mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
e8bfcf02a0
This patch replaces the 'old style' ringbuffer by the ByteBuffer class. An effort was made to keep the exchange as close as possible from a drop-in replacement to minimize the risk of introducing bugs. Although the exchange opens opportunities for improvement and simplification of this class. While at it, just like in the write case, explain why we are stopping.
74 lines
1.8 KiB
C++
74 lines
1.8 KiB
C++
#pragma once
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#include <AP_HAL/utility/RingBuffer.h>
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#include <systemlib/perf_counter.h>
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#include "AP_HAL_VRBRAIN.h"
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class VRBRAIN::VRBRAINUARTDriver : public AP_HAL::UARTDriver {
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public:
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VRBRAINUARTDriver(const char *devpath, const char *perf_name);
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/* VRBRAIN implementations of UARTDriver virtual methods */
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void begin(uint32_t b);
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void end();
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void flush();
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bool is_initialized();
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void set_blocking_writes(bool blocking);
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bool tx_pending();
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/* VRBRAIN implementations of Stream virtual methods */
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uint32_t available() override;
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uint32_t txspace() override;
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int16_t read() override;
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/* VRBRAIN implementations of Print virtual methods */
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size_t write(uint8_t c);
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size_t write(const uint8_t *buffer, size_t size);
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void set_device_path(const char *path) {
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_devpath = path;
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}
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void _timer_tick(void);
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int _get_fd(void) {
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return _fd;
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}
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void set_flow_control(enum flow_control flow_control);
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enum flow_control get_flow_control(void) { return _flow_control; }
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private:
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const char *_devpath;
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int _fd;
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uint32_t _baudrate;
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volatile bool _initialised;
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volatile bool _in_timer;
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bool _nonblocking_writes;
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// we use in-task ring buffers to reduce the system call cost
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// of ::read() and ::write() in the main loop
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ByteBuffer _readbuf;
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ByteBuffer _writebuf;
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perf_counter_t _perf_uart;
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int _write_fd(const uint8_t *buf, uint16_t n);
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int _read_fd(uint8_t *buf, uint16_t n);
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uint64_t _first_write_time;
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uint64_t _last_write_time;
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void try_initialise(void);
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uint32_t _last_initialise_attempt_ms;
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uint32_t _os_start_auto_space;
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uint32_t _total_read;
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uint32_t _total_written;
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enum flow_control _flow_control;
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pid_t _uart_owner_pid;
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};
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