AP_Networking boot loop

libraries/AP_Networking/AP_Networking.cpp

@@ -392,9 +392,18 @@ void AP_Networking::init()
  */
 void AP_Networking::announce_address_changes()
 {
-    const auto &as = backend->activeSettings;
+    uint32_t last_change_ms = 0;
 
-    if (as.last_change_ms == 0 || as.last_change_ms == announce_ms) {
+    if (backend != nullptr) {
+        last_change_ms = backend->activeSettings.last_change_ms;
+    }
+#if AP_NETWORKING_BACKEND_SWITCHPORT_LWIP
+    else if (port_lwip != nullptr) {
+        last_change_ms = port_lwip->get_last_change_ms();
+    }
+#endif
+
+    if (last_change_ms == 0 || last_change_ms == announce_ms) {
         // nothing changed and we've already printed it at least once. Nothing to do.
         return;
     }
@@ -406,7 +415,7 @@ void AP_Networking::announce_address_changes()
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", SocketAPM::inet_addr_to_str(get_gateway_active(), ipstr, sizeof(ipstr)));
 #endif
 
-    announce_ms = as.last_change_ms;
+    announce_ms = last_change_ms;
 }
 
 /*
@@ -417,7 +426,14 @@ void AP_Networking::update()
     if (!is_healthy()) {
         return;
     }
-    backend->update();
+    if (backend != nullptr) {
+        backend->update();
+    }
+#if AP_NETWORKING_BACKEND_SWITCH
+    if (hub != nullptr) {
+        hub->update();
+    }
+#endif
 #if AP_NETWORKING_CAPTURE_ENABLED
     // Manage per-port-type packet captures based on NET_CAPMASK
 #if AP_NETWORKING_BACKEND_SWITCHPORT_LWIP
@@ -520,18 +536,42 @@ bool AP_Networking::convert_str_to_macaddr(const char *mac_str, uint8_t addr[6])
 // returns the 32bit value of the active IP address that is currently in use
 uint32_t AP_Networking::get_ip_active() const
 {
-    return backend?backend->activeSettings.ip:0;
+    if (backend != nullptr) {
+        return backend->activeSettings.ip;
+    }
+#if AP_NETWORKING_BACKEND_SWITCHPORT_LWIP
+    if (port_lwip != nullptr) {
+        return port_lwip->get_active_ip();
+    }
+#endif
+    return 0;
 }
 
 // returns the 32bit value of the active Netmask that is currently in use
 uint32_t AP_Networking::get_netmask_active() const
 {
-    return backend?backend->activeSettings.nm:0;
+    if (backend != nullptr) {
+        return backend->activeSettings.nm;
+    }
+#if AP_NETWORKING_BACKEND_SWITCHPORT_LWIP
+    if (port_lwip != nullptr) {
+        return port_lwip->get_active_netmask();
+    }
+#endif
+    return 0;
 }
 
 uint32_t AP_Networking::get_gateway_active() const
 {
-    return backend?backend->activeSettings.gw:0;
+    if (backend != nullptr) {
+        return backend->activeSettings.gw;
+    }
+#if AP_NETWORKING_BACKEND_SWITCHPORT_LWIP
+    if (port_lwip != nullptr) {
+        return port_lwip->get_active_gateway();
+    }
+#endif
+    return 0;
 }
 
 /*

libraries/AP_Networking/AP_Networking_Config.h

@@ -88,10 +88,12 @@
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_SWITCHPORT_LWIP
-// lwIP switchport - for MAC gateway clients, NOT enabled on SITL by default
+// lwIP switchport - enabled when switch has Ethernet (replaces old ChibiOS backend)
+// or for MAC gateway clients. NOT enabled on SITL by default
 // (SITL uses native sockets by default for compatibility)
 #define AP_NETWORKING_BACKEND_SWITCHPORT_LWIP \
-    (AP_NETWORKING_LWIP_AVAILABLE && AP_NETWORKING_BACKEND_IS_MAC_GATEWAY_CLIENT)
+    (AP_NETWORKING_LWIP_AVAILABLE && \
+     (AP_NETWORKING_BACKEND_IS_MAC_GATEWAY_CLIENT || AP_NETWORKING_BACKEND_SWITCHPORT_ETHERNET))
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_SWITCHPORT_MAVLINK_COBS

libraries/AP_Networking/AP_Networking_SwitchPort_lwIP.h

@@ -51,6 +51,7 @@ class AP_Networking_SwitchPort_lwIP : public AP_Networking_SwitchPort
     uint32_t get_active_ip() const;
     uint32_t get_active_netmask() const;
     uint32_t get_active_gateway() const;
+    uint32_t get_last_change_ms() const { return activeSettings.last_change_ms; }
 
 private:
     AP_Networking_Switch *hub;