Commit 4b8834cc authored by DonLakeFlyer's avatar DonLakeFlyer

parent 4dec1b4c
......@@ -160,8 +160,12 @@ void UDPLink::_writeBytes(const QByteArray data)
return;
}
emit bytesSent(this, data);
QMutexLocker locker(&_sessionTargetsMutex);
// Send to all manually targeted systems
for(UDPCLient* target: _udpConfig->targetHosts()) {
for (int i=0; i<_udpConfig->targetHosts().count(); i++) {
UDPCLient* target = _udpConfig->targetHosts()[i];
// Skip it if it's part of the session clients below
if(!contains_target(_sessionTargets, target->address, target->port)) {
_writeDataGram(data, target);
......@@ -219,11 +223,13 @@ void UDPLink::readBytes()
if(_isIpLocal(sender)) {
asender = QHostAddress(QString("127.0.0.1"));
}
if(!contains_target(_sessionTargets, asender, senderPort)) {
QMutexLocker locker(&_sessionTargetsMutex);
if (!contains_target(_sessionTargets, asender, senderPort)) {
qDebug() << "Adding target" << asender << senderPort;
UDPCLient* target = new UDPCLient(asender, senderPort);
_sessionTargets.append(target);
}
locker.unlock();
}
//-- Send whatever is left
if (databuffer.size()) {
......@@ -280,16 +286,13 @@ bool UDPLink::_hardwareConnect()
if (_connectState) {
_socket->joinMulticastGroup(QHostAddress("224.0.0.1"));
//-- Make sure we have a large enough IO buffers
#ifdef __mobile__
int bufferSizeMultiplier = 1;
_socket->setSocketOption(QAbstractSocket::SendBufferSizeSocketOption, 64 * 1024);
_socket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, 128 * 1024);
#else
int bufferSizeMultiplier = 4;
_socket->setSocketOption(QAbstractSocket::SendBufferSizeSocketOption, 256 * 1024);
_socket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, 512 * 1024);
#endif
int receiveBufferSize = _udpConfig->isTransmitOnly() ? 0 : 512 * 1024;
_socket->setSocketOption(QAbstractSocket::SendBufferSizeSocketOption, bufferSizeMultiplier * 64 * 1024);
_socket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, bufferSizeMultiplier * receiveBufferSize);
_registerZeroconf(_udpConfig->localPort(), kZeroconfRegistration);
QObject::connect(_socket, &QUdpSocket::readyRead, this, &UDPLink::readBytes);
emit connected();
......@@ -361,9 +364,7 @@ void UDPLink::_deregisterZeroconf()
//--------------------------------------------------------------------------
//-- UDPConfiguration
UDPConfiguration::UDPConfiguration(const QString& name)
: LinkConfiguration(name)
, _transmitOnly(false)
UDPConfiguration::UDPConfiguration(const QString& name) : LinkConfiguration(name)
{
AutoConnectSettings* settings = qgcApp()->toolbox()->settingsManager()->autoConnectSettings();
_localPort = settings->udpListenPort()->rawValue().toInt();
......@@ -373,9 +374,7 @@ UDPConfiguration::UDPConfiguration(const QString& name)
}
}
UDPConfiguration::UDPConfiguration(UDPConfiguration* source)
: LinkConfiguration(source)
, _transmitOnly(false)
UDPConfiguration::UDPConfiguration(UDPConfiguration* source) : LinkConfiguration(source)
{
_copyFrom(source);
}
......
......@@ -7,14 +7,6 @@
*
****************************************************************************/
/*!
* @file
* @brief UDP connection (server) for unmanned vehicles
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#pragma once
#include <QString>
......@@ -22,7 +14,7 @@
#include <QMap>
#include <QMutex>
#include <QUdpSocket>
#include <QMutexLocker>
#include <QMutex>
#include <QQueue>
#include <QByteArray>
......@@ -111,14 +103,6 @@ public:
*/
void setLocalPort (quint16 port);
/*!
* @brief Set the UDP port to be transmit only. Receive buffer is set to zero.
*
*/
void setTransmitOnly (bool state) { _transmitOnly = state; }
bool isTransmitOnly () { return _transmitOnly; }
/*!
* @brief QML Interface
*/
......@@ -150,7 +134,6 @@ private:
QList<UDPCLient*> _targetHosts;
QStringList _hostList; ///< Exposed to QML
quint16 _localPort;
bool _transmitOnly;
};
class UDPLink : public LinkInterface
......
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