18324161155

Committed 07 Oct 2025 07:39PM UTC coverage: 47.638% (+0.03%) from 47.607%

Build # 18324161155

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push

github

Committed by

web-flow

Commit Message

Merge pull request #2678 from mavlink/pr-connection-error-cleanup

core: improve connection error strings, fix threading issue

Run Details

4 of 24 new or added lines in 3 files covered. (16.67%)

7 existing lines in 3 files now uncovered.

17051 of 35793 relevant lines covered (47.64%)

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73.45

/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

namespace mavsdk {
TcpServerConnection::TcpServerConnection(
    Connection::ReceiverCallback receiver_callback,
    Connection::LibmavReceiverCallback libmav_receiver_callback,
    MavsdkImpl& mavsdk_impl,
    std::string local_ip,
    int local_port,
    ForwardingOption forwarding_option) :
    Connection(
        std::move(receiver_callback),
        std::move(libmav_receiver_callback),
        mavsdk_impl,
        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: " << get_socket_error_string(WSAGetLastError());
        return ConnectionResult::SocketError;
    }
#endif

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

    if (listen(_server_socket_fd.get(), 3) < 0) {
        LogErr() << "listen error: " << strerror(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)
{
    // Convert message to raw bytes and use common send path
    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);

    return send_raw_bytes(reinterpret_cast<const char*>(buffer), buffer_len);
}

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: " << get_socket_error_string(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: " << strerror(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: " << strerror(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;
            }

            // Connection reset - if shutting down, exit quietly; otherwise log and exit
            if (errno == ECONNRESET) {
                if (!_should_exit) {
                    LogErr() << "recv failed: " << strerror(errno);
                }
                return;
            }

            LogErr() << "recv failed: " << strerror(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);
        }

        // Also parse with libmav if available
        if (_libmav_receiver) {
            _libmav_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));

            while (_libmav_receiver->parse_message()) {
                receive_libmav_message(_libmav_receiver->get_last_message(), this);
            }
        }
    }
}

std::pair<bool, std::string> TcpServerConnection::send_raw_bytes(const char* bytes, size_t length)
{
    // Basic implementation for TCP server connections
    std::pair<bool, std::string> result;

#if !defined(MSG_NOSIGNAL)
    auto flags = 0;
#else
    auto flags = MSG_NOSIGNAL;
#endif

    const auto send_len = send(_client_socket_fd.get(), bytes, length, flags);

    if (send_len != static_cast<std::remove_cv_t<decltype(send_len)>>(length)) {
        // Broken pipe is expected during shutdown, don't log it
        std::stringstream ss;
#ifdef WINDOWS
        int err = WSAGetLastError();
        ss << "Send failure: " << get_socket_error_string(err);
        if (err != WSAECONNRESET || !_should_exit) {
            LogErr() << ss.str();
        }
#else
        ss << "Send failure: " << strerror(errno);
        if (errno != EPIPE || !_should_exit) {
            LogErr() << ss.str();
        }
#endif
        result.first = false;
        result.second = ss.str();
        return result;
    }

    result.first = true;
    return result;
}

} // 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	namespace mavsdk {
25	TcpServerConnection::TcpServerConnection(	1✔
26	Connection::ReceiverCallback receiver_callback,
27	Connection::LibmavReceiverCallback libmav_receiver_callback,
28	MavsdkImpl& mavsdk_impl,
29	std::string local_ip,
30	int local_port,
31	ForwardingOption forwarding_option) :	1✔
32	Connection(
33	std::move(receiver_callback),	1✔
34	std::move(libmav_receiver_callback),	1✔
35	mavsdk_impl,
36	forwarding_option),
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	if (!start_libmav_receiver()) {	1✔
53	return ConnectionResult::ConnectionsExhausted;	×
54	}
55
56	#ifdef WINDOWS
57	WSADATA wsa;
58	if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) {
59	LogErr() << "Error: Winsock failed, error: " << get_socket_error_string(WSAGetLastError());
60	return ConnectionResult::SocketError;
61	}
62	#endif
63
64	_server_socket_fd.reset(socket(AF_INET, SOCK_STREAM, 0));	1✔
65	if (_server_socket_fd.empty()) {	1✔
NEW 66	LogErr() << "socket error: " << strerror(errno);	×
67	return ConnectionResult::SocketError;	×
68	}
69
70	sockaddr_in server_addr{};	1✔
71	server_addr.sin_family = AF_INET;	1✔
72	server_addr.sin_addr.s_addr = INADDR_ANY;	1✔
73	server_addr.sin_port = htons(_local_port);	1✔
74
75	if (bind(	1✔
76	_server_socket_fd.get(),
77	reinterpret_cast<sockaddr*>(&server_addr),
78	sizeof(server_addr)) < 0) {	1✔
NEW 79	LogErr() << "bind error: " << strerror(errno);	×
80	return ConnectionResult::SocketError;	×
81	}
82
83	if (listen(_server_socket_fd.get(), 3) < 0) {	1✔
NEW 84	LogErr() << "listen error: " << strerror(errno);	×
85	return ConnectionResult::SocketError;	×
86	}
87
88	// Set receive timeout cross-platform
89	const unsigned timeout_ms = 500;	1✔
90
91	#if defined(WINDOWS)
92	setsockopt(
93	_server_socket_fd.get(),
94	SOL_SOCKET,
95	SO_RCVTIMEO,
96	(const char*)&timeout_ms,
97	sizeof(timeout_ms));
98	setsockopt(
99	_client_socket_fd.get(),
100	SOL_SOCKET,
101	SO_RCVTIMEO,
102	(const char*)&timeout_ms,
103	sizeof(timeout_ms));
104	#else
105	struct timeval tv;
106	tv.tv_sec = 0;	1✔
107	tv.tv_usec = timeout_ms * 1000;	1✔
108	setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
109	setsockopt(_client_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	1✔
110	#endif
111
112	_accept_receive_thread =
113	std::make_unique<std::thread>(&TcpServerConnection::accept_client, this);	1✔
114
115	return ConnectionResult::Success;	1✔
116	}
117
118	ConnectionResult TcpServerConnection::stop()	1✔
119	{
120	_should_exit = true;	1✔
121
122	if (_accept_receive_thread && _accept_receive_thread->joinable()) {	1✔
123	_accept_receive_thread->join();	1✔
124	_accept_receive_thread.reset();	1✔
125	}
126
127	_client_socket_fd.close();	1✔
128	_server_socket_fd.close();	1✔
129
130	// We need to stop this after stopping the receive thread, otherwise
131	// it can happen that we interfere with the parsing of a message.
132	stop_mavlink_receiver();	1✔
133
134	return ConnectionResult::Success;	1✔
135	}
136
137	std::pair<bool, std::string> TcpServerConnection::send_message(const mavlink_message_t& message)	7✔
138	{
139	// Convert message to raw bytes and use common send path
140	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
141	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	7✔
142
143	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	7✔
144
145	return send_raw_bytes(reinterpret_cast<const char*>(buffer), buffer_len);	7✔
146	}
147
148	void TcpServerConnection::accept_client()	1✔
149	{
150	#ifdef WINDOWS
151	// Set server socket to non-blocking
152	u_long iMode = 1;
153	int iResult = ioctlsocket(_server_socket_fd.get(), FIONBIO, &iMode);
154	if (iResult != 0) {
155	LogErr() << "ioctlsocket failed with error: " << get_socket_error_string(WSAGetLastError());
156	}
157	#else
158	// Set server socket to non-blocking
159	int flags = fcntl(_server_socket_fd.get(), F_GETFL, 0);	1✔
160	fcntl(_server_socket_fd.get(), F_SETFL, flags \| O_NONBLOCK);	1✔
161	#endif
162
163	while (!_should_exit) {	2✔
164	fd_set readfds;
165	FD_ZERO(&readfds);	17✔
166	FD_SET(_server_socket_fd.get(), &readfds);	1✔
167
168	// Set timeout to 1 second
169	timeval timeout;
170	timeout.tv_sec = 1;	1✔
171	timeout.tv_usec = 0;	1✔
172
173	const int activity =
174	select(_server_socket_fd.get() + 1, &readfds, nullptr, nullptr, &timeout);	1✔
175
176	if (activity < 0 && errno != EINTR) {	1✔
NEW 177	LogErr() << "select error: " << strerror(errno);	×
178	continue;	×
179	}
180
181	if (activity == 0) {	1✔
182	// Timeout, no incoming connection
183	continue;	×
184	}
185
186	if (FD_ISSET(_server_socket_fd.get(), &readfds)) {	1✔
187	sockaddr_in client_addr{};	1✔
188	socklen_t client_addr_len = sizeof(client_addr);	1✔
189
190	{
191	_client_socket_fd.reset(accept(	1✔
192	_server_socket_fd.get(),
193	reinterpret_cast<sockaddr*>(&client_addr),
194	&client_addr_len));
195	}
196	if (_client_socket_fd.empty()) {	1✔
197	if (_should_exit) {	×
198	return;	×
199	}
NEW 200	LogErr() << "accept error: " << strerror(errno);	×
201	continue;	×
202	}
203
204	receive();	1✔
205	}
206	}
207	}
208
209	void TcpServerConnection::receive()	1✔
210	{
211	std::array<char, 2048> buffer{};	1✔
212
213	bool dataReceived = false;	1✔
214	while (!dataReceived && !_should_exit) {	14✔
215	const auto recv_len = recv(_client_socket_fd.get(), buffer.data(), buffer.size(), 0);	13✔
216
217	#ifdef WINDOWS
218	if (recv_len == SOCKET_ERROR) {
219	// On Windows, on the first try, select says there is something
220	// but recv doesn't succeed yet, and we just need to try again.
221	if (WSAGetLastError() == WSAEWOULDBLOCK) {
222	std::this_thread::sleep_for(std::chrono::milliseconds(10));
223	continue;
224	}
225	// And at the end, we get an abort that we can silently ignore.
226	if (WSAGetLastError() == WSAECONNABORTED) {
227	return;
228	}
229	}
230	#else
231	if (recv_len < 0) {	13✔
232	// On macOS we presumably see the same thing, and have to try again.
233	if (errno == EAGAIN) {	2✔
234	std::this_thread::sleep_for(std::chrono::milliseconds(10));	2✔
235	continue;	2✔
236	}
237
238	// Connection reset - if shutting down, exit quietly; otherwise log and exit
NEW 239	if (errno == ECONNRESET) {	×
NEW 240	if (!_should_exit) {	×
NEW 241	LogErr() << "recv failed: " << strerror(errno);	×
242	}
NEW 243	return;	×
244	}
245
NEW 246	LogErr() << "recv failed: " << strerror(errno);	×
UNCOV 247	return;	×
248	}
249	#endif
250
251	if (recv_len == 0) {	11✔
UNCOV 252	continue;	×
253	}
254
255	_mavlink_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));	11✔
256
257	// Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
258	while (_mavlink_receiver->parse_message()) {	23✔
259	receive_message(_mavlink_receiver->get_last_message(), this);	12✔
260	}
261
262	// Also parse with libmav if available
263	if (_libmav_receiver) {	11✔
264	_libmav_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));	11✔
265
266	while (_libmav_receiver->parse_message()) {	22✔
267	receive_libmav_message(_libmav_receiver->get_last_message(), this);	11✔
268	}
269	}
270	}
271	}
272
273	std::pair<bool, std::string> TcpServerConnection::send_raw_bytes(const char* bytes, size_t length)	7✔
274	{
275	// Basic implementation for TCP server connections
276	std::pair<bool, std::string> result;	7✔
277
278	#if !defined(MSG_NOSIGNAL)
279	auto flags = 0;
280	#else
281	auto flags = MSG_NOSIGNAL;	7✔
282	#endif
283
284	const auto send_len = send(_client_socket_fd.get(), bytes, length, flags);	7✔
285
286	if (send_len != static_cast<std::remove_cv_t<decltype(send_len)>>(length)) {	7✔
287	// Broken pipe is expected during shutdown, don't log it
288	std::stringstream ss;	×
289	#ifdef WINDOWS
290	int err = WSAGetLastError();
291	ss << "Send failure: " << get_socket_error_string(err);
292	if (err != WSAECONNRESET \|\| !_should_exit) {
293	LogErr() << ss.str();
294	}
295	#else
NEW 296	ss << "Send failure: " << strerror(errno);	×
NEW 297	if (errno != EPIPE \|\| !_should_exit) {	×
NEW 298	LogErr() << ss.str();	×
299	}
300	#endif
301	result.first = false;	×
302	result.second = ss.str();	×
303	return result;	×
304	}	×
305
306	result.first = true;	7✔
307	return result;	7✔
308	}
309
310	} // namespace mavsdk

mavlink / MAVSDK / 18324161155

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