AP_HAL: eliminate AP_HAL::Print and AP_HAL::Stream

Just *way* too many layers involved here

libraries/AP_HAL/AP_HAL.h

@@ -23,8 +23,6 @@
 #include "CAN.h"
 #endif
 
-#include "utility/Print.h"
-#include "utility/Stream.h"
 #include "utility/BetterStream.h"
 
 /* HAL Class definition */

libraries/AP_HAL/UARTDriver.cpp

@@ -1,38 +0,0 @@
-/*
-   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/>.
- */
-
-#include "AP_HAL.h"
-
-#include "utility/print_vprintf.h"
-#include "UARTDriver.h"
-
-/*
-   BetterStream method implementations
-   These are implemented in AP_HAL to ensure consistent behaviour on
-   all boards, although they can be overridden by a port
- */
-
-void AP_HAL::UARTDriver::printf(const char *fmt, ...) 
-{
-    va_list ap;
-    va_start(ap, fmt);
-    vprintf(fmt, ap);
-    va_end(ap);
-}
-
-void AP_HAL::UARTDriver::vprintf(const char *fmt, va_list ap) 
-{
-    print_vprintf(this, fmt, ap);
-}

libraries/AP_HAL/UARTDriver.h

@@ -2,8 +2,6 @@
 
 #include <stdint.h>
 
-#include <AP_Common/AP_Common.h>
-
 #include "AP_HAL_Namespace.h"
 #include "utility/BetterStream.h"
 
@@ -53,13 +51,6 @@ public:
      */
     virtual bool set_unbuffered_writes(bool on){ return false; };
 
-    /* Implementations of BetterStream virtual methods. These are
-     * provided by AP_HAL to ensure consistency between ports to
-     * different boards
-     */
-    void printf(const char *s, ...) FMT_PRINTF(2, 3);
-    void vprintf(const char *s, va_list ap);
-
     /*
       wait for at least n bytes of incoming data, with timeout in
       milliseconds. Return true if n bytes are available, false if

libraries/AP_HAL/Util.cpp

@@ -11,10 +11,11 @@
 #endif
 
 /* Helper class implements AP_HAL::Print so we can use utility/vprintf */
-class BufferPrinter : public AP_HAL::Print {
+class BufferPrinter : public AP_HAL::BetterStream {
 public:
     BufferPrinter(char* str, size_t size)  : _offs(0), _str(str), _size(size)  {}
-    size_t write(uint8_t c) {
+
+    size_t write(uint8_t c) override {
         if (_offs < _size) {
             _str[_offs] = c;
             _offs++;
@@ -23,7 +24,7 @@ public:
             return 0;
         }
     }
-    size_t write(const uint8_t *buffer, size_t size) {
+    size_t write(const uint8_t *buffer, size_t size) override {
         size_t n = 0;
         while (size--) {
             n += write(*buffer++);
@@ -34,6 +35,10 @@ public:
     size_t _offs;
     char* const  _str;
     const size_t _size;
+
+    uint32_t available() override { return 0; }
+    int16_t read() override { return -1; }
+    uint32_t txspace() override { return 0; }
 };
 
 int AP_HAL::Util::snprintf(char* str, size_t size, const char *format, ...)

libraries/AP_HAL/Util.h

@@ -81,7 +81,7 @@ public:
     /*
       return a stream for access to a system shell, if available
      */
-    virtual AP_HAL::Stream *get_shell_stream() { return nullptr; }
+    virtual AP_HAL::BetterStream *get_shell_stream() { return nullptr; }
 
     /* Support for an imu heating system */
     virtual void set_imu_temp(float current) {}

libraries/AP_HAL/utility/BetterStream.cpp

@@ -0,0 +1,31 @@
+#include "BetterStream.h"
+
+#include "print_vprintf.h"
+
+void AP_HAL::BetterStream::printf(const char *fmt, ...)
+{
+    va_list ap;
+    va_start(ap, fmt);
+    vprintf(fmt, ap);
+    va_end(ap);
+}
+
+void AP_HAL::BetterStream::vprintf(const char *fmt, va_list ap)
+{
+    print_vprintf(this, fmt, ap);
+}
+
+size_t AP_HAL::BetterStream::write(const uint8_t *buffer, size_t size)
+{
+    for (size_t i=0; i<size;i++) {
+        if (write(buffer[i] == 0)) {
+            return i;
+        }
+    };
+    return size;
+}
+
+size_t AP_HAL::BetterStream::write(const char *str)
+{
+    return write((const uint8_t *)str, strlen(str));
+}

libraries/AP_HAL/utility/BetterStream.h

@@ -24,12 +24,26 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Namespace.h>
 
-#include "Stream.h"
+class AP_HAL::BetterStream {
-
-class AP_HAL::BetterStream : public AP_HAL::Stream {
 public:
-    BetterStream(void) {}
 
-    virtual void printf(const char *, ...) FMT_PRINTF(2, 3) = 0;
+    virtual void printf(const char *, ...) FMT_PRINTF(2, 3);
-    virtual void vprintf(const char *, va_list) = 0;
+    virtual void vprintf(const char *, va_list);
+
+    void print(const char *str) { write(str); }
+    void println(const char *str) { printf("%s\r\n", str); }
+
+    virtual size_t write(uint8_t) = 0;
+    virtual size_t write(const uint8_t *buffer, size_t size);
+    size_t write(const char *str);
+
+    virtual uint32_t available() = 0;
+
+    /* return value for read():
+     * -1 if nothing available, uint8_t value otherwise. */
+    virtual int16_t read() = 0;
+
+    /* NB txspace was traditionally a member of BetterStream in the
+     * FastSerial library. As far as concerns go, it belongs with available() */
+    virtual uint32_t txspace() = 0;
 };

libraries/AP_HAL/utility/Print.cpp

@@ -1,222 +0,0 @@
-/*
- Print.cpp - Base class that provides print() and println()
- Copyright (c) 2008 David A. Mellis.  All right reserved.
- 
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
- 
- This library 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
- Lesser General Public License for more details.
- 
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- 
- Modified 23 November 2006 by David A. Mellis
- */
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <stdint.h>
-
-#include <AP_Math/AP_Math.h>
-#include <AP_HAL/AP_HAL_Namespace.h>
-#include "Print.h"
-using namespace AP_HAL;
-
-size_t Print::print(const char str[])
-{
-  return write(str);
-}
-
-size_t Print::print(char c)
-{
-  return write(c);
-}
-
-size_t Print::print(unsigned char b, int base)
-{
-  return print((unsigned long) b, base);
-}
-
-size_t Print::print(int n, int base)
-{
-  return print((long) n, base);
-}
-
-size_t Print::print(unsigned int n, int base)
-{
-  return print((unsigned long) n, base);
-}
-
-size_t Print::print(long n, int base)
-{
-  if (base == 0) {
-    return write(n);
-  } else if (base == 10) {
-    if (n < 0) {
-      int t = print('-');
-      n = -n;
-      return printNumber(n, 10) + t;
-    }
-    return printNumber(n, 10);
-  } else {
-    return printNumber(n, base);
-  }
-}
-
-size_t Print::print(unsigned long n, int base)
-{
-  if (base == 0) return write(n);
-  else return printNumber(n, base);
-}
-
-size_t Print::print(float n, int digits)
-{
-  return printFloat(n, digits);
-}
-
-// the compiler promotes to double if we do arithmetic in the
-// argument, but we only actually want float precision, so just wrap
-// it with a double method
-size_t Print::print(double n, int digits)
-{
-	return print((float)n, digits);
-}
-
-size_t Print::println(void)
-{
-  size_t n = print('\r');
-  n += print('\n');
-  return n;
-}
-
-size_t Print::println(const char c[])
-{
-  size_t n = print(c);
-  n += println();
-  return n;
-}
-
-size_t Print::println(char c)
-{
-  size_t n = print(c);
-  n += println();
-  return n;
-}
-
-size_t Print::println(unsigned char b, int base)
-{
-  size_t n = print(b, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(int num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(unsigned int num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(long num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(unsigned long num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(float num, int digits)
-{
-  size_t n = print(num, digits);
-  n += println();
-  return n;
-}
-
-// the compiler promotes to double if we do arithmetic in the
-// argument, but we only actually want float precision, so just wrap
-// it with a double method
-size_t Print::println(double num, int digits)
-{
-  return println((float)num, digits);
-}
-
-// Private Methods /////////////////////////////////////////////////////////////
-
-size_t Print::printNumber(unsigned long n, uint8_t base) {
-  char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
-  char *str = &buf[sizeof(buf) - 1];
-
-  *str = '\0';
-
-  // prevent crash if called with base == 1
-  if (base < 2) base = 10;
-
-  do {
-    unsigned long m = n;
-    n /= base;
-    char c = m - base * n;
-    *--str = c < 10 ? c + '0' : c + 'A' - 10;
-  } while(n);
-
-  return write(str);
-}
-
-size_t Print::printFloat(float number, uint8_t digits) 
-{ 
-  size_t n = 0;
-  
-  // Handle negative numbers
-  if (number < 0.0f)
-  {
-     n += print('-');
-     number = -number;
-  }
-
-  // Round correctly so that print(1.999, 2) prints as "2.00"
-  float rounding = 0.5;
-  for (uint8_t i=0; i<digits; ++i)
-    rounding /= 10.0f;
-  
-  number += rounding;
-
-  // Extract the integer part of the number and print it
-  unsigned long int_part = (unsigned long)number;
-  float remainder = number - (float )int_part;
-  n += print(int_part);
-
-  // Print the decimal point, but only if there are digits beyond
-  if (digits > 0) {
-    n += print("."); 
-  }
-
-  // Extract digits from the remainder one at a time
-  while (digits-- > 0)
-  {
-    remainder *= 10.0f;
-    int toPrint = int(remainder);
-    n += print(toPrint);
-    remainder -= toPrint; 
-  } 
-  
-  return n;
-}

libraries/AP_HAL/utility/Print.h

@@ -1,75 +0,0 @@
-/*
-  Print.h - Base class that provides print() and println()
-  Copyright (c) 2008 David A. Mellis.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library 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
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-#pragma once
-
-#include <AP_HAL/AP_HAL_Namespace.h>
-
-#include <inttypes.h>
-#include <string.h>
-
-/**
- * This is the Arduino (v1.0) Print class, with some changes:
- * - Removed methods for class String or _FlashStringHelper
- * - printFloat takes a float, not a double. (double === float on AVR, but
- *   not on other platforms)
- */
-
-enum {
-    BASE_DEFAULT = 0,
-    BASE_BIN     = 2,
-    BASE_OCT     = 8,
-    BASE_DEC     = 10,
-    BASE_HEX     = 16
-};
-
-
-class AP_HAL::Print {
-  private:
-    size_t printNumber(unsigned long, uint8_t);
-    size_t printFloat(float, uint8_t);
-  public:
-    Print() {}
-
-    virtual size_t write(uint8_t) = 0;
-    virtual size_t write(const uint8_t *buffer, size_t size) = 0;
-
-    size_t write(const char *str) { return write((const uint8_t *)str, strlen(str)); }
-  public:
-    size_t print(const char[]);
-    size_t print(char);
-    size_t print(unsigned char, int = BASE_DEC);
-    size_t print(int, int = BASE_DEC);
-    size_t print(unsigned int, int = BASE_DEC);
-    size_t print(long, int = BASE_DEC);
-    size_t print(unsigned long, int = BASE_DEC);
-    size_t print(float , int = 2);
-    size_t print(double , int = 2);
-
-    size_t println(const char[]);
-    size_t println(char);
-    size_t println(unsigned char, int = BASE_DEC);
-    size_t println(int, int = BASE_DEC);
-    size_t println(unsigned int, int = BASE_DEC);
-    size_t println(long, int = BASE_DEC);
-    size_t println(unsigned long, int = BASE_DEC);
-    size_t println(float , int = 2);
-    size_t println(double , int = 2);
-    size_t println(void);
-
-};

libraries/AP_HAL/utility/Stream.h

@@ -1,20 +0,0 @@
-#pragma once
-
-#include <AP_HAL/AP_HAL_Namespace.h>
-#include "Print.h"
-
-/* A simple Stream library modeled after the bits we actually use
- * from Arduino Stream */
-
-class AP_HAL::Stream : public AP_HAL::Print {
-public:
-    virtual uint32_t available() = 0;
-    /* NB txspace was traditionally a member of BetterStream in the
-     * FastSerial library. As far as concerns go, it belongs with available() */
-    virtual uint32_t txspace() = 0;
-
-    /* return value for read():
-     * -1 if nothing available, uint8_t value otherwise. */
-    virtual int16_t read() = 0;
-
-};

libraries/AP_HAL/utility/print_vprintf.cpp

@@ -66,7 +66,7 @@
 #define FL_FLTEXP   FL_PREC
 #define FL_FLTFIX   FL_LONG
 
-void print_vprintf(AP_HAL::Print *s, const char *fmt, va_list ap)
+void print_vprintf(AP_HAL::BetterStream *s, const char *fmt, va_list ap)
 {
         unsigned char c;        /* holds a char from the format string */
         uint16_t flags;

libraries/AP_HAL/utility/print_vprintf.h

@@ -4,4 +4,4 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-void print_vprintf(AP_HAL::Print *s, const char *fmt, va_list ap);
+void print_vprintf(AP_HAL::BetterStream *s, const char *fmt, va_list ap);

libraries/AP_HAL_PX4/Util.h

@@ -4,7 +4,7 @@
 #include "AP_HAL_PX4_Namespace.h"
 #include "Semaphores.h"
 
-class PX4::NSHShellStream : public AP_HAL::Stream {
+class PX4::NSHShellStream : public AP_HAL::BetterStream {
 public:
     size_t write(uint8_t);
     size_t write(const uint8_t *buffer, size_t size);
@@ -49,7 +49,7 @@ public:
     /*
       return a stream for access to nsh shell
      */
-    AP_HAL::Stream *get_shell_stream() { return &_shell_stream; }
+    AP_HAL::BetterStream *get_shell_stream() { return &_shell_stream; }
     perf_counter_t perf_alloc(perf_counter_type t, const char *name) override;
     void perf_begin(perf_counter_t ) override;
     void perf_end(perf_counter_t) override;

libraries/AP_HAL_VRBRAIN/Util.h

@@ -4,7 +4,7 @@
 #include "AP_HAL_VRBRAIN_Namespace.h"
 #include "Semaphores.h"
 
-class VRBRAIN::NSHShellStream : public AP_HAL::Stream {
+class VRBRAIN::NSHShellStream : public AP_HAL::BetterStream {
 public:
     size_t write(uint8_t);
     size_t write(const uint8_t *buffer, size_t size);
@@ -49,7 +49,7 @@ public:
     /*
       return a stream for access to nsh shell
      */
-    AP_HAL::Stream *get_shell_stream() { return &_shell_stream; }
+    AP_HAL::BetterStream *get_shell_stream() { return &_shell_stream; }
     perf_counter_t perf_alloc(perf_counter_type t, const char *name) override;
     void perf_begin(perf_counter_t ) override;
     void perf_end(perf_counter_t) override;