16485391475

Committed 24 Jul 2025 01:13AM UTC coverage: 46.33% (+1.2%) from 45.096%

Build # 16485391475

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2610 from mavlink/pr-add-libmavlike

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%)

10 existing lines in 1 file now uncovered.

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77.57

/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,
    Connection::LibmavReceiverCallback libmav_receiver_callback,
    mav::MessageSet& message_set,
    std::string local_ip,
    int local_port,
    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(local_port)
{}

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

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

    if (!start_libmav_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	Connection::LibmavReceiverCallback libmav_receiver_callback,
34	mav::MessageSet& message_set,
35	std::string local_ip,
36	int local_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	_local_ip(std::move(local_ip)),	1✔
44	_local_port(local_port)	4✔
45	{}	1✔
46
47	TcpServerConnection::~TcpServerConnection()	2✔
48	{
49	stop();	1✔
50	}	2✔
51
52	ConnectionResult TcpServerConnection::start()	1✔
53	{
54	if (!start_mavlink_receiver()) {	1✔
55	return ConnectionResult::ConnectionsExhausted;	×
56	}
57
58	if (!start_libmav_receiver()) {	1✔
NEW 59	return ConnectionResult::ConnectionsExhausted;	×
60	}
61
62	#ifdef WINDOWS
63	WSADATA wsa;
64	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
65	LogErr() << "Error: Winsock failed, error: " << WSAGetLastError();
66	return ConnectionResult::SocketError;
67	}
68	#endif
69
70	_server_socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));	1✔
71	if (_server_socket_fd.empty()) {	1✔
72	LogErr() << "socket error: " << GET_ERROR(errno);	×
73	return ConnectionResult::SocketError;	×
74	}
75
76	sockaddr_in server_addr{};	1✔
77	server_addr.sin_family = AF_INET;	1✔
78	server_addr.sin_addr.s_addr = INADDR_ANY;	1✔
79	server_addr.sin_port = htons(_local_port);	1✔
80
81	if (bind(	1✔
82	_server_socket_fd.get(),
83	reinterpret_cast<sockaddr*>(&server_addr),
84	sizeof(server_addr)) < 0) {	1✔
85	LogErr() << "bind error: " << GET_ERROR(errno);	×
86	return ConnectionResult::SocketError;	×
87	}
88
89	if (listen(_server_socket_fd.get(), 3) < 0) {	1✔
90	LogErr() << "listen error: " << GET_ERROR(errno);	×
91	return ConnectionResult::SocketError;	×
92	}
93
94	// Set receive timeout cross-platform
95	const unsigned timeout_ms = 500;	1✔
96
97	#if defined(WINDOWS)
98	setsockopt(
99	_server_socket_fd.get(),
100	SOL_SOCKET,
101	SO_RCVTIMEO,
102	(const char*)&timeout_ms,
103	sizeof(timeout_ms));
104	setsockopt(
105	_client_socket_fd.get(),
106	SOL_SOCKET,
107	SO_RCVTIMEO,
108	(const char*)&timeout_ms,
109	sizeof(timeout_ms));
110	#else
111	struct timeval tv;	1✔
112	tv.tv_sec = 0;	1✔
113	tv.tv_usec = timeout_ms * 1000;	1✔
114	setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
115	setsockopt(_client_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
116	#endif
117
118	_accept_receive_thread =	1✔
119	std::make_unique<std::thread>(&TcpServerConnection::accept_client, this);	1✔
120
121	return ConnectionResult::Success;	1✔
122	}
123
124	ConnectionResult TcpServerConnection::stop()	1✔
125	{
126	_should_exit = true;	1✔
127
128	if (_accept_receive_thread && _accept_receive_thread->joinable()) {	1✔
129	_accept_receive_thread->join();	1✔
130	_accept_receive_thread.reset();	1✔
131	}
132
133	_client_socket_fd.close();	1✔
134	_server_socket_fd.close();	1✔
135
136	// We need to stop this after stopping the receive thread, otherwise
137	// it can happen that we interfere with the parsing of a message.
138	stop_mavlink_receiver();	1✔
139
140	return ConnectionResult::Success;	1✔
141	}
142
143	std::pair<bool, std::string> TcpServerConnection::send_message(const mavlink_message_t& message)	7✔
144	{
145	std::pair<bool, std::string> result;	7✔
146
147	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	7✔
148	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	7✔
149
150	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	7✔
151
152	#if !defined(MSG_NOSIGNAL)
153	auto flags = 0;
154	#else
155	auto flags = MSG_NOSIGNAL;	7✔
156	#endif
157
158	const auto send_len =
159	send(_client_socket_fd.get(), reinterpret_cast<const char*>(buffer), buffer_len, flags);	7✔
160
161	if (send_len != buffer_len) {	7✔
162	std::stringstream ss;	×
163	ss << "Send failure: " << GET_ERROR(errno);	×
164	LogErr() << ss.str();	×
165	result.first = false;	×
166	result.second = ss.str();	×
167	return result;	×
168	}	×
169
170	result.first = true;	7✔
171	return result;	7✔
172	}
173
174	void TcpServerConnection::accept_client()	1✔
175	{
176	#ifdef WINDOWS
177	// Set server socket to non-blocking
178	u_long iMode = 1;
179	int iResult = ioctlsocket(_server_socket_fd.get(), FIONBIO, &iMode);
180	if (iResult != 0) {
181	LogErr() << "ioctlsocket failed with error: " << WSAGetLastError();
182	}
183	#else
184	// Set server socket to non-blocking
185	int flags = fcntl(_server_socket_fd.get(), F_GETFL, 0);	1✔
186	fcntl(_server_socket_fd.get(), F_SETFL, flags \| O_NONBLOCK);	1✔
187	#endif
188
189	while (!_should_exit) {	2✔
190	fd_set readfds;	1✔
191	FD_ZERO(&readfds);	17✔
192	FD_SET(_server_socket_fd.get(), &readfds);	1✔
193
194	// Set timeout to 1 second
195	timeval timeout;	1✔
196	timeout.tv_sec = 1;	1✔
197	timeout.tv_usec = 0;	1✔
198
199	const int activity =
200	select(_server_socket_fd.get() + 1, &readfds, nullptr, nullptr, &timeout);	1✔
201
202	if (activity < 0 && errno != EINTR) {	1✔
203	LogErr() << "select error: " << GET_ERROR(errno);	×
204	continue;	×
205	}
206
207	if (activity == 0) {	1✔
208	// Timeout, no incoming connection
209	continue;	×
210	}
211
212	if (FD_ISSET(_server_socket_fd.get(), &readfds)) {	1✔
213	sockaddr_in client_addr{};	1✔
214	socklen_t client_addr_len = sizeof(client_addr);	1✔
215
216	_client_socket_fd.reset(accept(	1✔
217	_server_socket_fd.get(),
218	reinterpret_cast<sockaddr*>(&client_addr),
219	&client_addr_len));
220	if (_client_socket_fd.empty()) {	1✔
221	if (_should_exit) {	×
222	return;	×
223	}
224	LogErr() << "accept error: " << GET_ERROR(errno);	×
225	continue;	×
226	}
227
228	receive();	1✔
229	}
230	}
231	}
232
233	void TcpServerConnection::receive()	1✔
234	{
235	std::array<char, 2048> buffer{};	1✔
236
237	bool dataReceived = false;	1✔
238	while (!dataReceived && !_should_exit) {	7,821✔
239	const auto recv_len = recv(_client_socket_fd.get(), buffer.data(), buffer.size(), 0);	7,820✔
240
241	#ifdef WINDOWS
242	if (recv_len == SOCKET_ERROR) {
243	// On Windows, on the first try, select says there is something
244	// but recv doesn't succeed yet, and we just need to try again.
245	if (WSAGetLastError() == WSAEWOULDBLOCK) {
246	std::this_thread::sleep_for(std::chrono::milliseconds(10));
247	continue;
248	}
249	// And at the end, we get an abort that we can silently ignore.
250	if (WSAGetLastError() == WSAECONNABORTED) {
251	return;
252	}
253	}
254	#else
255	if (recv_len < 0) {	7,820✔
256	// On macOS we presumably see the same thing, and have to try again.
257	if (errno == EAGAIN) {	2✔
258	std::this_thread::sleep_for(std::chrono::milliseconds(10));	2✔
259	continue;	2✔
260	}
261
262	LogErr() << "recv failed: " << GET_ERROR(errno);	×
263	return;	×
264	}
265	#endif
266
267	if (recv_len == 0) {	7,818✔
268	continue;	7,807✔
269	}
270
271	_mavlink_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));	11✔
272
273	// Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
274	while (_mavlink_receiver->parse_message()) {	23✔
275	receive_message(_mavlink_receiver->get_last_message(), this);	12✔
276	}
277	}
278	}
279
280	} // namespace mavsdk

mavlink / MAVSDK / 16485391475

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