326 lines
8.6 KiB
C++
326 lines
8.6 KiB
C++
#include "Tactility/hal/uart/Uart.h"
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#include <Tactility/Log.h>
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#include <Tactility/LogMessages.h>
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#include <Tactility/Mutex.h>
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#include <sstream>
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#ifdef ESP_PLATFORM
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#include <esp_check.h>
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#endif
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#define TAG "uart"
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namespace tt::hal::uart {
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struct Data {
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Mutex mutex;
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bool isConfigured = false;
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bool isStarted = false;
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Configuration configuration;
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};
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static Data dataArray[UART_NUM_MAX];
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static const char* initModeToString(InitMode mode) {
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switch (mode) {
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using enum InitMode;
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case ByTactility:
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return TT_STRINGIFY(InitMode::ByTactility);
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case ByExternal:
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return TT_STRINGIFY(InitMode::ByExternal);
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case Disabled:
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return TT_STRINGIFY(InitMode::Disabled);
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}
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tt_crash("not implemented");
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}
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static void printInfo(const Data& data) {
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TT_LOG_D(TAG, "UART info for port %d", data.configuration.port);
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TT_LOG_D(TAG, " isStarted: %d", data.isStarted);
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TT_LOG_D(TAG, " isConfigured: %d", data.isConfigured);
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TT_LOG_D(TAG, " initMode: %s", initModeToString(data.configuration.initMode));
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TT_LOG_D(TAG, " canReinit: %d", data.configuration.canReinit);
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TT_LOG_D(TAG, " hasMutableConfiguration: %d", data.configuration.hasMutableConfiguration);
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TT_LOG_D(TAG, " RX pin: %d", data.configuration.rxPin);
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TT_LOG_D(TAG, " TX pin: %d", data.configuration.txPin);
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TT_LOG_D(TAG, " RTS pin: %d", data.configuration.rtsPin);
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TT_LOG_D(TAG, " CTS pin: %d", data.configuration.ctsPin);
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}
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bool init(const std::vector<uart::Configuration>& configurations) {
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TT_LOG_I(TAG, "Init");
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for (const auto& configuration: configurations) {
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Data& data = dataArray[configuration.port];
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data.configuration = configuration;
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data.isConfigured = true;
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}
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for (const auto& config: configurations) {
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printInfo(dataArray[config.port]);
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if (config.initMode == InitMode::ByTactility) {
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if (!start(config.port)) {
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return false;
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}
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} else if (config.initMode == InitMode::ByExternal) {
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dataArray[config.port].isStarted = true;
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}
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}
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return true;
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}
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bool configure(uart_port_t port, const uart_config_t& configuration) {
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auto lock = getLock(port).asScopedLock();
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lock.lock();
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Data& data = dataArray[port];
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if (data.isStarted) {
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TT_LOG_E(TAG, "(%d) Cannot reconfigure while interface is started", port);
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return false;
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} else if (!data.configuration.hasMutableConfiguration) {
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TT_LOG_E(TAG, "(%d) Mutation not allowed by original configuration", port);
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return false;
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} else {
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data.configuration.config = configuration;
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return true;
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}
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}
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bool start(uart_port_t port) {
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auto lock = getLock(port).asScopedLock();
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lock.lock();
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Data& data = dataArray[port];
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printInfo(data);
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if (data.isStarted) {
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TT_LOG_E(TAG, "(%d) Starting: Already started", port);
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return false;
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}
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if (!data.isConfigured) {
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TT_LOG_E(TAG, "(%d) Starting: Not configured", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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Configuration& config = data.configuration;
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int intr_alloc_flags;
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#if CONFIG_UART_ISR_IN_IRAM
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intr_alloc_flags = ESP_INTR_FLAG_IRAM;
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#else
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intr_alloc_flags = 0;
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#endif
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esp_err_t result = uart_param_config(config.port, &config.config);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Starting: Failed to configure: %s", port, esp_err_to_name(result));
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return false;
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}
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result = uart_set_pin(config.port, config.txPin, config.rxPin, config.rtsPin, config.ctsPin);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Starting: Failed set pins: %s", port, esp_err_to_name(result));
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return false;
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}
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result = uart_driver_install(config.port, (int)config.rxBufferSize, (int)config.txBufferSize, 0, nullptr, intr_alloc_flags);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Starting: Failed to install driver: %s", port, esp_err_to_name(result));
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return false;
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}
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#endif // ESP_PLATFORM
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data.isStarted = true;
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TT_LOG_I(TAG, "(%d) Started", port);
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return true;
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}
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bool stop(uart_port_t port) {
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auto lock = getLock(port).asScopedLock();
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lock.lock();
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Data& data = dataArray[port];
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Configuration& config = data.configuration;
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if (!config.canReinit) {
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TT_LOG_E(TAG, "(%d) Stopping: Not allowed to re-init", port);
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return false;
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}
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if (!data.isStarted) {
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TT_LOG_E(TAG, "(%d) Stopping: Not started", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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esp_err_t result = uart_driver_delete(port);
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if (result != ESP_OK) {
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TT_LOG_E(TAG, "(%d) Stopping: Failed to delete driver: %s", port, esp_err_to_name(result));
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return false;
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}
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#endif // ESP_PLATFORM
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data.isStarted = false;
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TT_LOG_I(TAG, "(%d) Stopped", port);
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return true;
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}
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bool isStarted(uart_port_t port) {
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auto lock = getLock(port).asScopedLock();
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lock.lock();
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return dataArray[port].isStarted;
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}
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Lock& getLock(uart_port_t port) {
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return dataArray[port].mutex;
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}
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size_t readBytes(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout) {
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auto lock = getLock(port).asScopedLock();
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if (!lock.lock(timeout)) {
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TT_LOG_E(TAG, "(%d) Mutex timeout", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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auto start_time = kernel::getTicks();
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auto lock_time = kernel::getTicks() - start_time;
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auto remaining_timeout = std::max(timeout - lock_time, 0UL);
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auto result = uart_read_bytes(port, buffer, bufferSize, remaining_timeout);
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return result;
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#endif // ESP_PLATFORM
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return 0;
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}
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bool readByte(uart_port_t port, uint8_t* output, TickType_t timeout) {
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return readBytes(port, output, 1, timeout) == 1;
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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) {
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auto lock = getLock(port).asScopedLock();
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if (!lock.lock(timeout)) {
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TT_LOG_E(TAG, "(%d) Mutex timeout", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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return uart_write_bytes(port, buffer, bufferSize);
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#endif // ESP_PLATFORM
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return 0;
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}
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bool writeString(uart_port_t port, const char* buffer, TickType_t timeout) {
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while (*buffer != 0) {
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if (writeBytes(port, (const uint8_t*)buffer, 1, timeout)) {
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buffer++;
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} else {
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TT_LOG_E(TAG, "Failed to write - breaking off");
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return false;
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}
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}
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return true;
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}
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size_t available(uart_port_t port, TickType_t timeout) {
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auto lock = getLock(port).asScopedLock();
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if (!lock.lock(timeout)) {
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TT_LOG_E(TAG, "(%d) Mutex timeout", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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size_t size = 0;
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uart_get_buffered_data_len(port, &size);
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return size;
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#else
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return 0;
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#endif // ESP_PLATFORM
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}
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void flush(uart_port_t port) {
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#ifdef ESP_PLATFORM
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uart_flush(port);
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#endif // ESP_PLATFORM
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}
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void flushInput(uart_port_t port) {
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#ifdef ESP_PLATFORM
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uart_flush_input(port);
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#endif // ESP_PLATFORM
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}
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uint32_t getBaudRate(uart_port_t port) {
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#ifdef ESP_PLATFORM
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uint32_t baud_rate = 0;
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auto result = uart_get_baudrate(port, &baud_rate);
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ESP_ERROR_CHECK_WITHOUT_ABORT(result);
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return baud_rate;
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#else
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return 0;
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#endif
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}
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bool setBaudRate(uart_port_t port, uint32_t baudRate, TickType_t timeout) {
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auto lock = getLock(port).asScopedLock();
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if (!lock.lock(timeout)) {
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TT_LOG_E(TAG, "(%d) Mutex timeout", port);
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return false;
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}
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#ifdef ESP_PLATFORM
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auto result = uart_set_baudrate(port, baudRate);
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ESP_ERROR_CHECK_WITHOUT_ABORT(result);
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return result == ESP_OK;
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#else
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return true;
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#endif // ESP_PLATFORM
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}
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bool readUntil(uart_port_t port, uint8_t* buffer, size_t bufferSize, uint8_t untilByte, TickType_t timeout) {
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bool success = false;
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size_t index = 0;
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size_t index_limit = bufferSize - 1;
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while (readByte(port, buffer, timeout) && index < index_limit) {
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if (*buffer == untilByte) {
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success = true;
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// We have the extra space because index < index_limit
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buffer++;
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*buffer = 0;
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break;
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}
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buffer++;
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}
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return success;
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}
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std::string readStringUntil(uart_port_t port, char untilChar, TickType_t timeout) {
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std::stringstream output;
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char buffer;
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bool success = false;
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while (readByte(port, (uint8_t*)&buffer, timeout)) {
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if (buffer == untilChar) {
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success = true;
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break;
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}
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output << buffer;
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}
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if (success) {
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return output.str();
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} else {
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return {};
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}
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}
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} // namespace tt::hal::uart
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