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udp_port.h
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udp_port.h
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/****************************************************************************
*
* Copyright (c) 2018 MAVlink Development Team. All rights reserved.
* Author: Hannes Diethelm, <[email protected]>
* Trent Lukaczyk, <[email protected]>
* Jaycee Lock, <[email protected]>
* Lorenz Meier, <[email protected]>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file udp_port.h
*
* @brief UDP interface definition
*
* Functions for opening, closing, reading and writing via UDP ports
*
* @author Hannes Diethelm, <[email protected]>
* @author Trent Lukaczyk, <[email protected]>
* @author Jaycee Lock, <[email protected]>
* @author Lorenz Meier, <[email protected]>
*
*/
#ifndef UDP_PORT_H_
#define UDP_PORT_H_
// ------------------------------------------------------------------------------
// Includes
// ------------------------------------------------------------------------------
#include <cstdlib>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <pthread.h> // This uses POSIX Threads
#include <sys/socket.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <unistd.h>
#include <stdlib.h>
#include <fcntl.h>
#include <time.h>
#include <sys/time.h>
#include <time.h>
#include <arpa/inet.h>
#include <stdbool.h>
#include <common/mavlink.h>
#include "generic_port.h"
// ------------------------------------------------------------------------------
// Defines
// ------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// Prototypes
// ------------------------------------------------------------------------------
// ----------------------------------------------------------------------------------
// UDP Port Manager Class
// ----------------------------------------------------------------------------------
/*
* UDP Port Class
*
* This object handles the opening and closing of the offboard computer's
* UDP port over which we'll communicate. It also has methods to write
* a byte stream buffer. MAVlink is not used in this object yet, it's just
* a serialization interface. To help with read and write pthreading, it
* gaurds any port operation with a pthread mutex.
*/
class UDP_Port: public Generic_Port
{
public:
UDP_Port();
UDP_Port(const char *target_ip_, int udp_port_);
virtual ~UDP_Port();
int read_message(mavlink_message_t &message);
int write_message(const mavlink_message_t &message);
bool is_running(){
return is_open;
}
void start();
void stop();
private:
mavlink_status_t lastStatus;
pthread_mutex_t lock;
void initialize_defaults();
const static int BUFF_LEN=2041;
char buff[BUFF_LEN];
int buff_ptr;
int buff_len;
bool debug;
const char *target_ip;
int rx_port;
int tx_port;
int sock;
bool is_open;
int _read_port(uint8_t &cp);
int _write_port(char *buf, unsigned len);
};
#endif // UDP_PORT_H_