ardupilot/libraries/AP_HAL_SITL/UARTDriver.h

103 lines
2.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <stdint.h>
#include <stdarg.h>
#include "AP_HAL_SITL_Namespace.h"
#include <AP_HAL/utility/Socket.h>
#include <AP_HAL/utility/RingBuffer.h>
class HALSITL::UARTDriver : public AP_HAL::UARTDriver {
public:
friend class HALSITL::SITL_State;
UARTDriver(const uint8_t portNumber, SITL_State *sitlState) {
_portNumber = portNumber;
_sitlState = sitlState;
_fd = -1;
_listen_fd = -1;
}
static UARTDriver *from(AP_HAL::UARTDriver *uart) {
return static_cast<UARTDriver*>(uart);
}
/* Implementations of UARTDriver virtual methods */
void begin(uint32_t b) {
begin(b, 0, 0);
}
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
void end();
void flush();
bool is_initialized() {
return true;
}
void set_blocking_writes(bool blocking)
{
_nonblocking_writes = !blocking;
}
bool tx_pending() {
return false;
}
/* Implementations of Stream virtual methods */
int16_t available();
int16_t txspace();
int16_t read();
/* Implementations of Print virtual methods */
size_t write(uint8_t c);
size_t write(const uint8_t *buffer, size_t size);
// file descriptor, exposed so SITL_State::loop_hook() can use it
int _fd;
enum flow_control get_flow_control(void) { return FLOW_CONTROL_ENABLE; }
void _timer_tick(void);
private:
uint8_t _portNumber;
bool _connected = false; // true if a client has connected
bool _use_send_recv = false;
int _listen_fd; // socket we are listening on
int _serial_port;
static bool _console;
bool _nonblocking_writes;
ByteBuffer _readbuffer{16384};
ByteBuffer _writebuffer{16384};
// IPv4 address of target for uartC
const char *_tcp_client_addr;
void _tcp_start_connection(uint16_t port, bool wait_for_connection);
void _uart_start_connection(const char *path, uint32_t baudrate);
void _tcp_start_client(const char *address, uint16_t port);
void _check_connection(void);
static bool _select_check(int );
static void _set_nonblocking(int );
/// default receive buffer size
static const uint16_t _default_rx_buffer_size = 128;
/// default transmit buffer size
static const uint16_t _default_tx_buffer_size = 16;
/// maxium tx/rx buffer size
/// @note if we could bring the max size down to 256, the mask and head/tail
/// pointers in the buffer could become uint8_t.
///
static const uint16_t _max_buffer_size = 512;
SITL_State *_sitlState;
};
#endif