7b3a5e3158
Using factory method maked it easier to grasp the lifetime of all object that get created and destroyed. Instead of spanning this thoughout whole source file we have it nicely encapsulated in this a little horrendeous _parseDevicePath that is of course to improve more.
88 lines
2.4 KiB
C++
88 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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class Linux::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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