jvmMain.com.divpundir.mavlink.connection.udp.UdpServerMavConnection.kt Maven / Gradle / Ivy

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A modern MAVLink library for the JVM written in Kotlin.

There is a newer version: 1.2.8

package com.divpundir.mavlink.connection.udp

import com.divpundir.mavlink.api.MavDialect
import com.divpundir.mavlink.connection.AbstractMavConnection
import com.divpundir.mavlink.connection.BufferedMavConnection
import com.divpundir.mavlink.connection.MavConnection
import okio.IOException
import okio.buffer
import java.net.InetSocketAddress
import java.nio.ByteBuffer
import java.nio.channels.DatagramChannel

public actual fun UdpServerMavConnection(
    port: Int,
    dialect: MavDialect
): UdpServerMavConnection = JvmUdpServerMavConnection(
    port,
    dialect
)

private class JvmUdpServerMavConnection(
    private val port: Int,
    private val dialect: MavDialect
) : AbstractMavConnection(), UdpServerMavConnection {

    @Volatile
    private var channel: DatagramChannel? = null

    @Throws(IOException::class)
    override fun open(): MavConnection {
        val ch = DatagramChannel.open().apply {
            configureBlocking(true)
            bind(InetSocketAddress(port))
        }

        channel = ch

        ch.connect(ch.receive(ByteBuffer.allocate(32)))

        return BufferedMavConnection(
            ByteChannelSource(ch).buffer(),
            ByteChannelSink(ch).buffer(),
            ch,
            dialect
        )
    }

    @Throws(IOException::class)
    override fun interruptOpen() {
        super.interruptOpen()
        channel?.close()
    }
}