mirror of https://github.com/ArduPilot/ardupilot
104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
/*
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a set of tests for networking
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*/
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#include "AP_Networking_Config.h"
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#if AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED
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#include "AP_Networking.h"
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#include <GCS_MAVLink/GCS.h>
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#include <AP_HAL/utility/Socket.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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/*
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start tests
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*/
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void AP_Networking::start_tests(void)
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{
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if (param.tests & TEST_UDP_CLIENT) {
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_UDP_client, void),
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"UDP_client",
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8192, AP_HAL::Scheduler::PRIORITY_IO, -1);
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}
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if (param.tests & TEST_TCP_CLIENT) {
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_TCP_client, void),
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"TCP_client",
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8192, AP_HAL::Scheduler::PRIORITY_IO, -1);
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}
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}
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/*
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start UDP client test
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*/
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void AP_Networking::test_UDP_client(void)
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{
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while (!hal.scheduler->is_system_initialized()) {
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hal.scheduler->delay(100);
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}
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hal.scheduler->delay(1000);
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: starting");
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const char *dest = param.test_ipaddr.get_str();
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auto *sock = new SocketAPM(true);
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if (sock == nullptr) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UDP_client: failed to create socket");
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return;
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}
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// connect to the echo service, which is port 7
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if (!sock->connect(dest, 7)) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UDP_client: connect failed");
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return;
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}
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while (true) {
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hal.scheduler->delay(100);
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char *s = nullptr;
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IGNORE_RETURN(asprintf(&s, "hello %u", unsigned(AP_HAL::millis())));
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sock->send((const void*)s, strlen(s));
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free(s);
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uint8_t buf[128] {};
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const ssize_t ret = sock->recv(buf, sizeof(buf), 10);
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if (ret > 0) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UDP_client: reply '%s'", (const char *)buf);
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}
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}
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}
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/*
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start TCP client test
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*/
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void AP_Networking::test_TCP_client(void)
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{
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while (!hal.scheduler->is_system_initialized()) {
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hal.scheduler->delay(100);
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}
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hal.scheduler->delay(1000);
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: starting");
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const char *dest = param.test_ipaddr.get_str();
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auto *sock = new SocketAPM(false);
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if (sock == nullptr) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_client: failed to create socket");
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return;
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}
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// connect to the echo service, which is port 7
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if (!sock->connect(dest, 7)) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_client: connect failed");
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return;
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}
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while (true) {
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hal.scheduler->delay(100);
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char *s = nullptr;
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IGNORE_RETURN(asprintf(&s, "hello %u", unsigned(AP_HAL::millis())));
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sock->send((const void*)s, strlen(s));
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free(s);
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uint8_t buf[128] {};
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const ssize_t ret = sock->recv(buf, sizeof(buf), 10);
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if (ret > 0) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_client: reply '%s'", (const char *)buf);
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}
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}
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}
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#endif // AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED
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