#include #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include "RCInput_UDP.h" #include extern const AP_HAL::HAL& hal; using namespace Linux; RCInput_UDP::RCInput_UDP() : _port(0), _last_buf_ts(0), _last_buf_seq(0) {} void RCInput_UDP::init(void *) { _port = RCINPUT_UDP_DEF_PORT; if(!_socket.bind("0.0.0.0", _port)) { hal.console->printf("failed to bind UDP socket\n"); } _socket.set_blocking(false); return; } void RCInput_UDP::_timer_tick(void) { uint64_t delay; uint16_t seq_inc; /* Read from udp */ while (_socket.recv(&_buf, sizeof(_buf), 10) == sizeof(_buf)) { if (_buf.version != RCINPUT_UDP_VERSION) { hal.console->printf("bad protocol version for UDP RCInput\n"); return; } if (_last_buf_ts != 0 && (delay = _buf.timestamp_us - _last_buf_ts) > 100000) { hal.console->printf("no rc cmds received for %llu\n", (unsigned long long)delay); } _last_buf_ts = _buf.timestamp_us; if ((seq_inc = _buf.sequence - _last_buf_seq) > 10) { hal.console->printf("gap in rc cmds : %u\n", seq_inc); } _last_buf_seq = _buf.sequence; _update_periods(_buf.pwms, RCINPUT_UDP_NUM_CHANNELS); } } #endif