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AP_HAL_Linux: added _serial_start_connection

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This commit is contained in:
Staroselskii Georgii 2015-06-11 14:57:15 +03:00 committed by Randy Mackay
parent ed431e9857
commit 9b25217757
2 changed files with 25 additions and 13 deletions
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37
libraries/AP_HAL_Linux/UARTDriver.cpp
View File

@ -101,20 +101,9 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
case DEVICE_SERIAL:
{
_rd_fd = open(device_path, O_RDWR);
_wr_fd = _rd_fd;
if (_rd_fd == -1) {
::fprintf(stdout, "Failed to open UART device %s - %s\n",
device_path, strerror(errno));
return;
if (!_serial_start_connection()) {
return; /* Whatever it might mean */
}
// always run the file descriptor non-blocking, and deal with
// blocking IO in the higher level calls
fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK);
// TODO: add proper flow control support
_flow_control = FLOW_CONTROL_DISABLE;
break;
}
default:
@ -248,6 +237,28 @@ LinuxUARTDriver::device_type LinuxUARTDriver::_parseDevicePath(const char *arg)
return DEVICE_UNKNOWN;
}
bool LinuxUARTDriver::_serial_start_connection()
{
_rd_fd = open(device_path, O_RDWR);
_wr_fd = _rd_fd;
if (_rd_fd == -1) {
::fprintf(stdout, "Failed to open UART device %s - %s\n",
device_path, strerror(errno));
return false;
}
// always run the file descriptor non-blocking, and deal with
// blocking IO in the higher level calls
fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK);
// TODO: add proper flow control support
_flow_control = FLOW_CONTROL_DISABLE;
return true;
}
/*
start a TCP connection for the serial port. If wait_for_connection
is true then block until a client connects

1
libraries/AP_HAL_Linux/UARTDriver.h
View File

@ -47,6 +47,7 @@ private:
void _allocate_buffers(uint16_t rxS, uint16_t txS);
void _tcp_start_connection(bool wait_for_connection);
void _udp_start_connection(void);
bool _serial_start_connection(void);
enum device_type {
DEVICE_TCP,