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AP_Networking: add timeout to swap the UDP Server client target

This commit is contained in:
bugobliterator 2024-06-20 12:30:42 +10:00 committed by Andrew Tridgell
parent d07e8d16df
commit 96682b1b1b
2 changed files with 10 additions and 2 deletions
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2
libraries/AP_Networking/AP_Networking.h
View File

@ -270,7 +270,7 @@ private:
uint16_t last_udp_connect_port;
bool have_received;
bool close_on_recv_error;
uint32_t last_udp_srv_recv_time_ms;
HAL_Semaphore sem;
};
#endif // AP_NETWORKING_REGISTER_PORT_ENABLED

10
libraries/AP_Networking/AP_Networking_port.cpp
View File

@ -350,7 +350,11 @@ bool AP_Networking::Port::send_receive(void)
uint32_t last_addr = 0;
uint16_t last_port = 0;
if (sock->last_recv_address(last_addr, last_port)) {
if (!connected || (last_addr != last_udp_connect_address) || (last_port != last_udp_connect_port)) {
// we might be disconnected and want to reconnect to a different address/port
// if we haven't received anything for a while
bool maybe_disconnected = (AP_HAL::millis() - last_udp_srv_recv_time_ms) > 3000 &&
((last_addr != last_udp_connect_address) || (last_port != last_udp_connect_port));
if (maybe_disconnected || !connected) {
char last_addr_str[IP4_STR_LEN];
sock->inet_addr_to_str(last_addr, last_addr_str, sizeof(last_addr_str));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP[%u]: connected to %s:%u", unsigned(state.idx), last_addr_str, unsigned(last_port));
@ -358,6 +362,10 @@ bool AP_Networking::Port::send_receive(void)
last_udp_connect_address = last_addr;
last_udp_connect_port = last_port;
}
// if we received something from the same address, reset the timer
if (((last_addr == last_udp_connect_address) && (last_port == last_udp_connect_port))) {
last_udp_srv_recv_time_ms = AP_HAL::millis();
}
}
}