ardupilot/libraries/AP_Networking/AP_Networking_tests.cpp

/*
  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);
    }
}

/*
  start UDP client test
 */
void AP_Networking::test_UDP_client(void)
{
    while (!hal.scheduler->is_system_initialized()) {
        hal.scheduler->delay(100);
    }
    hal.scheduler->delay(1000);
    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: starting");
    const char *dest = param.test_ipaddr.get_str();
    auto *sock = new 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)
{
    while (!hal.scheduler->is_system_initialized()) {
        hal.scheduler->delay(100);
    }
    hal.scheduler->delay(1000);
    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: starting");
    const char *dest = param.test_ipaddr.get_str();
    auto *sock = new 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)
{
    while (!hal.scheduler->is_system_initialized()) {
        hal.scheduler->delay(100);
    }
    hal.scheduler->delay(1000);
    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_discard: starting");
    const char *dest = param.test_ipaddr.get_str();
    auto *sock = new 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
    if (!sock->connect(dest, 9)) {
        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_discard: connect failed");
        return;
    }
    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) {
        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;
        }
    }
}

#endif // AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED