px4_communicator.h
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/****************************************************************************
*
* Copyright (c) 2020 ThunderFly s.r.o.. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name PX4 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 OWNER 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 CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_communicator.h
*
* @author ThunderFly s.r.o., Vít Hanousek <info@thunderfly.cz>
* @url https://github.com/ThunderFly-aerospace
*
* PX4 communication socket.
*/
#ifndef PX4_COMMUNICATOR_H
#define PX4_COMMUNICATOR_H
#include "vehicle_state.h"
#include <stdio.h>
#include <mavlink/v2.0/common/mavlink.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <netdb.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <poll.h>
#include <errno.h>
#define TIMEOUTS 5
#define TIMEOUTUS 0
class PX4Communicator
{
private:
VehicleState *vehicle;
struct sockaddr_in px4_mavlink_addr;
struct sockaddr_in simulator_mavlink_addr;
int listenMavlinkSock;
int px4MavlinkSock;
const int portBase=4560;
public:
PX4Communicator(VehicleState *v);
int Init(int portOffset);
int Clean();
//void CheckClientReconect();
int Send(int offset_us);
int Recieve(bool blocking);
int Test();
};
#endif