mirror of https://github.com/ArduPilot/ardupilot
130 lines
3.7 KiB
C++
130 lines
3.7 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <stdint.h>
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#include <stdarg.h>
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#include "AP_HAL_SITL_Namespace.h"
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#include <AP_HAL/utility/Socket.h>
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#include <AP_HAL/utility/RingBuffer.h>
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class HALSITL::UARTDriver : public AP_HAL::UARTDriver {
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public:
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friend class HALSITL::SITL_State;
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UARTDriver(const uint8_t portNumber, SITL_State *sitlState) {
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_portNumber = portNumber;
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_sitlState = sitlState;
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_fd = -1;
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_mc_fd = -1;
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_listen_fd = -1;
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}
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static UARTDriver *from(AP_HAL::UARTDriver *uart) {
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return static_cast<UARTDriver*>(uart);
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}
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/* Implementations of UARTDriver virtual methods */
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void begin(uint32_t b) override {
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begin(b, 0, 0);
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}
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void begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
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void end() override;
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void flush() override;
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bool is_initialized() override {
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return true;
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}
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void set_blocking_writes(bool blocking) override
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{
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_nonblocking_writes = !blocking;
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}
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bool tx_pending() override {
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return false;
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}
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/* 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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/* Implementations of Print virtual methods */
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size_t write(uint8_t c) override;
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size_t write(const uint8_t *buffer, size_t size) override;
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// file descriptor, exposed so SITL_State::loop_hook() can use it
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int _fd;
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// file descriptor for reading multicast packets
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int _mc_fd;
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bool _unbuffered_writes;
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enum flow_control get_flow_control(void) override { return FLOW_CONTROL_ENABLE; }
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void configure_parity(uint8_t v) override;
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void set_stop_bits(int n) override;
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bool set_unbuffered_writes(bool on) override;
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void _timer_tick(void) override;
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/*
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return timestamp estimate in microseconds for when the start of
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a nbytes packet arrived on the uart. This should be treated as a
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time constraint, not an exact time. It is guaranteed that the
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packet did not start being received after this time, but it
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could have been in a system buffer before the returned time.
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This takes account of the baudrate of the link. For transports
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that have no baudrate (such as USB) the time estimate may be
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less accurate.
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A return value of zero means the HAL does not support this API
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*/
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uint64_t receive_time_constraint_us(uint16_t nbytes) override;
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private:
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uint8_t _portNumber;
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bool _connected = false; // true if a client has connected
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bool _use_send_recv = false;
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int _listen_fd; // socket we are listening on
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int _serial_port;
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static bool _console;
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bool _nonblocking_writes;
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ByteBuffer _readbuffer{16384};
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ByteBuffer _writebuffer{16384};
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// default multicast IP and port
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const char *mcast_ip_default = "239.255.145.50";
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const uint16_t mcast_port_default = 14550;
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const char *_uart_path;
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uint32_t _uart_baudrate;
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// IPv4 address of target for uartC
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const char *_tcp_client_addr;
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void _tcp_start_connection(uint16_t port, bool wait_for_connection);
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void _uart_start_connection(void);
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void _check_reconnect();
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void _tcp_start_client(const char *address, uint16_t port);
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void _udp_start_client(const char *address, uint16_t port);
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void _udp_start_multicast(const char *address, uint16_t port);
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void _check_connection(void);
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static bool _select_check(int );
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static void _set_nonblocking(int );
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bool set_speed(int speed);
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SITL_State *_sitlState;
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uint64_t _receive_timestamp;
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bool _is_udp;
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bool _packetise;
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uint16_t _mc_myport;
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uint32_t last_tick_us;
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};
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#endif
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