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AP_HAL_Linux: made UARTDriver use UDPDevice

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Staroselskii Georgii 2015-06-12 00:31:50 +03:00 committed by Randy Mackay
parent 9e6c4fe176
commit 4a79713081
1 changed files with 10 additions and 37 deletions
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47
libraries/AP_HAL_Linux/UARTDriver.cpp
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@ -25,6 +25,7 @@
#include "../AP_HAL/utility/RingBuffer.h" #include "../AP_HAL/utility/RingBuffer.h"
#include "UARTDevice.h" #include "UARTDevice.h"
#include "UDPDevice.h"
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -367,38 +368,11 @@ void LinuxUARTDriver::_tcp_start_connection(bool wait_for_connection)
*/ */
void LinuxUARTDriver::_udp_start_connection(void) void LinuxUARTDriver::_udp_start_connection(void)
{ {
struct sockaddr_in sockaddr; _device = new UDPDevice(_ip, _base_port);
int ret; _device->open();
_device->set_blocking(false);
memset(&sockaddr,0,sizeof(sockaddr));
#ifdef HAVE_SOCK_SIN_LEN /* try to write on MAVLink packet boundaries if possible */
sockaddr.sin_len = sizeof(sockaddr);
#endif
sockaddr.sin_port = htons(_base_port);
sockaddr.sin_family = AF_INET;
sockaddr.sin_addr.s_addr = inet_addr(_ip);
_rd_fd = socket(AF_INET, SOCK_DGRAM, 0);
if (_rd_fd == -1) {
::printf("socket failed - %s\n", strerror(errno));
exit(1);
}
ret = connect(_rd_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == -1) {
::printf("connect failed to %s:%u - %s\n",
_ip, (unsigned)_base_port,
strerror(errno));
exit(1);
}
// always run the file descriptor non-blocking, and deal with |
// blocking IO in the higher level calls
fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK);
_wr_fd = _rd_fd;
// try to write on MAVLink packet boundaries if possible
_packetise = true; _packetise = true;
} }
@ -409,13 +383,12 @@ void LinuxUARTDriver::end()
{ {
_initialised = false; _initialised = false;
_connected = false; _connected = false;
while (_in_timer) hal.scheduler->delay(1);
if (_rd_fd == _wr_fd && _rd_fd != -1) {
_device->close();
}
_rd_fd = -1;
_wr_fd = -1;
while (_in_timer) {
hal.scheduler->delay(1);
}
_device->close();
_deallocate_buffers(); _deallocate_buffers();
} }