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tmtcbridge tweaks.

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UDP bridge now working :-D
This commit is contained in:
Robin Müller
2020-07-08 03:18:09 +02:00
parent 2efcda735f
commit 264914e86a
15 changed files with 121 additions and 118 deletions
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8
osal/linux/MessageQueue.cpp
View File

@ -155,10 +155,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
}
if(message->getMaximumMessageSize() < maxMessageSize) {
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize() <<
" too small to receive data!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
unsigned int messagePriority = 0;

8
osal/linux/PeriodicPosixTask.cpp
View File

@ -68,12 +68,12 @@ void PeriodicPosixTask::taskFunctionality(void) {
char name[20] = {0};
int status = pthread_getname_np(pthread_self(),name,sizeof(name));
if(status == 0){
sif::error << "PeriodicPosixTask " << name << ": Deadline "
"missed." << std::endl;
//sif::error << "PeriodicPosixTask " << name << ": Deadline "
// "missed." << std::endl;
}
else {
sif::error << "PeriodicPosixTask X: Deadline missed. " <<
status << std::endl;
//sif::error << "PeriodicPosixTask X: Deadline missed. " <<
// status << std::endl;
}
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();

69
osal/linux/TcUnixUdpPollingTask.cpp
View File

@ -26,8 +26,7 @@ TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
}
}
TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {
}
TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
// Poll for new UDP datagrams in permanent loop.
@ -59,6 +58,30 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId = 0;
ReturnValue_t result = tcStore->addData(&storeId,
receptionBuffer.data(), bytesRead);
// arrayprinter::print(receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
"storage failed" << std::endl;
sif::debug << "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 TcUnixUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
@ -74,41 +97,27 @@ ReturnValue_t TcUnixUdpPollingTask::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
targetTcDestination = tmtcBridge->getReportReceptionQueue();
serverUdpSocket = tmtcBridge->serverSocket;
// Set receive timeout.
// int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
// &receptionTimeout, sizeof(receptionTimeout));
// if(result == -1) {
// sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
// "receive timeout failed with " << strerror(errno) << std::endl;
// return ObjectManagerIF::CHILD_INIT_FAILED;
// }
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId = 0;
ReturnValue_t result = tcStore->addData(&storeId,
receptionBuffer.data(), bytesRead);
// arrayprinter::print(receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
"storage failed" << std::endl;
sif::debug << "Packet size: " << bytesRead << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
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;
}
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);
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) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
}
return result;
}

8
osal/linux/TcUnixUdpPollingTask.h
View File

@ -29,8 +29,16 @@ public:
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcUnixUdpPollingTask();
/**
* 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;

43
osal/linux/TmTcUnixUdpBridge.cpp
View File

@ -1,8 +1,9 @@
#include <framework/osal/linux/TmTcUnixUdpBridge.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <errno.h>
#include <framework/ipc/MutexHelper.h>
#include <errno.h>
TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
object_id_t ccsdsPacketDistributor, uint16_t serverPort,
uint16_t clientPort):
@ -14,17 +15,16 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
setServerPort = serverPort;
}
uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
if(clientPort != 0xFFFF) {
setClientPort = clientPort;
}
// 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
serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
if(socket < 0) {
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
" UDP socket!" << std::endl;
// check errno here.
handleSocketError();
return;
}
@ -44,7 +44,6 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
"local port " << setServerPort << " to server socket!"
<< std::endl;
// check errno here.
handleBindError();
return;
}
@ -57,14 +56,21 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
ssize_t result = send(serverSocket, data, dataLen, flags);
if(result < 0) {
//handle error
// todo: handle errors
sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed "
"with error " << strerror(errno) << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
MutexHelper lock(mutex, 10);
// 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;
}
}
void TmTcUnixUdpBridge::handleSocketError() {
// See: https://man7.org/linux/man-pages/man2/socket.2.html
@ -87,17 +93,6 @@ void TmTcUnixUdpBridge::handleSocketError() {
}
}
void TmTcUnixUdpBridge::setTimeout(float timeoutSeconds) {
}
void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
MutexHelper lock(mutex, 10);
// 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;
}
}
void TmTcUnixUdpBridge::handleBindError() {
// See: https://man7.org/linux/man-pages/man2/bind.2.html
switch(errno) {
@ -128,16 +123,10 @@ void TmTcUnixUdpBridge::handleBindError() {
<< " with " << strerror(errno) << std::endl;
break;
}
default: {
default:
sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
<< std::endl;
break;
}
}
}
ReturnValue_t TmTcUnixUdpBridge::receiveTc(uint8_t **recvBuffer, size_t *size) {
// TC reception handled by separate polling task because it is blocking.
return HasReturnvaluesIF::RETURN_OK;
}

7
osal/linux/TmTcUnixUdpBridge.h
View File

@ -1,6 +1,7 @@
#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/TmTcBridge.h>
#include <sys/socket.h>
#include <netinet/in.h>
@ -18,13 +19,11 @@ public:
uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
virtual~ TmTcUnixUdpBridge();
void setTimeout(float timeoutSeconds);
void checkAndSetClientAddress(sockaddr_in clientAddress);
protected:
virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
size_t * size) override;
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
int serverSocket = 0;
const int serverSocketOptions = 0;
@ -43,6 +42,4 @@ private:
void handleBindError();
};
#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */