mirror of https://github.com/ArduPilot/ardupilot
25 lines
469 B
C
25 lines
469 B
C
|
/*
|
||
|
|
multicast UDP transport for SITL CAN
|
||
|
|
*/
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "CAN_Transport.h"
|
||
|
|
|
||
|
|
#if HAL_NUM_CAN_IFACES
|
||
|
|
|
||
|
|
class CAN_Multicast : public CAN_Transport {
|
||
|
|
public:
|
||
|
|
bool init(uint8_t instance) override;
|
||
|
|
bool send(const AP_HAL::CANFrame &frame) override;
|
||
|
|
bool receive(AP_HAL::CANFrame &frame) override;
|
||
|
|
int get_read_fd(void) const override {
|
||
|
|
return fd_in;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
int fd_in = -1;
|
||
|
|
int fd_out = -1;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // HAL_NUM_CAN_IFACES
|