AP_Networking: added networking test suite

libraries/AP_Networking/AP_Networking.cpp

@@ -56,6 +56,16 @@ const AP_Param::GroupInfo AP_Networking::var_info[] = {
     // @Path: AP_Networking_macaddr.cpp
     AP_SUBGROUPINFO(param.macaddr, "MACADDR", 6,  AP_Networking, AP_Networking_MAC),
 
+#if AP_NETWORKING_TESTS_ENABLED
+    // @Param: TESTS
+    // @DisplayName: Test enable flags
+    // @Description: Enable/Disable networking tests
+    // @Bitmask: 0:UDP echo test,1:TCP echo test
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("TESTS", 7,  AP_Networking,    param.tests,   0),
+#endif
+
     AP_GROUPEND
 };
 
@@ -116,6 +126,10 @@ void AP_Networking::init()
     announce_address_changes();
 
     GCS_SEND_TEXT(MAV_SEVERITY_INFO,"NET: Initialized");
+
+#if AP_NETWORKING_TESTS_ENABLED
+    start_tests();
+#endif
 }
 
 /*

libraries/AP_Networking/AP_Networking.h

@@ -165,6 +165,9 @@ private:
         AP_Networking_MAC macaddr{AP_NETWORKING_DEFAULT_MAC_ADDR};
         AP_Int8 enabled;
         AP_Int32 options;
+#if AP_NETWORKING_TESTS_ENABLED
+        AP_Int32 tests;
+#endif
     } param;
 
     AP_Networking_Backend *backend;
@@ -173,6 +176,16 @@ private:
 
 private:
     uint32_t announce_ms;
+
+#if AP_NETWORKING_TESTS_ENABLED
+    enum {
+        TEST_UDP_CLIENT = (1U<<0),
+        TEST_TCP_CLIENT = (1U<<1),
+    };
+    void start_tests(void);
+    void test_UDP_client(void);
+    void test_TCP_client(void);
+#endif // AP_NETWORKING_TESTS_ENABLED
 };
 
 namespace AP

libraries/AP_Networking/AP_Networking_Config.h

@@ -60,3 +60,13 @@
 #ifndef AP_NETWORKING_DEFAULT_MAC_ADDR
 #define AP_NETWORKING_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
 #endif
+
+#ifndef AP_NETWORKING_TESTS_ENABLED
+#define AP_NETWORKING_TESTS_ENABLED 0
+#endif
+
+#if AP_NETWORKING_TESTS_ENABLED
+#ifndef AP_NETWORKING_TEST_IP
+#define AP_NETWORKING_TEST_IP "192.168.13.15"
+#endif
+#endif

libraries/AP_Networking/AP_Networking_tests.cpp

@@ -0,0 +1,103 @@
+/*
+  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 = AP_NETWORKING_TEST_IP;
+    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 = AP_NETWORKING_TEST_IP;
+    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