自学教程：C++ AP_SerialManager类代码示例

/* * init - perform required initialisation * for Copter */void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, int32_t *home_distance, int32_t *home_bearing){    // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {        _protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)        // add firmware and frame info to message queue        queue_message(MAV_SEVERITY_INFO, firmware_str);        // save main parameters locally        _params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)        _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts        _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh        _ap.value = ap_value; // ap bit-field        _ap.home_distance = home_distance;        _ap.home_bearing = home_bearing;    }        if (_port != NULL) {        hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));        // we don't want flow control for either protocol        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);    }

/* * init - perform required initialisation */void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, const AP_Float *fs_batt_voltage, const AP_Float *fs_batt_mah, const uint32_t *ap_valuep){    // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {        _protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {        _protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)        // make frsky_telemetry available to GCS_MAVLINK (used to queue statustext messages from GCS_MAVLINK)        gcs().register_frsky_telemetry_callback(this);        // add firmware and frame info to message queue        queue_message(MAV_SEVERITY_INFO, firmware_str);        // save main parameters locally        _params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)        _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts        _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh        if (ap_valuep == nullptr) { // ap bit-field            _ap.value = 0x2000; // set "initialised" to 1 for rover and plane            _ap.valuep = &_ap.value;        } else {            _ap.valuep = ap_valuep;        }    }        if (_port != nullptr) {        hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));        // we don't want flow control for either protocol        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);    }

// init - perform require initialisation including detecting which protocol to usevoid AP_Frsky_Telem::init(const AP_SerialManager& serial_manager){    // check for FRSky_DPort    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_DPort, 0))) {        _protocol = FrSkyDPORT;        _initialised_uart = true;   // SerialManager initialises uart for us    } else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FRSky_SPort, 0))) {        // check for FRSky_SPort        _protocol = FrSkySPORT;        _gps_call = 0;        _fas_call = 0;        _vario_call = 0 ;        _various_call = 0 ;        _gps_data_ready = false;        _battery_data_ready = false;        _baro_data_ready = false;        _mode_data_ready = false;        _sats_data_ready = false;        _sport_status = 0;        hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&AP_Frsky_Telem::sport_tick));    }    if (_port != NULL) {        // we don't want flow control for either protocol        _port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);    }}

// constructorAP_Beacon_Pozyx::AP_Beacon_Pozyx(AP_Beacon &frontend, AP_SerialManager &serial_manager) :    AP_Beacon_Backend(frontend),    linebuf_len(0){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));    }}

/*   The constructor also initialises the rangefinder. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the rangefinder*/AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,                                                 AP_SerialManager &serial_manager) :    AP_RangeFinder_Backend(_state){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0));    }}

/*   The constructor also initialises the rangefinder. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the rangefinder*/AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,                                                   AP_SerialManager &serial_manager) :    AP_RangeFinder_Backend(_state){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));    }}

/*   The constructor also initialises the rangefinder. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the rangefinder*/AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,                                                   AP_SerialManager &serial_manager,                                                   uint8_t serial_instance) :    AP_RangeFinder_Backend(_state){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));    }}

/*    The constructor also initialises the proximity sensor. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the proximity sensor*/AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,                                                         AP_Proximity::Proximity_State &_state,                                                         AP_SerialManager &serial_manager) :    AP_Proximity_Backend(_frontend, _state){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));    }}

/*   The constructor also initialises the rangefinder. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the rangefinder*/AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder &_ranger, uint8_t instance,                                                             RangeFinder::RangeFinder_State &_state,                                                             AP_SerialManager &serial_manager) :    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_RADAR){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0));    }}

/*    The constructor also initialises the rangefinder. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the rangefinder*/AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder &_ranger, uint8_t instance,                                                                 RangeFinder::RangeFinder_State &_state,                                                                 AP_SerialManager &serial_manager) :    AP_RangeFinder_Backend(_ranger, instance, _state){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));    }}

/*    The constructor also initialises the rangefinder. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the rangefinder*/AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,                                                               AP_RangeFinder_Params &_params,                                                               AP_SerialManager &serial_manager,                                                               uint8_t serial_instance) :    AP_RangeFinder_Backend(_state, _params){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));    }}

/*    The constructor also initialises the rangefinder. Note that this   constructor is not called until detect() returns true, so we   already know that we should setup the rangefinder*/AP_RangeFinder_Benewake::AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,                                                             AP_SerialManager &serial_manager,                                                             uint8_t serial_instance,                                                             benewake_model_type model) :    AP_RangeFinder_Backend(_state),    model_type(model){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));    }}

/// Startup initialisation.void AP_GPS::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager){    _DataFlash = dataflash;    primary_instance = 0;    // search for serial ports with gps protocol    _port[0] = serial_manager.find_serial(AP_SerialManager::SerialProtocol_GPS, 0);#if GPS_MAX_INSTANCES > 1    _port[1] = serial_manager.find_serial(AP_SerialManager::SerialProtocol_GPS, 1);    _last_instance_swap_ms = 0;#endif}

AP_Beacon_Marvelmind::AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager) :    AP_Beacon_Backend(frontend){    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);    if (uart != nullptr) {        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));        last_update_ms = 0;        parse_state = RECV_HDR; // current state of receive data        num_bytes_in_block_received = 0; // bytes received        data_id = 0;        hedge._have_new_values = false;        hedge.positions_beacons.num_beacons = 0;        hedge.positions_beacons.updated = false;    }}

// init - performs any required initialisation for this instancevoid AP_Mount_SToRM32::init(const AP_SerialManager& serial_manager){    // get_mavlink_channel for MAVLink2    if (serial_manager.get_mavlink_channel(AP_SerialManager::SerialProtocol_MAVLink2, _chan)) {        _initialised = true;        set_mode((enum MAV_MOUNT_MODE)_state._default_mode.get());    }}

/*  setup a UART, handling begin() and init() */voidGCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance){    // search for serial port    AP_HAL::UARTDriver *uart;    uart = serial_manager.find_serial(protocol, instance);    if (uart == NULL) {        // return immediately if not found        return;    }    // get associated mavlink channel    mavlink_channel_t mav_chan;    if (!serial_manager.get_mavlink_channel(protocol, instance, mav_chan)) {        // return immediately in unlikely case mavlink channel cannot be found        return;    }    /*      Now try to cope with SiK radios that may be stuck in bootloader      mode because CTS was held while powering on. This tells the      bootloader to wait for a firmware. It affects any SiK radio with      CTS connected that is externally powered. To cope we send 0x30      0x20 at 115200 on startup, which tells the bootloader to reset      and boot normally     */    uart->begin(115200);    AP_HAL::UARTDriver::flow_control old_flow_control = uart->get_flow_control();    uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);    for (uint8_t i=0; i<3; i++) {        hal.scheduler->delay(1);        uart->write(0x30);        uart->write(0x20);    }    // since tcdrain() and TCSADRAIN may not be implemented...    hal.scheduler->delay(1);        uart->set_flow_control(old_flow_control);    // now change back to desired baudrate    uart->begin(serial_manager.find_baudrate(protocol, instance));    // and init the gcs instance    init(uart, mav_chan);}

void AP_Mount_Alexmos::init(const AP_SerialManager& serial_manager){    // check for alexmos protcol    if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_AlexMos, 0))) {        _initialised = true;        get_boardinfo();        read_params(0); //we request parameters for profile 0 and therfore get global and profile parameters    }}

// init - performs any required initialisation for this instancevoid AP_Mount_SToRM32_serial::init(const AP_SerialManager& serial_manager){    _port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_SToRM32, 0);    if (_port) {        _initialised = true;        set_mode((enum MAV_MOUNT_MODE)_state._default_mode.get());    }}

void Network::init(const AP_SerialManager& serial_manager){	port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Network, 0);#if HAL_NETWORK_DEFAULT == HAL_NETWORK_ESP8266	driver = new Network_esp8266(*this, port);#else	driver = NULL;#endif	memset (read_buffer,'/0',READ_BUFFER_SIZE);	memset (send_buffer,'/0',SEND_BUFFER_SIZE);}

// detect if a Lightware proximity sensor is connected by looking for a configured serial portbool AP_Proximity_LightWareSF40C::detect(AP_SerialManager &serial_manager){    return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;}

// init - detect and initialise all mountsvoid AP_Mount::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager){    // check init has not been called before    if (_num_instances != 0) {        return;    }    _dataflash = dataflash;    // default mount to servo mount if rc output channels to control roll, tilt or pan have been defined    if (!state[0]._type.configured()) {        if (RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_pan) ||            RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_tilt) ||            RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_roll)) {                state[0]._type.set_and_save(Mount_Type_Servo);        }    }    // primary is reset to the first instantiated mount    bool primary_set = false;    // create each instance    for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {        // default instance's state        state[instance]._mode = (enum MAV_MOUNT_MODE)state[instance]._default_mode.get();        MountType mount_type = get_mount_type(instance);        // check for servo mounts//OW        //XX if (mount_type == Mount_Type_STorM32_Native) {        // we check if we can find the respective uart, it would be better to directly test the parameter field        // we do this first to ensure that the MNT_TYPE setting is ignored in case a native STorM32 protocol is used        // this is quite hacky, as doing it here assumes that AP_MOUNT_MAX_INSTANCES is 1        if (serial_manager.find_serial(AP_SerialManager::SerialProtocol_STorM32_Native, 0)) {            _backends[instance] = new BP_Mount_Component(*this, state[instance], instance);            _num_instances++;        } else//OWEND        if (mount_type == Mount_Type_Servo) {            _backends[instance] = new AP_Mount_Servo(*this, state[instance], instance);            _num_instances++;#if AP_AHRS_NAVEKF_AVAILABLE        // check for MAVLink mounts        } else if (mount_type == Mount_Type_SoloGimbal) {            _backends[instance] = new AP_Mount_SoloGimbal(*this, state[instance], instance);            _num_instances++;#endif        // check for Alexmos mounts        } else if (mount_type == Mount_Type_Alexmos) {            _backends[instance] = new AP_Mount_Alexmos(*this, state[instance], instance);            _num_instances++;        // check for SToRM32 mounts using MAVLink protocol        } else if (mount_type == Mount_Type_SToRM32) {            _backends[instance] = new AP_Mount_SToRM32(*this, state[instance], instance);            _num_instances++;        // check for SToRM32 mounts using serial protocol        } else if (mount_type == Mount_Type_SToRM32_serial) {            _backends[instance] = new AP_Mount_SToRM32_serial(*this, state[instance], instance);            _num_instances++;        }        // init new instance        if (_backends[instance] != NULL) {            _backends[instance]->init(serial_manager);            if (!primary_set) {                _primary = instance;                primary_set = true;            }        }    }}

void setup(void){    set_object_value_and_report(&beacon, beacon.var_info, "_TYPE", 2.0f);    set_object_value_and_report(&serial_manager, serial_manager.var_info, "0_PROTOCOL", 13.0f);    serial_manager.init();    beacon.init();}

void setup(void){    serial_manager.init();    ins.init(100);    baro.init();    ahrs.init();    gps.init(NULL, serial_manager);}

void setup(){    hal.console->println("GPS AUTO library test");    hal.console->println("Test Starting");    // Initialise the leds    board_led.init();    // Initialize the UART for GPS system    serial_manager.init();    gps.init(NULL, serial_manager);}

//to be called only once on boot for initializing objectsvoid setup(){    hal.console->printf("GPS AUTO library test/n");    board_config.init();    // Initialise the leds    board_led.init();    // Initialize the UART for GPS system    serial_manager.init();    gps.init(serial_manager);}

void setup(void){    ins.init(100);    ahrs.init();    serial_manager.init();    if( compass.init() ) {        hal.console->printf("Enabling compass/n");        ahrs.set_compass(&compass);    } else {        hal.console->printf("No compass detected/n");    }    gps.init(NULL, serial_manager);}

void setup(void){#ifdef APM2_HARDWARE    // we need to stop the barometer from holding the SPI bus    hal.gpio->pinMode(40, HAL_HAL_GPIO_OUTPUT);    hal.gpio->write(40, HIGH);#endif    ins.init(AP_InertialSensor::RATE_100HZ);    ahrs.init();    serial_manager.init();    if( compass.init() ) {        hal.console->printf("Enabling compass/n");        ahrs.set_compass(&compass);    } else {        hal.console->printf("No compass detected/n");    }    gps.init(NULL, serial_manager);}