14793244879

Committed 02 May 2025 10:11AM UTC coverage: 44.318% (+0.1%) from 44.223%

Build # 14793244879

Build Type

Pull #2542

github

Committed by

web-flow

Commit Message

Merge fe276f187 into 2cf24f244

Pull Request Pull Request #2542: Fixing thread sanitizer issues

Run Details

254 of 364 new or added lines in 18 files covered. (69.78%)

77 existing lines in 8 files now uncovered.

14756 of 33296 relevant lines covered (44.32%)

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72.45

/src/mavsdk/core/tcp_client_connection.cpp

#include "tcp_client_connection.h"
#include "log.h"

#include <cassert>
#include <sstream>
#include <utility>
#include <thread>
#include <sstream>

#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>
#endif

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

namespace mavsdk {

/* change to remote_ip and remote_port */
TcpClientConnection::TcpClientConnection(
    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)
{}

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

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

    _socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));

    if (_socket_fd.empty()) {
        LogErr() << "socket error" << GET_ERROR(errno);
        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";
        return ConnectionResult::SocketConnectionError;
    }

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

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

    // Set receive timeout cross-platform
    const unsigned timeout_ms = 500;

#if defined(WINDOWS)
    setsockopt(
        _socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_ms, sizeof(timeout_ms));
#else
    struct timeval tv;
    tv.tv_sec = 0;
    tv.tv_usec = timeout_ms * 1000;
    setsockopt(_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));
#endif

    return ConnectionResult::Success;
}

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

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

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

    _socket_fd.close();

    // 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;
}

std::pair<bool, std::string> TcpClientConnection::send_message(const mavlink_message_t& message)
{
    std::pair<bool, std::string> result;

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

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

    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 =
        send(_socket_fd.get(), reinterpret_cast<const char*>(buffer), buffer_len, flags);

    if (send_len != buffer_len) {
        std::stringstream ss;
        ss << "Send failure: " << GET_ERROR(errno);
        LogErr() << ss.str();
        result.first = false;
        result.second = ss.str();
        return result;
    }

    result.first = true;
    return result;
}

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

    while (!_should_exit) {
        const auto recv_len = recv(_socket_fd.get(), buffer, sizeof(buffer), 0);

        if (recv_len == 0 || (recv_len < 0 && (errno == EAGAIN || errno == ETIMEDOUT))) {
            // Timeout, just try again.
            continue;
        }

        if (recv_len < 0) {
            LogErr() << "TCP receive error: " << GET_ERROR(errno) << ", trying to reeconnect...";
            std::this_thread::sleep_for(std::chrono::seconds(1));
            setup_port();
            continue;
        }

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

        while (_mavlink_receiver->parse_message()) {
            receive_message(_mavlink_receiver->get_last_message(), this);
        }
    }
}

} // namespace mavsdk

1	#include "tcp_client_connection.h"
2	#include "log.h"
3
4	#include <cassert>
5	#include <sstream>
6	#include <utility>
7	#include <thread>
8	#include <sstream>
9
10	#ifdef WINDOWS
11	#ifndef MINGW
12	#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
13	#endif
14	#else
15	#include <netinet/in.h>
16	#include <sys/socket.h>
17	#include <arpa/inet.h>
18	#include <errno.h>
19	#include <netdb.h>
20	#endif
21
22	#ifndef WINDOWS
23	#define GET_ERROR(_x) strerror(_x)
24	#else
25	#define GET_ERROR(_x) WSAGetLastError()
26	#endif
27
28	namespace mavsdk {
29
30	/* change to remote_ip and remote_port */
31	TcpClientConnection::TcpClientConnection(	1✔
32	Connection::ReceiverCallback receiver_callback,
33	std::string remote_ip,
34	int remote_port,
35	ForwardingOption forwarding_option) :	1✔
36	Connection(std::move(receiver_callback), forwarding_option),	1✔
37	_remote_ip(std::move(remote_ip)),	1✔
38	_remote_port_number(remote_port),	1✔
39	_should_exit(false)	3✔
40	{}	1✔
41
42	TcpClientConnection::~TcpClientConnection()	2✔
43	{
44	// If no one explicitly called stop before, we should at least do it.
45	stop();	1✔
46	}	2✔
47
48	ConnectionResult TcpClientConnection::start()	1✔
49	{
50	if (!start_mavlink_receiver()) {	1✔
51	return ConnectionResult::ConnectionsExhausted;	×
52	}
53
54	ConnectionResult ret = setup_port();	1✔
55	if (ret != ConnectionResult::Success) {	1✔
56	return ret;	×
57	}
58
59	start_recv_thread();	1✔
60
61	return ConnectionResult::Success;	1✔
62	}
63
64	ConnectionResult TcpClientConnection::setup_port()	1✔
65	{
66	#ifdef WINDOWS
67	WSADATA wsa;
68	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
69	LogErr() << "Error: Winsock failed, error: %d", WSAGetLastError();
70	return ConnectionResult::SocketError;
71	}
72	#endif
73
74	_socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));	1✔
75
76	if (_socket_fd.empty()) {	1✔
77	LogErr() << "socket error" << GET_ERROR(errno);	×
78	return ConnectionResult::SocketError;	×
79	}
80
81	struct sockaddr_in remote_addr {};	1✔
82	remote_addr.sin_family = AF_INET;	1✔
83	remote_addr.sin_port = htons(_remote_port_number);	1✔
84
85	struct hostent* hp;
86	hp = gethostbyname(_remote_ip.c_str());	1✔
87	if (hp == nullptr) {	1✔
88	LogErr() << "Could not get host by name";	×
89	return ConnectionResult::SocketConnectionError;	×
90	}
91
92	memcpy(&remote_addr.sin_addr, hp->h_addr, hp->h_length);	1✔
93
94	if (connect(	1✔
95	_socket_fd.get(),
96	reinterpret_cast<sockaddr*>(&remote_addr),
97	sizeof(struct sockaddr_in)) < 0) {	1✔
98	LogErr() << "connect error: " << GET_ERROR(errno);	×
99	return ConnectionResult::SocketConnectionError;	×
100	}
101
102	// Set receive timeout cross-platform
103	const unsigned timeout_ms = 500;	1✔
104
105	#if defined(WINDOWS)
106	setsockopt(
107	_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_ms, sizeof(timeout_ms));
108	#else
109	struct timeval tv;	1✔
110	tv.tv_sec = 0;	1✔
111	tv.tv_usec = timeout_ms * 1000;	1✔
112	setsockopt(_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
113	#endif
114
115	return ConnectionResult::Success;	1✔
116	}
117
118	void TcpClientConnection::start_recv_thread()	1✔
119	{
120	_recv_thread = std::make_unique<std::thread>(&TcpClientConnection::receive, this);	1✔
121	}	1✔
122
123	ConnectionResult TcpClientConnection::stop()	1✔
124	{
125	_should_exit = true;	1✔
126
127	if (_recv_thread) {	1✔
128	_recv_thread->join();	1✔
129	_recv_thread.reset();	1✔
130	}
131
132	_socket_fd.close();	1✔
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();	1✔
137
138	return ConnectionResult::Success;	1✔
139	}
140
141	std::pair<bool, std::string> TcpClientConnection::send_message(const mavlink_message_t& message)	7✔
142	{
143	std::pair<bool, std::string> result;	7✔
144
145	if (_remote_ip.empty()) {	7✔
UNCOV 146	result.first = false;	×
147	result.second = "Remote IP unknown";	×
148	LogErr() << result.second;	×
149	return result;	×
150	}
151
152	if (_remote_port_number == 0) {	7✔
153	result.first = false;	×
154	result.second = "Remote port unknown";	×
155	LogErr() << result.second;	×
156	return result;	×
157	}
158
159	struct sockaddr_in dest_addr {};	7✔
160	dest_addr.sin_family = AF_INET;	7✔
161
162	inet_pton(AF_INET, _remote_ip.c_str(), &dest_addr.sin_addr.s_addr);	7✔
163
164	dest_addr.sin_port = htons(_remote_port_number);	7✔
165
166	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	7✔
167	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	7✔
168
169	// TODO: remove this assert again
170	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	7✔
171
172	#if !defined(MSG_NOSIGNAL)
173	auto flags = 0;
174	#else
175	auto flags = MSG_NOSIGNAL;	7✔
176	#endif
177
178	const auto send_len =
179	send(_socket_fd.get(), reinterpret_cast<const char*>(buffer), buffer_len, flags);	7✔
180
181	if (send_len != buffer_len) {	7✔
182	std::stringstream ss;	×
183	ss << "Send failure: " << GET_ERROR(errno);	×
184	LogErr() << ss.str();	×
185	result.first = false;	×
186	result.second = ss.str();	×
187	return result;	×
188	}	×
189
190	result.first = true;	7✔
191	return result;	7✔
192	}
193
194	void TcpClientConnection::receive()	1✔
195	{
196	// Enough for MTU 1500 bytes.
197	char buffer[2048];	1✔
198
199	while (!_should_exit) {	7✔
200	const auto recv_len = recv(_socket_fd.get(), buffer, sizeof(buffer), 0);	6✔
201
202	if (recv_len == 0 \|\| (recv_len < 0 && (errno == EAGAIN \|\| errno == ETIMEDOUT))) {	6✔
203	// Timeout, just try again.
204	continue;	3✔
205	}
206
207	if (recv_len < 0) {	3✔
NEW 208	LogErr() << "TCP receive error: " << GET_ERROR(errno) << ", trying to reeconnect...";	×
NEW 209	std::this_thread::sleep_for(std::chrono::seconds(1));	×
NEW 210	setup_port();	×
UNCOV 211	continue;	×
212	}
213
214	_mavlink_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	3✔
215
216	while (_mavlink_receiver->parse_message()) {	6✔
217	receive_message(_mavlink_receiver->get_last_message(), this);	3✔
218	}
219	}
220	}	1✔
221
222	} // namespace mavsdk

mavlink / MAVSDK / 14793244879

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