AP_Scripting: added socket network bindings

Tools/ardupilotwaf/chibios.py

@@ -675,6 +675,8 @@ def build(bld):
     common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.mk')
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
+    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/**/*.[ch]')
+    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/core/**/*.[ch]')
     if bld.env.ROMFS_FILES:
         common_src += [bld.bldnode.find_or_declare('ap_romfs_embedded.h')]
 

Tools/autotest/arduplane.py

@@ -4515,7 +4515,7 @@ def AerobaticsScripting(self):
         self.customise_SITL_commandline(
             [],
             model=model,
-            defaults_filepath="",
+            defaults_filepath="Tools/autotest/models/plane-3d.parm",
             wipe=True)
 
         self.context_push()

libraries/AP_Filesystem/AP_Filesystem.cpp

@@ -333,6 +333,30 @@ AP_Filesystem_Backend::FormatStatus AP_Filesystem::get_format_status(void) const
 }
 #endif
 
+/*
+  stat wrapper for scripting
+ */
+bool AP_Filesystem::stat(const char *pathname, stat_t &stbuf)
+{
+    struct stat st;
+    if (fs.stat(pathname, &st) != 0) {
+        return false;
+    }
+    stbuf.size = st.st_size;
+    stbuf.mode = st.st_mode;
+    // these wrap in 2038
+    stbuf.atime = st.st_atime;
+    stbuf.ctime = st.st_ctime;
+    stbuf.mtime = st.st_mtime;
+    return true;
+}
+
+// get_singleton for scripting
+AP_Filesystem *AP_Filesystem::get_singleton(void)
+{
+    return &fs;
+}
+
 namespace AP
 {
 AP_Filesystem &FS()

libraries/AP_Filesystem/AP_Filesystem.h

@@ -82,6 +82,20 @@ class AP_Filesystem {
     int fsync(int fd);
     int32_t lseek(int fd, int32_t offset, int whence);
     int stat(const char *pathname, struct stat *stbuf);
+
+    // stat variant for scripting
+    typedef struct {
+        uint32_t size;
+        int32_t mode;
+        uint32_t mtime;
+        uint32_t atime;
+        uint32_t ctime;
+        bool is_directory(void) const {
+            return (mode & S_IFMT) == S_IFDIR;
+        }
+    } stat_t;
+    bool stat(const char *pathname, stat_t &stbuf);
+
     int unlink(const char *pathname);
     int mkdir(const char *pathname);
     int rename(const char *oldpath, const char *newpath);
@@ -121,7 +135,10 @@ class AP_Filesystem {
       load a full file. Use delete to free the data
      */
     FileData *load_file(const char *filename);
-
+
+    // get_singleton for scripting
+    static AP_Filesystem *get_singleton(void);
+
 private:
     struct Backend {
         const char *prefix;

libraries/AP_Filesystem/AP_Filesystem_Sys.cpp

@@ -52,6 +52,9 @@ static const SysFileList sysfs_file_list[] = {
 #endif
     {"crash_dump.bin"},
     {"storage.bin"},
+#if AP_FILESYSTEM_SYS_FLASH_ENABLED
+    {"flash.bin"},
+#endif
 };
 
 int8_t AP_Filesystem_Sys::file_in_sysfs(const char *fname) {
@@ -152,6 +155,13 @@ int AP_Filesystem_Sys::open(const char *fname, int flags, bool allow_absolute_pa
             r.str->set_buffer((char*)ptr, size, size);
         }
     }
+#if AP_FILESYSTEM_SYS_FLASH_ENABLED
+    if (strcmp(fname, "flash.bin") == 0) {
+        void *ptr = (void*)0x08000000;
+        const size_t size = BOARD_FLASH_SIZE*1024;
+        r.str->set_buffer((char*)ptr, size, size);
+    }
+#endif
 
     if (r.str->get_length() == 0) {
         errno = r.str->has_failed_allocation()?ENOMEM:ENOENT;

libraries/AP_Filesystem/AP_Filesystem_config.h

@@ -50,3 +50,6 @@
 #define AP_FILESYSTEM_FILE_READING_ENABLED (AP_FILESYSTEM_FILE_WRITING_ENABLED || AP_FILESYSTEM_ROMFS_ENABLED)
 #endif
 
+#ifndef AP_FILESYSTEM_SYS_FLASH_ENABLED
+#define AP_FILESYSTEM_SYS_FLASH_ENABLED CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#endif

libraries/AP_Filesystem/AP_Filesystem_posix.cpp

@@ -58,6 +58,12 @@ int AP_Filesystem_Posix::open(const char *fname, int flags, bool allow_absolute_
     if (! allow_absolute_paths) {
         fname = map_filename(fname);
     }
+    struct stat st;
+    if (::stat(fname, &st) == 0 &&
+        ((st.st_mode & S_IFMT) != S_IFREG && (st.st_mode & S_IFMT) != S_IFLNK)) {
+        // only allow links and files
+        return -1;
+    }
     // we automatically add O_CLOEXEC as we always want it for ArduPilot FS usage
     return ::open(fname, flags | O_CLOEXEC, 0644);
 }

libraries/AP_Filesystem/posix_compat.cpp

@@ -30,14 +30,6 @@
 #include <stdarg.h>
 #include <AP_Math/AP_Math.h>
 
-struct apfs_file {
-    int fd;
-    bool error;
-    bool eof;
-    int16_t unget;
-    char *tmpfile_name;
-};
-
 #define CHECK_STREAM(stream, ret) while (stream == NULL || stream->fd < 0) { errno = EBADF; return ret; }
 
 #define modecmp(str, pat) (strcmp(str, pat) == 0 ? 1: 0)
@@ -170,7 +162,8 @@ int apfs_fseek(APFS_FILE *stream, long offset, int whence)
 {
     CHECK_STREAM(stream, EOF);
     stream->eof = false;
-    return AP::FS().lseek(stream->fd, offset, whence);
+    AP::FS().lseek(stream->fd, offset, whence);
+    return 0;
 }
 
 int apfs_ferror(APFS_FILE *stream)

libraries/AP_Filesystem/posix_compat.h

@@ -20,6 +20,8 @@
 #include <sys/types.h>
 #include <stdio.h>
 #include <stddef.h>
+#include <stdbool.h>
+#include <stdint.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -29,7 +31,13 @@ extern "C" {
   these are here to allow lua to build on HAL_ChibiOS
  */
 
-typedef struct apfs_file APFS_FILE;
+typedef struct apfs_file {
+    int fd;
+    bool error;
+    bool eof;
+    int16_t unget;
+    char *tmpfile_name;
+} APFS_FILE;
 
 APFS_FILE *apfs_fopen(const char *pathname, const char *mode);
 int apfs_fprintf(APFS_FILE *stream, const char *format, ...);

libraries/AP_HAL/utility/Socket.cpp

@@ -52,14 +52,7 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
 
 SocketAPM::~SocketAPM()
 {
-    if (fd != -1) {
-        CALL_PREFIX(close)(fd);
-        fd = -1;
-    }
-    if (fd_in != -1) {
-        CALL_PREFIX(close)(fd_in);
-        fd_in = -1;
-    }
+    close();
 }
 
 void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
@@ -79,6 +72,9 @@ void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockadd
  */
 bool SocketAPM::connect(const char *address, uint16_t port)
 {
+    if (fd == -1) {
+        return false;
+    }
     struct sockaddr_in sockaddr;
     int ret;
     int one = 1;
@@ -163,6 +159,9 @@ bool SocketAPM::connect(const char *address, uint16_t port)
  */
 bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms)
 {
+    if (fd == -1) {
+        return false;
+    }
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 
@@ -194,9 +193,13 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
  */
 bool SocketAPM::bind(const char *address, uint16_t port)
 {
+    if (fd == -1) {
+        return false;
+    }
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 
+    reuseaddress();
     if (CALL_PREFIX(bind)(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
         return false;
     }
@@ -209,6 +212,9 @@ bool SocketAPM::bind(const char *address, uint16_t port)
  */
 bool SocketAPM::reuseaddress(void) const
 {
+    if (fd == -1) {
+        return false;
+    }
     int one = 1;
     return (CALL_PREFIX(setsockopt)(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)) != -1);
 }
@@ -218,6 +224,9 @@ bool SocketAPM::reuseaddress(void) const
  */
 bool SocketAPM::set_blocking(bool blocking) const
 {
+    if (fd == -1) {
+        return false;
+    }
     int fcntl_ret;
     if (blocking) {
         fcntl_ret = CALL_PREFIX(fcntl)(fd, F_SETFL, CALL_PREFIX(fcntl)(fd, F_GETFL, 0) & ~O_NONBLOCK);
@@ -238,6 +247,9 @@ bool SocketAPM::set_blocking(bool blocking) const
  */
 bool SocketAPM::set_cloexec() const
 {
+    if (fd == -1) {
+        return false;
+    }
 #ifdef FD_CLOEXEC
     return (CALL_PREFIX(fcntl)(fd, F_SETFD, FD_CLOEXEC) != -1);
 #else
@@ -250,14 +262,20 @@ bool SocketAPM::set_cloexec() const
  */
 ssize_t SocketAPM::send(const void *buf, size_t size) const
 {
-    return CALL_PREFIX(send)(fd, buf, size, 0);
+    if (fd == -1) {
+        return -1;
+    }
+    return CALL_PREFIX(send)(fd, buf, size, MSG_NOSIGNAL);
 }
 
 /*
   send some data
  */
 ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uint16_t port)
 {
+    if (fd == -1) {
+        return -1;
+    }
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
     return CALL_PREFIX(sendto)(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
@@ -277,6 +295,10 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
     ssize_t ret;
     ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
     if (ret <= 0) {
+        if (!datagram && connected && ret == 0) {
+            // remote host has closed connection
+            connected = false;
+        }
         return ret;
     }
     if (fd_in != -1) {
@@ -322,6 +344,9 @@ const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint
 
 void SocketAPM::set_broadcast(void) const
 {
+    if (fd == -1) {
+        return;
+    }
     int one = 1;
     CALL_PREFIX(setsockopt)(fd,SOL_SOCKET,SO_BROADCAST,(char *)&one,sizeof(one));
 }
@@ -336,6 +361,9 @@ bool SocketAPM::pollin(uint32_t timeout_ms)
 
     FD_ZERO(&fds);
     int fin = get_read_fd();
+    if (fin == -1) {
+        return false;
+    }
     FD_SET(fin, &fds);
 
     tv.tv_sec = timeout_ms / 1000;
@@ -353,6 +381,9 @@ bool SocketAPM::pollin(uint32_t timeout_ms)
  */
 bool SocketAPM::pollout(uint32_t timeout_ms)
 {
+    if (fd == -1) {
+        return false;
+    }
     fd_set fds;
     struct timeval tv;
 
@@ -373,6 +404,9 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
  */
 bool SocketAPM::listen(uint16_t backlog) const
 {
+    if (fd == -1) {
+        return false;
+    }
     return CALL_PREFIX(listen)(fd, (int)backlog) == 0;
 }
 
@@ -382,6 +416,9 @@ bool SocketAPM::listen(uint16_t backlog) const
 */
 SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
 {
+    if (fd == -1) {
+        return nullptr;
+    }
     if (!pollin(timeout_ms)) {
         return nullptr;
     }
@@ -391,7 +428,12 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
     if (newfd == -1) {
         return nullptr;
     }
-    return new SocketAPM(false, newfd);
+    auto *ret = new SocketAPM(false, newfd);
+    if (ret != nullptr) {
+        ret->connected = true;
+        ret->reuseaddress();
+    }
+    return ret;
 }
 
 /*
@@ -405,4 +447,33 @@ bool SocketAPM::is_multicast_address(struct sockaddr_in &addr) const
     return haddr >= mc_lower && haddr <= mc_upper;
 }
 
+void SocketAPM::close(void)
+{
+    if (fd != -1) {
+        CALL_PREFIX(close)(fd);
+        fd = -1;
+    }
+    if (fd_in != -1) {
+        CALL_PREFIX(close)(fd_in);
+        fd_in = -1;
+    }
+}
+
+/*
+  duplicate a socket, giving a new object with the same contents,
+  the fd in the old object is set to -1
+ */
+SocketAPM *SocketAPM::duplicate(void)
+{
+    auto *ret = new SocketAPM(datagram, fd);
+    if (ret == nullptr) {
+        return nullptr;
+    }
+    ret->fd_in = fd_in;
+    ret->connected = connected;
+    fd = -1;
+    fd_in = -1;
+    return ret;
+}
+
 #endif // AP_NETWORKING_BACKEND_ANY