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Merge remote-tracking branch 'upstream/mueller/master' into source/develop

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This commit is contained in:
Robin Müller 2021-03-22 15:19:44 +01:00
commit 4c11b2f660
28 changed files with 641 additions and 747 deletions
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13
osal/common/CMakeLists.txt
View File

@ -1,3 +1,16 @@
if(DEFINED WIN32 OR DEFINED UNIX)
target_sources(${LIB_FSFW_NAME} PRIVATE
tcpipCommon.cpp
TcpIpBase.cpp
UdpTcPollingTask.cpp
UdpTmTcBridge.cpp
TcpTmTcServer.cpp
)
endif()
if(WIN32)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
wsock32
ws2_32
)
endif()

54
osal/common/TcpIpBase.cpp Normal file
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@ -0,0 +1,54 @@
#include "TcpIpBase.h"
#ifdef __unix__
#include <errno.h>
#include <unistd.h>
#endif
TcpIpBase::TcpIpBase() {
}
ReturnValue_t TcpIpBase::initialize() {
#ifdef _WIN32
/* Initiates Winsock DLL. */
WSAData wsaData;
WORD wVersionRequested = MAKEWORD(2, 2);
int err = WSAStartup(wVersionRequested, &wsaData);
if (err != 0) {
/* Tell the user that we could not find a usable Winsock DLL. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
err << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#endif
return HasReturnvaluesIF::RETURN_OK;
}
TcpIpBase::~TcpIpBase() {
closeSocket(serverSocket);
#ifdef _WIN32
WSACleanup();
#endif
}
int TcpIpBase::closeSocket(socket_t socket) {
#ifdef _WIN32
return closesocket(socket);
#elif defined(__unix__)
return close(socket);
#endif
}
int TcpIpBase::getLastSocketError() {
#ifdef _WIN32
return WSAGetLastError();
#elif defined(__unix__)
return errno;
#endif
}

50
osal/common/TcpIpBase.h Normal file
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@ -0,0 +1,50 @@
#ifndef FSFW_OSAL_COMMON_TCPIPIF_H_
#define FSFW_OSAL_COMMON_TCPIPIF_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#ifdef _WIN32
#include <winsock2.h>
#elif defined(__unix__)
#include <sys/socket.h>
#endif
class TcpIpBase {
protected:
#ifdef _WIN32
static constexpr int SHUT_RECV = SD_RECEIVE;
static constexpr int SHUT_SEND = SD_SEND;
static constexpr int SHUT_BOTH = SD_BOTH;
using socket_t = SOCKET;
#elif defined(__unix__)
using socket_t = int;
static constexpr int INVALID_SOCKET = -1;
static constexpr int SOCKET_ERROR = -1;
static constexpr int SHUT_RECV = SHUT_RD;
static constexpr int SHUT_SEND = SHUT_WR;
static constexpr int SHUT_BOTH = SHUT_RDWR;
#endif
TcpIpBase();
virtual ~TcpIpBase();
ReturnValue_t initialize();
int closeSocket(socket_t socket);
int getLastSocketError();
socket_t serverSocket = 0;
};
#endif /* FSFW_OSAL_COMMON_TCPIPIF_H_ */

64
osal/windows/TcWinTcpServer.cpp → osal/common/TcpTmTcServer.cpp
View File

@ -1,14 +1,21 @@
#include "TcWinTcpServer.h"
#include "TcpTmTcServer.h"
#include "tcpipHelpers.h"
#include "../../serviceinterface/ServiceInterface.h"
#ifdef _WIN32
#include <winsock2.h>
#include <ws2tcpip.h>
const std::string TcWinTcpServer::DEFAULT_TCP_SERVER_PORT = "7301";
const std::string TcWinTcpServer::DEFAULT_TCP_CLIENT_PORT = "7302";
#elif defined(__unix__)
TcWinTcpServer::TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
#include <netdb.h>
#endif
const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT = "7301";
const std::string TcpTmTcServer::DEFAULT_TCP_CLIENT_PORT = "7302";
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
std::string customTcpServerPort):
SystemObject(objectId), tcpPort(customTcpServerPort) {
if(tcpPort == "") {
@ -16,25 +23,18 @@ TcWinTcpServer::TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBrid
}
}
ReturnValue_t TcWinTcpServer::initialize() {
ReturnValue_t TcpTmTcServer::initialize() {
using namespace tcpip;
int retval = 0;
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
/* Initiates Winsock DLL. */
WSAData wsaData;
WORD wVersionRequested = MAKEWORD(2, 2);
int err = WSAStartup(wVersionRequested, &wsaData);
if (err != 0) {
/* Tell the user that we could not find a usable Winsock DLL. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
err << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
ReturnValue_t result = TcpIpBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ZeroMemory(&hints, sizeof (hints));
int retval = 0;
struct addrinfo *addrResult = nullptr;
struct addrinfo hints = { 0 };
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
hints.ai_protocol = IPPROTO_TCP;
@ -43,7 +43,7 @@ ReturnValue_t TcWinTcpServer::initialize() {
retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcWinTcpServer::TcWinTcpServer: Retrieving address info failed!" <<
sif::warning << "TcWinTcpServer::TcpTmTcServer: Retrieving address info failed!" <<
std::endl;
#endif
handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
@ -65,7 +65,7 @@ ReturnValue_t TcWinTcpServer::initialize() {
retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcWinTcpServer::TcWinTcpServer: Binding socket failed!" <<
sif::warning << "TcWinTcpServer::TcpTmTcServer: Binding socket failed!" <<
std::endl;
#endif
freeaddrinfo(addrResult);
@ -77,17 +77,16 @@ ReturnValue_t TcWinTcpServer::initialize() {
}
TcWinTcpServer::~TcWinTcpServer() {
closesocket(listenerTcpSocket);
WSACleanup();
TcpTmTcServer::~TcpTmTcServer() {
closeSocket(listenerTcpSocket);
}
ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
using namespace tcpip;
/* If a connection is accepted, the corresponding socket will be assigned to the new socket */
SOCKET clientSocket;
sockaddr_in clientSockAddr;
int connectorSockAddrLen = 0;
socket_t clientSocket;
sockaddr clientSockAddr;
socklen_t connectorSockAddrLen = 0;
int retval = 0;
/* Listen for connection requests permanently for lifetime of program */
@ -98,8 +97,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
continue;
}
clientSocket = accept(listenerTcpSocket, reinterpret_cast<sockaddr*>(&clientSockAddr),
&connectorSockAddrLen);
clientSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
if(clientSocket == INVALID_SOCKET) {
handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@ -110,7 +108,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
receptionBuffer.size(), 0);
if(retval > 0) {
#if FSFW_TCP_RCV_WIRETAPPING_ENABLED == 1
sif::info << "TcWinTcpServer::performOperation: Received " << retval << " bytes."
sif::info << "TcpTmTcServer::performOperation: Received " << retval << " bytes."
std::endl;
#endif
handleError(Protocol::TCP, ErrorSources::RECV_CALL, 500);
@ -123,7 +121,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
}
/* Done, shut down connection */
retval = shutdown(clientSocket, SD_SEND);
retval = shutdown(clientSocket, SHUT_SEND);
}
return HasReturnvaluesIF::RETURN_OK;
}

16
osal/windows/TcWinTcpServer.h → osal/common/TcpTmTcServer.h
View File

@ -1,9 +1,14 @@
#ifndef FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#define FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#include "TcpIpBase.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#ifdef __unix__
#include <sys/socket.h>
#endif
#include <string>
#include <vector>
@ -15,17 +20,18 @@
* @details
* Based on: https://docs.microsoft.com/en-us/windows/win32/winsock/complete-server-code
*/
class TcWinTcpServer:
class TcpTmTcServer:
public SystemObject,
public TcpIpBase,
public ExecutableObjectIF {
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_TCP_SERVER_PORT;
static const std::string DEFAULT_TCP_CLIENT_PORT;
TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
std::string customTcpServerPort = "");
virtual~ TcWinTcpServer();
virtual~ TcpTmTcServer();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t opCode) override;
@ -33,8 +39,8 @@ public:
private:
std::string tcpPort;
SOCKET listenerTcpSocket = 0;
struct sockaddr_in tcpAddress;
socket_t listenerTcpSocket = 0;
struct sockaddr tcpAddress;
int tcpAddrLen = sizeof(tcpAddress);
int currentBacklog = 3;

177
osal/common/UdpTcPollingTask.cpp Normal file
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@ -0,0 +1,177 @@
#include "UdpTcPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#ifdef _WIN32
#include <winsock2.h>
#else
#include <sys/types.h>
#include <sys/socket.h>
#endif
//! Debugging preprocessor define.
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId,
object_id_t tmtcUnixUdpBridge, size_t maxRecvSize,
double timeoutSeconds): SystemObject(objectId),
tmtcBridgeId(tmtcUnixUdpBridge) {
if(frameSize > 0) {
this->frameSize = frameSize;
}
else {
this->frameSize = DEFAULT_MAX_RECV_SIZE;
}
/* Set up reception buffer with specified frame size.
For now, it is assumed that only one frame is held in the buffer! */
receptionBuffer.reserve(this->frameSize);
receptionBuffer.resize(this->frameSize);
if(timeoutSeconds == -1) {
receptionTimeout = DEFAULT_TIMEOUT;
}
else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
}
}
UdpTcPollingTask::~UdpTcPollingTask() {}
ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
/* Sender Address is cached here. */
struct sockaddr senderAddress;
socklen_t senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while(true) {
int bytesReceived = recvfrom(
this->serverSocket,
reinterpret_cast<char*>(receptionBuffer.data()),
frameSize,
receptionFlags,
&senderAddress,
&senderAddressSize
);
if(bytesReceived == SOCKET_ERROR) {
/* Handle error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UdpTcPollingTask::performOperation: Reception error." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived <<
" bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
arrayprinter::print(receptionBuffer.data(), bytesRead);
#endif
ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning<< "UdpTcPollingTask::transferPusToSoftwareBus: Data storage failed." <<
std::endl;
sif::warning << "Packet size: " << bytesRead << std::endl;
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: "
" Sending message to queue failed" << std::endl;
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t UdpTcPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UdpTcPollingTask::initialize: TC store uninitialized!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<UdpTmTcBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UdpTcPollingTask::initialize: Invalid TMTC bridge object!" <<
std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ReturnValue_t result = TcpIpBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UdpTcPollingTask::initializeAfterTaskCreation() {
/* Initialize the destination after task creation. This ensures
that the destination has already been set in the TMTC bridge. */
targetTcDestination = tmtcBridge->getRequestQueue();
/* The server socket is set up in the bridge intialization. Calling this function here
ensures that it is set up regardless of which class was initialized first */
this->serverSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
#ifdef _WIN32
DWORD timeoutMs = timeoutSeconds * 1000.0;
int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO,
reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
#elif defined(__unix__)
timeval tval;
tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO,
&tval, sizeof(receptionTimeout));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
#endif
}

20
osal/windows/TcWinUdpPollingTask.h → osal/common/UdpTcPollingTask.h
View File

@ -1,7 +1,7 @@
#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#include "TmTcWinUdpBridge.h"
#include "UdpTmTcBridge.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../storagemanager/StorageManagerIF.h"
@ -17,17 +17,19 @@
* This class caches the IP address of the sender. It is assumed there
* is only one sender for now.
*/
class TcWinUdpPollingTask: public SystemObject,
class UdpTcPollingTask:
public TcpIpBase,
public SystemObject,
public ExecutableObjectIF {
friend class TmTcWinUdpBridge;
public:
static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcWinUdpPollingTask();
UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t maxRecvSize = 0, double timeoutSeconds = -1);
virtual~ UdpTcPollingTask();
/**
* Turn on optional timeout for UDP polling. In the default mode,
@ -46,16 +48,12 @@ protected:
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
TmTcWinUdpBridge* tmtcBridge = nullptr;
UdpTmTcBridge* tmtcBridge = nullptr;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
//! See: https://docs.microsoft.com/en-us/windows/win32/api/winsock/nf-winsock-recvfrom
int receptionFlags = 0;
//! Server socket, which is member of TMTC bridge.
//! Will be cached shortly after SW intialization.
SOCKET serverUdpSocket = 0;
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;

59
osal/windows/TmTcWinUdpBridge.cpp → osal/common/UdpTmTcBridge.cpp
View File

@ -1,17 +1,26 @@
#include "TmTcWinUdpBridge.h"
#include "tcpipHelpers.h"
#include "../../ipc/MutexGuard.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/osal/common/UdpTmTcBridge.h>
#ifdef _WIN32
#include <ws2tcpip.h>
#elif defined(__unix__)
#include <netdb.h>
#include <arpa/inet.h>
#endif
//! Debugging preprocessor define.
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
const std::string TmTcWinUdpBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_UDP_SERVER_PORT;
const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if(udpServerPort == "") {
@ -25,16 +34,18 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestinati
communicationLinkUp = false;
}
ReturnValue_t TmTcWinUdpBridge::initialize() {
ReturnValue_t UdpTmTcBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::initialize: TmTcBridge initialization failed!"
sif::error << "TmTcUdpBridge::initialize: TmTcBridge initialization failed!"
<< std::endl;
#endif
return result;
}
#ifdef _WIN32
/* Initiates Winsock DLL. */
WSAData wsaData;
WORD wVersionRequested = MAKEWORD(2, 2);
@ -43,26 +54,22 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
/* Tell the user that we could not find a usable */
/* Winsock DLL. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
sif::error << "TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: " <<
err << std::endl;
#else
sif::printError("TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: %d\n",
sif::printError("TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: %d\n",
err);
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#endif
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
struct addrinfo hints = {};
ZeroMemory(&hints, sizeof (hints));
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_DGRAM;
hints.ai_protocol = IPPROTO_UDP;
/* See:
https://docs.microsoft.com/en-us/windows/win32/api/ws2tcpip/nf-ws2tcpip-getaddrinfo
for information about AI_PASSIVE. */
hints.ai_flags = AI_PASSIVE;
/* Set up UDP socket:
https://en.wikipedia.org/wiki/Getaddrinfo
@ -71,7 +78,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Retrieving address info failed!" <<
sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Retrieving address info failed!" <<
std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
@ -80,7 +87,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
if(serverSocket == INVALID_SOCKET) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open UDP socket!" <<
sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Could not open UDP socket!" <<
std::endl;
#endif
freeaddrinfo(addrResult);
@ -91,7 +98,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
sif::error << "TmTcUdpBridge::TmTcUdpBridge: Could not bind "
"local port (" << udpServerPort << ") to server socket!" << std::endl;
#endif
freeaddrinfo(addrResult);
@ -101,15 +108,13 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
return HasReturnvaluesIF::RETURN_OK;
}
TmTcWinUdpBridge::~TmTcWinUdpBridge() {
UdpTmTcBridge::~UdpTmTcBridge() {
if(mutex != nullptr) {
MutexFactory::instance()->deleteMutex(mutex);
}
closesocket(serverSocket);
WSACleanup();
}
ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
/* The target address can be set by different threads so this lock ensures thread-safety */
@ -126,23 +131,23 @@ ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
reinterpret_cast<const char*>(data),
dataLen,
flags,
reinterpret_cast<sockaddr*>(&clientAddress),
&clientAddress,
clientAddressLen
);
if(bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::sendTm: Send operation failed." << std::endl;
sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were"
" sent." << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
void UdpTmTcBridge::checkAndSetClientAddress(sockaddr& newAddress) {
/* The target address can be set by different threads so this lock ensures thread-safety */
MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
@ -160,7 +165,7 @@ void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
clientAddressLen = sizeof(clientAddress);
}
void TmTcWinUdpBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
dur_millis_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;

31
osal/windows/TmTcWinUdpBridge.h → osal/common/UdpTmTcBridge.h
View File

@ -1,20 +1,32 @@
#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#include "TcpIpBase.h"
#include "../../tmtcservices/TmTcBridge.h"
#include <string>
#include <winsock2.h>
#ifdef _WIN32
class TmTcWinUdpBridge: public TmTcBridge {
friend class TcWinUdpPollingTask;
#include <ws2tcpip.h>
#elif defined(__unix__)
#include <sys/socket.h>
#endif
#include <string>
class UdpTmTcBridge:
public TmTcBridge,
public TcpIpBase {
friend class UdpTcPollingTask;
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_UDP_SERVER_PORT;
TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort = "");
virtual~ TmTcWinUdpBridge();
virtual~ UdpTmTcBridge();
/**
* Set properties of internal mutex.
@ -23,17 +35,16 @@ public:
ReturnValue_t initialize() override;
void checkAndSetClientAddress(sockaddr_in& clientAddress);
void checkAndSetClientAddress(sockaddr& clientAddress);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
SOCKET serverSocket = 0;
std::string udpServerPort;
struct sockaddr_in clientAddress;
int clientAddressLen = 0;
struct sockaddr clientAddress;
socklen_t clientAddressLen = 0;
//! Access to the client address is mutex protected as it is set by another task.
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;

3
osal/common/tcpipCommon.h
View File

@ -6,8 +6,7 @@
namespace tcpip {
const char* const DEFAULT_UDP_SERVER_PORT = "7301";
const char* const DEFAULT_TCP_SERVER_PORT = "7303";
const char* const DEFAULT_SERVER_PORT = "7301";
enum class Protocol {
UDP,

2
osal/windows/tcpipHelpers.h → osal/common/tcpipHelpers.h
View File

@ -2,7 +2,7 @@
#define FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_
#include "../../timemanager/clockDefinitions.h"
#include "../common/tcpipCommon.h"
#include "tcpipCommon.h"
namespace tcpip {

33
osal/host/PeriodicTask.cpp
View File

@ -10,6 +10,7 @@
#if defined(WIN32)
#include <processthreadsapi.h>
#include <fsfw/osal/windows/winTaskHelpers.h>
#elif defined(LINUX)
#include <pthread.h>
#endif
@ -22,33 +23,11 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
// It is propably possible to set task priorities by using the native
// task handles for Windows / Linux
mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
#if defined(WIN32)
/* List of possible priority classes:
* https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
* nf-processthreadsapi-setpriorityclass
* And respective thread priority numbers:
* https://docs.microsoft.com/en-us/windows/
* win32/procthread/scheduling-priorities */
int result = SetPriorityClass(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
ABOVE_NORMAL_PRIORITY_CLASS);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
THREAD_PRIORITY_NORMAL);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
#elif defined(LINUX)
// we can just copy and paste the code from linux here.
#if defined(_WIN32)
tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
tasks::insertTaskName(mainThread.get_id(), taskName);
#elif defined(__unix__)
// TODO: We could reuse existing code here.
#endif
}

39
osal/host/TaskFactory.cpp
View File

@ -1,14 +1,20 @@
#include "../../tasks/TaskFactory.h"
#include "../../osal/host/FixedTimeslotTask.h"
#include "../../osal/host/PeriodicTask.h"
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#ifdef _WIN32
#include "../windows/winTaskHelpers.h"
#endif
#include <chrono>
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
// Will propably not be used for hosted implementation
// Not used for the host implementation for now because C++ thread abstraction is used
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
TaskFactory::TaskFactory() {
@ -49,8 +55,33 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
}
void TaskFactory::printMissedDeadline() {
/* TODO: Implement */
return;
#ifdef __unix__
char name[20] = {0};
int status = pthread_getname_np(pthread_self(), name, sizeof(name));
#if FSFW_CPP_OSTREAM_ENABLED == 1
if(status == 0) {
sif::warning << "TaskFactory::printMissedDeadline: " << name << "" << std::endl;
}
else {
sif::warning << "TaskFactory::printMissedDeadline: Unknown task name" << status <<
std::endl;
}
#else
if(status == 0) {
sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
}
else {
sif::printWarning("TaskFactory::printMissedDeadline: Unknown task name\n", name);
}
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#elif defined(_WIN32)
std::string name = tasks::getTaskName(std::this_thread::get_id());
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl;
#else
sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* defined(_WIN32) */
}

2
osal/linux/CMakeLists.txt
View File

@ -13,8 +13,6 @@ target_sources(${LIB_FSFW_NAME}
QueueFactory.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
TcUnixUdpPollingTask.cpp
TmTcUnixUdpBridge.cpp
Timer.cpp
tcpipHelpers.cpp
)

152
osal/linux/TcUnixUdpPollingTask.cpp
View File

@ -1,152 +0,0 @@
#include "TcUnixUdpPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
object_id_t tmtcUnixUdpBridge, size_t frameSize,
double timeoutSeconds): SystemObject(objectId),
tmtcBridgeId(tmtcUnixUdpBridge) {
if(frameSize > 0) {
this->frameSize = frameSize;
}
else {
this->frameSize = DEFAULT_MAX_FRAME_SIZE;
}
/* Set up reception buffer with specified frame size.
For now, it is assumed that only one frame is held in the buffer! */
receptionBuffer.reserve(this->frameSize);
receptionBuffer.resize(this->frameSize);
if(timeoutSeconds == -1) {
receptionTimeout = DEFAULT_TIMEOUT;
}
else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
}
}
TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
/* Sender Address is cached here. */
struct sockaddr_in senderAddress;
socklen_t senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while(true) {
ssize_t bytesReceived = recvfrom(
serverUdpSocket,
receptionBuffer.data(),
frameSize,
receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize
);
if(bytesReceived < 0) {
/* Handle error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::performOperation: Reception error." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 500);
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
<< " bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
arrayprinter::print(receptionBuffer.data(), bytesRead);
#endif
ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
#else
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Sending message to queue "
"failed" << std::endl;
#else
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t TcUnixUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
/* Initialize the destination after task creation. This ensures
that the destination has already been set in the TMTC bridge. */
targetTcDestination = tmtcBridge->getRequestQueue();
/* The server socket is set up in the bridge intialization. Calling this function here
ensures that it is set up properly in any case*/
serverUdpSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
timeval tval;
tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
&tval, sizeof(receptionTimeout));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
}

67
osal/linux/TcUnixUdpPollingTask.h
View File

@ -1,67 +0,0 @@
#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
#include "../../objectmanager/SystemObject.h"
#include "../../osal/linux/TmTcUnixUdpBridge.h"
#include "../../tasks/ExecutableObjectIF.h"
#include <sys/socket.h>
#include <vector>
/**
* @brief This class can be used to implement the polling of a Unix socket,
* using UDP for now.
* @details
* The task will be blocked while the specified number of bytes has not been
* received, so TC reception is handled inside a separate task.
* This class caches the IP address of the sender. It is assumed there
* is only one sender for now.
*/
class TcUnixUdpPollingTask: public SystemObject,
public ExecutableObjectIF {
friend class TmTcUnixUdpBridge;
public:
static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcUnixUdpPollingTask();
/**
* Turn on optional timeout for UDP polling. In the default mode,
* the receive function will block until a packet is received.
* @param timeoutSeconds
*/
void setTimeout(double timeoutSeconds);
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
StorageManagerIF* tcStore = nullptr;
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
TmTcUnixUdpBridge* tmtcBridge = nullptr;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
//! Reception flags: https://linux.die.net/man/2/recvfrom.
int receptionFlags = 0;
//! Server socket, which is member of TMTC bridge and is assigned in
//! constructor
int serverUdpSocket = 0;
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
};
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

167
osal/linux/TmTcUnixUdpBridge.cpp
View File

@ -1,167 +0,0 @@
#include "TmTcUnixUdpBridge.h"
#include "tcpipHelpers.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../ipc/MutexGuard.h"
#include <arpa/inet.h>
#include <unistd.h>
#include <netdb.h>
#include <cstring>
//! Debugging preprocessor define.
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
const std::string TmTcUnixUdpBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_UDP_SERVER_PORT;
TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if(udpServerPort == "") {
this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
}
else {
this->udpServerPort = udpServerPort;
}
mutex = MutexFactory::instance()->createMutex();
communicationLinkUp = false;
}
ReturnValue_t TmTcUnixUdpBridge::initialize() {
using namespace tcpip;
ReturnValue_t result = TmTcBridge::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixUdpBridge::initialize: TmTcBridge initialization failed!"
<< std::endl;
#endif
return result;
}
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
std::memset(&hints, 0, sizeof(hints));
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_DGRAM;
hints.ai_protocol = IPPROTO_UDP;
hints.ai_flags = AI_PASSIVE;
/* Set up UDP socket:
https://man7.org/linux/man-pages/man3/getaddrinfo.3.html
Passing nullptr as the first parameter and specifying AI_PASSIVE in hints will cause
getaddrinfo to assign the address 0.0.0.0 (any address) */
int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Retrieving address info failed!" <<
std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html */
serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
if(serverSocket < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open UDP socket!" <<
std::endl;
#else
sif::printError("TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open UDP socket!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
freeaddrinfo(addrResult);
handleError(Protocol::UDP, ErrorSources::SOCKET_CALL);
return HasReturnvaluesIF::RETURN_FAILED;
}
retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
"local port (" << udpServerPort << ") to server socket!" << std::endl;
#endif
freeaddrinfo(addrResult);
handleError(Protocol::UDP, ErrorSources::BIND_CALL);
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
if(mutex != nullptr) {
MutexFactory::instance()->deleteMutex(mutex);
}
close(serverSocket);
}
ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
/* The target address can be set by different threads so this lock ensures thread-safety */
MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
if(ipAddrAnySet){
clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
clientAddressLen = sizeof(clientAddress);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
char ipAddress [15];
sif::debug << "IP Address Sender: "<<
inet_ntop(AF_INET,&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
#endif
ssize_t bytesSent = sendto(
serverSocket,
data,
dataLen,
flags,
reinterpret_cast<sockaddr*>(&clientAddress),
clientAddressLen
);
if(bytesSent < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcUnixUdpBridge::sendTm: Send operation failed." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
" sent." << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
/* The target address can be set by different threads so this lock ensures thread-safety */
MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
char ipAddress [15];
sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
sif::debug << "IP Address Old: " << inet_ntop(AF_INET,
&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
#endif
registerCommConnect();
/* Set new IP address to reply to. */
clientAddress = newAddress;
clientAddressLen = sizeof(clientAddress);
}
void TmTcUnixUdpBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
dur_millis_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;
}
void TmTcUnixUdpBridge::setClientAddressToAny(bool ipAddrAnySet){
this->ipAddrAnySet = ipAddrAnySet;
}

53
osal/linux/TmTcUnixUdpBridge.h
View File

@ -1,53 +0,0 @@
#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#include "../../tmtcservices/AcceptsTelecommandsIF.h"
#include "../../tmtcservices/TmTcBridge.h"
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/udp.h>
class TmTcUnixUdpBridge:
public TmTcBridge {
friend class TcUnixUdpPollingTask;
public:
/* The ports chosen here should not be used by any other process.
List of used ports on Linux: /etc/services */
static const std::string DEFAULT_UDP_SERVER_PORT;
TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId,
std::string serverPort = "");
virtual~ TmTcUnixUdpBridge();
/**
* Set properties of internal mutex.
*/
void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs);
ReturnValue_t initialize() override;
void checkAndSetClientAddress(sockaddr_in& clientAddress);
void setClientAddressToAny(bool ipAddrAnySet);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
int serverSocket = 0;
std::string udpServerPort;
struct sockaddr_in clientAddress;
socklen_t clientAddressLen = 0;
bool ipAddrAnySet = false;
//! Access to the client address is mutex protected as it is set by another task.
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
dur_millis_t mutexTimeoutMs = 20;
MutexIF* mutex;
};
#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */

2
osal/linux/tcpipHelpers.cpp
View File

@ -1,4 +1,4 @@
#include "tcpipHelpers.h"
#include "../common/tcpipHelpers.h"
#include "../../tasks/TaskFactory.h"

14
osal/linux/tcpipHelpers.h
View File

@ -1,14 +0,0 @@
#ifndef FSFW_OSAL_LINUX_TCPIPHELPERS_H_
#define FSFW_OSAL_LINUX_TCPIPHELPERS_H_
#include "../../timemanager/clockDefinitions.h"
#include "../common/tcpipCommon.h"
namespace tcpip {
void handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration = 0);
}
#endif /* FSFW_OSAL_LINUX_TCPIPHELPERS_H_ */

9
osal/windows/CMakeLists.txt
View File

@ -1,11 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
TcWinUdpPollingTask.cpp
TmTcWinUdpBridge.cpp
TcWinTcpServer.cpp
tcpipHelpers.cpp
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
wsock32
ws2_32
winTaskHelpers.cpp
)

149
osal/windows/TcWinUdpPollingTask.cpp
View File

@ -1,149 +0,0 @@
#include "TcWinUdpPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <winsock2.h>
//! Debugging preprocessor define.
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
object_id_t tmtcUnixUdpBridge, size_t frameSize,
double timeoutSeconds): SystemObject(objectId),
tmtcBridgeId(tmtcUnixUdpBridge) {
if(frameSize > 0) {
this->frameSize = frameSize;
}
else {
this->frameSize = DEFAULT_MAX_FRAME_SIZE;
}
/* Set up reception buffer with specified frame size.
For now, it is assumed that only one frame is held in the buffer! */
receptionBuffer.reserve(this->frameSize);
receptionBuffer.resize(this->frameSize);
if(timeoutSeconds == -1) {
receptionTimeout = DEFAULT_TIMEOUT;
}
else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
}
}
TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
/* Sender Address is cached here. */
struct sockaddr_in senderAddress;
int senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while(true) {
int bytesReceived = recvfrom(
serverUdpSocket,
reinterpret_cast<char*>(receptionBuffer.data()),
frameSize,
receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize
);
if(bytesReceived == SOCKET_ERROR) {
/* Handle error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::performOperation: Reception error." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived <<
" bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
arrayprinter::print(receptionBuffer.data(), bytesRead);
#endif
ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning<< "TcWinUdpPollingTask::transferPusToSoftwareBus: Data storage failed." <<
std::endl;
sif::warning << "Packet size: " << bytesRead << std::endl;
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcWinUdpPollingTask::handleSuccessfullTcRead: "
" Sending message to queue failed" << std::endl;
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t TcWinUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::initialize: TC store uninitialized!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::initialize: Invalid TMTC bridge object!" <<
std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() {
/* Initialize the destination after task creation. This ensures
that the destination has already been set in the TMTC bridge. */
targetTcDestination = tmtcBridge->getRequestQueue();
/* The server socket is set up in the bridge intialization. Calling this function here
ensures that it is set up properly in any case*/
serverUdpSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
DWORD timeoutMs = timeoutSeconds * 1000.0;
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
if(result == -1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
}

2
osal/windows/tcpipHelpers.cpp
View File

@ -1,4 +1,4 @@
#include "tcpipHelpers.h"
#include "../common/tcpipHelpers.h"
#include <FSFWConfig.h>
#include "../../tasks/TaskFactory.h"

130
osal/windows/winTaskHelpers.cpp Normal file
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@ -0,0 +1,130 @@
#include <fsfw/osal/windows/winTaskHelpers.h>
#include <mutex>
std::mutex nameMapLock;
std::map<std::thread::id, std::string> taskNameMap;
TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {
return (static_cast<uint16_t>(prioClass) << 16) | static_cast<uint16_t> (prioNumber);
}
void tasks::getWinPriorityParameters(TaskPriority priority,
DWORD& priorityClass, int& priorityNumber) {
PriorityClass classInternal = static_cast<PriorityClass>(priority >> 16 & 0xff);
PriorityNumber numberInternal = static_cast<PriorityNumber>(priority & 0xff);
switch(classInternal) {
case(CLASS_IDLE): {
priorityClass = IDLE_PRIORITY_CLASS;
break;
}
case(CLASS_BELOW_NORMAL): {
priorityClass = BELOW_NORMAL_PRIORITY_CLASS;
break;
}
case(CLASS_NORMAL): {
priorityClass = NORMAL_PRIORITY_CLASS;
break;
}
case(CLASS_ABOVE_NORMAL): {
priorityClass = ABOVE_NORMAL_PRIORITY_CLASS;
break;
}
case(CLASS_HIGH): {
priorityClass = HIGH_PRIORITY_CLASS;
break;
}
case(CLASS_REALTIME): {
priorityClass = REALTIME_PRIORITY_CLASS;
break;
}
default: {
priorityClass = NORMAL_PRIORITY_CLASS;
}
}
switch(numberInternal) {
case(IDLE): {
priorityNumber = THREAD_PRIORITY_IDLE;
break;
}
case(LOWEST): {
priorityNumber = THREAD_PRIORITY_LOWEST;
break;
}
case(BELOW_NORMAL): {
priorityNumber = THREAD_PRIORITY_BELOW_NORMAL;
break;
}
case(NORMAL): {
priorityNumber = THREAD_PRIORITY_NORMAL;
break;
}
case(ABOVE_NORMAL): {
priorityNumber = THREAD_PRIORITY_ABOVE_NORMAL;
break;
}
case(HIGHEST): {
priorityNumber = THREAD_PRIORITY_HIGHEST;
break;
}
case(CRITICAL): {
priorityNumber = THREAD_PRIORITY_TIME_CRITICAL;
break;
}
default: {
priorityNumber = THREAD_PRIORITY_NORMAL;
}
}
}
ReturnValue_t tasks::setTaskPriority(HANDLE nativeHandle, TaskPriority priority) {
/* List of possible priority classes:
https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/nf-processthreadsapi-setpriorityclass
And respective thread priority numbers:
https://docs.microsoft.com/en-us/windows/win32/procthread/scheduling-priorities
*/
DWORD dwPriorityClass = 0;
int nPriorityNumber = 0;
tasks::getWinPriorityParameters(priority, dwPriorityClass, nPriorityNumber);
int result = SetPriorityClass(
reinterpret_cast<HANDLE>(nativeHandle),
dwPriorityClass);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(nativeHandle),
nPriorityNumber);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
#endif
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
std::lock_guard<std::mutex> lg(nameMapLock);
auto returnPair = taskNameMap.emplace(threadId, taskName);
if(not returnPair.second) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
std::string tasks::getTaskName(std::thread::id threadId) {
std::lock_guard<std::mutex> lg(nameMapLock);
auto resultIter = taskNameMap.find(threadId);
if(resultIter != taskNameMap.end()) {
return resultIter->second;
}
else {
return "Unknown task";
}
}

40
osal/windows/winTaskHelpers.h Normal file
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@ -0,0 +1,40 @@
#include "../../tasks/TaskFactory.h"
#include <thread>
#include <map>
#ifdef _WIN32
namespace tasks {
enum PriorityClass: uint16_t {
CLASS_IDLE,
CLASS_BELOW_NORMAL,
CLASS_NORMAL,
CLASS_ABOVE_NORMAL,
CLASS_HIGH,
CLASS_REALTIME
};
enum PriorityNumber: uint16_t {
IDLE,
LOWEST,
BELOW_NORMAL,
NORMAL,
ABOVE_NORMAL,
HIGHEST,
CRITICAL
};
TaskPriority makeWinPriority(PriorityClass prioClass = PriorityClass::CLASS_NORMAL,
PriorityNumber prioNumber = PriorityNumber::NORMAL);
void getWinPriorityParameters(TaskPriority priority, DWORD& priorityClass,
int& priorityNumber);
ReturnValue_t setTaskPriority(HANDLE nativeHandle, TaskPriority priority);
ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
std::string getTaskName(std::thread::id threadId);
}
#endif

16
tasks/TaskFactory.h
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@ -22,9 +22,23 @@ public:
/**
* Creates a new periodic task and returns the interface pointer.
* @param name_ Name of the task
* @param taskPriority_ Priority of the task
* @param taskPriority_
* Priority of the task. This value might have different ranges for the various OSALs.
* Linux: Value ranging from 0 to 99 with 99 being the highest value.
* Host: Value can be retrieved by using the #tasks::makeWinPriority function.
* FreeRTOS: Value depends on the FreeRTOS configuration, higher number means higher priority
* RTEMS: Values ranging from 0 to 99 with 99 being the highest value.
*
* @param stackSize_ Stack Size of the task
* This value might have different recommended ranges for the various OSALs.
* Linux: Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value
* Host: Value is ignored for now because the C++ threading abstraction layer is used.
* FreeRTOS: Stack size in bytes. It is recommended to specify at least 1kB of stack for
* FSFW tasks, but the lowest possible size is specified in the FreeRTOSConfig.h file.
* RTEMS: Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value.
*
* @param period_ Period of the task
*
* @param deadLineMissedFunction_ Function to be called if a deadline was missed
* @return PeriodicTaskIF* Pointer to the newly created Task
*/

2
tasks/Typedef.h
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@ -2,7 +2,7 @@
#define FRAMEWORK_TASKS_TYPEDEF_H_
typedef const char* TaskName;
typedef uint8_t TaskPriority;
typedef uint32_t TaskPriority;
typedef size_t TaskStackSize;
typedef double TaskPeriod;
typedef void (*TaskDeadlineMissedFunction)();