mirror of https://github.com/ArduPilot/ardupilot
92 lines
2.4 KiB
C++
92 lines
2.4 KiB
C++
#pragma once
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#include <AP_HAL/utility/OwnPtr.h>
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#include "AP_HAL_Linux.h"
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#include "SerialDevice.h"
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namespace Linux {
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class UARTDriver : public AP_HAL::UARTDriver {
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public:
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UARTDriver(bool default_console);
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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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/* Linux implementations of UARTDriver virtual methods */
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void begin(uint32_t b);
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void end();
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void flush();
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bool is_initialized();
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void set_blocking_writes(bool blocking);
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bool tx_pending();
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/* Linux implementations of Stream virtual methods */
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int16_t available();
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int16_t txspace();
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int16_t read();
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/* Linux implementations of Print virtual methods */
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size_t write(uint8_t c);
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size_t write(const uint8_t *buffer, size_t size);
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void set_device_path(const char *path);
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bool _write_pending_bytes(void);
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virtual void _timer_tick(void);
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virtual enum flow_control get_flow_control(void) override
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{
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return _device->get_flow_control();
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}
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virtual void set_flow_control(enum flow_control flow_control_setting) override
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{
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_device->set_flow_control(flow_control_setting);
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}
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private:
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AP_HAL::OwnPtr<SerialDevice> _device;
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bool _nonblocking_writes;
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bool _console;
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volatile bool _in_timer;
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uint16_t _base_port;
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char *_ip;
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char *_flag;
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bool _connected; // true if a client has connected
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bool _packetise; // true if writes should try to be on mavlink boundaries
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void _allocate_buffers(uint16_t rxS, uint16_t txS);
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void _deallocate_buffers();
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AP_HAL::OwnPtr<SerialDevice> _parseDevicePath(const char *arg);
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uint64_t _last_write_time;
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protected:
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const char *device_path;
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volatile bool _initialised;
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// we use in-task ring buffers to reduce the system call cost
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// of ::read() and ::write() in the main loop
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uint8_t *_readbuf;
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uint16_t _readbuf_size;
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// _head is where the next available data is. _tail is where new
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// data is put
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volatile uint16_t _readbuf_head;
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volatile uint16_t _readbuf_tail;
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uint8_t *_writebuf;
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uint16_t _writebuf_size;
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volatile uint16_t _writebuf_head;
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volatile uint16_t _writebuf_tail;
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virtual int _write_fd(const uint8_t *buf, uint16_t n);
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virtual int _read_fd(uint8_t *buf, uint16_t n);
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};
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}
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