fsfw/fsfw
fsfw/fsfw
10
3
Fork 6
Code Issues 31 Pull Requests 4 Releases 10 Wiki Activity

Merge remote-tracking branch 'upstream/mueller/master' into source/develop

Browse Source
This commit is contained in:
Robin Müller 2021-03-22 15:19:44 +01:00
commit 4c11b2f660
28 changed files with 641 additions and 747 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
osal/common/CMakeLists.txt
View File

@ -1,3 +1,16 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
tcpipCommon.cpp
)
if(DEFINED WIN32 OR DEFINED UNIX)
target_sources(${LIB_FSFW_NAME} PRIVATE
tcpipCommon.cpp
TcpIpBase.cpp
UdpTcPollingTask.cpp
UdpTmTcBridge.cpp
TcpTmTcServer.cpp
)
endif()
if(WIN32)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
wsock32
ws2_32
)
endif()

54
osal/common/TcpIpBase.cpp Normal file
View File

@ -0,0 +1,54 @@
#include "TcpIpBase.h"
#ifdef __unix__
#include <errno.h>
#include <unistd.h>
#endif
TcpIpBase::TcpIpBase() {
}
ReturnValue_t TcpIpBase::initialize() {
#ifdef _WIN32
/* 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. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
err << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#endif
return HasReturnvaluesIF::RETURN_OK;
}
TcpIpBase::~TcpIpBase() {
closeSocket(serverSocket);
#ifdef _WIN32
WSACleanup();
#endif
}
int TcpIpBase::closeSocket(socket_t socket) {
#ifdef _WIN32
return closesocket(socket);
#elif defined(__unix__)
return close(socket);
#endif
}
int TcpIpBase::getLastSocketError() {
#ifdef _WIN32
return WSAGetLastError();
#elif defined(__unix__)
return errno;
#endif
}

50
osal/common/TcpIpBase.h Normal file
View File

@ -0,0 +1,50 @@
#ifndef FSFW_OSAL_COMMON_TCPIPIF_H_
#define FSFW_OSAL_COMMON_TCPIPIF_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#ifdef _WIN32
#include <winsock2.h>
#elif defined(__unix__)
#include <sys/socket.h>
#endif
class TcpIpBase {
protected:
#ifdef _WIN32
static constexpr int SHUT_RECV = SD_RECEIVE;
static constexpr int SHUT_SEND = SD_SEND;
static constexpr int SHUT_BOTH = SD_BOTH;
using socket_t = SOCKET;
#elif defined(__unix__)
using socket_t = int;
static constexpr int INVALID_SOCKET = -1;
static constexpr int SOCKET_ERROR = -1;
static constexpr int SHUT_RECV = SHUT_RD;
static constexpr int SHUT_SEND = SHUT_WR;
static constexpr int SHUT_BOTH = SHUT_RDWR;
#endif
TcpIpBase();
virtual ~TcpIpBase();
ReturnValue_t initialize();
int closeSocket(socket_t socket);
int getLastSocketError();
socket_t serverSocket = 0;
};
#endif /* FSFW_OSAL_COMMON_TCPIPIF_H_ */

64
osal/windows/TcWinTcpServer.cpp → osal/common/TcpTmTcServer.cpp
View File

@ -1,14 +1,21 @@
#include "TcWinTcpServer.h"
#include "TcpTmTcServer.h"
#include "tcpipHelpers.h"
#include "../../serviceinterface/ServiceInterface.h"
#ifdef _WIN32
#include <winsock2.h>
#include <ws2tcpip.h>
const std::string TcWinTcpServer::DEFAULT_TCP_SERVER_PORT = "7301";
const std::string TcWinTcpServer::DEFAULT_TCP_CLIENT_PORT = "7302";
#elif defined(__unix__)
TcWinTcpServer::TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
#include <netdb.h>
#endif
const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT = "7301";
const std::string TcpTmTcServer::DEFAULT_TCP_CLIENT_PORT = "7302";
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
std::string customTcpServerPort):
SystemObject(objectId), tcpPort(customTcpServerPort) {
if(tcpPort == "") {
@ -16,25 +23,18 @@ TcWinTcpServer::TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBrid
}
}
ReturnValue_t TcWinTcpServer::initialize() {
ReturnValue_t TcpTmTcServer::initialize() {
using namespace tcpip;
int retval = 0;
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
/* 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. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
err << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
ReturnValue_t result = TcpIpBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ZeroMemory(&hints, sizeof (hints));
int retval = 0;
struct addrinfo *addrResult = nullptr;
struct addrinfo hints = { 0 };
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
hints.ai_protocol = IPPROTO_TCP;
@ -43,7 +43,7 @@ ReturnValue_t TcWinTcpServer::initialize() {
retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcWinTcpServer::TcWinTcpServer: Retrieving address info failed!" <<
sif::warning << "TcWinTcpServer::TcpTmTcServer: Retrieving address info failed!" <<
std::endl;
#endif
handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
@ -65,7 +65,7 @@ ReturnValue_t TcWinTcpServer::initialize() {
retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcWinTcpServer::TcWinTcpServer: Binding socket failed!" <<
sif::warning << "TcWinTcpServer::TcpTmTcServer: Binding socket failed!" <<
std::endl;
#endif
freeaddrinfo(addrResult);
@ -77,17 +77,16 @@ ReturnValue_t TcWinTcpServer::initialize() {
}
TcWinTcpServer::~TcWinTcpServer() {
closesocket(listenerTcpSocket);
WSACleanup();
TcpTmTcServer::~TcpTmTcServer() {
closeSocket(listenerTcpSocket);
}
ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
using namespace tcpip;
/* If a connection is accepted, the corresponding socket will be assigned to the new socket */
SOCKET clientSocket;
sockaddr_in clientSockAddr;
int connectorSockAddrLen = 0;
socket_t clientSocket;
sockaddr clientSockAddr;
socklen_t connectorSockAddrLen = 0;
int retval = 0;
/* Listen for connection requests permanently for lifetime of program */
@ -98,8 +97,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
continue;
}
clientSocket = accept(listenerTcpSocket, reinterpret_cast<sockaddr*>(&clientSockAddr),
&connectorSockAddrLen);
clientSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
if(clientSocket == INVALID_SOCKET) {
handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@ -110,7 +108,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
receptionBuffer.size(), 0);
if(retval > 0) {
#if FSFW_TCP_RCV_WIRETAPPING_ENABLED == 1
sif::info << "TcWinTcpServer::performOperation: Received " << retval << " bytes."
sif::info << "TcpTmTcServer::performOperation: Received " << retval << " bytes."
std::endl;
#endif
handleError(Protocol::TCP, ErrorSources::RECV_CALL, 500);
@ -123,7 +121,7 @@ ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
}
/* Done, shut down connection */
retval = shutdown(clientSocket, SD_SEND);
retval = shutdown(clientSocket, SHUT_SEND);
}
return HasReturnvaluesIF::RETURN_OK;
}

16
osal/windows/TcWinTcpServer.h → osal/common/TcpTmTcServer.h
View File

@ -1,9 +1,14 @@
#ifndef FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#define FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
#include "TcpIpBase.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#ifdef __unix__
#include <sys/socket.h>
#endif
#include <string>
#include <vector>
@ -15,17 +20,18 @@
* @details
* Based on: https://docs.microsoft.com/en-us/windows/win32/winsock/complete-server-code
*/
class TcWinTcpServer:
class TcpTmTcServer:
public SystemObject,
public TcpIpBase,
public ExecutableObjectIF {
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_TCP_SERVER_PORT;
static const std::string DEFAULT_TCP_CLIENT_PORT;
TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
std::string customTcpServerPort = "");
virtual~ TcWinTcpServer();
virtual~ TcpTmTcServer();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t opCode) override;
@ -33,8 +39,8 @@ public:
private:
std::string tcpPort;
SOCKET listenerTcpSocket = 0;
struct sockaddr_in tcpAddress;
socket_t listenerTcpSocket = 0;
struct sockaddr tcpAddress;
int tcpAddrLen = sizeof(tcpAddress);
int currentBacklog = 3;

177
osal/common/UdpTcPollingTask.cpp Normal file
View File

@ -0,0 +1,177 @@
#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_RCV_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_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived <<
" bytes received" << std::endl;
#endif
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_RCV_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
}

20
osal/windows/TcWinUdpPollingTask.h → osal/common/UdpTcPollingTask.h
View File

@ -1,7 +1,7 @@
#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#include "TmTcWinUdpBridge.h"
#include "UdpTmTcBridge.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../storagemanager/StorageManagerIF.h"
@ -17,17 +17,19 @@
* This class caches the IP address of the sender. It is assumed there
* is only one sender for now.
*/
class TcWinUdpPollingTask: public SystemObject,
class UdpTcPollingTask:
public TcpIpBase,
public SystemObject,
public ExecutableObjectIF {
friend class TmTcWinUdpBridge;
public:
static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcWinUdpPollingTask();
UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t maxRecvSize = 0, double timeoutSeconds = -1);
virtual~ UdpTcPollingTask();
/**
* Turn on optional timeout for UDP polling. In the default mode,
@ -46,16 +48,12 @@ protected:
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
TmTcWinUdpBridge* tmtcBridge = nullptr;
UdpTmTcBridge* tmtcBridge = nullptr;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
//! See: https://docs.microsoft.com/en-us/windows/win32/api/winsock/nf-winsock-recvfrom
int receptionFlags = 0;
//! Server socket, which is member of TMTC bridge.
//! Will be cached shortly after SW intialization.
SOCKET serverUdpSocket = 0;
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;

59
osal/windows/TmTcWinUdpBridge.cpp → osal/common/UdpTmTcBridge.cpp
View File

@ -1,17 +1,26 @@
#include "TmTcWinUdpBridge.h"
#include "tcpipHelpers.h"
#include "../../ipc/MutexGuard.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/osal/common/UdpTmTcBridge.h>
#ifdef _WIN32
#include <ws2tcpip.h>
#elif defined(__unix__)
#include <netdb.h>
#include <arpa/inet.h>
#endif
//! Debugging preprocessor define.
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
const std::string TmTcWinUdpBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_UDP_SERVER_PORT;
const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if(udpServerPort == "") {
@ -25,16 +34,18 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestinati
communicationLinkUp = false;
}
ReturnValue_t TmTcWinUdpBridge::initialize() {
ReturnValue_t UdpTmTcBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::initialize: TmTcBridge initialization failed!"
sif::error << "TmTcUdpBridge::initialize: TmTcBridge initialization failed!"
<< std::endl;
#endif
return result;
}
#ifdef _WIN32
/* Initiates Winsock DLL. */
WSAData wsaData;
WORD wVersionRequested = MAKEWORD(2, 2);
@ -43,26 +54,22 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
/* Tell the user that we could not find a usable */
/* Winsock DLL. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
sif::error << "TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: " <<
err << std::endl;
#else
sif::printError("TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: %d\n",
sif::printError("TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: %d\n",
err);
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#endif
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
struct addrinfo hints = {};
ZeroMemory(&hints, sizeof (hints));
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_DGRAM;
hints.ai_protocol = IPPROTO_UDP;
/* See:
https://docs.microsoft.com/en-us/windows/win32/api/ws2tcpip/nf-ws2tcpip-getaddrinfo
for information about AI_PASSIVE. */
hints.ai_flags = AI_PASSIVE;
/* Set up UDP socket:
https://en.wikipedia.org/wiki/Getaddrinfo
@ -71,7 +78,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Retrieving address info failed!" <<
sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Retrieving address info failed!" <<
std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
@ -80,7 +87,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
if(serverSocket == INVALID_SOCKET) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open UDP socket!" <<
sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Could not open UDP socket!" <<
std::endl;
#endif
freeaddrinfo(addrResult);
@ -91,7 +98,7 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
sif::error << "TmTcUdpBridge::TmTcUdpBridge: Could not bind "
"local port (" << udpServerPort << ") to server socket!" << std::endl;
#endif
freeaddrinfo(addrResult);
@ -101,15 +108,13 @@ ReturnValue_t TmTcWinUdpBridge::initialize() {
return HasReturnvaluesIF::RETURN_OK;
}
TmTcWinUdpBridge::~TmTcWinUdpBridge() {
UdpTmTcBridge::~UdpTmTcBridge() {
if(mutex != nullptr) {
MutexFactory::instance()->deleteMutex(mutex);
}
closesocket(serverSocket);
WSACleanup();
}
ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
/* The target address can be set by different threads so this lock ensures thread-safety */
@ -126,23 +131,23 @@ ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
reinterpret_cast<const char*>(data),
dataLen,
flags,
reinterpret_cast<sockaddr*>(&clientAddress),
&clientAddress,
clientAddressLen
);
if(bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::sendTm: Send operation failed." << std::endl;
sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were"
" sent." << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
void UdpTmTcBridge::checkAndSetClientAddress(sockaddr& newAddress) {
/* The target address can be set by different threads so this lock ensures thread-safety */
MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
@ -160,7 +165,7 @@ void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
clientAddressLen = sizeof(clientAddress);
}
void TmTcWinUdpBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
dur_millis_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;

31
osal/windows/TmTcWinUdpBridge.h → osal/common/UdpTmTcBridge.h
View File

@ -1,20 +1,32 @@
#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#include "TcpIpBase.h"
#include "../../tmtcservices/TmTcBridge.h"
#include <string>
#include <winsock2.h>
#ifdef _WIN32
class TmTcWinUdpBridge: public TmTcBridge {
friend class TcWinUdpPollingTask;
#include <ws2tcpip.h>
#elif defined(__unix__)
#include <sys/socket.h>
#endif
#include <string>
class UdpTmTcBridge:
public TmTcBridge,
public TcpIpBase {
friend class UdpTcPollingTask;
public:
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_UDP_SERVER_PORT;
TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort = "");
virtual~ TmTcWinUdpBridge();
virtual~ UdpTmTcBridge();
/**
* Set properties of internal mutex.
@ -23,17 +35,16 @@ public:
ReturnValue_t initialize() override;
void checkAndSetClientAddress(sockaddr_in& clientAddress);
void checkAndSetClientAddress(sockaddr& clientAddress);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
SOCKET serverSocket = 0;
std::string udpServerPort;
struct sockaddr_in clientAddress;
int clientAddressLen = 0;
struct sockaddr clientAddress;
socklen_t clientAddressLen = 0;
//! Access to the client address is mutex protected as it is set by another task.
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;

3
osal/common/tcpipCommon.h
View File

@ -6,8 +6,7 @@
namespace tcpip {
const char* const DEFAULT_UDP_SERVER_PORT = "7301";
const char* const DEFAULT_TCP_SERVER_PORT = "7303";
const char* const DEFAULT_SERVER_PORT = "7301";
enum class Protocol {
UDP,

2
osal/windows/tcpipHelpers.h → osal/common/tcpipHelpers.h
View File

@ -2,7 +2,7 @@
#define FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_
#include "../../timemanager/clockDefinitions.h"
#include "../common/tcpipCommon.h"
#include "tcpipCommon.h"
namespace tcpip {

33
osal/host/PeriodicTask.cpp
View File

@ -10,6 +10,7 @@
#if defined(WIN32)
#include <processthreadsapi.h>
#include <fsfw/osal/windows/winTaskHelpers.h>
#elif defined(LINUX)
#include <pthread.h>
#endif
@ -22,33 +23,11 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
// It is propably possible to set task priorities by using the native
// task handles for Windows / Linux
mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
#if defined(WIN32)
/* List of possible priority classes:
* https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
* nf-processthreadsapi-setpriorityclass
* And respective thread priority numbers:
* https://docs.microsoft.com/en-us/windows/
* win32/procthread/scheduling-priorities */
int result = SetPriorityClass(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
ABOVE_NORMAL_PRIORITY_CLASS);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(mainThread.native_handle()),
THREAD_PRIORITY_NORMAL);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
#endif
}
#elif defined(LINUX)
// we can just copy and paste the code from linux here.
#if defined(_WIN32)
tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
tasks::insertTaskName(mainThread.get_id(), taskName);
#elif defined(__unix__)
// TODO: We could reuse existing code here.
#endif
}

39
osal/host/TaskFactory.cpp
View File

@ -1,14 +1,20 @@
#include "../../tasks/TaskFactory.h"
#include "../../osal/host/FixedTimeslotTask.h"
#include "../../osal/host/PeriodicTask.h"
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#ifdef _WIN32
#include "../windows/winTaskHelpers.h"
#endif
#include <chrono>
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
// Will propably not be used for hosted implementation
// Not used for the host implementation for now because C++ thread abstraction is used
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
TaskFactory::TaskFactory() {
@ -49,8 +55,33 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
}
void TaskFactory::printMissedDeadline() {
/* TODO: Implement */
return;
#ifdef __unix__
char name[20] = {0};
int status = pthread_getname_np(pthread_self(), name, sizeof(name));
#if FSFW_CPP_OSTREAM_ENABLED == 1
if(status == 0) {
sif::warning << "TaskFactory::printMissedDeadline: " << name << "" << std::endl;
}
else {
sif::warning << "TaskFactory::printMissedDeadline: Unknown task name" << status <<
std::endl;
}
#else
if(status == 0) {
sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
}
else {
sif::printWarning("TaskFactory::printMissedDeadline: Unknown task name\n", name);
}
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#elif defined(_WIN32)
std::string name = tasks::getTaskName(std::this_thread::get_id());
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl;
#else
sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* defined(_WIN32) */
}

2
osal/linux/CMakeLists.txt
View File

@ -13,8 +13,6 @@ target_sources(${LIB_FSFW_NAME}
QueueFactory.cpp
SemaphoreFactory.cpp
TaskFactory.cpp
TcUnixUdpPollingTask.cpp
TmTcUnixUdpBridge.cpp
Timer.cpp
tcpipHelpers.cpp
)

16
osal/linux/PosixThread.cpp
View File

@ -6,7 +6,7 @@
#include <errno.h>
PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
thread(0),priority(priority_),stackSize(stackSize_) {
thread(0), priority(priority_), stackSize(stackSize_) {
name[0] = '\0';
std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
}
@ -75,18 +75,18 @@ bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
if (currentTime_ms < *prevoiusWakeTime_ms) {
/* The tick count has overflowed since this function was
lasted called. In this case the only time we should ever
actually delay is if the wake time has also overflowed,
and the wake time is greater than the tick time. When this
is the case it is as if neither time had overflowed. */
lasted called. In this case the only time we should ever
actually delay is if the wake time has also overflowed,
and the wake time is greater than the tick time. When this
is the case it is as if neither time had overflowed. */
if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
&& (nextTimeToWake_ms > currentTime_ms)) {
shouldDelay = true;
}
} else {
/* The tick time has not overflowed. In this case we will
delay if either the wake time has overflowed, and/or the
tick time is less than the wake time. */
/* The tick time has not overflowed. In this case we will
delay if either the wake time has overflowed, and/or the
tick time is less than the wake time. */
if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
|| (nextTimeToWake_ms > currentTime_ms)) {
shouldDelay = true;

152
osal/linux/TcUnixUdpPollingTask.cpp
View File

@ -1,152 +0,0 @@
#include "TcUnixUdpPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
TcUnixUdpPollingTask::TcUnixUdpPollingTask(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);
}
}
TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
/* Sender Address is cached here. */
struct sockaddr_in senderAddress;
socklen_t senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while(true) {
ssize_t bytesReceived = recvfrom(
serverUdpSocket,
receptionBuffer.data(),
frameSize,
receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize
);
if(bytesReceived < 0) {
/* Handle error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::performOperation: Reception error." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 500);
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
<< " bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
#if FSFW_UDP_RCV_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::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
#else
#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::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Sending message to queue "
"failed" << std::endl;
#else
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t TcUnixUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::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 properly in any case*/
serverUdpSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
#endif
}
}

67
osal/linux/TcUnixUdpPollingTask.h
View File

@ -1,67 +0,0 @@
#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
#include "../../objectmanager/SystemObject.h"
#include "../../osal/linux/TmTcUnixUdpBridge.h"
#include "../../tasks/ExecutableObjectIF.h"
#include <sys/socket.h>
#include <vector>
/**
* @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 TcUnixUdpPollingTask: public SystemObject,
public ExecutableObjectIF {
friend class TmTcUnixUdpBridge;
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};
TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
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;
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
TmTcUnixUdpBridge* 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
int serverUdpSocket = 0;
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
};
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

167
osal/linux/TmTcUnixUdpBridge.cpp
View File

@ -1,167 +0,0 @@
#include "TmTcUnixUdpBridge.h"
#include "tcpipHelpers.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../ipc/MutexGuard.h"
#include <arpa/inet.h>
#include <unistd.h>
#include <netdb.h>
#include <cstring>
//! Debugging preprocessor define.
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
const std::string TmTcUnixUdpBridge::DEFAULT_UDP_SERVER_PORT = tcpip::DEFAULT_UDP_SERVER_PORT;
TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if(udpServerPort == "") {
this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
}
else {
this->udpServerPort = udpServerPort;
}
mutex = MutexFactory::instance()->createMutex();
communicationLinkUp = false;
}
ReturnValue_t TmTcUnixUdpBridge::initialize() {
using namespace tcpip;
ReturnValue_t result = TmTcBridge::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixUdpBridge::initialize: TmTcBridge initialization failed!"
<< std::endl;
#endif
return result;
}
struct addrinfo *addrResult = nullptr;
struct addrinfo hints;
std::memset(&hints, 0, sizeof(hints));
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_DGRAM;
hints.ai_protocol = IPPROTO_UDP;
hints.ai_flags = AI_PASSIVE;
/* Set up UDP socket:
https://man7.org/linux/man-pages/man3/getaddrinfo.3.html
Passing nullptr as the first parameter and specifying AI_PASSIVE in hints will cause
getaddrinfo to assign the address 0.0.0.0 (any address) */
int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
if (retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Retrieving address info failed!" <<
std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html */
serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
if(serverSocket < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open UDP socket!" <<
std::endl;
#else
sif::printError("TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open UDP socket!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
freeaddrinfo(addrResult);
handleError(Protocol::UDP, ErrorSources::SOCKET_CALL);
return HasReturnvaluesIF::RETURN_FAILED;
}
retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if(retval != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
"local port (" << udpServerPort << ") to server socket!" << std::endl;
#endif
freeaddrinfo(addrResult);
handleError(Protocol::UDP, ErrorSources::BIND_CALL);
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
if(mutex != nullptr) {
MutexFactory::instance()->deleteMutex(mutex);
}
close(serverSocket);
}
ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
/* The target address can be set by different threads so this lock ensures thread-safety */
MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
if(ipAddrAnySet){
clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
clientAddressLen = sizeof(clientAddress);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
char ipAddress [15];
sif::debug << "IP Address Sender: "<<
inet_ntop(AF_INET,&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
#endif
ssize_t bytesSent = sendto(
serverSocket,
data,
dataLen,
flags,
reinterpret_cast<sockaddr*>(&clientAddress),
clientAddressLen
);
if(bytesSent < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcUnixUdpBridge::sendTm: Send operation failed." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
" sent." << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
/* The target address can be set by different threads so this lock ensures thread-safety */
MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
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;
#endif
registerCommConnect();
/* Set new IP address to reply to. */
clientAddress = newAddress;
clientAddressLen = sizeof(clientAddress);
}
void TmTcUnixUdpBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
dur_millis_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;
}
void TmTcUnixUdpBridge::setClientAddressToAny(bool ipAddrAnySet){
this->ipAddrAnySet = ipAddrAnySet;
}

53
osal/linux/TmTcUnixUdpBridge.h
View File

@ -1,53 +0,0 @@
#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#include "../../tmtcservices/AcceptsTelecommandsIF.h"
#include "../../tmtcservices/TmTcBridge.h"
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/udp.h>
class TmTcUnixUdpBridge:
public TmTcBridge {
friend class TcUnixUdpPollingTask;
public:
/* The ports chosen here should not be used by any other process.
List of used ports on Linux: /etc/services */
static const std::string DEFAULT_UDP_SERVER_PORT;
TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId,
std::string serverPort = "");
virtual~ TmTcUnixUdpBridge();
/**
* Set properties of internal mutex.
*/
void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs);
ReturnValue_t initialize() override;
void checkAndSetClientAddress(sockaddr_in& clientAddress);
void setClientAddressToAny(bool ipAddrAnySet);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
int serverSocket = 0;
std::string udpServerPort;
struct sockaddr_in clientAddress;
socklen_t clientAddressLen = 0;
bool ipAddrAnySet = false;
//! Access to the client address is mutex protected as it is set by another task.
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
dur_millis_t mutexTimeoutMs = 20;
MutexIF* mutex;
};
#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */

2
osal/linux/tcpipHelpers.cpp
View File

@ -1,4 +1,4 @@
#include "tcpipHelpers.h"
#include "../common/tcpipHelpers.h"
#include "../../tasks/TaskFactory.h"

14
osal/linux/tcpipHelpers.h
View File

@ -1,14 +0,0 @@
#ifndef FSFW_OSAL_LINUX_TCPIPHELPERS_H_
#define FSFW_OSAL_LINUX_TCPIPHELPERS_H_
#include "../../timemanager/clockDefinitions.h"
#include "../common/tcpipCommon.h"
namespace tcpip {
void handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration = 0);
}
#endif /* FSFW_OSAL_LINUX_TCPIPHELPERS_H_ */

9
osal/windows/CMakeLists.txt
View File

@ -1,11 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
TcWinUdpPollingTask.cpp
TmTcWinUdpBridge.cpp
TcWinTcpServer.cpp
tcpipHelpers.cpp
winTaskHelpers.cpp
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
wsock32
ws2_32
)

149
osal/windows/TcWinUdpPollingTask.cpp
View File

@ -1,149 +0,0 @@
#include "TcWinUdpPollingTask.h"
#include "tcpipHelpers.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <winsock2.h>
//! Debugging preprocessor define.
#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0
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) {
/* Sender Address is cached here. */
struct sockaddr_in senderAddress;
int senderAddressSize = sizeof(senderAddress);
/* Poll for new UDP datagrams in permanent loop. */
while(true) {
int bytesReceived = recvfrom(
serverUdpSocket,
reinterpret_cast<char*>(receptionBuffer.data()),
frameSize,
receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize
);
if(bytesReceived == SOCKET_ERROR) {
/* Handle error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::performOperation: Reception error." << std::endl;
#endif
tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
continue;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived <<
" bytes received" << std::endl;
#endif
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
#if FSFW_UDP_RCV_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<< "TcWinUdpPollingTask::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 << "TcWinUdpPollingTask::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 TcWinUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::initialize: TC store uninitialized!" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcWinUdpPollingTask::initialize: Invalid TMTC bridge object!" <<
std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
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();
/* The server socket is set up in the bridge intialization. Calling this function here
ensures that it is set up properly in any case*/
serverUdpSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
DWORD timeoutMs = timeoutSeconds * 1000.0;
int result = setsockopt(serverUdpSocket, 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
}
}

2
osal/windows/tcpipHelpers.cpp
View File

@ -1,4 +1,4 @@
#include "tcpipHelpers.h"
#include "../common/tcpipHelpers.h"
#include <FSFWConfig.h>
#include "../../tasks/TaskFactory.h"

130
osal/windows/winTaskHelpers.cpp Normal file
View File

@ -0,0 +1,130 @@
#include <fsfw/osal/windows/winTaskHelpers.h>
#include <mutex>
std::mutex nameMapLock;
std::map<std::thread::id, std::string> taskNameMap;
TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {
return (static_cast<uint16_t>(prioClass) << 16) | static_cast<uint16_t> (prioNumber);
}
void tasks::getWinPriorityParameters(TaskPriority priority,
DWORD& priorityClass, int& priorityNumber) {
PriorityClass classInternal = static_cast<PriorityClass>(priority >> 16 & 0xff);
PriorityNumber numberInternal = static_cast<PriorityNumber>(priority & 0xff);
switch(classInternal) {
case(CLASS_IDLE): {
priorityClass = IDLE_PRIORITY_CLASS;
break;
}
case(CLASS_BELOW_NORMAL): {
priorityClass = BELOW_NORMAL_PRIORITY_CLASS;
break;
}
case(CLASS_NORMAL): {
priorityClass = NORMAL_PRIORITY_CLASS;
break;
}
case(CLASS_ABOVE_NORMAL): {
priorityClass = ABOVE_NORMAL_PRIORITY_CLASS;
break;
}
case(CLASS_HIGH): {
priorityClass = HIGH_PRIORITY_CLASS;
break;
}
case(CLASS_REALTIME): {
priorityClass = REALTIME_PRIORITY_CLASS;
break;
}
default: {
priorityClass = NORMAL_PRIORITY_CLASS;
}
}
switch(numberInternal) {
case(IDLE): {
priorityNumber = THREAD_PRIORITY_IDLE;
break;
}
case(LOWEST): {
priorityNumber = THREAD_PRIORITY_LOWEST;
break;
}
case(BELOW_NORMAL): {
priorityNumber = THREAD_PRIORITY_BELOW_NORMAL;
break;
}
case(NORMAL): {
priorityNumber = THREAD_PRIORITY_NORMAL;
break;
}
case(ABOVE_NORMAL): {
priorityNumber = THREAD_PRIORITY_ABOVE_NORMAL;
break;
}
case(HIGHEST): {
priorityNumber = THREAD_PRIORITY_HIGHEST;
break;
}
case(CRITICAL): {
priorityNumber = THREAD_PRIORITY_TIME_CRITICAL;
break;
}
default: {
priorityNumber = THREAD_PRIORITY_NORMAL;
}
}
}
ReturnValue_t tasks::setTaskPriority(HANDLE nativeHandle, TaskPriority priority) {
/* List of possible priority classes:
https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/nf-processthreadsapi-setpriorityclass
And respective thread priority numbers:
https://docs.microsoft.com/en-us/windows/win32/procthread/scheduling-priorities
*/
DWORD dwPriorityClass = 0;
int nPriorityNumber = 0;
tasks::getWinPriorityParameters(priority, dwPriorityClass, nPriorityNumber);
int result = SetPriorityClass(
reinterpret_cast<HANDLE>(nativeHandle),
dwPriorityClass);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
#endif
}
result = SetThreadPriority(
reinterpret_cast<HANDLE>(nativeHandle),
nPriorityNumber);
if(result != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
<< GetLastError() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
#endif
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
std::lock_guard<std::mutex> lg(nameMapLock);
auto returnPair = taskNameMap.emplace(threadId, taskName);
if(not returnPair.second) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
std::string tasks::getTaskName(std::thread::id threadId) {
std::lock_guard<std::mutex> lg(nameMapLock);
auto resultIter = taskNameMap.find(threadId);
if(resultIter != taskNameMap.end()) {
return resultIter->second;
}
else {
return "Unknown task";
}
}

40
osal/windows/winTaskHelpers.h Normal file
View File

@ -0,0 +1,40 @@
#include "../../tasks/TaskFactory.h"
#include <thread>
#include <map>
#ifdef _WIN32
namespace tasks {
enum PriorityClass: uint16_t {
CLASS_IDLE,
CLASS_BELOW_NORMAL,
CLASS_NORMAL,
CLASS_ABOVE_NORMAL,
CLASS_HIGH,
CLASS_REALTIME
};
enum PriorityNumber: uint16_t {
IDLE,
LOWEST,
BELOW_NORMAL,
NORMAL,
ABOVE_NORMAL,
HIGHEST,
CRITICAL
};
TaskPriority makeWinPriority(PriorityClass prioClass = PriorityClass::CLASS_NORMAL,
PriorityNumber prioNumber = PriorityNumber::NORMAL);
void getWinPriorityParameters(TaskPriority priority, DWORD& priorityClass,
int& priorityNumber);
ReturnValue_t setTaskPriority(HANDLE nativeHandle, TaskPriority priority);
ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
std::string getTaskName(std::thread::id threadId);
}
#endif

16
tasks/TaskFactory.h
View File

@ -22,9 +22,23 @@ public:
/**
* Creates a new periodic task and returns the interface pointer.
* @param name_ Name of the task
* @param taskPriority_ Priority of the task
* @param taskPriority_
* Priority of the task. This value might have different ranges for the various OSALs.
* Linux: Value ranging from 0 to 99 with 99 being the highest value.
* Host: Value can be retrieved by using the #tasks::makeWinPriority function.
* FreeRTOS: Value depends on the FreeRTOS configuration, higher number means higher priority
* RTEMS: Values ranging from 0 to 99 with 99 being the highest value.
*
* @param stackSize_ Stack Size of the task
* This value might have different recommended ranges for the various OSALs.
* Linux: Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value
* Host: Value is ignored for now because the C++ threading abstraction layer is used.
* FreeRTOS: Stack size in bytes. It is recommended to specify at least 1kB of stack for
* FSFW tasks, but the lowest possible size is specified in the FreeRTOSConfig.h file.
* RTEMS: Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value.
*
* @param period_ Period of the task
*
* @param deadLineMissedFunction_ Function to be called if a deadline was missed
* @return PeriodicTaskIF* Pointer to the newly created Task
*/

2
tasks/Typedef.h
View File

@ -2,7 +2,7 @@
#define FRAMEWORK_TASKS_TYPEDEF_H_
typedef const char* TaskName;
typedef uint8_t TaskPriority;
typedef uint32_t TaskPriority;
typedef size_t TaskStackSize;
typedef double TaskPeriod;
typedef void (*TaskDeadlineMissedFunction)();