From 26cab97be2f667cf3dea5d70948243316ea3d8e3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 13 Nov 2023 11:01:34 +1100
Subject: [PATCH] AP_HAL: fixed build

---
 libraries/AP_HAL/utility/Socket.cpp | 38 ++++++++++++-----------------
 libraries/AP_HAL/utility/Socket.h   |  5 +---
 2 files changed, 16 insertions(+), 27 deletions(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 1e8e6957cff6df..0cb09f63b44929 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -23,20 +23,6 @@
 #include "Socket.h"
 #include <errno.h>
 
-#if AP_NETWORKING_BACKEND_CHIBIOS
-#include <AP_Networking/AP_Networking.h>
-#include <lwip/sockets.h>
-
-// not defined/implememnted in LwIP.
-#ifndef F_SETFD
-#define F_SETFD 2
-#endif
-
-/* For F_[GET|SET]FD.  */
-#define FD_CLOEXEC	1	/* Actually anything with low bit set goes */
-
-#endif
-
 /*
   constructor
  */
@@ -49,7 +35,9 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
     datagram(_datagram),
     fd(_fd)
 {
+#ifdef FD_CLOEXEC
     fcntl(fd, F_SETFD, FD_CLOEXEC);
+#endif
     if (!datagram) {
         int one = 1;
         setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
@@ -60,7 +48,7 @@ SocketAPM::~SocketAPM()
 {
     if (fd != -1) {
 #if AP_NETWORKING_BACKEND_CHIBIOS
-        lwip_close(fd);
+        ::lwip_close(fd);
 #else
         ::close(fd);
 #endif
@@ -89,7 +77,7 @@ bool SocketAPM::connect(const char *address, uint16_t port)
     make_sockaddr(address, port, sockaddr);
 
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    if (lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
+    if (::lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
 #else
     if (::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
 #endif
@@ -109,7 +97,7 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
     set_blocking(false);
 
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    int ret = lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
+    int ret = ::lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
 #else
     int ret = ::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
 #endif
@@ -141,7 +129,7 @@ bool SocketAPM::bind(const char *address, uint16_t port)
     make_sockaddr(address, port, sockaddr);
 
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    if (lwip_bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
+    if (::lwip_bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
 #else
     if (::bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
 #endif
@@ -179,7 +167,11 @@ bool SocketAPM::set_blocking(bool blocking) const
  */
 bool SocketAPM::set_cloexec() const
 {
+#ifdef FD_CLOEXEC
     return (fcntl(fd, F_SETFD, FD_CLOEXEC) != -1);
+#else
+    return false;
+#endif
 }
 
 /*
@@ -188,7 +180,7 @@ bool SocketAPM::set_cloexec() const
 ssize_t SocketAPM::send(const void *buf, size_t size) const
 {
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    return lwip_send(fd, buf, size, 0);
+    return ::lwip_send(fd, buf, size, 0);
 #else
     return ::send(fd, buf, size, 0);
 #endif
@@ -202,7 +194,7 @@ ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uin
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    return lwip_sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
+    return ::lwip_sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
 #else
     return ::sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
 #endif
@@ -218,7 +210,7 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
     }
     socklen_t len = sizeof(in_addr);
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    return lwip_recvfrom(fd, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
+    return ::lwip_recvfrom(fd, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
 #else
     return ::recvfrom(fd, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
 #endif
@@ -286,7 +278,7 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
 bool SocketAPM::listen(uint16_t backlog) const
 {
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    return lwip_listen(fd, (int)backlog) == 0;
+    return ::lwip_listen(fd, (int)backlog) == 0;
 #else
     return ::listen(fd, (int)backlog) == 0;
 #endif
@@ -303,7 +295,7 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
     }
 
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    int newfd = lwip_accept(fd, nullptr, nullptr);
+    int newfd = ::lwip_accept(fd, nullptr, nullptr);
 #else
     int newfd = ::accept(fd, nullptr, nullptr);
 #endif
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index 40be86b47e5223..a20cbbda0e9e45 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -33,6 +33,7 @@
 #include <sys/select.h>
 #elif AP_NETWORKING_BACKEND_CHIBIOS
 #include <AP_Networking/AP_Networking_ChibiOS.h>
+#include <lwip/sockets.h>
 #endif
 
 class SocketAPM {
@@ -71,11 +72,7 @@ class SocketAPM {
 
 private:
     bool datagram;
-#if AP_NETWORKING_BACKEND_CHIBIOS
-    typedef struct sockaddr_in in_addr;
-#else
     struct sockaddr_in in_addr {};
-#endif
 
     int fd = -1;