102 lines
1.8 KiB
Go
102 lines
1.8 KiB
Go
package mavlink
|
|
|
|
import (
|
|
"net"
|
|
|
|
common "gobot.io/x/gobot/v2/platforms/mavlink/common"
|
|
)
|
|
|
|
type UDPConnection interface {
|
|
Close() error
|
|
ReadFromUDP([]byte) (int, *net.UDPAddr, error)
|
|
WriteTo([]byte, net.Addr) (int, error)
|
|
}
|
|
|
|
type UDPAdaptor struct {
|
|
name string
|
|
port string
|
|
sock UDPConnection
|
|
}
|
|
|
|
var _ BaseAdaptor = (*UDPAdaptor)(nil)
|
|
|
|
// NewAdaptor creates a new Mavlink-over-UDP adaptor with specified
|
|
// port.
|
|
func NewUDPAdaptor(port string) *UDPAdaptor {
|
|
return &UDPAdaptor{
|
|
name: "Mavlink",
|
|
port: port,
|
|
}
|
|
}
|
|
|
|
func (m *UDPAdaptor) Name() string { return m.name }
|
|
func (m *UDPAdaptor) SetName(n string) { m.name = n }
|
|
func (m *UDPAdaptor) Port() string { return m.port }
|
|
|
|
// Connect returns true if connection to device is successful
|
|
func (m *UDPAdaptor) Connect() error {
|
|
m.close()
|
|
|
|
addr, err := net.ResolveUDPAddr("udp", m.Port())
|
|
if err != nil {
|
|
return err
|
|
}
|
|
|
|
m.sock, err = net.ListenUDP("udp", addr)
|
|
if err != nil {
|
|
return err
|
|
}
|
|
return nil
|
|
}
|
|
|
|
func (m *UDPAdaptor) close() error {
|
|
sock := m.sock
|
|
m.sock = nil
|
|
|
|
if sock != nil {
|
|
return sock.Close()
|
|
} else {
|
|
return nil
|
|
}
|
|
}
|
|
|
|
// Finalize returns true if connection to devices is closed successfully
|
|
func (m *UDPAdaptor) Finalize() (err error) {
|
|
return m.close()
|
|
}
|
|
|
|
func (m *UDPAdaptor) ReadMAVLinkPacket() (*common.MAVLinkPacket, error) {
|
|
buf := make([]byte, 4096)
|
|
|
|
for {
|
|
got, _, err := m.sock.ReadFromUDP(buf)
|
|
if err != nil {
|
|
return nil, err
|
|
}
|
|
if got < 2 {
|
|
continue
|
|
}
|
|
sof := buf[0]
|
|
length := buf[1]
|
|
|
|
if sof != common.MAVLINK_10_STX {
|
|
continue
|
|
}
|
|
if length > 250 {
|
|
continue
|
|
}
|
|
m := &common.MAVLinkPacket{}
|
|
m.Decode(buf)
|
|
return m, nil
|
|
}
|
|
}
|
|
|
|
func (m *UDPAdaptor) Write(b []byte) (int, error) {
|
|
addr, err := net.ResolveUDPAddr("udp", m.Port())
|
|
if err != nil {
|
|
return 0, err
|
|
}
|
|
|
|
return m.sock.WriteTo(b, addr)
|
|
}
|