[GS] Using now serial on USART4

Now using USART4 for serial.
New class even if might not be good, will change to inherit from SerialTransciver.

cmake/dependencies.cmake

@@ -122,4 +122,5 @@ set (LYRA_GS
     src/boards/Groundstation/Automated/Actuators/Actuators.cpp
     src/boards/Groundstation/Automated/Sensors/Sensors.cpp
     src/boards/Groundstation/Automated/PinHandler/PinHandler.cpp
+    src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
 )
\ No newline at end of file

src/boards/Groundstation/Automated/Hub.cpp

@@ -25,9 +25,9 @@
 #include <Groundstation/Automated/Actuators/Actuators.h>
 #include <Groundstation/Automated/SMA/SMA.h>
 #include <Groundstation/Common/Config/GeneralConfig.h>
-#include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/LyraGS/BoardStatus.h>
 #include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
 #include <Groundstation/LyraGS/Radio/Radio.h>
 #include <algorithms/NAS/NASState.h>
 #include <common/Events.h>
@@ -240,7 +240,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
 
 void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
 {
-    Groundstation::Serial* serial = getModule<Groundstation::Serial>();
+    LyraGS::SerialLyraGS* serial = getModule<LyraGS::SerialLyraGS>();
 #if !defined(NO_MAVLINK_ON_SERIAL)
     serial->sendMsg(msg);
 #else

src/boards/Groundstation/Automated/Hub.h

@@ -24,9 +24,9 @@
 
 #include <Groundstation/Automated/SMA/SMA.h>
 #include <Groundstation/Common/HubBase.h>
-#include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/LyraGS/BoardStatus.h>
 #include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
 #include <Groundstation/LyraGS/Radio/Radio.h>
 #include <algorithms/NAS/NASState.h>
 #include <common/Mavlink.h>
@@ -47,7 +47,7 @@ namespace Antennas
  */
 class Hub : public Boardcore::InjectableWithDeps<
                 Boardcore::InjectableBase<Groundstation::HubBase>, SMA,
-                LyraGS::RadioMain, Groundstation::Serial, LyraGS::EthernetGS>
+                LyraGS::RadioMain, LyraGS::SerialLyraGS, LyraGS::EthernetGS>
 {
 public:
     /**

src/boards/Groundstation/LyraGS/Base/Hub.cpp

@@ -23,9 +23,9 @@
 #include "Hub.h"
 
 #include <Groundstation/Common/Config/GeneralConfig.h>
-#include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/LyraGS/BoardStatus.h>
 #include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
 
 using namespace Groundstation;
 using namespace GroundstationBase;
@@ -63,7 +63,7 @@ void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
 {
     LyraGS::BoardStatus* status = getModule<LyraGS::BoardStatus>();
 
-    Serial* serial = getModule<Serial>();
+    SerialLyraGS* serial = getModule<SerialLyraGS>();
     serial->sendMsg(msg);
 
     if (status->isEthernetPresent())

src/boards/Groundstation/LyraGS/Base/Hub.h

@@ -23,8 +23,8 @@
 #pragma once
 
 #include <Groundstation/Common/HubBase.h>
-#include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
 #include <common/Mavlink.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
@@ -36,7 +36,7 @@ namespace GroundstationBase
 class Hub : public Boardcore::InjectableWithDeps<
                 Boardcore::InjectableBase<Groundstation::HubBase>,
                 LyraGS::BoardStatus, LyraGS::RadioMain, LyraGS::RadioPayload,
-                Groundstation::Serial, LyraGS::EthernetGS>
+                LyraGS::SerialLyraGS, LyraGS::EthernetGS>
 {
 public:
     /**

src/boards/Groundstation/LyraGS/Buses.h

@@ -30,7 +30,6 @@
 
 namespace LyraGS
 {
-
 class Buses : public Boardcore::Injectable
 {
 public:

src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.cpp

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "SerialLyraGS.h"
+
+using namespace Groundstation;
+using namespace LyraGS;
+
+bool SerialLyraGS::start()
+{
+    auto mav_handler = [this](SerialMavDriver* channel,
+                              const mavlink_message_t& msg) { handleMsg(msg); };
+
+    mav_driver = std::make_unique<SerialMavDriver>(this, mav_handler, 0, 10);
+
+    if (!mav_driver->start())
+    {
+        return false;
+    }
+
+    return true;
+}
+
+void SerialLyraGS::sendMsg(const mavlink_message_t& msg)
+{
+    if (mav_driver && mav_driver->isStarted())
+    {
+        mav_driver->enqueueMsg(msg);
+    }
+}
+
+void SerialLyraGS::handleMsg(const mavlink_message_t& msg)
+{
+    // Dispatch the message through the hub.
+    getModule<HubBase>()->dispatchOutgoingMsg(msg);
+}
+
+ssize_t SerialLyraGS::receive(uint8_t* pkt, size_t max_len)
+{
+    Boardcore::USART& serial = getModule<Buses>()->uart4;
+    size_t bytesRead         = 0;
+    bool result              = serial.readBlocking(pkt, max_len, bytesRead);
+    return result ? bytesRead : 0;
+}
+
+bool SerialLyraGS::send(uint8_t* pkt, size_t len)
+{
+    Boardcore::USART& serial = getModule<Buses>()->uart4;
+    serial.write(pkt, len);
+    return true;
+}
\ No newline at end of file

src/boards/Groundstation/LyraGS/Ports/SerialLyraGS.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ActiveObject.h>
+#include <Groundstation/Common/Ports/EthernetBase.h>
+#include <Groundstation/Common/Ports/Serial.h>
+#include <Groundstation/LyraGS/BoardStatus.h>
+#include <Groundstation/LyraGS/Buses.h>
+#include <common/Mavlink.h>
+#include <drivers/usart/USART.h>
+#include <filesystem/console/console_device.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+#include <memory>
+
+namespace LyraGS
+{
+
+using SerialMavDriver =
+    Boardcore::MavlinkDriver<1024, 10, MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
+
+/**
+ * @brief Class responsible for UART communication.
+ */
+class SerialLyraGS : public Boardcore::InjectableWithDeps<
+                         Boardcore::InjectableBase<Groundstation::Serial>,
+                         Buses, Groundstation::HubBase>
+{
+public:
+    SerialLyraGS() {}
+
+    /**
+     * @brief Initialize the serial module.
+     */
+    [[nodiscard]] bool start();
+
+    /**
+     * @brief Send a mavlink message through this port.
+     */
+    void sendMsg(const mavlink_message_t& msg);
+
+private:
+    /**
+     * @brief Called internally when a message is received.
+     */
+    void handleMsg(const mavlink_message_t& msg);
+
+    ssize_t receive(uint8_t* pkt, size_t max_len) override;
+
+    bool send(uint8_t* pkt, size_t len) override;
+
+    miosix::FastMutex mutex;
+    std::unique_ptr<SerialMavDriver> mav_driver;
+};
+
+}  // namespace LyraGS
\ No newline at end of file

src/entrypoints/Groundstation/lyra-gs-entry.cpp

@@ -26,11 +26,11 @@
 #include <Groundstation/Automated/PinHandler/PinHandler.h>
 #include <Groundstation/Automated/SMA/SMA.h>
 #include <Groundstation/Automated/Sensors/Sensors.h>
-#include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/LyraGS/Base/Hub.h>
 #include <Groundstation/LyraGS/BoardStatus.h>
 #include <Groundstation/LyraGS/Buses.h>
 #include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
 #include <Groundstation/LyraGS/Radio/Radio.h>
 #include <common/Events.h>
 #include <diagnostic/PrintLogger.h>
@@ -138,7 +138,7 @@ int main()
     TaskScheduler *scheduler_low  = new TaskScheduler(0);
     TaskScheduler *scheduler_high = new TaskScheduler();
     Buses *buses                  = new Buses();
-    Serial *serial                = new Serial();
+    SerialLyraGS *serial          = new SerialLyraGS();
     LyraGS::RadioMain *radio_main =
         new LyraGS::RadioMain(dipRead.mainHasBackup, dipRead.mainTXenable);
     LyraGS::BoardStatus *board_status = new LyraGS::BoardStatus(dipRead.isARP);