ardupilot/libraries/AP_SerialManager/AP_SerialManager.h

/*
   Please contribute your ideas! See http://dev.ardupilot.org for details

   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  SerialManager allows defining the protocol and baud rates for the available
  serial ports and provides helper functions so objects (like a gimbal) can
  find which serial port they should use
 */
#pragma once

#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Param/AP_Param.h>

#ifdef HAL_UART_NUM_SERIAL_PORTS
#if HAL_UART_NUM_SERIAL_PORTS >= 4
#define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
#else
// we need a minimum of 4 to allow for a GPS due to the odd ordering
// of hal.uartB as SERIAL3
#define SERIALMANAGER_NUM_PORTS 4
#endif
#else
// assume max 8 ports
#define SERIALMANAGER_NUM_PORTS 8
#endif

 // console default baud rates and buffer sizes
#ifdef HAL_SERIAL0_BAUD_DEFAULT
# define AP_SERIALMANAGER_CONSOLE_BAUD          HAL_SERIAL0_BAUD_DEFAULT
#else
# define AP_SERIALMANAGER_CONSOLE_BAUD          115200
#endif
# define AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX    128
# define AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX    512

// mavlink default baud rates and buffer sizes
#define AP_SERIALMANAGER_MAVLINK_BAUD           57600
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX     128
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX     256

// FrSky default baud rates, use default buffer sizes
#define AP_SERIALMANAGER_FRSKY_D_BAUD           9600
#define AP_SERIALMANAGER_FRSKY_SPORT_BAUD       57600
#define AP_SERIALMANAGER_FRSKY_BUFSIZE_RX       0
#define AP_SERIALMANAGER_FRSKY_BUFSIZE_TX       0

// GPS default baud rates and buffer sizes
// we need a 256 byte buffer for some GPS types (eg. UBLOX)
#define AP_SERIALMANAGER_GPS_BAUD               38400
#define AP_SERIALMANAGER_GPS_BUFSIZE_RX         256
#define AP_SERIALMANAGER_GPS_BUFSIZE_TX         16

// AlexMos Gimbal protocol default baud rates and buffer sizes
#define AP_SERIALMANAGER_ALEXMOS_BAUD           115200
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX     128
#define AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX     128

#define AP_SERIALMANAGER_SToRM32_BAUD           115200
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_RX     128
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_TX     128

#define AP_SERIALMANAGER_VOLZ_BAUD           115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX     128
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX     128

#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX  128
#define AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX  128

// SBUS servo outputs
#define AP_SERIALMANAGER_SBUS1_BAUD           100000
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX     16
#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX     32

#define AP_SERIALMANAGER_SLCAN_BAUD             115200
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX       128
#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX       128

class AP_SerialManager {
public:
    AP_SerialManager();

    /* Do not allow copies */
    AP_SerialManager(const AP_SerialManager &other) = delete;
    AP_SerialManager &operator=(const AP_SerialManager&) = delete;

    enum SerialProtocol {
        SerialProtocol_None = -1,
        SerialProtocol_Console = 0, // unused
        SerialProtocol_MAVLink = 1,
        SerialProtocol_MAVLink2 = 2,                 // do not use - use MAVLink and provide instance of 1
        SerialProtocol_FrSky_D = 3,                  // FrSky D protocol (D-receivers)
        SerialProtocol_FrSky_SPort = 4,              // FrSky SPort protocol (X-receivers)
        SerialProtocol_GPS = 5,
        SerialProtocol_GPS2 = 6,                     // do not use - use GPS and provide instance of 1
        SerialProtocol_AlexMos = 7,
        SerialProtocol_SToRM32 = 8,
        SerialProtocol_Rangefinder = 9,
        SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
        SerialProtocol_Lidar360 = 11,                // Lightware SF40C, TeraRanger Tower or RPLidarA2
        SerialProtocol_Aerotenna_uLanding      = 12, // Ulanding support - deprecated, users should use Rangefinder
        SerialProtocol_Beacon = 13,
        SerialProtocol_Volz = 14,                    // Volz servo protocol
        SerialProtocol_Sbus1 = 15,
        SerialProtocol_ESCTelemetry = 16,
        SerialProtocol_Devo_Telem = 17,
        SerialProtocol_OpticalFlow = 18,
        SerialProtocol_Robotis = 19,
        SerialProtocol_NMEAOutput = 20,
        SerialProtocol_WindVane = 21,
        SerialProtocol_SLCAN = 22,
        SerialProtocol_RCIN = 23,
        SerialProtocol_Hott = 27,
    };

    // get singleton instance
    static AP_SerialManager *get_singleton(void) {
        return _singleton;
    }
    
    // init_console - initialise console at default baud rate
    void init_console();

    // init - initialise serial ports
    void init();

    // find_serial - searches available serial ports that allows the given protocol
    //  instance should be zero if searching for the first instance, 1 for the second, etc
    //  returns uart on success, nullptr if a serial port cannot be found
    AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol, uint8_t instance) const;

    // find_baudrate - searches available serial ports for the first instance that allows the given protocol
    //  instance should be zero if searching for the first instance, 1 for the second, etc
    //  returns the baudrate of that protocol on success, 0 if a serial port cannot be found
    uint32_t find_baudrate(enum SerialProtocol protocol, uint8_t instance) const;

    // get_mavlink_channel - provides the mavlink channel associated with a given protocol (and instance)
    //  instance should be zero if searching for the first instance, 1 for the second, etc
    //  returns true if a channel is found, false if not
    bool get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const;

    // get_mavlink_protocol - provides the specific MAVLink protocol for a
    // given channel, or SerialProtocol_None if not found
    SerialProtocol get_mavlink_protocol(mavlink_channel_t mav_chan) const;
    
    // set_blocking_writes_all - sets block_writes on or off for all serial channels
    void set_blocking_writes_all(bool blocking);

    // get the passthru ports if enabled
    bool get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s) const;

    // disable passthru by settings SERIAL_PASS2 to -1
    void disable_passthru(void);

    // get Serial Port
    AP_HAL::UARTDriver *get_serial_by_id(uint8_t id);

    // parameter var table
    static const struct AP_Param::GroupInfo var_info[];

private:
    static AP_SerialManager *_singleton;
    
    // array of uart info
    struct UARTState {
        AP_Int8 protocol;
        AP_Int32 baud;
        AP_HAL::UARTDriver* uart;
        AP_Int16 options;
    } state[SERIALMANAGER_NUM_PORTS];

    // pass-through serial support
    AP_Int8 passthru_port1;
    AP_Int8 passthru_port2;
    AP_Int8 passthru_timeout;

    // search through managed serial connections looking for the
    // instance-nth UART which is running protocol protocol
    const UARTState *find_protocol_instance(enum SerialProtocol protocol,
                                      uint8_t instance) const;

    uint32_t map_baudrate(int32_t rate) const;

    // protocol_match - returns true if the protocols match
    bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;

    // setup any special options
    void set_options(uint16_t i);
};

namespace AP {
    AP_SerialManager &serialmanager();
};