ardupilot/libraries/AP_Networking/AP_Networking_tests.cpp

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/*
a set of tests for networking
*/
#include "AP_Networking_Config.h"
#if AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED
#include "AP_Networking.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/utility/Socket.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
/*
start tests
*/
void AP_Networking::start_tests(void)
{
if (param.tests & TEST_UDP_CLIENT) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_UDP_client, void),
"UDP_client",
8192, AP_HAL::Scheduler::PRIORITY_IO, -1);
}
if (param.tests & TEST_TCP_CLIENT) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_TCP_client, void),
"TCP_client",
8192, AP_HAL::Scheduler::PRIORITY_IO, -1);
}
}
/*
start UDP client test
*/
void AP_Networking::test_UDP_client(void)
{
while (!hal.scheduler->is_system_initialized()) {
hal.scheduler->delay(100);
}
hal.scheduler->delay(1000);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: starting");
const char *dest = param.test_ipaddr.get_str();
auto *sock = new SocketAPM(true);
if (sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UDP_client: failed to create socket");
return;
}
// connect to the echo service, which is port 7
if (!sock->connect(dest, 7)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UDP_client: connect failed");
return;
}
while (true) {
hal.scheduler->delay(100);
char *s = nullptr;
asprintf(&s, "hello %u", unsigned(AP_HAL::millis()));
sock->send((const void*)s, strlen(s));
free(s);
uint8_t buf[128] {};
const ssize_t ret = sock->recv(buf, sizeof(buf), 10);
if (ret > 0) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: reply '%s'", (const char *)buf);
}
}
}
/*
start TCP client test
*/
void AP_Networking::test_TCP_client(void)
{
while (!hal.scheduler->is_system_initialized()) {
hal.scheduler->delay(100);
}
hal.scheduler->delay(1000);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: starting");
const char *dest = param.test_ipaddr.get_str();
auto *sock = new SocketAPM(false);
if (sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_client: failed to create socket");
return;
}
// connect to the echo service, which is port 7
if (!sock->connect(dest, 7)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_client: connect failed");
return;
}
while (true) {
hal.scheduler->delay(100);
char *s = nullptr;
asprintf(&s, "hello %u", unsigned(AP_HAL::millis()));
sock->send((const void*)s, strlen(s));
free(s);
uint8_t buf[128] {};
const ssize_t ret = sock->recv(buf, sizeof(buf), 10);
if (ret > 0) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: reply '%s'", (const char *)buf);
}
}
}
#endif // AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED