added new windows udp bridge
This commit is contained in:
parent
b3d08cd40b
commit
a9975f5aef
16
fsfw.mk
16
fsfw.mk
@ -9,6 +9,9 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
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@ -28,12 +31,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
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# select the OS
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# select the OS
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ifeq ($(OS_FSFW),rtems)
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ifeq ($(OS_FSFW),rtems)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
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else ifeq ($(OS_FSFW),linux)
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else ifeq ($(OS_FSFW),linux)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
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else ifeq ($(OS_FSFW),freeRTOS)
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else ifeq ($(OS_FSFW),freeRTOS)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
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else ifeq ($(OS_FSFW),host)
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else ifeq ($(OS_FSFW),host)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
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ifeq ($(OS),Windows_NT)
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CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
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else
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# For now, the linux UDP bridge sources needs to be included manually by upper makefile
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# for host OS because we can't be sure the OS is linux.
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# Following lines can be used to do this:
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# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
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# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
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endif
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else
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else
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$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
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$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
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endif
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endif
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148
osal/windows/TcWinUdpPollingTask.cpp
Normal file
148
osal/windows/TcWinUdpPollingTask.cpp
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@ -0,0 +1,148 @@
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#include "TcWinUdpPollingTask.h"
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#include "../../globalfunctions/arrayprinter.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include <winsock2.h>
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#include <windows.h>
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TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
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object_id_t tmtcUnixUdpBridge, size_t frameSize,
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double timeoutSeconds): SystemObject(objectId),
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tmtcBridgeId(tmtcUnixUdpBridge) {
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if(frameSize > 0) {
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this->frameSize = frameSize;
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}
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else {
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this->frameSize = DEFAULT_MAX_FRAME_SIZE;
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}
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// Set up reception buffer with specified frame size.
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// For now, it is assumed that only one frame is held in the buffer!
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receptionBuffer.reserve(this->frameSize);
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receptionBuffer.resize(this->frameSize);
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if(timeoutSeconds == -1) {
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receptionTimeout = DEFAULT_TIMEOUT;
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}
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else {
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receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
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}
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}
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TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
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ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
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// Poll for new UDP datagrams in permanent loop.
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while(true) {
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//! Sender Address is cached here.
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struct sockaddr_in senderAddress;
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int senderAddressSize = sizeof(senderAddress);
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ssize_t bytesReceived = recvfrom(serverUdpSocket,
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reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
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receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
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&senderAddressSize);
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if(bytesReceived == SOCKET_ERROR) {
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// handle error
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sif::error << "TcWinUdpPollingTask::performOperation: Reception"
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" error." << std::endl;
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handleReadError();
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continue;
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}
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//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
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// << " bytes received" << std::endl;
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ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
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if(result != HasReturnvaluesIF::RETURN_FAILED) {
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}
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tmtcBridge->registerCommConnect();
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tmtcBridge->checkAndSetClientAddress(senderAddress);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
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store_address_t storeId;
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ReturnValue_t result = tcStore->addData(&storeId,
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receptionBuffer.data(), bytesRead);
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// arrayprinter::print(receptionBuffer.data(), bytesRead);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
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"storage failed" << std::endl;
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sif::error << "Packet size: " << bytesRead << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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TmTcMessage message(storeId);
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result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Serial Polling: Sending message to queue failed"
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<< std::endl;
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tcStore->deleteData(storeId);
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}
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return result;
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}
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ReturnValue_t TcWinUdpPollingTask::initialize() {
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tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
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if (tcStore == nullptr) {
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sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
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<< std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
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if(tmtcBridge == nullptr) {
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sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
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" TMTC bridge object!" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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serverUdpSocket = tmtcBridge->serverSocket;
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//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
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// << serverUdpSocket << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() {
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// Initialize the destination after task creation. This ensures
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// that the destination has already been set in the TMTC bridge.
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targetTcDestination = tmtcBridge->getRequestQueue();
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return HasReturnvaluesIF::RETURN_OK;
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}
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void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
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DWORD timeoutMs = timeoutSeconds * 1000.0;
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int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
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reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
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if(result == -1) {
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sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
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"receive timeout failed with " << strerror(errno) << std::endl;
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}
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}
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void TcWinUdpPollingTask::handleReadError() {
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int error = WSAGetLastError();
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switch(error) {
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case(WSANOTINITIALISED): {
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sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
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<< "WSAStartup(...) call " << "necessary" << std::endl;
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break;
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}
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case(WSAEFAULT): {
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sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
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<< "Bad address " << std::endl;
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break;
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}
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default: {
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sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
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<< error << std::endl;
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break;
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}
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}
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// to prevent spam.
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Sleep(1000);
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}
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67
osal/windows/TcWinUdpPollingTask.h
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67
osal/windows/TcWinUdpPollingTask.h
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#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
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#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
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#include "TmTcWinUdpBridge.h"
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#include "../../objectmanager/SystemObject.h"
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#include "../../tasks/ExecutableObjectIF.h"
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#include "../../storagemanager/StorageManagerIF.h"
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#include <vector>
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/**
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* @brief This class can be used to implement the polling of a Unix socket,
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* using UDP for now.
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* @details
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* The task will be blocked while the specified number of bytes has not been
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* received, so TC reception is handled inside a separate task.
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* This class caches the IP address of the sender. It is assumed there
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* is only one sender for now.
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*/
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class TcWinUdpPollingTask: public SystemObject,
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public ExecutableObjectIF {
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friend class TmTcWinUdpBridge;
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public:
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static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
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//! 0.5 default milliseconds timeout for now.
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static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
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TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
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size_t frameSize = 0, double timeoutSeconds = -1);
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virtual~ TcWinUdpPollingTask();
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/**
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* Turn on optional timeout for UDP polling. In the default mode,
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* the receive function will block until a packet is received.
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* @param timeoutSeconds
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*/
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void setTimeout(double timeoutSeconds);
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virtual ReturnValue_t performOperation(uint8_t opCode) override;
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virtual ReturnValue_t initialize() override;
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virtual ReturnValue_t initializeAfterTaskCreation() override;
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protected:
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StorageManagerIF* tcStore = nullptr;
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private:
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//! TMTC bridge is cached.
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object_id_t tmtcBridgeId = objects::NO_OBJECT;
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TmTcWinUdpBridge* tmtcBridge = nullptr;
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MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
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//! Reception flags: https://linux.die.net/man/2/recvfrom.
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int receptionFlags = 0;
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//! Server socket, which is member of TMTC bridge and is assigned in
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//! constructor
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SOCKET serverUdpSocket = 0;
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std::vector<uint8_t> receptionBuffer;
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size_t frameSize = 0;
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timeval receptionTimeout;
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ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
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void handleReadError();
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};
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#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
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176
osal/windows/TmTcWinUdpBridge.cpp
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176
osal/windows/TmTcWinUdpBridge.cpp
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#include <fsfw/ipc/MutexHelper.h>
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#include "TmTcWinUdpBridge.h"
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TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
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object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
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uint16_t serverPort, uint16_t clientPort):
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TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
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mutex = MutexFactory::instance()->createMutex();
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// Initiates Winsock DLL.
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WSAData wsaData;
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WORD wVersionRequested = MAKEWORD(2, 2);
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int err = WSAStartup(wVersionRequested, &wsaData);
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if (err != 0) {
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/* Tell the user that we could not find a usable */
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/* Winsock DLL. */
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sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
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"WSAStartup failed with error: " << err << std::endl;
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return;
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}
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uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
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if(serverPort != 0xFFFF) {
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setServerPort = serverPort;
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}
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uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
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if(clientPort != 0xFFFF) {
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setClientPort = clientPort;
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}
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// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
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//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
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serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
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if(serverSocket == INVALID_SOCKET) {
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sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
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" UDP socket!" << std::endl;
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handleSocketError();
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return;
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}
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serverAddress.sin_family = AF_INET;
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// Accept packets from any interface. (potentially insecure).
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serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
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serverAddress.sin_port = htons(setServerPort);
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serverAddressLen = sizeof(serverAddress);
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setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR,
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reinterpret_cast<const char*>(&serverSocketOptions),
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sizeof(serverSocketOptions));
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clientAddress.sin_family = AF_INET;
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clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
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clientAddress.sin_port = htons(setClientPort);
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clientAddressLen = sizeof(clientAddress);
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int result = bind(serverSocket,
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reinterpret_cast<struct sockaddr*>(&serverAddress),
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serverAddressLen);
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if(result != 0) {
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sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
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"local port " << setServerPort << " to server socket!"
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<< std::endl;
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handleBindError();
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}
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}
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TmTcWinUdpBridge::~TmTcWinUdpBridge() {
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WSACleanup();
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}
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ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
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int flags = 0;
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//clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
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//clientAddressLen = sizeof(serverAddress);
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// char ipAddress [15];
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// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
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// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
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ssize_t bytesSent = sendto(serverSocket,
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reinterpret_cast<const char*>(data), dataLen, flags,
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reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
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if(bytesSent == SOCKET_ERROR) {
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||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
49
osal/windows/TmTcWinUdpBridge.h
Normal file
49
osal/windows/TmTcWinUdpBridge.h
Normal file
@ -0,0 +1,49 @@
|
|||||||
|
#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
|
||||||
|
#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
|
||||||
|
|
||||||
|
#include "../../tmtcservices/TmTcBridge.h"
|
||||||
|
|
||||||
|
#include <winsock2.h>
|
||||||
|
#include <windows.h>
|
||||||
|
|
||||||
|
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_ */
|
||||||
|
|
||||||
Loading…
Reference in New Issue
Block a user