mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
updated to use updated asyncio implementation
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Ruixiang Du
@@ -1,145 +1,65 @@
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/*
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* async_serial.hpp
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*
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* Created on: Nov 23, 2018 22:18
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* Description: asynchronous serial communication using asio
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* adapted from code in libmavconn
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*
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* Main changes: 1. Removed dependency on Boost (asio standalone
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* and C++ STL only)
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* 2. Removed dependency on console-bridge
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* 3. Removed mavlink related code
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* 4. Removed UDP/TCP related code
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*
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* Author: Vladimir Ermakov <vooon341@gmail.com>
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* Ruixiang Du <ruixiang.du@gmail.com>
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*
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* Additioanl reference:
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* [1] http://www.webalice.it/fede.tft/serial_port/serial_port.html
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*
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*/
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/*
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* libmavconn
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* Copyright 2013,2014,2015,2016 Vladimir Ermakov, All rights reserved.
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* async_serial.hpp
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*
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* This file is part of the mavros package and subject to the license terms
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* in the top-level LICENSE file of the mavros repository.
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* https://github.com/mavlink/mavros/tree/master/LICENSE.md
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* Created on: Sep 10, 2020 12:59
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* Description:
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*
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* Copyright (c) 2020 Ruixiang Du (rdu)
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*/
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#ifndef ASYNC_SERIAL_HPP
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#define ASYNC_SERIAL_HPP
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#include <atomic>
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#include <chrono>
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#include <thread>
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#include <cstdint>
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#include <memory>
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#include <array>
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#include <mutex>
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#include <deque>
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#include <functional>
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#include "asio.hpp"
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#include "wrp_sdk/asyncio/async_listener.hpp"
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#include "wrp_sdk/asyncio/ring_buffer.hpp"
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#include "wrp_sdk/asyncio/device_error.hpp"
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#include "wrp_sdk/asyncio/msg_buffer.hpp"
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namespace westonrobot {
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class AsyncSerial : public AsyncListener,
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public std::enable_shared_from_this<AsyncSerial> {
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public:
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using ReceiveCallback =
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std::function<void(uint8_t *data, size_t len, const size_t bufsize)>;
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namespace westonrobot
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{
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using steady_clock = std::chrono::steady_clock;
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using lock_guard = std::lock_guard<std::recursive_mutex>;
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public:
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AsyncSerial(std::string port_name, uint32_t baud_rate = 115200);
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/// Note: instance of ASyncSerial MUST be managed by a std::shared_ptr<ASyncSerial>
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class ASyncSerial : public std::enable_shared_from_this<ASyncSerial>
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{
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public:
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static constexpr auto DEFAULT_DEVICE = "/dev/ttyUSB0";
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static constexpr auto DEFAULT_BAUDRATE = 115200;
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static constexpr std::size_t MAX_TXQ_SIZE = 1000;
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void StopService() override;
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/**
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* @param buf: pointer to a buffer
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* @param bufsize: size of the buffer (the value should be constant in most cases)
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* @param bytes_received: number of bytes received inside the buffer
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*/
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using ReceiveCallback = std::function<void(uint8_t *buf, const size_t bufsize, size_t bytes_received)>;
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using ClosedCallback = std::function<void(void)>;
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bool IsOpened() const override { return serial_port_.is_open(); }
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using Ptr = std::shared_ptr<ASyncSerial>;
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using ConstPtr = std::shared_ptr<ASyncSerial const>;
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using WeakPtr = std::weak_ptr<ASyncSerial>;
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void SetReceiveCallback(ReceiveCallback cb) { rcv_cb_ = cb; }
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void SendBytes(const uint8_t *bytes, size_t length);
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struct IOStat
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{
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std::size_t tx_total_bytes; //!< total bytes transferred
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std::size_t rx_total_bytes; //!< total bytes received
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float tx_speed; //!< current transfer speed [B/s]
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float rx_speed; //!< current receive speed [B/s]
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};
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void SetBaudRate(unsigned baudrate);
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void SetHardwareFlowControl(bool enabled) { hwflow_ = enabled; }
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public:
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ASyncSerial(std::string device = DEFAULT_DEVICE, unsigned baudrate = DEFAULT_BAUDRATE, bool hwflow = false);
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~ASyncSerial();
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private:
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asio::serial_port serial_port_;
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uint32_t baud_rate_ = 115200;
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bool hwflow_ = false;
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ReceiveCallback rcv_cb_ = nullptr;
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// do not allow copy
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ASyncSerial(const ASyncSerial &other) = delete;
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ASyncSerial &operator=(const ASyncSerial &other) = delete;
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std::size_t conn_id;
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// tx/rx buffering
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static constexpr uint32_t rxtx_buffer_size = 1024 * 8;
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// rx buffer
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std::array<uint8_t, rxtx_buffer_size> rx_buf_;
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// tx buffer
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uint8_t tx_buf_[rxtx_buffer_size];
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RingBuffer<uint8_t, rxtx_buffer_size> tx_rbuf_;
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std::recursive_mutex tx_mutex_;
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bool tx_in_progress_ = false;
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static Ptr open_url(std::string url);
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void open(std::string device = "", unsigned baudrate = 0, bool hwflow = false);
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void close();
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void set_baud(unsigned baudrate) { serial_dev_.set_option(asio::serial_port_base::baud_rate(baudrate)); }
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void send_bytes(const uint8_t *bytes, size_t length);
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void set_receive_callback(ReceiveCallback cb) { receive_cb = cb; }
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void set_closed_callback(ClosedCallback cb) { port_closed_cb = cb; }
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inline bool is_open() { return serial_dev_.is_open(); }
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IOStat get_iostat();
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private:
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// monotonic counter (increment only)
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static std::atomic<std::size_t> conn_id_counter;
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// port properties
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std::string device_ = DEFAULT_DEVICE;
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unsigned baudrate_ = DEFAULT_BAUDRATE;
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bool hwflow_ = false;
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// port statistics
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std::atomic<std::size_t> tx_total_bytes;
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std::atomic<std::size_t> rx_total_bytes;
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std::size_t last_tx_total_bytes;
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std::size_t last_rx_total_bytes;
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std::chrono::time_point<steady_clock> last_iostat;
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std::recursive_mutex iostat_mutex;
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// io service
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asio::io_service io_service;
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std::thread io_thread;
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asio::serial_port serial_dev_;
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std::atomic<bool> tx_in_progress;
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std::deque<MsgBuffer> tx_q;
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std::array<uint8_t, MsgBuffer::MAX_SIZE> rx_buf;
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std::recursive_mutex mutex;
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// callback objects
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ClosedCallback port_closed_cb;
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ReceiveCallback receive_cb;
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// internal processing
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void do_read();
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void do_write(bool check_tx_state);
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void call_receive_callback(uint8_t *buf, const std::size_t bufsize, std::size_t bytes_received);
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void default_receive_callback(uint8_t *buf, const std::size_t bufsize, std::size_t bytes_received);
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void iostat_tx_add(std::size_t bytes);
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void iostat_rx_add(std::size_t bytes);
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bool SetupPort();
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void DefaultReceiveCallback(uint8_t *data, size_t len, const size_t bufsize);
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void ReadFromPort();
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void WriteToPort(bool check_if_busy);
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};
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} // namespace westonrobot
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} // namespace westonrobot
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#endif /* ASYNC_SERIAL_HPP */
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