::perf_count ( perf_counter_t perf )

inlineoverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 93 of file Util.h.

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◆ perf_end()

void Linux::Util::perf_end ( perf_counter_t perf )

inlineoverridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 88 of file Util.h.

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◆ read_file()

int Util::read_file	(	const char *	path,
		const char *	fmt,
			...
	)

Definition at line 151 of file Util.cpp.

Referenced by Linux::PWM_Sysfs_Base::get_period(), Linux::PWM_Sysfs_Base::get_polarity(), Linux::Led_Sysfs::init(), Linux::PWM_Sysfs_Base::is_enabled(), and set_custom_storage_directory().

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◆ run_debug_shell()

bool Linux::Util::run_debug_shell ( AP_HAL::BetterStream * stream )

inlinevirtual

Implements AP_HAL::Util.

Definition at line 32 of file Util.h.

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◆ set_custom_log_directory()

void Linux::Util::set_custom_log_directory ( const char * _custom_log_directory )

inline

Definition at line 52 of file Util.h.

Referenced by HAL_Linux::run().

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◆ set_custom_storage_directory()

void Linux::Util::set_custom_storage_directory ( const char * _custom_storage_directory )

inline

Definition at line 54 of file Util.h.

Referenced by HAL_Linux::run().

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◆ set_custom_terrain_directory()

void Linux::Util::set_custom_terrain_directory ( const char * _custom_terrain_directory )

inline

Definition at line 53 of file Util.h.

Referenced by HAL_Linux::run().

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◆ set_imu_target_temp()

void Util::set_imu_target_temp ( int8_t * target )

overridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 52 of file Util.cpp.

Referenced by set_custom_storage_directory().

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◆ set_imu_temp()

void Util::set_imu_temp ( float current )

overridevirtual

Reimplemented from AP_HAL::Util.

Definition at line 46 of file Util.cpp.

Referenced by set_custom_storage_directory().

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◆ set_system_clock()

void Util::set_system_clock ( uint64_t time_utc_usec )

virtual

Reimplemented from AP_HAL::Util.

Definition at line 94 of file Util.cpp.

Referenced by run_debug_shell().

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◆ toneAlarm_init()

bool Util::toneAlarm_init ( )

virtual

Reimplemented from AP_HAL::Util.

Definition at line 66 of file Util.cpp.

Referenced by run_debug_shell().

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◆ toneAlarm_set_tune()

void Util::toneAlarm_set_tune ( uint8_t tune )

virtual

Reimplemented from AP_HAL::Util.

Definition at line 71 of file Util.cpp.

Referenced by run_debug_shell().

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◆ write_file()

int Util::write_file	(	const char *	path,
		const char *	fmt,
			...
	)

Definition at line 126 of file Util.cpp.

Referenced by Linux::GPIO_Sysfs::_pinMode(), Linux::PWM_Sysfs_Base::enable(), Linux::PWM_Sysfs_Base::init(), set_custom_storage_directory(), Linux::PWM_Sysfs_Base::set_period(), and Linux::PWM_Sysfs_Base::set_polarity().

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Member Data Documentation

◆ _heat

Heat* Linux::Util::_heat

private

Definition at line 110 of file Util.h.

Referenced by init(), set_imu_target_temp(), and set_imu_temp().

◆ _hw_names

const char * Linux::Util::_hw_names

staticprivate

Initial value:

= {
    [UTIL_HARDWARE_RPI1]   = "BCM2708",
    [UTIL_HARDWARE_RPI2]   = "BCM2709",
    [UTIL_HARDWARE_BEBOP]  = "Mykonos3 board",
    [UTIL_HARDWARE_BEBOP2] = "Milos board",
    [UTIL_HARDWARE_DISCO]  = "Evinrude board",
}

Definition at line 115 of file Util.h.

Referenced by get_hw_arm32(), and read_file().

◆ _toneAlarm

ToneAlarm_Disco Util::_toneAlarm

staticprivate

Definition at line 105 of file Util.h.

Referenced by _toneAlarm_timer_tick(), toneAlarm_init(), and toneAlarm_set_tune().

◆ custom_log_directory

const char* Linux::Util::custom_log_directory = nullptr

private

Definition at line 112 of file Util.h.

Referenced by get_custom_log_directory(), and set_custom_log_directory().

◆ custom_storage_directory

const char* Linux::Util::custom_storage_directory = nullptr

private

Definition at line 114 of file Util.h.

Referenced by get_custom_storage_directory(), and set_custom_storage_directory().

◆ custom_terrain_directory

const char* Linux::Util::custom_terrain_directory = nullptr

private

Definition at line 113 of file Util.h.

Referenced by get_custom_terrain_directory(), and set_custom_terrain_directory().

◆ saved_argc

int Linux::Util::saved_argc

private

Definition at line 109 of file Util.h.

Referenced by commandline_arguments(), and init().

◆ saved_argv

char* const* Linux::Util::saved_argv

private

Definition at line 111 of file Util.h.

Referenced by commandline_arguments(), and init().

The documentation for this class was generated from the following files:

libraries/AP_HAL_Linux/Util.h
libraries/AP_HAL_Linux/Util.cpp

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ _toneAlarm_timer_tick()

◆ available_memory()

◆ commandline_arguments()

◆ from()

◆ get_custom_log_directory()

◆ get_custom_storage_directory()

◆ get_custom_terrain_directory()

◆ get_hw_arm32()

◆ init()

◆ is_chardev_node()

◆ new_semaphore()

◆ perf_alloc()

◆ perf_begin()

◆ perf_count()

◆ perf_end()

◆ read_file()

◆ run_debug_shell()

◆ set_custom_log_directory()

◆ set_custom_storage_directory()

◆ set_custom_terrain_directory()

◆ set_imu_target_temp()

◆ set_imu_temp()

◆ set_system_clock()

◆ toneAlarm_init()

◆ toneAlarm_set_tune()

◆ write_file()

Member Data Documentation

◆ _heat

◆ _hw_names

◆ _toneAlarm

◆ custom_log_directory

◆ custom_storage_directory

◆ custom_terrain_directory

◆ saved_argc

◆ saved_argv