Fix RIP bugs, add in UART

components/softUART/include/SoftUARTManager.h

@@ -0,0 +1,59 @@
+#ifndef SOFT_UART_MANAGER_H
+#define SOFT_UART_MANAGER_H
+
+#include "IPhysicalLayer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+#include "driver/uart.h"
+#include "driver/gpio.h"
+#include "soc/gpio_num.h"
+#include <cstdint>
+#include <cstddef>
+
+#define SUART_NUM_CHANNELS      3
+
+#define SUART_BAUD_RATE         115200
+#define SUART_RX_BUF_SIZE       1024
+#define SUART_TX_DONE_WAIT_TICKS  pdMS_TO_TICKS(5000)
+
+#define SUART_CHANNEL_NOT_READY  0x0
+#define SUART_CHANNEL_READY      0x1
+#define SUART_CHANNEL_LISTENING  0x2
+
+typedef struct {
+    uart_port_t       port;
+    gpio_num_t        tx_gpio;
+    gpio_num_t        rx_gpio;
+    uint8_t           status;
+    SemaphoreHandle_t tx_done_sem;
+} hw_channel_t;
+
+class SoftUARTManager : public IPhysicalLayer {
+public:
+    explicit SoftUARTManager(uint8_t num_channels);
+    ~SoftUARTManager() override;
+
+    esp_err_t send(uint8_t* data, size_t size, void* config, uint8_t channel_num) override;
+    esp_err_t receive(uint8_t* recv_buf, size_t size, size_t* output_size, uint8_t channel_num) override;
+    esp_err_t start_receiving(uint8_t channel_num) override;
+    esp_err_t wait_until_send_complete(uint8_t channel_num) override;
+
+private:
+    uint8_t       num_channels;
+
+    hw_channel_t  hw[SUART_NUM_CHANNELS];
+
+    uint8_t       ch_status[SUART_NUM_CHANNELS];
+
+    esp_err_t init_hw_channel(uint8_t idx);
+    void      deinit_hw_channel(uint8_t idx);
+
+    esp_err_t send_hw(uint8_t idx, uint8_t* data, size_t size);
+    esp_err_t receive_hw(uint8_t idx, uint8_t* buf, size_t size, size_t* out);
+
+    static constexpr gpio_num_t HW_TX[SUART_NUM_CHANNELS] = { GPIO_NUM_4,  GPIO_NUM_5,  GPIO_NUM_11 };
+    static constexpr gpio_num_t HW_RX[SUART_NUM_CHANNELS] = { GPIO_NUM_3,  GPIO_NUM_6,  GPIO_NUM_12 };
+    static constexpr uart_port_t HW_PORT[SUART_NUM_CHANNELS] = { UART_NUM_0, UART_NUM_1, UART_NUM_2 };
+};
+
+#endif // SOFT_UART_MANAGER_H