Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RCProtocol_config.h"
       4             : 
       5             : #if AP_RCPROTOCOL_UDP_ENABLED
       6             : 
       7             : /*
       8             :  * Reads fixed-length packets containing either 8 or 16 2-byte values,
       9             :  * and interprets them as RC input.
      10             :  */
      11             : 
      12             : #include "AP_RCProtocol_Backend.h"
      13             : 
      14             : #include <AP_Common/missing/endian.h>
      15             : #include <AP_HAL/utility/Socket_native.h>
      16             : 
      17             : class AP_RCProtocol_UDP : public AP_RCProtocol_Backend {
      18             : public:
      19             : 
      20             :     using AP_RCProtocol_Backend::AP_RCProtocol_Backend;
      21             : 
      22             :     void update() override;
      23             : 
      24             : #if AP_RCPROTOCOL_FDM_ENABLED
      25        2094 :     void set_fdm_backend(class AP_RCProtocol_FDM *_fdm_backend) {
      26        2094 :         fdm_backend = _fdm_backend;
      27        2094 :     }
      28             : #endif
      29             : 
      30             : private:
      31             : 
      32             :     bool init();
      33             :     bool init_done;
      34             :     bool init_error_reported = false;
      35             : 
      36             :     uint32_t last_input_ms;
      37             : 
      38             :     void read_all_socket_input(void);
      39             :     SocketAPM_native rc_in{true};  // "true" means "datagram"
      40             : 
      41             :     // these are the values that will be fed into the autopilot.
      42             :     // Packets we receive usually only contain a subset of channel
      43             :     // values to insert into here:
      44             :     uint16_t pwm_input[16];
      45             :     uint8_t num_channels;
      46             : 
      47             :     void set_default_pwm_input_values();
      48             : 
      49             : #if AP_RCPROTOCOL_FDM_ENABLED
      50             :     AP_RCProtocol_FDM *fdm_backend;
      51             : #endif
      52             : };
      53             : 
      54             : 
      55             : #endif  // AP_RCPROTOCOL_UDP_ENABLED