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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DroneCAN/AP_DroneCAN_serial.h
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#pragma once

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#include <AP_SerialManager/AP_SerialManager.h>

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#ifndef AP_DRONECAN_SERIAL_NUM_PORTS

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#define AP_DRONECAN_SERIAL_NUM_PORTS 3

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#endif

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class AP_DroneCAN;

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class AP_DroneCAN_Serial

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{

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public:

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    /* Do not allow copies */

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    CLASS_NO_COPY(AP_DroneCAN_Serial);

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    AP_DroneCAN_Serial() {}

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    AP_Int8 enable;

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    void init(AP_DroneCAN *dronecan);

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    void update(void);

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public:

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    class Port : public AP_SerialManager::RegisteredPort {

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    public:

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        friend class AP_DroneCAN_Serial;

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        void init(void);

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        AP_Int8 node;

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        AP_Int8 idx;

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    private:

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        bool is_initialized() override {

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            return true;

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        }

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        bool tx_pending() override {

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            return false;

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        }

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        bool init_buffers(const uint32_t size_rx, const uint32_t size_tx);

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        uint32_t txspace() override;

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        void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;

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        size_t _write(const uint8_t *buffer, size_t size) override;

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        ssize_t _read(uint8_t *buffer, uint16_t count) override;

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        uint32_t _available() override;

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        void _end() override {}

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        void _flush() override {}

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        bool _discard_input() override;

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        uint64_t receive_time_constraint_us(uint16_t nbytes) override;

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        ByteBuffer *readbuffer;

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        ByteBuffer *writebuffer;

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        uint32_t baudrate;

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        uint32_t last_send_ms;

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        uint32_t last_size_tx;

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        uint32_t last_size_rx;

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        uint64_t last_recv_us;

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        // statistics

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        uint32_t tx_stats_bytes;

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        uint32_t rx_stats_bytes;

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        uint32_t rx_stats_dropped_bytes;

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        HAL_Semaphore sem;

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    protected:

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#if HAL_UART_STATS_ENABLED

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        // Getters for cumulative tx and rx counts

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        uint32_t get_total_tx_bytes() const override { return tx_stats_bytes; }

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        uint32_t get_total_rx_bytes() const override { return rx_stats_bytes; }

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        uint32_t get_total_dropped_rx_bytes() const override { return rx_stats_dropped_bytes; }

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#endif

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    };

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    Port ports[AP_DRONECAN_SERIAL_NUM_PORTS];

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private:

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    AP_DroneCAN *dronecan;

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    Canard::Publisher<uavcan_tunnel_Targetted> *targetted;

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    static void handle_tunnel_targetted(AP_DroneCAN *dronecan,

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                                        const CanardRxTransfer& transfer,

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                                        const uavcan_tunnel_Targetted &msg);

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    static AP_DroneCAN_Serial *serial[HAL_MAX_CAN_PROTOCOL_DRIVERS];

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};

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