udp_board.h
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1 /*
2  * Copyright (c) 2017 Daniel Koch, BYU MAGICC Lab.
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31 
37 #ifndef ROSFLIGHT_FIRMWARE_UDP_BOARD_H
38 #define ROSFLIGHT_FIRMWARE_UDP_BOARD_H
39 
40 #include <list>
41 #include <string>
42 
43 #include <boost/asio.hpp>
44 #include <boost/thread.hpp>
45 
46 #include "board.h"
47 #include "mavlink/mavlink.h"
48 
49 namespace rosflight_firmware
50 {
51 
52 class UDPBoard : public Board
53 {
54 public:
55  UDPBoard(std::string bind_host = "localhost",
56  uint16_t bind_port = 14525,
57  std::string remote_host = "localhost",
58  uint16_t remote_port = 14520);
59  ~UDPBoard();
60 
61  void serial_init(uint32_t baud_rate, uint32_t dev) override;
62  void serial_write(const uint8_t *src, size_t len) override;
63  uint16_t serial_bytes_available(void) override;
64  uint8_t serial_read(void) override;
65  void serial_flush() override;
66 
67  void set_ports(std::string bind_host, uint16_t bind_port, std::string remote_host, uint16_t remote_port);
68 private:
69 
70  struct Buffer
71  {
73  size_t len;
74  size_t pos;
75 
76  Buffer() : len(0), pos(0) {}
77 
78  Buffer(const uint8_t *src, size_t length) : len(length), pos(0)
79  {
80  assert(length <= MAVLINK_MAX_PACKET_LEN);
81  memcpy(data, src, length);
82  }
83 
84  const uint8_t * dpos() const { return data + pos; }
85  size_t nbytes() const { return len - pos; }
86  void add_byte(uint8_t byte) { data[len++] = byte; }
87  uint8_t consume_byte() { return data[pos++]; }
88  bool empty() const { return pos >= len; }
89  bool full() const { return len >= MAVLINK_MAX_PACKET_LEN; }
90  };
91 
92  typedef boost::lock_guard<boost::recursive_mutex> MutexLock;
93 
94  void async_read();
95  void async_read_end(const boost::system::error_code& error, size_t bytes_transferred);
96 
97  void async_write(bool check_write_state);
98  void async_write_end(const boost::system::error_code& error, size_t bytes_transferred);
99 
100  std::string bind_host_;
101  uint16_t bind_port_;
102 
103  std::string remote_host_;
104  uint16_t remote_port_;
105 
106  boost::thread io_thread_;
107  boost::recursive_mutex write_mutex_;
108  boost::recursive_mutex read_mutex_;
109 
110  boost::asio::io_service io_service_;
111 
112  boost::asio::ip::udp::socket socket_;
113  boost::asio::ip::udp::endpoint bind_endpoint_;
114  boost::asio::ip::udp::endpoint remote_endpoint_;
115 
117  std::list<Buffer*> read_queue_;
118 
119  std::list<Buffer*> write_queue_;
121 };
122 
123 } // namespace rosflight_firmware
124 
125 #endif // ROSFLIGHT_FIRMWARE_UDP_BOARD_H
void serial_flush() override
Definition: udp_board.cpp:100
boost::asio::ip::udp::socket socket_
Definition: udp_board.h:112
std::list< Buffer * > write_queue_
Definition: udp_board.h:119
static volatile bool error
Definition: drv_i2c.c:92
void serial_init(uint32_t baud_rate, uint32_t dev) override
Definition: udp_board.cpp:76
void serial_write(const uint8_t *src, size_t len) override
Definition: udp_board.cpp:103
UDPBoard(std::string bind_host="localhost", uint16_t bind_port=14525, std::string remote_host="localhost", uint16_t remote_port=14520)
Definition: udp_board.cpp:45
boost::asio::ip::udp::endpoint bind_endpoint_
Definition: udp_board.h:113
boost::asio::ip::udp::endpoint remote_endpoint_
Definition: udp_board.h:114
void async_write(bool check_write_state)
Definition: udp_board.cpp:162
void async_read_end(const boost::system::error_code &error, size_t bytes_transferred)
Definition: udp_board.cpp:152
boost::lock_guard< boost::recursive_mutex > MutexLock
Definition: udp_board.h:92
boost::recursive_mutex write_mutex_
Definition: udp_board.h:107
uint16_t serial_bytes_available(void) override
Definition: udp_board.cpp:115
const uint8_t * dpos() const
Definition: udp_board.h:84
void set_ports(std::string bind_host, uint16_t bind_port, std::string remote_host, uint16_t remote_port)
Definition: udp_board.cpp:68
uint8_t serial_read(void) override
Definition: udp_board.cpp:121
boost::recursive_mutex read_mutex_
Definition: udp_board.h:108
uint8_t data[MAVLINK_MAX_PACKET_LEN]
Definition: udp_board.h:72
boost::asio::io_service io_service_
Definition: udp_board.h:110
std::list< Buffer * > read_queue_
Definition: udp_board.h:117
Buffer(const uint8_t *src, size_t length)
Definition: udp_board.h:78
void async_write_end(const boost::system::error_code &error, size_t bytes_transferred)
Definition: udp_board.cpp:181
uint8_t read_buffer_[MAVLINK_MAX_PACKET_LEN]
Definition: udp_board.h:116


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:20