fsfw/osal/common/UdpTcPollingTask.cpp

#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_RECV_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_UDP_RECV_WIRETAPPING_ENABLED == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived <<
                " bytes received" << std::endl;
#else
#endif
#endif /* FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 */

        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_RECV_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
}