AP_HAL_Linux: added TCPClientDevice

libraries/AP_HAL_Linux/TCPClientDevice.cpp

@@ -0,0 +1,65 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+
+#include <stdio.h>
+#include <unistd.h>
+#include <errno.h>
+#include <stdlib.h>
+
+#include "TCPClientDevice.h"
+
+TCPClientDevice::TCPClientDevice(const char *ip, uint16_t port):
+    _ip(ip),
+    _port(port)
+{
+}
+
+TCPClientDevice::~TCPClientDevice()
+{
+
+}
+
+ssize_t TCPClientDevice::write(const uint8_t *buf, uint16_t n)
+{
+    return listener.send(buf, n);
+}
+
+ssize_t TCPClientDevice::read(uint8_t *buf, uint16_t n)
+{
+    return listener.recv(buf, n, 1);
+}
+
+bool TCPClientDevice::open()
+{
+    listener.reuseaddress();
+
+    if (!listener.connect(_ip, _port)) {
+        ::printf("connect failed on %s port %u - %s\n",
+                 _ip,
+                 _port,
+                 strerror(errno));
+        ::exit(1);
+    }
+
+    listener.set_blocking(false);
+
+    return true;
+}
+
+bool TCPClientDevice::close()
+{
+    return true;
+}
+
+void TCPClientDevice::set_blocking(bool blocking)
+{
+    listener.set_blocking(blocking);
+}
+
+void TCPClientDevice::set_speed(uint32_t speed)
+{
+
+}
+
+#endif

libraries/AP_HAL_Linux/TCPClientDevice.h

@@ -0,0 +1,24 @@
+#ifndef __AP_HAL_LINUX_TCPCLIENTDEVICE_H__
+#define __AP_HAL_LINUX_TCPCLIENTDEVICE_H__
+
+#include "SerialDevice.h"
+#include "../AP_HAL/utility/Socket.h"
+
+class TCPClientDevice: public SerialDevice {
+public:
+    TCPClientDevice(const char *ip, uint16_t port);
+    virtual ~TCPClientDevice();
+
+    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 listener{false};
+    const char *_ip;
+    uint16_t _port;
+};
+
+#endif