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Merge pull request 'added new windows udp bridge' (#188) from KSat/fsfw:mueller/feature/windowsUdpBridge into master

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Reviewed-on: fsfw/fsfw#188
This commit is contained in:
Steffen Gaisser 2020-11-02 15:29:08 +01:00
commit 6bedc9b805
5 changed files with 453 additions and 0 deletions
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13
fsfw.mk
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@ -28,12 +28,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
# select the OS # select the OS
ifeq ($(OS_FSFW),rtems) ifeq ($(OS_FSFW),rtems)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
else ifeq ($(OS_FSFW),linux) else ifeq ($(OS_FSFW),linux)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
else ifeq ($(OS_FSFW),freeRTOS) else ifeq ($(OS_FSFW),freeRTOS)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
else ifeq ($(OS_FSFW),host) else ifeq ($(OS_FSFW),host)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
ifeq ($(OS),Windows_NT)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
else
# For now, the linux UDP bridge sources needs to be included manually by upper makefile
# for host OS because we can't be sure the OS is linux.
# Following lines can be used to do this:
# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
endif
else else
$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host) $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
endif endif

148
osal/windows/TcWinUdpPollingTask.cpp Normal file
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@ -0,0 +1,148 @@
#include "TcWinUdpPollingTask.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <winsock2.h>
#include <windows.h>
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) {
// Poll for new UDP datagrams in permanent loop.
while(true) {
//! Sender Address is cached here.
struct sockaddr_in senderAddress;
int senderAddressSize = sizeof(senderAddress);
ssize_t bytesReceived = recvfrom(serverUdpSocket,
reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize);
if(bytesReceived == SOCKET_ERROR) {
// handle error
sif::error << "TcWinUdpPollingTask::performOperation: Reception"
" error." << std::endl;
handleReadError();
continue;
}
//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
// << " bytes received" << std::endl;
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->registerCommConnect();
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
ReturnValue_t result = tcStore->addData(&storeId,
receptionBuffer.data(), bytesRead);
// arrayprinter::print(receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Serial Polling: Sending message to queue failed"
<< std::endl;
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t TcWinUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
serverUdpSocket = tmtcBridge->serverSocket;
//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
// << serverUdpSocket << std::endl;
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();
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) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
}
}
void TcWinUdpPollingTask::handleReadError() {
int error = WSAGetLastError();
switch(error) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
case(WSAEFAULT): {
sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
<< "Bad address " << std::endl;
break;
}
default: {
sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
<< error << std::endl;
break;
}
}
// to prevent spam.
Sleep(1000);
}

67
osal/windows/TcWinUdpPollingTask.h Normal file
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@ -0,0 +1,67 @@
#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#include "TmTcWinUdpBridge.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../storagemanager/StorageManagerIF.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 TcWinUdpPollingTask: public SystemObject,
public ExecutableObjectIF {
friend class TmTcWinUdpBridge;
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};
TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcWinUdpPollingTask();
/**
* 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;
TmTcWinUdpBridge* 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
SOCKET serverUdpSocket = 0;
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
void handleReadError();
};
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

176
osal/windows/TmTcWinUdpBridge.cpp Normal file
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@ -0,0 +1,176 @@
#include <fsfw/ipc/MutexHelper.h>
#include "TmTcWinUdpBridge.h"
TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
uint16_t serverPort, uint16_t clientPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
mutex = MutexFactory::instance()->createMutex();
// 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. */
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
"WSAStartup failed with error: " << err << std::endl;
return;
}
uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
if(serverPort != 0xFFFF) {
setServerPort = serverPort;
}
uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
if(clientPort != 0xFFFF) {
setClientPort = clientPort;
}
// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if(serverSocket == INVALID_SOCKET) {
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
" UDP socket!" << std::endl;
handleSocketError();
return;
}
serverAddress.sin_family = AF_INET;
// Accept packets from any interface. (potentially insecure).
serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
serverAddress.sin_port = htons(setServerPort);
serverAddressLen = sizeof(serverAddress);
setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR,
reinterpret_cast<const char*>(&serverSocketOptions),
sizeof(serverSocketOptions));
clientAddress.sin_family = AF_INET;
clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
clientAddress.sin_port = htons(setClientPort);
clientAddressLen = sizeof(clientAddress);
int result = bind(serverSocket,
reinterpret_cast<struct sockaddr*>(&serverAddress),
serverAddressLen);
if(result != 0) {
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
"local port " << setServerPort << " to server socket!"
<< std::endl;
handleBindError();
}
}
TmTcWinUdpBridge::~TmTcWinUdpBridge() {
WSACleanup();
}
ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
//clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
//clientAddressLen = sizeof(serverAddress);
// char ipAddress [15];
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
ssize_t bytesSent = sendto(serverSocket,
reinterpret_cast<const char*>(data), dataLen, flags,
reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
if(bytesSent == SOCKET_ERROR) {
sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed."
<< std::endl;
handleSendError();
}
// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
// " sent." << std::endl;
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
// 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;
// Set new IP address if it has changed.
if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
clientAddressLen = sizeof(clientAddress);
}
}
void TmTcWinUdpBridge::handleSocketError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
default: {
/*
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: "
<< errCode << std::endl;
break;
}
}
}
void TmTcWinUdpBridge::handleBindError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
default: {
/*
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
sif::info << "TmTcWinUdpBridge::handleBindError: Error code: "
<< errCode << std::endl;
break;
}
}
}
void TmTcWinUdpBridge::handleSendError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
case(WSAEADDRNOTAVAIL): {
sif::info << "TmTcWinUdpBridge::handleReadError: WSAEADDRNOTAVAIL: "
<< "Check target address. " << std::endl;
break;
}
default: {
/*
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
sif::info << "TmTcWinUdpBridge::handleSendError: Error code: "
<< errCode << std::endl;
break;
}
}
}

49
osal/windows/TmTcWinUdpBridge.h Normal file
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@ -0,0 +1,49 @@
#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#include "../../tmtcservices/TmTcBridge.h"
#include <winsock2.h>
#include <windows.h>
class TmTcWinUdpBridge: public TmTcBridge {
friend class TcWinUdpPollingTask;
public:
// The ports chosen here should not be used by any other process.
static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId,
uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
virtual~ TmTcWinUdpBridge();
void checkAndSetClientAddress(sockaddr_in clientAddress);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
SOCKET serverSocket = 0;
const int serverSocketOptions = 0;
struct sockaddr_in clientAddress;
int clientAddressLen = 0;
struct sockaddr_in serverAddress;
int serverAddressLen = 0;
//! Access to the client address is mutex protected as it is set
//! by another task.
MutexIF* mutex;
void handleSocketError();
void handleBindError();
void handleSendError();
};
#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */