added UAVTalk raw socket

uavtalkconnection/uavtalk.go

@@ -291,7 +291,7 @@ func start(sh *stateHolder) {
 	var link linker
 	var err error
 	for {
-		link, err = newUSBLink() //newTCPLink()
+		link, err = newTCPLink() // newUSBLink()
 		if err != nil {
 			log.Warning(err)
 			time.Sleep(1 * time.Second)
@@ -300,10 +300,15 @@ func start(sh *stateHolder) {
 		break
 	}
 
+	r, err := newUAVTalkRelayChan(9001)
+	if err != nil {
+		log.Warning(err)
+	}
+
 	linkError := make(chan error)
 	defer close(linkError)
 	defer link.Close()
-	// From USB
+	// From Controller
 	go func() {
 		defer recoverChanClosed()
 		packet := make([]byte, maxHIDFrameSize)
@@ -318,6 +323,9 @@ func start(sh *stateHolder) {
 				continue
 			}
 
+			if r.connected {
+				r.outChan <- packet[0:n]
+			}
 			buffer = append(buffer, packet[0:n]...)
 
 			for {
@@ -347,12 +355,15 @@ func start(sh *stateHolder) {
 	go func() {
 		defer recoverChanClosed()
 		for {
-			packet := <-sh.inChan
-
-			binaryPacket, err := packet.toBinary()
-			if err != nil {
-				log.Warning(err)
-				continue
+			var binaryPacket []byte
+			select {
+			case packet := <-sh.inChan:
+				binaryPacket, err = packet.toBinary()
+				if err != nil {
+					log.Warning(err)
+					continue
+				}
+			case binaryPacket = <-r.inChan:
 			}
 
 			_, err = link.Write(binaryPacket)

uavtalkconnection/uavtalkrelay.go

@@ -0,0 +1,71 @@
+package uavtalkconnection
+
+import (
+	"fmt"
+	"net"
+	"sync"
+
+	log "github.com/Sirupsen/logrus"
+)
+
+type relay struct {
+	inChan  chan []byte
+	outChan chan []byte
+
+	connected bool
+}
+
+func newUAVTalkRelayChan(port int) (*relay, error) {
+	r := &relay{}
+	r.inChan = make(chan []byte, 100)
+	r.outChan = make(chan []byte, 100)
+
+	ln, err := net.Listen("tcp", fmt.Sprintf(":%d", port))
+	if err != nil {
+		return nil, err
+	}
+	log.Infof("Relay listening %d", port)
+	go func() {
+		for {
+			conn, err := ln.Accept()
+			if err != nil {
+				log.Warning(err)
+				continue
+			}
+			r.connected = true
+
+			wg := sync.WaitGroup{}
+			wg.Add(1)
+			go func(wg sync.WaitGroup) {
+				defer wg.Done()
+				buffer := make([]byte, 1024)
+				for {
+					n, err := conn.Read(buffer)
+					if err != nil {
+						log.Warning(err)
+						return
+					}
+					r.inChan <- buffer[0:n]
+				}
+			}(wg)
+
+			go func(wg sync.WaitGroup) {
+				defer wg.Done()
+				for {
+					buffer := <-r.outChan
+
+					_, err := conn.Write(buffer)
+					if err != nil {
+						log.Warning(err)
+						return
+					}
+				}
+			}(wg)
+
+			wg.Wait()
+			r.connected = false
+		}
+	}()
+
+	return r, nil
+}