new tmtc unix udp bridge
This commit is contained in:
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170a2c58f0
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137
osal/linux/TcUnixUdpPollingTask.cpp
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137
osal/linux/TcUnixUdpPollingTask.cpp
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@ -0,0 +1,137 @@
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#include <framework/osal/linux/TcUnixUdpPollingTask.h>
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#include <framework/globalfunctions/arrayprinter.h>
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TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
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object_id_t tmtcUnixUdpBridge, size_t frameSize,
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double timeoutSeconds): SystemObject(objectId),
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tmtcBridgeId(tmtcUnixUdpBridge) {
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if(frameSize > 0) {
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this->frameSize = frameSize;
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}
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else {
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this->frameSize = DEFAULT_MAX_FRAME_SIZE;
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}
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// Set up reception buffer with specified frame size.
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// For now, it is assumed that only one frame is held in the buffer!
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receptionBuffer.reserve(this->frameSize);
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receptionBuffer.resize(this->frameSize);
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if(timeoutSeconds == -1) {
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receptionTimeout = DEFAULT_TIMEOUT;
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}
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else {
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receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
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}
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}
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TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
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ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
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// Poll for new UDP datagrams in permanent loop.
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while(1) {
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//! Sender Address is cached here.
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struct sockaddr_in senderAddress;
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socklen_t senderSockLen = 0;
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ssize_t bytesReceived = recvfrom(serverUdpSocket,
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receptionBuffer.data(), frameSize, receptionFlags,
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reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
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if(bytesReceived < 0) {
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// handle error
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sif::error << "TcSocketPollingTask::performOperation: Reception"
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"error." << std::endl;
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handleReadError();
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continue;
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}
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// sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
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// << " bytes received" << std::endl;
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ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
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if(result != HasReturnvaluesIF::RETURN_FAILED) {
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}
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tmtcBridge->registerCommConnect();
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tmtcBridge->checkAndSetClientAddress(senderAddress);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
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store_address_t storeId;
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ReturnValue_t result = tcStore->addData(&storeId,
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receptionBuffer.data(), bytesRead);
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// arrayprinter::print(receptionBuffer.data(), bytesRead);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
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"storage failed" << std::endl;
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sif::error << "Packet size: " << bytesRead << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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TmTcMessage message(storeId);
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result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Serial Polling: Sending message to queue failed"
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<< std::endl;
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tcStore->deleteData(storeId);
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}
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return result;
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}
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ReturnValue_t TcUnixUdpPollingTask::initialize() {
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tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
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if (tcStore == nullptr) {
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sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
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<< std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
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if(tmtcBridge == nullptr) {
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sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
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" TMTC bridge object!" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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serverUdpSocket = tmtcBridge->serverSocket;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
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// Initialize the destination after task creation. This ensures
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// that the destination will be set in the TMTC bridge.
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targetTcDestination = tmtcBridge->getRequestQueue();
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return HasReturnvaluesIF::RETURN_OK;
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}
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void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
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timeval tval;
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tval = timevalOperations::toTimeval(timeoutSeconds);
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int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
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&tval, sizeof(receptionTimeout));
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if(result == -1) {
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sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
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"receive timeout failed with " << strerror(errno) << std::endl;
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}
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}
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void TcUnixUdpPollingTask::handleReadError() {
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switch(errno) {
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case(EAGAIN): {
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// todo: When working in timeout mode, this will occur more often
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// and is not an error.
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sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
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<< std::endl;
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break;
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}
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default: {
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sif::error << "TcUnixUdpPollingTask::handleReadError: "
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<< strerror(errno) << std::endl;
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}
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}
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}
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67
osal/linux/TcUnixUdpPollingTask.h
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67
osal/linux/TcUnixUdpPollingTask.h
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#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
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#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/osal/linux/TmTcUnixUdpBridge.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <sys/socket.h>
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#include <vector>
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/**
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* @brief This class can be used to implement the polling of a Unix socket,
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* using UDP for now.
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* @details
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* The task will be blocked while the specified number of bytes has not been
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* received, so TC reception is handled inside a separate task.
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* This class caches the IP address of the sender. It is assumed there
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* is only one sender for now.
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*/
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class TcUnixUdpPollingTask: public SystemObject,
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public ExecutableObjectIF {
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friend class TmTcUnixUdpBridge;
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public:
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static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
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//! 0.5 default milliseconds timeout for now.
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static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
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TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
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size_t frameSize = 0, double timeoutSeconds = -1);
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virtual~ TcUnixUdpPollingTask();
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/**
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* Turn on optional timeout for UDP polling. In the default mode,
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* the receive function will block until a packet is received.
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* @param timeoutSeconds
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*/
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void setTimeout(double timeoutSeconds);
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virtual ReturnValue_t performOperation(uint8_t opCode) override;
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virtual ReturnValue_t initialize() override;
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virtual ReturnValue_t initializeAfterTaskCreation() override;
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protected:
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StorageManagerIF* tcStore = nullptr;
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private:
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//! TMTC bridge is cached.
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object_id_t tmtcBridgeId = objects::NO_OBJECT;
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TmTcUnixUdpBridge* tmtcBridge = nullptr;
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MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
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//! Reception flags: https://linux.die.net/man/2/recvfrom.
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int receptionFlags = 0;
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//! Server socket, which is member of TMTC bridge and is assigned in
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//! constructor
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int serverUdpSocket = 0;
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std::vector<uint8_t> receptionBuffer;
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size_t frameSize = 0;
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timeval receptionTimeout;
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ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
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void handleReadError();
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};
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#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
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168
osal/linux/TmTcUnixUdpBridge.cpp
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168
osal/linux/TmTcUnixUdpBridge.cpp
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#include <framework/osal/linux/TmTcUnixUdpBridge.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/ipc/MutexHelper.h>
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#include <errno.h>
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#include <arpa/inet.h>
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TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
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object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
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uint16_t serverPort, uint16_t clientPort):
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TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
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mutex = MutexFactory::instance()->createMutex();
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uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
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if(serverPort != 0xFFFF) {
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setServerPort = serverPort;
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}
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uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
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if(clientPort != 0xFFFF) {
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setClientPort = clientPort;
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}
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// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
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//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
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serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
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if(socket < 0) {
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sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
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" UDP socket!" << std::endl;
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handleSocketError();
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return;
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}
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serverAddress.sin_family = AF_INET;
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// Accept packets from any interface.
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//serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0");
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serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
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serverAddress.sin_port = htons(setServerPort);
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serverAddressLen = sizeof(serverAddress);
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setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
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sizeof(serverSocketOptions));
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clientAddress.sin_family = AF_INET;
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clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
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clientAddress.sin_port = htons(setClientPort);
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clientAddressLen = sizeof(clientAddress);
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int result = bind(serverSocket,
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reinterpret_cast<struct sockaddr*>(&serverAddress),
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serverAddressLen);
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if(result == -1) {
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sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
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"local port " << setServerPort << " to server socket!"
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<< std::endl;
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handleBindError();
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return;
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}
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}
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TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
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}
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ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
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int flags = 0;
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clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
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//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
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clientAddressLen = sizeof(serverAddress);
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// char ipAddress [15];
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// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
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// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
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ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
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reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
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if(bytesSent < 0) {
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sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
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<< std::endl;
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handleSendError();
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}
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// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
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// " sent." << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
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MutexHelper lock(mutex, 10);
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// char ipAddress [15];
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// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
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// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
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// sif::debug << "IP Address Old: " << inet_ntop(AF_INET,
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// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
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// Set new IP address if it has changed.
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if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
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clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
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clientAddressLen = sizeof(clientAddress);
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}
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}
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void TmTcUnixUdpBridge::handleSocketError() {
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// See: https://man7.org/linux/man-pages/man2/socket.2.html
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switch(errno) {
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case(EACCES):
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case(EINVAL):
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case(EMFILE):
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case(ENFILE):
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case(EAFNOSUPPORT):
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case(ENOBUFS):
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case(ENOMEM):
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case(EPROTONOSUPPORT):
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sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
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<< " with " << strerror(errno) << std::endl;
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break;
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default:
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sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
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<< std::endl;
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break;
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}
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}
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void TmTcUnixUdpBridge::handleBindError() {
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// See: https://man7.org/linux/man-pages/man2/bind.2.html
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switch(errno) {
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case(EACCES): {
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/*
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Ephermeral ports can be shown with following command:
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sysctl -A | grep ip_local_port_range
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*/
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sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
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"Ports 1-1024 are reserved on UNIX systems and require root "
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"rights while ephermeral ports should not be used as well."
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<< std::endl;
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}
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break;
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case(EADDRINUSE):
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case(EBADF):
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case(EINVAL):
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case(ENOTSOCK):
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case(EADDRNOTAVAIL):
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case(EFAULT):
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case(ELOOP):
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case(ENAMETOOLONG):
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case(ENOENT):
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case(ENOMEM):
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case(ENOTDIR):
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case(EROFS): {
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sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
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<< " with " << strerror(errno) << std::endl;
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break;
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}
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default:
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sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
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<< std::endl;
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break;
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}
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}
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void TmTcUnixUdpBridge::handleSendError() {
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switch(errno) {
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default:
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sif::error << "Error: " << strerror(errno) << std::endl;
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}
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}
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48
osal/linux/TmTcUnixUdpBridge.h
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48
osal/linux/TmTcUnixUdpBridge.h
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@ -0,0 +1,48 @@
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#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
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#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
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#include <framework/tmtcservices/TmTcBridge.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/udp.h>
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class TmTcUnixUdpBridge: public TmTcBridge {
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friend class TcUnixUdpPollingTask;
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public:
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// The ports chosen here should not be used by any other process.
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// List of used ports on Linux: /etc/services
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static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
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static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
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TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
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object_id_t tmStoreId, object_id_t tcStoreId,
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uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
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virtual~ TmTcUnixUdpBridge();
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void checkAndSetClientAddress(sockaddr_in clientAddress);
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protected:
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virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
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private:
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int serverSocket = 0;
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const int serverSocketOptions = 0;
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struct sockaddr_in clientAddress;
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socklen_t clientAddressLen = 0;
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struct sockaddr_in serverAddress;
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socklen_t serverAddressLen = 0;
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//! Access to the client address is mutex protected as it is set
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//! by another task.
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MutexIF* mutex;
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void handleSocketError();
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void handleBindError();
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void handleSendError();
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};
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#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */
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