#include <UARTDriver.h>

Inheritance diagram for HALSITL::UARTDriver:

Collaboration diagram for HALSITL::UARTDriver:

Public Member Functions
	UARTDriver (const uint8_t portNumber, SITL_State *sitlState)

void	begin (uint32_t b)

void	begin (uint32_t b, uint16_t rxS, uint16_t txS)

void	end ()

void	flush ()

bool	is_initialized ()

void	set_blocking_writes (bool blocking)

bool	tx_pending ()

uint32_t	available () override

uint32_t	txspace () override

int16_t	read () override

size_t	write (uint8_t c)

size_t	write (const uint8_t *buffer, size_t size)

enum flow_control	get_flow_control (void)

void	configure_parity (uint8_t v) override

void	set_stop_bits (int n) override

bool	set_unbuffered_writes (bool on) override

void	_timer_tick (void)

uint64_t	receive_time_constraint_us (uint16_t nbytes) override

Public Member Functions inherited from AP_HAL::UARTDriver
	UARTDriver ()

virtual bool	lock_port (uint32_t key)

virtual size_t	write_locked (const uint8_t *buffer, size_t size, uint32_t key)

virtual void	set_flow_control (enum flow_control flow_control_setting)

virtual bool	wait_timeout (uint16_t n, uint32_t timeout_ms)

Public Member Functions inherited from AP_HAL::BetterStream
virtual void	printf (const char *,...) FMT_PRINTF(2

virtual void virtual void	vprintf (const char *, va_list)

void	print (const char *str)

void	println (const char *str)

size_t	write (const char *str)

Static Public Member Functions
static UARTDriver *	from (AP_HAL::UARTDriver *uart)

Public Attributes
int	_fd

bool	_unbuffered_writes

Private Member Functions
void	_tcp_start_connection (uint16_t port, bool wait_for_connection)

void	_uart_start_connection (void)

void	_check_reconnect ()

void	_tcp_start_client (const char *address, uint16_t port)

void	_check_connection (void)

bool	set_speed (int speed)

Static Private Member Functions
static bool	_select_check (int)

static void	_set_nonblocking (int)

Private Attributes
uint8_t	_portNumber

bool	_connected = false

bool	_use_send_recv = false

int	_listen_fd

int	_serial_port

bool	_nonblocking_writes

ByteBuffer	_readbuffer {16384}

ByteBuffer	_writebuffer {16384}

const char *	_uart_path

uint32_t	_uart_baudrate

const char *	_tcp_client_addr

SITL_State *	_sitlState

uint64_t	_receive_timestamp

Static Private Attributes
static bool	_console

Friends
class	HALSITL::SITL_State

Additional Inherited Members
Public Types inherited from AP_HAL::UARTDriver
enum	flow_control { FLOW_CONTROL_DISABLE =0, FLOW_CONTROL_ENABLE =1, FLOW_CONTROL_AUTO =2 }

Detailed Description

Definition at line 12 of file UARTDriver.h.

Constructor & Destructor Documentation

◆ UARTDriver()

HALSITL::UARTDriver::UARTDriver	(	const uint8_t	portNumber,
		SITL_State *	sitlState
	)

inline

Definition at line 16 of file UARTDriver.h.

Member Function Documentation

◆ _check_connection()

void UARTDriver::_check_connection ( void )

private

Definition at line 373 of file UARTDriver.cpp.

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◆ _check_reconnect()

void UARTDriver::_check_reconnect ( void )

private

Definition at line 438 of file UARTDriver.cpp.

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◆ _select_check()

bool UARTDriver::_select_check ( int fd )

staticprivate

Definition at line 394 of file UARTDriver.cpp.

Referenced by _check_connection(), and _check_reconnect().

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◆ _set_nonblocking()

void UARTDriver::_set_nonblocking ( int fd )

staticprivate

Definition at line 415 of file UARTDriver.cpp.

Referenced by HALSITL::SITL_State::gps2_pipe(), and HALSITL::SITL_State::gps_pipe().

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◆ _tcp_start_client()

void UARTDriver::_tcp_start_client	(	const char *	address,
		uint16_t	port
	)

private

Definition at line 278 of file UARTDriver.cpp.

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◆ _tcp_start_connection()

void UARTDriver::_tcp_start_connection	(	uint16_t	port,
		bool	wait_for_connection
	)

private

Definition at line 187 of file UARTDriver.cpp.

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◆ _timer_tick()

void UARTDriver::_timer_tick ( void )

virtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 448 of file UARTDriver.cpp.

Referenced by _check_reconnect(), and get_flow_control().

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◆ _uart_start_connection()

void UARTDriver::_uart_start_connection ( void )

private

Definition at line 329 of file UARTDriver.cpp.

Referenced by _check_reconnect().

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◆ available()

uint32_t HALSITL::UARTDriver::available ( )

overridevirtual

Implements AP_HAL::BetterStream.

Referenced by _check_reconnect(), and tx_pending().

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◆ begin() [1/2]

void HALSITL::UARTDriver::begin ( uint32_t b )

inlinevirtual

Implements AP_HAL::UARTDriver.

Definition at line 29 of file UARTDriver.h.

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◆ begin() [2/2]

void HALSITL::UARTDriver::begin	(	uint32_t	baud,
		uint16_t	rxSpace,
		uint16_t	txSpace
	)

virtual

Extended port open method

Allows for both opening with specified buffer sizes, and re-opening to adjust a subset of the port's settings.

Note: Buffer sizes greater than ::_max_buffer_size will be rounded down.

Parameters

baud	Selects the speed that the port will be configured to. If zero, the port speed is left unchanged.
rxSpace	Sets the receive buffer size for the port. If zero then the buffer size is left unchanged if the port is open, or set to ::_default_rx_buffer_size if it is currently closed.
txSpace	Sets the transmit buffer size for the port. If zero then the buffer size is left unchanged if the port is open, or set to ::_default_tx_buffer_size if it is currently closed.

Implements AP_HAL::UARTDriver.

◆ configure_parity()

void HALSITL::UARTDriver::configure_parity ( uint8_t v )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 70 of file UART_utils.cpp.

Referenced by get_flow_control().

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◆ end()

void HALSITL::UARTDriver::end ( )

virtual

Implements AP_HAL::UARTDriver.

Referenced by begin().

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◆ flush()

void HALSITL::UARTDriver::flush ( )

virtual

Implements AP_HAL::UARTDriver.

Referenced by begin().

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◆ from()

static UARTDriver* HALSITL::UARTDriver::from ( AP_HAL::UARTDriver * uart )

inlinestatic

Definition at line 24 of file UARTDriver.h.

◆ get_flow_control()

enum flow_control HALSITL::UARTDriver::get_flow_control ( void )

inlinevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 62 of file UARTDriver.h.

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◆ is_initialized()

bool HALSITL::UARTDriver::is_initialized ( )

inlinevirtual

Implements AP_HAL::UARTDriver.

Definition at line 35 of file UARTDriver.h.

◆ read()

int16_t HALSITL::UARTDriver::read ( )

overridevirtual

Implements AP_HAL::BetterStream.

Referenced by _check_reconnect(), and tx_pending().

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◆ receive_time_constraint_us()

uint64_t HALSITL::UARTDriver::receive_time_constraint_us ( uint16_t nbytes )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Referenced by _check_reconnect(), and get_flow_control().

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◆ set_blocking_writes()

void HALSITL::UARTDriver::set_blocking_writes ( bool blocking )

inlinevirtual

Implements AP_HAL::UARTDriver.

Definition at line 39 of file UARTDriver.h.

◆ set_speed()

bool HALSITL::UARTDriver::set_speed ( int speed )

private

Definition at line 37 of file UART_utils.cpp.

Referenced by _uart_start_connection().

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◆ set_stop_bits()

void HALSITL::UARTDriver::set_stop_bits ( int n )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Definition at line 107 of file UART_utils.cpp.

Referenced by get_flow_control().

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◆ set_unbuffered_writes()

bool HALSITL::UARTDriver::set_unbuffered_writes ( bool on )

overridevirtual

Reimplemented from AP_HAL::UARTDriver.

Referenced by _set_nonblocking(), and get_flow_control().

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◆ tx_pending()

bool HALSITL::UARTDriver::tx_pending ( )

inlinevirtual

Implements AP_HAL::UARTDriver.

Definition at line 44 of file UARTDriver.h.

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◆ txspace()

uint32_t HALSITL::UARTDriver::txspace ( )

overridevirtual

Implements AP_HAL::BetterStream.

Referenced by tx_pending().

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◆ write() [1/2]

size_t HALSITL::UARTDriver::write ( uint8_t c )

virtual

Implements AP_HAL::BetterStream.

Referenced by _check_reconnect(), and tx_pending().

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◆ write() [2/2]

size_t HALSITL::UARTDriver::write	(	const uint8_t *	buffer,
		size_t	size
	)

virtual

Reimplemented from AP_HAL::BetterStream.

Friends And Related Function Documentation

◆ HALSITL::SITL_State

friend class HALSITL::SITL_State

friend

Definition at line 14 of file UARTDriver.h.

Member Data Documentation

◆ _connected

bool HALSITL::UARTDriver::_connected = false

private

Definition at line 87 of file UARTDriver.h.

Referenced by _check_connection(), _check_reconnect(), _tcp_start_client(), _tcp_start_connection(), and _uart_start_connection().

◆ _console

bool HALSITL::UARTDriver::_console

staticprivate

Definition at line 91 of file UARTDriver.h.

Referenced by _check_reconnect(), HALSITL::SITL_State::_parse_command_line(), and _tcp_start_connection().

◆ _fd

int HALSITL::UARTDriver::_fd

Definition at line 58 of file UARTDriver.h.

Referenced by _check_connection(), _check_reconnect(), _set_nonblocking(), _tcp_start_client(), _tcp_start_connection(), _uart_start_connection(), configure_parity(), set_speed(), set_stop_bits(), and UARTDriver().

◆ _listen_fd

int HALSITL::UARTDriver::_listen_fd

private

Definition at line 89 of file UARTDriver.h.

Referenced by _check_connection(), _tcp_start_connection(), and UARTDriver().

◆ _nonblocking_writes

bool HALSITL::UARTDriver::_nonblocking_writes

private

Definition at line 92 of file UARTDriver.h.

Referenced by set_blocking_writes().

◆ _portNumber

uint8_t HALSITL::UARTDriver::_portNumber

private

Definition at line 86 of file UARTDriver.h.

Referenced by _check_connection(), _check_reconnect(), _tcp_start_connection(), and UARTDriver().

◆ _readbuffer

ByteBuffer HALSITL::UARTDriver::_readbuffer {16384}

private

Definition at line 93 of file UARTDriver.h.

Referenced by _check_reconnect(), and _uart_start_connection().

◆ _receive_timestamp

uint64_t HALSITL::UARTDriver::_receive_timestamp

private

Definition at line 112 of file UARTDriver.h.

Referenced by _check_reconnect().

◆ _serial_port

int HALSITL::UARTDriver::_serial_port

private

Definition at line 90 of file UARTDriver.h.

◆ _sitlState

SITL_State* HALSITL::UARTDriver::_sitlState

private

Definition at line 111 of file UARTDriver.h.

Referenced by _tcp_start_connection(), _uart_start_connection(), and UARTDriver().

◆ _tcp_client_addr

const char* HALSITL::UARTDriver::_tcp_client_addr

private

Definition at line 100 of file UARTDriver.h.

◆ _uart_baudrate

uint32_t HALSITL::UARTDriver::_uart_baudrate

private

Definition at line 97 of file UARTDriver.h.

Referenced by _check_reconnect(), and _uart_start_connection().

◆ _uart_path

const char* HALSITL::UARTDriver::_uart_path

private

Definition at line 96 of file UARTDriver.h.

Referenced by _check_reconnect(), and _uart_start_connection().

◆ _unbuffered_writes

bool HALSITL::UARTDriver::_unbuffered_writes

Definition at line 60 of file UARTDriver.h.

Referenced by _set_nonblocking().

◆ _use_send_recv

bool HALSITL::UARTDriver::_use_send_recv = false

private

Definition at line 88 of file UARTDriver.h.

Referenced by _check_reconnect(), _tcp_start_client(), _tcp_start_connection(), and _uart_start_connection().

◆ _writebuffer

ByteBuffer HALSITL::UARTDriver::_writebuffer {16384}

private

Definition at line 94 of file UARTDriver.h.

Referenced by _check_reconnect(), and _uart_start_connection().

The documentation for this class was generated from the following files:

libraries/AP_HAL_SITL/UARTDriver.h
libraries/AP_HAL_Linux/UARTDriver.cpp
libraries/AP_HAL_SITL/UART_utils.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UARTDriver()

Member Function Documentation

◆ _check_connection()

◆ _check_reconnect()

◆ _select_check()

◆ _set_nonblocking()

◆ _tcp_start_client()

◆ _tcp_start_connection()

◆ _timer_tick()

◆ _uart_start_connection()

◆ available()

◆ begin() [1/2]

◆ begin() [2/2]

◆ configure_parity()

◆ end()

◆ flush()

◆ from()

◆ get_flow_control()

◆ is_initialized()

◆ read()

◆ receive_time_constraint_us()

◆ set_blocking_writes()

◆ set_speed()

◆ set_stop_bits()

◆ set_unbuffered_writes()

◆ tx_pending()

◆ txspace()

◆ write() [1/2]

◆ write() [2/2]

Friends And Related Function Documentation

◆ HALSITL::SITL_State

Member Data Documentation

◆ _connected

◆ _console

◆ _fd

◆ _listen_fd

◆ _nonblocking_writes

◆ _portNumber

◆ _readbuffer

◆ _receive_timestamp

◆ _serial_port

◆ _sitlState

◆ _tcp_client_addr

◆ _uart_baudrate

◆ _uart_path

◆ _unbuffered_writes

◆ _use_send_recv

◆ _writebuffer