AP_Networking: support UDP server, TCP client and TCP server

and implement mavlink packetisation and flow control return
tridge · Nov 26, 2023 · 9ff469d · 9ff469d
1 parent 132c768
commit 9ff469d
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Showing 2 changed files with 292 additions and 22 deletions.
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
@@ -184,6 +184,9 @@ class AP_Networking
     enum class NetworkPortType {
         NONE = 0,
         UDP_CLIENT = 1,
+        UDP_SERVER = 2,
+        TCP_CLIENT = 3,
+        TCP_SERVER = 4,
     };
 
     // class for NET_Pn_* parameters
@@ -199,6 +202,7 @@ class AP_Networking
         AP_Networking_IPV4 ip {"0.0.0.0"};
         AP_Int32 port;
         SocketAPM *sock;
+        SocketAPM *listen_sock;
 
         bool is_initialized() override {
             return true;
@@ -208,7 +212,16 @@ class AP_Networking
         }
 
         void udp_client_init(const uint32_t size_rx, const uint32_t size_tx);
+        void udp_server_init(const uint32_t size_rx, const uint32_t size_tx);
+        void tcp_server_init(const uint32_t size_rx, const uint32_t size_tx);
+        void tcp_client_init(const uint32_t size_rx, const uint32_t size_tx);
+
         void udp_client_loop(void);
+        void udp_server_loop(void);
+        void tcp_client_loop(void);
+        void tcp_server_loop(void);
+
+        bool send_receive(void);
 
     private:
         bool init_buffers(const uint32_t size_rx, const uint32_t size_tx);
@@ -222,10 +235,21 @@ class AP_Networking
         void _flush() override {}
         bool _discard_input() override;
 
+        enum flow_control get_flow_control(void) override;
+
+        uint32_t bw_in_bytes_per_second() const override {
+            return 1000000UL;
+        }
+
         ByteBuffer *readbuffer;
         ByteBuffer *writebuffer;
         uint32_t last_size_tx;
         uint32_t last_size_rx;
+        bool packetise;
+        bool connected;
+        bool have_received;
+        bool close_on_recv_error;
+
         HAL_Semaphore sem;
     };