New platform independent Serial interface (#21723)

2026-10-28 06:23:33 +08:00 · 2024-03-21 21:00:23 -04:00
parent bb9f4d42f3
commit 69028f37a9
20 changed files with 1903 additions and 178 deletions
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   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 <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;
+	bool setPort(const char *port);
+
+	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);
+
+	// 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