New platform independent Serial interface (#21723)

platforms/posix/include/SerialImpl.hpp

@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   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
+
+#include <stdint.h>
+#include <unistd.h>
+
+#include <px4_platform_common/SerialCommon.hpp>
+
+using device::SerialConfig::ByteSize;
+using device::SerialConfig::Parity;
+using device::SerialConfig::StopBits;
+using device::SerialConfig::FlowControl;
+
+namespace device
+{
+
+class SerialImpl
+{
+public:
+
+	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+		   FlowControl flowcontrol);
+	virtual ~SerialImpl();
+
+	bool open();
+	bool isOpen() const;
+
+	bool close();
+
+	ssize_t read(uint8_t *buffer, size_t buffer_size);
+	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
+
+	ssize_t write(const void *buffer, size_t buffer_size);
+
+	const char *getPort() const;
+
+	uint32_t getBaudrate() const;
+	bool setBaudrate(uint32_t baudrate);
+
+	ByteSize getBytesize() const;
+	bool setBytesize(ByteSize bytesize);
+
+	Parity getParity() const;
+	bool setParity(Parity parity);
+
+	StopBits getStopbits() const;
+	bool setStopbits(StopBits stopbits);
+
+	FlowControl getFlowcontrol() const;
+	bool setFlowcontrol(FlowControl flowcontrol);
+
+private:
+
+	int _serial_fd{-1};
+
+	bool _open{false};
+
+	char _port[32] {};
+
+	uint32_t _baudrate{0};
+
+	ByteSize _bytesize{ByteSize::EightBits};
+	Parity _parity{Parity::None};
+	StopBits _stopbits{StopBits::One};
+	FlowControl _flowcontrol{FlowControl::Disabled};
+
+	bool validateBaudrate(uint32_t baudrate);
+	bool configure();
+};
+
+} // namespace device

platforms/posix/src/px4/common/CMakeLists.txt

@@ -46,6 +46,8 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
+	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
+	SerialImpl.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -0,0 +1,387 @@
+/****************************************************************************
+ *
+ *   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>
+#include <px4_log.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <poll.h>
+#include <drivers/drv_hrt.h>
+
+namespace device
+{
+
+SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+		       FlowControl flowcontrol) :
+	_baudrate(baudrate),
+	_bytesize(bytesize),
+	_parity(parity),
+	_stopbits(stopbits),
+	_flowcontrol(flowcontrol)
+{
+	if (port) {
+		strncpy(_port, port, sizeof(_port) - 1);
+		_port[sizeof(_port) - 1] = '\0';
+
+	} else {
+		_port[0] = 0;
+	}
+}
+
+SerialImpl::~SerialImpl()
+{
+	if (isOpen()) {
+		close();
+	}
+}
+
+bool SerialImpl::validateBaudrate(uint32_t baudrate)
+{
+	return ((baudrate == 9600) ||
+		(baudrate == 19200) ||
+		(baudrate == 38400) ||
+		(baudrate == 57600) ||
+		(baudrate == 115200) ||
+		(baudrate == 230400) ||
+		(baudrate == 460800) ||
+		(baudrate == 921600));
+}
+
+bool SerialImpl::configure()
+{
+	/* process baud rate */
+	int speed;
+
+	if (! validateBaudrate(_baudrate)) {
+		PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
+		return false;
+	}
+
+	switch (_baudrate) {
+	case 9600:   speed = B9600;   break;
+
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	case 230400: speed = B230400; break;
+
+#ifndef B460800
+#define B460800 460800
+#endif
+
+	case 460800: speed = B460800; break;
+
+#ifndef B921600
+#define B921600 921600
+#endif
+
+	case 921600: speed = B921600; break;
+
+	default:
+		PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
+		return false;
+	}
+
+	struct termios uart_config;
+
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	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 ) */
+
+	//
+	// Input flags - Turn off input processing
+	//
+	// convert break to null byte, no CR to NL translation,
+	// no NL to CR translation, don't mark parity errors or breaks
+	// no input parity check, don't strip high bit off,
+	// no XON/XOFF software flow control
+	//
+	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
+				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
+
+	//
+	// Output flags - Turn off output processing
+	//
+	// no CR to NL translation, no NL to CR-NL translation,
+	// no NL to CR translation, no column 0 CR suppression,
+	// no Ctrl-D suppression, no fill characters, no case mapping,
+	// no local output processing
+	//
+	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
+	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
+	uart_config.c_oflag = 0;
+
+	//
+	// No line processing
+	//
+	// echo off, echo newline off, canonical mode off,
+	// extended input processing off, signal chars off
+	//
+	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+
+	/* no parity, one stop bit, disable flow control */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
+		return false;
+	}
+
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
+		return false;
+	}
+
+	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
+		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
+		return false;
+	}
+
+	return true;
+}
+
+bool SerialImpl::open()
+{
+	if (isOpen()) {
+		return true;
+	}
+
+	// Open the serial port
+	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+
+	if (serial_fd < 0) {
+		PX4_ERR("failed to open %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;
+	}
+
+	_open = true;
+
+	return _open;
+}
+
+bool SerialImpl::isOpen() const
+{
+	return _open;
+}
+
+bool SerialImpl::close()
+{
+
+	if (_serial_fd >= 0) {
+		::close(_serial_fd);
+	}
+
+	_serial_fd = -1;
+	_open = false;
+
+	return true;
+}
+
+ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
+{
+	if (!_open) {
+		PX4_ERR("Cannot read from serial device until it has been opened");
+		return -1;
+	}
+
+	int ret = ::read(_serial_fd, buffer, buffer_size);
+
+	if (ret < 0) {
+		PX4_DEBUG("%s read error %d", _port, ret);
+
+	}
+
+	return ret;
+}
+
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
+{
+	if (!_open) {
+		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
+		return -1;
+	}
+
+	if (buffer_size < character_count) {
+		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
+		return -1;
+	}
+
+	const hrt_abstime start_time_us = hrt_absolute_time();
+	int total_bytes_read = 0;
+
+	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
+		// Poll for incoming UART data.
+		pollfd fds[1];
+		fds[0].fd = _serial_fd;
+		fds[0].events = POLLIN;
+
+		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
+
+		if (remaining_time <= 0) { break; }
+
+		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
+
+		if (ret > 0) {
+			if (fds[0].revents & POLLIN) {
+				const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10);
+				px4_usleep(sleeptime);
+
+				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
+
+				if (ret > 0) {
+					total_bytes_read += ret;
+				}
+
+			} else {
+				PX4_ERR("Got a poll error");
+				return -1;
+			}
+		}
+	}
+
+	return total_bytes_read;
+}
+
+ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
+{
+	if (!_open) {
+		PX4_ERR("Cannot write to serial device until it has been opened");
+		return -1;
+	}
+
+	int written = ::write(_serial_fd, buffer, buffer_size);
+	::fsync(_serial_fd);
+
+	if (written < 0) {
+		PX4_ERR("%s write error %d", _port, written);
+
+	}
+
+	return written;
+}
+
+const char *SerialImpl::getPort() const
+{
+	return _port;
+}
+
+uint32_t SerialImpl::getBaudrate() const
+{
+	return _baudrate;
+}
+
+bool SerialImpl::setBaudrate(uint32_t baudrate)
+{
+	if (! validateBaudrate(baudrate)) {
+		PX4_ERR("ERR: invalid baudrate: %u", baudrate);
+		return false;
+	}
+
+	// check if already configured
+	if ((baudrate == _baudrate) && _open) {
+		return true;
+	}
+
+	_baudrate = baudrate;
+
+	// process baud rate change now if port is already open
+	if (_open) {
+		return configure();
+	}
+
+	return true;
+}
+
+ByteSize SerialImpl::getBytesize() const
+{
+	return _bytesize;
+}
+
+bool SerialImpl::setBytesize(ByteSize bytesize)
+{
+	return bytesize == ByteSize::EightBits;
+}
+
+Parity SerialImpl::getParity() const
+{
+	return _parity;
+}
+
+bool SerialImpl::setParity(Parity parity)
+{
+	return parity == Parity::None;
+}
+
+StopBits SerialImpl::getStopbits() const
+{
+	return _stopbits;
+}
+
+bool SerialImpl::setStopbits(StopBits stopbits)
+{
+	return stopbits == StopBits::One;
+}
+
+FlowControl SerialImpl::getFlowcontrol() const
+{
+	return _flowcontrol;
+}
+
+bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
+{
+	return flowcontrol == FlowControl::Disabled;
+}
+
+} // namespace device