mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-23 16:23:56 -04:00
125c8fa1fa
- Add ping test and attempt reconnect if connection dropped. - Retry ping test max_attempts before exiting. - Move `uxr_init_session` from transport init to session init for reconnect - Tidy handling of transport.comm - Fix codestyle Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: use PONG_IN_SESSION_STATUS in status check Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> AP_DDS: add local variables to clarify arguments to uxr_ping_agent_session Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
90 lines
2.1 KiB
C++
90 lines
2.1 KiB
C++
#include "AP_DDS_Client.h"
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#if AP_DDS_UDP_ENABLED
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#include <errno.h>
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/*
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open connection on UDP
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*/
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bool AP_DDS_Client::udp_transport_open(uxrCustomTransport *t)
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{
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AP_DDS_Client *dds = (AP_DDS_Client *)t->args;
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auto *sock = new SocketAPM(true);
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if (sock == nullptr) {
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return false;
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}
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if (!sock->connect(dds->udp.ip, dds->udp.port.get())) {
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return false;
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}
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dds->udp.socket = sock;
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return true;
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}
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/*
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close UDP connection
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*/
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bool AP_DDS_Client::udp_transport_close(uxrCustomTransport *t)
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{
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AP_DDS_Client *dds = (AP_DDS_Client *)t->args;
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delete dds->udp.socket;
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dds->udp.socket = nullptr;
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return true;
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}
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/*
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write on UDP
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*/
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size_t AP_DDS_Client::udp_transport_write(uxrCustomTransport *t, const uint8_t* buf, size_t len, uint8_t* error)
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{
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AP_DDS_Client *dds = (AP_DDS_Client *)t->args;
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if (dds->udp.socket == nullptr) {
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*error = EINVAL;
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return 0;
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}
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const ssize_t ret = dds->udp.socket->send(buf, len);
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if (ret <= 0) {
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*error = errno;
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return 0;
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}
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return ret;
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}
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/*
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read from UDP
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*/
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size_t AP_DDS_Client::udp_transport_read(uxrCustomTransport *t, uint8_t* buf, size_t len, int timeout_ms, uint8_t* error)
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{
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AP_DDS_Client *dds = (AP_DDS_Client *)t->args;
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if (dds->udp.socket == nullptr) {
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*error = EINVAL;
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return 0;
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}
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const ssize_t ret = dds->udp.socket->recv(buf, len, timeout_ms);
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if (ret <= 0) {
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*error = errno;
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return 0;
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}
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return ret;
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}
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/*
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initialise UDP connection
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*/
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bool AP_DDS_Client::ddsUdpInit()
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{
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// setup a non-framed transport for UDP
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uxr_set_custom_transport_callbacks(&udp.transport, false,
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udp_transport_open,
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udp_transport_close,
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udp_transport_write,
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udp_transport_read);
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if (!uxr_init_custom_transport(&udp.transport, (void*)this)) {
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return false;
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}
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comm = &udp.transport.comm;
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return true;
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}
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#endif // AP_DDS_UDP_ENABLED
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