ardupilot/libraries/AP_HAL_Linux/UARTDriver.h

89 lines
2.4 KiB
C++

#ifndef __AP_HAL_LINUX_UARTDRIVER_H__
#define __AP_HAL_LINUX_UARTDRIVER_H__
#include "AP_HAL_Linux.h"
#include "SerialDevice.h"
class Linux::LinuxUARTDriver : public AP_HAL::UARTDriver {
public:
LinuxUARTDriver(bool default_console);
/* 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 */
int16_t available();
int16_t txspace();
int16_t read();
/* 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);
enum flow_control get_flow_control(void) { return _flow_control; }
private:
SerialDevice *_device = nullptr;
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
enum flow_control _flow_control;
void _allocate_buffers(uint16_t rxS, uint16_t txS);
void _deallocate_buffers();
void _udp_start_connection(void);
void _tcp_start_connection(void);
bool _serial_start_connection(void);
enum device_type {
DEVICE_TCP,
DEVICE_UDP,
DEVICE_SERIAL,
DEVICE_UNKNOWN
};
enum device_type _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);
};
#endif // __AP_HAL_LINUX_UARTDRIVER_H__