libraries/AP_RCProtocol/AP_RCProtocol_UDP.h

   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     void set_fdm_backend(class AP_RCProtocol_FDM *_fdm_backend) {
  26         fdm_backend = _fdm_backend;
  27     }
  28 #endif
  29
  30 private:
  31
  32     bool init();
  33     bool init_done;
  34
  35     uint32_t last_input_ms;
  36
  37     void read_all_socket_input(void);
  38     SocketAPM_native rc_in{true};  // "true" means "datagram"
  39
  40     // these are the values that will be fed into the autopilot.
  41     // Packets we receive usually only contain a subset of channel
  42     // values to insert into here:
  43     uint16_t pwm_input[16];
  44     uint8_t num_channels;
  45
  46     void set_default_pwm_input_values();
  47
  48 #if AP_RCPROTOCOL_FDM_ENABLED
  49     AP_RCProtocol_FDM *fdm_backend;
  50 #endif
  51 };
  52
  53
  54 #endif  // AP_RCPROTOCOL_UDP_ENABLED