UART refactored (#236)
`Uart` is now an abstract class with a `UartEsp` and a `UartPosix` implementation.
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Ken Van Hoeylandt
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b85ef7a2e7
@@ -1,7 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include "../uart/Uart.h"
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#include "Satellites.h"
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#include <Tactility/Mutex.h>
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@@ -12,7 +11,6 @@
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namespace tt::hal::gps {
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enum class GpsResponse {
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None,
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NotAck,
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@@ -24,7 +22,7 @@ enum class GpsModel {
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Unknown = 0,
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AG3335,
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AG3352,
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ATGM336H,
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ATGM336H, // Casic (might work with AT6558, Neoway N58 LTE Cat.1, Neoway G2, Neoway G7A)
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LS20031,
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MTK,
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MTK_L76B,
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@@ -48,7 +46,7 @@ public:
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struct Configuration {
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std::string name;
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uart_port_t uartPort;
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std::string uartName; // e.g. "Internal" or "/dev/ttyUSB0"
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uint32_t baudRate;
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GpsModel model;
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};
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@@ -75,7 +73,7 @@ private:
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const Configuration configuration;
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Mutex mutex = Mutex(Mutex::Type::Recursive);
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std::unique_ptr<Thread> thread;
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std::unique_ptr<Thread> _Nullable thread;
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bool threadInterrupted = false;
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std::vector<GgaSubscription> ggaSubscriptions;
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std::vector<RmcSubscription> rmcSubscriptions;
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@@ -0,0 +1,40 @@
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#pragma once
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namespace tt::hal::uart {
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#ifdef ESP_PLATFORM
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struct Configuration {
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/** The unique name for this UART */
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std::string name;
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/** The port idenitifier (e.g. UART_NUM_0) */
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uart_port_t port;
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/** Receive GPIO pin */
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gpio_num_t rxPin;
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/** Transmit GPIO pin */
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gpio_num_t txPin;
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/** Read-To-Send GPIO pin */
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gpio_num_t rtsPin;
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/** Clear-To-Send Send GPIO pin */
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gpio_num_t ctsPin;
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/** Receive buffer size in bytes */
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unsigned int rxBufferSize;
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/** Transmit buffer size in bytes */
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unsigned int txBufferSize;
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/** Native configuration */
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uart_config_t config;
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};
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#else
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struct Configuration {
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/** The unique name for this UART */
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std::string name;
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/** Initial baud rate in bits per second */
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uint32_t baudRate;
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};
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#endif
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}
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@@ -5,6 +5,7 @@
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#include "../Gpio.h"
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#include "Tactility/Lock.h"
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#include "UartCompat.h"
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#include "Tactility/hal/uart/Configuration.h"
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#include <memory>
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#include <vector>
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@@ -19,102 +20,105 @@ enum class InitMode {
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Disabled // Not initialized by default
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};
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struct Configuration {
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uart_port_t port;
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/** Whether this bus should be initialized when device starts up */
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InitMode initMode;
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/** Whether this bus can stopped and re-started. */
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bool canReinit;
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/** Whether .config can be changed. */
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bool hasMutableConfiguration;
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/** Receive GPIO pin */
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gpio_num_t rxPin;
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/** Transmit GPIO pin */
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gpio_num_t txPin;
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/** Read-To-Send GPIO pin */
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gpio_num_t rtsPin;
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/** Clear-To-Send Send GPIO pin */
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gpio_num_t ctsPin;
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/** Receive buffer size in bytes */
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unsigned int rxBufferSize;
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/** Transmit buffer size in bytes */
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unsigned int txBufferSize;
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/** Native configuration */
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uart_config_t config;
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};
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enum class Status {
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Started,
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Stopped,
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Unknown
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};
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/** Start communications */
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bool start(uart_port_t port);
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class Uart {
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/** Stop communications */
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bool stop(uart_port_t port);
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private:
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/** @return true when communications were successfully started */
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bool isStarted(uart_port_t port);
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uint32_t id;
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/** @return a lock that is usable for using ESP-IDF directly, or for use with third party APIs */
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Lock& getLock(uart_port_t port);
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public:
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Uart();
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virtual ~Uart();
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inline uint32_t getId() const { return id; }
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virtual bool start() = 0;
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virtual bool isStarted() const = 0;
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virtual bool stop() = 0;
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/**
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* Read up to a specified amount of bytes
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* @param[out] buffer
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* @param[in] bufferSize
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* @param[in] timeout
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* @return the amount of bytes that were read
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*/
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virtual size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) = 0;
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size_t readBytes(std::uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) {
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return readBytes(reinterpret_cast<std::byte*>(buffer), bufferSize, timeout);
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}
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/** Read a single byte */
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virtual bool readByte(std::byte* output, TickType_t timeout = defaultTimeout) = 0;
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inline bool readByte(char* output, TickType_t timeout = defaultTimeout) {
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return readByte(reinterpret_cast<std::byte*>(output), timeout);
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}
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inline bool readByte(uint8_t* output, TickType_t timeout = defaultTimeout) {
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return readByte(reinterpret_cast<std::byte*>(output), timeout);
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}
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/**
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* Read up to a specified amount of bytes
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* @param[in] buffer
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* @param[in] bufferSize
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* @param[in] timeout
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* @return the amount of bytes that were read
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*/
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virtual size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) = 0;
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inline size_t writeBytes(const std::uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) {
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return writeBytes(reinterpret_cast<const std::byte*>(buffer), bufferSize, timeout);
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}
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/** @return the amount of bytes available for reading */
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virtual size_t available(TickType_t timeout = defaultTimeout) = 0;
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/** Set the baud rate for the specified port */
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virtual bool setBaudRate(uint32_t baudRate, TickType_t timeout = defaultTimeout) = 0;
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/** Get the baud rate for the specified port */
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virtual uint32_t getBaudRate() = 0;
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/** Flush input buffers */
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virtual void flushInput() = 0;
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/**
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* Write a string (excluding null terminator character)
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* @param[in] buffer
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* @param[in] timeout
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* @return the amount of bytes that were written
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*/
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bool writeString(const char* buffer, TickType_t timeout = defaultTimeout);
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/**
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* Read a buffer as a string until the specified character (the "untilChar" is included in the result)
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* @warning if the input data doesn't return "untilByte" then the device goes out of memory
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*/
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std::string readStringUntil(char untilChar, TickType_t timeout = defaultTimeout);
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/**
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* Read a buffer as a byte array until the specified character (the "untilChar" is included in the result)
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* @return the amount of bytes read from UART
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*/
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size_t readUntil(std::byte* buffer, size_t bufferSize, uint8_t untilByte, TickType_t timeout = defaultTimeout, bool addNullTerminator = true);
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};
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/**
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* Read up to a specified amount of bytes
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* @param[in] port
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* @param[out] buffer
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* @param[in] bufferSize
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* @param[in] timeout
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* @return the amount of bytes that were read
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* Opens a UART.
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* @param[in] name the UART name as specified in the board configuration.
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* @return the UART when it was successfully opened, or nullptr when it is in use.
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*/
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size_t readBytes(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout);
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/** Read a single byte */
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bool readByte(uart_port_t port, uint8_t* output, TickType_t timeout = defaultTimeout);
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/**
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* Read up to a specified amount of bytes
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* @param[in] port
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* @param[in] buffer
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* @param[in] bufferSize
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* @param[in] timeout
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* @return the amount of bytes that were read
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*/
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size_t writeBytes(uart_port_t port, const uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout);
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/**
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* Write a string (excluding null terminator character)
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* @param[in] port
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* @param[in] buffer
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* @param[in] timeout
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* @return the amount of bytes that were written
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*/
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bool writeString(uart_port_t port, const char* buffer, TickType_t timeout = defaultTimeout);
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/** @return the amount of bytes available for reading */
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size_t available(uart_port_t port, TickType_t timeout = defaultTimeout);
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/** Set the baud rate for the specified port */
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bool setBaudRate(uart_port_t port, uint32_t baudRate, TickType_t timeout = defaultTimeout);
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/** Get the baud rate for the specified port */
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uint32_t getBaudRate(uart_port_t port);
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/** Flush input buffers */
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void flushInput(uart_port_t port);
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/**
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* Read a buffer as a string until the specified character (the "untilChar" is included in the result)
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* @warning if the input data doesn't return "untilByte" then the device goes out of memory
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*/
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std::string readStringUntil(uart_port_t port, char untilChar, TickType_t timeout = defaultTimeout);
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/**
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* Read a buffer as a byte array until the specified character (the "untilChar" is included in the result)
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* @return the amount of bytes read from UART
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*/
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size_t readUntil(uart_port_t port, uint8_t* buffer, size_t bufferSize, uint8_t untilByte, TickType_t timeout = defaultTimeout, bool addNullTerminator = true);
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std::unique_ptr<Uart> open(std::string name);
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} // namespace tt::hal::uart
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