Rohit Sant
102 linhas
2.8 KiB
C++
102 linhas
2.8 KiB
C++
/*! @file dji_hard_driver.hpp
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* @version 3.3
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* @date Jun 15 2017
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*
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* @brief
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* Serial device driver abstraction. Provided as an abstract class. Please
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* inherit and implement for individual platforms.
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*
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* @copyright
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* 2016-17 DJI. All rights reserved.
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* */
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#ifndef DJI_HARDDRIVER_H
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#define DJI_HARDDRIVER_H
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#include "dji_log.hpp"
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#include "dji_memory.hpp"
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#include "dji_type.hpp"
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#include <cstdint>
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#include <ctime>
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namespace DJI
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{
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namespace OSDK
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{
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class HardDriver
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{
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public:
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HardDriver();
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virtual ~HardDriver();
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/*! @note How to use
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* In order to provide platform crossable DJI onboardSDK library,
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* we abstract this class as a hardware level.
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*
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* @note function descriptions:
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*
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* void init();
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* @brief After calling this function, HardDriver should be able to
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* read and send correctly, through a correct UART part.
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*
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* NOTE: STM32 does nnot implement support for this function.
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*
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* uint32_t getTimeStamp();
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* @brief returns a TimeStamp data in unit msec.
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* The difference between the return value of the function call two times
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* is the excat time between them in msec.
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*
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* size_t send(const uint8_t *buf, size_t len);
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* @brief return sent data length.
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*
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* size_t readall(uint8_t *buf, size_t maxlen)Thread safety - = 0;
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* @brief return read data length.
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*
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* void delay_nms(uint16_t time) = 0;
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* @brief delay in milliseconds
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*
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* void displayLog(char *buf);
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* @brief Micro "API_LOG" invoked this function, to pass datalog.
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* In order to pass data through different stream or channel.
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* We abstract this virtual function for user.
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* And different from others, this interface is not a pure virtual funcion.
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* The default data-passing channel is stdout (printf).
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* See also "DJI_HardDriver.cpp".
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*
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* @attention
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* when writting and reading data, there might have multi-thread problems.
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* Abstract class HardDriver did not consider these issue.
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* Please be careful when you are going to implement send and readall
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* funtions.
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*
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* @note
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* we strongly suggest you to inherit this class in your own file, not just
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* implement
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* it in DJI_HardDriver.cpp or inside this class
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*
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* */
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public:
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virtual void init() = 0;
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virtual time_ms getTimeStamp() = 0;
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virtual size_t send(const uint8_t* buf, size_t len) = 0;
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virtual size_t readall(uint8_t* buf, size_t maxlen) = 0;
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virtual bool getDeviceStatus()
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{
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return true;
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}
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public:
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//! @todo move to Logging class
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virtual void displayLog(const char* buf = 0);
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public:
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static const int bufsize = 1024;
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private:
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MMU* getMmu();
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MMU mmu;
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friend class Protocol;
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};
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} // namespace OSDK
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} // namespace DJI
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#endif // DJI_HARDDRIVER_H
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