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AP_Periph: move Network Passthrough to it's own file
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| /* | ||
| This program is free software: you can redistribute it and/or modify | ||
| it under the terms of the GNU General Public License as published by | ||
| the Free Software Foundation, either version 3 of the License, or | ||
| (at your option) any later version. | ||
| This program is distributed in the hope that it will be useful, | ||
| but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| GNU General Public License for more details. | ||
| You should have received a copy of the GNU General Public License | ||
| along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
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| #include "networking.h" | ||
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| #if defined(HAL_PERIPH_ENABLE_NETWORKING) && HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 | ||
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| #include <AP_SerialManager/AP_SerialManager.h> | ||
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| const AP_Param::GroupInfo Networking_Periph::Passthru::var_info[] = { | ||
| // @Param: ENABLE | ||
| // @DisplayName: Enable Passthrough | ||
| // @Description: Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports. | ||
| // @Values: 0:Disabled, 1:Enabled | ||
| // @RebootRequired: True | ||
| // @User: Advanced | ||
| AP_GROUPINFO_FLAGS("ENABLE", 1, Networking_Periph::Passthru, enabled, 0, AP_PARAM_FLAG_ENABLE), | ||
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| // @Param: EP1 | ||
| // @DisplayName: Endpoint 1 | ||
| // @Description: Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2. | ||
| // @Values: -1:Disabled, 0:Serial0(usually USB), 1:Serial1, 2:Serial2, 3:Serial3, 4:Serial4, 5:Serial5, 6:Serial6, 7:Serial7, 8:Serial8, 9:Serial9, 21:Network Port1, 22:Network Port2, 23:Network Port3, 24:Network Port4, 25:Network Port5, 26:Network Port6, 27:Network Port7, 28:Network Port8, 29:Network Port9, 41:CAN1 Port1, 42:CAN1 Port2, 43:CAN1 Port3, 44:CAN1 Port4, 45:CAN1 Port5, 46:CAN1 Port6, 47:CAN1 Port7, 48:CAN1 Port8, 49:CAN1 Port9, 51:CAN2 Port1, 52:CAN2 Port2, 53:CAN2 Port3, 54:CAN2 Port4, 55:CAN2 Port5, 56:CAN2 Port6, 57:CAN2 Port7, 58:CAN2 Port8, 59:CAN2 Port9 | ||
| // @RebootRequired: True | ||
| // @User: Advanced | ||
| AP_GROUPINFO("EP1", 2, Networking_Periph::Passthru, ep1, -1), | ||
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| // @Param: EP2 | ||
| // @DisplayName: Endpoint 2 | ||
| // @Description: Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1. | ||
| // @CopyFieldsFrom: NET_PASS1_EP1 | ||
| AP_GROUPINFO("EP2", 3, Networking_Periph::Passthru, ep2, -1), | ||
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| // @Param: BAUD1 | ||
| // @DisplayName: Endpoint 1 Baud Rate | ||
| // @Description: The baud rate used for Endpoint 1. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_BAUD | ||
| AP_GROUPINFO("BAUD1", 4, Networking_Periph::Passthru, baud1, 115200), | ||
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| // @Param: BAUD2 | ||
| // @DisplayName: Endpoint 2 Baud Rate | ||
| // @Description: The baud rate used for Endpoint 2. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_BAUD | ||
| AP_GROUPINFO("BAUD2", 5, Networking_Periph::Passthru, baud2, 115200), | ||
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| // @Param: OPT1 | ||
| // @DisplayName: Serial Port Options EP1 | ||
| // @Description: Control over UART options for Endpoint 1. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_OPTIONS | ||
| AP_GROUPINFO("OPT1", 6, Networking_Periph::Passthru, options1, 0), | ||
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| // @Param: OPT2 | ||
| // @DisplayName: Serial Port Options EP2 | ||
| // @Description: Control over UART options for Endpoint 2. Only applies to serial ports. | ||
| // @CopyFieldsFrom: SERIAL1_OPTIONS | ||
| AP_GROUPINFO("OPT2", 7, Networking_Periph::Passthru, options2, 0), | ||
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| AP_GROUPEND | ||
| }; | ||
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| void Networking_Periph::Passthru::init() | ||
| { | ||
| if (enabled == 0) { | ||
| // Feature is disabled | ||
| return; | ||
| } | ||
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| if (port1 != nullptr || port2 != nullptr) { | ||
| // The ports have already been initialized, nothing to do. | ||
| return; | ||
| } | ||
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| if (ep1 <= -1 || ep2 <= -1 || ep1 == ep2) { | ||
| // end points are not set or are the same. Can't route to self | ||
| return; | ||
| } | ||
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| port1 = AP::serialmanager().get_serial_by_id(ep1); | ||
| port2 = AP::serialmanager().get_serial_by_id(ep2); | ||
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| if (port1 != nullptr && port2 != nullptr) { | ||
| port1->set_options(options1); | ||
| port1->begin(baud1); | ||
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| port2->set_options(options2); | ||
| port2->begin(baud2); | ||
| } | ||
| } | ||
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| void Networking_Periph::Passthru::update() | ||
| { | ||
| if (enabled == 0 || port1 == nullptr || port2 == nullptr) { | ||
| return; | ||
| } | ||
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| // Fastest possible connection is 3Mbps serial port, which is roughly 300KB/s payload and we service this at <= 1kHz | ||
| // Raising this any higher just causes excess stack usage which never gets used. | ||
| uint8_t buf[300]; | ||
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| // read from port1, and write to port2 | ||
| auto avail = port1->available(); | ||
| if (avail > 0) { | ||
| auto space = port2->txspace(); | ||
| const uint32_t n = MIN(space, sizeof(buf)); | ||
| const auto nbytes = port1->read(buf, n); | ||
| if (nbytes > 0) { | ||
| port2->write(buf, nbytes); | ||
| } | ||
| } | ||
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| // read from port2, and write to port1 | ||
| avail = port2->available(); | ||
| if (avail > 0) { | ||
| auto space = port1->txspace(); | ||
| const uint32_t n = MIN(space, sizeof(buf)); | ||
| const auto nbytes = port2->read(buf, n); | ||
| if (nbytes > 0) { | ||
| port1->write(buf, nbytes); | ||
| } | ||
| } | ||
| } | ||
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| #endif // defined(HAL_PERIPH_ENABLE_NETWORKING) && HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 | ||
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