ardupilot/libraries/AP_HAL_Linux/UDPDevice.h

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#pragma once
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#include "SerialDevice.h"
#include <AP_HAL/utility/Socket.h>
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class UDPDevice: public SerialDevice {
public:
UDPDevice(const char *ip, uint16_t port, bool bcast, bool input);
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virtual ~UDPDevice();
virtual bool open() override;
virtual bool close() override;
virtual void set_blocking(bool blocking) override;
virtual void set_speed(uint32_t speed) override;
virtual ssize_t write(const uint8_t *buf, uint16_t n) override;
virtual ssize_t read(uint8_t *buf, uint16_t n) override;
private:
SocketAPM socket{true};
const char *_ip;
uint16_t _port;
bool _bcast;
bool _input;
bool _connected = false;
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};