AP_HAL: Sockets to use LwIP if available

magicrub · Nov 12, 2023 · dda1f4d · dda1f4d
1 parent fb4a0f8
commit dda1f4d
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Showing 2 changed files with 54 additions and 0 deletions.
diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
@@ -23,6 +23,20 @@
 #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
  */
@@ -45,7 +59,11 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
 SocketAPM::~SocketAPM()
 {
     if (fd != -1) {
+#if AP_NETWORKING_BACKEND_CHIBIOS
+        lwip_close(fd);
+#else
         ::close(fd);
+#endif
         fd = -1;
     }
 }
@@ -70,7 +88,11 @@ bool SocketAPM::connect(const char *address, uint16_t port)
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 
+#if AP_NETWORKING_BACKEND_CHIBIOS
+    if (lwip_connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
+#else
     if (::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
+#endif
         return false;
     }
     return true;
@@ -86,7 +108,11 @@ 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));
+#else
     int ret = ::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
+#endif
     if (ret == 0) {
         // instant connect?
         return true;
@@ -114,7 +140,11 @@ bool SocketAPM::bind(const char *address, uint16_t port)
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 
+#if AP_NETWORKING_BACKEND_CHIBIOS
+    if (lwip_bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
+#else
     if (::bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
+#endif
         return false;
     }
     return true;
@@ -157,7 +187,11 @@ bool SocketAPM::set_cloexec() const
  */
 ssize_t SocketAPM::send(const void *buf, size_t size) const
 {
+#if AP_NETWORKING_BACKEND_CHIBIOS
+    return send(fd, buf, size, 0);
+#else
     return ::send(fd, buf, size, 0);
+#endif
 }
 
 /*
@@ -167,7 +201,11 @@ 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));
+#else
     return ::sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
+#endif
 }
 
 /*
@@ -179,7 +217,11 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
         return -1;
     }
     socklen_t len = sizeof(in_addr);
+#if AP_NETWORKING_BACKEND_CHIBIOS
+    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
 }
 
 /*
@@ -243,7 +285,11 @@ 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;
+#else
     return ::listen(fd, (int)backlog) == 0;
+#endif
 }
 
 /*
@@ -256,7 +302,11 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
         return nullptr;
     }
 
+#if AP_NETWORKING_BACKEND_CHIBIOS
+    int newfd = lwip_accept(fd, nullptr, nullptr);
+#else
     int newfd = ::accept(fd, nullptr, nullptr);
+#endif
     if (newfd == -1) {
         return nullptr;
     }

diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
@@ -71,7 +71,11 @@ 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;