From a9975f5aefe3698149b5f9b47e0b193007fb399a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sun, 6 Sep 2020 15:46:49 +0200 Subject: [PATCH] added new windows udp bridge --- fsfw.mk | 16 +++ osal/windows/TcWinUdpPollingTask.cpp | 148 ++++++++++++++++++++++ osal/windows/TcWinUdpPollingTask.h | 67 ++++++++++ osal/windows/TmTcWinUdpBridge.cpp | 176 +++++++++++++++++++++++++++ osal/windows/TmTcWinUdpBridge.h | 49 ++++++++ 5 files changed, 456 insertions(+) create mode 100644 osal/windows/TcWinUdpPollingTask.cpp create mode 100644 osal/windows/TcWinUdpPollingTask.h create mode 100644 osal/windows/TmTcWinUdpBridge.cpp create mode 100644 osal/windows/TmTcWinUdpBridge.h diff --git a/fsfw.mk b/fsfw.mk index c2c6e747..c5847554 100644 --- a/fsfw.mk +++ b/fsfw.mk @@ -9,6 +9,9 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) @@ -28,12 +31,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp) # select the OS ifeq ($(OS_FSFW),rtems) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) + else ifeq ($(OS_FSFW),linux) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) + else ifeq ($(OS_FSFW),freeRTOS) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) + else ifeq ($(OS_FSFW),host) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) +ifeq ($(OS),Windows_NT) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp) +else +# For now, the linux UDP bridge sources needs to be included manually by upper makefile +# for host OS because we can't be sure the OS is linux. +# Following lines can be used to do this: +# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp +# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp +endif + else $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host) endif diff --git a/osal/windows/TcWinUdpPollingTask.cpp b/osal/windows/TcWinUdpPollingTask.cpp new file mode 100644 index 00000000..7b54bb2c --- /dev/null +++ b/osal/windows/TcWinUdpPollingTask.cpp @@ -0,0 +1,148 @@ +#include "TcWinUdpPollingTask.h" +#include "../../globalfunctions/arrayprinter.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" + +#include +#include + +TcWinUdpPollingTask::TcWinUdpPollingTask(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); + } +} + +TcWinUdpPollingTask::~TcWinUdpPollingTask() {} + +ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) { + // Poll for new UDP datagrams in permanent loop. + while(true) { + //! Sender Address is cached here. + struct sockaddr_in senderAddress; + int senderAddressSize = sizeof(senderAddress); + ssize_t bytesReceived = recvfrom(serverUdpSocket, + reinterpret_cast(receptionBuffer.data()), frameSize, + receptionFlags, reinterpret_cast(&senderAddress), + &senderAddressSize); + if(bytesReceived == SOCKET_ERROR) { + // handle error + sif::error << "TcWinUdpPollingTask::performOperation: Reception" + " error." << std::endl; + handleReadError(); + continue; + } + //sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived + // << " bytes received" << std::endl; + + ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); + if(result != HasReturnvaluesIF::RETURN_FAILED) { + + } + tmtcBridge->registerCommConnect(); + tmtcBridge->checkAndSetClientAddress(senderAddress); + } + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t TcWinUdpPollingTask::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) { + sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data " + "storage failed" << std::endl; + sif::error << "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 TcWinUdpPollingTask::initialize() { + tcStore = objectManager->get(objects::TC_STORE); + if (tcStore == nullptr) { + sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!" + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + tmtcBridge = objectManager->get(tmtcBridgeId); + if(tmtcBridge == nullptr) { + sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid" + " TMTC bridge object!" << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + serverUdpSocket = tmtcBridge->serverSocket; + //sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket " + // << serverUdpSocket << std::endl; + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() { + // Initialize the destination after task creation. This ensures + // that the destination has already been set in the TMTC bridge. + targetTcDestination = tmtcBridge->getRequestQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + +void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) { + DWORD timeoutMs = timeoutSeconds * 1000.0; + int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO, + reinterpret_cast(&timeoutMs), sizeof(DWORD)); + if(result == -1) { + sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting " + "receive timeout failed with " << strerror(errno) << std::endl; + } +} + +void TcWinUdpPollingTask::handleReadError() { + int error = WSAGetLastError(); + switch(error) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + case(WSAEFAULT): { + sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: " + << "Bad address " << std::endl; + break; + } + default: { + sif::info << "TmTcWinUdpBridge::handleReadError: Error code: " + << error << std::endl; + break; + } + } + // to prevent spam. + Sleep(1000); +} diff --git a/osal/windows/TcWinUdpPollingTask.h b/osal/windows/TcWinUdpPollingTask.h new file mode 100644 index 00000000..50d39d25 --- /dev/null +++ b/osal/windows/TcWinUdpPollingTask.h @@ -0,0 +1,67 @@ +#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_ +#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_ + +#include "TmTcWinUdpBridge.h" +#include "../../objectmanager/SystemObject.h" +#include "../../tasks/ExecutableObjectIF.h" +#include "../../storagemanager/StorageManagerIF.h" + +#include + +/** + * @brief This class can be used to implement the polling of a Unix socket, + * using UDP for now. + * @details + * The task will be blocked while the specified number of bytes has not been + * received, so TC reception is handled inside a separate task. + * This class caches the IP address of the sender. It is assumed there + * is only one sender for now. + */ +class TcWinUdpPollingTask: public SystemObject, + public ExecutableObjectIF { + friend class TmTcWinUdpBridge; +public: + static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048; + //! 0.5 default milliseconds timeout for now. + static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500}; + + TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge, + size_t frameSize = 0, double timeoutSeconds = -1); + virtual~ TcWinUdpPollingTask(); + + /** + * 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; + +private: + //! TMTC bridge is cached. + object_id_t tmtcBridgeId = objects::NO_OBJECT; + TmTcWinUdpBridge* tmtcBridge = nullptr; + MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE; + //! Reception flags: https://linux.die.net/man/2/recvfrom. + int receptionFlags = 0; + + //! Server socket, which is member of TMTC bridge and is assigned in + //! constructor + SOCKET serverUdpSocket = 0; + + std::vector receptionBuffer; + + size_t frameSize = 0; + timeval receptionTimeout; + + ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); + void handleReadError(); +}; + +#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */ diff --git a/osal/windows/TmTcWinUdpBridge.cpp b/osal/windows/TmTcWinUdpBridge.cpp new file mode 100644 index 00000000..7e283c2a --- /dev/null +++ b/osal/windows/TmTcWinUdpBridge.cpp @@ -0,0 +1,176 @@ +#include +#include "TmTcWinUdpBridge.h" + +TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, + object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId, + uint16_t serverPort, uint16_t clientPort): + TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { + mutex = MutexFactory::instance()->createMutex(); + + // Initiates Winsock DLL. + WSAData wsaData; + WORD wVersionRequested = MAKEWORD(2, 2); + int err = WSAStartup(wVersionRequested, &wsaData); + if (err != 0) { + /* Tell the user that we could not find a usable */ + /* Winsock DLL. */ + sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:" + "WSAStartup failed with error: " << err << std::endl; + return; + } + + uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT; + if(serverPort != 0xFFFF) { + setServerPort = serverPort; + } + + 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 + //clientSocket = socket(AF_INET, SOCK_DGRAM, 0); + serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); + if(serverSocket == INVALID_SOCKET) { + sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open" + " UDP socket!" << std::endl; + handleSocketError(); + return; + } + + serverAddress.sin_family = AF_INET; + + // Accept packets from any interface. (potentially insecure). + serverAddress.sin_addr.s_addr = htonl(INADDR_ANY); + serverAddress.sin_port = htons(setServerPort); + serverAddressLen = sizeof(serverAddress); + setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, + reinterpret_cast(&serverSocketOptions), + sizeof(serverSocketOptions)); + + clientAddress.sin_family = AF_INET; + clientAddress.sin_addr.s_addr = htonl(INADDR_ANY); + clientAddress.sin_port = htons(setClientPort); + clientAddressLen = sizeof(clientAddress); + + int result = bind(serverSocket, + reinterpret_cast(&serverAddress), + serverAddressLen); + if(result != 0) { + sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind " + "local port " << setServerPort << " to server socket!" + << std::endl; + handleBindError(); + } +} + +TmTcWinUdpBridge::~TmTcWinUdpBridge() { + WSACleanup(); +} + +ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { + int flags = 0; + + //clientAddress.sin_addr.s_addr = htons(INADDR_ANY); + //clientAddressLen = sizeof(serverAddress); + +// char ipAddress [15]; +// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, +// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; + + ssize_t bytesSent = sendto(serverSocket, + reinterpret_cast(data), dataLen, flags, + reinterpret_cast(&clientAddress), clientAddressLen); + if(bytesSent == SOCKET_ERROR) { + sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed." + << std::endl; + handleSendError(); + } +// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were" +// " sent." << std::endl; + return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; +} + +void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) { + MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10); + +// char ipAddress [15]; +// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, +// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +// sif::debug << "IP Address Old: " << inet_ntop(AF_INET, +// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; + + // 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; + clientAddressLen = sizeof(clientAddress); + } +} + +void TmTcWinUdpBridge::handleSocketError() { + int errCode = WSAGetLastError(); + switch(errCode) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + default: { + /* + https://docs.microsoft.com/en-us/windows/win32/winsock/ + windows-sockets-error-codes-2 + */ + sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: " + << errCode << std::endl; + break; + } + } +} + +void TmTcWinUdpBridge::handleBindError() { + int errCode = WSAGetLastError(); + switch(errCode) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + default: { + /* + https://docs.microsoft.com/en-us/windows/win32/winsock/ + windows-sockets-error-codes-2 + */ + sif::info << "TmTcWinUdpBridge::handleBindError: Error code: " + << errCode << std::endl; + break; + } + } +} + +void TmTcWinUdpBridge::handleSendError() { + int errCode = WSAGetLastError(); + switch(errCode) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + case(WSAEADDRNOTAVAIL): { + sif::info << "TmTcWinUdpBridge::handleReadError: WSAEADDRNOTAVAIL: " + << "Check target address. " << std::endl; + break; + } + default: { + /* + https://docs.microsoft.com/en-us/windows/win32/winsock/ + windows-sockets-error-codes-2 + */ + sif::info << "TmTcWinUdpBridge::handleSendError: Error code: " + << errCode << std::endl; + break; + } + } +} + diff --git a/osal/windows/TmTcWinUdpBridge.h b/osal/windows/TmTcWinUdpBridge.h new file mode 100644 index 00000000..8188039c --- /dev/null +++ b/osal/windows/TmTcWinUdpBridge.h @@ -0,0 +1,49 @@ +#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_ +#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_ + +#include "../../tmtcservices/TmTcBridge.h" + +#include +#include + +class TmTcWinUdpBridge: public TmTcBridge { + friend class TcWinUdpPollingTask; +public: + // The ports chosen here should not be used by any other process. + static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301; + static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302; + + TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId, + uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF); + virtual~ TmTcWinUdpBridge(); + + void checkAndSetClientAddress(sockaddr_in clientAddress); + +protected: + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; + +private: + SOCKET serverSocket = 0; + + const int serverSocketOptions = 0; + + struct sockaddr_in clientAddress; + int clientAddressLen = 0; + + struct sockaddr_in serverAddress; + int serverAddressLen = 0; + + //! Access to the client address is mutex protected as it is set + //! by another task. + MutexIF* mutex; + + void handleSocketError(); + void handleBindError(); + void handleSendError(); +}; + + + +#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */ +