AP_Scripting: added bindings for SocketAPM

libraries/AP_Scripting/AP_Scripting.cpp

@@ -53,6 +53,10 @@ static_assert(SCRIPTING_STACK_SIZE <= SCRIPTING_STACK_MAX_SIZE, "Scripting requi
 #define SCRIPTING_ENABLE_DEFAULT 0
 #endif
 
+#if AP_NETWORKING_ENABLED
+#include <AP_HAL/utility/Socket.h>
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_Scripting::var_info[] = {
@@ -287,6 +291,17 @@ void AP_Scripting::thread(void) {
         }
         num_pwm_source = 0;
 
+#if AP_NETWORKING_ENABLED
+        // clear allocated sockets
+        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
+            if (_net_sockets[i] != nullptr) {
+                delete _net_sockets[i];
+                _net_sockets[i] = nullptr;
+            }
+        }
+        num_net_sockets = 0;
+#endif // AP_NETWORKING_ENABLED
+        
         // Clear blocked commands
         {
             WITH_SEMAPHORE(mavlink_command_block_list_sem);

libraries/AP_Scripting/AP_Scripting.h

@@ -24,6 +24,7 @@
 #include <AP_Filesystem/AP_Filesystem.h>
 #include <AP_HAL/I2CDevice.h>
 #include "AP_Scripting_CANSensor.h"
+#include <AP_Networking/AP_Networking_Config.h>
 
 #ifndef SCRIPTING_MAX_NUM_I2C_DEVICE
   #define SCRIPTING_MAX_NUM_I2C_DEVICE 4
@@ -31,6 +32,13 @@
 
 #define SCRIPTING_MAX_NUM_PWM_SOURCE 4
 
+#if AP_NETWORKING_ENABLED
+#ifndef SCRIPTING_MAX_NUM_NET_SOCKET
+#define SCRIPTING_MAX_NUM_NET_SOCKET 50
+#endif
+class SocketAPM;
+#endif
+
 class AP_Scripting
 {
 public:
@@ -111,6 +119,12 @@ public:
     int get_current_ref() { return current_ref; }
     void set_current_ref(int ref) { current_ref = ref; }
 
+#if AP_NETWORKING_ENABLED
+    // SocketAPM storage
+    uint8_t num_net_sockets;
+    SocketAPM *_net_sockets[SCRIPTING_MAX_NUM_NET_SOCKET];
+#endif
+
     struct mavlink_msg {
         mavlink_message_t msg;
         mavlink_channel_t chan;

libraries/AP_Scripting/docs/docs.lua

@@ -452,6 +452,51 @@ function motor_factor_table_ud:roll(index) end
 ---@param value number
 function motor_factor_table_ud:roll(index, value) end
 
+-- network socket class
+---@class SocketAPM_ud
+local SocketAPM_ud = {}
+
+-- desc
+---@return boolean
+function SocketAPM_ud:is_connected() end
+
+-- desc
+---@param param1 boolean
+---@return boolean
+function SocketAPM_ud:set_blocking(param1) end
+
+-- desc
+---@param param1 integer
+---@return boolean
+function SocketAPM_ud:listen(param1) end
+
+-- desc
+---@param param1 string
+---@param param2 uint32_t_ud
+---@return integer
+function SocketAPM_ud:send(param1, param2) end
+
+-- desc
+---@param param1 string
+---@param param2 integer
+---@return boolean
+function SocketAPM_ud:bind(param1, param2) end
+
+-- desc
+---@param param1 string
+---@param param2 integer
+---@return boolean
+function SocketAPM_ud:connect(param1, param2) end
+
+-- desc
+function SocketAPM_ud:__gc() end
+
+-- desc
+function SocketAPM_ud:accept(param1) end
+
+-- desc
+function SocketAPM_ud:recv(param1) end
+
 
 -- desc
 ---@class AP_HAL__PWMSource_ud

libraries/AP_Scripting/examples/net_test.lua

@@ -0,0 +1,140 @@
+--[[
+   example script to test lua socket API
+--]]
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+PARAM_TABLE_KEY = 46
+PARAM_TABLE_PREFIX = "NT_"
+
+-- bind a parameter to a variable given
+function bind_param(name)
+    local p = Parameter()
+    assert(p:init(name), string.format('could not find %s parameter', name))
+    return p
+end
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return bind_param(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Setup Parameters
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'net_test: could not add param table')
+
+--[[
+  // @Param: NT_ENABLE
+  // @DisplayName: enable network tests
+  // @Description: Enable network tests
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local NT_ENABLE = bind_add_param('ENABLE',  1, 0)
+if NT_ENABLE:get() == 0 then
+   return
+end
+
+local NT_TEST_IP = { bind_add_param('TEST_IP0', 2, 192),
+                     bind_add_param('TEST_IP1', 3, 168),
+                     bind_add_param('TEST_IP2', 4, 13),
+                     bind_add_param('TEST_IP3', 5, 15) }
+
+local NT_BIND_PORT = bind_add_param('BIND_PORT', 6, 15001)
+
+local PORT_ECHO = 7
+
+gcs:send_text(MAV_SEVERITY.INFO, "net_test: starting")
+
+local function test_ip()
+   return string.format("%u.%u.%u.%u", NT_TEST_IP[1]:get(), NT_TEST_IP[2]:get(), NT_TEST_IP[3]:get(), NT_TEST_IP[4]:get())
+end
+
+local counter = 0
+local sock_tcp_echo = SocketAPM(0)
+local sock_udp_echo = SocketAPM(1)
+local sock_tcp_in = SocketAPM(0)
+local sock_tcp_in2 = nil
+local sock_udp_in = SocketAPM(1)
+
+if not sock_tcp_echo then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create tcp echo socket")
+   return
+end
+
+if not sock_udp_echo then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create udp echo socket")
+   return
+end
+
+if not sock_tcp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to TCP 5001")
+end
+
+if not sock_tcp_in:listen(1) then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to listen")
+end
+
+if not sock_udp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to UDP 5001")
+end
+
+--[[
+   test TCP or UDP echo
+--]]
+local function test_echo(name, sock)
+   if not sock:is_connected() then
+      if not sock:connect(test_ip(), PORT_ECHO) then
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): failed to connect", name))
+         return
+      end
+
+      if not sock:set_blocking(true) then
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): failed to set blocking", name))
+         return
+      end
+   end
+
+   local s = string.format("testing %u", counter)
+   local nsent = sock:send(s, #s)
+   if nsent ~= #s then
+      gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): failed to send", name))
+      return
+   end
+   local r = sock:recv(#s)
+   if r then
+      gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): got reply '%s'", name, r))
+   end
+end
+
+--[[
+   test a simple server
+--]]
+local function test_server(name, sock)
+   if name == "TCP" then
+      if not sock_tcp_in2 then
+         sock_tcp_in2 = sock:accept()
+         if not sock_tcp_in2 then
+            return
+         end
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_server(%s): new connection", name))
+      end
+      sock = sock_tcp_in2
+   end
+
+   local r = sock:recv(1024)
+   if r and #r > 0 then
+      gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_server(%s): got input '%s'", name, r))
+   end
+end
+
+local function update()
+   test_echo("TCP", sock_tcp_echo)
+   test_echo("UDP", sock_udp_echo)
+   test_server("TCP", sock_tcp_in)
+   test_server("UDP", sock_udp_in)
+   counter = counter + 1
+   return update,1000
+end
+
+return update,100

libraries/AP_Scripting/generator/description/bindings.desc

@@ -536,6 +536,19 @@ ap_object AP_HAL::I2CDevice method write_register boolean uint8_t'skip_check uin
 ap_object AP_HAL::I2CDevice manual read_registers AP_HAL__I2CDevice_read_registers 2
 ap_object AP_HAL::I2CDevice method set_address void uint8_t'skip_check
 
+include AP_HAL/utility/Socket.h depends (AP_NETWORKING_ENABLED==1)
+global manual SocketAPM lua_get_SocketAPM 1 depends (AP_NETWORKING_ENABLED==1)
+
+ap_object SocketAPM depends (AP_NETWORKING_ENABLED==1)
+ap_object SocketAPM method connect boolean string uint16_t'skip_check
+ap_object SocketAPM method bind boolean string uint16_t'skip_check
+ap_object SocketAPM method send int32_t string uint32_t'skip_check
+ap_object SocketAPM method listen boolean uint8_t'skip_check
+ap_object SocketAPM method set_blocking boolean boolean
+ap_object SocketAPM method is_connected boolean
+ap_object SocketAPM manual close SocketAPM_close 0
+ap_object SocketAPM manual recv SocketAPM_recv 1
+ap_object SocketAPM manual accept SocketAPM_accept 1
 
 ap_object AP_HAL::AnalogSource depends !defined(HAL_DISABLE_ADC_DRIVER)
 ap_object AP_HAL::AnalogSource method set_pin boolean uint8_t'skip_check

libraries/AP_Scripting/lua_bindings.cpp

@@ -15,6 +15,11 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <string.h>
 
+#include <AP_Networking/AP_Networking_Config.h>
+#if AP_NETWORKING_ENABLED
+#include <AP_HAL/utility/Socket.h>
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 extern "C" {
@@ -755,6 +760,121 @@ int lua_get_PWMSource(lua_State *L) {
     return 1;
 }
 
+#if AP_NETWORKING_ENABLED
+/*
+  allocate a SocketAPM
+ */
+int lua_get_SocketAPM(lua_State *L) {
+    binding_argcheck(L, 1);
+    const uint8_t datagram = get_uint8_t(L, 1);
+    auto *scripting = AP::scripting();
+
+    lua_gc(L, LUA_GCCOLLECT, 0);
+
+    if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
+        return luaL_argerror(L, 1, "no sockets available");
+    }
+
+    auto *sock = new SocketAPM(datagram);
+    if (sock == nullptr) {
+        return luaL_argerror(L, 1, "SocketAPM device nullptr");
+    }
+    scripting->_net_sockets[scripting->num_net_sockets] = sock;
+
+    new_SocketAPM(L);
+    *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[scripting->num_net_sockets];
+
+    scripting->num_net_sockets++;
+
+    return 1;
+}
+
+/*
+  socket close
+ */
+int SocketAPM_close(lua_State *L) {
+    binding_argcheck(L, 1);
+
+    SocketAPM *ud = *check_SocketAPM(L, 1);
+
+    auto *scripting = AP::scripting();
+
+    if (scripting->num_net_sockets == 0) {
+        return luaL_argerror(L, 1, "socket close error");
+    }
+
+    // clear allocated socket
+    for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
+        if (scripting->_net_sockets[i] == ud) {
+            ud->close();
+            delete ud;
+            scripting->_net_sockets[i] = nullptr;
+            scripting->num_net_sockets--;
+            break;
+        }
+    }
+
+    return 0;
+}
+
+/*
+  receive from a socket to a lua string
+ */
+int SocketAPM_recv(lua_State *L) {
+    binding_argcheck(L, 2);
+
+    SocketAPM * ud = *check_SocketAPM(L, 1);
+
+    const uint16_t count = get_uint16_t(L, 2);
+    uint8_t *data = (uint8_t*)malloc(count);
+    if (data == nullptr) {
+        return 0;
+    }
+
+    const auto ret = ud->recv(data, count, 0);
+    if (ret < 0) {
+        free(data);
+        return 0;
+    }
+
+    // push to lua string
+    lua_pushlstring(L, (const char *)data, ret);
+    free(data);
+
+    return 1;
+}
+
+/*
+  TCP socket accept() call
+ */
+int SocketAPM_accept(lua_State *L) {
+    binding_argcheck(L, 1);
+
+    SocketAPM * ud = *check_SocketAPM(L, 1);
+
+    auto *scripting = AP::scripting();
+    if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
+        return luaL_argerror(L, 1, "no sockets available");
+    }
+
+    auto *sock = ud->accept(0);
+    if (sock == nullptr) {
+        return 0;
+    }
+
+    scripting->_net_sockets[scripting->num_net_sockets] = sock;
+
+    new_SocketAPM(L);
+    *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[scripting->num_net_sockets];
+
+    scripting->num_net_sockets++;
+
+    return 1;
+}
+
+#endif // AP_NETWORKING_ENABLED
+
+
 int lua_get_current_ref()
 {
     auto *scripting = AP::scripting();

libraries/AP_Scripting/lua_bindings.h

@@ -14,6 +14,10 @@ int lua_dirlist(lua_State *L);
 int lua_removefile(lua_State *L);
 int SRV_Channels_get_safety_state(lua_State *L);
 int lua_get_PWMSource(lua_State *L);
+int lua_get_SocketAPM(lua_State *L);
+int SocketAPM_recv(lua_State *L);
+int SocketAPM_accept(lua_State *L);
+int SocketAPM_close(lua_State *L);
 int lua_mavlink_init(lua_State *L);
 int lua_mavlink_receive_chan(lua_State *L);
 int lua_mavlink_register_rx_msgid(lua_State *L);