16247112396

Committed 13 Jul 2025 08:18AM UTC coverage: 46.221% (+1.0%) from 45.212%

Build # 16247112396

Build Type

Pull #2610

github

Committed by

web-flow

Commit Message

Merge a15009557 into 6c112e71f

Pull Request Pull Request #2610: Integrate parts of libmav into MAVSDK and add MavlinkDirect plugin

Run Details

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72.48

/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(
    Connection::ReceiverCallback receiver_callback,
    Connection::LibmavReceiverCallback libmav_receiver_callback,
    std::string local_ip,
    int local_port_number,
    ForwardingOption forwarding_option) :
    Connection(
        std::move(receiver_callback), std::move(libmav_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;
    }

    if (!start_libmav_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) {
                const auto elapsed = now - remote.last_activity;
                const bool inactive = elapsed > REMOTE_TIMEOUT;

                const bool should_remove = inactive && remote.remote_option == RemoteOption::Found;

                // We can cleanup old/previous remotes if we have
                if (should_remove) {
                    LogInfo() << "Removing inactive remote: " << remote.ip << ":"
                              << remote.port_number;
                }

                return should_remove;
            }),
        _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_to_keep(const std::string& remote_ip, const int remote_port)
{
    add_remote_impl(remote_ip, remote_port, 0, RemoteOption::Fixed);
}

void UdpConnection::add_remote_impl(
    const std::string& remote_ip,
    const int remote_port,
    const uint8_t remote_sysid,
    RemoteOption remote_option)
{
    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();
    new_remote.remote_option = remote_option;

    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_impl(ip_str, ntohs(src_addr.sin_port), sysid, RemoteOption::Found);
                } else {
                    LogErr() << "inet_ntop failure for: " << strerror(errno);
                }
            }

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

        // Also parse with libmav if available
        if (_libmav_receiver) {
            _libmav_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));

            while (_libmav_receiver->parse_message()) {
                receive_libmav_message(_libmav_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
UNCOV 31	UdpConnection::UdpConnection(	×
32	Connection::ReceiverCallback receiver_callback,
33	std::string local_ip,
34	int local_port_number,
UNCOV 35	ForwardingOption forwarding_option) :	×
UNCOV 36	Connection(std::move(receiver_callback), forwarding_option),	×
UNCOV 37	_local_ip(std::move(local_ip)),	×
UNCOV 38	_local_port_number(local_port_number)	×
UNCOV 39	{}	×
40
41	UdpConnection::UdpConnection(	96✔
42	Connection::ReceiverCallback receiver_callback,
43	Connection::LibmavReceiverCallback libmav_receiver_callback,
44	std::string local_ip,
45	int local_port_number,
46	ForwardingOption forwarding_option) :	96✔
47	Connection(
48	std::move(receiver_callback), std::move(libmav_receiver_callback), forwarding_option),	192✔
49	_local_ip(std::move(local_ip)),	96✔
50	_local_port_number(local_port_number)	384✔
51	{}	96✔
52
53	UdpConnection::~UdpConnection()	192✔
54	{
55	// If no one explicitly called stop before, we should at least do it.
56	stop();	96✔
57	}	192✔
58
59	ConnectionResult UdpConnection::start()	96✔
60	{
61	if (!start_mavlink_receiver()) {	96✔
62	return ConnectionResult::ConnectionsExhausted;	×
63	}
64
65	if (!start_libmav_receiver()) {	96✔
NEW 66	return ConnectionResult::ConnectionsExhausted;	×
67	}
68
69	ConnectionResult ret = setup_port();	96✔
70	if (ret != ConnectionResult::Success) {	96✔
71	return ret;	×
72	}
73
74	start_recv_thread();	96✔
75
76	return ConnectionResult::Success;	96✔
77	}
78
79	ConnectionResult UdpConnection::setup_port()	96✔
80	{
81	#ifdef WINDOWS
82	WSADATA wsa;
83	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
84	LogErr() << "Error: Winsock failed, error: %d", WSAGetLastError();
85	return ConnectionResult::SocketError;
86	}
87	#endif
88
89	_socket_fd.reset(socket(AF_INET, SOCK_DGRAM, 0));	96✔
90
91	if (_socket_fd.empty()) {	96✔
92	LogErr() << "socket error" << GET_ERROR(errno);	×
93	return ConnectionResult::SocketError;	×
94	}
95
96	struct sockaddr_in addr {};	96✔
97	addr.sin_family = AF_INET;	96✔
98	if (inet_pton(AF_INET, _local_ip.c_str(), &(addr.sin_addr)) != 1) {	96✔
99	LogErr() << "inet_pton failure for address: " << _local_ip;	×
100	return ConnectionResult::SocketError;	×
101	}
102	addr.sin_port = htons(_local_port_number);	96✔
103
104	if (bind(_socket_fd.get(), reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) != 0) {	96✔
105	LogErr() << "bind error: " << GET_ERROR(errno);	×
106	return ConnectionResult::BindError;	×
107	}
108
109	// Set receive timeout cross-platform
110	const unsigned timeout_ms = 500;	96✔
111
112	#if defined(WINDOWS)
113	setsockopt(
114	_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_ms, sizeof(timeout_ms));
115	#else
116	struct timeval tv;	96✔
117	tv.tv_sec = 0;	96✔
118	tv.tv_usec = timeout_ms * 1000;	96✔
119	setsockopt(_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	96✔
120	#endif
121
122	return ConnectionResult::Success;	96✔
123	}
124
125	void UdpConnection::start_recv_thread()	96✔
126	{
127	_recv_thread = std::make_unique<std::thread>(&UdpConnection::receive, this);	96✔
128	}	96✔
129
130	ConnectionResult UdpConnection::stop()	96✔
131	{
132	_should_exit = true;	96✔
133
134	if (_recv_thread) {	96✔
135	_recv_thread->join();	96✔
136	_recv_thread.reset();	96✔
137	}
138
139	_socket_fd.close();	96✔
140
141	// We need to stop this after stopping the receive thread, otherwise
142	// it can happen that we interfere with the parsing of a message.
143	stop_mavlink_receiver();	96✔
144
145	return ConnectionResult::Success;	96✔
146	}
147
148	std::pair<bool, std::string> UdpConnection::send_message(const mavlink_message_t& message)	2,090✔
149	{
150	std::pair<bool, std::string> result;	2,090✔
151
152	std::lock_guard<std::mutex> lock(_remote_mutex);	2,090✔
153
154	// Remove inactive remotes before sending messages
155	auto now = std::chrono::steady_clock::now();	2,089✔
156
157	_remotes.erase(	8,352✔
158	std::remove_if(	4,175✔
159	_remotes.begin(),
160	_remotes.end(),
161	[&now, this](const Remote& remote) {	4,174✔
162	const auto elapsed = now - remote.last_activity;	2,087✔
163	const bool inactive = elapsed > REMOTE_TIMEOUT;	2,088✔
164
165	const bool should_remove = inactive && remote.remote_option == RemoteOption::Found;	2,089✔
166
167	// We can cleanup old/previous remotes if we have
168	if (should_remove) {	2,089✔
169	LogInfo() << "Removing inactive remote: " << remote.ip << ":"	×
170	<< remote.port_number;	×
171	}
172
173	return should_remove;	2,089✔
174	}),
175	_remotes.end());	4,177✔
176
177	if (_remotes.size() == 0) {	2,089✔
178	result.first = false;	×
179	result.second = "no remotes";	×
180	return result;	×
181	}
182
183	// Send the message to all the remotes. A remote is a UDP endpoint
184	// identified by its <ip, port>. This means that if we have two
185	// systems on two different endpoints, then messages directed towards
186	// only one system will be sent to both remotes. The systems are
187	// then expected to ignore messages that are not directed to them.
188
189	// For multiple remotes, we ignore errors, for just one, we bubble it up.
190	result.first = true;	2,087✔
191
192	for (auto& remote : _remotes) {	4,175✔
193	struct sockaddr_in dest_addr {};	2,086✔
194	dest_addr.sin_family = AF_INET;	2,086✔
195
196	if (inet_pton(AF_INET, remote.ip.c_str(), &dest_addr.sin_addr.s_addr) != 1) {	2,086✔
197	std::stringstream ss;	×
198	ss << "inet_pton failure for: " << remote.ip << ":" << remote.port_number;	×
199	LogErr() << ss.str();	×
200	result.first = false;	×
201	if (!result.second.empty()) {	×
202	result.second += ", ";	×
203	}
204	result.second += ss.str();	×
205	continue;	×
206	}	×
207	dest_addr.sin_port = htons(remote.port_number);	2,090✔
208
209	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	2,090✔
210	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	2,090✔
211
212	const auto send_len = sendto(	2,089✔
213	_socket_fd.get(),
214	reinterpret_cast<char*>(buffer),
215	buffer_len,
216	0,
217	reinterpret_cast<const sockaddr*>(&dest_addr),
218	sizeof(dest_addr));
219
220	if (send_len != buffer_len) {	2,090✔
221	std::stringstream ss;	×
222	ss << "sendto failure: " << GET_ERROR(errno) << " for: " << remote.ip << ":"	×
223	<< remote.port_number;	×
224	LogErr() << ss.str();	×
225	result.first = false;	×
226	if (!result.second.empty()) {	×
227	result.second += ", ";	×
228	}
229	result.second += ss.str();	×
230	continue;	×
231	}	×
232	}
233
234	return result;
235	}	2,090✔
236
237	void UdpConnection::add_remote_to_keep(const std::string& remote_ip, const int remote_port)	48✔
238	{
239	add_remote_impl(remote_ip, remote_port, 0, RemoteOption::Fixed);	48✔
240	}	48✔
241
242	void UdpConnection::add_remote_impl(	2,132✔
243	const std::string& remote_ip,
244	const int remote_port,
245	const uint8_t remote_sysid,
246	RemoteOption remote_option)
247	{
248	std::lock_guard<std::mutex> lock(_remote_mutex);	2,132✔
249	Remote new_remote;	2,133✔
250	new_remote.ip = remote_ip;	2,136✔
251	new_remote.port_number = remote_port;	2,136✔
252	new_remote.last_activity = std::chrono::steady_clock::now();	2,136✔
253	new_remote.remote_option = remote_option;	2,136✔
254
255	auto existing_remote =	2,136✔
256	std::find_if(_remotes.begin(), _remotes.end(), [&new_remote](Remote& remote) {	2,137✔
257	return remote == new_remote;	2,037✔
258	});
259
260	if (existing_remote == _remotes.end()) {	2,134✔
261	// System with sysid 0 is a bit special: it is a placeholder for a connection initiated
262	// by MAVSDK. As such, it should not be advertised as a newly discovered system.
263	if (static_cast<int>(remote_sysid) != 0) {	96✔
264	LogInfo() << "New system on: " << new_remote.ip << ":" << new_remote.port_number	96✔
265	<< " (with system ID: " << static_cast<int>(remote_sysid) << ")";	96✔
266	}
267	_remotes.push_back(new_remote);	96✔
268	} else {
269	// Update the timestamp for the existing remote
270	existing_remote->last_activity = std::chrono::steady_clock::now();	2,036✔
271	}
272	}	2,133✔
273
274	void UdpConnection::receive()	96✔
275	{
276	// Enough for MTU 1500 bytes.
277	char buffer[2048];	96✔
278
279	while (!_should_exit) {	2,439✔
280	struct sockaddr_in src_addr = {};	2,347✔
281	socklen_t src_addr_len = sizeof(src_addr);	2,347✔
282	const auto recv_len = recvfrom(	2,347✔
283	_socket_fd.get(),
284	buffer,
285	sizeof(buffer),
286	0,
287	reinterpret_cast<struct sockaddr*>(&src_addr),
288	&src_addr_len);
289
290	if (recv_len == 0) {	2,346✔
291	// This can happen when shutdown is called on the socket,
292	// therefore we check _should_exit again.
293	continue;	×
294	}
295
296	if (recv_len < 0) {	2,346✔
297	// This happens on destruction when _socket_fd.close() is called,
298	// therefore be quiet.
299	// LogErr() << "recvfrom error: " << GET_ERROR(errno);
300	continue;	257✔
301	}
302
303	_mavlink_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	2,089✔
304
305	// Parse all mavlink messages in one datagram. Once exhausted, we'll exit while.
306	while (_mavlink_receiver->parse_message()) {	4,174✔
307	const uint8_t sysid = _mavlink_receiver->get_last_message().sysid;	2,089✔
308
309	if (sysid != 0) {	2,083✔
310	char ip_str[INET_ADDRSTRLEN];	2,083✔
311	if (inet_ntop(AF_INET, &src_addr.sin_addr, ip_str, INET_ADDRSTRLEN) != nullptr) {	2,083✔
312	add_remote_impl(ip_str, ntohs(src_addr.sin_port), sysid, RemoteOption::Found);	2,089✔
313	} else {
314	LogErr() << "inet_ntop failure for: " << strerror(errno);	×
315	}
316	}
317
318	receive_message(_mavlink_receiver->get_last_message(), this);	2,089✔
319	}
320
321	// Also parse with libmav if available
322	if (_libmav_receiver) {	2,090✔
323	_libmav_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	2,088✔
324
325	while (_libmav_receiver->parse_message()) {	4,176✔
326	receive_libmav_message(_libmav_receiver->get_last_message(), this);	2,085✔
327	}
328	}
329	}
330	}	96✔
331
332	} // namespace mavsdk

mavlink / MAVSDK / 16247112396

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