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Additions to the Serial UART API (#22953)

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- Added an empty constructor, setPort, and validatePort functions for Serial API
- Changed GPS to not allocate Serial object dynamically
- Moved access check on serial port name into the Serial API
- Improved the Qurt platform validatePort Serial function to implement a more rigorous check. Added safety check
to the setPort Serial function to make sure it isn't called after the port has been already opened.
This commit is contained in:
Eric Katzfey
2024-04-01 12:27:59 -04:00
committed by GitHub
parent 416b6a35a4
commit ccdf060393
11 changed files with 143 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+18 -24
View File
@@ -174,7 +174,7 @@ private:
#ifdef __PX4_LINUX
int _spi_fd {-1}; ///< SPI interface to GPS
#endif
Serial *_uart = nullptr; ///< UART interface to GPS
Serial _uart {}; ///< UART interface to GPS
unsigned _baudrate{0}; ///< current baudrate
const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect)
char _port[20] {}; ///< device / serial port path
@@ -416,8 +416,8 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
int ret = 0;
if (gps->_uart) {
ret = gps->_uart->write((void *) data1, (size_t) data2);
if (gps->_interface == GPSHelper::Interface::UART) {
ret = gps->_uart.write((void *) data1, (size_t) data2);
#ifdef __PX4_LINUX
@@ -477,8 +477,8 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
handleInjectDataTopic();
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
if (_interface == GPSHelper::Interface::UART) {
ret = _uart.readAtLeast(buf, buf_length, character_count, timeout_adjusted);
// SPI is only supported on LInux
#if defined(__PX4_LINUX)
@@ -598,8 +598,8 @@ bool GPS::injectData(uint8_t *data, size_t len)
size_t written = 0;
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
written = _uart->write((const void *) data, len);
if (_interface == GPSHelper::Interface::UART) {
written = _uart.write((const void *) data, len);
#ifdef __PX4_LINUX
@@ -615,7 +615,7 @@ bool GPS::injectData(uint8_t *data, size_t len)
int GPS::setBaudrate(unsigned baud)
{
if (_interface == GPSHelper::Interface::UART) {
if ((_uart) && (_uart->setBaudrate(baud))) {
if (_uart.setBaudrate(baud)) {
return 0;
}
@@ -786,23 +786,19 @@ GPS::run()
_helper = nullptr;
}
if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
if ((_interface == GPSHelper::Interface::UART) && (! _uart.isOpen())) {
// Create the UART port instance
_uart = new Serial(_port);
if (_uart == nullptr) {
PX4_ERR("Error creating serial device %s", _port);
// Configure UART port
if (!_uart.setPort(_port)) {
PX4_ERR("Error configuring serial device on port %s", _port);
px4_sleep(1);
continue;
}
}
if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
// Configure the desired baudrate if one was specified by the user.
// Otherwise the default baudrate will be used.
if (_configured_baudrate) {
if (! _uart->setBaudrate(_configured_baudrate)) {
if (! _uart.setBaudrate(_configured_baudrate)) {
PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
px4_sleep(1);
continue;
@@ -810,7 +806,7 @@ GPS::run()
}
// Open the UART. If this is successful then the UART is ready to use.
if (! _uart->open()) {
if (! _uart.open()) {
PX4_ERR("Error opening serial device %s", _port);
px4_sleep(1);
continue;
@@ -1029,10 +1025,8 @@ GPS::run()
}
}
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
(void) _uart->close();
delete _uart;
_uart = nullptr;
if (_interface == GPSHelper::Interface::UART) {
(void) _uart.close();
#ifdef __PX4_LINUX
@@ -1528,7 +1522,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
GPS *gps = nullptr;
if (instance == Instance::Main) {
if (device_name && (access(device_name, R_OK|W_OK) == 0)) {
if (Serial::validatePort(device_name)) {
gps = new GPS(device_name, mode, interface, instance, baudrate_main);
} else {
@@ -1551,7 +1545,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
}
}
} else { // secondary instance
if (device_name_secondary && (access(device_name_secondary, R_OK|W_OK) == 0)) {
if (Serial::validatePort(device_name_secondary)) {
gps = new GPS(device_name_secondary, mode, interface_secondary, instance, baudrate_secondary);
} else {