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fix compatibility with new fibre-cpp

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This commit is contained in:
Samuel Sadok
2021-01-08 11:40:36 +01:00
parent f14a79395b
commit 2caf0d3c0e
11 changed files with 51 additions and 48 deletions
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Firmware/communication/interface_uart.cpp
+13 -14
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@@ -5,8 +5,7 @@
#include <MotorControl/utils.hpp>
#include <fibre/protocol.hpp>
#include <fibre/../../async_stream.hpp>
#include <fibre/async_stream.hpp>
#include <fibre/../../legacy_protocol.hpp>
#include <usart.h>
#include <cmsis_os.h>
@@ -31,22 +30,22 @@ class Stm32UartTxStream : public AsyncStreamSink {
public:
Stm32UartTxStream(UART_HandleTypeDef* huart) : huart_(huart) {}
void start_write(cbufptr_t buffer, TransferHandle* handle, Completer<WriteResult>& completer) final;
void start_write(cbufptr_t buffer, TransferHandle* handle, Callback<void, WriteResult> completer) final;
void cancel_write(TransferHandle transfer_handle) final;
void did_finish();
UART_HandleTypeDef *huart_;
Completer<WriteResult>* completer_ = nullptr;
Callback<void, WriteResult> completer_;
const uint8_t* tx_end_ = nullptr;
};
class Stm32UartRxStream : public AsyncStreamSource {
public:
void start_read(bufptr_t buffer, TransferHandle* handle, Completer<ReadResult>& completer) final;
void start_read(bufptr_t buffer, TransferHandle* handle, Callback<void, ReadResult> completer) final;
void cancel_read(TransferHandle transfer_handle) final;
void did_receive(uint8_t* buffer, size_t length);
Completer<ReadResult>* completer_ = nullptr;
Callback<void, ReadResult> completer_;
bufptr_t rx_buf_ = {nullptr, nullptr};
};
@@ -54,10 +53,10 @@ public:
using namespace fibre;
void Stm32UartTxStream::start_write(cbufptr_t buffer, TransferHandle* handle, Completer<WriteResult>& completer) {
void Stm32UartTxStream::start_write(cbufptr_t buffer, TransferHandle* handle, Callback<void, WriteResult> completer) {
size_t chunk = std::min(buffer.size(), (size_t)UART_TX_BUFFER_SIZE);
completer_ = &completer;
completer_ = completer;
tx_end_ = buffer.begin() + chunk;
if (handle) {
@@ -67,7 +66,7 @@ void Stm32UartTxStream::start_write(cbufptr_t buffer, TransferHandle* handle, Co
if (HAL_UART_Transmit_DMA(huart_, const_cast<uint8_t*>(buffer.begin()), chunk) != HAL_OK) {
completer_ = nullptr;
tx_end_ = nullptr;
completer.complete({kStreamError, buffer.begin()});
completer.invoke({kStreamError, buffer.begin()});
}
}
@@ -78,11 +77,11 @@ void Stm32UartTxStream::cancel_write(TransferHandle transfer_handle) {
void Stm32UartTxStream::did_finish() {
const uint8_t* tx_end = tx_end_;
tx_end_ = nullptr;
safe_complete(completer_, {kStreamOk, tx_end});
completer_.invoke_and_clear({kStreamOk, tx_end});
}
void Stm32UartRxStream::start_read(bufptr_t buffer, TransferHandle* handle, Completer<ReadResult>& completer) {
completer_ = &completer;
void Stm32UartRxStream::start_read(bufptr_t buffer, TransferHandle* handle, Callback<void, ReadResult> completer) {
completer_ = completer;
rx_buf_ = buffer;
if (handle) {
*handle = reinterpret_cast<TransferHandle>(this);
@@ -102,7 +101,7 @@ void Stm32UartRxStream::did_receive(uint8_t* buffer, size_t length) {
rx_buf_ = {nullptr, nullptr};
size_t chunk = std::min(length, rx_buf.size());
memcpy(rx_buf.begin(), buffer, chunk);
safe_complete(completer_, {kStreamOk, rx_buf.begin() + chunk});
completer_.invoke_and_clear({kStreamOk, rx_buf.begin() + chunk});
}
}
@@ -121,7 +120,7 @@ static void uart_server_thread(void * ctx) {
(void) ctx;
if (odrv.config_.uart0_protocol == ODrive::STREAM_PROTOCOL_TYPE_FIBRE) {
fibre_over_uart.start(Completer<LegacyProtocolPacketBased*, StreamStatus>::get_dummy());
fibre_over_uart.start({});
} else if (odrv.config_.uart0_protocol == ODrive::STREAM_PROTOCOL_TYPE_ASCII
|| odrv.config_.uart0_protocol == ODrive::STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT) {
ascii_over_uart.start();