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71 lines
1.2 KiB
71 lines
1.2 KiB
#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include <stdio.h> |
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#include <sys/ioctl.h> |
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#include <fcntl.h> |
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#include "UDPDevice.h" |
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UDPDevice::UDPDevice(const char *ip, uint16_t port, bool bcast): |
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_ip(ip), |
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_port(port), |
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_bcast(bcast) |
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{ |
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} |
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UDPDevice::~UDPDevice() |
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{ |
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} |
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ssize_t UDPDevice::write(const uint8_t *buf, uint16_t n) |
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{ |
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if (!socket.pollout(0)) { |
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return -1; |
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} |
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if (_connected) { |
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return socket.send(buf, n); |
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} |
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return socket.sendto(buf, n, _ip, _port); |
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} |
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ssize_t UDPDevice::read(uint8_t *buf, uint16_t n) |
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{ |
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ssize_t ret = socket.recv(buf, n, 0); |
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if (!_connected && ret > 0) { |
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const char *ip; |
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uint16_t port; |
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socket.last_recv_address(ip, port); |
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_connected = socket.connect(ip, port); |
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} |
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return ret; |
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} |
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bool UDPDevice::open() |
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{ |
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if (_bcast) { |
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// open now, then connect on first received packet |
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socket.set_broadcast(); |
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return true; |
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} |
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_connected = socket.connect(_ip, _port); |
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return _connected; |
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} |
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bool UDPDevice::close() |
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{ |
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return true; |
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} |
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void UDPDevice::set_blocking(bool blocking) |
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{ |
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socket.set_blocking(blocking); |
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} |
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void UDPDevice::set_speed(uint32_t speed) |
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{ |
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} |
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#endif
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