ardupilot/libraries/AP_HAL_Linux/RCInput_SoloLink.h

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/*
* Copyright (C) 2017 Intel Corporation. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <unistd.h>
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#include <AP_HAL/utility/Socket_native.h>
#include <AP_HAL/utility/sparse-endian.h>
#include "RCInput.h"
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#ifndef AP_SOCKET_NATIVE_ENABLED
#error "need native"
#endif
namespace Linux {
class RCInput_SoloLink : public RCInput
{
public:
RCInput_SoloLink();
void init() override;
void _timer_tick() override;
private:
static const unsigned int PACKET_LEN = 26;
static const unsigned int PORT = 5005;
union packet {
struct PACKED {
uint64_t timestamp_usec;
le16_t seq;
le16_t channel[8];
};
uint8_t buf[PACKET_LEN];
};
bool _check_hdr(ssize_t len);
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SocketAPM_native _socket{true};
uint64_t _last_usec = 0;
uint16_t _last_seq = 0;
union packet _packet;
};
}