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serial: add txSpaceAvailable function (#26069)

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* serial: add txSpaceAvailable function

* serial: txSpaceAvailable and bytesAvailable fixups
This commit is contained in:
Jacob Dahl 2025-12-12 09:31:33 -09:00 committed by GitHub
parent 12745baf6c
commit b92d21bd31
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GPG Key ID: B5690EEEBB952194
8 changed files with 74 additions and 3 deletions
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5
platforms/common/Serial.cpp
View File

@ -74,6 +74,11 @@ ssize_t Serial::bytesAvailable()
return _impl.bytesAvailable();
}
ssize_t Serial::txSpaceAvailable()
{
return _impl.txSpaceAvailable();
}
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

@ -62,6 +62,7 @@ public:
bool close();
ssize_t bytesAvailable();
ssize_t txSpaceAvailable();
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);

26
platforms/nuttx/src/px4/common/SerialImpl.cpp
View File

@ -293,12 +293,36 @@ ssize_t SerialImpl::bytesAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
errno = EBADF;
return -1;
}
ssize_t bytes_available = 0;
int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
return ret >= 0 ? bytes_available : 0;
if (ret < 0) {
return -1;
}
return bytes_available;
}
ssize_t SerialImpl::txSpaceAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
errno = EBADF;
return -1;
}
ssize_t space_available = 0;
int ret = ioctl(_serial_fd, FIONSPACE, &space_available);
if (ret < 0) {
return -1;
}
return space_available;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)

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

@ -60,6 +60,7 @@ public:
bool close();
ssize_t bytesAvailable();
ssize_t txSpaceAvailable();
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

@ -60,6 +60,7 @@ public:
bool close();
ssize_t bytesAvailable();
ssize_t txSpaceAvailable();
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);

21
platforms/posix/src/px4/common/SerialImpl.cpp
View File

@ -281,12 +281,31 @@ ssize_t SerialImpl::bytesAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
errno = EBADF;
return -1;
}
ssize_t bytes_available = 0;
int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
return ret >= 0 ? bytes_available : 0;
if (ret < 0) {
return -1;
}
return bytes_available;
}
ssize_t SerialImpl::txSpaceAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
errno = EBADF;
return -1;
}
// POSIX/Linux doesn't have a direct equivalent to NuttX's FIONSPACE
errno = ENOSYS;
return -1;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)

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

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

21
platforms/qurt/src/px4/SerialImpl.cpp
View File

@ -156,14 +156,33 @@ ssize_t SerialImpl::bytesAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
errno = EBADF;
return -1;
}
uint32_t rx_bytes = 0;
(void) fc_uart_rx_available(_serial_fd, &rx_bytes);
int ret = fc_uart_rx_available(_serial_fd, &rx_bytes);
if (ret < 0) {
return -1;
}
return (ssize_t) rx_bytes;
}
ssize_t SerialImpl::txSpaceAvailable()
{
if (!_open) {
PX4_ERR("Device not open!");
errno = EBADF;
return -1;
}
// QURT doesn't have a direct equivalent to NuttX's FIONSPACE
errno = ENOSYS;
return -1;
}
ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
{
if (!_open) {