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New platform independent Serial interface (#21723)
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Eric Katzfey
@@ -0,0 +1,97 @@
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/****************************************************************************
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*
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* Copyright (C) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <SerialImpl.hpp>
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#include <px4_platform_common/SerialCommon.hpp>
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using device::SerialConfig::ByteSize;
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using device::SerialConfig::Parity;
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using device::SerialConfig::StopBits;
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using device::SerialConfig::FlowControl;
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namespace device __EXPORT
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{
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class Serial
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{
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public:
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Serial(const char *port, uint32_t baudrate = 57600,
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ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
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StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
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virtual ~Serial();
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// Open sets up the port and gets it configured based on desired configuration
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bool open();
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bool isOpen() const;
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bool close();
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ssize_t read(uint8_t *buffer, size_t buffer_size);
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ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
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ssize_t write(const void *buffer, size_t buffer_size);
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// If port is already open then the following configuration functions
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// will reconfigure the port. If the port is not yet open then they will
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// simply store the configuration in preparation for the port to be opened.
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uint32_t getBaudrate() const;
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bool setBaudrate(uint32_t baudrate);
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ByteSize getBytesize() const;
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bool setBytesize(ByteSize bytesize);
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Parity getParity() const;
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bool setParity(Parity parity);
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StopBits getStopbits() const;
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bool setStopbits(StopBits stopbits);
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FlowControl getFlowcontrol() const;
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bool setFlowcontrol(FlowControl flowcontrol);
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const char *getPort() const;
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private:
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// Disable copy constructors
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Serial(const Serial &);
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Serial &operator=(const Serial &);
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// platform implementation
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SerialImpl _impl;
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};
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} // namespace device
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@@ -0,0 +1,70 @@
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/****************************************************************************
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*
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* Copyright (C) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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namespace device
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{
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namespace SerialConfig
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{
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// ByteSize: number of data bits
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enum class ByteSize {
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FiveBits = 5,
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SixBits = 6,
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SevenBits = 7,
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EightBits = 8,
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};
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// Parity: enable parity checking
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enum class Parity {
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None = 0,
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Odd = 1,
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Even = 2,
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};
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// StopBits: number of stop bits
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enum class StopBits {
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One = 1,
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Two = 2
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};
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// FlowControl: enable flow control
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enum class FlowControl {
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Disabled = 0,
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Enabled = 1,
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};
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} // namespace SerialConfig
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} // namespace device
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@@ -13,11 +13,21 @@ __END_DECLS
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#define px4_clock_gettime system_clock_gettime
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#endif
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#if defined(ENABLE_LOCKSTEP_SCHEDULER)
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#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
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__BEGIN_DECLS
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__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
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__END_DECLS
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#else
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#define px4_clock_settime system_clock_settime
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#endif
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#if defined(ENABLE_LOCKSTEP_SCHEDULER)
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__BEGIN_DECLS
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__EXPORT int px4_usleep(useconds_t usec);
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__EXPORT unsigned int px4_sleep(unsigned int seconds);
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__EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
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@@ -27,7 +37,6 @@ __END_DECLS
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#else
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#define px4_clock_settime system_clock_settime
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#define px4_usleep system_usleep
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#define px4_sleep system_sleep
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#define px4_pthread_cond_timedwait system_pthread_cond_timedwait
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