Diff: ros_lib_melodic/BufferedSerial/BufferedSerial.cpp

Revision:

10:0b7f23df690a

Parent:

9:859bcb293e46

Child:

11:32eeb052cda5

--- a/ros_lib_melodic/BufferedSerial/BufferedSerial.cpp	Thu Jul 30 13:04:10 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,158 +0,0 @@
-/**
- * @file    BufferedSerial.cpp
- * @brief   Software Buffer - Extends mbed Serial functionallity adding irq driven TX and RX
- * @author  sam grove
- * @version 1.0
- * @see
- *
- * Copyright (c) 2013
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "BufferedSerial.h"
-#include <stdarg.h>
-
-BufferedSerial::BufferedSerial(PinName tx, PinName rx, uint32_t buf_size, uint32_t tx_multiple, const char* name)
-    : RawSerial(tx, rx) , _rxbuf(buf_size), _txbuf((uint32_t)(tx_multiple*buf_size))
-{
-    RawSerial::attach(callback(this, &BufferedSerial::rxIrq), Serial::RxIrq);
-    this->_buf_size = buf_size;
-    this->_tx_multiple = tx_multiple;   
-    return;
-}
-
-BufferedSerial::~BufferedSerial(void)
-{
-    RawSerial::attach(NULL, RawSerial::RxIrq);
-    RawSerial::attach(NULL, RawSerial::TxIrq);
-
-    return;
-}
-
-int BufferedSerial::readable(void)
-{
-    return _rxbuf.available();  // note: look if things are in the buffer
-}
-
-int BufferedSerial::writeable(void)
-{
-    return 1;   // buffer allows overwriting by design, always true
-}
-
-int BufferedSerial::getc(void)
-{
-    return _rxbuf;
-}
-
-int BufferedSerial::putc(int c)
-{
-    _txbuf = (char)c;
-    BufferedSerial::prime();
-
-    return c;
-}
-
-int BufferedSerial::puts(const char *s)
-{
-    if (s != NULL) {
-        const char* ptr = s;
-    
-        while(*(ptr) != 0) {
-            _txbuf = *(ptr++);
-        }
-        _txbuf = '\n';  // done per puts definition
-        BufferedSerial::prime();
-    
-        return (ptr - s) + 1;
-    }
-    return 0;
-}
-
-int BufferedSerial::printf(const char* format, ...)
-{
-    char buffer[this->_buf_size];
-    memset(buffer,0,this->_buf_size);
-    int r = 0;
-
-    va_list arg;
-    va_start(arg, format);
-    r = vsprintf(buffer, format, arg);
-    // this may not hit the heap but should alert the user anyways
-    if(r > this->_buf_size) {
-        error("%s %d buffer overwrite (max_buf_size: %d exceeded: %d)!\r\n", __FILE__, __LINE__,this->_buf_size,r);
-        va_end(arg);
-        return 0;
-    }
-    va_end(arg);
-    r = BufferedSerial::write(buffer, r);
-
-    return r;
-}
-
-ssize_t BufferedSerial::write(const void *s, size_t length)
-{
-    if (s != NULL && length > 0) {
-        const char* ptr = (const char*)s;
-        const char* end = ptr + length;
-    
-        while (ptr != end) {
-            _txbuf = *(ptr++);
-        }
-        BufferedSerial::prime();
-    
-        return ptr - (const char*)s;
-    }
-    return 0;
-}
-
-
-void BufferedSerial::rxIrq(void)
-{
-    // read from the peripheral and make sure something is available
-    if(serial_readable(&_serial)) {
-        _rxbuf = serial_getc(&_serial); // if so load them into a buffer
-    }
-
-    return;
-}
-
-void BufferedSerial::txIrq(void)
-{
-    // see if there is room in the hardware fifo and if something is in the software fifo
-    while(serial_writable(&_serial)) {
-        if(_txbuf.available()) {
-            serial_putc(&_serial, (int)_txbuf.get());
-        } else {
-            // disable the TX interrupt when there is nothing left to send
-            RawSerial::attach(NULL, RawSerial::TxIrq);
-            break;
-        }
-    }
-
-    return;
-}
-
-void BufferedSerial::prime(void)
-{
-    // if already busy then the irq will pick this up
-    if(serial_writable(&_serial)) {
-        RawSerial::attach(NULL, RawSerial::TxIrq);    // make sure not to cause contention in the irq
-        BufferedSerial::txIrq();                // only write to hardware in one place
-        RawSerial::attach(callback(this, &BufferedSerial::txIrq), RawSerial::TxIrq);
-    }
-
-    return;
-}
-
-