AP_Networking: support UDP server, TCP client and TCP server

and implement mavlink packetisation and flow control return
ArduPilot · Nov 27, 2023 · 55b81b4 · 55b81b4
1 parent 4644be4
commit 55b81b4
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Showing 6 changed files with 372 additions and 35 deletions.
diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
@@ -63,7 +63,7 @@ const AP_Param::GroupInfo AP_Networking::var_info[] = {
     // @Param: TESTS
     // @DisplayName: Test enable flags
     // @Description: Enable/Disable networking tests
-    // @Bitmask: 0:UDP echo test,1:TCP echo test
+    // @Bitmask: 0:UDP echo test,1:TCP echo test, 2:TCP discard test
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO("TESTS", 7,  AP_Networking,    param.tests,   0),

diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
@@ -184,6 +184,9 @@ class AP_Networking
     enum class NetworkPortType {
         NONE = 0,
         UDP_CLIENT = 1,
+        UDP_SERVER = 2,
+        TCP_CLIENT = 3,
+        TCP_SERVER = 4,
     };
 
     // class for NET_Pn_* parameters
@@ -199,6 +202,7 @@ class AP_Networking
         AP_Networking_IPV4 ip {"0.0.0.0"};
         AP_Int32 port;
         SocketAPM *sock;
+        SocketAPM *listen_sock;
 
         bool is_initialized() override {
             return true;
@@ -207,11 +211,22 @@ class AP_Networking
             return false;
         }
 
-        void udp_client_init(const uint32_t size_rx, const uint32_t size_tx);
+        void wait_startup();
+        void udp_client_init(void);
+        void udp_server_init(void);
+        void tcp_server_init(void);
+        void tcp_client_init(void);
+
         void udp_client_loop(void);
+        void udp_server_loop(void);
+        void tcp_client_loop(void);
+        void tcp_server_loop(void);
+
+        bool send_receive(void);
 
     private:
         bool init_buffers(const uint32_t size_rx, const uint32_t size_tx);
+        void thread_create(AP_HAL::MemberProc);
 
         uint32_t txspace() override;
         void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
@@ -222,10 +237,22 @@ class AP_Networking
         void _flush() override {}
         bool _discard_input() override;
 
+        enum flow_control get_flow_control(void) override;
+
+        uint32_t bw_in_bytes_per_second() const override {
+            return 1000000UL;
+        }
+
         ByteBuffer *readbuffer;
         ByteBuffer *writebuffer;
+        char thread_name[10];
         uint32_t last_size_tx;
         uint32_t last_size_rx;
+        bool packetise;
+        bool connected;
+        bool have_received;
+        bool close_on_recv_error;
+
         HAL_Semaphore sem;
     };
 
@@ -236,10 +263,12 @@ class AP_Networking
     enum {
         TEST_UDP_CLIENT = (1U<<0),
         TEST_TCP_CLIENT = (1U<<1),
+        TEST_TCP_DISCARD = (1U<<2),
     };
     void start_tests(void);
     void test_UDP_client(void);
     void test_TCP_client(void);
+    void test_TCP_discard(void);
 #endif // AP_NETWORKING_TESTS_ENABLED
 
     // ports for registration with serial manager

diff --git a/libraries/AP_Networking/AP_Networking_address.cpp b/libraries/AP_Networking/AP_Networking_address.cpp
@@ -6,6 +6,7 @@
 
 #if AP_NETWORKING_ENABLED
 
+#include <arpa/inet.h>
 #include "AP_Networking.h"
 
 const AP_Param::GroupInfo AP_Networking_IPV4::var_info[] = {
@@ -68,9 +69,11 @@ void AP_Networking_IPV4::set_default_uint32(uint32_t v)
     }
 }
 
-const char* AP_Networking_IPV4::get_str() const
+const char* AP_Networking_IPV4::get_str()
 {
-    return AP_Networking::convert_ip_to_str(get_uint32());
+    const auto ip = ntohl(get_uint32());
+    inet_ntop(AF_INET, &ip, strbuf, sizeof(strbuf));
+    return strbuf;
 }
 
 #endif // AP_NETWORKING_ENABLED
diff --git a/libraries/AP_Networking/AP_Networking_address.h b/libraries/AP_Networking/AP_Networking_address.h
@@ -18,12 +18,15 @@ class AP_Networking_IPV4
     void set_uint32(uint32_t addr);
 
     // return address as a null-terminated string
-    const char* get_str() const;
+    const char* get_str();
 
     // set default address from a uint32
     void set_default_uint32(uint32_t addr);
 
     static const struct AP_Param::GroupInfo var_info[];
+
+private:
+    char strbuf[16];
 };
 
 /*