diff --git a/src/Groundstation/Common/Ports/EthernetBase.cpp b/src/Groundstation/Common/Ports/EthernetBase.cpp
index 52b2e982ab9f8b42fab1a529408c447377785fb6..e66be196a14ad83c826790d3cb63c6112335ee83 100644
--- a/src/Groundstation/Common/Ports/EthernetBase.cpp
+++ b/src/Groundstation/Common/Ports/EthernetBase.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Davide Mor
+/* Copyright (c) 2023-2024 Skyward Experimental Rocketry
+ * Authors: Davide Mor, Nicolò Caruso
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -65,7 +65,7 @@ Boardcore::Wiz5500::PhyState EthernetBase::getState()
return wiz5500->getPhyState();
}
-bool EthernetBase::start(std::unique_ptr<Boardcore::Wiz5500> wiz5500)
+bool EthernetBase::start(std::shared_ptr<Boardcore::Wiz5500> wiz5500)
{
this->wiz5500 = std::move(wiz5500);
@@ -103,16 +103,10 @@ bool EthernetBase::start(std::unique_ptr<Boardcore::Wiz5500> wiz5500)
return false;
}
- if (sniffOtherGs)
+ if (!this->wiz5500->openUdp(1, SEND_PORT, {255, 255, 255, 255}, RECV_PORT,
+ 500))
{
- TRACE("[info] starting second UDP socket (inverse direction)\n");
- if (!this->wiz5500->openUdp(1, SEND_PORT, {255, 255, 255, 255},
- RECV_PORT, 500))
-
- {
- TRACE("[error] starting second UDP socket\n");
- return false;
- }
+ return false;
}
auto mav_handler = [this](EthernetMavDriver* channel,
@@ -122,7 +116,17 @@ bool EthernetBase::start(std::unique_ptr<Boardcore::Wiz5500> wiz5500)
if (!mav_driver->start())
return false;
+ TRACE("[info] mavlink driver started correctly\n");
+ // Create and start a second mavlink driver to sniff the ethernet port
+ if (sniffOtherGs)
+ {
+ getModule<EthernetSniffer>()->init(1, RECV_PORT, SEND_PORT);
+ if (!getModule<EthernetSniffer>()->start(wiz5500))
+ return false;
+ }
+
+ TRACE("[info] Ethernet sniffing started correctly\n");
return true;
}
@@ -134,26 +138,13 @@ void EthernetBase::handleMsg(const mavlink_message_t& msg)
ssize_t EthernetBase::receive(uint8_t* pkt, size_t max_len)
{
- ssize_t size = 0;
WizIp dst_ip;
uint16_t dst_port;
- if (!sniffOtherGs)
- size = wiz5500->recvfrom(0, pkt, max_len, dst_ip, dst_port);
- else
- // In case of sniffing, there is a maximum waiting time for messages
- // from the groundstation software to switch between one and other port
- size = wiz5500->recvfrom(0, pkt, max_len, dst_ip, dst_port,
- RECEIVE_PORT_TIMEOUT_MS);
- if (size <= 0 && sniffOtherGs)
- {
- size = wiz5500->recvfrom(1, pkt, max_len, dst_ip, dst_port,
- RECEIVE_PORT_TIMEOUT_MS);
- }
- return size;
+ return wiz5500->recvfrom(0, pkt, max_len, dst_ip, dst_port);
}
bool EthernetBase::send(uint8_t* pkt, size_t len)
{
- return wiz5500->send(0, pkt, len, 100);
+ return wiz5500->send(0, pkt, len, 1000);
// return true;
}
diff --git a/src/Groundstation/Common/Ports/EthernetBase.h b/src/Groundstation/Common/Ports/EthernetBase.h
index 82adc3c1a059cb1f629c8f531f7bad927f766dba..57e6622e50e7be804694ae030ecf4afc25df5104 100644
--- a/src/Groundstation/Common/Ports/EthernetBase.h
+++ b/src/Groundstation/Common/Ports/EthernetBase.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Davide Mor
+/* Copyright (c) 2023-2024 Skyward Experimental Rocketry
+ * Authors: Davide Mor, Nicolò Caruso
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -24,6 +24,7 @@
#include <ActiveObject.h>
#include <Groundstation/Common/HubBase.h>
+#include <Groundstation/Common/Ports/EthernetSniffer.h>
#include <common/MavlinkLyra.h>
#include <drivers/WIZ5500/WIZ5500.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
@@ -43,8 +44,9 @@ Boardcore::WizMac genNewRandomMac();
using EthernetMavDriver =
Boardcore::MavlinkDriver<1024, 10, MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
-class EthernetBase : public Boardcore::Transceiver,
- public Boardcore::InjectableWithDeps<HubBase>
+class EthernetBase
+ : public Boardcore::Transceiver,
+ public Boardcore::InjectableWithDeps<HubBase, EthernetSniffer>
{
public:
EthernetBase() {};
@@ -58,8 +60,8 @@ public:
Boardcore::Wiz5500::PhyState getState();
protected:
- bool start(std::unique_ptr<Boardcore::Wiz5500> wiz5500);
- std::unique_ptr<Boardcore::Wiz5500> wiz5500;
+ bool start(std::shared_ptr<Boardcore::Wiz5500> wiz5500);
+ std::shared_ptr<Boardcore::Wiz5500> wiz5500;
private:
/**
@@ -76,6 +78,7 @@ private:
bool randomIp = true;
uint8_t ipOffset = 0;
bool sniffOtherGs = false;
+ bool firstPort = true;
};
} // namespace Groundstation
diff --git a/src/Groundstation/Common/Ports/EthernetSniffer.cpp b/src/Groundstation/Common/Ports/EthernetSniffer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8b6be2b7f09a511e06630f8e675e04b4ae95da92
--- /dev/null
+++ b/src/Groundstation/Common/Ports/EthernetSniffer.cpp
@@ -0,0 +1,101 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <Groundstation/Common/Config/EthernetConfig.h>
+#include <Groundstation/Common/HubBase.h>
+
+#include <random>
+
+#include "EthernetBase.h"
+
+using namespace Groundstation;
+using namespace Boardcore;
+using namespace miosix;
+
+void EthernetSniffer::handleINTn()
+{
+ if (wiz5500)
+ wiz5500->handleINTn();
+}
+
+bool EthernetSniffer::send(uint8_t* pkt, size_t len)
+{
+ // Send is not needed in sniffing, therefore not implemented
+ return false;
+};
+
+Boardcore::Wiz5500::PhyState EthernetSniffer::getState()
+{
+ return wiz5500->getPhyState();
+}
+
+void EthernetSniffer::init(uint16_t portNumber, uint16_t srcPort,
+ uint16_t dstPort)
+{
+ portNr = portNumber;
+ srcPort = srcPort;
+ dstPort = dstPort;
+}
+
+bool EthernetSniffer::start(std::shared_ptr<Boardcore::Wiz5500> wiz5500)
+{
+ TRACE("Movin\n");
+ this->wiz5500 = std::move(wiz5500);
+
+ TRACE("Opening\n");
+ // We open the port for sniffing using the port we specified
+ // if (!this->wiz5500->openUdp(portNr, srcPort, {255, 255, 255, 255},
+ // dstPort,
+ // 500))
+ // {
+ // return false;
+ // }
+
+ TRACE("Mavlinker\n");
+
+ auto mav_handler = [this](EthernetMavDriver* channel,
+ const mavlink_message_t& msg) { handleMsg(msg); };
+
+ mav_driver = std::make_unique<EthernetMavDriver>(this, mav_handler, 1, 10);
+
+ TRACE("Starting\n");
+
+ if (!mav_driver->start())
+ return false;
+
+ TRACE("Start ok\n");
+
+ return true;
+}
+
+void EthernetSniffer::handleMsg(const mavlink_message_t& msg)
+{
+ // Dispatch the message through the hub.
+ getModule<HubBase>()->dispatchOutgoingMsg(msg);
+}
+
+ssize_t EthernetSniffer::receive(uint8_t* pkt, size_t max_len)
+{
+ WizIp dst_ip;
+ uint16_t dst_port;
+ return wiz5500->recvfrom(portNr, pkt, max_len, dst_ip, dst_port);
+}
diff --git a/src/Groundstation/Common/Ports/EthernetSniffer.h b/src/Groundstation/Common/Ports/EthernetSniffer.h
new file mode 100644
index 0000000000000000000000000000000000000000..7f4ea7a74340f2bd367d761b11c254f6117ca1e0
--- /dev/null
+++ b/src/Groundstation/Common/Ports/EthernetSniffer.h
@@ -0,0 +1,71 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ActiveObject.h>
+#include <Groundstation/Common/HubBase.h>
+#include <common/MavlinkLyra.h>
+#include <drivers/WIZ5500/WIZ5500.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+#include <memory>
+
+namespace Groundstation
+{
+
+using EthernetMavDriver =
+ Boardcore::MavlinkDriver<1024, 10, MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
+
+class EthernetSniffer : public Boardcore::Transceiver,
+ public Boardcore::InjectableWithDeps<HubBase>
+{
+public:
+ void handleINTn();
+
+ Boardcore::Wiz5500::PhyState getState();
+
+ bool start(std::shared_ptr<Boardcore::Wiz5500> wiz5500);
+
+ void init(uint16_t portNumber, uint16_t srcPort, uint16_t dstPort);
+
+private:
+ std::shared_ptr<Boardcore::Wiz5500> wiz5500;
+
+ /**
+ * @brief Called internally when a message is received.
+ */
+ void handleMsg(const mavlink_message_t& msg);
+
+ ssize_t receive(uint8_t* pkt, size_t max_len) override;
+
+ bool send(uint8_t* pkt, size_t len) override;
+
+ bool started = false;
+ std::unique_ptr<EthernetMavDriver> mav_driver;
+ uint16_t portNr;
+ uint16_t srcPort;
+ uint16_t dstPort;
+};
+
+} // namespace Groundstation
diff --git a/src/Groundstation/LyraGS/Ports/Ethernet.cpp b/src/Groundstation/LyraGS/Ports/Ethernet.cpp
index 6b3e3270fc12fa4186473c77f74e6cf6f1c58d41..6013c835a97d4865c89e5e161228ab1a9ab59198 100644
--- a/src/Groundstation/LyraGS/Ports/Ethernet.cpp
+++ b/src/Groundstation/LyraGS/Ports/Ethernet.cpp
@@ -45,7 +45,7 @@ namespace LyraGS
bool EthernetGS::start()
{
- std::unique_ptr<Wiz5500> wiz5500 = std::make_unique<Wiz5500>(
+ std::shared_ptr<Wiz5500> wiz5500 = std::make_shared<Wiz5500>(
getModule<Buses>()->ethernet_bus, miosix::ethernet::cs::getPin(),
miosix::ethernet::intr::getPin(), SPI::ClockDivider::DIV_64);
@@ -55,7 +55,7 @@ bool EthernetGS::start()
if (!present)
return false;
- if (!EthernetBase::start(std::move(wiz5500)))
+ if (!EthernetBase::start(wiz5500))
return false;
ethernetGSGlobal = this;
diff --git a/src/Groundstation/LyraGS/lyra-gs-entry.cpp b/src/Groundstation/LyraGS/lyra-gs-entry.cpp
index 26ab6211c476afe08739d64e5051cca61e677f1f..29a0fdef2900ea8db8ced03dfc31c57e1f253603 100644
--- a/src/Groundstation/LyraGS/lyra-gs-entry.cpp
+++ b/src/Groundstation/LyraGS/lyra-gs-entry.cpp
@@ -93,6 +93,8 @@ void errorLoop()
}
}
+static bool constexpr ethernetSniffing = true;
+
/**
* @brief Lyra GS entrypoint.
* This entrypoint performs the following operations:
@@ -141,7 +143,8 @@ int main()
new LyraGS::RadioMain(dipRead.mainHasBackup, dipRead.mainTXenable);
LyraGS::BoardStatus* board_status = new LyraGS::BoardStatus(dipRead.isARP);
LyraGS::EthernetGS* ethernet =
- new LyraGS::EthernetGS(false, dipRead.ipConfig, true);
+ new LyraGS::EthernetGS(false, dipRead.ipConfig, ethernetSniffing);
+ EthernetSniffer* ethernetSniffer = new EthernetSniffer();
LyraGS::RadioPayload* radio_payload = new LyraGS::RadioPayload(
dipRead.payloadHasBackup, dipRead.payloadTXenable);
@@ -160,6 +163,7 @@ int main()
ok &= manager.insert(serial);
ok &= manager.insert<LyraGS::RadioMain>(radio_main);
ok &= manager.insert<LyraGS::EthernetGS>(ethernet);
+ ok &= manager.insert<EthernetSniffer>(ethernetSniffer);
ok &= manager.insert<LyraGS::RadioPayload>(radio_payload);
ok &= manager.insert(board_status);