mirror of https://github.com/ArduPilot/ardupilot
105 lines
3.0 KiB
C++
105 lines
3.0 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
#include <AP_HAL/utility/RingBuffer.h>
|
|
|
|
#include "AP_HAL_Linux.h"
|
|
#include "SerialDevice.h"
|
|
#include "Semaphores.h"
|
|
|
|
namespace Linux {
|
|
|
|
class UARTDriver : public AP_HAL::UARTDriver {
|
|
public:
|
|
UARTDriver(bool default_console);
|
|
|
|
static UARTDriver *from(AP_HAL::UARTDriver *uart) {
|
|
return static_cast<UARTDriver*>(uart);
|
|
}
|
|
|
|
bool is_initialized() override;
|
|
bool tx_pending() override;
|
|
|
|
uint32_t txspace() override;
|
|
|
|
void set_device_path(const char *path);
|
|
|
|
bool _write_pending_bytes(void);
|
|
virtual void _timer_tick(void) override;
|
|
|
|
virtual enum flow_control get_flow_control(void) override
|
|
{
|
|
return _device->get_flow_control();
|
|
}
|
|
|
|
void configure_parity(uint8_t v) override;
|
|
|
|
virtual void set_flow_control(enum flow_control flow_control_setting) override
|
|
{
|
|
_device->set_flow_control(flow_control_setting);
|
|
}
|
|
|
|
/*
|
|
return timestamp estimate in microseconds for when the start of
|
|
a nbytes packet arrived on the uart. This should be treated as a
|
|
time constraint, not an exact time. It is guaranteed that the
|
|
packet did not start being received after this time, but it
|
|
could have been in a system buffer before the returned time.
|
|
|
|
This takes account of the baudrate of the link. For transports
|
|
that have no baudrate (such as USB) the time estimate may be
|
|
less accurate.
|
|
|
|
A return value of zero means the HAL does not support this API
|
|
*/
|
|
uint64_t receive_time_constraint_us(uint16_t nbytes) override;
|
|
|
|
uint32_t bw_in_bytes_per_second() const override;
|
|
|
|
virtual uint32_t get_baud_rate() const override { return _baudrate; }
|
|
|
|
private:
|
|
AP_HAL::OwnPtr<SerialDevice> _device;
|
|
bool _console;
|
|
volatile bool _in_timer;
|
|
uint16_t _base_port;
|
|
uint32_t _baudrate;
|
|
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<SerialDevice> _parseDevicePath(const char *arg);
|
|
|
|
// timestamp for receiving data on the UART, avoiding a lock
|
|
uint64_t _receive_timestamp[2];
|
|
uint8_t _receive_timestamp_idx;
|
|
|
|
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
|
|
ByteBuffer _readbuf{0};
|
|
ByteBuffer _writebuf{0};
|
|
|
|
virtual int _write_fd(const uint8_t *buf, uint16_t n);
|
|
virtual int _read_fd(uint8_t *buf, uint16_t n);
|
|
|
|
Linux::Semaphore _write_mutex;
|
|
|
|
bool _discard_input() override;
|
|
void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
|
|
void _end() override;
|
|
void _flush() override;
|
|
uint32_t _available() override;
|
|
size_t _write(const uint8_t *buffer, size_t size) override;
|
|
ssize_t _read(uint8_t *buffer, uint16_t count) override WARN_IF_UNUSED;
|
|
};
|
|
|
|
}
|