ardupilot/libraries/AP_Networking/AP_Networking.h

#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"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_HAL/utility/RingBuffer.h>

/*
  Note! all uint32_t IPv4 addresses are in host byte order
*/

// declare backend classes
class AP_Networking_Backend;
class AP_Networking_ChibiOS;

class SocketAPM;

class AP_Networking
{
public:
    friend class AP_Networking_Backend;
    friend class AP_Networking_ChibiOS;
    friend class AP_Vehicle;
    friend class Networking_Periph;

    AP_Networking();

    /* Do not allow copies */
    CLASS_NO_COPY(AP_Networking);

    // initialize the library. This should only be run once
    void init();

    // update task, called at 10Hz
    void update();

    static AP_Networking *get_singleton(void)
    {
        return singleton;
    }

    // Networking interface is enabled and initialized
    bool is_healthy() const
    {
        return param.enabled && backend != nullptr;
    }

    // returns true if DHCP is enabled
    bool get_dhcp_enabled() const
    {
#if AP_NETWORKING_DHCP_AVAILABLE
        return param.dhcp;
#else
        // DHCP is not available from our scope but could be enabled/controlled
        // by the OS which is the case on Linux builds, including SITL
        // TODO: ask the OS if DHCP is enabled
        return false;
#endif
    }

    // Sets DHCP to be enabled or disabled
    void set_dhcp_enable(const bool enable)
    {
#if AP_NETWORKING_DHCP_AVAILABLE
        param.dhcp.set(enable);
#endif
    }

    // returns the 32bit value of the active IP address that is currently in use
    uint32_t get_ip_active() const;

    // returns the 32bit value of the user-parameter static IP address
    uint32_t get_ip_param() const
    {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
        return param.ipaddr.get_uint32();
#else
        // TODO: ask the OS for the IP address
        return 0;
#endif
    }

    /*
      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
    {
        return convert_ip_to_str(get_ip_active());
    }

    // sets the user-parameter static IP address from a 32bit value
    void set_ip_param(const uint32_t ip)
    {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
        param.ipaddr.set_uint32(ip);
#endif
    }

    // returns the 32bit value of the active Netmask that is currently in use
    uint32_t get_netmask_active() const;

    // returns the 32bit value of the of the user-parameter static Netmask
    uint32_t get_netmask_param() const
    {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
        return convert_netmask_bitcount_to_ip(param.netmask.get());
#else
        // TODO: ask the OS for the Netmask
        return 0;
#endif
    }

    // returns a null terminated string of the active Netmask address. Example: "192.168.12.13"
    const char *get_netmask_active_str()
    {
        return convert_ip_to_str(get_netmask_active());
    }

    const char *get_netmask_param_str()
    {
        return convert_ip_to_str(get_netmask_param());
    }

    void set_netmask_param_str(const char* nm_str)
    {
        set_netmask_param(convert_str_to_ip((char*)nm_str));
    }

    void set_netmask_param(const uint32_t nm)
    {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
        param.netmask.set(convert_netmask_ip_to_bitcount(nm));
#endif
    }

    uint32_t get_gateway_active() const;

    uint32_t get_gateway_param() const
    {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
        return param.gwaddr.get_uint32();
#else
        // TODO: ask the OS for the Gateway
        return 0;
#endif
    }

    const char *get_gateway_active_str()
    {
        return convert_ip_to_str(get_gateway_active());
    }

    const char *get_gateway_param_str()
    {
        return convert_ip_to_str(get_gateway_param());
    }

    void set_gateway_param_str(const char* gw_str)
    {
        set_gateway_param(convert_str_to_ip((char*)gw_str));
    }

    void set_gateway_param(const uint32_t gw)
    {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
        param.gwaddr.set_uint32(gw);
#endif
    }

    // wait in a thread for network startup
    void startup_wait(void) const;

    // 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);

    // convert string to ethernet mac address
    static bool convert_str_to_macaddr(const char *mac_str, uint8_t addr[6]);

    // helper functions to convert between 32bit Netmask and counting consecutive bits and back
    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;

    void announce_address_changes();

    struct {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
        AP_Networking_IPV4 ipaddr{AP_NETWORKING_DEFAULT_STATIC_IP_ADDR};
        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};
        AP_Networking_MAC macaddr{AP_NETWORKING_DEFAULT_MAC_ADDR};
#if AP_NETWORKING_DHCP_AVAILABLE
        AP_Int8 dhcp;
#endif
#endif

        AP_Int8 enabled;
        AP_Int32 options;

#if AP_NETWORKING_TESTS_ENABLED
        AP_Int32 tests;
        AP_Networking_IPV4 test_ipaddr{AP_NETWORKING_TEST_IP};
#endif
    } param;

    AP_Networking_Backend *backend;

    HAL_Semaphore sem;

    enum class NetworkPortType {
        NONE = 0,
        UDP_CLIENT = 1,
        UDP_SERVER = 2,
        TCP_CLIENT = 3,
        TCP_SERVER = 4,
    };

    // class for NET_Pn_* parameters
    class Port : public AP_SerialManager::RegisteredPort {
    public:
        /* Do not allow copies */
        CLASS_NO_COPY(Port);

        Port() {}

        static const struct AP_Param::GroupInfo var_info[];
        AP_Enum<NetworkPortType> type;
        AP_Networking_IPV4 ip {"0.0.0.0"};
        AP_Int32 port;
        SocketAPM *sock;
        SocketAPM *listen_sock;

        bool is_initialized() override {
            return true;
        }
        bool tx_pending() override {
            return false;
        }

        void udp_client_init(void);
        void udp_server_init(void);
        void tcp_server_init(void);
        void tcp_client_init(void);

        void udp_client_loop(void);
        void udp_server_loop(void);
        void tcp_client_loop(void);
        void tcp_server_loop(void);

        bool send_receive(void);

    private:
        bool init_buffers(const uint32_t size_rx, const uint32_t size_tx);
        void thread_create(AP_HAL::MemberProc);

        uint32_t txspace() override;
        void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
        size_t _write(const uint8_t *buffer, size_t size) override;
        ssize_t _read(uint8_t *buffer, uint16_t count) override;
        uint32_t _available() override;
        void _end() override {}
        void _flush() override {}
        bool _discard_input() override;

        enum flow_control get_flow_control(void) override;

        uint32_t bw_in_bytes_per_second() const override {
            return 1000000UL;
        }

        ByteBuffer *readbuffer;
        ByteBuffer *writebuffer;
        char thread_name[10];
        uint32_t last_size_tx;
        uint32_t last_size_rx;
        bool packetise;
        bool connected;
        bool have_received;
        bool close_on_recv_error;

        HAL_Semaphore sem;
    };

private:
    uint32_t announce_ms;

#if AP_NETWORKING_TESTS_ENABLED
    enum {
        TEST_UDP_CLIENT = (1U<<0),
        TEST_TCP_CLIENT = (1U<<1),
        TEST_TCP_DISCARD = (1U<<2),
    };
    void start_tests(void);
    void test_UDP_client(void);
    void test_TCP_client(void);
    void test_TCP_discard(void);
#endif // AP_NETWORKING_TESTS_ENABLED

    // ports for registration with serial manager
    Port ports[AP_NETWORKING_NUM_PORTS];

    void ports_init(void);
};

namespace AP
{
    AP_Networking &network();
};

extern "C" {
int ap_networking_printf(const char *fmt, ...);
}

#endif // AP_NETWORKING_ENABLED