mirror of https://github.com/ArduPilot/ardupilot
AP_HAL: Enable SocketAPM to use LwIP/ChibiOS
This commit is contained in:
Tom Pittenger
Tom Pittenger
parent
4c70670445
commit
df600e5582
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@ -17,7 +17,8 @@
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*/
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#include <AP_HAL/AP_HAL.h>
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#if HAL_OS_SOCKETS
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#include <AP_Networking/AP_Networking_Config.h>
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#if AP_NETWORKING_SOCKETS_ENABLED
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#include "Socket.h"
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#include <errno.h>
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@ -34,7 +35,9 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
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datagram(_datagram),
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fd(_fd)
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{
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#ifdef FD_CLOEXEC
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fcntl(fd, F_SETFD, FD_CLOEXEC);
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#endif
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if (!datagram) {
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int one = 1;
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setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
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@ -44,7 +47,11 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
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SocketAPM::~SocketAPM()
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{
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if (fd != -1) {
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#if AP_NETWORKING_BACKEND_CHIBIOS
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::lwip_close(fd);
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#else
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::close(fd);
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#endif
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fd = -1;
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}
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}
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@ -69,7 +76,11 @@ bool SocketAPM::connect(const char *address, uint16_t port)
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struct sockaddr_in sockaddr;
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make_sockaddr(address, port, sockaddr);
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#if AP_NETWORKING_BACKEND_CHIBIOS
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if (::lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
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#else
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if (::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
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#endif
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return false;
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}
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return true;
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@ -85,7 +96,11 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
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set_blocking(false);
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#if AP_NETWORKING_BACKEND_CHIBIOS
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int ret = ::lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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#else
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int ret = ::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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#endif
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if (ret == 0) {
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// instant connect?
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return true;
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@ -113,7 +128,11 @@ bool SocketAPM::bind(const char *address, uint16_t port)
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struct sockaddr_in sockaddr;
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make_sockaddr(address, port, sockaddr);
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#if AP_NETWORKING_BACKEND_CHIBIOS
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if (::lwip_bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
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#else
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if (::bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
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#endif
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return false;
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}
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return true;
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@ -148,7 +167,11 @@ bool SocketAPM::set_blocking(bool blocking) const
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*/
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bool SocketAPM::set_cloexec() const
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{
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#ifdef FD_CLOEXEC
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return (fcntl(fd, F_SETFD, FD_CLOEXEC) != -1);
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#else
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return false;
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#endif
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}
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/*
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@ -156,7 +179,11 @@ bool SocketAPM::set_cloexec() const
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*/
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ssize_t SocketAPM::send(const void *buf, size_t size) const
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{
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#if AP_NETWORKING_BACKEND_CHIBIOS
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return ::lwip_send(fd, buf, size, 0);
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#else
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return ::send(fd, buf, size, 0);
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#endif
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}
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/*
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@ -166,7 +193,11 @@ ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uin
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{
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struct sockaddr_in sockaddr;
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make_sockaddr(address, port, sockaddr);
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#if AP_NETWORKING_BACKEND_CHIBIOS
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return ::lwip_sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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#else
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return ::sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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#endif
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}
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/*
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@ -178,7 +209,11 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
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return -1;
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}
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socklen_t len = sizeof(in_addr);
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#if AP_NETWORKING_BACKEND_CHIBIOS
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return ::lwip_recvfrom(fd, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
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#else
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return ::recvfrom(fd, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
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#endif
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}
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/*
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@ -242,7 +277,11 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
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*/
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bool SocketAPM::listen(uint16_t backlog) const
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{
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#if AP_NETWORKING_BACKEND_CHIBIOS
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return ::lwip_listen(fd, (int)backlog) == 0;
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#else
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return ::listen(fd, (int)backlog) == 0;
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#endif
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}
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/*
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@ -255,7 +294,11 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
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return nullptr;
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}
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#if AP_NETWORKING_BACKEND_CHIBIOS
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int newfd = ::lwip_accept(fd, nullptr, nullptr);
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#else
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int newfd = ::accept(fd, nullptr, nullptr);
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#endif
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if (newfd == -1) {
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return nullptr;
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}
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@ -265,4 +308,4 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
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return new SocketAPM(false, newfd);
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}
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#endif // HAL_OS_SOCKETS
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#endif // AP_NETWORKING_BACKEND_ANY
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@ -18,6 +18,9 @@
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Networking/AP_Networking_Config.h>
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#if AP_NETWORKING_SOCKETS_ENABLED
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#if HAL_OS_SOCKETS
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#include <fcntl.h>
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@ -28,6 +31,10 @@
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#include <netinet/tcp.h>
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#include <arpa/inet.h>
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#include <sys/select.h>
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#elif AP_NETWORKING_BACKEND_CHIBIOS
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#include <AP_Networking/AP_Networking_ChibiOS.h>
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#include <lwip/sockets.h>
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#endif
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class SocketAPM {
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public:
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@ -72,4 +79,4 @@ private:
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void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
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};
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#endif // HAL_OS_SOCKETS
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#endif // AP_NETWORKING_SOCKETS_ENABLED
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