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