[simulation] support simulating radio over IPv6 (#10194)HEADmastermain

This commit adds support to simulate Thread radio over IPv6.

With this commit, a simulation will be simulated over either IPv6 or IPv4.
If it's simulated on IPv6, it communicates with other simulation nodes
in IPv6 group `ff02::116`. And if it's simulated on IPv4, it communicates
with other simulation nodes in IPv4 group `224.0.0.116`.

Note that simulating virtual time is not included in this commit.

(cherry picked from commit 39ce8117a5f7e09ae4d27fa626387127f819ecdc)

Bug: 329188649
Test: presubmit
Change-Id: I2d9c6a84254f2fff2773ddff25a88c985685fd00

7 files changed, 372 insertions, 116 deletions

diff --git a/.clang-format b/.clang-format
index b384cc6d3..3f3dd2aab 100644
--- a/.clang-format
+++ b/.clang-format
@@ -55,11 +55,11 @@ DerivePointerAlignment: false
 DisableFormat:   false
 ExperimentalAutoDetectBinPacking: false
 FixNamespaceComments: true
-ForEachMacros:   
+ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
-IncludeCategories: 
+IncludeCategories:
   - Regex:           '^<openthread/.*/'
     Priority:        4
   - Regex:           '^<openthread/'
diff --git a/.github/workflows/simulation-1.1.yml b/.github/workflows/simulation-1.1.yml
index ee08f3954..4706331b2 100644
--- a/.github/workflows/simulation-1.1.yml
+++ b/.github/workflows/simulation-1.1.yml
@@ -364,6 +364,34 @@ jobs:
         path: tmp/coverage.info
         retention-days: 1
 
+  simulation-local-host:
+    runs-on: ubuntu-20.04
+    env:
+      COVERAGE: 1
+    steps:
+    - name: Harden Runner
+      uses: step-security/harden-runner@63c24ba6bd7ba022e95695ff85de572c04a18142 # v2.7.0
+      with:
+        egress-policy: audit # TODO: change to 'egress-policy: block' after couple of runs
+
+    - uses: actions/checkout@9bb56186c3b09b4f86b1c65136769dd318469633 # v4.1.2
+      with:
+        submodules: true
+    - name: Bootstrap
+      run: |
+        sudo apt-get --no-install-recommends install -y expect ninja-build lcov
+    - name: Run
+      run: |
+        ./script/check-simulation-local-host
+    - name: Generate Coverage
+      run: |
+        ./script/test generate_coverage gcc
+    - uses: actions/upload-artifact@5d5d22a31266ced268874388b861e4b58bb5c2f3 # v4.3.1
+      with:
+        name: cov-simulation-local-host
+        path: tmp/coverage.info
+        retention-days: 1
+
   upload-coverage:
     needs:
     - packet-verification
diff --git a/examples/platforms/simulation/simul_utils.c b/examples/platforms/simulation/simul_utils.c
index 36b69af5d..df0600727 100644
--- a/examples/platforms/simulation/simul_utils.c
+++ b/examples/platforms/simulation/simul_utils.c
@@ -29,12 +29,15 @@
 #include "simul_utils.h"
 
 #include <errno.h>
+#include <ifaddrs.h>
+#include <net/if.h>
 #include <sys/time.h>
 
 #include "utils/code_utils.h"
 
 #define UTILS_SOCKET_LOCAL_HOST_ADDR "127.0.0.1"
 #define UTILS_SOCKET_GROUP_ADDR "224.0.0.116"
+#define UTILS_SOCKET_GROUP_ADDR6 "ff02::116"
 
 const char *gLocalHost = UTILS_SOCKET_LOCAL_HOST_ADDR;
 
@@ -56,17 +59,127 @@ exit:
     return;
 }
 
-void utilsInitSocket(utilsSocket *aSocket, uint16_t aPortBase)
+static bool IsAddressLinkLocal(const struct in6_addr *aAddress)
+{
+    return ((aAddress->s6_addr[0] & 0xff) == 0xfe) && ((aAddress->s6_addr[1] & 0xc0) == 0x80);
+}
+
+static void InitRxSocket(utilsSocket *aSocket, const struct in_addr *aIp4Address, unsigned int aIfIndex)
+{
+    int fd;
+    int one = 1;
+    int rval;
+
+    fd = socket(aIp4Address ? AF_INET : AF_INET6, SOCK_DGRAM, IPPROTO_UDP);
+    otEXPECT_ACTION(fd != -1, perror("socket(RxFd)"));
+
+    rval = setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
+    otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, SO_REUSEADDR)"));
+
+    rval = setsockopt(fd, SOL_SOCKET, SO_REUSEPORT, &one, sizeof(one));
+    otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, SO_REUSEPORT)"));
+
+    if (aIp4Address)
+    {
+        struct ip_mreqn     mreq;
+        struct sockaddr_in *sockaddr = &aSocket->mGroupAddr.mSockAddr4;
+
+        rval = setsockopt(fd, IPPROTO_IP, IP_MULTICAST_IF, aIp4Address, sizeof(*aIp4Address));
+        otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, IP_MULTICAST_IF)"));
+
+        memset(sockaddr, 0, sizeof(*sockaddr));
+        sockaddr->sin_family = AF_INET;
+        sockaddr->sin_port   = htons(aSocket->mPortBase);
+        otEXPECT_ACTION(inet_pton(AF_INET, UTILS_SOCKET_GROUP_ADDR, &sockaddr->sin_addr), perror("inet_pton(AF_INET)"));
+
+        memset(&mreq, 0, sizeof(mreq));
+        mreq.imr_multiaddr = sockaddr->sin_addr;
+        mreq.imr_address   = *aIp4Address; // This address is used to identify the network interface
+
+        rval = setsockopt(fd, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq));
+        otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, IP_ADD_MEMBERSHIP)"));
+
+        rval = bind(fd, (struct sockaddr *)sockaddr, sizeof(*sockaddr));
+        otEXPECT_ACTION(rval != -1, perror("bind(RxFd)"));
+    }
+    else
+    {
+        struct ipv6_mreq     mreq;
+        struct sockaddr_in6 *sockaddr = &aSocket->mGroupAddr.mSockAddr6;
+
+        rval = setsockopt(fd, IPPROTO_IPV6, IPV6_MULTICAST_IF, &aIfIndex, sizeof(aIfIndex));
+        otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, IPV6_MULTICAST_IF)"));
+
+        memset(sockaddr, 0, sizeof(*sockaddr));
+        sockaddr->sin6_family   = AF_INET6;
+        sockaddr->sin6_port     = htons(aSocket->mPortBase);
+        sockaddr->sin6_scope_id = aIfIndex; // This specifies network interface for link local scope
+        otEXPECT_ACTION(inet_pton(AF_INET6, UTILS_SOCKET_GROUP_ADDR6, &sockaddr->sin6_addr),
+                        perror("inet_pton(AF_INET6)"));
+
+        memset(&mreq, 0, sizeof(mreq));
+        mreq.ipv6mr_multiaddr = sockaddr->sin6_addr;
+        mreq.ipv6mr_interface = aIfIndex;
+
+        rval = setsockopt(fd, IPPROTO_IPV6, IPV6_JOIN_GROUP, &mreq, sizeof(mreq));
+        otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, IPV6_JOIN_GROUP)"));
+
+        rval = bind(fd, (struct sockaddr *)sockaddr, sizeof(*sockaddr));
+        otEXPECT_ACTION(rval != -1, perror("bind(RxFd)"));
+    }
+
+    aSocket->mRxFd = fd;
+
+exit:
+    if (aSocket->mRxFd == -1)
+    {
+        exit(EXIT_FAILURE);
+    }
+}
+
+void InitTxSocketIp6(utilsSocket *aSocket, const struct in6_addr *aAddress, unsigned int aIfIndex)
+{
+    int                 fd;
+    int                 one = 1;
+    int                 rval;
+    struct sockaddr_in6 sockaddr;
+
+    fd = socket(AF_INET6, SOCK_DGRAM, IPPROTO_UDP);
+    otEXPECT_ACTION(fd != -1, perror("socket(TxFd)"));
+
+    memset(&sockaddr, 0, sizeof(sockaddr));
+    sockaddr.sin6_family = AF_INET6;
+    sockaddr.sin6_addr   = *aAddress;
+    sockaddr.sin6_port   = htons(aSocket->mPort);
+    if (IsAddressLinkLocal(aAddress))
+    {
+        sockaddr.sin6_scope_id = aIfIndex;
+    }
+
+    rval = setsockopt(fd, IPPROTO_IPV6, IPV6_MULTICAST_IF, &aIfIndex, sizeof(aIfIndex));
+    otEXPECT_ACTION(rval != -1, perror("setsockopt(TxFd, IPV6_MULTICAST_IF)"));
+
+    rval = setsockopt(fd, IPPROTO_IPV6, IPV6_MULTICAST_LOOP, &one, sizeof(one));
+    otEXPECT_ACTION(rval != -1, perror("setsockopt(TxFd, IPV6_MULTICAST_LOOP)"));
+
+    rval = bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
+    otEXPECT_ACTION(rval != -1, perror("bind(TxFd)"));
+
+    aSocket->mTxFd = fd;
+
+exit:
+    if (aSocket->mTxFd == -1)
+    {
+        exit(EXIT_FAILURE);
+    }
+}
+
+static void InitTxSocketIp4(utilsSocket *aSocket, const struct in_addr *aAddress)
 {
     int                fd;
     int                one = 1;
     int                rval;
     struct sockaddr_in sockaddr;
-    struct ip_mreqn    mreq;
-
-    aSocket->mInitialized = false;
-    aSocket->mPortBase    = aPortBase;
-    aSocket->mPort        = (uint16_t)(aSocket->mPortBase + gNodeId);
 
     //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
     // Prepare `mTxFd`
@@ -75,9 +188,9 @@ void utilsInitSocket(utilsSocket *aSocket, uint16_t aPortBase)
     otEXPECT_ACTION(fd != -1, perror("socket(TxFd)"));
 
     memset(&sockaddr, 0, sizeof(sockaddr));
-    sockaddr.sin_family      = AF_INET;
-    sockaddr.sin_port        = htons(aSocket->mPort);
-    sockaddr.sin_addr.s_addr = inet_addr(gLocalHost);
+    sockaddr.sin_family = AF_INET;
+    sockaddr.sin_port   = htons(aSocket->mPort);
+    sockaddr.sin_addr   = *aAddress;
 
     rval = setsockopt(fd, IPPROTO_IP, IP_MULTICAST_IF, &sockaddr.sin_addr, sizeof(sockaddr.sin_addr));
     otEXPECT_ACTION(rval != -1, perror("setsockopt(TxFd, IP_MULTICAST_IF)"));
@@ -90,43 +203,158 @@ void utilsInitSocket(utilsSocket *aSocket, uint16_t aPortBase)
 
     aSocket->mTxFd = fd;
 
-    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-    // Prepare `mRxFd`
+exit:
+    if (aSocket->mTxFd == -1)
+    {
+        exit(EXIT_FAILURE);
+    }
+}
 
-    fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-    otEXPECT_ACTION(fd != -1, perror("socket(RxFd)"));
+static bool TryInitSocketIfname(utilsSocket *aSocket, const char *aLocalHost)
+{
+    const struct in6_addr *addr6   = NULL;
+    const struct in6_addr *addr6ll = NULL;
+    const struct in_addr  *addr4   = NULL;
+    struct ifaddrs        *ifaddr  = NULL;
+    unsigned int           ifIndex = 0;
 
-    rval = setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
-    otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, SO_REUSEADDR)"));
+    otEXPECT((ifIndex = if_nametoindex(aLocalHost)));
 
-    rval = setsockopt(fd, SOL_SOCKET, SO_REUSEPORT, &one, sizeof(one));
-    otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, SO_REUSEPORT)"));
+    if (getifaddrs(&ifaddr) == -1)
+    {
+        perror("getifaddrs");
+        exit(EXIT_FAILURE);
+    }
 
-    memset(&mreq, 0, sizeof(mreq));
-    inet_pton(AF_INET, UTILS_SOCKET_GROUP_ADDR, &mreq.imr_multiaddr);
+    for (struct ifaddrs *ifa = ifaddr; ifa != NULL; ifa = ifa->ifa_next)
+    {
+        if (ifa->ifa_addr == NULL || strcmp(ifa->ifa_name, aLocalHost) != 0)
+        {
+            continue;
+        }
 
-    mreq.imr_address.s_addr = inet_addr(gLocalHost);
+        if (ifa->ifa_addr->sa_family == AF_INET)
+        {
+            addr4 = &((const struct sockaddr_in *)ifa->ifa_addr)->sin_addr;
+        }
+        else if (ifa->ifa_addr->sa_family == AF_INET6)
+        {
+            addr6 = &((const struct sockaddr_in6 *)ifa->ifa_addr)->sin6_addr;
+            if (IsAddressLinkLocal(addr6))
+            {
+                addr6ll = addr6;
+            }
+        }
+    }
 
-    rval = setsockopt(fd, IPPROTO_IP, IP_MULTICAST_IF, &mreq.imr_address, sizeof(mreq.imr_address));
-    otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, IP_MULTICAST_IF)"));
+    // Prefer
+    //  1. IPv6 link local address
+    //  2. IPv4 addresses
+    //  3. IPv6 addresses
+    if (addr6ll)
+    {
+        InitTxSocketIp6(aSocket, addr6ll, ifIndex);
+        addr6 = addr6ll;
+    }
+    else if (addr4)
+    {
+        InitTxSocketIp4(aSocket, addr4);
+        addr6 = NULL;
+    }
+    else if (addr6)
+    {
+        InitTxSocketIp6(aSocket, addr6, ifIndex);
+    }
+    else
+    {
+        fprintf(stderr, "No sock address for TX socket!\n");
+        exit(EXIT_FAILURE);
+    }
 
-    rval = setsockopt(fd, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq));
-    otEXPECT_ACTION(rval != -1, perror("setsockopt(RxFd, IP_ADD_MEMBERSHIP)"));
+    InitRxSocket(aSocket, (addr6 ? NULL : addr4), ifIndex);
+    aSocket->mInitialized = true;
+    aSocket->mUseIp6      = (addr6 != NULL);
 
-    sockaddr.sin_family      = AF_INET;
-    sockaddr.sin_port        = htons(aSocket->mPortBase);
-    sockaddr.sin_addr.s_addr = inet_addr(UTILS_SOCKET_GROUP_ADDR);
+exit:
+    freeifaddrs(ifaddr);
+    return aSocket->mInitialized;
+}
 
-    rval = bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
-    otEXPECT_ACTION(rval != -1, perror("bind(RxFd)"));
+static bool TryInitSocketIp4(utilsSocket *aSocket, const char *aLocalHost)
+{
+    struct in_addr addr4;
 
-    aSocket->mRxFd = fd;
+    otEXPECT(inet_pton(AF_INET, aLocalHost, &addr4));
 
+    InitTxSocketIp4(aSocket, &addr4);
+    InitRxSocket(aSocket, &addr4, 0);
     aSocket->mInitialized = true;
+    aSocket->mUseIp6      = false;
 
 exit:
-    if (!aSocket->mInitialized)
+    return aSocket->mInitialized;
+}
+
+static bool TryInitSocketIp6(utilsSocket *aSocket, const char *aLocalHost)
+{
+    struct in6_addr addr6;
+    struct ifaddrs *ifaddr = NULL;
+
+    otEXPECT(inet_pton(AF_INET6, aLocalHost, &addr6));
+
+    if (getifaddrs(&ifaddr) == -1)
+    {
+        perror("getifaddrs");
+        exit(EXIT_FAILURE);
+    }
+
+    for (struct ifaddrs *ifa = ifaddr; ifa != NULL; ifa = ifa->ifa_next)
+    {
+        const struct sockaddr_in6 *sockaddr6;
+        unsigned int               ifIndex;
+
+        if (ifa->ifa_addr == NULL || ifa->ifa_addr->sa_family != AF_INET6)
+        {
+            continue;
+        }
+
+        sockaddr6 = (const struct sockaddr_in6 *)ifa->ifa_addr;
+        if (memcmp(&sockaddr6->sin6_addr, &addr6, sizeof(addr6)))
+        {
+            continue;
+        }
+
+        ifIndex = if_nametoindex(ifa->ifa_name);
+        if (ifIndex == 0)
+        {
+            perror("if_nametoindex");
+            exit(EXIT_FAILURE);
+        }
+
+        InitTxSocketIp6(aSocket, &addr6, ifIndex);
+        InitRxSocket(aSocket, NULL, ifIndex);
+        aSocket->mInitialized = true;
+        aSocket->mUseIp6      = true;
+        break;
+    }
+
+exit:
+    freeifaddrs(ifaddr);
+    return aSocket->mInitialized;
+}
+
+void utilsInitSocket(utilsSocket *aSocket, uint16_t aPortBase)
+{
+    aSocket->mInitialized = false;
+    aSocket->mPortBase    = aPortBase;
+    aSocket->mTxFd        = -1;
+    aSocket->mRxFd        = -1;
+    aSocket->mPort        = (uint16_t)(aSocket->mPortBase + gNodeId);
+
+    if (!TryInitSocketIfname(aSocket, gLocalHost) && !TryInitSocketIp4(aSocket, gLocalHost) &&
+        !TryInitSocketIp6(aSocket, gLocalHost))
     {
+        fprintf(stderr, "Failed to simulate node %d on %s\n", gNodeId, gLocalHost);
         exit(EXIT_FAILURE);
     }
 }
@@ -174,10 +402,14 @@ uint16_t utilsReceiveFromSocket(const utilsSocket *aSocket,
                                 uint16_t           aBufferSize,
                                 uint16_t          *aSenderNodeId)
 {
-    struct sockaddr_in sockaddr;
-    socklen_t          socklen = sizeof(sockaddr);
-    ssize_t            rval;
-    uint16_t           len = 0;
+    ssize_t  rval;
+    uint16_t len = 0;
+    union
+    {
+        struct sockaddr_in  sockaddr4;
+        struct sockaddr_in6 sockaddr6;
+    } sockaddr;
+    socklen_t socklen = aSocket->mUseIp6 ? sizeof(sockaddr.sockaddr6) : sizeof(sockaddr.sockaddr4);
 
     memset(&sockaddr, 0, sizeof(sockaddr));
 
@@ -185,7 +417,7 @@ uint16_t utilsReceiveFromSocket(const utilsSocket *aSocket,
 
     if (rval > 0)
     {
-        uint16_t senderPort = ntohs(sockaddr.sin_port);
+        uint16_t senderPort = ntohs(aSocket->mUseIp6 ? sockaddr.sockaddr6.sin6_port : sockaddr.sockaddr4.sin_port);
 
         if (aSenderNodeId != NULL)
         {
@@ -209,16 +441,11 @@ uint16_t utilsReceiveFromSocket(const utilsSocket *aSocket,
 
 void utilsSendOverSocket(const utilsSocket *aSocket, const void *aBuffer, uint16_t aBufferLength)
 {
-    ssize_t            rval;
-    struct sockaddr_in sockaddr;
-
-    memset(&sockaddr, 0, sizeof(sockaddr));
-    sockaddr.sin_family = AF_INET;
-    sockaddr.sin_port   = htons(aSocket->mPortBase);
-    inet_pton(AF_INET, UTILS_SOCKET_GROUP_ADDR, &sockaddr.sin_addr);
+    ssize_t rval;
 
     rval =
-        sendto(aSocket->mTxFd, (const char *)aBuffer, aBufferLength, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
+        sendto(aSocket->mTxFd, (const char *)aBuffer, aBufferLength, 0, (const struct sockaddr *)&aSocket->mGroupAddr,
+               (aSocket->mUseIp6 ? sizeof(aSocket->mGroupAddr.mSockAddr6) : sizeof(aSocket->mGroupAddr.mSockAddr4)));
 
     if (rval < 0)
     {
diff --git a/examples/platforms/simulation/simul_utils.h b/examples/platforms/simulation/simul_utils.h
index 0d70f2dd3..c3d1fb386 100644
--- a/examples/platforms/simulation/simul_utils.h
+++ b/examples/platforms/simulation/simul_utils.h
@@ -40,10 +40,16 @@
 typedef struct utilsSocket
 {
     bool     mInitialized; ///< Whether or not initialized.
+    bool     mUseIp6;      ///< Whether IPv6 or IPv4.
     int      mTxFd;        ///< RX file descriptor.
     int      mRxFd;        ///< TX file descriptor.
     uint16_t mPortBase;    ///< Base port number value.
     uint16_t mPort;        ///< The port number used by this node
+    union
+    {
+        struct sockaddr_in  mSockAddr4; ///< The IPv4 group sock address.
+        struct sockaddr_in6 mSockAddr6; ///< The IPv4 group sock address.
+    } mGroupAddr;                       ///< The group sock address for simulating radio.
 } utilsSocket;
 
 extern const char *gLocalHost; ///< Local host address to use for sockets
diff --git a/examples/platforms/simulation/system.c b/examples/platforms/simulation/system.c
index 2abe892e3..3991e67ff 100644
--- a/examples/platforms/simulation/system.c
+++ b/examples/platforms/simulation/system.c
@@ -40,9 +40,7 @@
 #include <assert.h>
 #include <errno.h>
 #include <getopt.h>
-#include <ifaddrs.h>
 #include <libgen.h>
-#include <netinet/in.h>
 #include <stddef.h>
 #include <stdint.h>
 #include <stdio.h>
@@ -55,7 +53,6 @@
 #include <openthread/platform/radio.h>
 
 #include "simul_utils.h"
-#include "utils/code_utils.h"
 
 uint32_t gNodeId = 1;
 
@@ -105,56 +102,6 @@ static void PrintUsage(const char *aProgramName, int aExitCode)
     exit(aExitCode);
 }
 
-static const char *GetLocalHostAddress(const char *aLocalHost)
-{
-    struct ifaddrs *ifaddr;
-    static char     ipstr[INET_ADDRSTRLEN] = {0};
-    const char     *rval                   = NULL;
-
-    {
-        struct in_addr addr;
-
-        otEXPECT_ACTION(inet_aton(aLocalHost, &addr) == 0, rval = aLocalHost);
-    }
-
-    if (getifaddrs(&ifaddr) == -1)
-    {
-        perror("getifaddrs");
-        exit(EXIT_FAILURE);
-    }
-
-    for (struct ifaddrs *ifa = ifaddr; ifa != NULL; ifa = ifa->ifa_next)
-    {
-        if (ifa->ifa_addr == NULL || ifa->ifa_addr->sa_family != AF_INET)
-        {
-            continue;
-        }
-
-        if (strcmp(ifa->ifa_name, aLocalHost) == 0)
-        {
-            struct sockaddr_in *addr = (struct sockaddr_in *)ifa->ifa_addr;
-
-            if (inet_ntop(AF_INET, &addr->sin_addr, ipstr, sizeof(ipstr)))
-            {
-                break;
-            }
-        }
-    }
-
-    freeifaddrs(ifaddr);
-
-    if (ipstr[0] == '\0')
-    {
-        fprintf(stderr, "Local host address not found!\n");
-        exit(EXIT_FAILURE);
-    }
-
-    rval = ipstr;
-
-exit:
-    return rval;
-}
-
 void otSysInit(int aArgCount, char *aArgVector[])
 {
     char    *endptr;
@@ -210,8 +157,7 @@ void otSysInit(int aArgCount, char *aArgVector[])
             gRadioCaps |= OT_RADIO_CAPS_SLEEP_TO_TX;
             break;
         case OT_SIM_OPT_LOCAL_HOST:
-            gLocalHost = GetLocalHostAddress(optarg);
-            fprintf(stderr, "Simulate on %s\n", gLocalHost);
+            gLocalHost = optarg;
             break;
         case OT_SIM_OPT_TIME_SPEED:
             speedUpFactor = (uint32_t)strtol(optarg, &endptr, 10);
diff --git a/tests/scripts/expect/posix-rcp-local-host.exp b/script/check-simulation-local-host
index e8c820135..7c375685d 100755
--- a/tests/scripts/expect/posix-rcp-local-host.exp
+++ b/script/check-simulation-local-host
@@ -1,4 +1,4 @@
-#!/usr/bin/expect -f
+#!/bin/bash
 #
 #  Copyright (c) 2024, The OpenThread Authors.
 #  All rights reserved.
@@ -27,18 +27,58 @@
 #  POSSIBILITY OF SUCH DAMAGE.
 #
 
-source "tests/scripts/expect/_common.exp"
+set -euxo pipefail
 
-spawn_node 1 rcp "spinel+hdlc+uart://$::env(OT_SIMULATION_APPS)/ncp/ot-rcp?forkpty-arg=-Llo&forkpty-arg=1"
-send "factoryreset\n"
-wait_for "state" "disabled"
-setup_default_network
-attach
+IFACE_NAME="dummy116"
+EXPECT_TEST=tests/scripts/expect/cli-ping.exp
 
-spawn_node 2 rcp "spinel+hdlc+uart://$::env(OT_SIMULATION_APPS)/ncp/ot-rcp?forkpty-arg=--local-host=127.0.0.1&forkpty-arg=2"
-send "factoryreset\n"
-wait_for "state" "disabled"
-setup_default_network
-attach child
+cleanup()
+{
+    echo "Cleaning up..."
+    sudo ip link set dev "$IFACE_NAME" down
+    sudo ip link del dev "$IFACE_NAME"
+}
 
-dispose_all
+setup_dummy116()
+{
+    ip -V >/dev/null 2>&1 || {
+        echo "Error: iproute2 is required but not installed. Please install it (e.g., 'sudo apt install iproute2' or similar) and try again."
+        exit 1
+    }
+
+    ip link show "$IFACE_NAME" >/dev/null 2>&1 || sudo ip link add "$IFACE_NAME" type dummy
+
+    sudo ip link set dev "$IFACE_NAME" up
+
+    IP6ADDR="$(ip addr show $IFACE_NAME | grep fe80:: | awk '{print $2}' | cut -d/ -f1)"
+    echo "Simulated interface $IFACE_NAME created with IPv6 address $IP6ADDR"
+
+    trap cleanup EXIT
+}
+
+test_ipv6()
+{
+    setup_dummy116
+    OT_SIMULATION_LOCAL_HOST=$IFACE_NAME ./script/test build expect $EXPECT_TEST
+    OT_SIMULATION_LOCAL_HOST=$IP6ADDR ./script/test build expect $EXPECT_TEST
+
+    OT_NODE_TYPE=rcp OT_SIMULATION_LOCAL_HOST=$IFACE_NAME ./script/test build expect $EXPECT_TEST
+    OT_NODE_TYPE=rcp OT_SIMULATION_LOCAL_HOST=$IP6ADDR ./script/test build expect $EXPECT_TEST
+}
+
+test_ipv4()
+{
+    OT_SIMULATION_LOCAL_HOST=lo ./script/test build expect $EXPECT_TEST
+    OT_SIMULATION_LOCAL_HOST=127.0.0.1 ./script/test build expect $EXPECT_TEST
+
+    OT_NODE_TYPE=rcp OT_SIMULATION_LOCAL_HOST=lo ./script/test build expect $EXPECT_TEST
+    OT_NODE_TYPE=rcp OT_SIMULATION_LOCAL_HOST=127.0.0.1 ./script/test build expect $EXPECT_TEST
+}
+
+main()
+{
+    test_ipv4
+    test_ipv6
+}
+
+main "$@"
diff --git a/tests/scripts/expect/_common.exp b/tests/scripts/expect/_common.exp
index 3835de8d7..a94799e2d 100644
--- a/tests/scripts/expect/_common.exp
+++ b/tests/scripts/expect/_common.exp
@@ -84,6 +84,13 @@ proc spawn_node {id {type ""} {radio_url ""}} {
         set gcov_prefix "ot-run/$argv0/ot-gcda.$id"
     }
 
+    if {[info exists ::env(OT_SIMULATION_LOCAL_HOST)]} {
+        set ot_simulation_local_host $::env(OT_SIMULATION_LOCAL_HOST)
+        set radio_url "$radio_url&forkpty-arg=-L$ot_simulation_local_host"
+    } else {
+        set ot_simulation_local_host "127.0.0.1"
+    }
+
     switch -regexp ${type} {
         {rcp|rcp-cli} {
             # Sleep 0.2 seconds to ensure that the ot-rcp in the previous test has exited to
@@ -97,7 +104,8 @@ proc spawn_node {id {type ""} {radio_url ""}} {
             expect_line "Done"
         }
         cli {
-            spawn /usr/bin/env GCOV_PREFIX=$gcov_prefix $::env(OT_SIMULATION_APPS)/cli/ot-cli-ftd $id
+            spawn /usr/bin/env GCOV_PREFIX=$gcov_prefix $::env(OT_SIMULATION_APPS)/cli/ot-cli-ftd \
+                -L$ot_simulation_local_host $id
             send "factoryreset\n"
             wait_for "state" "disabled"
             expect_line "Done"
@@ -105,7 +113,8 @@ proc spawn_node {id {type ""} {radio_url ""}} {
             expect_line "Done"
         }
         mtd {
-            spawn /usr/bin/env GCOV_PREFIX=$gcov_prefix $::env(OT_SIMULATION_APPS)/cli/ot-cli-mtd $id
+            spawn /usr/bin/env GCOV_PREFIX=$gcov_prefix $::env(OT_SIMULATION_APPS)/cli/ot-cli-mtd \
+                -L$ot_simulation_local_host $id
             send "factoryreset\n"
             wait_for "state" "disabled"
             expect_line "Done"