HAL_Linux: UART-like TCP sockets impl. on AP_HAL_Linux

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -46,6 +46,16 @@ HAL_Linux::HAL_Linux() :
         &utilInstance)
 {}
 
+void _usage(void)
+{
+    printf("Usage: -A uartAPath -B uartBPath -C uartCPath\n");
+    printf("Options:\n");
+    printf("\t-serial:          -A /dev/ttyO4\n");
+    printf("\t                  -B /dev/ttyS1\n");    
+    printf("\t-tcp:             -C tcp:192.168.2.15:1243:wait\n");
+    printf("\t                  -A tcp:11.0.0.2:5678\n");    
+}
+
 void HAL_Linux::init(int argc,char* const argv[]) const 
 {
     int opt;
@@ -64,7 +74,7 @@ void HAL_Linux::init(int argc,char* const argv[]) const
             uartCDriver.set_device_path(optarg);
             break;
         case 'h':
-            printf("Usage: -A uartAPath -B uartBPath -C uartCPath\n");
+            _usage();
             exit(0);
         default:
             printf("Unknown option '%c'\n", (char)opt);

libraries/AP_HAL_Linux/UARTDriver.h

@@ -25,18 +25,22 @@ public:
     size_t write(uint8_t c);
     size_t write(const uint8_t *buffer, size_t size);
 
-    void set_device_path(const char *path);
+    void set_device_path(char *path);
 
     void _timer_tick(void);
 
 private:
-    const char *device_path;
+    char *device_path;
     int _rd_fd;
     int _wr_fd;
     bool _nonblocking_writes;
     bool _console;
     volatile bool _initialised;
     volatile bool _in_timer;
+    uint16_t _base_port;
+    char *_ip;
+    char *_flag;
+    bool _connected; // true if a client has connected         
 
     // we use in-task ring buffers to reduce the system call cost
     // of ::read() and ::write() in the main loop
@@ -55,7 +59,9 @@ private:
 
     int _write_fd(const uint8_t *buf, uint16_t n);
     int _read_fd(uint8_t *buf, uint16_t n);
-    uint64_t _last_write_time;
+    void _tcp_start_connection(bool wait_for_connection);
+    int _parseDevicePath(char* arg);
+    uint64_t _last_write_time;    
 };
 
 #endif // __AP_HAL_LINUX_UARTDRIVER_H__