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This addes the command serial_passthru which will pass data from one
device to another. This can be used to use u-center connected to USB
with a GPS on a serial port.
Usage: serial_passthru [arguments...]
-e <val> External device path
values: <file:dev>
-d <val> Internal device path
values: <file:dev>
[-b <val>] Baudrate
default: 115200
[-t] Track the External devices baudrate on internal device
With the -t option baudrate changes made on the PC connected to the USB
will be set to the intrenal device.
master
David Sidrane
3 years ago
committed by
Daniel Agar
3 changed files with 529 additions and 0 deletions
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|
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############################################################################ |
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# |
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# Copyright (c) 2022 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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px4_add_module( |
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MODULE systemcmds__serial_passthru |
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MAIN serial_passthru |
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PRIORITY "SCHED_PRIORITY_DEFAULT+30" |
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COMPILE_FLAGS |
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SRCS |
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serial_passthru.cpp |
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DEPENDS |
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) |
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menuconfig SYSTEMCMDS_SERIAL_PASSTHRU |
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bool "serial_passthru" |
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default n |
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---help--- |
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Enable support for passing one sevice to another |
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i.e ttyACM to ttyS5 |
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/****************************************************************************
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* |
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* Copyright (c) 2022 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file nshterm.c |
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*/ |
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#include <px4_platform_common/px4_config.h> |
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#include <termios.h> |
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#include <px4_platform_common/atomic.h> |
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#include <px4_platform_common/cli.h> |
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#include <px4_platform_common/getopt.h> |
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#include <px4_platform_common/module.h> |
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#include <px4_platform_common/posix.h> |
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static constexpr int TASK_STACK_SIZE = PX4_STACK_ADJUSTED(1224); |
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static constexpr int THREAD_STACK_SIZE = PX4_STACK_ADJUSTED(1224); |
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class SERIALPASSTHRU : public ModuleBase<SERIALPASSTHRU> |
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{ |
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public: |
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SERIALPASSTHRU(const char *external_path, const char *internal_path, unsigned baudrate, bool trackbaud); |
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~SERIALPASSTHRU() override; |
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/** @see ModuleBase */ |
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static int task_spawn(int argc, char *argv[]); |
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/** @see ModuleBase */ |
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static SERIALPASSTHRU *instantiate(int argc, char *argv[]); |
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/** @see ModuleBase */ |
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static int custom_command(int argc, char *argv[]) { return print_usage("unknown command"); } |
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/** @see ModuleBase */ |
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static int print_usage(const char *reason = nullptr); |
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/** @see ModuleBase::run() */ |
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void run() override; |
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void thread_run(); |
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void thread_start(); |
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void thread_stop(); |
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static void *trampoline(void *context); |
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private: |
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int _fd_ext{-1}; ///< the connection to the outside device
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int _fd_int{-1}; ///< the connection to the inside device
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unsigned _baudrate{0}; ///< baudrate passed
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char _ext_path[20] {}; ///< external device / serial port path
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char _int_path[20] {}; ///< internal device / serial port path
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bool _track_baud{false}; ///< track baudrate from external and dynmaicaly reconfigure internal
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#if defined(DEBUG_BUILD) |
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enum dbg_t { |
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NONE = 0, |
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INT = 1, |
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EXT = 2, |
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BAUD = 4, |
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}; |
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enum dbg_t _debug_level {BAUD}; |
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#endif |
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pthread_t _thread{0}; ///< worker task id
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px4::atomic_bool _thread_should_exit{false}; |
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int setBaudrate(int fd, unsigned baud); |
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void dump(const char *dirin, const char *dirout, int read, int written, |
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char *buffer); |
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}; |
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void SERIALPASSTHRU::dump(const char *dirin, const char *dirout, int read, int written, |
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char *buffer) |
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{ |
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#if defined(DEBUG_BUILD) |
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enum dbg_t mgtype = dirin[0] == 'i' ? INT : EXT; |
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if ((_debug_level & mgtype) && read > 0) { |
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fprintf(stderr, "%s %d bytes read\n", dirin, read); |
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fprintf(stderr, "%s %d bytes written\n", dirout, written); |
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for (int i = 0; i < read; i++) { |
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fprintf(stderr, "|%X", buffer[i]); |
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} |
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fprintf(stderr, "\n"); |
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} |
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#endif |
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} |
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void SERIALPASSTHRU::thread_run() |
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{ |
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px4_prctl(PR_SET_NAME, "serial_passthru-ext->int", px4_getpid()); |
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struct termios uart_config; |
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struct termios last_config = {}; |
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tcgetattr(_fd_ext, &uart_config); |
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do { |
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if (_track_baud) { |
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// Get the current extenral settings
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tcgetattr(_fd_ext, &uart_config); |
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speed_t baudrate = cfgetspeed(&uart_config); |
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speed_t last_baudrate = cfgetspeed(&last_config); |
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// Has setting baud rate
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if (baudrate != last_baudrate) { |
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struct termios int_config; |
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// Get tht internal settings
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tcgetattr(_fd_int, &int_config); |
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// configure the new baudrate
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cfsetspeed(&int_config, baudrate); |
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// set the new baudrate
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tcsetattr(_fd_int, TCSANOW, &int_config); |
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last_config = uart_config; |
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tcflush(_fd_int, TCIOFLUSH); |
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#if defined(DEBUG_BUILD) |
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if (_debug_level & BAUD) { |
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fprintf(stderr, "Baudrate change was:%d is:%d\n", last_baudrate, baudrate); |
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} |
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#endif |
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} |
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} |
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pollfd fds[1]; |
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fds[0].fd = _fd_ext; |
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fds[0].events = POLLIN; |
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int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 10); |
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if (ret > 0) { |
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if (fds[0].revents & POLLIN) { |
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char buf[80]; |
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int nread = read(_fd_ext, &buf, sizeof(buf)); |
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if (nread > 0) { |
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int nwrite = write(_fd_int, &buf, nread); |
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dump("ext", "int", nread, nwrite, buf); |
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} |
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} |
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} |
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} while (!_thread_should_exit.load()); |
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} |
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void SERIALPASSTHRU::thread_start() |
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{ |
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pthread_attr_t loop_attr; |
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pthread_attr_init(&loop_attr); |
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struct sched_param param; |
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(void)pthread_attr_getschedparam(&loop_attr, ¶m); |
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param.sched_priority = SCHED_PRIORITY_SLOW_DRIVER - 1; |
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(void)pthread_attr_setschedparam(&loop_attr, ¶m); |
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pthread_attr_setstacksize(&loop_attr, THREAD_STACK_SIZE); |
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pthread_create(&_thread, &loop_attr, SERIALPASSTHRU::trampoline, (void *)this); |
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pthread_attr_destroy(&loop_attr); |
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} |
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void *SERIALPASSTHRU::trampoline(void *context) |
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{ |
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SERIALPASSTHRU *self = reinterpret_cast<SERIALPASSTHRU *>(context); |
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self->thread_run(); |
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return nullptr; |
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} |
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void SERIALPASSTHRU::thread_stop() |
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{ |
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_thread_should_exit.store(true); |
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pthread_join(_thread, nullptr); |
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} |
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SERIALPASSTHRU::SERIALPASSTHRU(const char *path1, const char *path2, unsigned baudrate, bool trackbaud) : |
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_baudrate(baudrate), |
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_track_baud(trackbaud) |
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{ |
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strncpy(_ext_path, path1, sizeof(_ext_path) - 1); |
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_ext_path[sizeof(_ext_path) - 1] = '\0'; |
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strncpy(_int_path, path2, sizeof(_int_path) - 1); |
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_int_path[sizeof(_int_path) - 1] = '\0'; |
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} |
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SERIALPASSTHRU::~SERIALPASSTHRU() |
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{ |
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} |
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int SERIALPASSTHRU::print_usage(const char *reason) |
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{ |
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if (reason) { |
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PX4_WARN("%s\n", reason); |
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} |
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PRINT_MODULE_DESCRIPTION("Pass data from one device to another.\n" |
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"\n" |
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"This can be used to use u-center connected to USB with a GPS on a serial port.\n" |
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); |
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PRINT_MODULE_USAGE_NAME_SIMPLE("serial_passthru", "command"); |
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PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "<file:dev>", "External device path", false); |
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PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Internal device path", false); |
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PRINT_MODULE_USAGE_PARAM_INT('b', 115200, 0, 3000000, "Baudrate", true); |
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PRINT_MODULE_USAGE_PARAM_FLAG('t', "Track the External devices baudrate on internal device", true); |
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return 0; |
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} |
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void |
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SERIALPASSTHRU::run() |
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{ |
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px4_prctl(PR_SET_NAME, "serial_passthru-int->ext", px4_getpid()); |
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while (!should_exit()) { |
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if (_fd_ext < 0) { |
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/* open the serial port */ |
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_fd_ext = ::open(_ext_path, O_RDWR | O_NOCTTY); |
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if (_fd_ext < 0) { |
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PX4_ERR("failed to open %s err: %d", _ext_path, errno); |
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} else { |
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setBaudrate(_fd_ext, _baudrate); |
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} |
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} |
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if (_fd_int < 0) { |
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/* open the serial port */ |
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_fd_int = ::open(_int_path, O_RDWR | O_NOCTTY); |
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if (_fd_ext < 0) { |
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PX4_ERR("failed to open %s err: %d", _int_path, errno); |
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} else { |
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setBaudrate(_fd_int, _baudrate); |
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} |
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} |
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if (_fd_ext < 0 || _fd_int < 0) { |
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px4_sleep(1); |
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continue; |
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} else if (_thread == 0) { |
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thread_start(); |
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} |
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char buf[80]; |
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int nread = read(_fd_int, &buf, sizeof(buf)); |
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if (nread > 0) { |
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int nwrite = write(_fd_ext, &buf, nread); |
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dump("int", "ext", nread, nwrite, buf); |
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} |
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} |
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thread_stop(); |
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close(_fd_ext); |
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close(_fd_int); |
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} |
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int SERIALPASSTHRU::setBaudrate(int fd, unsigned baud) |
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{ |
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/* process baud rate */ |
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int speed; |
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switch (baud) { |
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case 9600: speed = B9600; break; |
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case 19200: speed = B19200; break; |
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case 38400: speed = B38400; break; |
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case 57600: speed = B57600; break; |
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case 115200: speed = B115200; break; |
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case 230400: speed = B230400; break; |
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#ifndef B460800 |
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#define B460800 460800 |
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#endif |
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case 460800: speed = B460800; break; |
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#ifndef B921600 |
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#define B921600 921600 |
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#endif |
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case 921600: speed = B921600; break; |
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default: |
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PX4_ERR("ERR: unknown baudrate: %d", baud); |
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return -EINVAL; |
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} |
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struct termios uart_config; |
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int termios_state; |
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/* fill the struct for the new configuration */ |
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tcgetattr(fd, &uart_config); |
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/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ |
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//
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// Input flags - Turn off input processing
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//
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// convert break to null byte, no CR to NL translation,
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// no NL to CR translation, don't mark parity errors or breaks
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// no input parity check, don't strip high bit off,
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// no XON/XOFF software flow control
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//
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uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | |
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INLCR | PARMRK | INPCK | ISTRIP | IXON); |
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//
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// Output flags - Turn off output processing
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//
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// no CR to NL translation, no NL to CR-NL translation,
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// no NL to CR translation, no column 0 CR suppression,
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// no Ctrl-D suppression, no fill characters, no case mapping,
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// no local output processing
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//
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// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
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// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
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uart_config.c_oflag = 0; |
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//
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// No line processing
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//
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// echo off, echo newline off, canonical mode off,
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// extended input processing off, signal chars off
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//
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uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); |
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/* no parity, one stop bit, disable flow control */ |
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uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); |
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/* set baud rate */ |
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if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { |
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PX4_ERR("%d (cfsetispeed)", termios_state); |
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return -1; |
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} |
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if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { |
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PX4_ERR("%d (cfsetospeed)", termios_state); |
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return -1; |
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} |
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if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { |
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PX4_ERR("%d (tcsetattr)", termios_state); |
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return -1; |
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} |
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return 0; |
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} |
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int SERIALPASSTHRU::task_spawn(int argc, char *argv[]) |
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{ |
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int task_id = px4_task_spawn_cmd("passthru", SCHED_DEFAULT, |
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SCHED_PRIORITY_SLOW_DRIVER, TASK_STACK_SIZE, |
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run_trampoline, (char *const *)argv); |
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if (task_id < 0) { |
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task_id = -1; |
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return -errno; |
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} |
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_task_id = task_id; |
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return 0; |
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} |
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SERIALPASSTHRU *SERIALPASSTHRU::instantiate(int argc, char *argv[]) |
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{ |
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const char *ext_device = nullptr; |
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const char *int_device = nullptr; |
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int baudrate = 115200; |
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bool trackbaud = false; |
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int myoptind = 1; |
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int ch; |
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const char *myoptarg = nullptr; |
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while ((ch = px4_getopt(argc, argv, "b:d:e:t", &myoptind, &myoptarg)) != EOF) { |
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switch (ch) { |
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case 't': |
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trackbaud = true; |
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break; |
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case 'b': |
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if (px4_get_parameter_value(myoptarg, baudrate) != 0) { |
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PX4_ERR("baudrate parsing failed"); |
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return nullptr; |
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} |
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break; |
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case 'e': |
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ext_device = myoptarg; |
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break; |
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case 'd': |
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int_device = myoptarg; |
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break; |
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} |
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} |
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|
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SERIALPASSTHRU *serial_passthru = nullptr; |
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bool lok = ext_device && (access(ext_device, R_OK | W_OK) == 0); |
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bool rok = int_device && (access(int_device, R_OK | W_OK) == 0); |
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|
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if (rok && lok) { |
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serial_passthru = new SERIALPASSTHRU(ext_device, int_device, baudrate, trackbaud); |
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|
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} else { |
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if (!lok) { |
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PX4_ERR("Invalid external device (-e) %s", ext_device ? ext_device : ""); |
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} |
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|
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if (rok) { |
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PX4_ERR("Invalid internal device (-r) %s", int_device ? int_device : ""); |
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} |
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} |
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|
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return serial_passthru; |
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} |
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extern "C" __EXPORT int serial_passthru_main(int argc, char *argv[]); |
||||
|
||||
int serial_passthru_main(int argc, char *argv[]) |
||||
{ |
||||
return SERIALPASSTHRU::main(argc, argv); |
||||
} |
||||
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Reference in new issue