ardupilot/libraries/AP_Networking/AP_Networking.h

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#pragma once
#include "AP_Networking_Config.h"
#if AP_NETWORKING_ENABLED
#include <AP_Param/AP_Param.h>
#include "AP_Networking_address.h"
#include "AP_Networking_Backend.h"
/*
Note! all uint32_t IPv4 addresses are in host byte order
*/
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// declare backend classes
class AP_Networking_Backend;
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class AP_Networking_ChibiOS;
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class AP_Networking
{
public:
friend class AP_Networking_Backend;
friend class AP_Networking_ChibiOS;
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AP_Networking();
/* Do not allow copies */
CLASS_NO_COPY(AP_Networking);
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// initialize the library. This should only be run once
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void init();
// update task, called at 10Hz
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void update();
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static AP_Networking *get_singleton(void)
{
return singleton;
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}
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// Networking interface is enabled and initialized
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bool is_healthy() const
{
return param.enabled && backend != nullptr;
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}
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// returns true if DHCP is enabled
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bool get_dhcp_enabled() const
{
return param.dhcp;
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}
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// Sets DHCP to be enabled or disabled
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void set_dhcp_enable(const bool enable)
{
param.dhcp.set(enable);
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}
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// returns the 32bit value of the active IP address that is currently in use
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uint32_t get_ip_active() const;
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// returns the 32bit value of the user-parameter static IP address
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uint32_t get_ip_param() const
{
return param.ipaddr.get_uint32();
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}
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/*
returns a null terminated string of the active IP address. Example: "192.168.12.13"
Note that the returned
*/
const char *get_ip_active_str() const
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{
return convert_ip_to_str(get_ip_active());
}
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// sets the user-parameter static IP address from a 32bit value
void set_ip_param(const uint32_t ip)
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{
param.ipaddr.set_uint32(ip);
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}
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// returns the 32bit value of the active Netmask that is currently in use
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uint32_t get_netmask_active() const;
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// returns the 32bit value of the of the user-parameter static Netmask
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uint32_t get_netmask_param() const
{
return convert_netmask_bitcount_to_ip(param.netmask.get());
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}
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// returns a null terminated string of the active Netmask address. Example: "192.168.12.13"
const char *get_netmask_active_str()
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{
return convert_ip_to_str(get_netmask_active());
}
const char *get_netmask_param_str()
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{
return convert_ip_to_str(get_netmask_param());
}
void set_netmask_param_str(const char* nm_str)
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{
set_netmask_param(convert_str_to_ip((char*)nm_str));
}
void set_netmask_param(const uint32_t nm)
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{
param.netmask.set(convert_netmask_ip_to_bitcount(nm));
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}
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uint32_t get_gateway_active() const;
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uint32_t get_gateway_param() const
{
return param.gwaddr.get_uint32();
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}
const char *get_gateway_active_str()
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{
return convert_ip_to_str(get_gateway_active());
}
const char *get_gateway_param_str()
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{
return convert_ip_to_str(get_gateway_param());
}
void set_gateway_param_str(const char* gw_str)
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{
set_gateway_param(convert_str_to_ip((char*)gw_str));
}
void set_gateway_param(const uint32_t gw)
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{
param.gwaddr.set_uint32(gw);
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}
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// helper functions to convert between 32bit IP addresses and null terminated strings and back
static uint32_t convert_str_to_ip(const char* ip_str);
static const char* convert_ip_to_str(uint32_t ip);
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// convert string to ethernet mac address
static bool convert_str_to_macaddr(const char *mac_str, uint8_t addr[6]);
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// helper functions to convert between 32bit Netmask and counting consecutive bits and back
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static uint32_t convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount);
static uint8_t convert_netmask_ip_to_bitcount(const uint32_t netmask_ip);
static const struct AP_Param::GroupInfo var_info[];
private:
static AP_Networking *singleton;
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void announce_address_changes();
struct {
AP_Networking_IPV4 ipaddr{AP_NETWORKING_DEFAULT_STATIC_IP_ADDR};
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AP_Int8 netmask; // bits to mask. example: (16 == 255.255.0.0) and (24 == 255.255.255.0)
AP_Networking_IPV4 gwaddr{AP_NETWORKING_DEFAULT_STATIC_GW_ADDR};
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AP_Int8 dhcp;
AP_Networking_MAC macaddr{AP_NETWORKING_DEFAULT_MAC_ADDR};
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AP_Int8 enabled;
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AP_Int32 options;
} param;
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AP_Networking_Backend *backend;
HAL_Semaphore sem;
private:
uint32_t announce_ms;
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};
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namespace AP
{
AP_Networking &network();
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};
#endif // AP_NETWORKING_ENABLED