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Feature/ardupilot #86

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Feature/ardupilot #86

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e12f74d
Control/UAV/Ardupilot: Added option to use UDP to connect.
paulosousadias Dec 6, 2016
9cc746f
Control/UAV/Ardupilot: Fix UDP binding mission problem and added rece…
paulosousadias Dec 6, 2016
233c83f
Control/UAV/Ardupilot: Removed debug.
paulosousadias Dec 7, 2016
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89 changes: 81 additions & 8 deletions src/Control/UAV/Ardupilot/Task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,6 +113,10 @@ namespace Control
//! %Task arguments.
struct Arguments
{
//! Use TCP or UDP
bool tcp_or_udp;
//! Only receive mode
bool receive_only;
//! Communications timeout
uint8_t comm_timeout;
//! Use Ardupilot's waypoint tracker
Expand All @@ -121,6 +125,12 @@ namespace Control
uint16_t TCP_port;
//! TCP Address
Address TCP_addr;
//! UDP Port
uint16_t UDP_listen_port;
//! UDP Port
uint16_t UDP_port;
//! UDP Address
Address UDP_addr;
//! Telemetry Rate
uint8_t trate;
//! Default Altitude
Expand Down Expand Up @@ -185,6 +195,8 @@ namespace Control
IMC::ControlLoops m_controllps;
//! TCP socket
Network::TCPSocket* m_TCP_sock;
//! UDP socket
Network::UDPSocket* m_UDP_sock;
//! System ID
uint8_t m_sysid;
//! Last received position
Expand Down Expand Up @@ -232,6 +244,7 @@ namespace Control
Task(const std::string& name, Tasks::Context& ctx):
Tasks::Task(name, ctx),
m_TCP_sock(NULL),
m_UDP_sock(NULL),
m_sysid(1),
m_lat(0.0),
m_lon(0.0),
Expand All @@ -258,6 +271,14 @@ namespace Control
m_service(false),
m_last_wp(0)
{
param("Use TCP (or UDP)", m_args.tcp_or_udp)
.defaultValue("true")
.description("Use TCP or UDP for comms");

param("Receive Only", m_args.receive_only)
.defaultValue("false")
.description("To only receive mode");

param("Communications Timeout", m_args.comm_timeout)
.minimumValue("1")
.maximumValue("60")
Expand All @@ -279,6 +300,18 @@ namespace Control
.defaultValue("127.0.0.1")
.description("Address for connection to Ardupilot");

param("UDP - Listen Port", m_args.UDP_listen_port)
.defaultValue("14550")
.description("Port for connection from Ardupilot");

param("UDP - Port", m_args.UDP_port)
.defaultValue("14549")
.description("Port for connection to Ardupilot");

param("UDP - Address", m_args.UDP_addr)
.defaultValue("127.0.0.1")
.description("Address for connection to Ardupilot");

param("Telemetry Rate", m_args.trate)
.defaultValue("10")
.units(Units::Hertz)
Expand Down Expand Up @@ -446,6 +479,7 @@ namespace Control
onResourceRelease(void)
{
Memory::clear(m_TCP_sock);
Memory::clear(m_UDP_sock);
}

void
Expand All @@ -466,17 +500,32 @@ namespace Control
void
openConnection(void)
{
if (m_args.receive_only)
inf("Receive only mode");

try
{
m_TCP_sock = new TCPSocket;
m_TCP_sock->connect(m_args.TCP_addr, m_args.TCP_port);
m_TCP_sock->setNoDelay(true);
if (m_args.tcp_or_udp)
{
m_TCP_sock = new TCPSocket;
m_TCP_sock->connect(m_args.TCP_addr, m_args.TCP_port);
m_TCP_sock->setNoDelay(true);
}
else
{
m_UDP_sock = new UDPSocket;
m_UDP_sock->bind(m_args.UDP_listen_port, Address::Any, false);

inf(DTR("Ardupilot UDP connected"));
}

setupRate(m_args.trate);
inf(DTR("Ardupilot interface initialized"));
}
catch (...)
{
Memory::clear(m_TCP_sock);
Memory::clear(m_UDP_sock);
war(DTR("Connection failed, retrying..."));
setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_COM_ERROR);
}
Expand Down Expand Up @@ -1387,7 +1436,7 @@ namespace Control
while (!stopping())
{
// Handle data
if (m_TCP_sock)
if (m_TCP_sock || m_UDP_sock)
{
handleArdupilotData();
}
Expand Down Expand Up @@ -1425,37 +1474,61 @@ namespace Control
if (m_TCP_sock != NULL)
return Poll::poll(*m_TCP_sock, timeout);

if (m_UDP_sock != NULL)
return Poll::poll(*m_UDP_sock, timeout);

return false;
}

int
sendData(uint8_t* bfr, int size)
{
if (m_args.receive_only)
return 0;
if (m_TCP_sock)
{
trace("Sending something");
return m_TCP_sock->write((char*)bfr, size);
}
else if (m_UDP_sock)
{
trace("Sending something");
return m_UDP_sock->write(bfr, size, m_args.UDP_addr, m_args.UDP_port);
}
return 0;
}

int
receiveData(uint8_t* buf, size_t blen)
{
if (m_TCP_sock)
if (m_TCP_sock || m_UDP_sock)
{
try
{
return m_TCP_sock->read(buf, blen);
if (m_TCP_sock)
return m_TCP_sock->read(buf, blen);
if (m_UDP_sock)
return m_UDP_sock->read(buf, blen, &m_args.UDP_addr, &m_args.UDP_listen_port);
}
catch (std::runtime_error& e)
{
err("%s", e.what());
war(DTR("Connection lost, retrying..."));
Memory::clear(m_TCP_sock);
Memory::clear(m_UDP_sock);

if (m_args.tcp_or_udp)
{
m_TCP_sock = new TCPSocket;
m_TCP_sock->connect(m_args.TCP_addr, m_args.TCP_port);
m_TCP_sock->setNoDelay(true);
}
else
{
m_UDP_sock = new UDPSocket;
m_UDP_sock->bind(m_args.UDP_listen_port, Address::Any, false);
}

m_TCP_sock = new Network::TCPSocket;
m_TCP_sock->connect(m_args.TCP_addr, m_args.TCP_port);
return 0;
}
}
Expand Down