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