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