Refactored aux port support to handle multiple aux ports

Also stop analog input task on SAME5x build when preparing to load IAP

2 files changed, 195 insertions, 0 deletions

diff --git a/src/Comms/AuxDevice.cpp b/src/Comms/AuxDevice.cpp
new file mode 100644
index 00000000..52f6623d
--- /dev/null
+++ b/src/Comms/AuxDevice.cpp
@@ -0,0 +1,153 @@
+/*
+ * AuxDevice.cpp
+ *
+ *  Created on: 3 Sep 2020
+ *      Author: David
+ */
+
+#include <Comms/AuxDevice.h>
+
+AuxDevice::AuxDevice() noexcept : uart(nullptr), seq(0), enabled(false), raw(true)
+{
+}
+
+void AuxDevice::Init(UARTClass *p_uart) noexcept
+{
+	uart = p_uart;
+# if SAME5x
+	uart->setInterruptPriority(NvicPriorityPanelDueUartRx, NvicPriorityPanelDueUartTx);
+# else
+	uart->setInterruptPriority(NvicPriorityPanelDueUart);
+#endif
+	mutex.Create("Aux");
+}
+
+void AuxDevice::Enable(uint32_t baudRate) noexcept
+{
+	if (uart != nullptr)
+	{
+		uart->begin(baudRate);
+		enabled = true;
+	}
+}
+
+void AuxDevice::Disable() noexcept
+{
+	if (enabled)
+	{
+		uart->end();
+		outStack.ReleaseAll();
+		enabled = false;
+	}
+}
+
+void AuxDevice::SendPanelDueMessage(const char* msg) noexcept
+{
+	if (enabled)
+	{
+		OutputBuffer *buf;
+		if (OutputBuffer::Allocate(buf))
+		{
+			buf->copy("{\"message\":");
+			buf->EncodeString(msg, false);
+			buf->cat("}\n");
+			outStack.Push(buf);
+			Flush();
+		}
+	}
+
+}
+
+void AuxDevice::AppendAuxReply(const char *msg, bool rawMessage) noexcept
+{
+	// Discard this response if either no aux device is attached or if the response is empty
+	if (msg[0] != 0 && enabled)
+	{
+		MutexLocker lock(mutex);
+		OutputBuffer *buf;
+		if (OutputBuffer::Allocate(buf))
+		{
+			if (rawMessage || raw)
+			{
+				buf->copy(msg);
+			}
+			else
+			{
+				seq++;
+				buf->printf("{\"seq\":%" PRIu32 ",\"resp\":", seq);
+				buf->EncodeString(msg, true, false);
+				buf->cat("}\n");
+			}
+			outStack.Push(buf);
+		}
+	}
+}
+
+void AuxDevice::AppendAuxReply(OutputBuffer *reply, bool rawMessage) noexcept
+{
+	// Discard this response if either no aux device is attached or if the response is empty
+	if (reply == nullptr || reply->Length() == 0 || !enabled)
+	{
+		OutputBuffer::ReleaseAll(reply);
+	}
+	else
+	{
+		MutexLocker lock(mutex);
+		if (rawMessage || raw)
+		{
+			outStack.Push(reply);
+		}
+		else
+		{
+			OutputBuffer *buf;
+			if (OutputBuffer::Allocate(buf))
+			{
+				seq++;
+				buf->printf("{\"seq\":%" PRIu32 ",\"resp\":", seq);
+				buf->EncodeReply(reply);
+				buf->cat("}\n");
+				outStack.Push(buf);
+			}
+			else
+			{
+				OutputBuffer::ReleaseAll(reply);
+			}
+		}
+	}
+}
+
+bool AuxDevice::Flush() noexcept
+{
+	bool hasMore = !outStack.IsEmpty();
+	if (hasMore)
+	{
+		MutexLocker lock(mutex);
+		OutputBuffer *auxOutputBuffer = outStack.GetFirstItem();
+		if (auxOutputBuffer == nullptr)
+		{
+			(void)outStack.Pop();
+		}
+		else if (!enabled)
+		{
+			OutputBuffer::ReleaseAll(auxOutputBuffer);
+			(void)outStack.Pop();
+		}
+		else
+		{
+			const size_t bytesToWrite = min<size_t>(uart->canWrite(), auxOutputBuffer->BytesLeft());
+			if (bytesToWrite > 0)
+			{
+				uart->write(auxOutputBuffer->Read(bytesToWrite), bytesToWrite);
+			}
+
+			if (auxOutputBuffer->BytesLeft() == 0)
+			{
+				outStack.ReleaseFirstItem();
+			}
+		}
+		hasMore = !outStack.IsEmpty();
+	}
+	return hasMore;
+}
+
+// End
diff --git a/src/Comms/AuxDevice.h b/src/Comms/AuxDevice.h
new file mode 100644
index 00000000..32b74fb1
--- /dev/null
+++ b/src/Comms/AuxDevice.h
@@ -0,0 +1,42 @@
+/*
+ * AuxDevice.h
+ *
+ *  Created on: 3 Sep 2020
+ *      Author: David
+ */
+
+#ifndef SRC_COMMS_AUXDEVICE_H_
+#define SRC_COMMS_AUXDEVICE_H_
+
+#include <RepRapFirmware.h>
+#include <OutputMemory.h>
+#include <RTOSIface/RTOSIface.h>
+
+class AuxDevice
+{
+public:
+	AuxDevice() noexcept;
+
+	void Init(UARTClass *p_uart) noexcept;
+	bool IsEnabled() const noexcept { return enabled; }
+	void Enable(uint32_t baudRate) noexcept;
+	void Disable() noexcept;
+
+	bool IsRaw() const noexcept { return raw; }
+	void SetRaw(bool p_raw) { raw = p_raw; }
+
+	void SendPanelDueMessage(const char* msg) noexcept;
+	void AppendAuxReply(const char *msg, bool rawMessage) noexcept;
+	void AppendAuxReply(OutputBuffer *reply, bool rawMessage) noexcept;
+	bool Flush() noexcept;
+
+private:
+	UARTClass *uart;
+	volatile OutputStack outStack;
+	Mutex mutex;
+	uint32_t seq;							// sequence number for output
+	bool enabled;							// is it initialised and running?
+	bool raw;								// true if device is in raw mode
+};
+
+#endif /* SRC_COMMS_AUXDEVICE_H_ */