mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 12:30:35 +08:00
Beat Küng
b9475d6ebe
These got added in https://github.com/mavlink/mavlink/pull/1725 and need to be set for correct routing.
101 lines
3.2 KiB
C++
101 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mavlink_shell.h
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* A shell to be used via MAVLink
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*
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* @author Beat Küng <beat-kueng@gmx.net>
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*/
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#include <stddef.h>
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#include <stdint.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/atomic.h>
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#pragma once
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class MavlinkShell
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{
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public:
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MavlinkShell() = default;
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~MavlinkShell();
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/**
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* Start the mavlink shell.
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*
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* @return 0 on success.
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*/
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int start();
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/**
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* Write to the shell
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* @return number of written bytes
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*/
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size_t write(uint8_t *buffer, size_t len);
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/**
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* Read from the shell. This is blocking, if 0 bytes are available, this will block.
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* @param len buffer length
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* @return number of bytes read.
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*/
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size_t read(uint8_t *buffer, size_t len);
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/**
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* Get the number of bytes that can be read.
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*/
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size_t available();
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void setTargetID(uint8_t sysid, uint8_t compid) { _target_sysid.store(sysid); _target_compid.store(compid); }
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uint8_t targetSysid() const { return _target_sysid.load(); }
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uint8_t targetCompid() const { return _target_compid.load(); }
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private:
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px4::atomic<uint8_t> _target_sysid{};
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px4::atomic<uint8_t> _target_compid{};
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int _to_shell_fd = -1; /** fd to write to the shell */
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int _from_shell_fd = -1; /** fd to read from the shell */
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int _shell_fds[2] = { -1, -1}; /** stdin & out used by the shell */
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px4_task_t _task;
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static int shell_start_thread(int argc, char *argv[]);
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/* do not allow copying this class */
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MavlinkShell(const MavlinkShell &) = delete;
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MavlinkShell operator=(const MavlinkShell &) = delete;
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};
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