forked from Archive/PX4-Autopilot
693 lines
18 KiB
C++
693 lines
18 KiB
C++
/****************************************************************************
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*
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* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <unistd.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <errno.h>
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#include <sys/socket.h>
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#include <cstdlib>
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#if __has_include("px4_log.h") && __has_include("px4_time.h")
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#include <px4_log.h>
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#include <px4_time.h>
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#endif
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#include "microRTPS_transport.h"
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#define DEFAULT_UART "/dev/ttyACM0"
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/** CRC table for the CRC-16. The poly is 0x8005 (x^16 + x^15 + x^2 + 1) */
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uint16_t const crc16_table[256] = {
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0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
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0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
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0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
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0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
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0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
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0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
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0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
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0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
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0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
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0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
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0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
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0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
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0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
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0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
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0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
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0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
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0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
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0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
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0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
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0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
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0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
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0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
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0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
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0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
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0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
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0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
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0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
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0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
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0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
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0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
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0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
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0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
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};
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Transport_node::Transport_node(): rx_buff_pos(0)
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{
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}
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Transport_node::~Transport_node()
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{
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}
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uint16_t Transport_node::crc16_byte(uint16_t crc, const uint8_t data)
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{
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return (crc >> 8) ^ crc16_table[(crc ^ data) & 0xff];
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}
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uint16_t Transport_node::crc16(uint8_t const *buffer, size_t len)
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{
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uint16_t crc = 0;
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while (len--) {
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crc = crc16_byte(crc, *buffer++);
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}
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return crc;
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}
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ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer_len)
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{
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if (nullptr == out_buffer || nullptr == topic_ID || !fds_OK()) {
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return -1;
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}
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*topic_ID = 255;
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ssize_t len = node_read((void *)(rx_buffer + rx_buff_pos), sizeof(rx_buffer) - rx_buff_pos);
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if (len <= 0) {
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int errsv = errno;
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if (errsv && EAGAIN != errsv && ETIMEDOUT != errsv) {
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#ifndef PX4_ERR
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printf("Read fail %d\n", errsv);
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#else
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PX4_ERR("Read fail %d", errsv);
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#endif /* PX4_ERR */
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}
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return len;
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}
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rx_buff_pos += len;
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// We read some
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size_t header_size = sizeof(struct Header);
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// but not enough
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if (rx_buff_pos < header_size) {
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return 0;
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}
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uint32_t msg_start_pos = 0;
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for (msg_start_pos = 0; msg_start_pos <= rx_buff_pos - header_size; ++msg_start_pos) {
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if ('>' == rx_buffer[msg_start_pos] && memcmp(rx_buffer + msg_start_pos, ">>>", 3) == 0) {
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break;
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}
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}
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// Start not found
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if (msg_start_pos > rx_buff_pos - header_size) {
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#ifndef PX4_INFO
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printf(" (↓↓ %u)", msg_start_pos);
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#else
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PX4_INFO(" (↓↓ %u)", msg_start_pos);
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#endif /* PX4_INFO */
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// All we've checked so far is garbage, drop it - but save unchecked bytes
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos = rx_buff_pos - msg_start_pos;
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return -1;
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}
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/*
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* [>,>,>,topic_ID,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart, ... ,payloadEnd]
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*/
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struct Header *header = (struct Header *)&rx_buffer[msg_start_pos];
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uint32_t payload_len = ((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
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// The message won't fit the buffer.
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if (buffer_len < header_size + payload_len) {
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return -EMSGSIZE;
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}
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// We do not have a complete message yet
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if (msg_start_pos + header_size + payload_len > rx_buff_pos) {
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// If there's garbage at the beginning, drop it
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if (msg_start_pos > 0) {
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#ifndef PX4_INFO
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printf(" (↓ %u)", msg_start_pos);
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#else
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PX4_INFO(" (↓ %u)", msg_start_pos);
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#endif /* PX4_INFO */
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos -= msg_start_pos;
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}
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return 0;
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}
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uint16_t read_crc = ((uint16_t)header->crc_h << 8) | header->crc_l;
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uint16_t calc_crc = crc16((uint8_t *)rx_buffer + msg_start_pos + header_size, payload_len);
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if (read_crc != calc_crc) {
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#ifndef PX4_ERR
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printf("Bad CRC %u != %u", read_crc, calc_crc);
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printf(" (↓ %lu)", (unsigned long)(header_size + payload_len));
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#else
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PX4_ERR("Bad CRC %u != %u", read_crc, calc_crc);
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PX4_ERR(" (↓ %lu)", (unsigned long)(header_size + payload_len));
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#endif /* PX4_ERR */
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len = -1;
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} else {
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// copy message to outbuffer and set other return values
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memmove(out_buffer, rx_buffer + msg_start_pos + header_size, payload_len);
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*topic_ID = header->topic_ID;
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len = payload_len + header_size;
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}
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// discard message from rx_buffer
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rx_buff_pos -= header_size + payload_len;
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memmove(rx_buffer, rx_buffer + msg_start_pos + header_size + payload_len, rx_buff_pos);
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return len;
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}
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ssize_t Transport_node::get_header_length()
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{
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return sizeof(struct Header);
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}
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ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t length)
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{
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if (!fds_OK()) {
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return -1;
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}
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static struct Header header = {
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.marker = {'>', '>', '>'},
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.topic_ID = 0u,
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.seq = 0u,
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.payload_len_h = 0u,
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.payload_len_l = 0u,
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.crc_h = 0u,
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.crc_l = 0u
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};
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static uint8_t seq = 0;
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// [>,>,>,topic_ID,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
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uint16_t crc = crc16((uint8_t *)&buffer[sizeof(header)], length);
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header.topic_ID = topic_ID;
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header.seq = seq++;
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header.payload_len_h = (length >> 8) & 0xff;
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header.payload_len_l = length & 0xff;
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header.crc_h = (crc >> 8) & 0xff;
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header.crc_l = crc & 0xff;
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/* Headroom for header is created in client */
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/*Fill in the header in the same payload buffer to call a single node_write */
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memcpy(buffer, &header, sizeof(header));
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ssize_t len = node_write(buffer, length + sizeof(header));
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if (len != ssize_t(length + sizeof(header))) {
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goto err;
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}
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return len + sizeof(header);
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err:
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//int errsv = errno;
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//if (len == -1 ) PX4_ERR(" => Writing error '%d'", errsv);
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//else PX4_ERR(" => Wrote '%ld' != length(%lu) error '%d'", (long)len, (unsigned long)length, errsv);
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return len;
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}
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UART_node::UART_node(const char *_uart_name, uint32_t _baudrate, uint32_t _poll_ms):
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uart_fd(-1),
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baudrate(_baudrate),
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poll_ms(_poll_ms)
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{
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if (nullptr != _uart_name) {
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strcpy(uart_name, _uart_name);
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}
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}
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UART_node::~UART_node()
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{
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close();
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}
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int UART_node::init()
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{
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// Open a serial port
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uart_fd = open(uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (uart_fd < 0) {
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#ifndef PX4_ERR
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printf("Failed to open device: %s (%d)", uart_name, errno);
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#else
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PX4_ERR("Failed to open device: %s (%d)", uart_name, errno);
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#endif /* PX4_ERR */
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return -errno;
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}
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// If using shared UART, no need to set it up
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if (baudrate == 0) {
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return uart_fd;
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}
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// Try to set baud rate
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struct termios uart_config;
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int termios_state;
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// Back up the original uart configuration to restore it after exit
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if ((termios_state = tcgetattr(uart_fd, &uart_config)) < 0) {
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int errno_bkp = errno;
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#ifndef PX4_ERR
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printf("ERR GET CONF %s: %d (%d)", uart_name, termios_state, errno);
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#else
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PX4_ERR("ERR GET CONF %s: %d (%d)", uart_name, termios_state, errno);
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#endif /* PX4_ERR */
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close();
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return -errno_bkp;
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}
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//Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity,
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//no flow control, no modem control
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uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
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uart_config.c_iflag |= IGNBRK | IGNPAR;
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uart_config.c_oflag &= !(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
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uart_config.c_oflag |= NL0 | VT0;
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uart_config.c_cflag &= !(CSIZE | CSTOPB | PARENB);
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uart_config.c_cflag |= CS8 | CREAD | CLOCAL;
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uart_config.c_lflag &= !(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
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// USB serial is indicated by /dev/ttyACM0
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if (strcmp(uart_name, "/dev/ttyACM0") != 0 && strcmp(uart_name, "/dev/ttyACM1") != 0) {
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// Set baud rate
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speed_t speed;
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if (!baudrate_to_speed(baudrate, &speed)) {
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#ifndef PX4_ERR
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printf("ERR SET BAUD %s: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
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uart_name, baudrate);
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#else
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PX4_ERR("ERR SET BAUD %s: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
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uart_name, baudrate);
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#endif /* PX4_ERR */
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close();
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return -EINVAL;
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}
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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int errno_bkp = errno;
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#ifndef PX4_ERR
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printf("ERR SET BAUD %s: %d (%d)", uart_name, termios_state, errno);
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#else
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PX4_ERR("ERR SET BAUD %s: %d (%d)", uart_name, termios_state, errno);
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#endif /* PX4_ERR */
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close();
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return -errno_bkp;
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}
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}
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if ((termios_state = tcsetattr(uart_fd, TCSANOW, &uart_config)) < 0) {
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int errno_bkp = errno;
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#ifndef PX4_ERR
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printf("ERR SET CONF %s (%d)", uart_name, errno);
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#else
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PX4_ERR("ERR SET CONF %s (%d)", uart_name, errno);
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#endif /* PX4_ERR */
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close();
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return -errno_bkp;
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}
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char aux[64];
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bool flush = false;
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while (0 < ::read(uart_fd, (void *)&aux, 64)) {
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flush = true;
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/**
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* According to px4_time.h, px4_usleep() is only defined when lockstep is set
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* to be used
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*/
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#ifndef ENABLE_LOCKSTEP_SCHEDULER
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usleep(1000);
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#else
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px4_usleep(1000);
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#endif /* ENABLE_LOCKSTEP_SCHEDULER */
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}
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if (flush) {
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#ifndef PX4_INFO
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printf("Flush");
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#else
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PX4_INFO("Flush");
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#endif /* PX4_INFO */
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} else {
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#ifndef PX4_INFO
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printf("No flush");
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#else
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PX4_INFO("No flush");
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#endif /* PX4_INFO */
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}
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poll_fd[0].fd = uart_fd;
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poll_fd[0].events = POLLIN;
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return uart_fd;
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}
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bool UART_node::fds_OK()
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{
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return (-1 != uart_fd);
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}
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uint8_t UART_node::close()
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{
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if (-1 != uart_fd) {
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#ifndef PX4_WARN
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printf("Closed UART...");
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#else
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PX4_WARN("Closed UART...");
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#endif /* PX4_WARN */
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::close(uart_fd);
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uart_fd = -1;
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memset(&poll_fd, 0, sizeof(poll_fd));
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}
|
|
|
|
return 0;
|
|
}
|
|
|
|
ssize_t UART_node::node_read(void *buffer, size_t len)
|
|
{
|
|
if (nullptr == buffer || !fds_OK()) {
|
|
return -1;
|
|
}
|
|
|
|
ssize_t ret = 0;
|
|
int r = poll(poll_fd, 1, poll_ms);
|
|
|
|
if (r == 1 && (poll_fd[0].revents & POLLIN)) {
|
|
ret = ::read(uart_fd, buffer, len);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
ssize_t UART_node::node_write(void *buffer, size_t len)
|
|
{
|
|
if (nullptr == buffer || !fds_OK()) {
|
|
return -1;
|
|
}
|
|
|
|
return ::write(uart_fd, buffer, len);
|
|
}
|
|
|
|
bool UART_node::baudrate_to_speed(uint32_t bauds, speed_t *speed)
|
|
{
|
|
#ifndef B460800
|
|
#define B460800 460800
|
|
#endif
|
|
|
|
#ifndef B500000
|
|
#define B500000 500000
|
|
#endif
|
|
|
|
#ifndef B921600
|
|
#define B921600 921600
|
|
#endif
|
|
|
|
#ifndef B1000000
|
|
#define B1000000 1000000
|
|
#endif
|
|
|
|
switch (bauds) {
|
|
case 0: *speed = B0; break;
|
|
|
|
case 50: *speed = B50; break;
|
|
|
|
case 75: *speed = B75; break;
|
|
|
|
case 110: *speed = B110; break;
|
|
|
|
case 134: *speed = B134; break;
|
|
|
|
case 150: *speed = B150; break;
|
|
|
|
case 200: *speed = B200; break;
|
|
|
|
case 300: *speed = B300; break;
|
|
|
|
case 600: *speed = B600; break;
|
|
|
|
case 1200: *speed = B1200; break;
|
|
|
|
case 1800: *speed = B1800; break;
|
|
|
|
case 2400: *speed = B2400; break;
|
|
|
|
case 4800: *speed = B4800; break;
|
|
|
|
case 9600: *speed = B9600; break;
|
|
|
|
case 19200: *speed = B19200; break;
|
|
|
|
case 38400: *speed = B38400; break;
|
|
|
|
case 57600: *speed = B57600; break;
|
|
|
|
case 115200: *speed = B115200; break;
|
|
|
|
case 230400: *speed = B230400; break;
|
|
|
|
case 460800: *speed = B460800; break;
|
|
|
|
case 500000: *speed = B500000; break;
|
|
|
|
case 921600: *speed = B921600; break;
|
|
|
|
case 1000000: *speed = B1000000; break;
|
|
|
|
#ifdef B1500000
|
|
|
|
case 1500000: *speed = B1500000; break;
|
|
#endif
|
|
|
|
#ifdef B3000000
|
|
|
|
case 3000000: *speed = B3000000; break;
|
|
#endif
|
|
|
|
default:
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
UDP_node::UDP_node(uint16_t _udp_port_recv, uint16_t _udp_port_send):
|
|
sender_fd(-1),
|
|
receiver_fd(-1),
|
|
udp_port_recv(_udp_port_recv),
|
|
udp_port_send(_udp_port_send)
|
|
{
|
|
}
|
|
|
|
UDP_node::~UDP_node()
|
|
{
|
|
close();
|
|
}
|
|
|
|
int UDP_node::init()
|
|
{
|
|
if (0 > init_receiver(udp_port_recv) || 0 > init_sender(udp_port_send)) {
|
|
return -1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
bool UDP_node::fds_OK()
|
|
{
|
|
return (-1 != sender_fd && -1 != receiver_fd);
|
|
}
|
|
|
|
int UDP_node::init_receiver(uint16_t udp_port)
|
|
{
|
|
#ifndef __PX4_NUTTX
|
|
// udp socket data
|
|
memset((char *)&receiver_inaddr, 0, sizeof(receiver_inaddr));
|
|
receiver_inaddr.sin_family = AF_INET;
|
|
receiver_inaddr.sin_port = htons(udp_port);
|
|
receiver_inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
|
|
|
|
if ((receiver_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
|
|
#ifndef PX4_ERR
|
|
printf("Create socket failed");
|
|
#else
|
|
PX4_ERR("Create socket failed");
|
|
#endif /* PX4_ERR */
|
|
return -1;
|
|
}
|
|
#ifndef PX4_INFO
|
|
printf("Trying to connect...");
|
|
#else
|
|
PX4_INFO("Trying to connect...");
|
|
#endif /* PX4_INFO */
|
|
|
|
if (bind(receiver_fd, (struct sockaddr *)&receiver_inaddr, sizeof(receiver_inaddr)) < 0) {
|
|
#ifndef PX4_ERR
|
|
printf("Bind failed");
|
|
#else
|
|
PX4_ERR("Bind failed");
|
|
#endif /* PX4_ERR */
|
|
return -1;
|
|
}
|
|
#ifndef PX4_INFO
|
|
printf("Connected to server!");
|
|
#else
|
|
PX4_INFO("Connected to server!");
|
|
#endif /* PX4_INFO */
|
|
#endif /* __PX4_NUTTX */
|
|
return 0;
|
|
}
|
|
|
|
int UDP_node::init_sender(uint16_t udp_port)
|
|
{
|
|
#ifndef __PX4_NUTTX
|
|
|
|
if ((sender_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
|
|
#ifndef PX4_ERR
|
|
printf("Create socket failed");
|
|
#else
|
|
PX4_ERR("Create socket failed");
|
|
#endif /* PX4_ERR */
|
|
return -1;
|
|
}
|
|
|
|
memset((char *) &sender_outaddr, 0, sizeof(sender_outaddr));
|
|
sender_outaddr.sin_family = AF_INET;
|
|
sender_outaddr.sin_port = htons(udp_port);
|
|
|
|
if (inet_aton("127.0.0.1", &sender_outaddr.sin_addr) == 0) {
|
|
#ifndef PX4_ERR
|
|
printf("inet_aton() failed");
|
|
#else
|
|
PX4_ERR("inet_aton() failed");
|
|
#endif /* PX4_ERR */
|
|
return -1;
|
|
}
|
|
|
|
#endif /* __PX4_NUTTX */
|
|
|
|
return 0;
|
|
}
|
|
|
|
uint8_t UDP_node::close()
|
|
{
|
|
#ifndef __PX4_NUTTX
|
|
|
|
if (sender_fd != -1) {
|
|
#ifndef PX4_WARN
|
|
printf("Closed sender socket!");
|
|
#else
|
|
PX4_WARN("Closed sender socket!");
|
|
#endif /* PX4_WARN */
|
|
shutdown(sender_fd, SHUT_RDWR);
|
|
::close(sender_fd);
|
|
sender_fd = -1;
|
|
}
|
|
|
|
if (receiver_fd != -1) {
|
|
#ifndef PX4_WARN
|
|
printf("Closed receiver socket!");
|
|
#else
|
|
PX4_WARN("Closed receiver socket!");
|
|
#endif /* PX4_WARN */
|
|
shutdown(receiver_fd, SHUT_RDWR);
|
|
::close(receiver_fd);
|
|
receiver_fd = -1;
|
|
}
|
|
|
|
#endif /* __PX4_NUTTX */
|
|
return 0;
|
|
}
|
|
|
|
ssize_t UDP_node::node_read(void *buffer, size_t len)
|
|
{
|
|
if (nullptr == buffer || !fds_OK()) {
|
|
return -1;
|
|
}
|
|
|
|
int ret = 0;
|
|
#ifndef __PX4_NUTTX
|
|
// Blocking call
|
|
static socklen_t addrlen = sizeof(receiver_outaddr);
|
|
ret = recvfrom(receiver_fd, buffer, len, 0, (struct sockaddr *) &receiver_outaddr, &addrlen);
|
|
#endif /* __PX4_NUTTX */
|
|
return ret;
|
|
}
|
|
|
|
ssize_t UDP_node::node_write(void *buffer, size_t len)
|
|
{
|
|
if (nullptr == buffer || !fds_OK()) {
|
|
return -1;
|
|
}
|
|
|
|
int ret = 0;
|
|
#ifndef __PX4_NUTTX
|
|
ret = sendto(sender_fd, buffer, len, 0, (struct sockaddr *)&sender_outaddr, sizeof(sender_outaddr));
|
|
#endif /* __PX4_NUTTX */
|
|
return ret;
|
|
}
|