Enable SocketAPM to run on LwIP and add DDS support #25523

magicrub · 2023-11-13T00:49:42Z

Enable LwIP support to the existing SocketAPM so all libraries that use SocketAPM should auto-magically be able to work on SMT32 targets. More work to come to expand on this...

It also adds a new a pram DDS_IP which needs some param-name discussion because DDS_PORT is wrong.

This is on top of the Networking cleanup PR #25522

Thanks to @tridge and @Ryanf55

Ryanf55

Right now, it doesn't seem to work in SITL, the LWP thread exits.

Ryanf55 · 2023-11-13T03:55:06Z

libraries/AP_DDS/AP_DDS_Client.cpp

@@ -65,6 +65,10 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
    // @User: Standard
    AP_GROUPINFO("_PORT", 2, AP_DDS_Client, udp.port, 2019),

+    // @Group: _IP


Is there a way to add a description
"IP address of the DDS Agent"

I don't think so.

Note, the _POPT docs are broken. Docs say "DDS_UDP_PORT" but code is "DDS_PORT". I'm in favor of removing the "UDP" part and have a different param control TCP/UDP server/client options

magicrub · 2023-11-13T04:06:25Z

Right now, it doesn't seem to work in SITL, the LWP thread exits.

try ./waf configure --board sitl --enable-dds --enable-networking

Ryanf55 · 2023-11-13T04:40:41Z

Right now, it doesn't seem to work in SITL, the LWP thread exits.

try ./waf configure --board sitl --enable-dds --enable-networking

Thanks. It works on SITL. On Pixhawk 6X, I can't compile now. Cleaned out the build directory. This is on the latest hash c4580bcdad9bd0553655c1b557d89f839dabab6f.

$ ./waf configure --board Pixhawk6X --enable-dds --enable-networking
$  ./waf plane --upload
[  70/1155] Compiling libraries/APM_Control/AP_PitchController.cpp
In file included from ../../libraries/AP_HAL/board/chibios.h:3,
                 from ../../libraries/AP_HAL/AP_HAL_Boards.h:137,
                 from ../../libraries/AP_Scripting/AP_Scripting_config.h:3,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp:1:
./hwdef.h:48: error: "AP_NETWORKING_ENABLED" redefined [-Werror]
   48 | #define AP_NETWORKING_ENABLED               TRUE
      | 
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

In file included from ../../libraries/AP_HAL/board/chibios.h:3,
                 from ../../libraries/AP_HAL/AP_HAL_Boards.h:137,
                 from ../../libraries/AP_Math/control.h:3,
                 from ../../libraries/AC_WPNav/AC_WPNav_OA.cpp:1:
./hwdef.h:48: error: "AP_NETWORKING_ENABLED" redefined [-Werror]
   48 | #define AP_NETWORKING_ENABLED               TRUE
      | 
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

In file included from ../../libraries/AP_HAL/board/chibios.h:3,
                 from ../../libraries/AP_HAL/AP_HAL_Boards.h:137,
                 from ../../libraries/AP_AHRS/AP_AHRS_config.h:3,
                 from ../../libraries/AP_AHRS/AP_AHRS.h:24,
                 from ../../libraries/APM_Control/AP_SteerController.cpp:20:
./hwdef.h:48: error: "AP_NETWORKING_ENABLED" redefined [-Werror]
   48 | #define AP_NETWORKING_ENABLED               TRUE
      | 
...

      | 
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

In file included from ../../libraries/AP_HAL/board/chibios.h:3,
                 from ../../libraries/AP_HAL/AP_HAL_Boards.h:137,
                 from ../../libraries/AP_HAL/AP_HAL.h:6,
                 from ../../libraries/AP_Param/AP_Param.h:27,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl.h:7,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h:6,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_TS.h:6,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp:20:
./hwdef.h:48: error: "AP_NETWORKING_ENABLED" redefined [-Werror]
   48 | #define AP_NETWORKING_ENABLED               TRUE
      | 
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

Is this because both chibios_hwdef.py and AP_Networking_Config.h have AP_NETWORKING_ENABLED, but only one is protected?

magicrub · 2023-11-13T05:04:03Z

It's messy at the moment. The enable-networking only applies to SITL. For chibos it's defined by the hwdef.

Ryanf55 · 2023-11-13T21:06:06Z

It's messy at the moment. The enable-networking only applies to SITL. For chibos it's defined by the hwdef.

Thanks. To set up xinetd:

sudo apt install xinetd

change the settings

$ cat /etc/xinetd.d/echo
# default: off
# description: An xinetd internal service which echo's characters back to
# clients.
# This is the tcp version.
service echo
{
        disable         = yes
        type            = INTERNAL
        id              = echo-stream
        socket_type     = stream
        protocol        = tcp
        user            = root
        wait            = no
}

# This is the udp version.
service echo
{
        disable         = no
        type            = INTERNAL
        id              = echo-dgram
        socket_type     = dgram
        protocol        = udp
        user            = root
        wait            = yes
}

Restart xinetd:
sudo systemctl restart xinetd.service

Then, you can see port 7 open up:

$ sudo ss -nlpu '( sport = 7 )'
State                            Recv-Q                           Send-Q                                                     Local Address:Port                                                      Peer Address:Port                           Process                           
UNCONN                           0                                0                                                                      *:7                                                                    *:*                               users:(("xinetd",pid=2544,fd=5))

And.

$ sudo lsof -n | grep xinetd
xinetd    236465                                 root  cwd       DIR              259,2       4096          2 /
xinetd    236465                                 root  rtd       DIR              259,2       4096          2 /
xinetd    236465                                 root  txt       REG              259,2     174496   48269488 /usr/sbin/xinetd
xinetd    236465                                 root  mem       REG              259,2      68552   48236927 /usr/lib/x86_64-linux-gnu/libresolv.so.2
xinetd    236465                                 root  mem       REG              259,2     182864   48241344 /usr/lib/x86_64-linux-gnu/libk5crypto.so.3.1
xinetd    236465                                 root  mem       REG              259,2     827936   48241327 /usr/lib/x86_64-linux-gnu/libkrb5.so.3.3
xinetd    236465                                 root  mem       REG              259,2    2216304   48236911 /usr/lib/x86_64-linux-gnu/libc.so.6
xinetd    236465                                 root  mem       REG              259,2      22600   48262253 /usr/lib/x86_64-linux-gnu/libkeyutils.so.1.9
xinetd    236465                                 root  mem       REG              259,2      52016   48241317 /usr/lib/x86_64-linux-gnu/libkrb5support.so.0.1
xinetd    236465                                 root  mem       REG              259,2      18504   48261720 /usr/lib/x86_64-linux-gnu/libcom_err.so.2.1
xinetd    236465                                 root  mem       REG              259,2     338648   48241337 /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2.2
xinetd    236465                                 root  mem       REG              259,2     182912   48262775 /usr/lib/x86_64-linux-gnu/libtirpc.so.3.0.0
xinetd    236465                                 root  mem       REG              259,2     613064   48262503 /usr/lib/x86_64-linux-gnu/libpcre2-8.so.0.10.4
xinetd    236465                                 root  mem       REG              259,2      93280   48262415 /usr/lib/x86_64-linux-gnu/libnsl.so.2.0.1
xinetd    236465                                 root  mem       REG              259,2     166280   48262655 /usr/lib/x86_64-linux-gnu/libselinux.so.1
xinetd    236465                                 root  mem       REG              259,2      44872   48262925 /usr/lib/x86_64-linux-gnu/libwrap.so.0.7.6
xinetd    236465                                 root  mem       REG              259,2     240936   48236905 /usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2
xinetd    236465                                 root    0r      CHR                1,3        0t0          5 /dev/null
xinetd    236465                                 root    1r      CHR                1,3        0t0          5 /dev/null
xinetd    236465                                 root    2r      CHR                1,3        0t0          5 /dev/null
xinetd    236465                                 root    3r     FIFO               0,13        0t0    1107030 pipe
xinetd    236465                                 root    4w     FIFO               0,13        0t0    1107030 pipe
xinetd    236465                                 root    5u     IPv6            1078067        0t0        UDP *:echo 
xinetd    236465                                 root    7u     unix 0xffffa041d6e72200        0t0    1078062 type=DGRAM

Ryanf55 · 2023-11-13T21:48:10Z

#25522 is merged, please rebase this and fix conflicts.

Ryanf55 · 2023-11-13T21:54:49Z

Next step: Add an AP_Networking_SITL as a backend. The UDP request/response doesn't work in DDS, but works with the test server. In order to have an easier time debugging, we would like to add a SITL backend. Tridge agrees we can merge this as-is even though DDS doesn't yet work.

libraries/AP_Networking/AP_Networking_Config.h

…_vehicle.py

and default to same as default for DDS server

this allows the net tests to run on SITL, and for DDS testing using the SocketAPM API

magicrub · 2023-11-15T03:07:55Z

@Ryanf55 rebased as requested.

Ryanf55 · 2023-11-15T03:09:33Z

@Ryanf55 rebased as requested.

Let's merge it and solve DDS later. The UDP tests work; it might work fine for mavlink as-is.

magicrub · 2023-11-15T04:31:56Z

I'm good with that. Mavlink support will be another can of worms that should be in a new PR

ryan approved

magicrub requested review from tridge and Ryanf55 November 13, 2023 00:49

magicrub force-pushed the pr/networking6 branch from 44d68d6 to c4580bc Compare November 13, 2023 02:18

magicrub mentioned this pull request Nov 13, 2023

AP_Networking: cleanup names and defines #25522

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libraries/AP_Networking/AP_Networking_Config.h Outdated Show resolved Hide resolved

Ryanf55 mentioned this pull request Nov 13, 2023

AP_DDS: Clean up networking param names #25529

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tridge force-pushed the pr/networking6 branch from c4580bc to 725735a Compare November 13, 2023 22:10

magicrub and others added 11 commits November 14, 2023 19:06

AP_DDS: use AP_NETWORKING_BACKEND_ANY

6415b3c

AP_HAL: Enable SocketAPM to use LwIP/ChibiOS

b965d40

waf: added --enable-networking and --enable-networking-tests

61d8ca7

Tools: added --enable-networking and --enable-networking-tests to sim…

c4c2778

…_vehicle.py

AP_Networking: added networking test suite

2e9035a

AP_Networking: add get_str() accessor to IP address parms

587fe52

AP_DDS: Add user-selectable UDP IP

537222c

AP_Networking: removed unuused send_udp in ChibiOS backend

f2ec539

AP_Networking: added NET_TEST_IP for test server IP address

f4cd136

and default to same as default for DDS server

AP_Networking: added SITL backend

aafd6d3

this allows the net tests to run on SITL, and for DDS testing using the SocketAPM API

AP_Networking: fixed build with gcc 11.x

dd7d4dd

magicrub force-pushed the pr/networking6 branch from 12c82b4 to dd7d4dd Compare November 15, 2023 03:07

tridge added the MergeOnCIPass label Nov 15, 2023

tridge approved these changes Nov 15, 2023

View reviewed changes

magicrub added 2 commits November 15, 2023 01:45

Tools/autotest: fix whitespace in sim_vehicle.py

e7d5dbe

AP_DDS: fix defines to make astyle happy

97ce047

magicrub merged commit d189730 into ArduPilot:master Nov 15, 2023
86 checks passed

magicrub deleted the pr/networking6 branch November 15, 2023 20:43

Ryanf55 mentioned this pull request Nov 16, 2023

Use colcon test in CI to protect against AP_DDS regressions #25557

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Enable SocketAPM to run on LwIP and add DDS support #25523

Enable SocketAPM to run on LwIP and add DDS support #25523

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Enable SocketAPM to run on LwIP and add DDS support #25523

Enable SocketAPM to run on LwIP and add DDS support #25523

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