AP_HAL: added SocketAPM_native

this is a varient of SocketAPM that always uses native sockets
(ie. doesn't go via AP_Networking lwip)

libraries/AP_HAL/utility/Socket.cpp

@@ -20,7 +20,14 @@
 #include <AP_Networking/AP_Networking_Config.h>
 #if AP_NETWORKING_SOCKETS_ENABLED
 
-#include "Socket.h"
+#ifndef SOCKET_CLASS_NAME
+#define SOCKET_CLASS_NAME SocketAPM
+#endif
+
+#ifndef IN_SOCKET_NATIVE_CPP
+#include "Socket.hpp"
+#endif
+
 #if AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP
 #include <lwip/sockets.h>
 #else
@@ -47,19 +54,17 @@
 #define MSG_NOSIGNAL 0
 #endif
 
-static_assert(sizeof(last_in_addr) == sizeof(struct sockaddr_in), "last_in_addr must match sockaddr_in size");
-
 /*
   constructor
  */
-SocketAPM::SocketAPM(bool _datagram) :
+SOCKET_CLASS_NAME::SOCKET_CLASS_NAME(bool _datagram) :
-    SocketAPM(_datagram, 
+    SOCKET_CLASS_NAME(_datagram,
               CALL_PREFIX(socket)(AF_INET, _datagram?SOCK_DGRAM:SOCK_STREAM, 0))
 {
-    static_assert(sizeof(SocketAPM::last_in_addr) >= sizeof(struct sockaddr_in), "last_in_addr must be at least sockaddr_in size");
+    static_assert(sizeof(SOCKET_CLASS_NAME::last_in_addr) >= sizeof(struct sockaddr_in), "last_in_addr must be at least sockaddr_in size");
 }
 
-SocketAPM::SocketAPM(bool _datagram, int _fd) :
+SOCKET_CLASS_NAME::SOCKET_CLASS_NAME(bool _datagram, int _fd) :
     datagram(_datagram),
     fd(_fd)
 {
@@ -72,7 +77,7 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
     }
 }
 
-SocketAPM::~SocketAPM()
+SOCKET_CLASS_NAME::~SOCKET_CLASS_NAME()
 {
     if (fd != -1) {
         CALL_PREFIX(close)(fd);
@@ -82,7 +87,7 @@ SocketAPM::~SocketAPM()
     }
 }
 
-void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
+void SOCKET_CLASS_NAME::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
 {
     memset(&sockaddr, 0, sizeof(sockaddr));
 
@@ -97,7 +102,7 @@ void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockadd
 /*
   connect the socket
  */
-bool SocketAPM::connect(const char *address, uint16_t port)
+bool SOCKET_CLASS_NAME::connect(const char *address, uint16_t port)
 {
     if (fd == -1) {
         return false;
@@ -184,7 +189,7 @@ fail_multi:
 /*
   connect the socket with a timeout
  */
-bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms)
+bool SOCKET_CLASS_NAME::connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms)
 {
     if (fd == -1) {
         return false;
@@ -218,7 +223,7 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
 /*
   bind the socket
  */
-bool SocketAPM::bind(const char *address, uint16_t port)
+bool SOCKET_CLASS_NAME::bind(const char *address, uint16_t port)
 {
     if (fd == -1) {
         return false;
@@ -237,7 +242,7 @@ bool SocketAPM::bind(const char *address, uint16_t port)
 /*
   set SO_REUSEADDR
  */
-bool SocketAPM::reuseaddress(void) const
+bool SOCKET_CLASS_NAME::reuseaddress(void) const
 {
     if (fd == -1) {
         return false;
@@ -249,7 +254,7 @@ bool SocketAPM::reuseaddress(void) const
 /*
   set blocking state
  */
-bool SocketAPM::set_blocking(bool blocking) const
+bool SOCKET_CLASS_NAME::set_blocking(bool blocking) const
 {
     if (fd == -1) {
         return false;
@@ -272,7 +277,7 @@ bool SocketAPM::set_blocking(bool blocking) const
 /*
   set cloexec state
  */
-bool SocketAPM::set_cloexec() const
+bool SOCKET_CLASS_NAME::set_cloexec() const
 {
     if (fd == -1) {
         return false;
@@ -287,7 +292,7 @@ bool SocketAPM::set_cloexec() const
 /*
   send some data
  */
-ssize_t SocketAPM::send(const void *buf, size_t size) const
+ssize_t SOCKET_CLASS_NAME::send(const void *buf, size_t size) const
 {
     if (fd == -1) {
         return -1;
@@ -298,7 +303,7 @@ ssize_t SocketAPM::send(const void *buf, size_t size) const
 /*
   send some data
  */
-ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uint16_t port)
+ssize_t SOCKET_CLASS_NAME::sendto(const void *buf, size_t size, const char *address, uint16_t port)
 {
     if (fd == -1) {
         return -1;
@@ -311,7 +316,7 @@ ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uin
 /*
   receive some data
  */
-ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
+ssize_t SOCKET_CLASS_NAME::recv(void *buf, size_t size, uint32_t timeout_ms)
 {
     if (!pollin(timeout_ms)) {
         errno = EWOULDBLOCK;
@@ -351,7 +356,7 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
 /*
   return the IP address and port of the last received packet
  */
-void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
+void SOCKET_CLASS_NAME::last_recv_address(const char *&ip_addr, uint16_t &port) const
 {
     static char buf[16];
     auto *str = last_recv_address(buf, sizeof(buf), port);
@@ -361,7 +366,7 @@ void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
 /*
   return the IP address and port of the last received packet, using caller supplied buffer
  */
-const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
+const char *SOCKET_CLASS_NAME::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
 {
     const struct sockaddr_in &sin = *(struct sockaddr_in *)&last_in_addr[0];
 
@@ -373,7 +378,7 @@ const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint
     return ret;
 }
 
-void SocketAPM::set_broadcast(void) const
+void SOCKET_CLASS_NAME::set_broadcast(void) const
 {
     if (fd == -1) {
         return;
@@ -385,7 +390,7 @@ void SocketAPM::set_broadcast(void) const
 /*
   return true if there is pending data for input
  */
-bool SocketAPM::pollin(uint32_t timeout_ms)
+bool SOCKET_CLASS_NAME::pollin(uint32_t timeout_ms)
 {
     fd_set fds;
     struct timeval tv;
@@ -410,7 +415,7 @@ bool SocketAPM::pollin(uint32_t timeout_ms)
 /*
   return true if there is room for output data
  */
-bool SocketAPM::pollout(uint32_t timeout_ms)
+bool SOCKET_CLASS_NAME::pollout(uint32_t timeout_ms)
 {
     if (fd == -1) {
         return false;
@@ -433,7 +438,7 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
 /* 
    start listening for new tcp connections
  */
-bool SocketAPM::listen(uint16_t backlog) const
+bool SOCKET_CLASS_NAME::listen(uint16_t backlog) const
 {
     if (fd == -1) {
         return false;
@@ -445,7 +450,7 @@ bool SocketAPM::listen(uint16_t backlog) const
   accept a new connection. Only valid for TCP connections after
   listen has been used. A new socket is returned
 */
-SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
+SOCKET_CLASS_NAME *SOCKET_CLASS_NAME::accept(uint32_t timeout_ms)
 {
     if (fd == -1) {
         return nullptr;
@@ -460,7 +465,7 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
     if (newfd == -1) {
         return nullptr;
     }
-    auto *ret = new SocketAPM(false, newfd);
+    auto *ret = new SOCKET_CLASS_NAME(false, newfd);
     if (ret != nullptr) {
         ret->connected = true;
         ret->reuseaddress();
@@ -471,7 +476,7 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
 /*
   return true if an address is in the multicast range
  */
-bool SocketAPM::is_multicast_address(struct sockaddr_in &addr) const
+bool SOCKET_CLASS_NAME::is_multicast_address(struct sockaddr_in &addr) const
 {
     const uint32_t mc_lower = 0xE0000000; // 224.0.0.0
     const uint32_t mc_upper = 0xEFFFFFFF; // 239.255.255.255
@@ -479,7 +484,7 @@ bool SocketAPM::is_multicast_address(struct sockaddr_in &addr) const
     return haddr >= mc_lower && haddr <= mc_upper;
 }
 
-void SocketAPM::close(void)
+void SOCKET_CLASS_NAME::close(void)
 {
     if (fd != -1) {
         CALL_PREFIX(close)(fd);
@@ -495,9 +500,9 @@ void SocketAPM::close(void)
   duplicate a socket, giving a new object with the same contents,
   the fd in the old object is set to -1
  */
-SocketAPM *SocketAPM::duplicate(void)
+SOCKET_CLASS_NAME *SOCKET_CLASS_NAME::duplicate(void)
 {
-    auto *ret = new SocketAPM(datagram, fd);
+    auto *ret = new SOCKET_CLASS_NAME(datagram, fd);
     if (ret == nullptr) {
         return nullptr;
     }
@@ -509,14 +514,14 @@ SocketAPM *SocketAPM::duplicate(void)
 }
 
 // access to inet_ntop, takes host order ipv4 as uint32_t
-const char *SocketAPM::inet_addr_to_str(uint32_t addr, char *dst, uint16_t len)
+const char *SOCKET_CLASS_NAME::inet_addr_to_str(uint32_t addr, char *dst, uint16_t len)
 {
     addr = htonl(addr);
     return CALL_PREFIX(inet_ntop)(AF_INET, (void*)&addr, dst, len);
 }
 
 // access to inet_pton, returns host order ipv4 as uint32_t
-uint32_t SocketAPM::inet_str_to_addr(const char *ipstr)
+uint32_t SOCKET_CLASS_NAME::inet_str_to_addr(const char *ipstr)
 {
     uint32_t ret = 0;
     CALL_PREFIX(inet_pton)(AF_INET, ipstr, &ret);

libraries/AP_HAL/utility/Socket.h

@@ -1,101 +1,14 @@
 /*
-   This program is free software: you can redistribute it and/or modify
+  variant of SocketAPM using either lwip or native sockets
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-/*
-  simple socket handling class for systems with BSD socket API
  */
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_Networking/AP_Networking_Config.h>
 
-#if AP_NETWORKING_SOCKETS_ENABLED
+#ifndef SOCKET_CLASS_NAME
+#define SOCKET_CLASS_NAME SocketAPM
+#endif
 
-class SocketAPM {
+#include "Socket.hpp"
-public:
-    SocketAPM(bool _datagram);
-    SocketAPM(bool _datagram, int _fd);
-    ~SocketAPM();
 
-    bool connect(const char *address, uint16_t port);
+#undef SOCKET_CLASS_NAME
-    bool connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms);
-    bool bind(const char *address, uint16_t port);
-    bool reuseaddress() const;
-    bool set_blocking(bool blocking) const;
-    bool set_cloexec() const;
-    void set_broadcast(void) const;
-
-    ssize_t send(const void *pkt, size_t size) const;
-    ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
-    ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
-
-    // return the IP address and port of the last received packet
-    void last_recv_address(const char *&ip_addr, uint16_t &port) const;
-
-    // return the IP address and port of the last received packet, using caller supplied buffer
-    const char *last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const;
-
-    // return true if there is pending data for input
-    bool pollin(uint32_t timeout_ms);
-
-    // return true if there is room for output data
-    bool pollout(uint32_t timeout_ms);
-
-    // start listening for new tcp connections
-    bool listen(uint16_t backlog) const;
-
-    // close socket
-    void close(void);
-
-    // accept a new connection. Only valid for TCP connections after
-    // listen has been used. A new socket is returned
-    SocketAPM *accept(uint32_t timeout_ms);
-
-    // get a FD suitable for read selection
-    int get_read_fd(void) const {
-        return fd_in != -1? fd_in : fd;
-    }
-
-    // create a new socket with same fd, but new memory
-    // the old socket gets fd of -1
-    SocketAPM *duplicate(void);
-
-    bool is_connected(void) const {
-        return connected;
-    }
-
-    // access to inet_ntop
-    static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
-
-    // access to inet_pton
-    static uint32_t inet_str_to_addr(const char *ipstr);
-    
-private:
-    bool datagram;
-    // we avoid using struct sockaddr_in here to keep support for
-    // mixing native sockets and lwip sockets in SITL
-    uint32_t last_in_addr[4];
-    bool is_multicast_address(struct sockaddr_in &addr) const;
-
-    int fd = -1;
-
-    // fd_in is used for multicast UDP
-    int fd_in = -1;
-
-    bool connected;
-
-    void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
-};
-
-#endif // AP_NETWORKING_SOCKETS_ENABLED

libraries/AP_HAL/utility/Socket.hpp

@@ -0,0 +1,104 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  simple socket handling class for systems with BSD socket API
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Networking/AP_Networking_Config.h>
+
+#if AP_NETWORKING_SOCKETS_ENABLED || defined(AP_SOCKET_NATIVE_ENABLED)
+
+#ifndef SOCKET_CLASS_NAME
+#error "Don't include Socket.hpp directly"
+#endif
+
+class SOCKET_CLASS_NAME {
+public:
+    SOCKET_CLASS_NAME(bool _datagram);
+    SOCKET_CLASS_NAME(bool _datagram, int _fd);
+    ~SOCKET_CLASS_NAME();
+
+    bool connect(const char *address, uint16_t port);
+    bool connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms);
+    bool bind(const char *address, uint16_t port);
+    bool reuseaddress() const;
+    bool set_blocking(bool blocking) const;
+    bool set_cloexec() const;
+    void set_broadcast(void) const;
+
+    ssize_t send(const void *pkt, size_t size) const;
+    ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
+    ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
+
+    // return the IP address and port of the last received packet
+    void last_recv_address(const char *&ip_addr, uint16_t &port) const;
+
+    // return the IP address and port of the last received packet, using caller supplied buffer
+    const char *last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const;
+
+    // return true if there is pending data for input
+    bool pollin(uint32_t timeout_ms);
+
+    // return true if there is room for output data
+    bool pollout(uint32_t timeout_ms);
+
+    // start listening for new tcp connections
+    bool listen(uint16_t backlog) const;
+
+    // close socket
+    void close(void);
+
+    // accept a new connection. Only valid for TCP connections after
+    // listen has been used. A new socket is returned
+    SOCKET_CLASS_NAME *accept(uint32_t timeout_ms);
+
+    // get a FD suitable for read selection
+    int get_read_fd(void) const {
+        return fd_in != -1? fd_in : fd;
+    }
+
+    // create a new socket with same fd, but new memory
+    // the old socket gets fd of -1
+    SOCKET_CLASS_NAME *duplicate(void);
+
+    bool is_connected(void) const {
+        return connected;
+    }
+
+    // access to inet_ntop
+    static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
+
+    // access to inet_pton
+    static uint32_t inet_str_to_addr(const char *ipstr);
+    
+private:
+    bool datagram;
+    // we avoid using struct sockaddr_in here to keep support for
+    // mixing native sockets and lwip sockets in SITL
+    uint32_t last_in_addr[4];
+    bool is_multicast_address(struct sockaddr_in &addr) const;
+
+    int fd = -1;
+
+    // fd_in is used for multicast UDP
+    int fd_in = -1;
+
+    bool connected;
+
+    void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
+};
+
+#endif // AP_NETWORKING_SOCKETS_ENABLED

libraries/AP_HAL/utility/Socket_native.cpp

@@ -0,0 +1,11 @@
+/*
+  variant of SocketAPM using native sockets (not via lwip)
+ */
+#include "Socket_native.h"
+
+#if AP_SOCKET_NATIVE_ENABLED
+#undef AP_NETWORKING_BACKEND_PPP
+#define IN_SOCKET_NATIVE_CPP
+#define SOCKET_CLASS_NAME SocketAPM_native
+#include "Socket.cpp"
+#endif

libraries/AP_HAL/utility/Socket_native.h

@@ -0,0 +1,22 @@
+/*
+  variant of SocketAPM using native sockets (not via lwip)
+ */
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#define AP_SOCKET_NATIVE_ENABLED 1
+#define SOCKET_CLASS_NAME SocketAPM_native
+#ifndef AP_NETWORKING_SOCKETS_ENABLED
+#define AP_NETWORKING_SOCKETS_ENABLED 1
+#endif
+#include "Socket.hpp"
+#else
+#error "attempt to use Socket_native.h without native sockets"
+#endif
+
+#undef SOCKET_CLASS_NAME
+
+
+