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77 lines
2.1 KiB
77 lines
2.1 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_HAL/UARTDriver.h> |
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#include <AP_HAL/utility/RingBuffer.h> |
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#include <AP_HAL_ESP32/AP_HAL_ESP32.h> |
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#include <AP_HAL_ESP32/Semaphores.h> |
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#include "lwip/sockets.h" |
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#include "esp_event.h" |
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class ESP32::WiFiUdpDriver : public AP_HAL::UARTDriver |
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{ |
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public: |
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WiFiUdpDriver(); |
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void begin(uint32_t b) override; |
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void begin(uint32_t b, uint16_t rxS, uint16_t txS) override; |
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void end() override; |
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void flush() override; |
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bool is_initialized() override; |
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void set_blocking_writes(bool blocking) override; |
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bool tx_pending() override; |
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uint32_t available() override; |
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uint32_t txspace() override; |
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int16_t read() override; |
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size_t write(uint8_t c) override; |
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size_t write(const uint8_t *buffer, size_t size) override; |
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uint32_t bw_in_kilobytes_per_second() const override |
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{ |
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return 1000; |
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} |
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bool discard_input() override; |
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private: |
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enum ConnectionState { |
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NOT_INITIALIZED, |
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INITIALIZED, |
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CONNECTED |
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}; |
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const size_t TX_BUF_SIZE = 1024; |
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const size_t RX_BUF_SIZE = 1024; |
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uint8_t _buffer[32]; |
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ByteBuffer _readbuf{0}; |
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ByteBuffer _writebuf{0}; |
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Semaphore _write_mutex; |
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Semaphore _read_mutex; |
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ConnectionState _state; |
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int accept_socket; |
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void *_wifi_task_handle; |
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void initialize_wifi(); |
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bool read_all(); |
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bool write_data(); |
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bool start_listen(); |
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bool try_accept(); |
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static void _wifi_thread(void* arg); |
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};
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