mirror of
https://github.com/ByteWelder/Tactility.git
synced 2026-10-17 19:05:07 +00:00
364 lines
10 KiB
C++
364 lines
10 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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#include <tactility/concurrent/mutex.h>
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#include <tactility/device.h>
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#include <tactility/driver.h>
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#include <tactility/drivers/posix_uart.h>
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#include <tactility/drivers/uart_controller.h>
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#include <tactility/log.h>
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#include <cerrno>
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#include <chrono>
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#include <cstring>
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#include <fcntl.h>
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#include <new>
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#include <poll.h>
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#include <sys/ioctl.h>
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#include <termios.h>
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#include <unistd.h>
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#define TAG "posix_uart"
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namespace {
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struct PosixUartInternal {
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Mutex mutex {};
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UartConfig config {};
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bool config_set = false;
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int fd = -1;
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PosixUartInternal() {
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mutex_construct(&mutex);
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}
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~PosixUartInternal() {
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mutex_destruct(&mutex);
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}
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};
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#define GET_CONFIG(device) ((const PosixUartConfig*)device->config)
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#define GET_DATA(device) ((PosixUartInternal*)device_get_driver_data(device))
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#define lock(data) mutex_lock(&data->mutex)
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#define unlock(data) mutex_unlock(&data->mutex)
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using Clock = std::chrono::steady_clock;
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Clock::time_point to_deadline(TickType_t timeout) {
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if (timeout == portMAX_DELAY) return Clock::time_point::max();
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return Clock::now() + std::chrono::milliseconds((uint64_t)timeout * portTICK_PERIOD_MS);
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}
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int remaining_poll_ms(Clock::time_point deadline) {
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if (deadline == Clock::time_point::max()) return -1;
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auto remaining = std::chrono::duration_cast<std::chrono::milliseconds>(deadline - Clock::now()).count();
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return remaining > 0 ? (int)remaining : 0;
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}
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/** @return true when the fd became ready before the deadline */
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bool wait_for(int fd, short events, Clock::time_point deadline) {
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while (true) {
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pollfd pfd = { .fd = fd, .events = events, .revents = 0 };
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int result = poll(&pfd, 1, remaining_poll_ms(deadline));
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if (result > 0) return true;
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if (result == 0) return false;
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if (errno != EINTR) return false;
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}
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}
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bool to_speed(uint32_t baud_rate, speed_t* speed) {
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switch (baud_rate) {
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case 1200: *speed = B1200; return true;
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case 2400: *speed = B2400; return true;
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case 4800: *speed = B4800; return true;
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case 9600: *speed = B9600; return true;
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case 19200: *speed = B19200; return true;
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case 38400: *speed = B38400; return true;
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case 57600: *speed = B57600; return true;
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case 115200: *speed = B115200; return true;
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case 230400: *speed = B230400; return true;
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#ifdef B460800
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case 460800: *speed = B460800; return true;
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#endif
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#ifdef B921600
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case 921600: *speed = B921600; return true;
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#endif
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#ifdef B1000000
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case 1000000: *speed = B1000000; return true;
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#endif
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#ifdef B2000000
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case 2000000: *speed = B2000000; return true;
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#endif
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default: return false;
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}
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}
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error_t apply_termios(int fd, const UartConfig& config) {
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speed_t speed;
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if (!to_speed(config.baud_rate, &speed)) return ERROR_NOT_SUPPORTED;
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if (config.stop_bits == UART_CONTROLLER_STOP_BITS_1_5) return ERROR_NOT_SUPPORTED;
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termios tty {};
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if (tcgetattr(fd, &tty) != 0) return ERROR_RESOURCE;
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cfmakeraw(&tty);
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tty.c_cflag |= CLOCAL | CREAD;
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tty.c_cflag &= ~CRTSCTS;
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tty.c_cflag &= ~CSIZE;
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switch (config.data_bits) {
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case UART_CONTROLLER_DATA_5_BITS: tty.c_cflag |= CS5; break;
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case UART_CONTROLLER_DATA_6_BITS: tty.c_cflag |= CS6; break;
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case UART_CONTROLLER_DATA_7_BITS: tty.c_cflag |= CS7; break;
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default: tty.c_cflag |= CS8; break;
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}
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switch (config.parity) {
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case UART_CONTROLLER_PARITY_EVEN: tty.c_cflag |= PARENB; tty.c_cflag &= ~PARODD; break;
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case UART_CONTROLLER_PARITY_ODD: tty.c_cflag |= PARENB | PARODD; break;
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default: tty.c_cflag &= ~PARENB; break;
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}
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if (config.stop_bits == UART_CONTROLLER_STOP_BITS_2) {
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tty.c_cflag |= CSTOPB;
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} else {
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tty.c_cflag &= ~CSTOPB;
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}
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tty.c_cc[VMIN] = 0;
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tty.c_cc[VTIME] = 0;
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if (cfsetispeed(&tty, speed) != 0 || cfsetospeed(&tty, speed) != 0) return ERROR_NOT_SUPPORTED;
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if (tcsetattr(fd, TCSANOW, &tty) != 0) return ERROR_RESOURCE;
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tcflush(fd, TCIOFLUSH);
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return ERROR_NONE;
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}
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error_t read_locked(PosixUartInternal* data, uint8_t* buffer, size_t buffer_size, TickType_t timeout) {
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auto deadline = to_deadline(timeout);
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size_t total = 0;
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while (total < buffer_size) {
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ssize_t result = read(data->fd, buffer + total, buffer_size - total);
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if (result > 0) {
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total += result;
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} else if (result < 0 && errno != EAGAIN && errno != EWOULDBLOCK && errno != EINTR) {
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return ERROR_RESOURCE;
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} else if (!wait_for(data->fd, POLLIN, deadline)) {
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return ERROR_TIMEOUT;
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}
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}
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return ERROR_NONE;
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}
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error_t write_locked(PosixUartInternal* data, const uint8_t* buffer, size_t buffer_size, TickType_t timeout) {
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auto deadline = to_deadline(timeout);
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size_t total = 0;
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while (total < buffer_size) {
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ssize_t result = write(data->fd, buffer + total, buffer_size - total);
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if (result > 0) {
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total += result;
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} else if (result < 0 && errno != EAGAIN && errno != EWOULDBLOCK && errno != EINTR) {
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return ERROR_RESOURCE;
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} else if (!wait_for(data->fd, POLLOUT, deadline)) {
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return ERROR_TIMEOUT;
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}
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}
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return ERROR_NONE;
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}
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// ---- UartControllerApi ----
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error_t read_bytes(Device* device, uint8_t* buffer, size_t buffer_size, TickType_t timeout) {
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auto* data = GET_DATA(device);
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lock(data);
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if (data->fd < 0) {
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unlock(data);
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return ERROR_INVALID_STATE;
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}
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error_t error = read_locked(data, buffer, buffer_size, timeout);
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unlock(data);
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return error;
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}
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error_t read_byte(Device* device, uint8_t* out, TickType_t timeout) {
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return read_bytes(device, out, 1, timeout);
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}
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error_t write_bytes(Device* device, const uint8_t* buffer, size_t buffer_size, TickType_t timeout) {
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auto* data = GET_DATA(device);
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lock(data);
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if (data->fd < 0) {
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unlock(data);
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return ERROR_INVALID_STATE;
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}
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error_t error = write_locked(data, buffer, buffer_size, timeout);
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unlock(data);
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return error;
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}
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error_t write_byte(Device* device, uint8_t out, TickType_t timeout) {
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return write_bytes(device, &out, 1, timeout);
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}
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error_t get_available(Device* device, size_t* available) {
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auto* data = GET_DATA(device);
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lock(data);
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if (data->fd < 0) {
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unlock(data);
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return ERROR_INVALID_STATE;
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}
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int count = 0;
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int result = ioctl(data->fd, FIONREAD, &count);
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unlock(data);
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if (result != 0) return ERROR_RESOURCE;
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*available = (size_t)count;
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return ERROR_NONE;
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}
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error_t set_config(Device* device, const UartConfig* config) {
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auto* data = GET_DATA(device);
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lock(data);
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if (data->fd >= 0) {
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unlock(data);
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return ERROR_INVALID_STATE;
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}
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data->config = *config;
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data->config_set = true;
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unlock(data);
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return ERROR_NONE;
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}
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error_t get_config(Device* device, UartConfig* config) {
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auto* data = GET_DATA(device);
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lock(data);
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if (!data->config_set) {
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unlock(data);
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return ERROR_RESOURCE;
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}
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*config = data->config;
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unlock(data);
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return ERROR_NONE;
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}
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error_t open_device(Device* device) {
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auto* data = GET_DATA(device);
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const char* path = GET_CONFIG(device)->path;
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lock(data);
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if (data->fd >= 0) {
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unlock(data);
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LOG_W(TAG, "%s is already open", device->name);
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return ERROR_INVALID_STATE;
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}
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if (!data->config_set) {
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unlock(data);
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LOG_E(TAG, "%s open failed: config not set", device->name);
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return ERROR_INVALID_STATE;
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}
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int fd = open(path, O_RDWR | O_NOCTTY | O_NONBLOCK | O_CLOEXEC);
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if (fd < 0) {
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unlock(data);
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LOG_E(TAG, "%s failed to open %s: %s", device->name, path, strerror(errno));
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return ERROR_RESOURCE;
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}
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error_t error = apply_termios(fd, data->config);
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if (error != ERROR_NONE) {
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close(fd);
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unlock(data);
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LOG_E(TAG, "%s failed to configure %s: %s", device->name, path, error_to_string(error));
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return error;
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}
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data->fd = fd;
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unlock(data);
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return ERROR_NONE;
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}
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error_t close_device(Device* device) {
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auto* data = GET_DATA(device);
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lock(data);
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if (data->fd < 0) {
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unlock(data);
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LOG_W(TAG, "%s is already closed", device->name);
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return ERROR_INVALID_STATE;
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}
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close(data->fd);
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data->fd = -1;
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unlock(data);
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return ERROR_NONE;
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}
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bool is_open(Device* device) {
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auto* data = GET_DATA(device);
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lock(data);
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bool status = data->fd >= 0;
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unlock(data);
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return status;
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}
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error_t flush_input(Device* device) {
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auto* data = GET_DATA(device);
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lock(data);
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if (data->fd < 0) {
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unlock(data);
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return ERROR_INVALID_STATE;
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}
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int result = tcflush(data->fd, TCIFLUSH);
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unlock(data);
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return result == 0 ? ERROR_NONE : ERROR_RESOURCE;
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}
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const UartControllerApi posix_uart_api = {
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.read_byte = read_byte,
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.write_byte = write_byte,
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.write_bytes = write_bytes,
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.read_bytes = read_bytes,
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.get_available = get_available,
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.set_config = set_config,
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.get_config = get_config,
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.open = open_device,
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.close = close_device,
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.is_open = is_open,
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.flush_input = flush_input
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};
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// ---- Driver lifecycle ----
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error_t start_device(Device* device) {
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auto* data = new(std::nothrow) PosixUartInternal();
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if (data == nullptr) return ERROR_OUT_OF_MEMORY;
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device_set_driver_data(device, data);
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return ERROR_NONE;
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}
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error_t stop_device(Device* device) {
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auto* data = GET_DATA(device);
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lock(data);
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if (data->fd >= 0) {
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unlock(data);
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return ERROR_INVALID_STATE;
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}
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unlock(data);
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device_set_driver_data(device, nullptr);
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delete data;
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return ERROR_NONE;
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}
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} // namespace
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extern "C" {
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Driver posix_uart_driver = {
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.name = "posix_uart",
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.compatible = (const char*[]) { "posix,uart", nullptr },
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.start_device = start_device,
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.stop_device = stop_device,
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.api = (const void*)&posix_uart_api,
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.device_type = &UART_CONTROLLER_TYPE,
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.internal = nullptr
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};
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} // extern "C"
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