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TCP refactoring

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This refactoring keeps the TCP connection opened until the client closes
it. It also increased the robustness of the TCP reception.

Because TCP is stream based and usually applied to newline separated
data, a special way to handle binary space packets is required.

The new SpacePacketParser class takes care of this by taking TC packet
IDs as as optional start markers to parse for space packets in a given
buffer.

The refactored TCP server uses a ring buffer, a reception buffer and the
new parser to extract space packets from a stream in a safer way.
This commit is contained in:
Robin Müller
2021-09-28 15:01:01 +02:00
parent 6e88f8f400
commit 09299802f0
5 changed files with 473 additions and 106 deletions
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229
src/fsfw/osal/common/TcpTmTcServer.cpp
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@ -1,8 +1,11 @@
#include "fsfw/osal/common/TcpTmTcServer.h"
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/tcpipHelpers.h"
#include "fsfw/platform.h"
#include "fsfw/FSFW.h"
#include "TcpTmTcServer.h"
#include "TcpTmTcBridge.h"
#include "tcpipHelpers.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/container/SharedRingBuffer.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/ipc/MutexGuard.h"
@ -17,6 +20,7 @@
#elif defined(PLATFORM_UNIX)
#include <netdb.h>
#endif
#include <chrono>
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
@ -25,12 +29,11 @@
const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
size_t receptionBufferSize, std::string customTcpServerPort):
SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge),
tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) {
if(tcpPort == "") {
tcpPort = DEFAULT_SERVER_PORT;
}
size_t receptionBufferSize, size_t ringBufferSize, std::string customTcpServerPort,
ReceptionModes receptionMode):
SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge), receptionMode(receptionMode),
tcpConfig(customTcpServerPort), receptionBuffer(receptionBufferSize),
ringBuffer(ringBufferSize, true), validPacketIds() {
}
ReturnValue_t TcpTmTcServer::initialize() {
@ -41,6 +44,16 @@ ReturnValue_t TcpTmTcServer::initialize() {
return result;
}
switch(receptionMode) {
case(ReceptionModes::SPACE_PACKETS): {
spacePacketParser = new SpacePacketParser(validPacketIds);
if(spacePacketParser == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
tcpConfig.tcpFlags |= MSG_DONTWAIT;
}
}
tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -63,7 +76,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
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);
retval = getaddrinfo(nullptr, tcpConfig.tcpPort.c_str(), &hints, &addrResult);
if (retval != 0) {
handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
return HasReturnvaluesIF::RETURN_FAILED;
@ -105,7 +118,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
// Listen for connection requests permanently for lifetime of program
while(true) {
retval = listen(listenerTcpSocket, tcpBacklog);
retval = listen(listenerTcpSocket, tcpConfig.tcpBacklog);
if(retval == SOCKET_ERROR) {
handleError(Protocol::TCP, ErrorSources::LISTEN_CALL, 500);
continue;
@ -123,11 +136,12 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
handleServerOperation(connSocket);
// Done, shut down connection and go back to listening for client requests
retval = shutdown(connSocket, SHUT_SEND);
retval = shutdown(connSocket, SHUT_BOTH);
if(retval != 0) {
handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
}
closeSocket(connSocket);
connSocket = 0;
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -144,51 +158,82 @@ ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
return HasReturnvaluesIF::RETURN_OK;
}
void TcpTmTcServer::handleServerOperation(socket_t connSocket) {
int retval = 0;
do {
// Read all telecommands sent by the client
retval = recv(connSocket,
void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
while (true) {
int retval = recv(
connSocket,
reinterpret_cast<char*>(receptionBuffer.data()),
receptionBuffer.capacity(),
tcpFlags);
if (retval > 0) {
handleTcReception(retval);
tcpConfig.tcpFlags
);
if(retval == 0) {
// Client closed connection
return;
}
else if(retval == 0) {
// Client has finished sending telecommands, send telemetry now
handleTmSending(connSocket);
else if(retval > 0) {
// The ring buffer was configured for overwrite, so the returnvalue does not need to
// be checked for now
ringBuffer.writeData(receptionBuffer.data(), retval);
}
else {
// Should not happen
tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::RECV_CALL);
else if(retval < 0) {
if(errno == EAGAIN) {
// No data available. Check whether any packets have been read, then send back
// telemetry if available
bool tcAvailable = false;
bool tmSent = false;
size_t availableReadData = ringBuffer.getAvailableReadData();
if(availableReadData > lastRingBufferSize) {
tcAvailable = true;
handleTcRingBufferData(availableReadData);
}
ReturnValue_t result = handleTmSending(connSocket, tmSent);
if(result == CONN_BROKEN) {
return;
}
if(not tcAvailable and not tmSent) {
TaskFactory::delayTask(DEFAULT_LOOP_DELAY_MS);
}
}
else {
tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::RECV_CALL);
}
}
} while(retval > 0);
}
}
ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) {
ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t packetSize) {
#if FSFW_TCP_RECV_WIRETAPPING_ENABLED == 1
arrayprinter::print(receptionBuffer.data(), bytesRead);
#endif
if(spacePacket == nullptr or packetSize == 0) {
return HasReturnvaluesIF::RETURN_FAILED;
}
store_address_t storeId;
ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRecvd);
ReturnValue_t result = tcStore->addData(&storeId, spacePacket, packetSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning<< "TcpTmTcServer::handleServerOperation: Data storage failed." << std::endl;
sif::warning << "Packet size: " << bytesRecvd << std::endl;
sif::warning << "TcpTmTcServer::handleServerOperation: Data storage with packet size" <<
packetSize << " failed" << std::endl;
#else
sif::printWarning("TcpTmTcServer::handleServerOperation: Data storage with packet size %d "
"failed\n", packetSize);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return result;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
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: "
sif::warning << "TcpTmTcServer::handleServerOperation: "
" Sending message to queue failed" << std::endl;
#else
sif::printWarning("TcpTmTcServer::handleServerOperation: "
" Sending message to queue failed\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
tcStore->deleteData(storeId);
@ -196,21 +241,26 @@ ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) {
return result;
}
void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) {
this->tcpBacklog = tcpBacklog;
}
std::string TcpTmTcServer::getTcpPort() const {
return tcpPort;
return tcpConfig.tcpPort;
}
ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
this->validPacketIds = validPacketIds;
}
TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() {
return tcpConfig;
}
ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
// 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);
// Send can fail, so only peek from the FIFO
tmtcBridge->tmFifo->peek(&storeId);
// Using the store accessor will take care of deleting TM from the store automatically
ConstStorageAccessor storeAccessor(storeId);
@ -221,10 +271,101 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
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);
tcpConfig.tcpTmFlags);
if(retval == static_cast<int>(storeAccessor.size())) {
// Packet sent, clear FIFO entry
tmtcBridge->tmFifo->pop();
tmSent = true;
}
else if(retval <= 0) {
// Assume that the client has closed the connection here for now
handleSocketError(storeAccessor);
return CONN_BROKEN;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
size_t readAmount = availableReadData;
lastRingBufferSize = availableReadData;
if(readAmount >= ringBuffer.getMaxSize()) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
// Possible configuration error, too much data or/and data coming in too fast,
// requiring larger buffers
sif::warning << "TcpTmTcServer::handleServerOperation: Ring buffer reached " <<
"fill count" << std::endl;
#else
sif::printWarning("TcpTmTcServer::handleServerOperation: Ring buffer reached "
"fill count");
#endif
#endif
}
if(readAmount >= receptionBuffer.size()) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
// Possible configuration error, too much data or/and data coming in too fast,
// requiring larger buffers
sif::warning << "TcpTmTcServer::handleServerOperation: "
"Reception buffer too small " << std::endl;
#else
sif::printWarning("TcpTmTcServer::handleServerOperation: Reception buffer too small\n");
#endif
#endif
readAmount = receptionBuffer.size();
}
ringBuffer.readData(receptionBuffer.data(), readAmount, true);
const uint8_t* bufPtr = receptionBuffer.data();
const uint8_t** bufPtrPtr = &bufPtr;
size_t startIdx = 0;
size_t foundSize = 0;
size_t readLen = 0;
while(readLen < readAmount) {
result = spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount,
startIdx, foundSize, readLen);
switch(result) {
case(SpacePacketParser::NO_PACKET_FOUND):
case(SpacePacketParser::SPLIT_PACKET): {
break;
}
case(HasReturnvaluesIF::RETURN_OK): {
result = handleTcReception(receptionBuffer.data() + startIdx, foundSize);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
}
}
ringBuffer.deleteData(foundSize);
lastRingBufferSize = ringBuffer.getAvailableReadData();
std::memset(receptionBuffer.data() + startIdx, 0, foundSize);
}
return status;
}
void TcpTmTcServer::handleSocketError(ConstStorageAccessor &accessor) {
// Don't delete data
accessor.release();
auto socketError = getLastSocketError();
switch(socketError) {
#if defined PLATFORM_WIN
case(WSAECONNRESET): {
// See https://docs.microsoft.com/en-us/windows/win32/api/winsock2/nf-winsock2-send
// Remote client might have shut down connection
return;
}
#else
case(EPIPE): {
// See https://man7.org/linux/man-pages/man2/send.2.html
// Remote client might have shut down connection
return;
}
#endif
default: {
tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::SEND_CALL);
}
}
}