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ardupilot/libraries/AP_Networking/AP_Networking.h

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C++
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#pragma once
#include "AP_Networking_Config.h"
#if AP_NETWORKING_ENABLED
#include <AP_Param/AP_Param.h>
#include "AP_Networking_address.h"
#include "AP_Networking_Backend.h"
#include "AP_Networking_CAN.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_HAL/utility/RingBuffer.h>
/*
Note! all uint32_t IPv4 addresses are in host byte order
*/
// declare backend classes
class AP_Networking_Backend;
class AP_Networking_ChibiOS;
class SocketAPM;
class AP_Networking
{
public:
friend class AP_Networking_Backend;
friend class AP_Networking_ChibiOS;
friend class AP_Networking_PPP;
friend class AP_Vehicle;
friend class Networking_Periph;
AP_Networking();
/* Do not allow copies */
CLASS_NO_COPY(AP_Networking);
// initialize the library. This should only be run once
void init();
// update task, called at 10Hz
void update();
static AP_Networking *get_singleton(void)
{
return singleton;
}
HAL_Semaphore &get_semaphore(void)
{
return sem;
}
// Networking interface is enabled and initialized
bool is_healthy() const
{
return param.enabled && backend != nullptr;
}
// returns true if DHCP is enabled
bool get_dhcp_enabled() const
{
#if AP_NETWORKING_DHCP_AVAILABLE
return param.dhcp;
#else
// DHCP is not available from our scope but could be enabled/controlled
// by the OS which is the case on Linux builds, including SITL
// TODO: ask the OS if DHCP is enabled
return false;
#endif
}
// Sets DHCP to be enabled or disabled
void set_dhcp_enable(const bool enable)
{
#if AP_NETWORKING_DHCP_AVAILABLE
param.dhcp.set(enable);
#endif
}
// returns the 32bit value of the active IP address that is currently in use
uint32_t get_ip_active() const;
// returns the 32bit value of the user-parameter static IP address
uint32_t get_ip_param() const
{
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
return param.ipaddr.get_uint32();
#else
// TODO: ask the OS for the IP address
return 0;
#endif
}
// sets the user-parameter static IP address from a 32bit value
void set_ip_param(const uint32_t ip)
{
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
param.ipaddr.set_uint32(ip);
#endif
}
// returns the 32bit value of the active Netmask that is currently in use
uint32_t get_netmask_active() const;
// returns the 32bit value of the of the user-parameter static Netmask
uint32_t get_netmask_param() const
{
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
return convert_netmask_bitcount_to_ip(param.netmask.get());
#else
// TODO: ask the OS for the Netmask
return 0;
#endif
}
uint32_t get_gateway_active() const;
uint32_t get_gateway_param() const
{
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
return param.gwaddr.get_uint32();
#else
// TODO: ask the OS for the Gateway
return 0;
#endif
}
void set_gateway_param(const uint32_t gw)
{
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
param.gwaddr.set_uint32(gw);
#endif
}
// wait in a thread for network startup
void startup_wait(void) const;
// convert string to ethernet mac address
static bool convert_str_to_macaddr(const char *mac_str, uint8_t addr[6]);
// address to string using a static return buffer for scripting
static const char *address_to_str(uint32_t addr);
// helper functions to convert between 32bit Netmask and counting consecutive bits and back
static uint32_t convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount);
static uint8_t convert_netmask_ip_to_bitcount(const uint32_t netmask_ip);
/*
send contents of a file to a socket then close both socket and file
*/
bool sendfile(SocketAPM *sock, int fd);
static const struct AP_Param::GroupInfo var_info[];
enum class OPTION {
PPP_ETHERNET_GATEWAY=(1U<<0),
#if AP_NETWORKING_CAN_MCAST_ENABLED
CAN1_MCAST_GATEWAY=(1U<<1),
CAN2_MCAST_GATEWAY=(1U<<2),
#endif
};
bool option_is_set(OPTION option) const {
return (param.options.get() & int32_t(option)) != 0;
}
private:
static AP_Networking *singleton;
void announce_address_changes();
struct {
#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
AP_Networking_IPV4 ipaddr{AP_NETWORKING_DEFAULT_STATIC_IP_ADDR};
AP_Int8 netmask; // bits to mask. example: (16 == 255.255.0.0) and (24 == 255.255.255.0)
AP_Networking_IPV4 gwaddr{AP_NETWORKING_DEFAULT_STATIC_GW_ADDR};
AP_Networking_MAC macaddr{AP_NETWORKING_DEFAULT_MAC_ADDR};
#if AP_NETWORKING_DHCP_AVAILABLE
AP_Int8 dhcp;
#endif
#endif
AP_Int8 enabled;
AP_Int32 options;
#if AP_NETWORKING_TESTS_ENABLED
AP_Int32 tests;
AP_Networking_IPV4 test_ipaddr{AP_NETWORKING_TEST_IP};
#endif
#if AP_NETWORKING_PPP_GATEWAY_ENABLED
AP_Networking_IPV4 remote_ppp_ip{AP_NETWORKING_REMOTE_PPP_IP};
#endif
} param;
AP_Networking_Backend *backend;
#if AP_NETWORKING_PPP_GATEWAY_ENABLED
AP_Networking_Backend *backend_PPP;
#endif
HAL_Semaphore sem;
enum class NetworkPortType {
NONE = 0,
UDP_CLIENT = 1,
UDP_SERVER = 2,
TCP_CLIENT = 3,
TCP_SERVER = 4,
};
#if AP_NETWORKING_REGISTER_PORT_ENABLED
// class for NET_Pn_* parameters
class Port : public AP_SerialManager::RegisteredPort {
public:
/* Do not allow copies */
CLASS_NO_COPY(Port);
Port() {}
static const struct AP_Param::GroupInfo var_info[];
AP_Enum<NetworkPortType> type;
AP_Networking_IPV4 ip {"0.0.0.0"};
AP_Int32 port;
SocketAPM *sock;
SocketAPM *listen_sock;
bool is_initialized() override {
return true;
}
bool tx_pending() override {
return false;
}
void udp_client_init(void);
void udp_server_init(void);
void tcp_server_init(void);
void tcp_client_init(void);
void udp_client_loop(void);
void udp_server_loop(void);
void tcp_client_loop(void);
void tcp_server_loop(void);
bool send_receive(void);
private:
bool init_buffers(const uint32_t size_rx, const uint32_t size_tx);
void thread_create(AP_HAL::MemberProc);
uint32_t txspace() override;
void _begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
size_t _write(const uint8_t *buffer, size_t size) override;
ssize_t _read(uint8_t *buffer, uint16_t count) override;
uint32_t _available() override;
void _end() override {}
void _flush() override {}
bool _discard_input() override;
enum flow_control get_flow_control(void) override;
uint32_t bw_in_bytes_per_second() const override {
return 1000000UL;
}
ByteBuffer *readbuffer;
ByteBuffer *writebuffer;
char thread_name[10];
uint32_t last_size_tx;
uint32_t last_size_rx;
bool packetise;
bool connected;
uint32_t last_udp_connect_address;
uint16_t last_udp_connect_port;
bool have_received;
bool close_on_recv_error;
uint32_t last_udp_srv_recv_time_ms;
HAL_Semaphore sem;
};
#endif // AP_NETWORKING_REGISTER_PORT_ENABLED
private:
uint32_t announce_ms;
#if AP_NETWORKING_TESTS_ENABLED
enum {
TEST_UDP_CLIENT = (1U<<0),
TEST_TCP_CLIENT = (1U<<1),
TEST_TCP_DISCARD = (1U<<2),
TEST_TCP_REFLECT = (1U<<3),
TEST_CONNECTOR_LOOPBACK = (1U<<4),
};
void start_tests(void);
void test_UDP_client(void);
void test_TCP_client(void);
void test_TCP_discard(void);
void test_TCP_reflect(void);
void test_connector_loopback(void);
#endif // AP_NETWORKING_TESTS_ENABLED
#if AP_NETWORKING_REGISTER_PORT_ENABLED
// ports for registration with serial manager
Port ports[AP_NETWORKING_NUM_PORTS];
#endif
#if AP_NETWORKING_CAN_MCAST_ENABLED
AP_Networking_CAN mcast_server;
#endif
// support for sendfile()
struct SendFile {
SocketAPM *sock;
int fd;
void close(void);
} sendfiles[AP_NETWORKING_NUM_SENDFILES];
uint8_t *sendfile_buf;
uint32_t sendfile_bufsize;
void sendfile_check(void);
bool sendfile_thread_started;
void ports_init(void);
};
namespace AP
{
AP_Networking &network();
};
extern "C" {
int ap_networking_printf(const char *fmt, ...);
}
#endif // AP_NETWORKING_ENABLED
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