mavlink_udp.cpp

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/*
 * Copyright (c) 2017 Daniel Koch and James Jackson, BYU MAGICC Lab.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#include <rosflight/mavrosflight/mavlink_udp.h>
#include <rosflight/mavrosflight/serial_exception.h>

using boost::asio::ip::udp;

namespace mavrosflight
{

using boost::asio::serial_port_base;

MavlinkUDP::MavlinkUDP(std::string bind_host, uint16_t bind_port, std::string remote_host, uint16_t remote_port) :
  MavlinkComm(),
  socket_(io_service_),
  bind_host_(bind_host),
  bind_port_(bind_port),
  remote_host_(remote_host),
  remote_port_(remote_port)
{
}

MavlinkUDP::~MavlinkUDP()
{
  do_close();
}

bool MavlinkUDP::is_open()
{
  return socket_.is_open();
}

void MavlinkUDP::do_open()
{
  try
  {
    udp::resolver resolver(io_service_);

    bind_endpoint_ = *resolver.resolve({udp::v4(), bind_host_, ""});
    bind_endpoint_.port(bind_port_);

    remote_endpoint_ = *resolver.resolve({udp::v4(), remote_host_, ""});
    remote_endpoint_.port(remote_port_);

    socket_.open(udp::v4());
    socket_.bind(bind_endpoint_);

    socket_.set_option(udp::socket::reuse_address(true));
    socket_.set_option(udp::socket::send_buffer_size(1000*MAVLINK_MAX_PACKET_LEN));
    socket_.set_option(udp::socket::receive_buffer_size(1000*MAVLINK_SERIAL_READ_BUF_SIZE));
  }
  catch (boost::system::system_error e)
  {
    throw SerialException(e);
  }
}

void MavlinkUDP::do_close()
{
  socket_.close();
}

void MavlinkUDP::do_async_read(const boost::asio::mutable_buffers_1 &buffer, boost::function<void(const boost::system::error_code&, size_t)> handler)
{
  socket_.async_receive_from(buffer, remote_endpoint_, handler);
}

void MavlinkUDP::do_async_write(const boost::asio::const_buffers_1 &buffer, boost::function<void(const boost::system::error_code&, size_t)> handler)
{
  socket_.async_send_to(buffer, remote_endpoint_, handler);
}

} // namespace mavrosflight