16288680008

Committed 15 Jul 2025 08:53AM UTC coverage: 46.345% (+1.2%) from 45.192%

Build # 16288680008

Build Type

Pull #2610

github

Committed by

web-flow

Commit Message

Merge b48a3b508 into e73dfe79e

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

Run Details

764 of 987 new or added lines in 14 files covered. (77.41%)

13 existing lines in 2 files now uncovered.

16261 of 35087 relevant lines covered (46.34%)

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75.69

/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,
    Connection::LibmavReceiverCallback libmav_receiver_callback,
    ::mav::MessageSet& message_set,
    std::string local_ip,
    int local_port_number,
    ForwardingOption forwarding_option) :
    Connection(
        std::move(receiver_callback),
        std::move(libmav_receiver_callback),
        message_set,
        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
31	UdpConnection::UdpConnection(	98✔
32	Connection::ReceiverCallback receiver_callback,
33	Connection::LibmavReceiverCallback libmav_receiver_callback,
34	::mav::MessageSet& message_set,
35	std::string local_ip,
36	int local_port_number,
37	ForwardingOption forwarding_option) :	98✔
38	Connection(
39	std::move(receiver_callback),	98✔
40	std::move(libmav_receiver_callback),	98✔
41	message_set,
42	forwarding_option),
43	_local_ip(std::move(local_ip)),	98✔
44	_local_port_number(local_port_number)	392✔
45	{}	98✔
46
47	UdpConnection::~UdpConnection()	196✔
48	{
49	// If no one explicitly called stop before, we should at least do it.
50	stop();	98✔
51	}	196✔
52
53	ConnectionResult UdpConnection::start()	98✔
54	{
55	if (!start_mavlink_receiver()) {	98✔
56	return ConnectionResult::ConnectionsExhausted;	×
57	}
58
59	if (!start_libmav_receiver()) {	98✔
NEW 60	return ConnectionResult::ConnectionsExhausted;	×
61	}
62
63	ConnectionResult ret = setup_port();	98✔
64	if (ret != ConnectionResult::Success) {	98✔
65	return ret;	×
66	}
67
68	start_recv_thread();	98✔
69
70	return ConnectionResult::Success;	98✔
71	}
72
73	ConnectionResult UdpConnection::setup_port()	98✔
74	{
75	#ifdef WINDOWS
76	WSADATA wsa;
77	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
78	LogErr() << "Error: Winsock failed, error: %d", WSAGetLastError();
79	return ConnectionResult::SocketError;
80	}
81	#endif
82
83	_socket_fd.reset(socket(AF_INET, SOCK_DGRAM, 0));	98✔
84
85	if (_socket_fd.empty()) {	98✔
86	LogErr() << "socket error" << GET_ERROR(errno);	×
87	return ConnectionResult::SocketError;	×
88	}
89
90	struct sockaddr_in addr {};	98✔
91	addr.sin_family = AF_INET;	98✔
92	if (inet_pton(AF_INET, _local_ip.c_str(), &(addr.sin_addr)) != 1) {	98✔
93	LogErr() << "inet_pton failure for address: " << _local_ip;	×
94	return ConnectionResult::SocketError;	×
95	}
96	addr.sin_port = htons(_local_port_number);	98✔
97
98	if (bind(_socket_fd.get(), reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) != 0) {	98✔
99	LogErr() << "bind error: " << GET_ERROR(errno);	×
100	return ConnectionResult::BindError;	×
101	}
102
103	// Set receive timeout cross-platform
104	const unsigned timeout_ms = 500;	98✔
105
106	#if defined(WINDOWS)
107	setsockopt(
108	_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_ms, sizeof(timeout_ms));
109	#else
110	struct timeval tv;	98✔
111	tv.tv_sec = 0;	98✔
112	tv.tv_usec = timeout_ms * 1000;	98✔
113	setsockopt(_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	98✔
114	#endif
115
116	return ConnectionResult::Success;	98✔
117	}
118
119	void UdpConnection::start_recv_thread()	98✔
120	{
121	_recv_thread = std::make_unique<std::thread>(&UdpConnection::receive, this);	98✔
122	}	98✔
123
124	ConnectionResult UdpConnection::stop()	98✔
125	{
126	_should_exit = true;	98✔
127
128	if (_recv_thread) {	98✔
129	_recv_thread->join();	98✔
130	_recv_thread.reset();	98✔
131	}
132
133	_socket_fd.close();	98✔
134
135	// We need to stop this after stopping the receive thread, otherwise
136	// it can happen that we interfere with the parsing of a message.
137	stop_mavlink_receiver();	98✔
138
139	return ConnectionResult::Success;	98✔
140	}
141
142	std::pair<bool, std::string> UdpConnection::send_message(const mavlink_message_t& message)	2,132✔
143	{
144	std::pair<bool, std::string> result;	2,132✔
145
146	std::lock_guard<std::mutex> lock(_remote_mutex);	2,133✔
147
148	// Remove inactive remotes before sending messages
149	auto now = std::chrono::steady_clock::now();	2,132✔
150
151	_remotes.erase(	8,523✔
152	std::remove_if(	4,260✔
153	_remotes.begin(),
154	_remotes.end(),
155	[&now, this](const Remote& remote) {	4,266✔
156	const auto elapsed = now - remote.last_activity;	2,133✔
157	const bool inactive = elapsed > REMOTE_TIMEOUT;	2,131✔
158
159	const bool should_remove = inactive && remote.remote_option == RemoteOption::Found;	2,133✔
160
161	// We can cleanup old/previous remotes if we have
162	if (should_remove) {	2,133✔
163	LogInfo() << "Removing inactive remote: " << remote.ip << ":"	×
164	<< remote.port_number;	×
165	}
166
167	return should_remove;	2,133✔
168	}),
169	_remotes.end());	4,261✔
170
171	if (_remotes.size() == 0) {	2,129✔
172	result.first = false;	×
173	result.second = "no remotes";	×
174	return result;	×
175	}
176
177	// Send the message to all the remotes. A remote is a UDP endpoint
178	// identified by its <ip, port>. This means that if we have two
179	// systems on two different endpoints, then messages directed towards
180	// only one system will be sent to both remotes. The systems are
181	// then expected to ignore messages that are not directed to them.
182
183	// For multiple remotes, we ignore errors, for just one, we bubble it up.
184	result.first = true;	2,130✔
185
186	for (auto& remote : _remotes) {	4,263✔
187	struct sockaddr_in dest_addr {};	2,131✔
188	dest_addr.sin_family = AF_INET;	2,131✔
189
190	if (inet_pton(AF_INET, remote.ip.c_str(), &dest_addr.sin_addr.s_addr) != 1) {	2,131✔
191	std::stringstream ss;	×
192	ss << "inet_pton failure for: " << remote.ip << ":" << remote.port_number;	×
193	LogErr() << ss.str();	×
194	result.first = false;	×
195	if (!result.second.empty()) {	×
196	result.second += ", ";	×
197	}
198	result.second += ss.str();	×
199	continue;	×
200	}	×
201	dest_addr.sin_port = htons(remote.port_number);	2,128✔
202
203	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	2,128✔
204	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	2,132✔
205
206	const auto send_len = sendto(	2,133✔
207	_socket_fd.get(),
208	reinterpret_cast<char*>(buffer),
209	buffer_len,
210	0,
211	reinterpret_cast<const sockaddr*>(&dest_addr),
212	sizeof(dest_addr));
213
214	if (send_len != buffer_len) {	2,133✔
215	std::stringstream ss;	×
216	ss << "sendto failure: " << GET_ERROR(errno) << " for: " << remote.ip << ":"	×
217	<< remote.port_number;	×
218	LogErr() << ss.str();	×
219	result.first = false;	×
220	if (!result.second.empty()) {	×
221	result.second += ", ";	×
222	}
223	result.second += ss.str();	×
224	continue;	×
225	}	×
226	}
227
228	return result;
229	}	2,132✔
230
231	void UdpConnection::add_remote_to_keep(const std::string& remote_ip, const int remote_port)	49✔
232	{
233	add_remote_impl(remote_ip, remote_port, 0, RemoteOption::Fixed);	49✔
234	}	49✔
235
236	void UdpConnection::add_remote_impl(	2,178✔
237	const std::string& remote_ip,
238	const int remote_port,
239	const uint8_t remote_sysid,
240	RemoteOption remote_option)
241	{
242	std::lock_guard<std::mutex> lock(_remote_mutex);	2,178✔
243	Remote new_remote;	2,178✔
244	new_remote.ip = remote_ip;	2,180✔
245	new_remote.port_number = remote_port;	2,179✔
246	new_remote.last_activity = std::chrono::steady_clock::now();	2,179✔
247	new_remote.remote_option = remote_option;	2,179✔
248
249	auto existing_remote =	2,179✔
250	std::find_if(_remotes.begin(), _remotes.end(), [&new_remote](Remote& remote) {	2,180✔
251	return remote == new_remote;	2,079✔
252	});
253
254	if (existing_remote == _remotes.end()) {	2,178✔
255	// System with sysid 0 is a bit special: it is a placeholder for a connection initiated
256	// by MAVSDK. As such, it should not be advertised as a newly discovered system.
257	if (static_cast<int>(remote_sysid) != 0) {	98✔
258	LogInfo() << "New system on: " << new_remote.ip << ":" << new_remote.port_number	98✔
259	<< " (with system ID: " << static_cast<int>(remote_sysid) << ")";	98✔
260	}
261	_remotes.push_back(new_remote);	98✔
262	} else {
263	// Update the timestamp for the existing remote
264	existing_remote->last_activity = std::chrono::steady_clock::now();	2,079✔
265	}
266	}	2,179✔
267
268	void UdpConnection::receive()	98✔
269	{
270	// Enough for MTU 1500 bytes.
271	char buffer[2048];	98✔
272
273	while (!_should_exit) {	2,478✔
274	struct sockaddr_in src_addr = {};	2,392✔
275	socklen_t src_addr_len = sizeof(src_addr);	2,392✔
276	const auto recv_len = recvfrom(	2,392✔
277	_socket_fd.get(),
278	buffer,
279	sizeof(buffer),
280	0,
281	reinterpret_cast<struct sockaddr*>(&src_addr),
282	&src_addr_len);
283
284	if (recv_len == 0) {	2,392✔
285	// This can happen when shutdown is called on the socket,
286	// therefore we check _should_exit again.
287	continue;	×
288	}
289
290	if (recv_len < 0) {	2,392✔
291	// This happens on destruction when _socket_fd.close() is called,
292	// therefore be quiet.
293	// LogErr() << "recvfrom error: " << GET_ERROR(errno);
294	continue;	259✔
295	}
296
297	_mavlink_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	2,133✔
298
299	// Parse all mavlink messages in one datagram. Once exhausted, we'll exit while.
300	while (_mavlink_receiver->parse_message()) {	4,260✔
301	const uint8_t sysid = _mavlink_receiver->get_last_message().sysid;	2,131✔
302
303	if (sysid != 0) {	2,125✔
304	char ip_str[INET_ADDRSTRLEN];	2,125✔
305	if (inet_ntop(AF_INET, &src_addr.sin_addr, ip_str, INET_ADDRSTRLEN) != nullptr) {	2,125✔
306	add_remote_impl(ip_str, ntohs(src_addr.sin_port), sysid, RemoteOption::Found);	2,130✔
307	} else {
308	LogErr() << "inet_ntop failure for: " << strerror(errno);	×
309	}
310	}
311
312	receive_message(_mavlink_receiver->get_last_message(), this);	2,129✔
313	}
314
315	// Also parse with libmav if available
316	if (_libmav_receiver) {	2,133✔
317	_libmav_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	2,133✔
318
319	while (_libmav_receiver->parse_message()) {	4,264✔
320	receive_libmav_message(_libmav_receiver->get_last_message(), this);	2,132✔
321	}
322	}
323	}
324	}	98✔
325
326	} // namespace mavsdk

mavlink / MAVSDK / 16288680008

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