16483523487

Committed 23 Jul 2025 10:53PM UTC coverage: 46.331% (+1.2%) from 45.096%

Build # 16483523487

Build Type

Pull #2610

github

Committed by

web-flow

Commit Message

Merge fefa7691c into 743ca7d9c

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

Run Details

764 of 986 new or added lines in 14 files covered. (77.48%)

10 existing lines in 1 file now uncovered.

16272 of 35121 relevant lines covered (46.33%)

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72.28

/src/mavsdk/core/tcp_client_connection.cpp

#include "tcp_client_connection.h"
#include "log.h"

#include <cassert>
#include <sstream>
#include <utility>
#include <thread>
#include <sstream>

#ifdef WINDOWS
#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 <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 {

/* change to remote_ip and remote_port */
TcpClientConnection::TcpClientConnection(
    Connection::ReceiverCallback receiver_callback,
    Connection::LibmavReceiverCallback libmav_receiver_callback,
    mav::MessageSet& message_set,
    std::string remote_ip,
    int remote_port,
    ForwardingOption forwarding_option) :
    Connection(
        std::move(receiver_callback),
        std::move(libmav_receiver_callback),
        message_set,
        forwarding_option),
    _remote_ip(std::move(remote_ip)),
    _remote_port_number(remote_port),
    _should_exit(false)
{}

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

ConnectionResult TcpClientConnection::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 TcpClientConnection::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_STREAM, 0));

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

    struct sockaddr_in remote_addr {};
    remote_addr.sin_family = AF_INET;
    remote_addr.sin_port = htons(_remote_port_number);

    struct hostent* hp;
    hp = gethostbyname(_remote_ip.c_str());
    if (hp == nullptr) {
        LogErr() << "Could not get host by name";
        return ConnectionResult::SocketConnectionError;
    }

    memcpy(&remote_addr.sin_addr, hp->h_addr, hp->h_length);

    if (connect(
            _socket_fd.get(),
            reinterpret_cast<sockaddr*>(&remote_addr),
            sizeof(struct sockaddr_in)) < 0) {
        LogErr() << "connect error: " << GET_ERROR(errno);
        return ConnectionResult::SocketConnectionError;
    }

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

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

    if (_remote_ip.empty()) {
        result.first = false;
        result.second = "Remote IP unknown";
        LogErr() << result.second;
        return result;
    }

    if (_remote_port_number == 0) {
        result.first = false;
        result.second = "Remote port unknown";
        LogErr() << result.second;
        return result;
    }

    struct sockaddr_in dest_addr {};
    dest_addr.sin_family = AF_INET;

    inet_pton(AF_INET, _remote_ip.c_str(), &dest_addr.sin_addr.s_addr);

    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);

    // TODO: remove this assert again
    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(_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 TcpClientConnection::receive()
{
    // Enough for MTU 1500 bytes.
    char buffer[2048];

    while (!_should_exit) {
        const auto recv_len = recv(_socket_fd.get(), buffer, sizeof(buffer), 0);

        if (recv_len == 0 || (recv_len < 0 && (errno == EAGAIN || errno == ETIMEDOUT))) {
            // Timeout, just try again.
            continue;
        }

        if (recv_len < 0) {
            LogErr() << "TCP receive error: " << GET_ERROR(errno) << ", trying to reeconnect...";
            std::this_thread::sleep_for(std::chrono::seconds(1));
            setup_port();
            continue;
        }

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

        while (_mavlink_receiver->parse_message()) {
            receive_message(_mavlink_receiver->get_last_message(), this);
        }
    }
}

} // namespace mavsdk

1	#include "tcp_client_connection.h"
2	#include "log.h"
3
4	#include <cassert>
5	#include <sstream>
6	#include <utility>
7	#include <thread>
8	#include <sstream>
9
10	#ifdef WINDOWS
11	#ifndef MINGW
12	#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
13	#endif
14	#else
15	#include <netinet/in.h>
16	#include <sys/socket.h>
17	#include <arpa/inet.h>
18	#include <errno.h>
19	#include <netdb.h>
20	#endif
21
22	#ifndef WINDOWS
23	#define GET_ERROR(_x) strerror(_x)
24	#else
25	#define GET_ERROR(_x) WSAGetLastError()
26	#endif
27
28	namespace mavsdk {
29
30	/* change to remote_ip and remote_port */
31	TcpClientConnection::TcpClientConnection(	1✔
32	Connection::ReceiverCallback receiver_callback,
33	Connection::LibmavReceiverCallback libmav_receiver_callback,
34	mav::MessageSet& message_set,
35	std::string remote_ip,
36	int remote_port,
37	ForwardingOption forwarding_option) :	1✔
38	Connection(
39	std::move(receiver_callback),	1✔
40	std::move(libmav_receiver_callback),	1✔
41	message_set,
42	forwarding_option),
43	_remote_ip(std::move(remote_ip)),	1✔
44	_remote_port_number(remote_port),	1✔
45	_should_exit(false)	4✔
46	{}	1✔
47
48	TcpClientConnection::~TcpClientConnection()	2✔
49	{
50	// If no one explicitly called stop before, we should at least do it.
51	stop();	1✔
52	}	2✔
53
54	ConnectionResult TcpClientConnection::start()	1✔
55	{
56	if (!start_mavlink_receiver()) {	1✔
57	return ConnectionResult::ConnectionsExhausted;	×
58	}
59
60	if (!start_libmav_receiver()) {	1✔
NEW 61	return ConnectionResult::ConnectionsExhausted;	×
62	}
63
64	ConnectionResult ret = setup_port();	1✔
65	if (ret != ConnectionResult::Success) {	1✔
66	return ret;	×
67	}
68
69	start_recv_thread();	1✔
70
71	return ConnectionResult::Success;	1✔
72	}
73
74	ConnectionResult TcpClientConnection::setup_port()	1✔
75	{
76	#ifdef WINDOWS
77	WSADATA wsa;
78	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
79	LogErr() << "Error: Winsock failed, error: %d", WSAGetLastError();
80	return ConnectionResult::SocketError;
81	}
82	#endif
83
84	_socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));	1✔
85
86	if (_socket_fd.empty()) {	1✔
87	LogErr() << "socket error" << GET_ERROR(errno);	×
88	return ConnectionResult::SocketError;	×
89	}
90
91	struct sockaddr_in remote_addr {};	1✔
92	remote_addr.sin_family = AF_INET;	1✔
93	remote_addr.sin_port = htons(_remote_port_number);	1✔
94
95	struct hostent* hp;
96	hp = gethostbyname(_remote_ip.c_str());	1✔
97	if (hp == nullptr) {	1✔
98	LogErr() << "Could not get host by name";	×
99	return ConnectionResult::SocketConnectionError;	×
100	}
101
102	memcpy(&remote_addr.sin_addr, hp->h_addr, hp->h_length);	1✔
103
104	if (connect(	1✔
105	_socket_fd.get(),
106	reinterpret_cast<sockaddr*>(&remote_addr),
107	sizeof(struct sockaddr_in)) < 0) {	1✔
108	LogErr() << "connect error: " << GET_ERROR(errno);	×
109	return ConnectionResult::SocketConnectionError;	×
110	}
111
112	// Set receive timeout cross-platform
113	const unsigned timeout_ms = 500;	1✔
114
115	#if defined(WINDOWS)
116	setsockopt(
117	_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_ms, sizeof(timeout_ms));
118	#else
119	struct timeval tv;	1✔
120	tv.tv_sec = 0;	1✔
121	tv.tv_usec = timeout_ms * 1000;	1✔
122	setsockopt(_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
123	#endif
124
125	return ConnectionResult::Success;	1✔
126	}
127
128	void TcpClientConnection::start_recv_thread()	1✔
129	{
130	_recv_thread = std::make_unique<std::thread>(&TcpClientConnection::receive, this);	1✔
131	}	1✔
132
133	ConnectionResult TcpClientConnection::stop()	1✔
134	{
135	_should_exit = true;	1✔
136
137	if (_recv_thread) {	1✔
138	_recv_thread->join();	1✔
139	_recv_thread.reset();	1✔
140	}
141
142	_socket_fd.close();	1✔
143
144	// We need to stop this after stopping the receive thread, otherwise
145	// it can happen that we interfere with the parsing of a message.
146	stop_mavlink_receiver();	1✔
147
148	return ConnectionResult::Success;	1✔
149	}
150
151	std::pair<bool, std::string> TcpClientConnection::send_message(const mavlink_message_t& message)	12✔
152	{
153	std::pair<bool, std::string> result;	12✔
154
155	if (_remote_ip.empty()) {	12✔
156	result.first = false;	×
157	result.second = "Remote IP unknown";	×
158	LogErr() << result.second;	×
159	return result;	×
160	}
161
162	if (_remote_port_number == 0) {	12✔
163	result.first = false;	×
164	result.second = "Remote port unknown";	×
165	LogErr() << result.second;	×
166	return result;	×
167	}
168
169	struct sockaddr_in dest_addr {};	12✔
170	dest_addr.sin_family = AF_INET;	12✔
171
172	inet_pton(AF_INET, _remote_ip.c_str(), &dest_addr.sin_addr.s_addr);	12✔
173
174	dest_addr.sin_port = htons(_remote_port_number);	12✔
175
176	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	12✔
177	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	12✔
178
179	// TODO: remove this assert again
180	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	12✔
181
182	#if !defined(MSG_NOSIGNAL)
183	auto flags = 0;
184	#else
185	auto flags = MSG_NOSIGNAL;	12✔
186	#endif
187
188	const auto send_len =
189	send(_socket_fd.get(), reinterpret_cast<const char*>(buffer), buffer_len, flags);	12✔
190
191	if (send_len != buffer_len) {	12✔
192	std::stringstream ss;	×
193	ss << "Send failure: " << GET_ERROR(errno);	×
194	LogErr() << ss.str();	×
195	result.first = false;	×
196	result.second = ss.str();	×
197	return result;	×
198	}	×
199
200	result.first = true;	12✔
201	return result;	12✔
202	}
203
204	void TcpClientConnection::receive()	1✔
205	{
206	// Enough for MTU 1500 bytes.
207	char buffer[2048];	1✔
208
209	while (!_should_exit) {	10✔
210	const auto recv_len = recv(_socket_fd.get(), buffer, sizeof(buffer), 0);	9✔
211
212	if (recv_len == 0 \|\| (recv_len < 0 && (errno == EAGAIN \|\| errno == ETIMEDOUT))) {	9✔
213	// Timeout, just try again.
214	continue;	2✔
215	}
216
217	if (recv_len < 0) {	7✔
218	LogErr() << "TCP receive error: " << GET_ERROR(errno) << ", trying to reeconnect...";	×
219	std::this_thread::sleep_for(std::chrono::seconds(1));	×
220	setup_port();	×
221	continue;	×
222	}
223
224	_mavlink_receiver->set_new_datagram(buffer, static_cast<int>(recv_len));	7✔
225
226	while (_mavlink_receiver->parse_message()) {	14✔
227	receive_message(_mavlink_receiver->get_last_message(), this);	7✔
228	}
229	}
230	}	1✔
231
232	} // namespace mavsdk

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