mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.5 KiB
C++
62 lines
1.5 KiB
C++
/*
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* Copyright (C) 2017 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <unistd.h>
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#include <AP_HAL/utility/Socket_native.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include "RCInput.h"
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#ifndef AP_SOCKET_NATIVE_ENABLED
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#error "need native"
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#endif
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namespace Linux {
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class RCInput_SoloLink : public RCInput
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{
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public:
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RCInput_SoloLink();
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void init() override;
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void _timer_tick() override;
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private:
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static const unsigned int PACKET_LEN = 26;
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static const unsigned int PORT = 5005;
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union packet {
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struct PACKED {
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uint64_t timestamp_usec;
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le16_t seq;
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le16_t channel[8];
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};
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uint8_t buf[PACKET_LEN];
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};
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bool _check_hdr(ssize_t len);
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SocketAPM_native _socket{true};
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uint64_t _last_usec = 0;
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uint16_t _last_seq = 0;
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union packet _packet;
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};
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}
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