ardupilot/libraries/AP_Networking/AP_Networking.h

#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"

/*
  Note! all uint32_t IPv4 addresses are in host byte order
*/

// declare backend classes
class AP_Networking_Backend;
class AP_Networking_ChibiOS;

class AP_Networking
{
public:
    friend class AP_Networking_Backend;
    friend class AP_Networking_ChibiOS;

    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;
    }

    // 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
    {
        return param.dhcp;
    }

    // Sets DHCP to be enabled or disabled
    void set_dhcp_enable(const bool enable)
    {
        param.dhcp.set(enable);
    }

    // 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
    {
        return param.ipaddr.get_uint32();
    }

    /*
      returns a null terminated string of the active IP address. Example: "192.168.12.13"
      Note that the returned
    */
    const char *get_ip_active_str() const
    {
        return convert_ip_to_str(get_ip_active());
    }

    // sets the user-parameter static IP address from a 32bit value
    void set_ip_param(const uint32_t ip)
    {
        param.ipaddr.set_uint32(ip);
    }

    // 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
    {
        return convert_netmask_bitcount_to_ip(param.netmask.get());
    }

    // returns a null terminated string of the active Netmask address. Example: "192.168.12.13"
    const char *get_netmask_active_str()
    {
        return convert_ip_to_str(get_netmask_active());
    }

    const char *get_netmask_param_str()
    {
        return convert_ip_to_str(get_netmask_param());
    }

    void set_netmask_param_str(const char* nm_str)
    {
        set_netmask_param(convert_str_to_ip((char*)nm_str));
    }

    void set_netmask_param(const uint32_t nm)
    {
        param.netmask.set(convert_netmask_ip_to_bitcount(nm));
    }

    uint32_t get_gateway_active() const;

    uint32_t get_gateway_param() const
    {
        return param.gwaddr.get_uint32();
    }

    const char *get_gateway_active_str()
    {
        return convert_ip_to_str(get_gateway_active());
    }

    const char *get_gateway_param_str()
    {
        return convert_ip_to_str(get_gateway_param());
    }

    void set_gateway_param_str(const char* gw_str)
    {
        set_gateway_param(convert_str_to_ip((char*)gw_str));
    }

    void set_gateway_param(const uint32_t gw)
    {
        param.gwaddr.set_uint32(gw);
    }

    // helper functions to convert between 32bit IP addresses and null terminated strings and back
    static uint32_t convert_str_to_ip(const char* ip_str);
    static const char* convert_ip_to_str(uint32_t ip);

    // convert string to ethernet mac address
    static bool convert_str_to_macaddr(const char *mac_str, uint8_t addr[6]);

    // 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);

    static const struct AP_Param::GroupInfo var_info[];

private:
    static AP_Networking *singleton;

    void announce_address_changes();

    struct {
        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_Int8 dhcp;
        AP_Networking_MAC macaddr{AP_NETWORKING_DEFAULT_MAC_ADDR};
        AP_Int8 enabled;
        AP_Int32 options;
#if AP_NETWORKING_TESTS_ENABLED
        AP_Int32 tests;
#endif
    } param;

    AP_Networking_Backend *backend;

    HAL_Semaphore sem;

private:
    uint32_t announce_ms;

#if AP_NETWORKING_TESTS_ENABLED
    enum {
        TEST_UDP_CLIENT = (1U<<0),
        TEST_TCP_CLIENT = (1U<<1),
    };
    void start_tests(void);
    void test_UDP_client(void);
    void test_TCP_client(void);
#endif // AP_NETWORKING_TESTS_ENABLED
};

namespace AP
{
    AP_Networking &network();
};

#endif // AP_NETWORKING_ENABLED