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UART refactored (#236)

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`Uart` is now an abstract class with a `UartEsp` and a `UartPosix` implementation.
This commit is contained in:
Ken Van Hoeylandt
2025-02-26 17:13:37 +01:00
committed by GitHub
parent de46401d85
commit b85ef7a2e7
22 changed files with 867 additions and 592 deletions
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TactilityHeadless/Source/hal/gps/GpsDevice.cpp
+27 -29
View File
@@ -1,6 +1,7 @@
#include "Tactility/hal/gps/GpsDevice.h"
#include "Tactility/hal/gps/GpsInit.h"
#include "Tactility/hal/gps/Probe.h"
#include "Tactility/hal/uart/Uart.h"
#include <cstring>
#include <minmea.h>
@@ -51,15 +52,25 @@ int32_t GpsDevice::threadMainStatic(void* parameter) {
int32_t GpsDevice::threadMain() {
uint8_t buffer[GPS_UART_BUFFER_SIZE];
if (!uart::setBaudRate(configuration.uartPort, (int)configuration.baudRate)) {
TT_LOG_E(TAG, "Failed to set baud rate to %lu", configuration.baudRate);
auto uart = uart::open(configuration.uartName);
if (uart == nullptr) {
TT_LOG_E(TAG, "Failed to open UART %s", configuration.uartName.c_str());
return -1;
}
if (!uart->start()) {
TT_LOG_E(TAG, "Failed to start UART %s", configuration.uartName.c_str());
return -1;
}
if (!uart->setBaudRate((int)configuration.baudRate)) {
TT_LOG_E(TAG, "Failed to set baud rate to %lu for UART %s", configuration.baudRate, configuration.uartName.c_str());
return -1;
}
GpsModel model = configuration.model;
if (model == GpsModel::Unknown) {
model = probe(configuration.uartPort);
model = probe(*uart);
if (model == GpsModel::Unknown) {
TT_LOG_E(TAG, "Probe failed");
setState(State::Error);
@@ -71,7 +82,7 @@ int32_t GpsDevice::threadMain() {
this->model = model;
mutex.unlock();
if (!init(configuration.uartPort, model)) {
if (!init(*uart, model)) {
TT_LOG_E(TAG, "Init failed");
setState(State::Error);
return -1;
@@ -81,15 +92,16 @@ int32_t GpsDevice::threadMain() {
// Reference: https://gpsd.gitlab.io/gpsd/NMEA.html
while (!isThreadInterrupted()) {
size_t bytes_read = uart::readUntil(configuration.uartPort, (uint8_t*)buffer, GPS_UART_BUFFER_SIZE, '\n', 100 / portTICK_PERIOD_MS);
size_t bytes_read = uart->readUntil(reinterpret_cast<std::byte*>(buffer), GPS_UART_BUFFER_SIZE, '\n', 100 / portTICK_PERIOD_MS);
// Thread might've been interrupted in the meanwhile
if (isThreadInterrupted()) {
break;
}
if (bytes_read > 0U) {
// Thread might've been interrupted in the meanwhile
if (isThreadInterrupted()) {
break;
}
TT_LOG_D(TAG, "%s", buffer);
TT_LOG_I(TAG, "%s", buffer);
switch (minmea_sentence_id((char*)buffer, false)) {
case MINMEA_SENTENCE_RMC:
@@ -124,6 +136,10 @@ int32_t GpsDevice::threadMain() {
}
}
if (uart->isStarted() && !uart->stop()) {
TT_LOG_W(TAG, "Failed to stop UART %s", configuration.uartName.c_str());
}
return 0;
}
@@ -136,16 +152,6 @@ bool GpsDevice::start() {
return true;
}
if (uart::isStarted(configuration.uartPort)) {
TT_LOG_E(TAG, "UART %d already in use", configuration.uartPort);
return false;
}
if (!uart::start(configuration.uartPort)) {
TT_LOG_E(TAG, "UART %d failed to start", configuration.uartPort);
return false;
}
threadInterrupted = false;
TT_LOG_I(TAG, "Starting thread");
@@ -186,14 +192,6 @@ bool GpsDevice::stop() {
}
}
if (uart::isStarted(configuration.uartPort)) {
if (!uart::stop(configuration.uartPort)) {
TT_LOG_E(TAG, "UART %d failed to stop", configuration.uartPort);
setState(State::Error);
return false;
}
}
setState(State::Off);
return true;