Method setup_uart

OpenHD/ohd_telemetry/src/AirTelemetry.cpp:276–294

Every time the UART configuration changes, we just re-start the UART (if it was already started) This properly handles all the cases, e.g cleaning up an existing uart connection if set.

// was already started) This properly handles all the cases, e.g cleaning up an
// existing uart connection if set.
void AirTelemetry::setup_uart() {
  assert(m_air_settings);
  using namespace openhd::telemetry;
  const auto uart_linux_fd = serial_openhd_param_to_linux_fd(
      m_air_settings->get_settings().fc_uart_connection_type);
  if (uart_linux_fd.has_value()) {
    SerialEndpoint::HWOptions options{};
    options.linux_filename = uart_linux_fd.value();
    options.baud_rate = m_air_settings->get_settings().fc_uart_baudrate;
    options.flow_control = m_air_settings->get_settings().fc_uart_flow_control;
    options.enable_reading = true;
    m_fc_serial->configure(options, "fc_ser",
                           [this](std::vector<MavlinkMessage> messages) {
                             this->on_messages_fc(messages);
                           });
  } else {
    m_fc_serial->disable();
  }
}

void AirTelemetry::set_link_handle(std::shared_ptr<OHDLink> link) {
  m_wb_endpoint = std::make_unique<WBEndpoint>(link, "wb_tx");