mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
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#include "CAN.h"
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#include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>
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#include "CANThread.h"
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#include "CANClock.h"
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#include "CANIface.h"
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#define SLCAN_ROUTER_QUEUE_SIZE 64
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struct CanRouteItem {
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uint64_t utc_usec;
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uavcan::CanFrame frame;
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CanRouteItem() :
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utc_usec(0)
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{
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}
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};
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class SLCANRouter {
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ChibiOS_CAN::CanIface* _can_if;
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SLCAN::CAN _slcan_if;
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ObjectBuffer<CanRouteItem> _can_tx_queue;
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ObjectBuffer<CanRouteItem> _slcan_tx_queue;
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static SLCANRouter* _singleton;
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ChibiOS_CAN::BusEvent* _update_event;
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uint32_t _last_active_time = 0;
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uint32_t _slcan_rt_timeout = 0;
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bool _thread_started = false;
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bool _thread_suspended = false;
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HAL_Semaphore router_sem;
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thread_reference_t _s2c_thd_ref;
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thread_reference_t _c2s_thd_ref;
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void timer(void);
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AP_HAL::UARTDriver* _port;
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public:
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SLCANRouter() : _slcan_if(SLCAN_DRIVER_INDEX, SLCAN_RX_QUEUE_SIZE), _can_tx_queue(SLCAN_ROUTER_QUEUE_SIZE), _slcan_tx_queue(SLCAN_ROUTER_QUEUE_SIZE)
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{
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if (_singleton == nullptr) {
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_singleton = this;
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}
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}
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void init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event);
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void route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec);
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void route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec);
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void slcan2can_router_trampoline(void);
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void can2slcan_router_trampoline(void);
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void run(void);
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static SLCANRouter* get_singleton()
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{
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if (_singleton == nullptr) {
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_singleton = new SLCANRouter;
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}
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return _singleton;
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}
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};
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SLCANRouter &slcan_router();
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#endif
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