18417543635

Committed 10 Oct 2025 08:22PM UTC coverage: 48.275% (+0.6%) from 47.661%

Build # 18417543635

Build Type

Pull #2684

github

Committed by

web-flow

Commit Message

Merge ba1aec5b0 into a58aaa9e1

Pull Request Pull Request #2684: Re-connection fixes and system tests

Run Details

274 of 282 new or added lines in 3 files covered. (97.16%)

24 existing lines in 2 files now uncovered.

17418 of 36081 relevant lines covered (48.27%)

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84.62

/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;
    }

    // Allow reuse of address to avoid "Address already in use" errors
    int yes = 1;
#ifdef WINDOWS
    setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_REUSEADDR, (const char*)&yes, sizeof(yes));
#else
    setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(yes));
#endif

    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) {
            // Client disconnected, close the socket and go back to accept new connections
            LogInfo() << "TCP client disconnected, waiting for new connection...";
            _client_socket_fd.close();
            return;
        }

        _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(	4✔
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) :	4✔
32	Connection(
33	std::move(receiver_callback),	4✔
34	std::move(libmav_receiver_callback),	4✔
35	mavsdk_impl,
36	forwarding_option),
37	_local_ip(std::move(local_ip)),	4✔
38	_local_port(local_port)	12✔
39	{}	4✔
40
41	TcpServerConnection::~TcpServerConnection()	8✔
42	{
43	stop();	4✔
44	}	8✔
45
46	ConnectionResult TcpServerConnection::start()	4✔
47	{
48	if (!start_mavlink_receiver()) {	4✔
49	return ConnectionResult::ConnectionsExhausted;	×
50	}
51
52	if (!start_libmav_receiver()) {	4✔
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));	4✔
65	if (_server_socket_fd.empty()) {	4✔
UNCOV 66	LogErr() << "socket error: " << strerror(errno);	×
UNCOV 67	return ConnectionResult::SocketError;	×
68	}
69
70	// Allow reuse of address to avoid "Address already in use" errors
71	int yes = 1;	4✔
72	#ifdef WINDOWS
73	setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_REUSEADDR, (const char*)&yes, sizeof(yes));
74	#else
75	setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(yes));	4✔
76	#endif
77
78	sockaddr_in server_addr{};	4✔
79	server_addr.sin_family = AF_INET;	4✔
80	server_addr.sin_addr.s_addr = INADDR_ANY;	4✔
81	server_addr.sin_port = htons(_local_port);	4✔
82
83	if (bind(	4✔
84	_server_socket_fd.get(),
85	reinterpret_cast<sockaddr*>(&server_addr),
86	sizeof(server_addr)) < 0) {	4✔
UNCOV 87	LogErr() << "bind error: " << strerror(errno);	×
UNCOV 88	return ConnectionResult::SocketError;	×
89	}
90
91	if (listen(_server_socket_fd.get(), 3) < 0) {	4✔
UNCOV 92	LogErr() << "listen error: " << strerror(errno);	×
UNCOV 93	return ConnectionResult::SocketError;	×
94	}
95
96	// Set receive timeout cross-platform
97	const unsigned timeout_ms = 500;	4✔
98
99	#if defined(WINDOWS)
100	setsockopt(
101	_server_socket_fd.get(),
102	SOL_SOCKET,
103	SO_RCVTIMEO,
104	(const char*)&timeout_ms,
105	sizeof(timeout_ms));
106	setsockopt(
107	_client_socket_fd.get(),
108	SOL_SOCKET,
109	SO_RCVTIMEO,
110	(const char*)&timeout_ms,
111	sizeof(timeout_ms));
112	#else
113	struct timeval tv;
114	tv.tv_sec = 0;	4✔
115	tv.tv_usec = timeout_ms * 1000;	4✔
116	setsockopt(_server_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	4✔
117	setsockopt(_client_socket_fd.get(), SOL_SOCKET, SO_RCVTIMEO, (const void*)&tv, sizeof(tv));	4✔
118	#endif
119
120	_accept_receive_thread =
121	std::make_unique<std::thread>(&TcpServerConnection::accept_client, this);	4✔
122
123	return ConnectionResult::Success;	4✔
124	}
125
126	ConnectionResult TcpServerConnection::stop()	4✔
127	{
128	_should_exit = true;	4✔
129
130	if (_accept_receive_thread && _accept_receive_thread->joinable()) {	4✔
131	_accept_receive_thread->join();	4✔
132	_accept_receive_thread.reset();	4✔
133	}
134
135	_client_socket_fd.close();	4✔
136	_server_socket_fd.close();	4✔
137
138	// We need to stop this after stopping the receive thread, otherwise
139	// it can happen that we interfere with the parsing of a message.
140	stop_mavlink_receiver();	4✔
141
142	return ConnectionResult::Success;	4✔
143	}
144
145	std::pair<bool, std::string> TcpServerConnection::send_message(const mavlink_message_t& message)	37✔
146	{
147	// Convert message to raw bytes and use common send path
148	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
149	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	37✔
150
151	assert(buffer_len <= MAVLINK_MAX_PACKET_LEN);	37✔
152
153	return send_raw_bytes(reinterpret_cast<const char*>(buffer), buffer_len);	37✔
154	}
155
156	void TcpServerConnection::accept_client()	4✔
157	{
158	#ifdef WINDOWS
159	// Set server socket to non-blocking
160	u_long iMode = 1;
161	int iResult = ioctlsocket(_server_socket_fd.get(), FIONBIO, &iMode);
162	if (iResult != 0) {
163	LogErr() << "ioctlsocket failed with error: " << get_socket_error_string(WSAGetLastError());
164	}
165	#else
166	// Set server socket to non-blocking
167	int flags = fcntl(_server_socket_fd.get(), F_GETFL, 0);	4✔
168	fcntl(_server_socket_fd.get(), F_SETFL, flags \| O_NONBLOCK);	4✔
169	#endif
170
171	while (!_should_exit) {	11✔
172	fd_set readfds;
173	FD_ZERO(&readfds);	119✔
174	FD_SET(_server_socket_fd.get(), &readfds);	7✔
175
176	// Set timeout to 1 second
177	timeval timeout;
178	timeout.tv_sec = 1;	7✔
179	timeout.tv_usec = 0;	7✔
180
181	const int activity =
182	select(_server_socket_fd.get() + 1, &readfds, nullptr, nullptr, &timeout);	7✔
183
184	if (activity < 0 && errno != EINTR) {	7✔
NEW 185	LogErr() << "select error: " << strerror(errno);	×
186	continue;	2✔
187	}
188
189	if (activity == 0) {	7✔
190	// Timeout, no incoming connection
191	continue;	2✔
192	}
193
194	if (FD_ISSET(_server_socket_fd.get(), &readfds)) {	5✔
195	sockaddr_in client_addr{};	5✔
196	socklen_t client_addr_len = sizeof(client_addr);	5✔
197
198	{
199	_client_socket_fd.reset(accept(	5✔
200	_server_socket_fd.get(),
201	reinterpret_cast<sockaddr*>(&client_addr),
202	&client_addr_len));
203	}
204	if (_client_socket_fd.empty()) {	5✔
NEW 205	if (_should_exit) {	×
NEW 206	return;	×
207	}
NEW 208	LogErr() << "accept error: " << strerror(errno);	×
NEW 209	continue;	×
210	}
211
212	receive();	5✔
213	}
214	}
215	}
216
217	void TcpServerConnection::receive()	5✔
218	{
219	std::array<char, 2048> buffer{};	5✔
220
221	bool dataReceived = false;	5✔
222	while (!dataReceived && !_should_exit) {	49✔
223	const auto recv_len = recv(_client_socket_fd.get(), buffer.data(), buffer.size(), 0);	47✔
224
225	#ifdef WINDOWS
226	if (recv_len == SOCKET_ERROR) {
227	// On Windows, on the first try, select says there is something
228	// but recv doesn't succeed yet, and we just need to try again.
229	if (WSAGetLastError() == WSAEWOULDBLOCK) {
230	std::this_thread::sleep_for(std::chrono::milliseconds(10));
231	continue;
232	}
233	// And at the end, we get an abort that we can silently ignore.
234	if (WSAGetLastError() == WSAECONNABORTED) {
235	return;
236	}
237	}
238	#else
239	if (recv_len < 0) {	47✔
240	// On macOS we presumably see the same thing, and have to try again.
241	if (errno == EAGAIN) {	13✔
242	std::this_thread::sleep_for(std::chrono::milliseconds(10));	13✔
243	continue;	13✔
244	}
245
246	// Connection reset - if shutting down, exit quietly; otherwise log and exit
UNCOV 247	if (errno == ECONNRESET) {	×
UNCOV 248	if (!_should_exit) {	×
UNCOV 249	LogErr() << "recv failed: " << strerror(errno);	×
250	}
251	return;	3✔
252	}
253
UNCOV 254	LogErr() << "recv failed: " << strerror(errno);	×
UNCOV 255	return;	×
256	}
257	#endif
258
259	if (recv_len == 0) {	34✔
260	// Client disconnected, close the socket and go back to accept new connections
261	LogInfo() << "TCP client disconnected, waiting for new connection...";	3✔
262	_client_socket_fd.close();	3✔
263	return;	3✔
264	}
265
266	_mavlink_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));	31✔
267
268	// Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
269	while (_mavlink_receiver->parse_message()) {	64✔
270	receive_message(_mavlink_receiver->get_last_message(), this);	33✔
271	}
272
273	// Also parse with libmav if available
274	if (_libmav_receiver) {	31✔
275	_libmav_receiver->set_new_datagram(buffer.data(), static_cast<int>(recv_len));	31✔
276
277	while (_libmav_receiver->parse_message()) {	62✔
278	receive_libmav_message(_libmav_receiver->get_last_message(), this);	31✔
279	}
280	}
281	}
282	}
283
284	std::pair<bool, std::string> TcpServerConnection::send_raw_bytes(const char* bytes, size_t length)	37✔
285	{
286	// Basic implementation for TCP server connections
287	std::pair<bool, std::string> result;	37✔
288
289	#if !defined(MSG_NOSIGNAL)
290	auto flags = 0;
291	#else
292	auto flags = MSG_NOSIGNAL;	37✔
293	#endif
294
295	const auto send_len = send(_client_socket_fd.get(), bytes, length, flags);	37✔
296
297	if (send_len != static_cast<std::remove_cv_t<decltype(send_len)>>(length)) {	37✔
298	// Broken pipe is expected during shutdown, don't log it
299	std::stringstream ss;	1✔
300	#ifdef WINDOWS
301	int err = WSAGetLastError();
302	ss << "Send failure: " << get_socket_error_string(err);
303	if (err != WSAECONNRESET \|\| !_should_exit) {
304	LogErr() << ss.str();
305	}
306	#else
307	ss << "Send failure: " << strerror(errno);	1✔
308	if (errno != EPIPE \|\| !_should_exit) {	1✔
309	LogErr() << ss.str();	1✔
310	}
311	#endif
312	result.first = false;	1✔
313	result.second = ss.str();	1✔
314	return result;	1✔
315	}	1✔
316
317	result.first = true;	36✔
318	return result;	36✔
319	}
320
321	} // namespace mavsdk

mavlink / MAVSDK / 18417543635

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