Merge TactilityHeadless into Tactility (#263)

There currently is no practical use to have TactilityHeadless as a subproject. I'm merging it with the Tactility project.

Tactility/Source/hal/uart/UartPosix.cpp

@@ -0,0 +1,191 @@
+#ifndef ESP_PLATFORM
+
+#include "Tactility/hal/uart/UartPosix.h"
+#include "Tactility/hal/uart/Uart.h"
+
+#include <Tactility/Log.h>
+
+#include <cstring>
+#include <sstream>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#define TAG "uart"
+
+namespace tt::hal::uart {
+
+bool UartPosix::start() {
+    auto lock = mutex.asScopedLock();
+    lock.lock();
+
+    if (device != nullptr) {
+        TT_LOG_E(TAG, "[%s] Starting: Already started", configuration.name.c_str());
+        return false;
+    }
+
+    auto file = fopen(configuration.name.c_str(), "w");
+    if (file == nullptr) {
+        TT_LOG_E(TAG, "[%s] Open device failed", configuration.name.c_str());
+        return false;
+    }
+
+    auto new_device = std::unique_ptr<FILE, AutoCloseFileDeleter>(file);
+
+    struct termios tty;
+    if (tcgetattr(fileno(file), &tty) < 0) {
+        printf("[%s] tcgetattr failed: %s\n", configuration.name.c_str(), strerror(errno));
+        return false;
+    }
+
+    if (cfsetospeed(&tty, (speed_t)configuration.baudRate) == -1) {
+        TT_LOG_E(TAG, "[%s] Setting output speed failed", configuration.name.c_str());
+    }
+
+    if (cfsetispeed(&tty, (speed_t)configuration.baudRate) == -1) {
+        TT_LOG_E(TAG, "[%s] Setting input speed failed", configuration.name.c_str());
+    }
+
+    tty.c_cflag |= (CLOCAL | CREAD); /* ignore modem controls */
+    tty.c_cflag &= ~CSIZE;
+    tty.c_cflag |= CS8; /* 8-bit characters */
+    tty.c_cflag &= ~PARENB; /* no parity bit */
+    tty.c_cflag &= ~CSTOPB; /* only need 1 stop bit */
+    tty.c_cflag &= ~CRTSCTS; /* no hardware flowcontrol */
+
+    tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
+    tty.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+    tty.c_oflag &= ~OPOST;
+
+    /* fetch bytes as they become available */
+    tty.c_cc[VMIN] = 1;
+    tty.c_cc[VTIME] = 1;
+
+    if (tcsetattr(fileno(file), TCSANOW, &tty) != 0) {
+        printf("[%s] tcsetattr failed: %s\n", configuration.name.c_str(), strerror(errno));
+        return false;
+    }
+
+    device = std::move(new_device);
+
+    TT_LOG_I(TAG, "[%s] Started", configuration.name.c_str());
+    return true;
+}
+
+bool UartPosix::stop() {
+    auto lock = mutex.asScopedLock();
+    lock.lock();
+
+    if (device == nullptr) {
+        TT_LOG_E(TAG, "[%s] Stopping: Not started", configuration.name.c_str());
+        return false;
+    }
+
+    device = nullptr;
+
+    TT_LOG_I(TAG, "[%s] Stopped", configuration.name.c_str());
+    return true;
+}
+
+bool UartPosix::isStarted() const {
+    auto lock = mutex.asScopedLock();
+    lock.lock();
+    return device != nullptr;
+}
+
+size_t UartPosix::readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout) {
+    auto lock = mutex.asScopedLock();
+    if (!lock.lock(timeout)) {
+        return false;
+    }
+
+    if (awaitAvailable(timeout)) {
+        return read(fileno(device.get()), buffer, bufferSize);
+    } else {
+        return 0;
+    }
+}
+
+bool UartPosix::readByte(std::byte* output, TickType_t timeout) {
+    if (awaitAvailable(timeout)) {
+        return read(fileno(device.get()), output, 1) == 1;
+    } else {
+        return false;
+    }
+}
+
+size_t UartPosix::writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout) {
+    if (!mutex.lock(timeout)) {
+        return false;
+    }
+
+    return write(fileno(device.get()), buffer, bufferSize);
+}
+
+size_t UartPosix::available(TickType_t timeout) {
+    auto lock = mutex.asScopedLock();
+    if (!lock.lock(timeout)) {
+        return false;
+    }
+
+    uint32_t bytes_available = 0;
+    ioctl(fileno(device.get()), FIONREAD, bytes_available);
+    return bytes_available;
+}
+
+void UartPosix::flushInput() {
+    // TODO
+}
+
+uint32_t UartPosix::getBaudRate() {
+    struct termios tty;
+    if (tcgetattr(fileno(device.get()), &tty) < 0) {
+        printf("[%s] tcgetattr failed: %s\n", configuration.name.c_str(), strerror(errno));
+        return false;
+    } else {
+        return (uint32_t)cfgetispeed(&tty);
+    }
+}
+
+bool UartPosix::setBaudRate(uint32_t baudRate, TickType_t timeout) {
+    auto lock = mutex.asScopedLock();
+    if (!lock.lock(timeout)) {
+        return false;
+    }
+
+    struct termios tty;
+    if (tcgetattr(fileno(device.get()), &tty) < 0) {
+        printf("[%s] tcgetattr failed: %s\n", configuration.name.c_str(), strerror(errno));
+        return false;
+    }
+
+    if (cfsetospeed(&tty, (speed_t)configuration.baudRate) == -1) {
+        TT_LOG_E(TAG, "[%s] Failed to set output speed", configuration.name.c_str());
+        return false;
+    }
+
+    if (cfsetispeed(&tty, (speed_t)configuration.baudRate) == -1) {
+        TT_LOG_E(TAG, "[%s] Failed to set input speed", configuration.name.c_str());
+        return false;
+    }
+
+    return true;
+}
+
+bool UartPosix::awaitAvailable(TickType_t timeout) {
+    auto start_time = kernel::getTicks();
+    do {
+        if (available(timeout) > 0) {
+            return true;
+        }
+        kernel::delayTicks(timeout / 10);
+    } while ((kernel::getTicks() - start()) < timeout);
+    return false;
+}
+
+std::unique_ptr<Uart> create(const Configuration& configuration) {
+    return std::make_unique<UartPosix>(configuration);
+}
+
+} // namespace tt::hal::uart
+
+#endif