esp-fc

#include "SerialManager.h"
#include "Debug_Espfc.h"
#include "Device/SerialDeviceAdapter.h"
#include "Hal/FastCode.hpp"
#include "Stream/Printer.hpp"
#if defined(ESPFC_SERIAL_USB_REENUMERATE) && defined(ESPFC_SERIAL_USB)
#include "Hal/Board.hpp"
#endif

#ifdef ESPFC_SERIAL_0
static Espfc::Device::SerialDeviceAdapter<Espfc::Hal::SerialUart> _uart0(*Espfc::Hal::getSerialUart(0));
#endif

#ifdef ESPFC_SERIAL_1
static Espfc::Device::SerialDeviceAdapter<Espfc::Hal::SerialUart> _uart1(*Espfc::Hal::getSerialUart(1));
#endif

#ifdef ESPFC_SERIAL_2
static Espfc::Device::SerialDeviceAdapter<Espfc::Hal::SerialUart> _uart2(*Espfc::Hal::getSerialUart(2));
#endif

#ifdef ESPFC_SERIAL_USB
static Espfc::Device::SerialDeviceAdapter<Espfc::Hal::SerialUsb> _usb(*Espfc::Hal::getSerialUsb());
#endif

namespace Espfc {

SerialManager::SerialManager(Model& model, TelemetryManager& telemetry)
    : _model(model), _current(0), _msp(model), _cli(model), _vtx(model), _telemetry(telemetry), _gps(model)
#ifdef ESPFC_SERIAL_SOFT_0_WIFI
      ,
      _wireless(model)
#endif
{
}

int SerialManager::begin()
{
#if defined(ESPFC_SERIAL_USB_REENUMERATE) && defined(ESPFC_SERIAL_USB)
  if (Hal::isUnexpectedReset(Hal::Board::getResetReason()))
  {
    Hal::getSerialUsb()->reenumerate();
  }
#endif

  for (int i = 0; i < SERIAL_UART_COUNT; i++)
  {
    auto* port = getSerialPortById((SerialPort)i);
    const auto& spc = _model.config.serial[i];

    if (!port || !spc.functionMask)
    {
      continue;
    }

    Hal::SerialDeviceConfig sdc;
    sdc.baud = spc.baud;

#ifdef ESPFC_SERIAL_USB
    const bool hasUsbPort = true;
    const bool isUsbPort = i == SERIAL_USB;
#else
    const bool hasUsbPort = false;
    const bool isUsbPort = false;
#endif

#ifdef ESPFC_SERIAL_REMAP_PINS
    if (!isUsbPort)
    {
      const size_t pin_idx = 2 * (hasUsbPort ? i - 1 : i);
      sdc.tx_pin = _model.config.pin[pin_idx + PIN_SERIAL_0_TX];
      sdc.rx_pin = _model.config.pin[pin_idx + PIN_SERIAL_0_RX];
      if (sdc.tx_pin == -1 && sdc.rx_pin == -1)
      {
        continue;
      }
    }
#else
    (void)(isUsbPort && hasUsbPort);
#endif

    if (spc.functionMask & SERIAL_FUNCTION_RX_SERIAL)
    {
      switch (_model.config.input.serialRxProvider)
      {
        case SERIALRX_SBUS:
          sdc.baud = 100000ul;
          sdc.parity = Hal::SDC_SERIAL_PARITY_EVEN;
          sdc.stop_bits = Hal::SDC_SERIAL_STOP_BITS_2;
          sdc.inverted = true;
          break;
        case SERIALRX_IBUS:
          sdc.baud = 115200ul;
          break;
        case SERIALRX_CRSF:
          sdc.baud = 420000ul;
          break;
        default:
          break;
      }
    }
    else if (spc.functionMask & SERIAL_FUNCTION_BLACKBOX)
    {
      // sdc.baud = spc.blackboxBaud;
      if (sdc.baud == 230400 || sdc.baud == 460800)
      {
        sdc.stop_bits = Hal::SDC_SERIAL_STOP_BITS_2;
      }
    }
    else if (spc.functionMask & SERIAL_FUNCTION_TELEMETRY_IBUS)
    {
      sdc.baud = 115200;
    }
    else if (spc.functionMask & SERIAL_FUNCTION_VTX_SMARTAUDIO)
    {
      sdc.baud = 4800;
      sdc.parity = Hal::SDC_SERIAL_PARITY_NONE;
      sdc.stop_bits = Hal::SDC_SERIAL_STOP_BITS_2;
      sdc.data_bits = 8;
    }

    if (!sdc.baud)
    {
      continue;
    }

    port->begin(sdc);
    _model.state.serial[i].stream = port;

    if (i == ESPFC_SERIAL_DEBUG_PORT)
    {
      initDebugStream(Stream::Printer{*port});
    }
    if (spc.functionMask & SERIAL_FUNCTION_TELEMETRY_IBUS)
    {
      _ibus.begin(port);
    }
    if (spc.functionMask & SERIAL_FUNCTION_VTX_SMARTAUDIO)
    {
      _vtx.begin(port);
    }
    if (spc.functionMask & SERIAL_FUNCTION_GPS)
    {
      _gps.begin(port, sdc.baud);
    }

    _model.logger.info()
        .log("UART")
        .log(i)
        .log(spc.id)
        .log(spc.functionMask)
        .log(sdc.baud)
        .log(i == ESPFC_SERIAL_DEBUG_PORT)
        .log(sdc.tx_pin)
        .logln(sdc.rx_pin);
  }

#ifdef ESPFC_SERIAL_SOFT_0_WIFI
  _wireless.begin();
#endif

  return 1;
}

int SerialManager::reload(ModelChangeEvent event)
{
  _gps.reload(event);
  return 1;
}

int FAST_CODE_ATTR SerialManager::update()
{
  const SerialPortConfig& sc = _model.config.serial[_current];
  SerialPortState& ss = _model.state.serial[_current];

  if (ss.stream && !(sc.functionMask & SERIAL_FUNCTION_RX_SERIAL))
  {
    Utils::Stats::Measure measure(_model.state.stats, COUNTER_SERIAL);
    
    bool processed = false;
    if (sc.functionMask & SERIAL_FUNCTION_TELEMETRY_FRSKY && _model.state.telemetryTimer.check())
    {
      _telemetry.process(*ss.stream, TELEMETRY_PROTOCOL_TEXT);
      processed = true;
    }
    if (sc.functionMask & SERIAL_FUNCTION_TELEMETRY_IBUS)
    {
      _ibus.update();
      processed = true;
    }
    if (sc.functionMask & SERIAL_FUNCTION_VTX_SMARTAUDIO)
    {
      _vtx.update();
      processed = true;
    }
    if (sc.functionMask & SERIAL_FUNCTION_GPS)
    {
      _gps.update();
      processed = true;
    }
    if (!processed && sc.functionMask & SERIAL_FUNCTION_MSP)
    {
      processMsp(ss);
    }
  }

#ifdef ESPFC_SERIAL_SOFT_0_WIFI
  if (_current == SERIAL_SOFT_0)
  {
    _wireless.update();
  }
#endif

  next();

  return 1;
}

void SerialManager::processMsp(SerialPortState& ss)
{
  size_t len = ss.stream->available();
  if (!len) return;

  uint8_t buff[64] = {0};
  len = std::min(len, (size_t)sizeof(buff));
  ss.stream->readMany(buff, len);
  char* c = (char*)&buff[0];
  while (len--)
  {
    bool consumed = _msp.parse(*c, ss.mspRequest);
    if (consumed)
    {
      if (ss.mspRequest.isReady() && ss.mspRequest.isCmd())
      {
        _msp.processCommand(ss.mspRequest, ss.mspResponse, *ss.stream);
        _msp.sendResponse(ss.mspResponse, *ss.stream);
        _msp.postCommand();
        ss.mspRequest = {};
        ss.mspResponse = {};
      }
    }
    else
    {
      Stream::Printer printer(*ss.stream);
      _cli.process(*c, ss.cliCmd, printer);
    }
    c++;
  }
}

Stream::ReadWritable* SerialManager::getSerialPortById(SerialPort portId)
{
  // clang-format off
  switch (portId)
  {
#ifdef ESPFC_SERIAL_0
    case SERIAL_UART_0: return &_uart0;
#endif
#ifdef ESPFC_SERIAL_1
    case SERIAL_UART_1: return &_uart1;
#endif
#ifdef ESPFC_SERIAL_2
    case SERIAL_UART_2: return &_uart2;
#endif
#ifdef ESPFC_SERIAL_USB
    case SERIAL_USB: return &_usb;
#endif
    default: return nullptr;
  }
  // clang-format on
}

} // namespace Espfc