87 lines
2.3 KiB
C++
87 lines
2.3 KiB
C++
#include <iostream>
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#include <vector>
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#include <thread>
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#include <port/poller.h>
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#include <port/uart.h>
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#include <port/udp.h>
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#include <crsf.h>
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#include "port/poller.h"
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#include "port/uart.h"
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#include "port/udp.h"
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static constexpr uint16_t UDP_PORT = 1067;
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int main(int argc, char* argv[]) {
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if (argc < 3 || argc > 4) {
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std::cerr << "Usage: " << argv[0]
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<< " serial_port remote.ip.addr.4 [control packets frequency]\n";
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return 1;
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}
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const std::string serialPort = argv[1];
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const std::string remoteIp = argv[2];
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const int controlFreq = (argc == 4) ? std::atoi(argv[3]) : 50;
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// UART speed fixed at 400k per your earlier specification
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constexpr int UART_BAUD = 400000;
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std::cout << "Opening UART: " << serialPort << " @ " << UART_BAUD << "\n";
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std::cout << "Remote CRSF UDP endpoint: " << remoteIp << ":14550\n";
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std::cout << "Control packets frequency: " << controlFreq << " Hz\n";
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poller::PollWrapper poller;
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auto uart = std::make_shared<drivers::UartDriver>(serialPort, UART_BAUD);
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auto udp = std::make_shared<drivers::UdpDriver>(UDP_PORT);
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poller.objects.push_back(uart);
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poller.objects.push_back(udp);
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crsf::CrsfParser parser;
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// CrsfTxProcessor processor(udp, uart, remoteIp, UDP_PORT, controlFreq);
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std::vector<uint8_t> tmpBuffer;
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auto lastTick = std::chrono::steady_clock::now();
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while (true) {
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poller.loop(1000);
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if (uart->isPollHup()) {
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std::cerr << "UART disconnected!\n";
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break;
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}
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if (udp->isPollHup()) {
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std::cerr << "UDP socket error!\n";
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break;
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}
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bool eventReceived = false;
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// UART input
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if (uart->isPollIn()) {
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eventReceived = true;
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size_t read = uart->readChunk(tmpBuffer);
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if (read > 0) {
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parser.parseBytes(tmpBuffer);
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}
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}
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while (true) {
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auto pkt = parser.pullPacket();
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if (pkt == nullptr) {
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break;
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}
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pkt->writeToBuffer(tmpBuffer);
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udp->sendTo(std::span<const uint8_t>(tmpBuffer), remoteIp, UDP_PORT);
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}
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if (!eventReceived) {
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std::cout << "[W]: No actions received in last 1s!" << std::endl;
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}
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}
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return 0;
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}
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