mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.5 KiB
C++
77 lines
2.5 KiB
C++
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#ifndef __AP_HAL_UART_DRIVER_H__
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#define __AP_HAL_UART_DRIVER_H__
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#include <stdint.h>
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#include "AP_HAL_Namespace.h"
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#include "utility/BetterStream.h"
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/* Pure virtual UARTDriver class */
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class AP_HAL::UARTDriver : public AP_HAL::BetterStream {
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public:
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UARTDriver() {}
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virtual void begin(long baud) = 0;
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/// Extended port open method
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///
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/// Allows for both opening with specified buffer sizes, and re-opening
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/// to adjust a subset of the port's settings.
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///
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/// @note Buffer sizes greater than ::_max_buffer_size will be rounded
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/// down.
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///
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/// @param baud Selects the speed that the port will be
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/// configured to. If zero, the port speed is left
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/// unchanged.
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/// @param rxSpace Sets the receive buffer size for the port. If zero
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/// then the buffer size is left unchanged if the port
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/// is open, or set to ::_default_rx_buffer_size if it is
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/// currently closed.
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/// @param txSpace Sets the transmit buffer size for the port. If zero
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/// then the buffer size is left unchanged if the port
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/// is open, or set to ::_default_tx_buffer_size if it
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/// is currently closed.
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///
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virtual void begin(long baud,
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unsigned int rxSpace,
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unsigned int txSpace) = 0;
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virtual void end() = 0;
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virtual void flush() = 0;
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virtual bool is_initialized() = 0;
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virtual void set_blocking_writes(bool blocking) = 0;
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virtual bool tx_pending() = 0;
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};
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/* Concrete EmptyUARTDriver class provided for convenience */
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class AP_HAL::EmptyUARTDriver : public AP_HAL::UARTDriver {
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public:
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EmptyUARTDriver() {}
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/* Empty implementations of UARTDriver virtual methods */
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void begin(long b) {}
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void begin(long b, unsigned int rxS, unsigned int txS) {}
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void end() {}
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void flush() {}
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bool is_initialized() { return false; }
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void set_blocking_writes(bool blocking) {}
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bool tx_pending() { return false; }
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/* Empty implementations of BetterStream virtual methods */
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void print_P(const prog_char_t *pstr) {}
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void println_P(const prog_char_t *pstr) {}
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void printf(const char *pstr, ...) {}
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void _printf_P(const prog_char *pstr, ...) {}
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/* Empty implementations of Stream virtual methods */
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int available() { return 0; }
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int txspace() { return 1; }
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int read() { return -1; }
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int peek() { return -1; }
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/* Empty implementations of Print virtual methods */
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size_t write(uint8_t c) { return 0; }
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};
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#endif // __AP_HAL_UART_DRIVER_H__
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