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More cleanup and fixes from testing failures

This commit is contained in:
Eric Katzfey 2023-07-20 15:43:07 -07:00
parent 9c5b1477d4
commit 81ab314a4c
7 changed files with 167 additions and 106 deletions
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47
platforms/nuttx/src/px4/common/SerialImpl.cpp
View File

@ -60,7 +60,6 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
} else {
_port[0] = 0;
}
}
SerialImpl::~SerialImpl()
@ -72,18 +71,14 @@ SerialImpl::~SerialImpl()
bool SerialImpl::validateBaudrate(uint32_t baudrate)
{
if ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600)) {
return true;
}
return false;
return ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600));
}
bool SerialImpl::configure()
@ -131,7 +126,10 @@ bool SerialImpl::configure()
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_serial_fd, &uart_config);
if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
PX4_ERR("ERR: %d (tcgetattr)", termios_state);
return false;
}
/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
@ -202,15 +200,14 @@ bool SerialImpl::open()
return false;
}
// Configure the serial port if a baudrate has been configured
if (_baudrate) {
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
_serial_fd = serial_fd;
// Configure the serial port
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
_serial_fd = serial_fd;
_open = true;
return _open;
@ -245,10 +242,6 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
if (ret < 0) {
PX4_DEBUG("%s read error %d", _port, ret);
} else {
// Track total bytes read
_bytes_read += ret;
}
return ret;
@ -311,10 +304,6 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
if (written < 0) {
PX4_ERR("%s write error %d", _port, written);
} else {
// Track total bytes written
_bytes_written += written;
}
return written;

3
platforms/nuttx/src/px4/common/include/SerialImpl.hpp
View File

@ -85,9 +85,6 @@ private:
int _serial_fd{-1};
size_t _bytes_read{0};
size_t _bytes_written{0};
bool _open{false};
char _port[32] {};

43
platforms/posix/include/SerialImpl.hpp
View File

@ -1,4 +1,35 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
@ -34,7 +65,6 @@ public:
ssize_t write(const void *buffer, size_t buffer_size);
const char *getPort() const;
bool setPort(const char *port);
uint32_t getBaudrate() const;
bool setBaudrate(uint32_t baudrate);
@ -55,9 +85,6 @@ private:
int _serial_fd{-1};
size_t _bytes_read{0};
size_t _bytes_written{0};
bool _open{false};
char _port[32] {};
@ -71,12 +98,6 @@ private:
bool validateBaudrate(uint32_t baudrate);
bool configure();
// Mutex used to lock the read functions
//pthread_mutex_t read_mutex;
// Mutex used to lock the write functions
//pthread_mutex_t write_mutex;
};
} // namespace device

97
platforms/posix/src/px4/common/SerialImpl.cpp
View File

@ -1,7 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <SerialImpl.hpp>
#include <string.h> // strncpy
#include <termios.h> // strncpy
#include <termios.h>
#include <px4_log.h>
#include <fcntl.h>
#include <errno.h>
@ -26,7 +58,6 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
} else {
_port[0] = 0;
}
}
SerialImpl::~SerialImpl()
@ -38,18 +69,14 @@ SerialImpl::~SerialImpl()
bool SerialImpl::validateBaudrate(uint32_t baudrate)
{
if ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600)) {
return true;
}
return false;
return ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600));
}
bool SerialImpl::configure()
@ -97,7 +124,10 @@ bool SerialImpl::configure()
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_serial_fd, &uart_config);
if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
PX4_ERR("ERR: %d (tcgetattr)", termios_state);
return false;
}
/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
@ -168,15 +198,14 @@ bool SerialImpl::open()
return false;
}
// Configure the serial port if a baudrate has been configured
if (_baudrate) {
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
_serial_fd = serial_fd;
// Configure the serial port
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
_serial_fd = serial_fd;
_open = true;
return _open;
@ -212,9 +241,6 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
if (ret < 0) {
PX4_DEBUG("%s read error %d", _port, ret);
} else {
// Track total bytes read
_bytes_read += ret;
}
return ret;
@ -278,9 +304,6 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
if (written < 0) {
PX4_ERR("%s write error %d", _port, written);
} else {
// Track total bytes written
_bytes_written += written;
}
return written;
@ -291,24 +314,6 @@ const char *SerialImpl::getPort() const
return _port;
}
bool SerialImpl::setPort(const char *port)
{
if (strcmp(port, _port) == 0) {
return true;
}
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
// If old port is already opened then close it and reopen it on new port
if (_open) {
close();
return open();
}
return true;
}
uint32_t SerialImpl::getBaudrate() const
{
return _baudrate;

36
platforms/qurt/include/SerialImpl.hpp
View File

@ -1,4 +1,35 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
@ -54,9 +85,6 @@ private:
int _serial_fd{-1};
size_t _bytes_read{0};
size_t _bytes_written{0};
bool _open{false};
char _port[32] {};

45
platforms/qurt/src/px4/SerialImpl.cpp
View File

@ -1,3 +1,35 @@
/****************************************************************************
*
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <SerialImpl.hpp>
#include <string.h> // strncpy
@ -132,8 +164,6 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
if (ret_read < 0) {
PX4_DEBUG("%s read error %d", _port, ret_read);
} else {
_bytes_read += ret_read;
}
return ret_read;
@ -216,8 +246,6 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
if (ret_write < 0) {
PX4_ERR("%s write error %d", _port, ret_write);
} else {
_bytes_written += ret_write;
}
return ret_write;
@ -228,15 +256,6 @@ const char *SerialImpl::getPort() const
return _port;
}
bool SerialImpl::setPort(const char *port)
{
if (strcmp(port, _port) == 0) {
return true;
}
return false;
}
uint32_t SerialImpl::getBaudrate() const
{
return _baudrate;

2
src/drivers/gps/gps.cpp
View File

@ -795,7 +795,9 @@ GPS::run()
px4_sleep(1);
continue;
}
}
if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
// Configure the desired baudrate if one was specified by the user.
// Otherwise the default baudrate will be used.
if (_configured_baudrate) {