#include "TcUnixUdpPollingTask.h" #include "../../globalfunctions/arrayprinter.h" 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) { // Poll for new UDP datagrams in permanent loop. while(1) { //! Sender Address is cached here. struct sockaddr_in senderAddress; socklen_t senderSockLen = sizeof(senderAddress); ssize_t bytesReceived = recvfrom(serverUdpSocket, receptionBuffer.data(), frameSize, receptionFlags, reinterpret_cast(&senderAddress), &senderSockLen); if(bytesReceived < 0) { // handle error #if CPP_OSTREAM_ENABLED == 1 sif::error << "TcSocketPollingTask::performOperation: Reception" "error." << std::endl; #endif handleReadError(); continue; } #if CPP_OSTREAM_ENABLED == 1 // sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived // << " bytes received" << std::endl; #endif ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); if(result != HasReturnvaluesIF::RETURN_FAILED) { } tmtcBridge->registerCommConnect(); tmtcBridge->checkAndSetClientAddress(senderAddress); } return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t TcUnixUdpPollingTask::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) { #if CPP_OSTREAM_ENABLED == 1 sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data " "storage failed" << std::endl; sif::error << "Packet size: " << bytesRead << std::endl; #endif return HasReturnvaluesIF::RETURN_FAILED; } TmTcMessage message(storeId); result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message); if (result != HasReturnvaluesIF::RETURN_OK) { #if CPP_OSTREAM_ENABLED == 1 sif::error << "Serial Polling: Sending message to queue failed" << std::endl; #endif tcStore->deleteData(storeId); } return result; } ReturnValue_t TcUnixUdpPollingTask::initialize() { tcStore = objectManager->get(objects::TC_STORE); if (tcStore == nullptr) { #if CPP_OSTREAM_ENABLED == 1 sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!" << std::endl; #endif return ObjectManagerIF::CHILD_INIT_FAILED; } tmtcBridge = objectManager->get(tmtcBridgeId); if(tmtcBridge == nullptr) { #if CPP_OSTREAM_ENABLED == 1 sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid" " TMTC bridge object!" << std::endl; #endif return ObjectManagerIF::CHILD_INIT_FAILED; } serverUdpSocket = tmtcBridge->serverSocket; return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() { // Initialize the destination after task creation. This ensures // that the destination will be set in the TMTC bridge. targetTcDestination = tmtcBridge->getRequestQueue(); 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 CPP_OSTREAM_ENABLED == 1 sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting " "receive timeout failed with " << strerror(errno) << std::endl; #endif } } // TODO: sleep after error detection to prevent spam void TcUnixUdpPollingTask::handleReadError() { switch(errno) { case(EAGAIN): { // todo: When working in timeout mode, this will occur more often // and is not an error. #if CPP_OSTREAM_ENABLED == 1 sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout." << std::endl; #endif break; } default: { #if CPP_OSTREAM_ENABLED == 1 sif::error << "TcUnixUdpPollingTask::handleReadError: " << strerror(errno) << std::endl; #endif } } }