#pragma once #include #include "AP_HAL_Linux.h" #include "SerialDevice.h" namespace Linux { class UARTDriver : public AP_HAL::UARTDriver { public: UARTDriver(bool default_console); static UARTDriver *from(AP_HAL::UARTDriver *uart) { return static_cast(uart); } /* Linux implementations of UARTDriver virtual methods */ void begin(uint32_t b); void begin(uint32_t b, uint16_t rxS, uint16_t txS); void end(); void flush(); bool is_initialized(); void set_blocking_writes(bool blocking); bool tx_pending(); /* Linux implementations of Stream virtual methods */ int16_t available(); int16_t txspace(); int16_t read(); /* Linux implementations of Print virtual methods */ size_t write(uint8_t c); size_t write(const uint8_t *buffer, size_t size); void set_device_path(const char *path); bool _write_pending_bytes(void); virtual void _timer_tick(void); virtual enum flow_control get_flow_control(void) override { return _device->get_flow_control(); } virtual void set_flow_control(enum flow_control flow_control_setting) override { _device->set_flow_control(flow_control_setting); } private: AP_HAL::OwnPtr _device; bool _nonblocking_writes; bool _console; volatile bool _in_timer; uint16_t _base_port; char *_ip; char *_flag; bool _connected; // true if a client has connected bool _packetise; // true if writes should try to be on mavlink boundaries void _allocate_buffers(uint16_t rxS, uint16_t txS); void _deallocate_buffers(); AP_HAL::OwnPtr _parseDevicePath(const char *arg); uint64_t _last_write_time; protected: const char *device_path; volatile bool _initialised; // we use in-task ring buffers to reduce the system call cost // of ::read() and ::write() in the main loop uint8_t *_readbuf; uint16_t _readbuf_size; // _head is where the next available data is. _tail is where new // data is put volatile uint16_t _readbuf_head; volatile uint16_t _readbuf_tail; uint8_t *_writebuf; uint16_t _writebuf_size; volatile uint16_t _writebuf_head; volatile uint16_t _writebuf_tail; virtual int _write_fd(const uint8_t *buf, uint16_t n); virtual int _read_fd(uint8_t *buf, uint16_t n); }; }