mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: made UARTDriver use UARTDevice
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0c582eeae6
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26382e63df
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@ -24,6 +24,8 @@
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#include <arpa/inet.h>
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#include "../AP_HAL/utility/RingBuffer.h"
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#include "UARTDevice.h"
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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@ -102,7 +104,7 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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case DEVICE_SERIAL:
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{
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if (!_serial_start_connection()) {
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return; /* Whatever it might mean */
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break; /* Whatever it might mean */
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}
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break;
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}
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@ -123,19 +125,7 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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_initialised = false;
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while (_in_timer) hal.scheduler->delay(1);
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if (b != 0 && _rd_fd == _wr_fd) {
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// set the baud rate
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struct termios t;
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memset(&t, 0, sizeof(t));
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tcgetattr(_rd_fd, &t);
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cfsetspeed(&t, b);
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// disable LF -> CR/LF
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t.c_iflag &= ~(BRKINT | ICRNL | IMAXBEL | IXON | IXOFF);
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t.c_oflag &= ~(OPOST | ONLCR);
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t.c_lflag &= ~(ISIG | ICANON | IEXTEN | ECHO | ECHOE | ECHOK | ECHOCTL | ECHOKE);
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t.c_cc[VMIN] = 0;
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tcsetattr(_rd_fd, TCSANOW, &t);
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}
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_device->set_speed(b);
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_allocate_buffers(rxS, txS);
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}
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@ -239,20 +229,9 @@ LinuxUARTDriver::device_type LinuxUARTDriver::_parseDevicePath(const char *arg)
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bool LinuxUARTDriver::_serial_start_connection()
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{
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_rd_fd = open(device_path, O_RDWR);
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_wr_fd = _rd_fd;
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if (_rd_fd == -1) {
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::fprintf(stdout, "Failed to open UART device %s - %s\n",
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device_path, strerror(errno));
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return false;
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}
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// always run the file descriptor non-blocking, and deal with
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// blocking IO in the higher level calls
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fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK);
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// TODO: add proper flow control support
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_device = new UARTDevice(device_path);
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_device->open();
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_device->set_blocking(false);
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_flow_control = FLOW_CONTROL_DISABLE;
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return true;
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@ -413,7 +392,7 @@ void LinuxUARTDriver::end()
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_connected = false;
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while (_in_timer) hal.scheduler->delay(1);
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if (_rd_fd == _wr_fd && _rd_fd != -1) {
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close(_rd_fd);
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_device->close();
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}
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_rd_fd = -1;
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_wr_fd = -1;
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@ -580,15 +559,8 @@ size_t LinuxUARTDriver::write(const uint8_t *buffer, size_t size)
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int LinuxUARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
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{
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int ret = 0;
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struct pollfd fds;
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fds.fd = _wr_fd;
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fds.events = POLLOUT;
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fds.revents = 0;
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if (poll(&fds, 1, 0) == 1) {
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ret = ::write(_wr_fd, buf, n);
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}
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ret = _device->write(buf, n);
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if (ret > 0) {
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BUF_ADVANCEHEAD(_writebuf, ret);
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@ -604,22 +576,12 @@ int LinuxUARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
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int LinuxUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
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{
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int ret;
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ret = ::read(_rd_fd, buf, n);
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ret = _device->read(buf, n);
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if (ret > 0) {
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BUF_ADVANCETAIL(_readbuf, ret);
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} else {
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switch (errno) {
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case EAGAIN:
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/* Ignore EAGAIN that resulted from non-blocking read */
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break;
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case EPIPE:
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/* Ignore EPIPE that resulted from peer shutdown */
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break;
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default:
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::fprintf(stdout, "read failed - %s\n", strerror(errno));
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break;
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}
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}
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}
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return ret;
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}
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@ -4,6 +4,8 @@
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#include <AP_HAL_Linux.h>
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#include "SerialDevice.h"
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class Linux::LinuxUARTDriver : public AP_HAL::UARTDriver {
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public:
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LinuxUARTDriver(bool default_console);
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@ -32,6 +34,7 @@ public:
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enum flow_control get_flow_control(void) { return _flow_control; }
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private:
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SerialDevice *_device = nullptr;
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int _rd_fd;
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int _wr_fd;
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bool _nonblocking_writes;
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