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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74.81

/src/mavsdk/core/udp_connection.cpp

#include "udp_connection.h"
#include "log.h"

#ifdef WINDOWS
#include <winsock2.h>
#include <Ws2tcpip.h> // For InetPton
#undef SOCKET_ERROR // conflicts with ConnectionResult::SocketError
#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 <sys/time.h>
#include <arpa/inet.h>
#include <errno.h>
#endif

#include <algorithm>
#include <utility>
#include <sstream>

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

namespace mavsdk {

UdpConnection::UdpConnection(
    Connection::ReceiverCallback receiver_callback,
    std::string local_ip,
    int local_port_number,
    ForwardingOption forwarding_option) :
    Connection(std::move(receiver_callback), forwarding_option),
    _local_ip(std::move(local_ip)),
    _local_port_number(local_port_number)
{}

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

ConnectionResult UdpConnection::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 UdpConnection::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_DGRAM, 0));

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

    struct sockaddr_in addr {};
    addr.sin_family = AF_INET;
    if (inet_pton(AF_INET, _local_ip.c_str(), &(addr.sin_addr)) != 1) {
        LogErr() << "inet_pton failure for address: " << _local_ip;
        return ConnectionResult::SocketError;
    }
    addr.sin_port = htons(_local_port_number);

    if (bind(_socket_fd.get(), reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) != 0) {
        LogErr() << "bind error: " << GET_ERROR(errno);
        return ConnectionResult::BindError;
    }

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

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

    std::lock_guard<std::mutex> lock(_remote_mutex);

    // Remove inactive remotes before sending messages
    auto now = std::chrono::steady_clock::now();

    _remotes.erase(
        std::remove_if(
            _remotes.begin(),
            _remotes.end(),
            [&now, this](const Remote& remote) {
                auto elapsed = now - remote.last_activity;
                bool inactive = elapsed > REMOTE_TIMEOUT;

                if (inactive) {
                    LogInfo() << "Removing inactive remote: " << remote.ip << ":"
                              << remote.port_number;
                }

                return inactive;
            }),
        _remotes.end());

    if (_remotes.size() == 0) {
        result.first = false;
        result.second = "no remotes";
        return result;
    }

    // Send the message to all the remotes. A remote is a UDP endpoint
    // identified by its <ip, port>. This means that if we have two
    // systems on two different endpoints, then messages directed towards
    // only one system will be sent to both remotes. The systems are
    // then expected to ignore messages that are not directed to them.

    // For multiple remotes, we ignore errors, for just one, we bubble it up.
    result.first = true;

    for (auto& remote : _remotes) {
        struct sockaddr_in dest_addr {};
        dest_addr.sin_family = AF_INET;

        if (inet_pton(AF_INET, remote.ip.c_str(), &dest_addr.sin_addr.s_addr) != 1) {
            std::stringstream ss;
            ss << "inet_pton failure for: " << remote.ip << ":" << remote.port_number;
            LogErr() << ss.str();
            result.first = false;
            if (!result.second.empty()) {
                result.second += ", ";
            }
            result.second += ss.str();
            continue;
        }
        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);

        const auto send_len = sendto(
            _socket_fd.get(),
            reinterpret_cast<char*>(buffer),
            buffer_len,
            0,
            reinterpret_cast<const sockaddr*>(&dest_addr),
            sizeof(dest_addr));

        if (send_len != buffer_len) {
            std::stringstream ss;
            ss << "sendto failure: " << GET_ERROR(errno) << " for: " << remote.ip << ":"
               << remote.port_number;
            LogErr() << ss.str();
            result.first = false;
            if (!result.second.empty()) {
                result.second += ", ";
            }
            result.second += ss.str();
            continue;
        }
    }

    return result;
}

void UdpConnection::add_remote(const std::string& remote_ip, const int remote_port)
{
    add_remote_with_remote_sysid(remote_ip, remote_port, 0);
}

void UdpConnection::add_remote_with_remote_sysid(
    const std::string& remote_ip, const int remote_port, const uint8_t remote_sysid)
{
    std::lock_guard<std::mutex> lock(_remote_mutex);
    Remote new_remote;
    new_remote.ip = remote_ip;
    new_remote.port_number = remote_port;
    new_remote.last_activity = std::chrono::steady_clock::now();

    auto existing_remote =
        std::find_if(_remotes.begin(), _remotes.end(), [&new_remote](Remote& remote) {
            return remote == new_remote;
        });

    if (existing_remote == _remotes.end()) {
        // System with sysid 0 is a bit special: it is a placeholder for a connection initiated
        // by MAVSDK. As such, it should not be advertised as a newly discovered system.
        if (static_cast<int>(remote_sysid) != 0) {
            LogInfo() << "New system on: " << new_remote.ip << ":" << new_remote.port_number
                      << " (with system ID: " << static_cast<int>(remote_sysid) << ")";
        }
        _remotes.push_back(new_remote);
    } else {
        // Update the timestamp for the existing remote
        existing_remote->last_activity = std::chrono::steady_clock::now();
    }
}

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

    while (!_should_exit) {
        struct sockaddr_in src_addr = {};
        socklen_t src_addr_len = sizeof(src_addr);
        const auto recv_len = recvfrom(
            _socket_fd.get(),
            buffer,
            sizeof(buffer),
            0,
            reinterpret_cast<struct sockaddr*>(&src_addr),
            &src_addr_len);

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

        if (recv_len < 0) {
            // This happens on destruction when _socket_fd.close() is called,
            // therefore be quiet.
            // LogErr() << "recvfrom error: " << GET_ERROR(errno);
            continue;
        }

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

        // Parse all mavlink messages in one datagram. Once exhausted, we'll exit while.
        while (_mavlink_receiver->parse_message()) {
            const uint8_t sysid = _mavlink_receiver->get_last_message().sysid;

            if (sysid != 0) {
                char ip_str[INET_ADDRSTRLEN];
                if (inet_ntop(AF_INET, &src_addr.sin_addr, ip_str, INET_ADDRSTRLEN) != nullptr) {
                    add_remote_with_remote_sysid(ip_str, ntohs(src_addr.sin_port), sysid);
                } else {
                    LogErr() << "inet_ntop failure for: " << strerror(errno);
                }
            }

            receive_message(_mavlink_receiver->get_last_message(), this);
        }
    }
}

} // namespace mavsdk

1	#include "udp_connection.h"
2	#include "log.h"
3
4	#ifdef WINDOWS
5	#include <winsock2.h>
6	#include <Ws2tcpip.h> // For InetPton
7	#undef SOCKET_ERROR // conflicts with ConnectionResult::SocketError
8	#ifndef MINGW
9	#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
10	#endif
11	#else
12	#include <netinet/in.h>
13	#include <sys/socket.h>
14	#include <sys/time.h>
15	#include <arpa/inet.h>
16	#include <errno.h>
17	#endif
18
19	#include <algorithm>
20	#include <utility>
21	#include <sstream>
22
23	#ifdef WINDOWS
24	#define GET_ERROR(_x) WSAGetLastError()
25	#else
26	#define GET_ERROR(_x) strerror(_x)
27	#endif
28
29	namespace mavsdk {
30
31	UdpConnection::UdpConnection(	84✔
32	Connection::ReceiverCallback receiver_callback,
33	std::string local_ip,
34	int local_port_number,
35	ForwardingOption forwarding_option) :	84✔
36	Connection(std::move(receiver_callback), forwarding_option),	84✔
37	_local_ip(std::move(local_ip)),	84✔
38	_local_port_number(local_port_number)	252✔
39	{}	84✔
40
41	UdpConnection::~UdpConnection()	168✔
42	{
43	// If no one explicitly called stop before, we should at least do it.
44	stop();	84✔
45	}	168✔
46
47	ConnectionResult UdpConnection::start()	84✔
48	{
49	if (!start_mavlink_receiver()) {	84✔
50	return ConnectionResult::ConnectionsExhausted;	×
51	}
52
53	ConnectionResult ret = setup_port();	84✔
54	if (ret != ConnectionResult::Success) {	84✔
55	return ret;	×
56	}
57
58	start_recv_thread();	84✔
59
60	return ConnectionResult::Success;	84✔
61	}
62
63	ConnectionResult UdpConnection::setup_port()	84✔
64	{
65	#ifdef WINDOWS
66	WSADATA wsa;
67	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
68	LogErr() << "Error: Winsock failed, error: %d", WSAGetLastError();
69	return ConnectionResult::SocketError;
70	}
71	#endif
72
73	_socket_fd.reset(socket(AF_INET, SOCK_DGRAM, 0));	84✔
74
75	if (_socket_fd.empty()) {	84✔
76	LogErr() << "socket error" << GET_ERROR(errno);	×
77	return ConnectionResult::SocketError;	×
78	}
79
80	struct sockaddr_in addr {};	84✔
81	addr.sin_family = AF_INET;	84✔
82	if (inet_pton(AF_INET, _local_ip.c_str(), &(addr.sin_addr)) != 1) {	84✔
83	LogErr() << "inet_pton failure for address: " << _local_ip;	×
84	return ConnectionResult::SocketError;	×
85	}
86	addr.sin_port = htons(_local_port_number);	84✔
87
88	if (bind(_socket_fd.get(), reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) != 0) {	84✔
89	LogErr() << "bind error: " << GET_ERROR(errno);	×
90	return ConnectionResult::BindError;	×
91	}
92
93	// Set receive timeout cross-platform
94	const unsigned timeout_ms = 500;	84✔
95
96	#if defined(WINDOWS)
97	setsockopt(
98	_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_ms, sizeof(timeout_ms));
99	#else
100	struct timeval tv;	84✔
101	tv.tv_sec = 0;	84✔
102	tv.tv_usec = timeout_ms * 1000;	84✔
103	setsockopt(_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	84✔
104	#endif
105
106	return ConnectionResult::Success;	84✔
107	}
108
109	void UdpConnection::start_recv_thread()	84✔
110	{
111	_recv_thread = std::make_unique<std::thread>(&UdpConnection::receive, this);	84✔
112	}	84✔
113
114	ConnectionResult UdpConnection::stop()	84✔
115	{
116	_should_exit = true;	84✔
117
118	if (_recv_thread) {	84✔
119	_recv_thread->join();	84✔
120	_recv_thread.reset();	84✔
121	}
122
123	_socket_fd.close();	84✔
124
125	// We need to stop this after stopping the receive thread, otherwise
126	// it can happen that we interfere with the parsing of a message.
127	stop_mavlink_receiver();	84✔
128
129	return ConnectionResult::Success;	84✔
130	}
131
132	std::pair<bool, std::string> UdpConnection::send_message(const mavlink_message_t& message)	1,926✔
133	{
134	std::pair<bool, std::string> result;	1,926✔
135
136	std::lock_guard<std::mutex> lock(_remote_mutex);	1,926✔
137
138	// Remove inactive remotes before sending messages
139	auto now = std::chrono::steady_clock::now();	1,926✔
140
141	_remotes.erase(	7,704✔
142	std::remove_if(	3,852✔
143	_remotes.begin(),
144	_remotes.end(),
145	[&now, this](const Remote& remote) {	3,852✔
146	auto elapsed = now - remote.last_activity;	1,926✔
147	bool inactive = elapsed > REMOTE_TIMEOUT;	1,926✔
148
149	if (inactive) {	1,925✔
150	LogInfo() << "Removing inactive remote: " << remote.ip << ":"	×
151	<< remote.port_number;	×
152	}
153
154	return inactive;	1,925✔
155	}),
156	_remotes.end());	3,852✔
157
158	if (_remotes.size() == 0) {	1,926✔
159	result.first = false;	×
160	result.second = "no remotes";	×
161	return result;	×
162	}
163
164	// Send the message to all the remotes. A remote is a UDP endpoint
165	// identified by its <ip, port>. This means that if we have two
166	// systems on two different endpoints, then messages directed towards
167	// only one system will be sent to both remotes. The systems are
168	// then expected to ignore messages that are not directed to them.
169
170	// For multiple remotes, we ignore errors, for just one, we bubble it up.
171	result.first = true;	1,925✔
172
173	for (auto& remote : _remotes) {	3,850✔
174	struct sockaddr_in dest_addr {};	1,925✔
175	dest_addr.sin_family = AF_INET;	1,925✔
176
177	if (inet_pton(AF_INET, remote.ip.c_str(), &dest_addr.sin_addr.s_addr) != 1) {	1,925✔
178	std::stringstream ss;	×
179	ss << "inet_pton failure for: " << remote.ip << ":" << remote.port_number;	×
180	LogErr() << ss.str();	×
181	result.first = false;	×
182	if (!result.second.empty()) {	×
183	result.second += ", ";	×
184	}
185	result.second += ss.str();	×
186	continue;	×
187	}	×
188	dest_addr.sin_port = htons(remote.port_number);	1,926✔
189
190	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	1,926✔
191	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	1,926✔
192
193	const auto send_len = sendto(	1,926✔
194	_socket_fd.get(),
195	reinterpret_cast<char*>(buffer),
196	buffer_len,
197	0,
198	reinterpret_cast<const sockaddr*>(&dest_addr),
199	sizeof(dest_addr));
200
201	if (send_len != buffer_len) {	1,926✔
202	std::stringstream ss;	×
203	ss << "sendto failure: " << GET_ERROR(errno) << " for: " << remote.ip << ":"	×
204	<< remote.port_number;	×
205	LogErr() << ss.str();	×
206	result.first = false;	×
207	if (!result.second.empty()) {	×
208	result.second += ", ";	×
209	}
210	result.second += ss.str();	×
211	continue;	×
212	}	×
213	}
214
215	return result;
216	}	1,926✔
217
218	void UdpConnection::add_remote(const std::string& remote_ip, const int remote_port)	42✔
219	{
220	add_remote_with_remote_sysid(remote_ip, remote_port, 0);	42✔
221	}	42✔
222
223	void UdpConnection::add_remote_with_remote_sysid(	1,968✔
224	const std::string& remote_ip, const int remote_port, const uint8_t remote_sysid)
225	{
226	std::lock_guard<std::mutex> lock(_remote_mutex);	1,968✔
227	Remote new_remote;	1,968✔
228	new_remote.ip = remote_ip;	1,968✔
229	new_remote.port_number = remote_port;	1,968✔
230	new_remote.last_activity = std::chrono::steady_clock::now();	1,968✔
231
232	auto existing_remote =	1,967✔
233	std::find_if(_remotes.begin(), _remotes.end(), [&new_remote](Remote& remote) {	1,967✔
234	return remote == new_remote;	1,884✔
235	});
236
237	if (existing_remote == _remotes.end()) {	1,968✔
238	// System with sysid 0 is a bit special: it is a placeholder for a connection initiated
239	// by MAVSDK. As such, it should not be advertised as a newly discovered system.
240	if (static_cast<int>(remote_sysid) != 0) {	84✔
241	LogInfo() << "New system on: " << new_remote.ip << ":" << new_remote.port_number	84✔
242	<< " (with system ID: " << static_cast<int>(remote_sysid) << ")";	84✔
243	}
244	_remotes.push_back(new_remote);	84✔
245	} else {
246	// Update the timestamp for the existing remote
247	existing_remote->last_activity = std::chrono::steady_clock::now();	1,883✔
248	}
249	}	1,967✔
250
251	void UdpConnection::receive()	84✔
252	{
253	// Enough for MTU 1500 bytes.
254	char buffer[2048];	84✔
255
256	while (!_should_exit) {	2,291✔
257	struct sockaddr_in src_addr = {};	2,233✔
258	socklen_t src_addr_len = sizeof(src_addr);	2,232✔
259	const auto recv_len = recvfrom(	2,220✔
260	_socket_fd.get(),
261	buffer,
262	sizeof(buffer),
263	0,
264	reinterpret_cast<struct sockaddr*>(&src_addr),
265	&src_addr_len);
266
267	if (recv_len == 0) {	2,232✔
268	// This can happen when shutdown is called on the socket,
269	// therefore we check _should_exit again.
UNCOV 270	continue;	×
271	}
272
273	if (recv_len < 0) {	2,232✔
274	// This happens on destruction when _socket_fd.close() is called,
275	// therefore be quiet.
276	// LogErr() << "recvfrom error: " << GET_ERROR(errno);
277	continue;	306✔
278	}
279
280	_mavlink_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	1,926✔
281
282	// Parse all mavlink messages in one datagram. Once exhausted, we'll exit while.
283	while (_mavlink_receiver->parse_message()) {	3,852✔
284	const uint8_t sysid = _mavlink_receiver->get_last_message().sysid;	1,926✔
285
286	if (sysid != 0) {	1,925✔
287	char ip_str[INET_ADDRSTRLEN];	1,926✔
288	if (inet_ntop(AF_INET, &src_addr.sin_addr, ip_str, INET_ADDRSTRLEN) != nullptr) {	1,926✔
289	add_remote_with_remote_sysid(ip_str, ntohs(src_addr.sin_port), sysid);	1,926✔
290	} else {
291	LogErr() << "inet_ntop failure for: " << strerror(errno);	×
292	}
293	}
294
295	receive_message(_mavlink_receiver->get_last_message(), this);	1,925✔
296	}
297	}
298	}	84✔
299
300	} // namespace mavsdk

mavlink / MAVSDK / 14793244879

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