udp.h

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/*
 * libmavconn
 * Copyright 2013,2014,2015,2016 Vladimir Ermakov, All rights reserved.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#pragma once

#include <atomic>
#include <boost/asio.hpp>
#include <mavconn/interface.h>
#include <mavconn/msgbuffer.h>

namespace mavconn {
class MAVConnUDP : public MAVConnInterface,
        public std::enable_shared_from_this<MAVConnUDP> {
public:
        static constexpr auto DEFAULT_BIND_HOST = "localhost";
        static constexpr auto DEFAULT_BIND_PORT = 14555;
        static constexpr auto DEFAULT_REMOTE_HOST = "";
        static constexpr auto DEFAULT_REMOTE_PORT = 14550;
        static constexpr auto BROADCAST_REMOTE_HOST = "***i want broadcast***";
        static constexpr auto PERMANENT_BROADCAST_REMOTE_HOST = "***permanent broadcast***";

        MAVConnUDP(uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE,
                        std::string bind_host = DEFAULT_BIND_HOST, unsigned short bind_port = DEFAULT_BIND_PORT,
                        std::string remote_host = DEFAULT_REMOTE_HOST, unsigned short remote_port = DEFAULT_REMOTE_PORT);
        virtual ~MAVConnUDP();

        void close() override;

        void send_message(const mavlink::mavlink_message_t *message) override;
        void send_message(const mavlink::Message &message, const uint8_t source_compid) override;
        void send_bytes(const uint8_t *bytes, size_t length) override;

        inline bool is_open() override {
                return socket.is_open();
        }

        std::string get_remote_endpoint() const;

private:
        boost::asio::io_service io_service;
        std::unique_ptr<boost::asio::io_service::work> io_work;
        std::thread io_thread;
        bool permanent_broadcast;

        std::atomic<bool> remote_exists;
        boost::asio::ip::udp::socket socket;
        boost::asio::ip::udp::endpoint remote_ep;
        boost::asio::ip::udp::endpoint recv_ep;
        boost::asio::ip::udp::endpoint last_remote_ep;
        boost::asio::ip::udp::endpoint bind_ep;

        std::atomic<bool> tx_in_progress;
        std::deque<MsgBuffer> tx_q;
        std::array<uint8_t, MsgBuffer::MAX_SIZE> rx_buf;
        std::recursive_mutex mutex;

        void do_recvfrom();
        void do_sendto(bool check_tx_state);
};
}       // namespace mavconn