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ardupilot/libraries/AP_Networking/AP_Networking.cpp

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#include "AP_Networking_Config.h"
#if AP_NETWORKING_ENABLED
#include "AP_Networking.h"
#include "AP_Networking_Backend.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_Math/crc.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include <AP_HAL/CANIface.h>
extern const AP_HAL::HAL& hal;
#if AP_NETWORKING_BACKEND_CHIBIOS
#include "AP_Networking_ChibiOS.h"
#include <hal_mii.h>
#endif
#include <lwipopts.h>
#include <errno.h>
#include <AP_HAL/utility/Socket.h>
#if AP_NETWORKING_BACKEND_PPP
#include "AP_Networking_PPP.h"
#endif
#if AP_NETWORKING_BACKEND_SITL
#include "AP_Networking_SITL.h"
#endif
const AP_Param::GroupInfo AP_Networking::var_info[] = {
// @Param: ENABLE
// @DisplayName: Networking Enable
// @Description: Networking Enable
// @Values: 0:Disable,1:Enable
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Networking, param.enabled, 0, AP_PARAM_FLAG_ENABLE),
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
// @Group: IPADDR
// @Path: AP_Networking_address.cpp
AP_SUBGROUPINFO(param.ipaddr, "IPADDR", 2, AP_Networking, AP_Networking_IPV4),
// @Param: NETMASK
// @DisplayName: IP Subnet mask
// @Description: Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0
// @Range: 0 32
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("NETMASK", 3, AP_Networking, param.netmask, AP_NETWORKING_DEFAULT_NETMASK),
#if AP_NETWORKING_DHCP_AVAILABLE
// @Param: DHCP
// @DisplayName: DHCP client
// @Description: Enable/Disable DHCP client
// @Values: 0:Disable, 1:Enable
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("DHCP", 4, AP_Networking, param.dhcp, AP_NETWORKING_DEFAULT_DHCP_ENABLE),
#endif
// @Group: GWADDR
// @Path: AP_Networking_address.cpp
AP_SUBGROUPINFO(param.gwaddr, "GWADDR", 5, AP_Networking, AP_Networking_IPV4),
// @Group: MACADDR
// @Path: AP_Networking_macaddr.cpp
AP_SUBGROUPINFO(param.macaddr, "MACADDR", 6, AP_Networking, AP_Networking_MAC),
#endif // AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
#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, 2:TCP discard test, 3:TCP reflect test
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("TESTS", 7, AP_Networking, param.tests, 0),
// @Group: TEST_IP
// @Path: AP_Networking_address.cpp
AP_SUBGROUPINFO(param.test_ipaddr, "TEST_IP", 8, AP_Networking, AP_Networking_IPV4),
#endif
// @Param: OPTIONS
// @DisplayName: Networking options
// @Description: Networking options
// @Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast gateway, 2:Enable CAN2 multicast gateway
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("OPTIONS", 9, AP_Networking, param.options, 0),
#if AP_NETWORKING_PPP_GATEWAY_ENABLED
// @Group: REMPPP_IP
// @Path: AP_Networking_address.cpp
AP_SUBGROUPINFO(param.remote_ppp_ip, "REMPPP_IP", 10, AP_Networking, AP_Networking_IPV4),
#endif
AP_GROUPEND
};
/*
constructor
*/
AP_Networking::AP_Networking(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (singleton != nullptr) {
AP_HAL::panic("AP_Networking must be singleton");
}
#endif
singleton = this;
AP_Param::setup_object_defaults(this, var_info);
}
/*
initialise networking subsystem
*/
void AP_Networking::init()
{
if (!param.enabled || backend != nullptr) {
return;
}
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
// set default MAC Address as lower 3 bytes of the CRC of the UID
uint8_t uid[50];
uint8_t uid_len = sizeof(uid);
if (hal.util->get_system_id_unformatted(uid, uid_len)) {
union {
uint8_t bytes[4];
uint32_t value32;
} crc;
crc.value32 = crc_crc32(0, uid, uid_len);
param.macaddr.set_default_address_byte(3, crc.bytes[0]);
param.macaddr.set_default_address_byte(4, crc.bytes[1]);
param.macaddr.set_default_address_byte(5, crc.bytes[2]);
}
#endif
#if AP_NETWORKING_PPP_GATEWAY_ENABLED
if (option_is_set(OPTION::PPP_ETHERNET_GATEWAY)) {
/*
when we are a PPP/Ethernet gateway we bring up the ethernet first
*/
backend = NEW_NOTHROW AP_Networking_ChibiOS(*this);
backend_PPP = NEW_NOTHROW AP_Networking_PPP(*this);
}
#endif
#if AP_NETWORKING_BACKEND_PPP
if (backend == nullptr && AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_PPP, 0)) {
backend = NEW_NOTHROW AP_Networking_PPP(*this);
}
#endif
#if AP_NETWORKING_BACKEND_CHIBIOS
if (backend == nullptr) {
backend = NEW_NOTHROW AP_Networking_ChibiOS(*this);
}
#endif
#if AP_NETWORKING_BACKEND_SITL
if (backend == nullptr) {
backend = NEW_NOTHROW AP_Networking_SITL(*this);
}
#endif
if (backend == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: backend failed");
return;
}
if (!backend->init()) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: backend init failed");
// the backend init function creates a thread which references the backend pointer; that thread may be running so don't remove the backend allocation.
backend = nullptr;
return;
}
#if AP_NETWORKING_PPP_GATEWAY_ENABLED
if (backend_PPP != nullptr && !backend_PPP->init()) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: backend_PPP init failed");
backend_PPP = nullptr;
}
#endif
announce_address_changes();
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"NET: Initialized");
#if AP_NETWORKING_TESTS_ENABLED
start_tests();
#endif
#if AP_NETWORKING_CAN_MCAST_ENABLED && !defined(HAL_BOOTLOADER_BUILD)
if (option_is_set(OPTION::CAN1_MCAST_GATEWAY) || option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
// get mask of enabled buses
uint8_t bus_mask = 0;
if (option_is_set(OPTION::CAN1_MCAST_GATEWAY)) {
bus_mask |= (1U<<0);
}
if (option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
bus_mask |= (1U<<1);
}
mcast_server.start(bus_mask);
}
#endif
#if AP_NETWORKING_REGISTER_PORT_ENABLED
// init network mapped serialmanager ports
ports_init();
#endif
}
/*
check if we should announce changes to IP addresses
*/
void AP_Networking::announce_address_changes()
{
const auto &as = backend->activeSettings;
if (as.last_change_ms == 0 || as.last_change_ms == announce_ms) {
// nothing changed and we've already printed it at least once. Nothing to do.
return;
}
#if AP_HAVE_GCS_SEND_TEXT
char ipstr[16];
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: IP %s", SocketAPM::inet_addr_to_str(get_ip_active(), ipstr, sizeof(ipstr)));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Mask %s", SocketAPM::inet_addr_to_str(get_netmask_active(), ipstr, sizeof(ipstr)));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", SocketAPM::inet_addr_to_str(get_gateway_active(), ipstr, sizeof(ipstr)));
#endif
announce_ms = as.last_change_ms;
}
/*
update called at 10Hz
*/
void AP_Networking::update()
{
if (!is_healthy()) {
return;
}
backend->update();
announce_address_changes();
}
uint32_t AP_Networking::convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount)
{
if (netmask_bitcount >= 32) {
return 0xFFFFFFFFU;
}
return ~((1U<<(32U-netmask_bitcount))-1U);
}
uint8_t AP_Networking::convert_netmask_ip_to_bitcount(const uint32_t netmask_ip)
{
uint32_t netmask_bitcount = 0;
for (uint32_t i=0; i<32; i++) {
// note, netmask LSB is IP MSB
if ((netmask_ip & (1UL<<i)) == 0) {
break;
}
netmask_bitcount++;
}
return netmask_bitcount;
}
/*
convert a string to an ethernet MAC address
*/
bool AP_Networking::convert_str_to_macaddr(const char *mac_str, uint8_t addr[6])
{
if (strlen(mac_str) != 17) {
return false;
}
char s2[18];
strncpy(s2, mac_str, sizeof(s2)-1);
s2[17] = 0;
char *ptr = nullptr;
const char *s = strtok_r(s2, ":", &ptr);
for (uint8_t i=0; i<6; i++) {
if (s == nullptr) {
return false;
}
auto v = strtoul(s, nullptr, 16);
if (v > 255) {
return false;
}
addr[i] = v;
s = strtok_r(nullptr, ":", &ptr);
}
return true;
}
// returns the 32bit value of the active IP address that is currently in use
uint32_t AP_Networking::get_ip_active() const
{
return backend?backend->activeSettings.ip:0;
}
// returns the 32bit value of the active Netmask that is currently in use
uint32_t AP_Networking::get_netmask_active() const
{
return backend?backend->activeSettings.nm:0;
}
uint32_t AP_Networking::get_gateway_active() const
{
return backend?backend->activeSettings.gw:0;
}
/*
wait for networking to be active
*/
void AP_Networking::startup_wait(void) const
{
if (hal.scheduler->in_main_thread()) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return;
}
while (!hal.scheduler->is_system_initialized()) {
hal.scheduler->delay(100);
}
#if AP_NETWORKING_BACKEND_CHIBIOS
do {
hal.scheduler->delay(250);
} while (get_ip_active() == 0);
#endif
}
/*
send the rest of a file to a socket
*/
bool AP_Networking::sendfile(SocketAPM *sock, int fd)
{
WITH_SEMAPHORE(sem);
if (sendfile_buf == nullptr) {
uint32_t bufsize = AP_NETWORKING_SENDFILE_BUFSIZE;
do {
sendfile_buf = (uint8_t *)hal.util->malloc_type(bufsize, AP_HAL::Util::MEM_FILESYSTEM);
if (sendfile_buf != nullptr) {
sendfile_bufsize = bufsize;
break;
}
bufsize /= 2;
} while (bufsize >= 4096);
if (sendfile_buf == nullptr) {
return false;
}
}
if (!sendfile_thread_started) {
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::sendfile_check, void),
"sendfile",
2048, AP_HAL::Scheduler::PRIORITY_UART, 0)) {
return false;
}
sendfile_thread_started = true;
}
for (auto &s : sendfiles) {
if (s.sock == nullptr) {
s.sock = sock->duplicate();
if (s.sock == nullptr) {
return false;
}
s.fd = fd;
return true;
}
}
return false;
}
void AP_Networking::SendFile::close(void)
{
AP::FS().close(fd);
delete sock;
sock = nullptr;
}
#include <stdio.h>
/*
check for sendfile updates
*/
void AP_Networking::sendfile_check(void)
{
while (true) {
hal.scheduler->delay(1);
WITH_SEMAPHORE(sem);
bool none_active = true;
for (auto &s : sendfiles) {
if (s.sock == nullptr) {
continue;
}
none_active = false;
if (!s.sock->pollout(0)) {
continue;
}
const auto nread = AP::FS().read(s.fd, sendfile_buf, sendfile_bufsize);
if (nread <= 0) {
s.close();
continue;
}
const auto nsent = s.sock->send(sendfile_buf, nread);
if (nsent <= 0) {
s.close();
continue;
}
if (nsent < nread) {
AP::FS().lseek(s.fd, nsent - nread, SEEK_CUR);
}
}
if (none_active) {
free(sendfile_buf);
sendfile_buf = nullptr;
}
}
}
AP_Networking *AP_Networking::singleton;
namespace AP
{
AP_Networking &network()
{
return *AP_Networking::get_singleton();
}
}
/*
debug printfs from LWIP
*/
int ap_networking_printf(const char *fmt, ...)
{
WITH_SEMAPHORE(AP::network().get_semaphore());
#ifdef AP_NETWORKING_LWIP_DEBUG_FILE
static int fd = -1;
if (fd == -1) {
fd = AP::FS().open(AP_NETWORKING_LWIP_DEBUG_FILE, O_WRONLY|O_CREAT|O_TRUNC, 0644);
if (fd == -1) {
return -1;
}
}
va_list ap;
va_start(ap, fmt);
vdprintf(fd, fmt, ap);
va_end(ap);
#else
va_list ap;
va_start(ap, fmt);
hal.console->vprintf(fmt, ap);
va_end(ap);
#endif
return 0;
}
// address to string using a static return buffer
const char *AP_Networking::address_to_str(uint32_t addr)
{
static char buf[16]; // 16 for aaa.bbb.ccc.ddd
return SocketAPM::inet_addr_to_str(addr, buf, sizeof(buf));
}
#ifdef LWIP_PLATFORM_ASSERT
void ap_networking_platform_assert(const char *msg, int line, const char *file)
{
AP_HAL::panic("LWIP: %s: %s:%u", msg, file, line);
}
#endif
#endif // AP_NETWORKING_ENABLED
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