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ardupilot/libraries/AP_Networking/AP_Networking_tests.cpp

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/*
a set of tests for networking
*/
#include "AP_Networking_Config.h"
#if AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED
#include "AP_Networking.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/utility/Socket.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
/*
start tests
*/
void AP_Networking::start_tests(void)
{
if (param.tests & TEST_UDP_CLIENT) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_UDP_client, void),
"UDP_client",
8192, AP_HAL::Scheduler::PRIORITY_IO, -1);
}
if (param.tests & TEST_TCP_CLIENT) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_TCP_client, void),
"TCP_client",
8192, AP_HAL::Scheduler::PRIORITY_IO, -1);
}
if (param.tests & TEST_TCP_DISCARD) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_TCP_discard, void),
"TCP_discard",
8192, AP_HAL::Scheduler::PRIORITY_UART, -1);
}
if (param.tests & TEST_TCP_REFLECT) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_TCP_reflect, void),
"TCP_reflect",
8192, AP_HAL::Scheduler::PRIORITY_UART, -1);
}
if (param.tests & TEST_CONNECTOR_LOOPBACK) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_connector_loopback, void),
"connector_loopback",
8192, AP_HAL::Scheduler::PRIORITY_IO, -1);
}
}
/*
start UDP client test
*/
void AP_Networking::test_UDP_client(void)
{
startup_wait();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: starting");
const char *dest = param.test_ipaddr.get_str();
auto *sock = NEW_NOTHROW SocketAPM(true);
if (sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UDP_client: failed to create socket");
return;
}
// connect to the echo service, which is port 7
if (!sock->connect(dest, 7)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UDP_client: connect failed");
return;
}
while (true) {
hal.scheduler->delay(100);
char *s = nullptr;
IGNORE_RETURN(asprintf(&s, "hello %u", unsigned(AP_HAL::millis())));
sock->send((const void*)s, strlen(s));
free(s);
uint8_t buf[128] {};
const ssize_t ret = sock->recv(buf, sizeof(buf), 10);
if (ret > 0) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: reply '%s'", (const char *)buf);
}
}
}
/*
start TCP client test
*/
void AP_Networking::test_TCP_client(void)
{
startup_wait();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: starting");
const char *dest = param.test_ipaddr.get_str();
auto *sock = NEW_NOTHROW SocketAPM(false);
if (sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_client: failed to create socket");
return;
}
// connect to the echo service, which is port 7
if (!sock->connect(dest, 7)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_client: connect failed");
return;
}
while (true) {
hal.scheduler->delay(100);
char *s = nullptr;
IGNORE_RETURN(asprintf(&s, "hello %u", unsigned(AP_HAL::millis())));
sock->send((const void*)s, strlen(s));
free(s);
uint8_t buf[128] {};
const ssize_t ret = sock->recv(buf, sizeof(buf), 10);
if (ret > 0) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: reply '%s'", (const char *)buf);
}
}
}
/*
start TCP discard (throughput) test
*/
void AP_Networking::test_TCP_discard(void)
{
startup_wait();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_discard: starting");
const char *dest = param.test_ipaddr.get_str();
auto *sock = NEW_NOTHROW SocketAPM(false);
if (sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_discard: failed to create socket");
return;
}
// connect to the discard service, which is port 9
while (!sock->connect(dest, 9)) {
hal.scheduler->delay(10);
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_discard: connected");
const uint32_t bufsize = 1024;
uint8_t *buf = (uint8_t*)malloc(bufsize);
for (uint32_t i=0; i<bufsize; i++) {
buf[i] = i & 0xFF;
}
uint32_t last_report_ms = AP_HAL::millis();
uint32_t total_sent = 0;
while (true) {
if ((param.tests & TEST_TCP_DISCARD) == 0) {
hal.scheduler->delay(1);
continue;
}
total_sent += sock->send(buf, bufsize);
const uint32_t now = AP_HAL::millis();
if (now - last_report_ms >= 1000) {
float dt = (now - last_report_ms)*0.001;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Discard throughput %.3f kbyte/sec", (total_sent/dt)*1.0e-3);
total_sent = 0;
last_report_ms = now;
}
}
}
/*
start TCP reflect (TCP echo throughput) test
*/
void AP_Networking::test_TCP_reflect(void)
{
startup_wait();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_reflect: starting");
const char *dest = param.test_ipaddr.get_str();
auto *sock = new SocketAPM(false);
if (sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_reflect: failed to create socket");
return;
}
// connect to the echo service, which is port 7
while (!sock->connect(dest, 7)) {
hal.scheduler->delay(10);
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_reflect: connected");
const uint32_t bufsize = 4096;
uint8_t *buf = (uint8_t*)malloc(bufsize);
for (uint32_t i=0; i<bufsize; i++) {
buf[i] = i & 0xFF;
}
uint32_t last_report_ms = AP_HAL::millis();
uint32_t total_sent = 0;
uint32_t total_recv = 0;
uint32_t last_recv = 0;
const uint32_t max_disparity = 100*1024;
while (true) {
if ((param.tests & TEST_TCP_REFLECT) == 0) {
hal.scheduler->delay(1);
continue;
}
const bool will_send = total_sent < total_recv + max_disparity;
if (will_send) {
total_sent += sock->send(buf, bufsize);
}
if (sock->pollin(0)) {
uint32_t n = sock->recv(buf, bufsize, 0);
if (n == 0 && !will_send) {
hal.scheduler->delay_microseconds(100);
}
total_recv += n;
}
const uint32_t now = AP_HAL::millis();
if (now - last_report_ms >= 1000) {
float dt = (now - last_report_ms)*0.001;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Reflect throughput %.3f kbyte/sec (disparity %u)", ((total_recv-last_recv)/dt)*1.0e-3, unsigned(total_sent-total_recv));
last_recv = total_recv;
last_report_ms = now;
}
}
}
void AP_Networking::test_connector_loopback(void)
{
startup_wait();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Connector Loopback: starting");
// start tcp discard server
auto *listen_sock = new SocketAPM(false);
if (listen_sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "connector_loopback: failed to create socket");
return;
}
listen_sock->reuseaddress();
// use netif ip address
char ipstr[16];
SocketAPM::inet_addr_to_str(get_ip_active(), ipstr, sizeof(ipstr));
if (!listen_sock->bind(ipstr, 9)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "connector_loopback: failed to bind");
return;
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "connector_loopback: bound");
if (!listen_sock->listen(1)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "connector_loopback: failed to listen");
return;
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "connector_loopback: listening");
// create discard client
auto *client = new SocketAPM(false);
if (client == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "connector_loopback: failed to create client");
return;
}
while (!client->connect(ipstr, 9)) {
hal.scheduler->delay(10);
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "connector_loopback: connected");
// accept client
auto *sock = listen_sock->accept(100);
if (sock == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "connector_loopback: failed to accept");
return;
}
uint8_t buf[1024];
uint32_t last_report_ms = AP_HAL::millis();
uint32_t total_rx = 0;
while (true) {
if ((param.tests & TEST_CONNECTOR_LOOPBACK) == 0) {
hal.scheduler->delay(1);
continue;
}
client->send(buf, 1024);
if (sock->pollin(0)) {
const ssize_t ret = sock->recv(buf, sizeof(buf), 0);
if (ret > 0) {
total_rx += ret;
}
}
if (AP_HAL::millis() - last_report_ms >= 1000) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "connector_loopback throughput %lu kbytes/sec", total_rx/1024);
total_rx = 0;
last_report_ms = AP_HAL::millis();
}
}
}
#endif // AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED
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