diff --git a/Tools/AP_Periph/networking.cpp b/Tools/AP_Periph/networking.cpp index cfce8930632d1..8ac256850cd9b 100644 --- a/Tools/AP_Periph/networking.cpp +++ b/Tools/AP_Periph/networking.cpp @@ -17,10 +17,6 @@ #ifdef HAL_PERIPH_ENABLE_NETWORKING -#include - -extern const AP_HAL::HAL &hal; - const AP_Param::GroupInfo Networking_Periph::var_info[] { // @Group: // @Path: ../../libraries/AP_Networking/AP_Networking.cpp @@ -145,80 +141,15 @@ const AP_Param::GroupInfo Networking_Periph::var_info[] { }; -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), - - // @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), - - // @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), - - // @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), - - // @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), - - // @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), - - // @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), - - AP_GROUPEND -}; - void Networking_Periph::init(void) { networking_lib.init(); #if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 - auto &serial_manager = AP::serialmanager(); - for (auto &p : passthru) { - if (p.enabled != 0 && p.port1 == nullptr && p.port2 == nullptr && - p.ep1 != -1 && p.ep2 != -1 && p.ep1 != p.ep2) { - - p.port1 = serial_manager.get_serial_by_id(p.ep1); - p.port2 = serial_manager.get_serial_by_id(p.ep2); - - if (p.port1 != nullptr && p.port2 != nullptr) { - p.port1->set_options(p.options1); - p.port1->begin(p.baud1); - - p.port2->set_options(p.options2); - p.port2->begin(p.baud2); - } - } + p.init(); } -#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU +#endif } void Networking_Periph::update(void) @@ -227,34 +158,9 @@ void Networking_Periph::update(void) #if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 for (auto &p : passthru) { - if (p.enabled == 0 || p.port1 == nullptr || p.port2 == nullptr) { - continue; - } - uint8_t buf[1024]; - - // read from port1, and write to port2 - auto avail = p.port1->available(); - if (avail > 0) { - auto space = p.port2->txspace(); - const uint32_t n = MIN(space, sizeof(buf)); - const auto nbytes = p.port1->read(buf, n); - if (nbytes > 0) { - p.port2->write(buf, nbytes); - } - } - - // read from port2, and write to port1 - avail = p.port2->available(); - if (avail > 0) { - auto space = p.port1->txspace(); - const uint32_t n = MIN(space, sizeof(buf)); - const auto nbytes = p.port2->read(buf, n); - if (nbytes > 0) { - p.port1->write(buf, nbytes); - } - } + p.update(); } -#endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU +#endif } #endif // HAL_PERIPH_ENABLE_NETWORKING diff --git a/Tools/AP_Periph/networking.h b/Tools/AP_Periph/networking.h index 0958977c2cbc6..d25dc5aa7aaa7 100644 --- a/Tools/AP_Periph/networking.h +++ b/Tools/AP_Periph/networking.h @@ -1,5 +1,7 @@ #pragma once +#include "AP_Periph.h" + #ifdef HAL_PERIPH_ENABLE_NETWORKING #ifndef HAL_PERIPH_NETWORK_NUM_PASSTHRU @@ -30,6 +32,9 @@ class Networking_Periph { AP_Param::setup_object_defaults(this, var_info); } + void init(); + void update(); + static const struct AP_Param::GroupInfo var_info[]; private: diff --git a/Tools/AP_Periph/networking_passthru.cpp b/Tools/AP_Periph/networking_passthru.cpp new file mode 100644 index 0000000000000..18ed58bf68bac --- /dev/null +++ b/Tools/AP_Periph/networking_passthru.cpp @@ -0,0 +1,135 @@ +/* + 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 . + */ + +#include "networking.h" + +#if defined(HAL_PERIPH_ENABLE_NETWORKING) && HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 + +#include + +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), + + // @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), + + // @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), + + // @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), + + // @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), + + // @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), + + // @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), + + AP_GROUPEND +}; + +void Networking_Periph::Passthru::init() +{ + if (enabled == 0) { + // Feature is disabled + return; + } + + if (port1 != nullptr || port2 != nullptr) { + // The ports have already been initialized, nothing to do. + return; + } + + if (ep1 <= -1 || ep2 <= -1 || ep1 == ep2) { + // end points are not set or are the same. Can't route to self + return; + } + + port1 = AP::serialmanager().get_serial_by_id(ep1); + port2 = AP::serialmanager().get_serial_by_id(ep2); + + if (port1 != nullptr && port2 != nullptr) { + port1->set_options(options1); + port1->begin(baud1); + + port2->set_options(options2); + port2->begin(baud2); + } +} + +void Networking_Periph::Passthru::update() +{ + if (enabled == 0 || port1 == nullptr || port2 == nullptr) { + return; + } + + // 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]; + + // 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); + } + } + + // 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); + } + } +} + +#endif // defined(HAL_PERIPH_ENABLE_NETWORKING) && HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0 +