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platform: serial: add bytesAvailable() function

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This commit is contained in:
Jacob Dahl 2025-07-28 20:16:13 -08:00 committed by Jacob Dahl
parent 61e741e7d0
commit b5bf28c204
8 changed files with 40 additions and 0 deletions
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5
platforms/common/Serial.cpp
View File

@ -69,6 +69,11 @@ bool Serial::close()
return _impl.close();
}
ssize_t Serial::bytesAvailable()
{
return _impl.bytesAvailable();
}
ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
{
return _impl.read(buffer, buffer_size);

1
platforms/common/include/px4_platform_common/Serial.hpp
View File

@ -61,6 +61,7 @@ public:
bool close();
ssize_t bytesAvailable();
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_ms = 0);

12
platforms/nuttx/src/px4/common/SerialImpl.cpp
View File

@ -259,6 +259,18 @@ bool SerialImpl::close()
return true;
}
ssize_t SerialImpl::bytesAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
return -1;
}
ssize_t bytes_available = 0;
int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
return ret >= 0 ? bytes_available : 0;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
{
if (!_open) {

1
platforms/nuttx/src/px4/common/include/SerialImpl.hpp
View File

@ -59,6 +59,7 @@ public:
bool close();
ssize_t bytesAvailable();
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);

1
platforms/posix/include/SerialImpl.hpp
View File

@ -59,6 +59,7 @@ public:
bool close();
ssize_t bytesAvailable();
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);

12
platforms/posix/src/px4/common/SerialImpl.cpp
View File

@ -251,6 +251,18 @@ bool SerialImpl::close()
return true;
}
ssize_t SerialImpl::bytesAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
return -1;
}
ssize_t bytes_available = 0;
int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
return ret >= 0 ? bytes_available : 0;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
{
if (!_open) {

1
platforms/qurt/include/SerialImpl.hpp
View File

@ -58,6 +58,7 @@ public:
bool close();
ssize_t bytesAvailable();
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);

7
platforms/qurt/src/px4/SerialImpl.cpp
View File

@ -158,6 +158,13 @@ bool SerialImpl::close()
return true;
}
ssize_t SerialImpl::bytesAvailable()
{
// TODO:
PX4_WARN("bytesAvailable not implemented!");
return 0;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
{
if (!_open) {