AP_Networking: added SITL backend

this allows the net tests to run on SITL, and for DDS testing using the SocketAPM API
ArduPilot · Nov 15, 2023 · aafd6d3 · aafd6d3
1 parent f4cd136
commit aafd6d3
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diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
@@ -18,6 +18,9 @@ extern const AP_HAL::HAL& hal;
 #include <arpa/inet.h>
 #endif
 
+#if AP_NETWORKING_BACKEND_SITL
+#include "AP_Networking_SITL.h"
+#endif
 
 const AP_Param::GroupInfo AP_Networking::var_info[] = {
     // @Param: ENABLED
@@ -114,6 +117,9 @@ void AP_Networking::init()
 #if AP_NETWORKING_BACKEND_CHIBIOS
     backend = new AP_Networking_ChibiOS(*this);
 #endif
+#if AP_NETWORKING_BACKEND_SITL
+    backend = new AP_Networking_SITL(*this);
+#endif
 
     if (backend == nullptr) {
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: backend failed");

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
@@ -16,6 +16,10 @@
 #define AP_NETWORKING_BACKEND_CHIBIOS AP_NETWORKING_BACKEND_DEFAULT_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #endif
 
+#ifndef AP_NETWORKING_BACKEND_SITL
+#define AP_NETWORKING_BACKEND_SITL AP_NETWORKING_BACKEND_DEFAULT_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+
 #define AP_NETWORKING_SOCKETS_ENABLED (HAL_OS_SOCKETS || AP_NETWORKING_BACKEND_CHIBIOS)
 
 // ---------------------------