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AP_SerialManager: added register_port() API

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allows another library to register a UART driver for exposing via
AP_SerialManager APIs
This commit is contained in:
Andrew Tridgell
2023-11-17 10:54:24 -08:00
committed by Tom Pittenger
parent 713745ed28
commit f9f07912e6
2 changed files with 75 additions and 3 deletions
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libraries/AP_SerialManager/AP_SerialManager.cpp
+46 -2
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@@ -439,6 +439,8 @@ void AP_SerialManager::init()
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
auto *uart = hal.serial(i);
state[i].idx = i;
if (uart != nullptr) {
set_options(i);
switch (state[i].protocol) {
@@ -589,6 +591,17 @@ const AP_SerialManager::UARTState *AP_SerialManager::find_protocol_instance(enum
}
}
#if AP_SERIALMANAGER_REGISTER_ENABLED
for (auto p = registered_ports; p; p = p->next) {
if (protocol_match(protocol, (enum SerialProtocol)p->state.protocol.get())) {
if (found_instance == instance) {
return &p->state;
}
found_instance++;
}
}
#endif
// if we got this far we did not find the uart
return nullptr;
}
@@ -602,10 +615,23 @@ AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol,
if (_state == nullptr) {
return nullptr;
}
const uint8_t serial_idx = _state - &state[0];
const uint8_t serial_idx = _state->idx;
// set options before any user does begin()
AP_HAL::UARTDriver *port = hal.serial(serial_idx);
#if AP_SERIALMANAGER_REGISTER_ENABLED
if (port == nullptr) {
// look for a registered port
for (auto p = registered_ports; p; p = p->next) {
if (p->state.idx == serial_idx) {
port = p;
break;
}
}
}
#endif
if (port) {
port->set_options(_state->options);
}
@@ -637,7 +663,7 @@ int8_t AP_SerialManager::find_portnum(enum SerialProtocol protocol, uint8_t inst
if (_state == nullptr) {
return -1;
}
return int8_t(_state - &state[0]);
return int8_t(_state->idx);
}
// get_serial_by_id - gets serial by serial id
@@ -646,6 +672,13 @@ AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id)
if (id < SERIALMANAGER_NUM_PORTS) {
return hal.serial(id);
}
#if AP_SERIALMANAGER_REGISTER_ENABLED
for (auto p = registered_ports; p; p = p->next) {
if (p->state.idx == id) {
return (AP_HAL::UARTDriver *)p;
}
}
#endif
return nullptr;
}
@@ -755,6 +788,17 @@ void AP_SerialManager::set_protocol_and_baud(uint8_t sernum, enum SerialProtocol
}
}
#if AP_SERIALMANAGER_REGISTER_ENABLED
/*
register an external network port. It is up to the caller to use a unique id field
using AP_SERIALMANAGER_NET_PORT_1 as the base id for NET_P1_*
*/
void AP_SerialManager::register_port(RegisteredPort *port)
{
port->next = registered_ports;
registered_ports = port;
}
#endif // AP_SERIALMANAGER_REGISTER_ENABLED
namespace AP {