From 1881878c3afa6d0b976e65a8a62c27c4146f7f40 Mon Sep 17 00:00:00 2001
From: Staroselskii Georgii <gosha371@gmail.com>
Date: Tue, 16 Jun 2015 00:01:14 +0300
Subject: [PATCH] AP_HAL_Linux: added UDPDevice

---
 libraries/AP_HAL_Linux/UDPDevice.cpp | 50 ++++++++++++++++++++++++++++
 libraries/AP_HAL_Linux/UDPDevice.h   | 24 +++++++++++++
 2 files changed, 74 insertions(+)
 create mode 100644 libraries/AP_HAL_Linux/UDPDevice.cpp
 create mode 100644 libraries/AP_HAL_Linux/UDPDevice.h

diff --git a/libraries/AP_HAL_Linux/UDPDevice.cpp b/libraries/AP_HAL_Linux/UDPDevice.cpp
new file mode 100644
index 0000000000..265959ca78
--- /dev/null
+++ b/libraries/AP_HAL_Linux/UDPDevice.cpp
@@ -0,0 +1,50 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+
+#include <stdio.h>
+
+#include "UDPDevice.h"
+
+UDPDevice::UDPDevice(const char *ip, uint16_t port):
+    _ip(ip),
+    _port(port)
+{
+}
+
+UDPDevice::~UDPDevice()
+{
+
+}
+
+ssize_t UDPDevice::write(const uint8_t *buf, uint16_t n)
+{
+    return socket.sendto(buf, n, _ip, _port, 0);
+}
+
+ssize_t UDPDevice::read(uint8_t *buf, uint16_t n)
+{
+    return socket.recvfrom(buf, n, 0);
+}
+
+bool UDPDevice::open()
+{
+    return true;
+}
+
+bool UDPDevice::close()
+{
+    return true;
+}
+
+void UDPDevice::set_blocking(bool blocking)
+{
+    socket.set_blocking(blocking);
+}
+
+void UDPDevice::set_speed(uint32_t speed)
+{
+
+}
+
+#endif
diff --git a/libraries/AP_HAL_Linux/UDPDevice.h b/libraries/AP_HAL_Linux/UDPDevice.h
new file mode 100644
index 0000000000..ac3a718cf0
--- /dev/null
+++ b/libraries/AP_HAL_Linux/UDPDevice.h
@@ -0,0 +1,24 @@
+#ifndef __AP_HAL_LINUX_UDPDEVICE_UDP_H__
+#define __AP_HAL_LINUX_UDPDEVICE_UDP_H__
+
+#include "SerialDevice.h"
+#include "../AP_HAL/utility/Socket.h"
+
+class UDPDevice: public SerialDevice {
+public:
+    UDPDevice(const char *ip, uint16_t port);
+    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;
+};
+
+#endif