Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_HAL/utility/OwnPtr.h>
       4             : #include <AP_HAL/utility/RingBuffer.h>
       5             : 
       6             : #include "AP_HAL_Linux.h"
       7             : #include "SerialDevice.h"
       8             : #include "Semaphores.h"
       9             : 
      10             : namespace Linux {
      11             : 
      12             : class UARTDriver : public AP_HAL::UARTDriver {
      13             : public:
      14             :     UARTDriver(bool default_console);
      15             : 
      16             :     static UARTDriver *from(AP_HAL::UARTDriver *uart) {
      17             :         return static_cast<UARTDriver*>(uart);
      18             :     }
      19             : 
      20             :     bool is_initialized() override;
      21             :     bool tx_pending() override;
      22             : 
      23             :     uint32_t txspace() override;
      24             : 
      25             :     void set_device_path(const char *path);
      26             : 
      27             :     bool _write_pending_bytes(void);
      28             :     virtual void _timer_tick(void) override;
      29             : 
      30           0 :     virtual enum flow_control get_flow_control(void) override
      31             :     {
      32           0 :         return _device->get_flow_control();
      33             :     }
      34             : 
      35             :     void configure_parity(uint8_t v) override;
      36             : 
      37           0 :     virtual void set_flow_control(enum flow_control flow_control_setting) override
      38             :    {
      39           0 :        _device->set_flow_control(flow_control_setting);
      40           0 :    }
      41             : 
      42             :     /*
      43             :       return timestamp estimate in microseconds for when the start of
      44             :       a nbytes packet arrived on the uart. This should be treated as a
      45             :       time constraint, not an exact time. It is guaranteed that the
      46             :       packet did not start being received after this time, but it
      47             :       could have been in a system buffer before the returned time.
      48             : 
      49             :       This takes account of the baudrate of the link. For transports
      50             :       that have no baudrate (such as USB) the time estimate may be
      51             :       less accurate.
      52             : 
      53             :       A return value of zero means the HAL does not support this API
      54             :      */
      55             :     uint64_t receive_time_constraint_us(uint16_t nbytes) override;
      56             : 
      57             :     uint32_t bw_in_bytes_per_second() const override;
      58             : 
      59           0 :     virtual uint32_t get_baud_rate() const override { return _baudrate; }
      60             : 
      61             : private:
      62             :     AP_HAL::OwnPtr<SerialDevice> _device;
      63             :     bool _console;
      64             :     volatile bool _in_timer;
      65             :     uint16_t _base_port;
      66             :     uint32_t _baudrate;
      67             :     char *_ip;
      68             :     char *_flag;
      69             :     bool _connected; // true if a client has connected
      70             :     bool _packetise; // true if writes should try to be on mavlink boundaries
      71             : 
      72             :     void _allocate_buffers(uint16_t rxS, uint16_t txS);
      73             :     void _deallocate_buffers();
      74             : 
      75             :     AP_HAL::OwnPtr<SerialDevice> _parseDevicePath(const char *arg);
      76             : 
      77             :     // timestamp for receiving data on the UART, avoiding a lock
      78             :     uint64_t _receive_timestamp[2];
      79             :     uint8_t _receive_timestamp_idx;
      80             : 
      81             : protected:
      82             :     const char *device_path;
      83             :     volatile bool _initialised;
      84             : 
      85             :     // we use in-task ring buffers to reduce the system call cost
      86             :     // of ::read() and ::write() in the main loop
      87             :     ByteBuffer _readbuf{0};
      88             :     ByteBuffer _writebuf{0};
      89             : 
      90             :     virtual int _write_fd(const uint8_t *buf, uint16_t n);
      91             :     virtual int _read_fd(uint8_t *buf, uint16_t n);
      92             : 
      93             :     Linux::Semaphore _write_mutex;
      94             : 
      95             :     bool _discard_input() override;
      96             :     void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
      97             :     void _end() override;
      98             :     void _flush() override;
      99             :     uint32_t _available() override;
     100             :     size_t _write(const uint8_t *buffer, size_t size) override;
     101             :     ssize_t _read(uint8_t *buffer, uint16_t count) override WARN_IF_UNUSED;
     102             : };
     103             : 
     104             : }