mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
/*
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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 <AP_HAL/UARTDriver.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include <AP_HAL_ESP32/AP_HAL_ESP32.h>
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#include <AP_HAL_ESP32/Semaphores.h>
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#include "lwip/sockets.h"
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#include "esp_event.h"
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class ESP32::WiFiUdpDriver : public AP_HAL::UARTDriver
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{
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public:
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WiFiUdpDriver();
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void begin(uint32_t b) override;
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void begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
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void end() override;
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void flush() override;
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bool is_initialized() override;
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void set_blocking_writes(bool blocking) override;
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bool tx_pending() override;
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uint32_t available() override;
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uint32_t txspace() override;
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bool read(uint8_t &c) override;
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size_t write(uint8_t c) override;
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size_t write(const uint8_t *buffer, size_t size) override;
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uint32_t bw_in_bytes_per_second() const override
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{
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return 1000*1024;
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}
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bool discard_input() override;
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private:
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enum ConnectionState {
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NOT_INITIALIZED,
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INITIALIZED,
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CONNECTED
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};
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const size_t TX_BUF_SIZE = 1024;
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const size_t RX_BUF_SIZE = 1024;
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uint8_t _buffer[255]; // 32 means slow param reads as its too small for most mavlink packets, 128 is still a bit small due to packet overheads
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ByteBuffer _readbuf{0};
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ByteBuffer _writebuf{0};
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Semaphore _write_mutex;
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Semaphore _read_mutex;
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ConnectionState _state;
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int accept_socket;
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tskTaskControlBlock* _wifi_task_handle;
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void initialize_wifi();
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bool read_all();
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bool write_data();
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bool start_listen();
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bool try_accept();
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static void _wifi_thread2(void* arg);
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};
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