KSat/fsfw
15
4
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests 1 Releases Wiki Activity

TCP server implementation finished

Browse Source 
A lot of smaller tweaks and smaller refactoring done
in UDP TMTC bridge as well
This commit is contained in:
Robin Müller 2021-05-05 15:59:41 +02:00
parent 126def219b
commit c1d30aad13
11 changed files with 152 additions and 65 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
osal/common/TcpTmTcBridge.cpp
View File

@ -22,15 +22,18 @@ TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
mutex = MutexFactory::instance()->createMutex();
communicationLinkUp = false;
// Connection is always up, TM is requested by connecting to server and receiving packets
registerCommConnect();
}
ReturnValue_t TcpTmTcBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUdpBridge::initialize: TmTcBridge initialization failed!"
sif::error << "TcpTmTcBridge::initialize: TmTcBridge initialization failed!"
<< std::endl;
#else
sif::printError("TcpTmTcBridge::initialize: TmTcBridge initialization failed!\n");
#endif
return result;
}
@ -44,8 +47,25 @@ TcpTmTcBridge::~TcpTmTcBridge() {
}
}
ReturnValue_t TcpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
ReturnValue_t TcpTmTcBridge::handleTm() {
// Simply store the telemetry in the FIFO, the server will use it to access the TM
MutexGuard guard(mutex, timeoutType, mutexTimeoutMs);
TmTcMessage message;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
result == HasReturnvaluesIF::RETURN_OK;
result = tmTcReceptionQueue->receiveMessage(&message))
{
status = storeDownlinkData(&message);
if(status != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
// Not used. The Server uses the FIFO to access and send the telemetry.
return HasReturnvaluesIF::RETURN_OK;
}

25
osal/common/TcpTmTcBridge.h
View File

@ -17,16 +17,30 @@
#include <string>
/**
* @brief This class should be used with the UdpTcPollingTask to implement a UDP server
* for receiving and sending PUS TMTC.
* @brief This class should be used with the TcpTmTcServer to implement a TCP server
* for receiving and sending PUS telemetry and telecommands (TMTC)
* @details
* This bridge tasks takes care of filling a FIFO which generated telemetry. The TcpTmTcServer
* will take care of sending the telemetry stored in the FIFO if a client connects to the
* server. This bridge will also be the default destination for telecommands, but the telecommands
* will be relayed to a specified tcDestination directly.
*/
class TcpTmTcBridge:
public TmTcBridge {
//friend class UdpTcPollingTask;
friend class TcpTmTcServer;
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_UDP_SERVER_PORT;
/**
* Constructor
* @param objectId Object ID of the TcpTmTcBridge.
* @param tcDestination Destination for received TC packets. Any received telecommands will
* be sent there directly. The destination object needs to implement
* AcceptsTelecommandsIF.
* @param tmStoreId TM store object ID. It is recommended to the default object ID
* @param tcStoreId TC store object ID. It is recommended to the default object ID
*/
TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId = objects::TM_STORE,
object_id_t tcStoreId = objects::TC_STORE);
@ -39,12 +53,15 @@ public:
ReturnValue_t initialize() override;
protected:
ReturnValue_t handleTm() override;
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
//! Access to the client address is mutex protected as it is set by another task.
//! Access to the FIFO needs to be mutex protected because it is used by the bridge and
//! the server.
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
dur_millis_t mutexTimeoutMs = 20;
MutexIF* mutex;

86
osal/common/TcpTmTcServer.cpp
View File

@ -4,6 +4,7 @@
#include "../../container/SharedRingBuffer.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/MutexGuard.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tmtcservices/TmTcMessage.h"
@ -25,10 +26,9 @@
const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT = "7301";
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
/*SharedRingBuffer* tcpRingBuffer, */ size_t receptionBufferSize,
std::string customTcpServerPort):
SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge), tcpPort(customTcpServerPort),
receptionBuffer(receptionBufferSize) /*, tcpRingBuffer(tcpRingBuffer) */ {
size_t receptionBufferSize, std::string customTcpServerPort):
SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge),
tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) {
if(tcpPort == "") {
tcpPort = DEFAULT_TCP_SERVER_PORT;
}
@ -37,17 +37,6 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
ReturnValue_t TcpTmTcServer::initialize() {
using namespace tcpip;
/*
if(tcpRingBuffer == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcpTmTcServer::initialize: Invalid ring buffer!" << std::endl;
#else
sif::printError("TcpTmTcServer::initialize: Invalid ring buffer!\n");
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
*/
ReturnValue_t result = TcpIpBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -74,13 +63,14 @@ ReturnValue_t TcpTmTcServer::initialize() {
hints.ai_protocol = IPPROTO_TCP;
hints.ai_flags = AI_PASSIVE;
// Listen to all addresses (0.0.0.0) by using AI_PASSIVE in the hint flags
retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult);
if (retval != 0) {
handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Open TCP (stream) socket */
// Open TCP (stream) socket
listenerTcpSocket = socket(addrResult->ai_family, addrResult->ai_socktype,
addrResult->ai_protocol);
if(listenerTcpSocket == INVALID_SOCKET) {
@ -89,6 +79,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
return HasReturnvaluesIF::RETURN_FAILED;
}
// Bind to the address found by getaddrinfo
retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval == SOCKET_ERROR) {
freeaddrinfo(addrResult);
@ -107,15 +98,15 @@ TcpTmTcServer::~TcpTmTcServer() {
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 */
// If a connection is accepted, the corresponding socket will be assigned to the new socket
socket_t connSocket = 0;
sockaddr clientSockAddr = {};
socklen_t connectorSockAddrLen = 0;
int retval = 0;
/* Listen for connection requests permanently for lifetime of program */
// Listen for connection requests permanently for lifetime of program
while(true) {
retval = listen(listenerTcpSocket, currentBacklog);
retval = listen(listenerTcpSocket, tcpBacklog);
if(retval == SOCKET_ERROR) {
handleError(Protocol::TCP, ErrorSources::LISTEN_CALL, 500);
continue;
@ -131,7 +122,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
handleServerOperation(connSocket);
/* Done, shut down connection */
// Done, shut down connection and go back to listening for client requests
retval = shutdown(connSocket, SHUT_SEND);
if(retval != 0) {
handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
@ -142,29 +133,21 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
}
ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
if(tmtcBridge == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
/* Initialize the destination after task creation. This ensures
that the destination has already been set in the TMTC bridge. */
targetTcDestination = tmtcBridge->getRequestQueue();
//
// if(tcpRingBuffer != nullptr) {
// auto fifoCheck = tcpRingBuffer->getReceiveSizesFIFO();
// if (fifoCheck == nullptr) {
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::error << "TcpTmTcServer::initializeAfterTaskCreation: "
// "TCP ring buffer does not have a FIFO!" << std::endl;
//#else
// sif::printError("TcpTmTcServer::initialize: TCP ring buffer does not have a FIFO!\n");
//#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
// }
// }
tcStore = tmtcBridge->tcStore;
tmStore = tmtcBridge->tmStore;
return HasReturnvaluesIF::RETURN_OK;
}
void TcpTmTcServer::handleServerOperation(socket_t connSocket) {
int retval = 0;
do {
// Read all telecommands sent by the client
retval = recv(connSocket,
reinterpret_cast<char*>(receptionBuffer.data()),
receptionBuffer.capacity(),
@ -173,10 +156,12 @@ void TcpTmTcServer::handleServerOperation(socket_t connSocket) {
handleTcReception(retval);
}
else if(retval == 0) {
/* Client has finished sending telecommands, send telemetry now */
// Client has finished sending telecommands, send telemetry now
handleTmSending(connSocket);
}
else {
/* Should not happen */
// Should not happen
tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::RECV_CALL);
}
} while(retval > 0);
}
@ -210,3 +195,32 @@ ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) {
}
return result;
}
void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) {
this->tcpBacklog = tcpBacklog;
}
ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
// Access to the FIFO is mutex protected because it is filled by the bridge
MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
store_address_t storeId;
while((not tmtcBridge->tmFifo->empty()) and
(tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
tmtcBridge->tmFifo->retrieve(&storeId);
// Using the store accessor will take care of deleting TM from the store automatically
ConstStorageAccessor storeAccessor(storeId);
ReturnValue_t result = tmStore->getData(storeId, storeAccessor);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
int retval = send(connSocket,
reinterpret_cast<const char*>(storeAccessor.data()),
storeAccessor.size(),
tcpTmFlags);
if(retval != static_cast<int>(storeAccessor.size())) {
tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::SEND_CALL);
}
}
return HasReturnvaluesIF::RETURN_OK;
}

44
osal/common/TcpTmTcServer.h
View File

@ -1,5 +1,5 @@
#ifndef FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#define FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#ifndef FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_
#define FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_
#include "TcpIpBase.h"
#include "../../ipc/messageQueueDefinitions.h"
@ -17,13 +17,22 @@
#include <vector>
class TcpTmTcBridge;
//class SharedRingBuffer;
/**
* @brief Windows TCP server used to receive telecommands on a Windows Host
* @brief TCP server implementation
* @details
* Based on: https://docs.microsoft.com/en-us/windows/win32/winsock/complete-server-code
* This server will run for the whole program lifetime and will take care of serving client
* requests on a specified TCP server port. This server waas written in a generic way and
* can be used on Unix and on Windows systems.
*
* If a connection is accepted, the server will read all telecommands sent by a client and then
* send all telemetry currently found in the TMTC bridge FIFO.
*
* Reading telemetry without sending telecommands is possible by connecting, shutting down the
* send operation immediately and then reading the telemetry. It is therefore recommended to
* connect to the server regularly, even if no telecommands need to be sent.
*
* The server will listen to a specific port on all addresses (0.0.0.0).
*/
class TcpTmTcServer:
public SystemObject,
@ -35,18 +44,28 @@ public:
static const std::string DEFAULT_TCP_CLIENT_PORT;
static constexpr size_t ETHERNET_MTU_SIZE = 1500;
TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge /*, SharedRingBuffer* tcpRingBuffer*/,
size_t receptionBufferSize = ETHERNET_MTU_SIZE,
/**
* TCP Server Constructor
* @param objectId Object ID of the TCP Server
* @param tmtcTcpBridge Object ID of the TCP TMTC Bridge object
* @param receptionBufferSize This will be the size of the reception buffer. Default buffer
* size will be the Ethernet MTU size
* @param customTcpServerPort The user can specify another port than the default (7301) here.
*/
TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
size_t receptionBufferSize = ETHERNET_MTU_SIZE + 1,
std::string customTcpServerPort = "");
virtual~ TcpTmTcServer();
void setTcpBacklog(uint8_t tcpBacklog);
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initializeAfterTaskCreation() override;
protected:
StorageManagerIF* tcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
@ -58,14 +77,15 @@ private:
struct sockaddr tcpAddress;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
int tcpAddrLen = sizeof(tcpAddress);
int currentBacklog = 3;
int tcpBacklog = 3;
std::vector<uint8_t> receptionBuffer;
//SharedRingBuffer* tcpRingBuffer;
int tcpSockOpt = 0;
int tcpTmFlags = 0;
void handleServerOperation(socket_t connSocket);
ReturnValue_t handleTcReception(size_t bytesRecvd);
ReturnValue_t handleTmSending(socket_t connSocket);
};
#endif /* FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_ */
#endif /* FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_ */

7
osal/common/UdpTcPollingTask.h
View File

@ -9,8 +9,11 @@
#include <vector>
/**
* @brief This class should be used with the UdpTmTcBridge to implement a UDP server
* @brief This class can be used with the UdpTmTcBridge to implement a UDP server
* for receiving and sending PUS TMTC.
* @details
* This task is exclusively used to poll telecommands from a given socket and transfer them
* to the FSFW software bus. It used the blocking recvfrom call to do this.
*/
class UdpTcPollingTask:
public TcpIpBase,
@ -45,8 +48,6 @@ private:
object_id_t tmtcBridgeId = objects::NO_OBJECT;
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;
std::vector<uint8_t> receptionBuffer;

2
osal/common/UdpTmTcBridge.cpp
View File

@ -23,7 +23,7 @@
const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
std::string udpServerPort, object_id_t tmStoreId, object_id_t tcStoreId):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if(udpServerPort == "") {
this->udpServerPort = DEFAULT_UDP_SERVER_PORT;

10
osal/common/UdpTmTcBridge.h
View File

@ -17,8 +17,13 @@
#include <string>
/**
* @brief This class should be used with the UdpTcPollingTask to implement a UDP server
* @brief This class can be used with the UdpTcPollingTask to implement a UDP server
* for receiving and sending PUS TMTC.
* @details
* This bridge task will take care of sending telemetry back to a UDP client if a connection
* was established and store them in a FIFO if this was not done yet. It is also be the default
* destination for telecommands, but the telecommands will be relayed to a specified tcDestination
* directly.
*/
class UdpTmTcBridge:
public TmTcBridge,
@ -29,7 +34,8 @@ public:
static const std::string DEFAULT_UDP_SERVER_PORT;
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort = "");
std::string udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
object_id_t tcStoreId = objects::TC_STORE);
virtual~ UdpTmTcBridge();
/**

6
osal/common/tcpipCommon.cpp
View File

@ -32,6 +32,12 @@ void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std:
else if(errorSrc == ErrorSources::RECVFROM_CALL) {
srcString = "recvfrom call";
}
else if(errorSrc == ErrorSources::SEND_CALL) {
srcString = "send call";
}
else if(errorSrc == ErrorSources::SENDTO_CALL) {
srcString = "sendto call";
}
else if(errorSrc == ErrorSources::GETADDRINFO_CALL) {
srcString = "getaddrinfo call";
}

1
osal/common/tcpipCommon.h
View File

@ -29,6 +29,7 @@ enum class ErrorSources {
RECVFROM_CALL,
LISTEN_CALL,
ACCEPT_CALL,
SEND_CALL,
SENDTO_CALL,
SHUTDOWN_CALL
};

7
tmtcservices/TmTcBridge.cpp
View File

@ -183,8 +183,11 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
if(tmFifo->full()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number "
<< "of stored packet IDs reached! " << std::endl;
sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
"of stored packet IDs reached!" << std::endl;
#else
sif::printWarning("TmTcBridge::storeDownlinkData: TM downlink max. number "
"of stored packet IDs reached!\n");
#endif
if(overwriteOld) {
tmFifo->retrieve(&storeId);

3
tmtcservices/TmTcBridge.h
View File

@ -150,8 +150,7 @@ protected:
void printData(uint8_t * data, size_t dataLen);
/**
* This fifo can be used to store downlink data
* which can not be sent at the moment.
* This FIFO can be used to store downlink data which can not be sent at the moment.
*/
DynamicFIFO<store_address_t>* tmFifo = nullptr;
uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;