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AP_HAL_SITL: eliminate internal legacy UART ordering/references

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Legacy command line arguments are kept to avoid breaking users.

The vestigial `_tcp_client_addr` variable is removed.

Serial port status messages are updated to a slightly different format
to clarify the numbering scheme being used and prompt any external
consumers to update.
This commit is contained in:
Thomas Watson 2023-12-10 21:55:21 -06:00 committed by Andrew Tridgell
parent f34034584f
commit 9044632315
7 changed files with 61 additions and 90 deletions
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42
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
View File

@ -53,16 +53,16 @@ static DSP dspDriver;
static Empty::OpticalFlow emptyOpticalFlow;
static Empty::Flash emptyFlash;
static UARTDriver sitlUart0Driver(0, &sitlState);
static UARTDriver sitlUart1Driver(1, &sitlState);
static UARTDriver sitlUart2Driver(2, &sitlState);
static UARTDriver sitlUart3Driver(3, &sitlState);
static UARTDriver sitlUart4Driver(4, &sitlState);
static UARTDriver sitlUart5Driver(5, &sitlState);
static UARTDriver sitlUart6Driver(6, &sitlState);
static UARTDriver sitlUart7Driver(7, &sitlState);
static UARTDriver sitlUart8Driver(8, &sitlState);
static UARTDriver sitlUart9Driver(9, &sitlState);
static UARTDriver sitlSerial0Driver(0, &sitlState);
static UARTDriver sitlSerial1Driver(1, &sitlState);
static UARTDriver sitlSerial2Driver(2, &sitlState);
static UARTDriver sitlSerial3Driver(3, &sitlState);
static UARTDriver sitlSerial4Driver(4, &sitlState);
static UARTDriver sitlSerial5Driver(5, &sitlState);
static UARTDriver sitlSerial6Driver(6, &sitlState);
static UARTDriver sitlSerial7Driver(7, &sitlState);
static UARTDriver sitlSerial8Driver(8, &sitlState);
static UARTDriver sitlSerial9Driver(9, &sitlState);
static I2CDeviceManager i2c_mgr_instance;
@ -81,22 +81,22 @@ static Empty::WSPIDeviceManager wspi_mgr_instance;
HAL_SITL::HAL_SITL() :
AP_HAL::HAL(
&sitlUart0Driver, /* uartA */
&sitlUart2Driver, /* uartC */ // ordering captures the historical use of uartB as SERIAL3
&sitlUart3Driver, /* uartD */
&sitlUart1Driver, /* uartB */
&sitlUart4Driver, /* uartE */
&sitlUart5Driver, /* uartF */
&sitlUart6Driver, /* uartG */
&sitlUart7Driver, /* uartH */
&sitlUart8Driver, /* uartI */
&sitlUart9Driver, /* uartJ */
&sitlSerial0Driver,
&sitlSerial1Driver,
&sitlSerial2Driver,
&sitlSerial3Driver,
&sitlSerial4Driver,
&sitlSerial5Driver,
&sitlSerial6Driver,
&sitlSerial7Driver,
&sitlSerial8Driver,
&sitlSerial9Driver,
&i2c_mgr_instance,
&spi_mgr_instance, /* spi */
&wspi_mgr_instance,
&sitlAnalogIn, /* analogin */
&sitlStorage, /* storage */
&sitlUart0Driver, /* console */
&sitlSerial0Driver, /* console */
&sitlGPIO, /* gpio */
&sitlRCInput, /* rcinput */
&sitlRCOutput, /* rcoutput */

6
libraries/AP_HAL_SITL/SITL_Periph_State.cpp
View File

@ -83,11 +83,9 @@ void SITL_State::init(int argc, char * const argv[]) {
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9: {
static const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
_uart_path[mapping[opt - CMDLINE_SERIAL0]] = gopt.optarg;
case CMDLINE_SERIAL9:
_serial_path[opt - CMDLINE_SERIAL0] = gopt.optarg;
break;
}
case CMDLINE_DEFAULTS:
defaults_path = strdup(gopt.optarg);
break;

4
libraries/AP_HAL_SITL/SITL_Periph_State.h
View File

@ -61,11 +61,11 @@ public:
}
// paths for UART devices
const char *_uart_path[9] {
const char *_serial_path[9] {
"none:0",
"GPS1",
"none:1",
"sim:adsb",
"GPS1",
"udpclient:127.0.0.1:15550", // for CAN UART test
"none:5",
"none:6",

4
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -29,11 +29,11 @@ public:
}
// paths for UART devices
const char *_uart_path[9] {
const char *_serial_path[9] {
"tcp:0:wait",
"GPS1",
"tcp:2",
"tcp:3",
"GPS1",
"GPS2",
"tcp:5",
"tcp:6",

70
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -92,16 +92,16 @@ void SITL_State::_usage(void)
"\t--gimbal enable simulated MAVLink gimbal\n"
"\t--autotest-dir DIR set directory for additional files\n"
"\t--defaults path set path to defaults file\n"
"\t--uartA device set device string for UARTA\n"
"\t--uartB device set device string for UARTB\n"
"\t--uartC device set device string for UARTC\n"
"\t--uartD device set device string for UARTD\n"
"\t--uartE device set device string for UARTE\n"
"\t--uartF device set device string for UARTF\n"
"\t--uartG device set device string for UARTG\n"
"\t--uartH device set device string for UARTH\n"
"\t--uartI device set device string for UARTI\n"
"\t--uartJ device set device string for UARTJ\n"
"\t--uartA device set device string for SERIAL0\n"
"\t--uartB device set device string for SERIAL3\n" // ordering captures the historical use of uartB as SERIAL3
"\t--uartC device set device string for SERIAL1\n"
"\t--uartD device set device string for SERIAL2\n"
"\t--uartE device set device string for SERIAL4\n"
"\t--uartF device set device string for SERIAL5\n"
"\t--uartG device set device string for SERIAL6\n"
"\t--uartH device set device string for SERIAL7\n"
"\t--uartI device set device string for SERIAL8\n"
"\t--uartJ device set device string for SERIAL9\n"
"\t--serial0 device set device string for SERIAL0\n"
"\t--serial1 device set device string for SERIAL1\n"
"\t--serial2 device set device string for SERIAL2\n"
@ -246,17 +246,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
CMDLINE_FGVIEW,
CMDLINE_AUTOTESTDIR,
CMDLINE_DEFAULTS,
CMDLINE_UARTA,
CMDLINE_UARTB,
CMDLINE_UARTC,
CMDLINE_UARTD,
CMDLINE_UARTE,
CMDLINE_UARTF,
CMDLINE_UARTG,
CMDLINE_UARTH,
CMDLINE_UARTI,
CMDLINE_UARTJ,
CMDLINE_SERIAL0,
CMDLINE_SERIAL0, // must be in 0-9 order and numbered consecutively
CMDLINE_SERIAL1,
CMDLINE_SERIAL2,
CMDLINE_SERIAL3,
@ -305,16 +295,16 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"disable-fgview", false, 0, CMDLINE_FGVIEW},
{"autotest-dir", true, 0, CMDLINE_AUTOTESTDIR},
{"defaults", true, 0, CMDLINE_DEFAULTS},
{"uartA", true, 0, CMDLINE_UARTA},
{"uartB", true, 0, CMDLINE_UARTB},
{"uartC", true, 0, CMDLINE_UARTC},
{"uartD", true, 0, CMDLINE_UARTD},
{"uartE", true, 0, CMDLINE_UARTE},
{"uartF", true, 0, CMDLINE_UARTF},
{"uartG", true, 0, CMDLINE_UARTG},
{"uartH", true, 0, CMDLINE_UARTH},
{"uartI", true, 0, CMDLINE_UARTI},
{"uartJ", true, 0, CMDLINE_UARTJ},
{"uartA", true, 0, CMDLINE_SERIAL0},
{"uartB", true, 0, CMDLINE_SERIAL3}, // ordering captures the historical use of uartB as SERIAL3
{"uartC", true, 0, CMDLINE_SERIAL1},
{"uartD", true, 0, CMDLINE_SERIAL2},
{"uartE", true, 0, CMDLINE_SERIAL4},
{"uartF", true, 0, CMDLINE_SERIAL5},
{"uartG", true, 0, CMDLINE_SERIAL6},
{"uartH", true, 0, CMDLINE_SERIAL7},
{"uartI", true, 0, CMDLINE_SERIAL8},
{"uartJ", true, 0, CMDLINE_SERIAL9},
{"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2},
@ -449,18 +439,6 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_DEFAULTS:
defaults_path = strdup(gopt.optarg);
break;
case CMDLINE_UARTA:
case CMDLINE_UARTB:
case CMDLINE_UARTC:
case CMDLINE_UARTD:
case CMDLINE_UARTE:
case CMDLINE_UARTF:
case CMDLINE_UARTG:
case CMDLINE_UARTH:
case CMDLINE_UARTI:
case CMDLINE_UARTJ:
_uart_path[opt - CMDLINE_UARTA] = gopt.optarg;
break;
case CMDLINE_SERIAL0:
case CMDLINE_SERIAL1:
case CMDLINE_SERIAL2:
@ -470,11 +448,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9: {
static const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
_uart_path[mapping[opt - CMDLINE_SERIAL0]] = gopt.optarg;
case CMDLINE_SERIAL9:
_serial_path[opt - CMDLINE_SERIAL0] = gopt.optarg;
break;
}
case CMDLINE_RTSCTS:
_use_rtscts = true;
break;

22
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -56,11 +56,11 @@ bool UARTDriver::_console;
void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
{
if (_portNumber >= ARRAY_SIZE(_sitlState->_uart_path)) {
AP_HAL::panic("port number out of range; you may need to extend _sitlState->_uart_path");
if (_portNumber >= ARRAY_SIZE(_sitlState->_serial_path)) {
AP_HAL::panic("port number out of range; you may need to extend _sitlState->_serial_path");
}
const char *path = _sitlState->_uart_path[_portNumber];
const char *path = _sitlState->_serial_path[_portNumber];
if (baud != 0) {
_uart_baudrate = baud;
@ -95,11 +95,11 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
char *args1 = strtok_r(nullptr, ":", &saveptr);
char *args2 = strtok_r(nullptr, ":", &saveptr);
#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
if (_portNumber == 2 && AP::sitl()->adsb_plane_count >= 0) {
if (_portNumber == 1 && AP::sitl()->adsb_plane_count >= 0) {
// this is ordinarily port 5762. The ADSB simulation assumed
// this port, so if enabled we assume we'll be doing ADSB...
// add sanity check here that we're doing mavlink on this port?
::printf("SIM-ADSB connection on port %u\n", _portNumber);
::printf("SIM-ADSB connection on SERIAL%u\n", _portNumber);
_connected = true;
_sim_serial_device = _sitlState->create_serial_sim("adsb", nullptr);
} else
@ -122,7 +122,7 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
_uart_start_connection();
} else if (strcmp(devtype, "sim") == 0) {
if (!_connected) {
::printf("SIM connection %s:%s on port %u\n", args1, args2, _portNumber);
::printf("SIM connection %s:%s on SERIAL%u\n", args1, args2, _portNumber);
_connected = true;
_sim_serial_device = _sitlState->create_serial_sim(args1, args2);
}
@ -334,7 +334,7 @@ void UARTDriver::_tcp_start_connection(uint16_t port, bool wait_for_connection)
exit(1);
}
fprintf(stderr, "bind port %u for %u\n",
fprintf(stderr, "bind port %u for SERIAL%u\n",
(unsigned)ntohs(_listen_sockaddr.sin_port),
(unsigned)_portNumber);
@ -352,7 +352,7 @@ void UARTDriver::_tcp_start_connection(uint16_t port, bool wait_for_connection)
exit(1);
}
fprintf(stderr, "Serial port %u on TCP port %u\n", _portNumber,
fprintf(stderr, "SERIAL%u on TCP port %u\n", _portNumber,
(unsigned)ntohs(_listen_sockaddr.sin_port));
fflush(stdout);
}
@ -630,7 +630,7 @@ void UARTDriver::_check_connection(void)
setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
fcntl(_fd, F_SETFD, FD_CLOEXEC);
fprintf(stdout, "New connection on serial port %u\n", _portNumber);
fprintf(stdout, "New connection on SERIAL%u\n", _portNumber);
}
}
}
@ -917,7 +917,7 @@ void UARTDriver::handle_reading_from_device_to_readbuffer()
close(_fd);
_fd = -1;
_connected = false;
fprintf(stdout, "Closed connection on serial port %u\n", _portNumber);
fprintf(stdout, "Closed connection on SERIAL%u\n", _portNumber);
fflush(stdout);
#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(CYGWIN_BUILD)
if (_portNumber == 0) {
@ -990,7 +990,7 @@ ssize_t UARTDriver::get_system_outqueue_length() const
uint32_t UARTDriver::bw_in_bytes_per_second() const
{
// if connected, assume at least a 10/100Mbps connection
const uint32_t bitrate = (_connected && _tcp_client_addr != nullptr) ? 10E6 : _uart_baudrate;
const uint32_t bitrate = _connected ? 10E6 : _uart_baudrate;
return bitrate/10; // convert bits to bytes minus overhead
};
#endif // CONFIG_HAL_BOARD

3
libraries/AP_HAL_SITL/UARTDriver.h
View File

@ -89,9 +89,6 @@ private:
const char *_uart_path;
uint32_t _uart_baudrate;
// IPv4 address of target for uartC
const char *_tcp_client_addr;
void _tcp_start_connection(uint16_t port, bool wait_for_connection);
void _uart_start_connection(void);
void _check_reconnect();