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There is no example readily available in WICED SDK to help you get started. But this should be doable going by the way WICED is organized.
Source files for LwIP is available here: 43xxx_Wi-Fi/WICED/network/LwIP
Your best bet to get started with is by checking out the wwd ping example as available in 43xxx_Wi-Fi/apps/wwd/ping/FreeRTOS_LwIP_Ping.c
Can't you use udp packets?
Sadly not since the host can send either udp or tcp. So I would have to inspect the frame content and keep track of all connections.
The ping program does look like a decent place to start. Thanks!