16482273901

Committed 23 Jul 2025 09:32PM UTC coverage: 45.098% (+0.005%) from 45.093%

Build # 16482273901

Build Type

Pull #2621

github

Committed by

web-flow

Commit Message

Merge 133cd47bb into fbe842a3b

Pull Request Pull Request #2621: CameraServer improvements

Run Details

46 of 132 new or added lines in 1 file covered. (34.85%)

2 existing lines in 2 files now uncovered.

15400 of 34148 relevant lines covered (45.1%)

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76.92

/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()
{
    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 {
31	TcpServerConnection::TcpServerConnection(	1✔
32	Connection::ReceiverCallback receiver_callback,
33	std::string local_ip,
34	int local_port,
35	ForwardingOption forwarding_option) :	1✔
36	Connection(std::move(receiver_callback), forwarding_option),	1✔
37	_local_ip(std::move(local_ip)),	1✔
38	_local_port(local_port)	3✔
39	{}	1✔
40
41	TcpServerConnection::~TcpServerConnection()	2✔
42	{
43	stop();	1✔
44	}	2✔
45
46	ConnectionResult TcpServerConnection::start()	1✔
47	{
48	if (!start_mavlink_receiver()) {	1✔
49	return ConnectionResult::ConnectionsExhausted;	×
50	}
51
52	#ifdef WINDOWS
53	WSADATA wsa;
54	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
55	LogErr() << "Error: Winsock failed, error: " << WSAGetLastError();
56	return ConnectionResult::SocketError;
57	}
58	#endif
59
60	_server_socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));	1✔
61	if (_server_socket_fd.empty()) {	1✔
62	LogErr() << "socket error: " << GET_ERROR(errno);	×
63	return ConnectionResult::SocketError;	×
64	}
65
66	sockaddr_in server_addr{};	1✔
67	server_addr.sin_family = AF_INET;	1✔
68	server_addr.sin_addr.s_addr = INADDR_ANY;	1✔
69	server_addr.sin_port = htons(_local_port);	1✔
70
71	if (bind(	1✔
72	_server_socket_fd.get(),
73	reinterpret_cast<sockaddr*>(&server_addr),
74	sizeof(server_addr)) < 0) {	1✔
75	LogErr() << "bind error: " << GET_ERROR(errno);	×
76	return ConnectionResult::SocketError;	×
77	}
78
79	if (listen(_server_socket_fd.get(), 3) < 0) {	1✔
80	LogErr() << "listen error: " << GET_ERROR(errno);	×
81	return ConnectionResult::SocketError;	×
82	}
83
84	// Set receive timeout cross-platform
85	const unsigned timeout_ms = 500;	1✔
86
87	#if defined(WINDOWS)
88	setsockopt(
89	_server_socket_fd.get(),
90	SOL_SOCKET,
91	SO_RCVTIMEO,
92	(const char*)&timeout_ms,
93	sizeof(timeout_ms));
94	setsockopt(
95	_client_socket_fd.get(),
96	SOL_SOCKET,
97	SO_RCVTIMEO,
98	(const char*)&timeout_ms,
99	sizeof(timeout_ms));
100	#else
101	struct timeval tv;	1✔
102	tv.tv_sec = 0;	1✔
103	tv.tv_usec = timeout_ms * 1000;	1✔
104	setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
105	setsockopt(_client_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
106	#endif
107
108	_accept_receive_thread =	1✔
109	std::make_unique<std::thread>(&TcpServerConnection::accept_client, this);	1✔
110
111	return ConnectionResult::Success;	1✔
112	}
113
114	ConnectionResult TcpServerConnection::stop()	1✔
115	{
116	_should_exit = true;	1✔
117
118	if (_accept_receive_thread && _accept_receive_thread->joinable()) {	1✔
119	_accept_receive_thread->join();	1✔
120	_accept_receive_thread.reset();	1✔
121	}
122
123	_client_socket_fd.close();	1✔
124	_server_socket_fd.close();	1✔
125
126	// We need to stop this after stopping the receive thread, otherwise
127	// it can happen that we interfere with the parsing of a message.
128	stop_mavlink_receiver();	1✔
129
130	return ConnectionResult::Success;	1✔
131	}
132
133	std::pair<bool, std::string> TcpServerConnection::send_message(const mavlink_message_t& message)	7✔
134	{
135	std::pair<bool, std::string> result;	7✔
136
137	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	7✔
138	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	7✔
139
140	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	7✔
141
142	#if !defined(MSG_NOSIGNAL)
143	auto flags = 0;
144	#else
145	auto flags = MSG_NOSIGNAL;	7✔
146	#endif
147
148	const auto send_len =
149	send(_client_socket_fd.get(), reinterpret_cast<const char*>(buffer), buffer_len, flags);	7✔
150
151	if (send_len != buffer_len) {	7✔
152	std::stringstream ss;	×
153	ss << "Send failure: " << GET_ERROR(errno);	×
154	LogErr() << ss.str();	×
155	result.first = false;	×
156	result.second = ss.str();	×
157	return result;	×
158	}	×
159
160	result.first = true;	7✔
161	return result;	7✔
162	}
163
164	void TcpServerConnection::accept_client()	1✔
165	{
166	#ifdef WINDOWS
167	// Set server socket to non-blocking
168	u_long iMode = 1;
169	int iResult = ioctlsocket(_server_socket_fd.get(), FIONBIO, &iMode);
170	if (iResult != 0) {
171	LogErr() << "ioctlsocket failed with error: " << WSAGetLastError();
172	}
173	#else
174	// Set server socket to non-blocking
175	int flags = fcntl(_server_socket_fd.get(), F_GETFL, 0);	1✔
176	fcntl(_server_socket_fd.get(), F_SETFL, flags \| O_NONBLOCK);	1✔
177	#endif
178
179	while (!_should_exit) {	2✔
180	fd_set readfds;	1✔
181	FD_ZERO(&readfds);	17✔
182	FD_SET(_server_socket_fd.get(), &readfds);	1✔
183
184	// Set timeout to 1 second
185	timeval timeout;	1✔
186	timeout.tv_sec = 1;	1✔
187	timeout.tv_usec = 0;	1✔
188
189	const int activity =
190	select(_server_socket_fd.get() + 1, &readfds, nullptr, nullptr, &timeout);	1✔
191
192	if (activity < 0 && errno != EINTR) {	1✔
193	LogErr() << "select error: " << GET_ERROR(errno);	×
194	continue;	×
195	}
196
197	if (activity == 0) {	1✔
198	// Timeout, no incoming connection
199	continue;	×
200	}
201
202	if (FD_ISSET(_server_socket_fd.get(), &readfds)) {	1✔
203	sockaddr_in client_addr{};	1✔
204	socklen_t client_addr_len = sizeof(client_addr);	1✔
205
206	_client_socket_fd.reset(accept(	1✔
207	_server_socket_fd.get(),
208	reinterpret_cast<sockaddr*>(&client_addr),
209	&client_addr_len));
210	if (_client_socket_fd.empty()) {	1✔
211	if (_should_exit) {	×
212	return;	×
213	}
214	LogErr() << "accept error: " << GET_ERROR(errno);	×
215	continue;	×
216	}
217
218	receive();	1✔
219	}
220	}
221	}
222
223	void TcpServerConnection::receive()	1✔
224	{
225	std::array<char, 2048> buffer{};	1✔
226
227	bool dataReceived = false;	1✔
228	while (!dataReceived && !_should_exit) {	14✔
229	const auto recv_len = recv(_client_socket_fd.get(), buffer.data(), buffer.size(), 0);	13✔
230
231	#ifdef WINDOWS
232	if (recv_len == SOCKET_ERROR) {
233	// On Windows, on the first try, select says there is something
234	// but recv doesn't succeed yet, and we just need to try again.
235	if (WSAGetLastError() == WSAEWOULDBLOCK) {
236	std::this_thread::sleep_for(std::chrono::milliseconds(10));
237	continue;
238	}
239	// And at the end, we get an abort that we can silently ignore.
240	if (WSAGetLastError() == WSAECONNABORTED) {
241	return;
242	}
243	}
244	#else
245	if (recv_len < 0) {	13✔
246	// On macOS we presumably see the same thing, and have to try again.
247	if (errno == EAGAIN) {	2✔
248	std::this_thread::sleep_for(std::chrono::milliseconds(10));	2✔
249	continue;	2✔
250	}
251
252	LogErr() << "recv failed: " << GET_ERROR(errno);	×
253	return;	×
254	}
255	#endif
256
257	if (recv_len == 0) {	11✔
UNCOV 258	continue;	×
259	}
260
261	_mavlink_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));	11✔
262
263	// Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
264	while (_mavlink_receiver->parse_message()) {	23✔
265	receive_message(_mavlink_receiver->get_last_message(), this);	12✔
266	}
267	}
268	}
269
270	} // namespace mavsdk

mavlink / MAVSDK / 16482273901

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