mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: added TCPClientDevice
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commit
244cdb3507
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <stdio.h>
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#include <unistd.h>
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#include <errno.h>
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#include <stdlib.h>
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#include "TCPClientDevice.h"
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TCPClientDevice::TCPClientDevice(const char *ip, uint16_t port):
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_ip(ip),
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_port(port)
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{
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}
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TCPClientDevice::~TCPClientDevice()
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{
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}
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ssize_t TCPClientDevice::write(const uint8_t *buf, uint16_t n)
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{
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return listener.send(buf, n);
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}
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ssize_t TCPClientDevice::read(uint8_t *buf, uint16_t n)
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{
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return listener.recv(buf, n, 1);
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}
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bool TCPClientDevice::open()
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{
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listener.reuseaddress();
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if (!listener.connect(_ip, _port)) {
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::printf("connect failed on %s port %u - %s\n",
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_ip,
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_port,
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strerror(errno));
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::exit(1);
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}
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listener.set_blocking(false);
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return true;
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}
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bool TCPClientDevice::close()
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{
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return true;
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}
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void TCPClientDevice::set_blocking(bool blocking)
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{
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listener.set_blocking(blocking);
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}
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void TCPClientDevice::set_speed(uint32_t speed)
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{
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}
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#endif
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@ -0,0 +1,24 @@
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#ifndef __AP_HAL_LINUX_TCPCLIENTDEVICE_H__
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#define __AP_HAL_LINUX_TCPCLIENTDEVICE_H__
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#include "SerialDevice.h"
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#include "../AP_HAL/utility/Socket.h"
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class TCPClientDevice: public SerialDevice {
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public:
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TCPClientDevice(const char *ip, uint16_t port);
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virtual ~TCPClientDevice();
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virtual bool open() override;
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virtual bool close() override;
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virtual void set_blocking(bool blocking) override;
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virtual void set_speed(uint32_t speed) override;
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virtual ssize_t write(const uint8_t *buf, uint16_t n) override;
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virtual ssize_t read(uint8_t *buf, uint16_t n) override;
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private:
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SocketAPM listener{false};
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const char *_ip;
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uint16_t _port;
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};
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#endif
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