7965506471

Committed 19 Feb 2024 09:51PM CUT coverage: 36.22% (+0.008%) from 36.212%

Build # 7965506471

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2223 from mavlink/pr-absl-fix

Fix illegal instruction on RPi 4

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10035 of 27706 relevant lines covered (36.22%)

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0.0

/src/mavsdk/core/tcp_connection.cpp

#include "tcp_connection.h"
#include "log.h"

#ifdef WINDOWS
#ifndef MINGW
#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
#endif
#else
#include <netinet/in.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <errno.h>
#include <netdb.h>
#include <unistd.h> // for close()
#endif

#include <cassert>
#include <utility>

#ifndef WINDOWS
#define GET_ERROR(_x) strerror(_x)
#else
#define GET_ERROR(_x) WSAGetLastError()
#endif

namespace mavsdk {

/* change to remote_ip and remote_port */
TcpConnection::TcpConnection(
    Connection::ReceiverCallback receiver_callback,
    std::string remote_ip,
    int remote_port,
    ForwardingOption forwarding_option) :
    Connection(std::move(receiver_callback), forwarding_option),
    _remote_ip(std::move(remote_ip)),
    _remote_port_number(remote_port),
    _should_exit(false)
{}

TcpConnection::~TcpConnection()
{
    // If no one explicitly called stop before, we should at least do it.
    stop();
}

ConnectionResult TcpConnection::start()
{
    if (!start_mavlink_receiver()) {
        return ConnectionResult::ConnectionsExhausted;
    }

    ConnectionResult ret = setup_port();
    if (ret != ConnectionResult::Success) {
        return ret;
    }

    start_recv_thread();

    return ConnectionResult::Success;
}

ConnectionResult TcpConnection::setup_port()
{
#ifdef WINDOWS
    WSADATA wsa;
    if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
        LogErr() << "Error: Winsock failed, error: %d", WSAGetLastError();
        _is_ok = false;
        return ConnectionResult::SocketError;
    }
#endif

    _socket_fd = socket(AF_INET, SOCK_STREAM, 0);

    if (_socket_fd < 0) {
        LogErr() << "socket error" << GET_ERROR(errno);
        _is_ok = false;
        return ConnectionResult::SocketError;
    }

    struct sockaddr_in remote_addr {};
    remote_addr.sin_family = AF_INET;
    remote_addr.sin_port = htons(_remote_port_number);

    struct hostent* hp;
    hp = gethostbyname(_remote_ip.c_str());
    if (hp == nullptr) {
        LogErr() << "Could not get host by name";
        _is_ok = false;
        return ConnectionResult::SocketConnectionError;
    }

    memcpy(&remote_addr.sin_addr, hp->h_addr, hp->h_length);

    if (connect(_socket_fd, reinterpret_cast<sockaddr*>(&remote_addr), sizeof(struct sockaddr_in)) <
        0) {
        LogErr() << "connect error: " << GET_ERROR(errno);
        _is_ok = false;
        return ConnectionResult::SocketConnectionError;
    }

    _is_ok = true;
    return ConnectionResult::Success;
}

void TcpConnection::start_recv_thread()
{
    _recv_thread = std::make_unique<std::thread>(&TcpConnection::receive, this);
}

ConnectionResult TcpConnection::stop()
{
    _should_exit = true;

#ifndef WINDOWS
    // This should interrupt a recv/recvfrom call.
    shutdown(_socket_fd, SHUT_RDWR);

    // But on Mac, closing is also needed to stop blocking recv/recvfrom.
    close(_socket_fd);
#else
    shutdown(_socket_fd, SD_BOTH);

    closesocket(_socket_fd);

    WSACleanup();
#endif

    if (_recv_thread) {
        _recv_thread->join();
        _recv_thread.reset();
    }

    // We need to stop this after stopping the receive thread, otherwise
    // it can happen that we interfere with the parsing of a message.
    stop_mavlink_receiver();

    return ConnectionResult::Success;
}

bool TcpConnection::send_message(const mavlink_message_t& message)
{
    if (!_is_ok) {
        return false;
    }

    if (_remote_ip.empty()) {
        LogErr() << "Remote IP unknown";
        return false;
    }

    if (_remote_port_number == 0) {
        LogErr() << "Remote port unknown";
        return false;
    }

    struct sockaddr_in dest_addr {};
    dest_addr.sin_family = AF_INET;

    inet_pton(AF_INET, _remote_ip.c_str(), &dest_addr.sin_addr.s_addr);

    dest_addr.sin_port = htons(_remote_port_number);

    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);

    // TODO: remove this assert again
    assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);

#if !defined(MSG_NOSIGNAL)
    auto flags = 0;
#else
    auto flags = MSG_NOSIGNAL;
#endif

    const auto send_len = sendto(
        _socket_fd,
        reinterpret_cast<char*>(buffer),
        buffer_len,
        flags,
        reinterpret_cast<const sockaddr*>(&dest_addr),
        sizeof(dest_addr));

    if (send_len != buffer_len) {
        LogErr() << "sendto failure: " << GET_ERROR(errno);
        _is_ok = false;
        return false;
    }
    return true;
}

void TcpConnection::receive()
{
    // Enough for MTU 1500 bytes.
    char buffer[2048];

    while (!_should_exit) {
        if (!_is_ok) {
            LogErr() << "TCP receive error, trying to reconnect...";
            std::this_thread::sleep_for(std::chrono::seconds(1));
            setup_port();
        }

        const auto recv_len = recv(_socket_fd, buffer, sizeof(buffer), 0);

        if (recv_len == 0) {
            // This can happen when shutdown is called on the socket,
            // therefore we check _should_exit again.
            _is_ok = false;
            continue;
        }

        if (recv_len < 0) {
            // This happens on desctruction when close(_socket_fd) is called,
            // therefore be quiet.
            // LogErr() << "recvfrom error: " << GET_ERROR(errno);
            // Something went wrong, we should try to re-connect in next iteration.
            _is_ok = false;
            continue;
        }

        _mavlink_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));

        // Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
        while (_mavlink_receiver->parse_message()) {
            receive_message(_mavlink_receiver->get_last_message(), this);
        }
    }
}

} // namespace mavsdk

1	#include "tcp_connection.h"
2	#include "log.h"
3
4	#ifdef WINDOWS
5	#ifndef MINGW
6	#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
7	#endif
8	#else
9	#include <netinet/in.h>
10	#include <sys/socket.h>
11	#include <arpa/inet.h>
12	#include <errno.h>
13	#include <netdb.h>
14	#include <unistd.h> // for close()
15	#endif
16
17	#include <cassert>
18	#include <utility>
19
20	#ifndef WINDOWS
21	#define GET_ERROR(_x) strerror(_x)
22	#else
23	#define GET_ERROR(_x) WSAGetLastError()
24	#endif
25
26	namespace mavsdk {
27
28	/* change to remote_ip and remote_port */
29	TcpConnection::TcpConnection(	×
30	Connection::ReceiverCallback receiver_callback,
31	std::string remote_ip,
32	int remote_port,
33	ForwardingOption forwarding_option) :	×
34	Connection(std::move(receiver_callback), forwarding_option),	×
35	_remote_ip(std::move(remote_ip)),	×
36	_remote_port_number(remote_port),
37	_should_exit(false)	×
38	{}	×
39
40	TcpConnection::~TcpConnection()	×
41	{
42	// If no one explicitly called stop before, we should at least do it.
43	stop();	×
44	}	×
45
46	ConnectionResult TcpConnection::start()	×
47	{
48	if (!start_mavlink_receiver()) {	×
49	return ConnectionResult::ConnectionsExhausted;	×
50	}
51
52	ConnectionResult ret = setup_port();	×
53	if (ret != ConnectionResult::Success) {	×
54	return ret;	×
55	}
56
57	start_recv_thread();	×
58
59	return ConnectionResult::Success;	×
60	}
61
62	ConnectionResult TcpConnection::setup_port()	×
63	{
64	#ifdef WINDOWS
65	WSADATA wsa;
66	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
67	LogErr() << "Error: Winsock failed, error: %d", WSAGetLastError();
68	_is_ok = false;
69	return ConnectionResult::SocketError;
70	}
71	#endif
72
73	_socket_fd = socket(AF_INET, SOCK_STREAM, 0);	×
74
75	if (_socket_fd < 0) {	×
76	LogErr() << "socket error" << GET_ERROR(errno);	×
77	_is_ok = false;	×
78	return ConnectionResult::SocketError;	×
79	}
80
81	struct sockaddr_in remote_addr {};	×
82	remote_addr.sin_family = AF_INET;	×
83	remote_addr.sin_port = htons(_remote_port_number);	×
84
85	struct hostent* hp;
86	hp = gethostbyname(_remote_ip.c_str());	×
87	if (hp == nullptr) {	×
88	LogErr() << "Could not get host by name";	×
89	_is_ok = false;	×
90	return ConnectionResult::SocketConnectionError;	×
91	}
92
93	memcpy(&remote_addr.sin_addr, hp->h_addr, hp->h_length);	×
94
95	if (connect(_socket_fd, reinterpret_cast<sockaddr*>(&remote_addr), sizeof(struct sockaddr_in)) <	×
96	0) {
97	LogErr() << "connect error: " << GET_ERROR(errno);	×
98	_is_ok = false;	×
99	return ConnectionResult::SocketConnectionError;	×
100	}
101
102	_is_ok = true;	×
103	return ConnectionResult::Success;	×
104	}
105
106	void TcpConnection::start_recv_thread()	×
107	{
108	_recv_thread = std::make_unique<std::thread>(&TcpConnection::receive, this);	×
109	}	×
110
111	ConnectionResult TcpConnection::stop()	×
112	{
113	_should_exit = true;	×
114
115	#ifndef WINDOWS
116	// This should interrupt a recv/recvfrom call.
117	shutdown(_socket_fd, SHUT_RDWR);	×
118
119	// But on Mac, closing is also needed to stop blocking recv/recvfrom.
120	close(_socket_fd);	×
121	#else
122	shutdown(_socket_fd, SD_BOTH);
123
124	closesocket(_socket_fd);
125
126	WSACleanup();
127	#endif
128
129	if (_recv_thread) {	×
130	_recv_thread->join();	×
131	_recv_thread.reset();	×
132	}
133
134	// We need to stop this after stopping the receive thread, otherwise
135	// it can happen that we interfere with the parsing of a message.
136	stop_mavlink_receiver();	×
137
138	return ConnectionResult::Success;	×
139	}
140
141	bool TcpConnection::send_message(const mavlink_message_t& message)	×
142	{
143	if (!_is_ok) {	×
144	return false;	×
145	}
146
147	if (_remote_ip.empty()) {	×
148	LogErr() << "Remote IP unknown";	×
149	return false;	×
150	}
151
152	if (_remote_port_number == 0) {	×
153	LogErr() << "Remote port unknown";	×
154	return false;	×
155	}
156
157	struct sockaddr_in dest_addr {};	×
158	dest_addr.sin_family = AF_INET;	×
159
160	inet_pton(AF_INET, _remote_ip.c_str(), &dest_addr.sin_addr.s_addr);	×
161
162	dest_addr.sin_port = htons(_remote_port_number);	×
163
164	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	×
165	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	×
166
167	// TODO: remove this assert again
168	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	×
169
170	#if !defined(MSG_NOSIGNAL)
171	auto flags = 0;
172	#else
173	auto flags = MSG_NOSIGNAL;	×
174	#endif
175
176	const auto send_len = sendto(	×
177	_socket_fd,
178	reinterpret_cast<char*>(buffer),
179	buffer_len,
180	flags,
181	reinterpret_cast<const sockaddr*>(&dest_addr),
182	sizeof(dest_addr));
183
184	if (send_len != buffer_len) {	×
185	LogErr() << "sendto failure: " << GET_ERROR(errno);	×
186	_is_ok = false;	×
187	return false;	×
188	}
189	return true;	×
190	}
191
192	void TcpConnection::receive()	×
193	{
194	// Enough for MTU 1500 bytes.
195	char buffer[2048];	×
196
197	while (!_should_exit) {	×
198	if (!_is_ok) {	×
199	LogErr() << "TCP receive error, trying to reconnect...";	×
200	std::this_thread::sleep_for(std::chrono::seconds(1));	×
201	setup_port();	×
202	}
203
204	const auto recv_len = recv(_socket_fd, buffer, sizeof(buffer), 0);	×
205
206	if (recv_len == 0) {	×
207	// This can happen when shutdown is called on the socket,
208	// therefore we check _should_exit again.
209	_is_ok = false;	×
210	continue;	×
211	}
212
213	if (recv_len < 0) {	×
214	// This happens on desctruction when close(_socket_fd) is called,
215	// therefore be quiet.
216	// LogErr() << "recvfrom error: " << GET_ERROR(errno);
217	// Something went wrong, we should try to re-connect in next iteration.
218	_is_ok = false;	×
219	continue;	×
220	}
221
222	_mavlink_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	×
223
224	// Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
225	while (_mavlink_receiver->parse_message()) {	×
226	receive_message(_mavlink_receiver->get_last_message(), this);	×
227	}
228	}
229	}	×
230
231	} // namespace mavsdk

mavlink / MAVSDK / 7965506471

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