16247473021

Committed 13 Jul 2025 09:04AM UTC coverage: 46.353% (+1.1%) from 45.212%

Build # 16247473021

Build Type

Pull #2610

github

Committed by

web-flow

Commit Message

Merge 679f9a2e4 into 6c112e71f

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

Run Details

797 of 1029 new or added lines in 15 files covered. (77.45%)

26 existing lines in 5 files now uncovered.

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73.64

/src/mavsdk/core/tcp_server_connection.cpp

#include "tcp_server_connection.h"
#include "log.h"

#include <cassert>
#include <fcntl.h>
#include <sstream>

#ifdef WINDOWS
#ifndef MINGW
#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
#endif
#include <Windows.h>
#include <Winsock2.h>
#include <ws2tcpip.h>
#else
#include <netinet/in.h>
#include <sys/select.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 {
TcpServerConnection::TcpServerConnection(
    Connection::ReceiverCallback receiver_callback,
    std::string local_ip,
    int local_port,
    ForwardingOption forwarding_option) :
    Connection(std::move(receiver_callback), forwarding_option),
    _local_ip(std::move(local_ip)),
    _local_port(local_port)
{}

TcpServerConnection::TcpServerConnection(
    Connection::ReceiverCallback receiver_callback,
    Connection::LibmavReceiverCallback libmav_receiver_callback,
    std::string local_ip,
    int local_port,
    ForwardingOption forwarding_option) :
    Connection(
        std::move(receiver_callback), std::move(libmav_receiver_callback), forwarding_option),
    _local_ip(std::move(local_ip)),
    _local_port(local_port)
{}

TcpServerConnection::~TcpServerConnection()
{
    stop();
}

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

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

    _server_socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));
    if (_server_socket_fd.empty()) {
        LogErr() << "socket error: " << GET_ERROR(errno);
        return ConnectionResult::SocketError;
    }

    sockaddr_in server_addr{};
    server_addr.sin_family = AF_INET;
    server_addr.sin_addr.s_addr = INADDR_ANY;
    server_addr.sin_port = htons(_local_port);

    if (bind(
            _server_socket_fd.get(),
            reinterpret_cast<sockaddr*>(&server_addr),
            sizeof(server_addr)) < 0) {
        LogErr() << "bind error: " << GET_ERROR(errno);
        return ConnectionResult::SocketError;
    }

    if (listen(_server_socket_fd.get(), 3) < 0) {
        LogErr() << "listen error: " << GET_ERROR(errno);
        return ConnectionResult::SocketError;
    }

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

#if defined(WINDOWS)
    setsockopt(
        _server_socket_fd.get(),
        SOL_SOCKET,
        SO_RCVTIMEO,
        (const char*)&timeout_ms,
        sizeof(timeout_ms));
    setsockopt(
        _client_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(_server_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));
    setsockopt(_client_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));
#endif

    _accept_receive_thread =
        std::make_unique<std::thread>(&TcpServerConnection::accept_client, this);

    return ConnectionResult::Success;
}

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

    if (_accept_receive_thread && _accept_receive_thread->joinable()) {
        _accept_receive_thread->join();
        _accept_receive_thread.reset();
    }

    _client_socket_fd.close();
    _server_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> TcpServerConnection::send_message(const mavlink_message_t& message)
{
    std::pair<bool, std::string> result;

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

    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(_client_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 TcpServerConnection::accept_client()
{
#ifdef WINDOWS
    // Set server socket to non-blocking
    u_long iMode = 1;
    int iResult = ioctlsocket(_server_socket_fd.get(), FIONBIO, &iMode);
    if (iResult != 0) {
        LogErr() << "ioctlsocket failed with error: " << WSAGetLastError();
    }
#else
    // Set server socket to non-blocking
    int flags = fcntl(_server_socket_fd.get(), F_GETFL, 0);
    fcntl(_server_socket_fd.get(), F_SETFL, flags | O_NONBLOCK);
#endif

    while (!_should_exit) {
        fd_set readfds;
        FD_ZERO(&readfds);
        FD_SET(_server_socket_fd.get(), &readfds);

        // Set timeout to 1 second
        timeval timeout;
        timeout.tv_sec = 1;
        timeout.tv_usec = 0;

        const int activity =
            select(_server_socket_fd.get() + 1, &readfds, nullptr, nullptr, &timeout);

        if (activity < 0 && errno != EINTR) {
            LogErr() << "select error: " << GET_ERROR(errno);
            continue;
        }

        if (activity == 0) {
            // Timeout, no incoming connection
            continue;
        }

        if (FD_ISSET(_server_socket_fd.get(), &readfds)) {
            sockaddr_in client_addr{};
            socklen_t client_addr_len = sizeof(client_addr);

            _client_socket_fd.reset(accept(
                _server_socket_fd.get(),
                reinterpret_cast<sockaddr*>(&client_addr),
                &client_addr_len));
            if (_client_socket_fd.empty()) {
                if (_should_exit) {
                    return;
                }
                LogErr() << "accept error: " << GET_ERROR(errno);
                continue;
            }

            receive();
        }
    }
}

void TcpServerConnection::receive()
{
    std::array<char, 2048> buffer{};

    bool dataReceived = false;
    while (!dataReceived && !_should_exit) {
        const auto recv_len = recv(_client_socket_fd.get(), buffer.data(), buffer.size(), 0);

#ifdef WINDOWS
        if (recv_len == SOCKET_ERROR) {
            // On Windows, on the first try, select says there is something
            // but recv doesn't succeed yet, and we just need to try again.
            if (WSAGetLastError() == WSAEWOULDBLOCK) {
                std::this_thread::sleep_for(std::chrono::milliseconds(10));
                continue;
            }
            // And at the end, we get an abort that we can silently ignore.
            if (WSAGetLastError() == WSAECONNABORTED) {
                return;
            }
        }
#else
        if (recv_len < 0) {
            // On macOS we presumably see the same thing, and have to try again.
            if (errno == EAGAIN) {
                std::this_thread::sleep_for(std::chrono::milliseconds(10));
                continue;
            }

            LogErr() << "recv failed: " << GET_ERROR(errno);
            return;
        }
#endif

        if (recv_len == 0) {
            continue;
        }

        _mavlink_receiver->set_new_datagram(buffer.data(), 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_server_connection.h"
2	#include "log.h"
3
4	#include <cassert>
5	#include <fcntl.h>
6	#include <sstream>
7
8	#ifdef WINDOWS
9	#ifndef MINGW
10	#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
11	#endif
12	#include <Windows.h>
13	#include <Winsock2.h>
14	#include <ws2tcpip.h>
15	#else
16	#include <netinet/in.h>
17	#include <sys/select.h>
18	#include <sys/socket.h>
19	#include <arpa/inet.h>
20	#include <errno.h>
21	#include <netdb.h>
22	#endif
23
24	#ifndef WINDOWS
25	#define GET_ERROR(_x) strerror(_x)
26	#else
27	#define GET_ERROR(_x) WSAGetLastError()
28	#endif
29
30	namespace mavsdk {
UNCOV 31	TcpServerConnection::TcpServerConnection(	×
32	Connection::ReceiverCallback receiver_callback,
33	std::string local_ip,
34	int local_port,
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(local_port)	×
UNCOV 39	{}	×
40
41	TcpServerConnection::TcpServerConnection(	1✔
42	Connection::ReceiverCallback receiver_callback,
43	Connection::LibmavReceiverCallback libmav_receiver_callback,
44	std::string local_ip,
45	int local_port,
46	ForwardingOption forwarding_option) :	1✔
47	Connection(
48	std::move(receiver_callback), std::move(libmav_receiver_callback), forwarding_option),	2✔
49	_local_ip(std::move(local_ip)),	1✔
50	_local_port(local_port)	4✔
51	{}	1✔
52
53	TcpServerConnection::~TcpServerConnection()	2✔
54	{
55	stop();	1✔
56	}	2✔
57
58	ConnectionResult TcpServerConnection::start()	1✔
59	{
60	if (!start_mavlink_receiver()) {	1✔
61	return ConnectionResult::ConnectionsExhausted;	×
62	}
63
64	#ifdef WINDOWS
65	WSADATA wsa;
66	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
67	LogErr() << "Error: Winsock failed, error: " << WSAGetLastError();
68	return ConnectionResult::SocketError;
69	}
70	#endif
71
72	_server_socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));	1✔
73	if (_server_socket_fd.empty()) {	1✔
74	LogErr() << "socket error: " << GET_ERROR(errno);	×
75	return ConnectionResult::SocketError;	×
76	}
77
78	sockaddr_in server_addr{};	1✔
79	server_addr.sin_family = AF_INET;	1✔
80	server_addr.sin_addr.s_addr = INADDR_ANY;	1✔
81	server_addr.sin_port = htons(_local_port);	1✔
82
83	if (bind(	1✔
84	_server_socket_fd.get(),
85	reinterpret_cast<sockaddr*>(&server_addr),
86	sizeof(server_addr)) < 0) {	1✔
87	LogErr() << "bind error: " << GET_ERROR(errno);	×
88	return ConnectionResult::SocketError;	×
89	}
90
91	if (listen(_server_socket_fd.get(), 3) < 0) {	1✔
92	LogErr() << "listen error: " << GET_ERROR(errno);	×
93	return ConnectionResult::SocketError;	×
94	}
95
96	// Set receive timeout cross-platform
97	const unsigned timeout_ms = 500;	1✔
98
99	#if defined(WINDOWS)
100	setsockopt(
101	_server_socket_fd.get(),
102	SOL_SOCKET,
103	SO_RCVTIMEO,
104	(const char*)&timeout_ms,
105	sizeof(timeout_ms));
106	setsockopt(
107	_client_socket_fd.get(),
108	SOL_SOCKET,
109	SO_RCVTIMEO,
110	(const char*)&timeout_ms,
111	sizeof(timeout_ms));
112	#else
113	struct timeval tv;	1✔
114	tv.tv_sec = 0;	1✔
115	tv.tv_usec = timeout_ms * 1000;	1✔
116	setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
117	setsockopt(_client_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
118	#endif
119
120	_accept_receive_thread =	1✔
121	std::make_unique<std::thread>(&TcpServerConnection::accept_client, this);	1✔
122
123	return ConnectionResult::Success;	1✔
124	}
125
126	ConnectionResult TcpServerConnection::stop()	1✔
127	{
128	_should_exit = true;	1✔
129
130	if (_accept_receive_thread && _accept_receive_thread->joinable()) {	1✔
131	_accept_receive_thread->join();	1✔
132	_accept_receive_thread.reset();	1✔
133	}
134
135	_client_socket_fd.close();	1✔
136	_server_socket_fd.close();	1✔
137
138	// We need to stop this after stopping the receive thread, otherwise
139	// it can happen that we interfere with the parsing of a message.
140	stop_mavlink_receiver();	1✔
141
142	return ConnectionResult::Success;	1✔
143	}
144
145	std::pair<bool, std::string> TcpServerConnection::send_message(const mavlink_message_t& message)	7✔
146	{
147	std::pair<bool, std::string> result;	7✔
148
149	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	7✔
150	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	7✔
151
152	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	7✔
153
154	#if !defined(MSG_NOSIGNAL)
155	auto flags = 0;
156	#else
157	auto flags = MSG_NOSIGNAL;	7✔
158	#endif
159
160	const auto send_len =
161	send(_client_socket_fd.get(), reinterpret_cast<const char*>(buffer), buffer_len, flags);	7✔
162
163	if (send_len != buffer_len) {	7✔
164	std::stringstream ss;	×
165	ss << "Send failure: " << GET_ERROR(errno);	×
166	LogErr() << ss.str();	×
167	result.first = false;	×
168	result.second = ss.str();	×
169	return result;	×
170	}	×
171
172	result.first = true;	7✔
173	return result;	7✔
174	}
175
176	void TcpServerConnection::accept_client()	1✔
177	{
178	#ifdef WINDOWS
179	// Set server socket to non-blocking
180	u_long iMode = 1;
181	int iResult = ioctlsocket(_server_socket_fd.get(), FIONBIO, &iMode);
182	if (iResult != 0) {
183	LogErr() << "ioctlsocket failed with error: " << WSAGetLastError();
184	}
185	#else
186	// Set server socket to non-blocking
187	int flags = fcntl(_server_socket_fd.get(), F_GETFL, 0);	1✔
188	fcntl(_server_socket_fd.get(), F_SETFL, flags \| O_NONBLOCK);	1✔
189	#endif
190
191	while (!_should_exit) {	2✔
192	fd_set readfds;	1✔
193	FD_ZERO(&readfds);	17✔
194	FD_SET(_server_socket_fd.get(), &readfds);	1✔
195
196	// Set timeout to 1 second
197	timeval timeout;	1✔
198	timeout.tv_sec = 1;	1✔
199	timeout.tv_usec = 0;	1✔
200
201	const int activity =
202	select(_server_socket_fd.get() + 1, &readfds, nullptr, nullptr, &timeout);	1✔
203
204	if (activity < 0 && errno != EINTR) {	1✔
205	LogErr() << "select error: " << GET_ERROR(errno);	×
206	continue;	×
207	}
208
209	if (activity == 0) {	1✔
210	// Timeout, no incoming connection
211	continue;	×
212	}
213
214	if (FD_ISSET(_server_socket_fd.get(), &readfds)) {	1✔
215	sockaddr_in client_addr{};	1✔
216	socklen_t client_addr_len = sizeof(client_addr);	1✔
217
218	_client_socket_fd.reset(accept(	1✔
219	_server_socket_fd.get(),
220	reinterpret_cast<sockaddr*>(&client_addr),
221	&client_addr_len));
222	if (_client_socket_fd.empty()) {	1✔
223	if (_should_exit) {	×
224	return;	×
225	}
226	LogErr() << "accept error: " << GET_ERROR(errno);	×
227	continue;	×
228	}
229
230	receive();	1✔
231	}
232	}
233	}
234
235	void TcpServerConnection::receive()	1✔
236	{
237	std::array<char, 2048> buffer{};	1✔
238
239	bool dataReceived = false;	1✔
240	while (!dataReceived && !_should_exit) {	10,607✔
241	const auto recv_len = recv(_client_socket_fd.get(), buffer.data(), buffer.size(), 0);	10,606✔
242
243	#ifdef WINDOWS
244	if (recv_len == SOCKET_ERROR) {
245	// On Windows, on the first try, select says there is something
246	// but recv doesn't succeed yet, and we just need to try again.
247	if (WSAGetLastError() == WSAEWOULDBLOCK) {
248	std::this_thread::sleep_for(std::chrono::milliseconds(10));
249	continue;
250	}
251	// And at the end, we get an abort that we can silently ignore.
252	if (WSAGetLastError() == WSAECONNABORTED) {
253	return;
254	}
255	}
256	#else
257	if (recv_len < 0) {	10,606✔
258	// On macOS we presumably see the same thing, and have to try again.
259	if (errno == EAGAIN) {	2✔
260	std::this_thread::sleep_for(std::chrono::milliseconds(10));	2✔
261	continue;	2✔
262	}
263
264	LogErr() << "recv failed: " << GET_ERROR(errno);	×
265	return;	×
266	}
267	#endif
268
269	if (recv_len == 0) {	10,604✔
270	continue;	10,593✔
271	}
272
273	_mavlink_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));	11✔
274
275	// Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
276	while (_mavlink_receiver->parse_message()) {	23✔
277	receive_message(_mavlink_receiver->get_last_message(), this);	12✔
278	}
279	}
280	}
281
282	} // namespace mavsdk

mavlink / MAVSDK / 16247473021

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