#include <UART.h>

Inheritance diagram for aruna::driver::UART:

Collaboration diagram for aruna::driver::UART:

Public Member Functions
	UART ()
	UART object to write and read data. More...

	~UART ()

size_t	write (uint8_t *data, size_t dataSize)
	Write data to the UART. More...

size_t	try_write (uint8_t *data, size_t dataSize)
	Write data to the UART. More...

size_t	read (uint8_t *buffer, size_t length)
	read data from the UART. More...

size_t	try_read (uint8_t *buffer, size_t length)
	read data from the UART. More...

virtual uint32_t	get_read_buffer_length ()=0
	Get amount of bytes in the read buffer. More...

uint32_t	set_baudrate (uint32_t new_baudrate)
	Set baudrate of the UART. More...

virtual uint32_t	get_baudrate ()
	Get baudrate of UART. More...

err_t	set_flowcontrol (flowcontrol_t new_flowcontrol)
	Set software or hardware flowcontrol. More...

virtual flowcontrol_t	get_flowcontrol ()
	get flowcontrol of UART More...

err_t	set_parity (parity_t parity_bit)
	Set parity bit. More...

virtual parity_t	get_parity ()
	Get parity of UART. More...

err_t	set_stop_bit (stop_bit_t stop_bit)
	set stop bit More...

virtual stop_bit_t	get_stop_bit ()
	get stop bit More...

err_t	set_word_length (word_length_t word_length)
	Set UART data bits length. More...

virtual word_length_t	get_word_length ()
	Set UART data bits length. More...

uint32_t	get_speed () override
	Get speed of link (bits per second) More...

Public Member Functions inherited from aruna::comm::Link
size_t	transmit (uint8_t *package, size_t package_size)
	directly transmit a package on the link. More...

size_t	receive (uint8_t *buffer, size_t buffer_size)
	Read data from the receive buffer. More...

bool	is_connected ()
	Does the link have an active connection with a client? More...

Static Protected Attributes
static const uint8_t	XON = 0x11

static const uint8_t	XOFF = 0x13

Private Member Functions
virtual uint32_t	_set_baudrate (uint32_t new_baudrate)=0
	Set baudrate of the UART. More...

virtual err_t	_set_flowcontrol (flowcontrol_t new_flowcontrol)=0
	Set software or hardware flowcontrol. More...

virtual err_t	_set_parity (parity_t parity_bit)=0
	Set parity bit. More...

virtual err_t	_set_stop_bit (stop_bit_t stop_bit)=0
	set stop bit More...

virtual err_t	_set_word_length (word_length_t word_length)=0
	Set UART data bits length. More...

Private Attributes
uint32_t	baudrate = 0

flowcontrol_t	flowcontrol = flowcontrol_t::NONE

parity_t	parity = parity_t::NONE

stop_bit_t	stopBit = stop_bit_t::NONE

word_length_t	wordLength = word_length_t::NONE

pthread_mutex_t	write_atomic

pthread_mutex_t	read_atomic

Additional Inherited Members
Public Attributes inherited from aruna::comm::Link
err_t	startup_error = err_t::NOT_STARTED

Detailed Description

Definition at line 15 of file UART.h.

Member Enumeration Documentation

◆ flowcontrol_t

enum aruna::driver::UART::flowcontrol_t

strong

Enumerator
HARDWARE
SOFTWARE
HARDWARE_SOFTWARE
DISABLED
NONE

Definition at line 17 of file UART.h.

                                      {
                 HARDWARE,
                 SOFTWARE,
                 HARDWARE_SOFTWARE,
                 DISABLED,
                 NONE,
             };

◆ parity_t

enum aruna::driver::UART::parity_t

strong

Enumerator
EVEN
ODD
DISABLED
NONE

Definition at line 24 of file UART.h.

◆ stop_bit_t

enum aruna::driver::UART::stop_bit_t

strong

Enumerator
ONE
ONE_HALF
TWO
NONE

Definition at line 30 of file UART.h.

◆ word_length_t

enum aruna::driver::UART::word_length_t

strong

Enumerator
FIVE
SIX
SEVEN
EIGHT
NONE

Definition at line 36 of file UART.h.

Constructor & Destructor Documentation

◆ UART()

UART::UART ( )

UART object to write and read data.

Definition at line 71 of file UART.cpp.

            {
 //    write
     pthread_mutexattr_t write_attr;
     pthread_mutexattr_init(&write_attr);
     pthread_mutex_init(&write_atomic, &write_attr);
     pthread_mutexattr_destroy(&write_attr);
 //   read
     pthread_mutexattr_t read_attr;
     pthread_mutexattr_init(&read_attr);
     pthread_mutex_init(&read_atomic, &read_attr);
     pthread_mutexattr_destroy(&read_attr);
 }

◆ ~UART()

UART::~UART ( )

Definition at line 84 of file UART.cpp.

             {
     pthread_mutex_destroy(&write_atomic);
     pthread_mutex_destroy(&read_atomic);
 }

Member Function Documentation

◆ _set_baudrate()

virtual uint32_t aruna::driver::UART::_set_baudrate ( uint32_t new_baudrate )

privatepure virtual

Set baudrate of the UART.

Parameters

new_baudrate baudrate to change to.

Returns: new baudrate

Implemented in aruna::driver::POSIX_UART, and aruna::driver::ESP32_UART.

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◆ _set_flowcontrol()

virtual err_t aruna::driver::UART::_set_flowcontrol ( flowcontrol_t new_flowcontrol )

privatepure virtual

Set software or hardware flowcontrol.

Parameters

new_flowcontrol

Returns: err_t::OK if set correctly

Implemented in aruna::driver::POSIX_UART, and aruna::driver::ESP32_UART.

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◆ _set_parity()

virtual err_t aruna::driver::UART::_set_parity ( parity_t parity_bit )

privatepure virtual

Set parity bit.

Parameters

parity_bit EVEN, UNEVEN or DISABLED

Returns: err_t::OK if no errors.

Implemented in aruna::driver::POSIX_UART, and aruna::driver::ESP32_UART.

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◆ _set_stop_bit()

virtual err_t aruna::driver::UART::_set_stop_bit ( stop_bit_t stop_bit )

privatepure virtual

set stop bit

Parameters

stop_bit 1 1.5 or 2 bits

Returns: err_t::OK if no errors

Implemented in aruna::driver::POSIX_UART, and aruna::driver::ESP32_UART.

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◆ _set_word_length()

virtual err_t aruna::driver::UART::_set_word_length ( word_length_t word_length )

privatepure virtual

Set UART data bits length.

Parameters

word_length five to eight bits

Returns: err_t::OK if success.

Implemented in aruna::driver::POSIX_UART, and aruna::driver::ESP32_UART.

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◆ get_baudrate()

uint32_t UART::get_baudrate ( )

virtual

Get baudrate of UART.

Returns: baudrate

Reimplemented in aruna::driver::ESP32_UART.

Definition at line 34 of file UART.cpp.

                             {
     return baudrate;
 }

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◆ get_flowcontrol()

UART::flowcontrol_t UART::get_flowcontrol ( )

virtual

get flowcontrol of UART

Returns: flowcontrol

Reimplemented in aruna::driver::ESP32_UART.

Definition at line 45 of file UART.cpp.

                                         {
     return flowcontrol;
 }

◆ get_parity()

UART::parity_t UART::get_parity ( )

virtual

Get parity of UART.

Returns: parity bit setting.

Reimplemented in aruna::driver::ESP32_UART.

Definition at line 56 of file UART.cpp.

                               {
     return parity;
 }

◆ get_read_buffer_length()

virtual uint32_t aruna::driver::UART::get_read_buffer_length ( )

pure virtual

Get amount of bytes in the read buffer.

Returns: number of bytes in read buffer.

Implemented in aruna::driver::ESP32_UART.

◆ get_speed()

uint32_t UART::get_speed ( )

overridevirtual

Get speed of link (bits per second)

Returns: unsigned int speed in Bytes per second.

Implements aruna::comm::Link.

Definition at line 118 of file UART.cpp.

                          {
     return get_baudrate();
 }

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◆ get_stop_bit()

UART::stop_bit_t UART::get_stop_bit ( )

virtual

get stop bit

Returns: ONE ONE_HALF or TWO

Reimplemented in aruna::driver::ESP32_UART.

Definition at line 67 of file UART.cpp.

                                   {
     return stopBit;
 }

◆ get_word_length()

UART::word_length_t UART::get_word_length ( )

virtual

Set UART data bits length.

Returns: word length.

Reimplemented in aruna::driver::ESP32_UART.

Definition at line 114 of file UART.cpp.

                                         {
     return wordLength;
 }

◆ read()

size_t UART::read	(	uint8_t *	buffer,
		size_t	length
	)

read data from the UART.

Parameters

buffer	pointer to buffer where UART read data will be written.
length	amount of bytes to read.

Returns: amount of bytes read.

Definition at line 19 of file UART.cpp.

                                                 {
     size_t ret = 0;
     pthread_mutex_lock(&read_atomic);
     ret = receive(buffer, length);
     pthread_mutex_unlock(&read_atomic);
     return ret;
 }

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◆ set_baudrate()

uint32_t UART::set_baudrate ( uint32_t new_baudrate )

Set baudrate of the UART.

Parameters

new_baudrate baudrate to change to.

Returns: new baudrate

Definition at line 27 of file UART.cpp.

                                                  {
     uint32_t ret = 0;
     ret = _set_baudrate(new_baudrate);
     this->baudrate = ret == new_baudrate ? new_baudrate : baudrate;
     return ret;
 }

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◆ set_flowcontrol()

err_t UART::set_flowcontrol ( UART::flowcontrol_t new_flowcontrol )

Set software or hardware flowcontrol.

Parameters

new_flowcontrol

Returns: err_t::OK if set correctly

Definition at line 38 of file UART.cpp.

                                                              {
     err_t ret = err_t::OK;
     ret = _set_flowcontrol(new_flowcontrol);
     this->flowcontrol = ret != err_t::OK ? this->flowcontrol : new_flowcontrol;
     return ret;
 }

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◆ set_parity()

err_t UART::set_parity ( UART::parity_t parity_bit )

Set parity bit.

Parameters

parity_bit EVEN, UNEVEN or DISABLED

Returns: err_t::OK if no errors.

Definition at line 49 of file UART.cpp.

                                               {
     err_t ret = err_t::OK;
     ret = _set_parity(parity_bit);
     this->parity = ret != err_t::OK ? this->parity : parity_bit;
     return ret;
 }

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◆ set_stop_bit()

err_t UART::set_stop_bit ( UART::stop_bit_t stop_bit )

set stop bit

Parameters

stop_bit 1 1.5 or 2 bits

Returns: err_t::OK if no errors

Definition at line 60 of file UART.cpp.

                                                 {
     err_t ret = err_t::OK;
     ret = _set_stop_bit(stop_bit);
     this->stopBit = ret != err_t::OK ? this->stopBit : stop_bit;
     return ret;
 }

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◆ set_word_length()

err_t UART::set_word_length ( UART::word_length_t word_length )

Set UART data bits length.

Parameters

word_length five to eight bits

Returns: err_t::OK if success.

Definition at line 107 of file UART.cpp.

                                                          {
     err_t ret = err_t::OK;
     ret = _set_word_length(word_length);
     this->wordLength = ret != err_t::OK ? this->wordLength : wordLength;
     return ret;
 }

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◆ try_read()

size_t UART::try_read	(	uint8_t *	buffer,
		size_t	length
	)

read data from the UART.

Return of data os already being read.

Parameters

buffer	pointer to buffer where UART read data will be written.
length	amount of bytes to read.

Returns: amount of bytes read.

Definition at line 98 of file UART.cpp.

                                                     {
     size_t ret = 0;
     if (!pthread_mutex_trylock(&read_atomic)) {
         ret = transmit(buffer, length);
         pthread_mutex_unlock(&read_atomic);
     }
     return ret;
 }

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◆ try_write()

size_t UART::try_write	(	uint8_t *	data,
		size_t	dataSize
	)

Write data to the UART.

Return if data is already being written.

Parameters

data	pointer to array of bytes to be written.
dataSize	length of data

Returns: amount of bytes written.

Definition at line 89 of file UART.cpp.

                                                      {
     size_t ret = 0;
     if (!pthread_mutex_trylock(&write_atomic)) {
         ret = transmit(data, dataSize);
         pthread_mutex_unlock(&write_atomic);
     }
     return ret;
 }

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◆ write()

size_t UART::write	(	uint8_t *	data,
		size_t	dataSize
	)

Write data to the UART.

Parameters

data	pointer to array of bytes to be written.
dataSize	length of data

Returns: amount of bytes written.

Definition at line 10 of file UART.cpp.

                                                  {
     size_t ret = 0;
     pthread_mutex_lock(&write_atomic);
 //    TODO this might end badly is comm::Link decite to do comm specific things in transmit.
     ret = transmit(data, dataSize);
     pthread_mutex_unlock(&write_atomic);
     return ret;
 }

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Member Data Documentation

◆ baudrate

uint32_t aruna::driver::UART::baudrate = 0

private

Definition at line 44 of file UART.h.

◆ flowcontrol

flowcontrol_t aruna::driver::UART::flowcontrol = flowcontrol_t::NONE

private

Definition at line 45 of file UART.h.

◆ parity

parity_t aruna::driver::UART::parity = parity_t::NONE

private

Definition at line 46 of file UART.h.

◆ read_atomic

pthread_mutex_t aruna::driver::UART::read_atomic

private

Definition at line 50 of file UART.h.

◆ stopBit

stop_bit_t aruna::driver::UART::stopBit = stop_bit_t::NONE

private

Definition at line 47 of file UART.h.

◆ wordLength

word_length_t aruna::driver::UART::wordLength = word_length_t::NONE

private

Definition at line 48 of file UART.h.

◆ write_atomic

pthread_mutex_t aruna::driver::UART::write_atomic

private

Definition at line 49 of file UART.h.

◆ XOFF

const uint8_t aruna::driver::UART::XOFF = 0x13

staticprotected

Definition at line 91 of file UART.h.

◆ XON

const uint8_t aruna::driver::UART::XON = 0x11

staticprotected

Definition at line 90 of file UART.h.

The documentation for this class was generated from the following files:

include/aruna/driver/UART.h
src/driver/UART.cpp

Public Types
enum	flowcontrol_t { flowcontrol_t::HARDWARE, flowcontrol_t::SOFTWARE, flowcontrol_t::HARDWARE_SOFTWARE, flowcontrol_t::DISABLED, flowcontrol_t::NONE }

enum	parity_t { parity_t::EVEN, parity_t::ODD, parity_t::DISABLED, parity_t::NONE }

enum	stop_bit_t { stop_bit_t::ONE, stop_bit_t::ONE_HALF, stop_bit_t::TWO, stop_bit_t::NONE }

enum	word_length_t { word_length_t::FIVE, word_length_t::SIX, word_length_t::SEVEN, word_length_t::EIGHT, word_length_t::NONE }

Public Types

Public Member Functions

Static Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ flowcontrol_t

◆ parity_t

◆ stop_bit_t

◆ word_length_t

Constructor & Destructor Documentation

◆ UART()

◆ ~UART()

Member Function Documentation

◆ _set_baudrate()

◆ _set_flowcontrol()

◆ _set_parity()

◆ _set_stop_bit()

◆ _set_word_length()

◆ get_baudrate()

◆ get_flowcontrol()

◆ get_parity()

◆ get_read_buffer_length()

◆ get_speed()

◆ get_stop_bit()

◆ get_word_length()

◆ read()

◆ set_baudrate()

◆ set_flowcontrol()

◆ set_parity()

◆ set_stop_bit()

◆ set_word_length()

◆ try_read()

◆ try_write()

◆ write()

Member Data Documentation

◆ baudrate

◆ flowcontrol

◆ parity

◆ read_atomic

◆ stopBit

◆ wordLength

◆ write_atomic

◆ XOFF

◆ XON