Commit d1db6938 authored by Willian Galvani's avatar Willian Galvani

Create UdpIODevice

parent 93d38743
...@@ -620,6 +620,7 @@ HEADERS += \ ...@@ -620,6 +620,7 @@ HEADERS += \
src/comm/QGCMAVLink.h \ src/comm/QGCMAVLink.h \
src/comm/TCPLink.h \ src/comm/TCPLink.h \
src/comm/UDPLink.h \ src/comm/UDPLink.h \
src/comm/UdpIODevice.h \
src/uas/UAS.h \ src/uas/UAS.h \
src/uas/UASInterface.h \ src/uas/UASInterface.h \
src/uas/UASMessageHandler.h \ src/uas/UASMessageHandler.h \
...@@ -820,6 +821,7 @@ SOURCES += \ ...@@ -820,6 +821,7 @@ SOURCES += \
src/comm/QGCMAVLink.cc \ src/comm/QGCMAVLink.cc \
src/comm/TCPLink.cc \ src/comm/TCPLink.cc \
src/comm/UDPLink.cc \ src/comm/UDPLink.cc \
src/comm/UdpIODevice.cc \
src/main.cc \ src/main.cc \
src/uas/UAS.cc \ src/uas/UAS.cc \
src/uas/UASMessageHandler.cc \ src/uas/UASMessageHandler.cc \
......
...@@ -24,6 +24,7 @@ add_library(comm ...@@ -24,6 +24,7 @@ add_library(comm
SerialLink.cc SerialLink.cc
TCPLink.cc TCPLink.cc
UDPLink.cc UDPLink.cc
UdpIODevice.cc
${EXTRA_SRC} ${EXTRA_SRC}
......
/****************************************************************************
*
* (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "UdpIODevice.h"
#include <algorithm>
UdpIODevice::UdpIODevice(QObject *parent) : QUdpSocket(parent)
{
// this might cause data to be available only after a second readyRead() signal
connect(this, &QUdpSocket::readyRead, this, &UdpIODevice::_readAvailableData);
}
bool UdpIODevice::canReadLine() const
{
return _buffer.indexOf('\n') > -1;
}
qint64 UdpIODevice::readLineData(char *data, qint64 maxSize)
{
int length = _buffer.indexOf('\n') + 1; // add 1 to include the '\n'
if (length == 0) {
return 0;
}
length = std::min(length, static_cast<int>(maxSize));
// copy lines to output
std::copy(_buffer.data(), _buffer.data() + length, data);
// trim buffer to remove consumed line
_buffer = _buffer.right(_buffer.size() - length);
// return number of bytes read
return length;
}
void UdpIODevice::_readAvailableData() {
while (hasPendingDatagrams()) {
int previousSize = _buffer.size();
_buffer.resize(static_cast<int>(_buffer.size() + pendingDatagramSize()));
readDatagram((_buffer.data() + previousSize), pendingDatagramSize());
}
}
/****************************************************************************
*
* (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QUdpSocket>
/**
* @brief QUdpSocket implementation of canReadLine() readLineData() in server mode.
* The UdpIODevice class works almost exactly as a QUdpSocket, but
* also implements canReadLine() and readLineData() while in the bound state.
* Regular QUdpSocket only allows to use these QIODevice interfaces when using
* connectToHost(), which means it is working as a client instead of server.
*
**/
class UdpIODevice: public QUdpSocket
{
Q_OBJECT
public:
UdpIODevice(QObject *parent = nullptr);
bool canReadLine() const;
qint64 readLineData(char *data, qint64 maxSize);
private slots:
void _readAvailableData();
private:
QByteArray _buffer;
};
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