mirror of https://github.com/ArduPilot/ardupilot
92 lines
2.4 KiB
C++
92 lines
2.4 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
|
|
#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<UARTDriver*>(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 */
|
|
uint32_t available() override;
|
|
uint32_t txspace() override;
|
|
int16_t read() override;
|
|
|
|
/* 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<SerialDevice> _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<SerialDevice> _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);
|
|
|
|
};
|
|
|
|
}
|