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57 lines
1.4 KiB
57 lines
1.4 KiB
/* |
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* Copyright (C) 2017 Intel Corporation. All rights reserved. |
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* |
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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 <unistd.h> |
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#include <AP_HAL/utility/Socket.h> |
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#include <AP_HAL/utility/sparse-endian.h> |
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#include "RCInput.h" |
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namespace Linux { |
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class RCInput_SoloLink : public RCInput |
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{ |
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public: |
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RCInput_SoloLink(); |
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void init(); |
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void _timer_tick(); |
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private: |
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static const unsigned int PACKET_LEN = 26; |
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static const unsigned int PORT = 5005; |
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union packet { |
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struct PACKED { |
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uint64_t timestamp_usec; |
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le16_t seq; |
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le16_t channel[8]; |
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}; |
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uint8_t buf[PACKET_LEN]; |
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}; |
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bool _check_hdr(ssize_t len); |
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SocketAPM _socket{true}; |
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uint64_t _last_usec = 0; |
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uint16_t _last_seq = 0; |
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union packet _packet; |
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}; |
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}
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