UART refactored (#236)

`Uart` is now an abstract class with a `UartEsp` and a `UartPosix` implementation.

TactilityHeadless/Private/Tactility/hal/gps/GpsInit.h

@@ -2,6 +2,8 @@
 
 #include "Tactility/hal/gps/GpsDevice.h"
 
+namespace tt::hal::uart { class Uart; }
+
 namespace tt::hal::gps {
 
 /**
@@ -14,6 +16,6 @@ bool init(const std::vector<GpsDevice::Configuration>& configurations);
 /**
  * Init sequence on UART for a specific GPS model.
  */
-bool init(uart_port_t port, GpsModel type);
+bool init(uart::Uart& uart, GpsModel type);
 
 }

TactilityHeadless/Private/Tactility/hal/gps/Probe.h

@@ -5,8 +5,6 @@
 
 namespace tt::hal::gps {
 
-struct GpsInfo;
-
-GpsModel probe(uart_port_t port);
+GpsModel probe(uart::Uart& iart);
 
 }

TactilityHeadless/Private/Tactility/hal/gps/Ublox.h

@@ -17,11 +17,11 @@ template<size_t DataSize>
 inline void sendPacket(uart_port_t port, uint8_t type, uint8_t id, uint8_t data[DataSize], const char* errorMessage, TickType_t timeout) {
     static uint8_t buffer[250] = {0};
     size_t length = makePacket(type, id, data, DataSize, buffer);
-    hal::uart::writeBytes(port, buffer, length);
+//    hal::uart::writeBytes(port, buffer, length);
 }
 
-GpsModel probe(uart_port_t port);
+GpsModel probe(uart::Uart& uart);
 
-bool init(uart_port_t port, GpsModel model);
+bool init(uart::Uart& uart, GpsModel model);
 
 } // namespace tt::service::gps

TactilityHeadless/Private/Tactility/hal/uart/UartEsp.h

@@ -0,0 +1,38 @@
+#pragma once
+#ifdef ESP_PLATFORM
+
+#include "Tactility/Mutex.h"
+#include "Tactility/hal/uart/Uart.h"
+#include "Tactility/hal/uart/Configuration.h"
+
+namespace tt::hal::uart {
+
+class UartEsp final : public Uart {
+
+private:
+
+    Mutex mutex;
+    const Configuration& configuration;
+    bool started = false;
+
+public:
+
+    explicit UartEsp(const Configuration& configuration) : configuration(configuration) {}
+
+    bool start() final;
+    bool isStarted() const final;
+    bool stop() final;
+    size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
+    bool readByte(std::byte* output, TickType_t timeout) final;
+    size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
+    size_t available(TickType_t timeout) final;
+    bool setBaudRate(uint32_t baudRate, TickType_t timeout) final;
+    uint32_t getBaudRate() final;
+    void flushInput() final;
+};
+
+std::unique_ptr<Uart> create(const Configuration& configuration);
+
+} // namespace tt::hal::uart
+
+#endif

TactilityHeadless/Private/Tactility/hal/uart/UartPosix.h

@@ -0,0 +1,47 @@
+#pragma once
+#ifndef ESP_PLATFORM
+
+#include "Tactility/Mutex.h"
+#include "Tactility/hal/uart/Configuration.h"
+#include "Tactility/hal/uart/Uart.h"
+
+#include <termios.h>
+
+namespace tt::hal::uart {
+
+class UartPosix final : public Uart {
+
+private:
+    struct AutoCloseFileDeleter {
+        void operator()(FILE* file) {
+            fclose(file);
+        }
+    };
+
+    Mutex mutex;
+    const Configuration& configuration;
+    std::unique_ptr<FILE, AutoCloseFileDeleter> device;
+
+    bool awaitAvailable(TickType_t timeout);
+
+public:
+
+    explicit UartPosix(const Configuration& configuration) : configuration(configuration) {}
+
+    bool start() final;
+    bool isStarted() const final;
+    bool stop() final;
+    size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
+    bool readByte(std::byte* output, TickType_t timeout) final;
+    size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
+    size_t available(TickType_t timeout) final;
+    bool setBaudRate(uint32_t baudRate, TickType_t timeout) final;
+    uint32_t getBaudRate() final;
+    void flushInput() final;
+};
+
+std::unique_ptr<Uart> create(const Configuration& configuration);
+
+} // namespace tt::hal::uart
+
+#endif