mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: got rid of TCP connection
This commit is contained in:
Staroselskii Georgii
Andrew Tridgell
parent
de6b2b4bce
commit
6e34dd9669
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@ -34,8 +34,6 @@ using namespace Linux;
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LinuxUARTDriver::LinuxUARTDriver(bool default_console) :
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device_path(NULL),
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_rd_fd(-1),
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_wr_fd(-1),
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_packetise(false),
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_flow_control(FLOW_CONTROL_DISABLE)
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{
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@ -77,21 +75,7 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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case DEVICE_TCP:
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{
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_connected = false;
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if (_flag != NULL){
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if (!strcmp(_flag, "wait")){
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_tcp_start_connection(true);
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} else {
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_tcp_start_connection(false);
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}
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} else {
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_tcp_start_connection(false);
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}
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if (!_connected) {
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::printf("LinuxUARTDriver TCP connection not established\n");
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exit(1);
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}
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_flow_control = FLOW_CONTROL_ENABLE;
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::fprintf(stderr, "Please, use UDP instead\n");
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break;
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}
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@ -256,112 +240,6 @@ bool LinuxUARTDriver::_serial_start_connection()
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return true;
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}
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/*
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start a TCP connection for the serial port. If wait_for_connection
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is true then block until a client connects
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*/
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void LinuxUARTDriver::_tcp_start_connection(bool wait_for_connection)
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{
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int one=1;
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struct sockaddr_in sockaddr;
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int ret;
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int listen_fd = -1; // socket we are listening on
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int net_fd = -1; // network file descriptor, will be linked to wr_fd and rd_fd
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uint8_t portNumber = 0; // connecto to _base_port + portNumber
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if (net_fd != -1) {
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close(net_fd);
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}
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if (listen_fd == -1) {
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memset(&sockaddr,0,sizeof(sockaddr));
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#ifdef HAVE_SOCK_SIN_LEN
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sockaddr.sin_len = sizeof(sockaddr);
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#endif
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sockaddr.sin_port = htons(_base_port + portNumber);
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sockaddr.sin_family = AF_INET;
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if (strcmp(_ip, "*") == 0) {
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// Bind to all interfaces
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sockaddr.sin_addr.s_addr = htonl(INADDR_ANY);
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} else {
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sockaddr.sin_addr.s_addr = inet_addr(_ip);
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}
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listen_fd = socket(AF_INET, SOCK_STREAM, 0);
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if (listen_fd == -1) {
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::printf("socket failed - %s\n", strerror(errno));
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exit(1);
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}
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/* we want to be able to re-use ports quickly */
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setsockopt(listen_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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if (!wait_for_connection) {
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ret = connect(listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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if (ret < 0) {
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::printf("connect failed on port %u - %s\n",
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(unsigned)ntohs(sockaddr.sin_port),
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strerror(errno));
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exit(1);
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}
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fcntl(listen_fd, F_SETFL, fcntl(listen_fd, F_GETFL, 0) | O_NONBLOCK);
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_rd_fd = listen_fd;
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_connected = true;
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::printf("Serial port %u on TCP port %u\n", portNumber,
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_base_port + portNumber);
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fflush(stdout);
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} else {
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ret = bind(listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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if (ret == -1) {
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::printf("bind failed on port %u - %s\n",
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(unsigned)ntohs(sockaddr.sin_port),
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strerror(errno));
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exit(1);
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}
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ret = listen(listen_fd, 5);
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if (ret == -1) {
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::printf("listen failed - %s\n", strerror(errno));
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exit(1);
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}
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::printf("Serial port %u on TCP port %u\n", portNumber,
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_base_port + portNumber);
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::fflush(stdout);
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::printf("Waiting for connection ....\n");
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::fflush(stdout);
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net_fd = accept(listen_fd, NULL, NULL);
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if (net_fd == -1) {
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::printf("accept() error - %s", strerror(errno));
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exit(1);
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}
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setsockopt(net_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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setsockopt(net_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
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// always run the file descriptor non-blocking, and deal with |
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// blocking IO in the higher level calls
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fcntl(net_fd, F_SETFL, fcntl(net_fd, F_GETFL, 0) | O_NONBLOCK);
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_connected = true;
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_rd_fd = net_fd;
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_wr_fd = net_fd;
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}
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}
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}
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/*
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start a UDP connection for the serial port
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*/
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@ -35,8 +35,6 @@ public:
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private:
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SerialDevice *_device = nullptr;
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int _rd_fd;
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int _wr_fd;
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bool _nonblocking_writes;
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bool _console;
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volatile bool _in_timer;
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@ -49,7 +47,6 @@ private:
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void _allocate_buffers(uint16_t rxS, uint16_t txS);
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void _deallocate_buffers();
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void _tcp_start_connection(bool wait_for_connection);
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void _udp_start_connection(void);
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bool _serial_start_connection(void);
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