Add a simple network manager

This system command will display, set and save the network
   settings.

   netman show   - Displays the current settings.

   netman update - Will check for a net.cfg file on the SD card.
                   If present, it will update the paramaters,
                   delete the file, and reboot. Using the new settings.

   netman save - Saves the current settings to net.cfg on the SD card.
                 This file shoulf be renamed to preserver it across
                 reboots or editited to chech networkin paramates.

   File format is name<space>value:

   echo DEVICE=eth0           > /fs/microsd/net.cfg
   echo BOOTPROTO=fallback    >> /fs/microsd/net.cfg
   echo IPADDR=192.168.0.4    >> /fs/microsd/net.cfg
   echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
   echo ROUTER=192.168.0.254  >>/fs/microsd/net.cfg
   echo DNS=192.168.0.254     >>/fs/microsd/net.cfg

   Valid values for `proto` are `dhcp`, `static`, `falback`
   Both will try dhcp for CONFIG_NETINIT_FALLBACK times
   and fall back to the static address.

   NETMASK - is the network mask.
   IPADDR  - this nodes ip address for static or fall back.
   ROUTER  - The default route.
   DNS     - The address of the dns server.

ROMFS/px4fmu_common/init.d/rcS

@@ -180,6 +180,10 @@ else
 	then
 		param reset_all
 	fi
+	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	then
+		netman update -i eth0
+	fi
 
 	#
 	# Set AUTOCNF flag to use it in AUTOSTART scripts.

boards/px4/fmu-v5x/default.cmake

@@ -106,6 +106,7 @@ px4_add_board(
 		motor_test
 		mtd
 		nshterm
+		netman
 		param
 		perf
 		pwm

src/systemcmds/netman/CMakeLists.txt

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE modules__netman
+	MAIN netman
+	SRCS
+		netman.cpp
+	)

src/systemcmds/netman/netman.cpp

@@ -0,0 +1,487 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file netman.cpp
+ * Network Manager driver.
+ *
+ * @author David Sidrane
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <ctype.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <fsutils/ipcfg.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <arpa/inet.h>
+#include <px4_platform_common/shutdown.h>
+
+constexpr char DEFAULT_NETMAN_CONFIG[] = "/fs/microsd/net.cfg";
+#if defined(CONFIG_NETINIT_DHCPC)
+#  define DEFAULT_PROTO    IPv4PROTO_FALLBACK
+#  define DEFAULT_IP      0XC0A80003  // 192.168.0.3
+#else
+#  define DEFAULT_PROTO    IPv4PROTO_STATIC
+#  define DEFAULT_IP      CONFIG_NETINIT_IPADDR
+#endif
+#define DEFAULT_NETMASK   CONFIG_NETINIT_NETMASK
+#define DEFAULT_ROUTER    CONFIG_NETINIT_DRIPADDR
+#define DEFAULT_DNS       CONFIG_NETINIT_DNSIPADDR
+
+static void usage(const char *reason);
+__BEGIN_DECLS
+__EXPORT int  netman_main(int argc, char *argv[]);
+__EXPORT int board_get_netconf(struct boardioc_netconf_s *netconf);
+__END_DECLS
+
+class net_params
+{
+private:
+
+	class ipl
+	{
+		const char *_keyword;
+	public:
+
+		union {
+			int32_t  l;
+			uint32_t u;
+			struct in_addr a;
+			uint8_t b[sizeof(int32_t) + 1];
+			enum ipv4cfg_bootproto_e e;
+		};
+
+		const char *keyword() { return _keyword;}
+		ipl() {l = 0;}
+		ipl(const char *w) : ipl()
+		{ _keyword = w;}
+
+		const char *to_str()
+		{
+			return inet_ntoa(a);
+		}
+
+		const char *name()
+		{
+			b[arraySize(b)] = '\0';
+			return (const char *)b;
+		}
+
+		void set_name(const char *name)
+		{
+			unsigned int i;
+
+			for (i = 0; i < arraySize(b); i++) {
+				b[i] = name[i];
+			}
+
+			b[i] = '\0';
+		}
+
+		const char *protocol()
+		{
+			return e == IPv4PROTO_STATIC ? "static" : (e  == IPv4PROTO_DHCP) ? "dhcp" : "fallback";
+		}
+
+		const char *parseProtocol(const char *ps)
+		{
+			char *p = strstr(ps, "dhcp");
+
+			if (p) {
+				e = IPv4PROTO_DHCP;
+
+			} else {
+
+				p = strstr(ps, "static");
+
+				if (p) {
+					e = IPv4PROTO_STATIC;
+
+				} else {
+
+					p = strstr(ps, "fallback");
+
+					if (p) {
+						e = IPv4PROTO_FALLBACK;
+					}
+				}
+			}
+
+			return ps;
+		}
+
+
+		const char *parse(const char *cp)
+		{
+			u = inet_addr(cp);
+			return cp;
+		}
+
+		const char *parse(const char *buffer, const char *end)
+		{
+			char *ps = strstr(buffer, keyword());
+
+			if (ps) {
+				int len = strlen(keyword());
+
+				if (ps + len < end) {
+					ps += len;
+					isalpha(*ps) ? parseProtocol(ps) : parse(ps);
+
+				} else {
+					ps = nullptr;
+				}
+			}
+
+			return ps;
+		}
+	};
+
+
+public:
+
+	ipl device{"DEVICE="};
+	ipl proto{"BOOTPROTO="};
+	ipl netmask{"NETMASK="};
+	ipl ipaddr{"IPADDR="};
+	ipl router{"ROUTER="};
+	ipl dnsaddr{"DNS="};
+
+
+	net_params() {}
+
+	~net_params() {}
+
+	class net_params &operator = (struct ipv4cfg_s &ipcfg)
+	{
+		proto.e  =    ipcfg.proto;
+		ipaddr.u  =   ipcfg.ipaddr;
+		netmask.u =   ipcfg.netmask;
+		router.u  =   ipcfg.router;
+		dnsaddr.u =   ipcfg.dnsaddr;
+		return *this;
+	}
+
+
+	int read(const char *netdev)
+	{
+		struct ipv4cfg_s ipcfg;
+		int rv = ipcfg_read(netdev, (FAR struct ipcfg_s *) &ipcfg, AF_INET);
+
+		if (rv == -EINVAL ||
+		    (rv == OK  && (ipcfg.proto > IPv4PROTO_FALLBACK || ipcfg.ipaddr == 0xffffffff))) {
+			// Build a default
+			ipcfg.ipaddr  = DEFAULT_IP;
+			ipcfg.netmask = DEFAULT_NETMASK;
+			ipcfg.router  = DEFAULT_ROUTER;
+			ipcfg.dnsaddr = DEFAULT_DNS;
+			ipcfg.proto   = DEFAULT_PROTO;
+			rv = ENOENT;
+		}
+
+		device.set_name(netdev);
+		*this = ipcfg;
+		hton();
+		return rv;
+	}
+
+	int write()
+	{
+		ntoh();
+		struct ipv4cfg_s ipcfg;
+		ipcfg.proto   = proto.e;
+		ipcfg.ipaddr  = ipaddr.u;
+		ipcfg.netmask = netmask.u;
+		ipcfg.router  = router.u;
+		ipcfg.dnsaddr = dnsaddr.u;
+		return ipcfg_write(device.name(), (FAR struct ipcfg_s *) &ipcfg, AF_INET);
+	}
+
+
+	void hton()
+	{
+		/* Store them in network order */
+
+		netmask.l = htonl(netmask.l);
+		ipaddr.l = htonl(ipaddr.l);
+		router.l = htonl(router.l);
+		dnsaddr.l = htonl(dnsaddr.l);
+	}
+
+	void ntoh()
+	{
+		/* Store them in host order */
+
+		netmask.l = ntohl(netmask.l);
+		ipaddr.l = ntohl(ipaddr.l);
+		router.l = ntohl(router.l);
+		dnsaddr.l = ntohl(dnsaddr.l);
+
+	}
+};
+
+int save(const char *path, const char *netdev)
+{
+
+	net_params config;
+	constexpr int lsz = 80;
+	char line[lsz + 1];
+	int len;
+
+	int rv = config.read(netdev);
+
+	int fd = open(path, O_CREAT | O_WRONLY | O_TRUNC, PX4_O_MODE_666);
+
+	if (fd < 0) {
+		PX4_ERR("Can not create file %s", path);
+		goto errout;
+	}
+
+	len = snprintf(line,  lsz, "%s%s\n", config.device.keyword(), netdev);
+
+	if (len != write(fd, line, len)) {
+		goto errout;
+	}
+
+	len = snprintf(line,  lsz, "%s%s\n",  config.proto.keyword(), config.proto.protocol());
+
+	if (len != write(fd, line, len)) {
+		goto errout;
+	}
+
+	len = snprintf(line,  lsz, "%s%s\n", config.netmask.keyword(), config.netmask.to_str());
+
+	if (len != write(fd, line, len)) {
+		goto errout;
+	}
+
+	len = snprintf(line,  lsz, "%s%s\n", config.ipaddr.keyword(), config.ipaddr.to_str());
+
+	if (len != write(fd, line, len)) {
+		goto errout;
+	}
+
+	len = snprintf(line,  lsz, "%s%s\n", config.router.keyword(), config.router.to_str());
+
+	if (len != write(fd, line, len)) {
+		goto errout;
+	}
+
+	len = snprintf(line,  lsz, "%s%s\n", config.dnsaddr.keyword(), config.dnsaddr.to_str());
+
+	if (len != write(fd, line, len)) {
+		rv = -errno;
+
+	} else {
+		close(fd);
+		return rv;
+	}
+
+errout: {
+		rv = -errno;
+
+		if (fd >= 0) {
+			close(fd);
+		}
+
+		return rv;
+	}
+}
+
+int update(const char *path, const char *netdev)
+{
+	net_params config;
+	struct stat sb;
+	FAR char *lines = nullptr;
+	int fd = -1;
+	int rv = OK;
+
+	// First do we have a binary config stored?
+
+	rv = config.read(netdev);
+
+	if (rv == ENOENT) {
+		goto write_reboot;
+	}
+
+	// Is there a config file update?
+
+	if (stat(path, &sb) < 0) {
+		return 0;
+	}
+
+	lines = (char *) malloc(sb.st_size);
+
+	if (!lines) {
+		return -errno;
+	}
+
+	fd = open(path, O_RDONLY);
+
+	if (fd < 0) {
+		rv = -errno;
+		goto errout;
+	}
+
+	if (read(fd, lines, sb.st_size) != sb.st_size) {
+		rv = -errno;
+		goto errout;
+	}
+
+	close(fd);
+	fd = -1;
+	unlink(path);
+
+	config.proto.parse(lines, &lines[sb.st_size - 1]);
+	config.netmask.parse(lines, &lines[sb.st_size - 1]);
+	config.ipaddr.parse(lines, &lines[sb.st_size - 1]);
+	config.router.parse(lines, &lines[sb.st_size - 1]);
+	config.dnsaddr.parse(lines, &lines[sb.st_size - 1]);
+
+write_reboot:
+	rv = config.write();
+
+	if (rv < 0) {
+		PX4_ERR("Network could not be saved!");
+		return -errno;
+	}
+
+
+	PX4_INFO("Network settings updated, rebooting....\n");
+
+
+	// Ensure the message is seen.
+
+	sleep(1);
+
+	px4_reboot_request(false);
+
+	while (1) { px4_usleep(1); } // this command should not return on success
+
+errout:
+
+	if (lines) {
+		free(lines);
+	}
+
+	if (fd > 0) {
+		close(fd);
+	}
+
+	return rv;
+}
+
+static void usage(const char *reason)
+{
+	if (reason != nullptr) {
+		PX4_WARN("%s", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+  ### Description
+  Network configuration manager saves the network settings in non-volatile
+  memory. On boot the `update` option will be run. If a network configuration
+  does not exist. The default setting will be saved in non-volatile and the
+  system rebooted.
+  On Subsequent boots, the `update` option will check for the existence of
+  `net.cfg` in the root of the SD Card.  It will saves the network settings
+  from `net.cfg` in non-volatile memory, delete the file and reboot the system.
+
+  The `save` option will `net.cfg` on the SD Card. Use this to edit the settings.
+  The  `show` option will display the network settings  to the console.
+
+  ### Examples
+  $ netman save           # Save the parameters to the SD card.
+  $ netman show           # display current settings.
+  $ netman update -i eth0 # do an update
+)DESCR_STR");
+    PRINT_MODULE_USAGE_NAME("netman", "system");
+    PRINT_MODULE_USAGE_COMMAND_DESCR("show", "Display the current persistent network settings to the console.");
+    PRINT_MODULE_USAGE_COMMAND_DESCR("update","Check SD card for network.cfg and update network persistent network settings.");
+    PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save the current network parameters to the SD card.");
+    PRINT_MODULE_USAGE_PARAM_STRING('i',"eth0", nullptr, "Set the interface name", true);
+}
+
+int netman_main(int argc, char *argv[])
+{
+  const char *path = DEFAULT_NETMAN_CONFIG;
+  const char *netdev = "eth0";
+  int ch;
+  int rv = 1;
+
+  if (argc < 2) {
+    usage(nullptr);
+    return 1;
+  }
+
+  int myoptind = 1;
+  const char *myoptarg = nullptr;
+
+  while ((ch = px4_getopt(argc, argv, "i:", &myoptind, &myoptarg)) != EOF) {
+    switch (ch) {
+
+      case 'i':
+        netdev = myoptarg;
+          break;
+
+     default:
+      usage(nullptr);
+      return rv;
+    }
+  }
+
+  if (myoptind >= argc) {
+    usage(nullptr);
+    return rv;
+  }
+
+  if (strcmp("save", argv[myoptind]) == 0)
+      {
+        rv = save(path, netdev);
+      }
+  else if (strcmp("update", argv[myoptind]) == 0)
+      {
+      rv = update(path, netdev);
+      }
+  else if (strcmp("show", argv[myoptind]) == 0)
+      {
+      rv = save("/dev/console", netdev);
+      }
+  return rv;
+}