mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.6 KiB
C
56 lines
1.6 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along 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_QURT.h"
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#include "Semaphores.h"
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#include <AP_HAL/utility/RingBuffer.h>
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class QURT::UDPDriver : public AP_HAL::UARTDriver {
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public:
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static UDPDriver *from(AP_HAL::UARTDriver *d) {
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return static_cast<UDPDriver*>(d);
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}
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void begin(uint32_t b);
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void end();
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void flush();
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bool is_initialized();
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void set_blocking_writes(bool blocking);
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bool tx_pending();
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int16_t available();
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int16_t txspace();
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int16_t read();
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size_t write(uint8_t c);
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size_t write(const uint8_t *buffer, size_t size);
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uint32_t socket_check(uint8_t *buf, int len, uint32_t *nbytes);
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uint32_t socket_input(const uint8_t *buf, int len, uint32_t *nbytes);
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enum flow_control get_flow_control(void) { return FLOW_CONTROL_ENABLE; };
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private:
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Semaphore lock;
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bool initialised;
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bool nonblocking_writes = true;
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ByteBuffer *readbuf;
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ByteBuffer *writebuf;
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};
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