Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_Linux: deprecate and warn on legacy --uartX option use

Browse Source
This commit is contained in:
Thomas Watson 2023-12-12 11:43:50 -06:00 committed by Andrew Tridgell
parent 14180b5b93
commit e460a19b17
1 changed files with 63 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

98
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -87,6 +87,19 @@ static SPIUARTDriver serial3Driver;
static UARTDriver serial3Driver(false);
#endif
static UARTDriver* serialDrivers[] = {
&serial0Driver,
&serial1Driver,
&serial2Driver,
&serial3Driver,
&serial4Driver,
&serial5Driver,
&serial6Driver,
&serial7Driver,
&serial8Driver,
&serial9Driver,
};
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
@ -287,9 +300,9 @@ void _usage(void)
printf("\tserial (0 through 9 available):\n");
printf("\t --serial0 /dev/ttyO4\n");
printf("\t --serial3 /dev/ttyS1\n");
printf("\tlegacy UART options still work, their mappings are:\n");
printf("\tlegacy UART options are deprecated, their mappings are:\n");
printf("\t -A/--uartA is SERIAL0\n");
printf("\t -C/--uartC is SERIAL1\n");
printf("\t -C/--uartC is SERIAL1\n"); // ordering captures the historical use of uartB as SERIAL3
printf("\t -D/--uartD is SERIAL2\n");
printf("\t -B/--uartB is SERIAL3\n");
printf("\t -E/--uartE is SERIAL4\n");
@ -331,28 +344,41 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
#endif
enum long_options {
CMDLINE_SERIAL0 = 1, // must be in 0-9 order and numbered consecutively
CMDLINE_SERIAL1,
CMDLINE_SERIAL2,
CMDLINE_SERIAL3,
CMDLINE_SERIAL4,
CMDLINE_SERIAL5,
CMDLINE_SERIAL6,
CMDLINE_SERIAL7,
CMDLINE_SERIAL8,
CMDLINE_SERIAL9,
};
int opt;
const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'},
{"serial0", true, 0, 'A'},
{"uartC", true, 0, 'C'}, // ordering captures the historical use of uartB as SERIAL3
{"serial1", true, 0, 'C'},
{"uartD", true, 0, 'D'},
{"serial2", true, 0, 'D'},
{"uartB", true, 0, 'B'},
{"serial3", true, 0, 'B'},
{"uartC", true, 0, 'C'},
{"uartD", true, 0, 'D'},
{"uartE", true, 0, 'E'},
{"serial4", true, 0, 'E'},
{"uartF", true, 0, 'F'},
{"serial5", true, 0, 'F'},
{"uartG", true, 0, 'G'},
{"serial6", true, 0, 'G'},
{"uartH", true, 0, 'H'},
{"serial7", true, 0, 'H'},
{"uartI", true, 0, 'I'},
{"serial8", true, 0, 'I'},
{"uartJ", true, 0, 'J'},
{"serial9", true, 0, 'J'},
{"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2},
{"serial3", true, 0, CMDLINE_SERIAL3},
{"serial4", true, 0, CMDLINE_SERIAL4},
{"serial5", true, 0, CMDLINE_SERIAL5},
{"serial6", true, 0, CMDLINE_SERIAL6},
{"serial7", true, 0, CMDLINE_SERIAL7},
{"serial8", true, 0, CMDLINE_SERIAL8},
{"serial9", true, 0, CMDLINE_SERIAL9},
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"storage-directory", true, 0, 's'},
@ -372,34 +398,36 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'A':
serial0Driver.set_device_path(gopt.optarg);
break;
case 'C':
serial1Driver.set_device_path(gopt.optarg);
break;
case 'D':
serial2Driver.set_device_path(gopt.optarg);
break;
case 'B':
serial3Driver.set_device_path(gopt.optarg);
break;
case 'C':
case 'D':
case 'E':
serial4Driver.set_device_path(gopt.optarg);
break;
case 'F':
serial5Driver.set_device_path(gopt.optarg);
break;
case 'G':
serial6Driver.set_device_path(gopt.optarg);
break;
case 'H':
serial7Driver.set_device_path(gopt.optarg);
break;
case 'I':
serial8Driver.set_device_path(gopt.optarg);
case 'J': {
int uart_idx = opt - 'A';
// ordering captures the historical use of uartB as SERIAL3
static const uint8_t mapping[] = { 0, 3, 1, 2, 4, 5, 6, 7, 8, 9 };
int serial_idx = mapping[uart_idx];
printf("WARNING: deprecated option --uart%c/-%c will be removed in "
"a future release. Use --serial%d instead.\n",
(char)opt, (char)opt, serial_idx);
serialDrivers[serial_idx]->set_device_path(gopt.optarg);
break;
case 'J':
serial9Driver.set_device_path(gopt.optarg);
}
case CMDLINE_SERIAL0:
case CMDLINE_SERIAL1:
case CMDLINE_SERIAL2:
case CMDLINE_SERIAL3:
case CMDLINE_SERIAL4:
case CMDLINE_SERIAL5:
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9:
serialDrivers[opt - CMDLINE_SERIAL0]->set_device_path(gopt.optarg);
break;
case 'l':
utilInstance.set_custom_log_directory(gopt.optarg);