mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.2 KiB
C++
109 lines
3.2 KiB
C++
#pragma once
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include "AP_HAL_Linux.h"
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#include "SerialDevice.h"
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#include "Semaphores.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) override;
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void begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
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void end() override;
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void flush() override;
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bool is_initialized() override;
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void set_blocking_writes(bool blocking) override;
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bool tx_pending() override;
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/* Linux implementations of Stream virtual methods */
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uint32_t available() override;
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uint32_t txspace() override;
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bool read(uint8_t &b) override WARN_IF_UNUSED;
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bool discard_input() override;
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/* Linux implementations of Print virtual methods */
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size_t write(uint8_t c) override;
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size_t write(const uint8_t *buffer, size_t size) override;
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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) override;
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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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void configure_parity(uint8_t v) override;
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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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/*
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return timestamp estimate in microseconds for when the start of
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a nbytes packet arrived on the uart. This should be treated as a
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time constraint, not an exact time. It is guaranteed that the
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packet did not start being received after this time, but it
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could have been in a system buffer before the returned time.
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This takes account of the baudrate of the link. For transports
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that have no baudrate (such as USB) the time estimate may be
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less accurate.
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A return value of zero means the HAL does not support this API
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*/
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uint64_t receive_time_constraint_us(uint16_t nbytes) override;
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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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uint32_t _baudrate;
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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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// timestamp for receiving data on the UART, avoiding a lock
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uint64_t _receive_timestamp[2];
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uint8_t _receive_timestamp_idx;
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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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ByteBuffer _readbuf{0};
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ByteBuffer _writebuf{0};
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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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Linux::Semaphore _write_mutex;
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};
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}
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