tdcan/src/components/channel/uart_channel.cpp

#include <fcntl.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
//
#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <sys/types.h>
//
#include <map>
#include <set>
#include <string>

#include "uart_channel.hpp"
#include "utils/stringutils.hpp"
using namespace nlohmann;
using namespace iflytop;

static map<int, uint32_t> g_baundmap = {
    {0, 0000000},       {50, 0000001},      {75, 0000002},      {110, 0000003},      //
    {134, 0000004},     {150, 0000005},     {200, 0000006},     {300, 0000007},      //
    {600, 0000010},     {1200, 0000011},    {1800, 0000012},    {2400, 0000013},     //
    {4800, 0000014},    {9600, 0000015},    {19200, 0000016},   {38400, 0000017},    //
    {57600, 0010001},   {115200, 0010002},  {230400, 0010003},  {460800, 0010004},   //
    {500000, 0010005},  {576000, 0010006},  {921600, 0010007},  {1000000, 0010010},  //
    {1152000, 0010011}, {1500000, 0010012}, {2000000, 0010013}, {2500000, 0010014},  //
    {3000000, 0010015}, {3500000, 0010016}, {4000000, 0010017},
};

int findBaudrate(int baudrate) {
  auto baundrate_find_result = g_baundmap.find(baudrate);
  if (baundrate_find_result == g_baundmap.end()) {
    return -1;
  }
  return baundrate_find_result->second;
}

UartChannel::UartChannel(string chname, string ifname, int baudrate, bool hexch, int rxovertime) {
  logger = LoggerFactory.createRotatingFileLogger(chname);

  m_chname     = chname;
  m_ifname     = ifname;
  m_baudrate   = baudrate;
  m_hexch      = hexch;
  m_rxovertime = rxovertime;
  if (m_rxovertime == 0) {
    m_rxovertime = 1;
  }
}

void UartChannel::initialize() {
  m_uartHandler.name = (char*)m_ifname.c_str();
  m_uartHandler.rate = findBaudrate(m_baudrate);
  if (m_uartHandler.rate == -1) {
    logger->error("unsupport baudrate:{}", m_baudrate);
    m_errorFlag = true;
    m_errorMsg  = "unsupport baudrate";
    return;
  }

  int suc = uartStart(&m_uartHandler);
  if (suc != 0) {
    logger->error("uartStart fail");
    m_errorFlag = true;
    m_errorMsg  = "uart open fail";
    return;
  }

  m_rxthread.reset(new Thread(fmt::format("{}-rxthread", m_chname), [this]() {
    logger->info("{} rxthread start", m_chname);
    ThisThread thisThread;
    char       rxcache[4096] = {0};
    int        rxlen         = 0;
    while (!thisThread.getExitFlag()) {
      int ret = uartReceive(&m_uartHandler, &rxcache[rxlen], 1024);  // send the received text over UART
      if (ret < 0) {
        logger->error("uartReceive fail, ret:{}", ret);
        thisThread.sleepForMs(1000);
        continue;
      }

      if (ret > 0) {
        rxlen += ret;
        ::usleep(m_rxovertime * 1000);
        continue;
      }

      if (rxlen != 0 && ret == 0) {
        if (m_hexch) {  // hex channel
          string rxhexstr = StringUtils().bytesToString((uint8_t*)rxcache, rxlen);
          logger->info("{} RX:-> {}({})", m_chname, rxhexstr, rxlen);
          if (m_ondata) m_ondata(this, true, rxcache, rxlen);
        } else {  // str channel
          string rxstr(rxcache, rxlen);
          logger->info("{} RX:-> {}({})", m_chname, rxstr, rxlen);
          if (m_ondata) m_ondata(this, false, rxcache, rxlen);
        }
        rxlen = 0;
      }
      ::usleep(m_rxovertime * 1000);
      //
    }  // end while
  }));
  return;
}

void UartChannel::senddata(bool binary, const char* data, size_t len) {
  string txdata(data, len);
  if ((m_hexch ^ binary)) {
    logger->warn("{} Skip Tx | data format error, channel is a {} channel", m_chname, m_hexch ? "hex" : "str");
    return;
  }

  if (m_errorFlag) {
    logger->warn("{} Skip Tx, due to errorflag", m_chname, txdata, len);
    return;
  }

  string txdatastr;
  if (binary) {
    txdatastr = StringUtils().bytesToString((uint8_t*)data, len);
  } else {
    txdatastr = txdata;
  }

  logger->info("{} TX:-> {}({})", m_chname, txdatastr, len);

  int txlen = 0;
  if (binary) {
    txlen = uartSend(&m_uartHandler, (char*)data, len);
    if (txlen != (int)len) logger->warn("tx fail");
  } else {
    txlen = uartSend(&m_uartHandler, txdatastr.c_str(), txdatastr.size());
    if (txlen != (int)txdatastr.size()) logger->warn("tx fail");
  }
}
void UartChannel::registerOnDataCallback(OnData_t ondata) { m_ondata = ondata; }
void UartChannel::callcmd(string cmd, unordered_map<string, string> param, json& receipt) {
  logger->info("{} callcmd {} {}", m_chname, cmd, paramToString(param));
  if (cmd == "setBaudrate") {
    int rate = atoi(param["baudrate"].c_str());
    if (rate == 0) {
      logger->error("rate is 0");
      receipt["status"] = -1;
      receipt["msg"]    = "rate is not support";
      return;
    }

    int setrate = findBaudrate(rate);
    if (setrate == -1) {
      logger->error("unsupport baudrate:{}", m_baudrate);
      receipt["status"] = -1;
      receipt["msg"]    = "unsupport baudrate";
      return;
    }

    int suc = uartSetRate(&m_uartHandler, setrate);
    if (suc != 0) {
      logger->error("uartSetRate fail ,ecode = {}", strerror(errno));
      receipt["status"] = -1;
      receipt["msg"]    = fmt::format("uartSetRate fail ,ecode = {}", strerror(errno));
      return;
    }
    m_baudrate        = rate;
    receipt["status"] = 0;
    receipt["msg"]    = "ok";
  } else if (cmd == "getBaudrate") {
    receipt["status"]           = 0;
    receipt["data"]["baudrate"] = m_baudrate;
  } else {
    logger->error("unsupport cmd:{}", cmd);
    receipt["status"] = -1;
    receipt["msg"]    = "unsupport cmd";
  }
}

list<string> UartChannel::getCmdList() {
  list<string> cmdlist;
  return cmdlist;
}

json UartChannel::getChannelInfo() {
  json info;
  info["name"]  = m_chname;
  info["alias"] = getAlias();
  info["type"]  = "uart";

  info["ifname"]          = m_ifname;
  info["baudrate"]        = m_baudrate;
  info["hexch"]           = m_hexch;
  info["rxovertime"]      = m_rxovertime;
  info["error"]["status"] = m_errorFlag;
  info["error"]["msg"]    = m_errorMsg;
  return info;
}