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UARTDriver: add option to create uart connection to file #14234

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UARTDriver: add option to create uart connection to file #14234

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11 changes: 11 additions & 0 deletions libraries/AP_HAL_SITL/UARTDriver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@
#include "SITL_State.h"
#include <AP_HAL/utility/packetise.h>

#include <AP_Filesystem/AP_Filesystem.h>

extern const AP_HAL::HAL& hal;

using namespace HALSITL;
Expand Down Expand Up @@ -126,6 +128,15 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
::printf("UDP multicast connection %s:%u\n", ip, port);
_udp_start_multicast(ip, port);
}
} else if (strcmp(devtype, "file") == 0) {
if (!_connected) {
::printf("FILE connection %s\n", args1);
_fd = AP::FS().open(args1, O_RDONLY);
if (_fd == -1) {
AP_HAL::panic("Failed to open (%s): %m", args1);
}
_connected = true;
}
} else {
AP_HAL::panic("Invalid device path: %s", path);
}
Expand Down