update linux build

nervosys · Mar 3, 2024 · 856ea26 · 856ea26
1 parent 15db28d
commit 856ea26
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Showing 3 changed files with 12 additions and 15 deletions.
diff --git a/MavLinkCom/src/impl/MavLinkConnectionImpl.cpp b/MavLinkCom/src/impl/MavLinkConnectionImpl.cpp
@@ -34,8 +34,9 @@ MavLinkConnectionImpl::~MavLinkConnectionImpl() {
     close();
 }
 
+template <typename PortType>
 std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::createConnection(const std::string &nodeName,
-                                                                           std::shared_ptr<Port> port) {
+                                                                           std::shared_ptr<PortType> port) {
     // std::shared_ptr<MavLinkCom> owner, const std::string& nodeName
     std::shared_ptr<MavLinkConnection> con = std::make_shared<MavLinkConnection>();
     con->startListening(nodeName, port);
@@ -45,10 +46,8 @@ std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::createConnection(const
 std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::connectLocalUdp(const std::string &nodeName,
                                                                           const std::string &localAddr, int localPort) {
     std::shared_ptr<UdpClientPort> socket = std::make_shared<UdpClientPort>();
-
     socket->connect(localAddr, localPort, "", 0);
-
-    return createConnection(nodeName, socket);
+    return createConnection<UdpClientPort>(nodeName, socket);
 }
 
 std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::connectRemoteUdp(const std::string &nodeName,
@@ -60,12 +59,9 @@ std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::connectRemoteUdp(const
     if (remoteAddr == "127.0.0.1") {
         local = "127.0.0.1";
     }
-
     std::shared_ptr<UdpClientPort> socket = std::make_shared<UdpClientPort>();
-
     socket->connect(local, 0, remoteAddr, remotePort);
-
-    return createConnection(nodeName, socket);
+    return createConnection<UdpClientPort>(nodeName, socket);
 }
 
 std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::connectTcp(const std::string &nodeName,
@@ -76,12 +72,9 @@ std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::connectTcp(const std::
     if (remoteIpAddr == "127.0.0.1") {
         local = "127.0.0.1";
     }
-
     std::shared_ptr<TcpClientPort> socket = std::make_shared<TcpClientPort>();
-
     socket->connect(local, 0, remoteIpAddr, remotePort);
-
-    return createConnection(nodeName, socket);
+    return createConnection<TcpClientPort>(nodeName, socket);
 }
 
 std::string MavLinkConnectionImpl::acceptTcp(std::shared_ptr<MavLinkConnection> parent, const std::string &nodeName,
@@ -90,7 +83,7 @@ std::string MavLinkConnectionImpl::acceptTcp(std::shared_ptr<MavLinkConnection>
     close();
     std::shared_ptr<TcpClientPort> socket = std::make_shared<TcpClientPort>();
 
-    port = socket; // this is so that a call to close() can cancel this blocking accept call.
+    port = std::make_shared<Port>(*socket); // this is so that a call to close() can cancel this blocking accept call.
     socket->accept(localAddr, listeningPort);
 
     std::string remote = socket->remoteAddress();
@@ -116,7 +109,7 @@ std::shared_ptr<MavLinkConnection> MavLinkConnectionImpl::connectSerial(const st
         serial->write(reinterpret_cast<const uint8_t *>(initString.c_str()), static_cast<int>(initString.size()));
     }
 
-    return createConnection(nodeName, serial);
+    return createConnection<SerialPort>(nodeName, serial);
 }
 
 void MavLinkConnectionImpl::startListening(std::shared_ptr<MavLinkConnection> parent, const std::string &nodeName,

diff --git a/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp b/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp
@@ -67,7 +67,9 @@ class MavLinkConnectionImpl {
     bool isPublishThread() const;
 
   private:
-    static std::shared_ptr<MavLinkConnection> createConnection(const std::string &nodeName, std::shared_ptr<Port> port);
+    template <typename PortType>
+    static std::shared_ptr<MavLinkConnection> createConnection(const std::string &nodeName,
+                                                               std::shared_ptr<PortType> port);
     void joinLeftSubscriber(std::shared_ptr<MavLinkConnection> remote, std::shared_ptr<MavLinkConnection> con,
                             const MavLinkMessage &msg);
     void joinRightSubscriber(std::shared_ptr<MavLinkConnection> con, const MavLinkMessage &msg);

diff --git a/MavLinkCom/src/serial_com/TcpClientPort.hpp b/MavLinkCom/src/serial_com/TcpClientPort.hpp
@@ -5,6 +5,8 @@
 #define SERIAL_COM_TCPCLIENTPORT_HPP
 
 #include "Port.h"
+#include <memory>
+#include <string>
 
 class TcpClientPort : public Port {
   public: