mavconn::MAVConnUDP Class Reference

UDP interface. More...

#include <udp.h>

Inheritance diagram for mavconn::MAVConnUDP:

Public Member Functions
void	close () override
	Close connection. More...
void	connect (const ReceivedCb &cb_handle_message, const ClosedCb &cb_handle_closed_port=ClosedCb()) override
	Establish connection, automatically called by open_url() More...
std::string	get_remote_endpoint () const
bool	is_open () override
	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)
void	send_bytes (const uint8_t *bytes, size_t length) override
	Send raw bytes (for some quirks) More...
void	send_message (const mavlink::mavlink_message_t *message) override
	Send message (mavlink_message_t) More...
void	send_message (const mavlink::Message &message, const uint8_t source_compid) override
	Send message (child of mavlink::Message) More...
virtual	~MAVConnUDP ()
Public Member Functions inherited from mavconn::MAVConnInterface
uint8_t	get_component_id ()
virtual IOStat	get_iostat ()
Protocol	get_protocol_version ()
virtual mavlink::mavlink_status_t	get_status ()
uint8_t	get_system_id ()
	MAVConnInterface (uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE)
virtual void	send_message (const mavlink::Message &message)
	Send message (child of mavlink::Message) More...
void	send_message_ignore_drop (const mavlink::mavlink_message_t *message)
	Send message and ignore possible drop due to Tx queue limit. More...
void	send_message_ignore_drop (const mavlink::Message &message)
	Send message and ignore possible drop due to Tx queue limit. More...
void	send_message_ignore_drop (const mavlink::Message &message, const uint8_t src_compid)
	Send message and ignore possible drop due to Tx queue limit. More...
void	set_component_id (uint8_t compid)
void	set_protocol_version (Protocol pver)
void	set_system_id (uint8_t sysid)

Static Public Attributes
static constexpr auto	BROADCAST_REMOTE_HOST = "***i want broadcast***"
	Markers for broadcast modes. Not valid domain names. More...
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	PERMANENT_BROADCAST_REMOTE_HOST = "***permanent broadcast***"

Private Member Functions
void	do_recvfrom ()
void	do_sendto (bool check_tx_state)

Private Attributes
boost::asio::ip::udp::endpoint	bind_ep
boost::asio::io_service	io_service
std::thread	io_thread
std::unique_ptr< boost::asio::io_service::work >	io_work
boost::asio::ip::udp::endpoint	last_remote_ep
std::recursive_mutex	mutex
bool	permanent_broadcast
boost::asio::ip::udp::endpoint	recv_ep
boost::asio::ip::udp::endpoint	remote_ep
std::atomic< bool >	remote_exists
std::array< uint8_t, MsgBuffer::MAX_SIZE >	rx_buf
boost::asio::ip::udp::socket	socket
std::atomic< bool >	tx_in_progress
std::deque< MsgBuffer >	tx_q

Additional Inherited Members
Public Types inherited from mavconn::MAVConnInterface
using	ClosedCb = std::function< void(void)>
using	ConstPtr = std::shared_ptr< MAVConnInterface const >
using	Ptr = std::shared_ptr< MAVConnInterface >
using	ReceivedCb = std::function< void(const mavlink::mavlink_message_t *message, const Framing framing)>
using	WeakPtr = std::weak_ptr< MAVConnInterface >
Static Public Member Functions inherited from mavconn::MAVConnInterface
static std::vector< std::string >	get_known_dialects ()
static Ptr	open_url (std::string url, uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE, const ReceivedCb &cb_handle_message=ReceivedCb(), const ClosedCb &cb_handle_closed_port=ClosedCb())
	Construct connection from URL. More...
static Ptr	open_url_no_connect (std::string url, uint8_t system_id=1, uint8_t component_id=MAV_COMP_ID_UDP_BRIDGE)
	version of open_url() which do not perform connect() More...
Public Attributes inherited from mavconn::MAVConnInterface
ReceivedCb	message_received_cb
	Message receive callback. More...
ClosedCb	port_closed_cb
	Port closed notification callback. More...
Protected Member Functions inherited from mavconn::MAVConnInterface
mavlink::mavlink_message_t *	get_buffer_p ()
mavlink::mavlink_status_t *	get_status_p ()
void	iostat_rx_add (size_t bytes)
void	iostat_tx_add (size_t bytes)
void	log_recv (const char *pfx, mavlink::mavlink_message_t &msg, Framing framing)
void	log_send (const char *pfx, const mavlink::mavlink_message_t *msg)
void	log_send_obj (const char *pfx, const mavlink::Message &msg)
void	parse_buffer (const char *pfx, uint8_t *buf, const size_t bufsize, size_t bytes_received)
Protected Attributes inherited from mavconn::MAVConnInterface
uint8_t	comp_id
	Connection Component Id. More...
size_t	conn_id
	Channel number used for logging. More...
uint8_t	sys_id
	Connection System Id. More...
Static Protected Attributes inherited from mavconn::MAVConnInterface
static constexpr size_t	MAX_PACKET_SIZE = MAVLINK_MAX_PACKET_LEN + 16
	Maximum mavlink packet size + some extra bytes for padding. More...
static constexpr size_t	MAX_TXQ_SIZE = 1000
	Maximum count of transmission buffers. More...
static std::unordered_map< mavlink::msgid_t, const mavlink::mavlink_msg_entry_t * >	message_entries {}
	This map merge all dialect mavlink_msg_entry_t structs. Needed for packet parser. More...

Detailed Description

UDP interface.

Note

IPv4 only

Definition at line 31 of file udp.h.

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The documentation for this class was generated from the following files:

• udp.h
• udp.cpp