Merge branch 'master' into gaisser_serialize_c11_update

This commit is contained in:
Robin Müller 2020-09-10 15:06:05 +02:00
commit de46cf5b08
8 changed files with 604 additions and 139 deletions

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@ -90,3 +90,10 @@ double timevalOperations::toDouble(const timeval timeval) {
double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
return result / 1000000.;
}
timeval timevalOperations::toTimeval(const double seconds) {
timeval tval;
tval.tv_sec = seconds;
tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
return tval;
}

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@ -41,6 +41,7 @@ namespace timevalOperations {
* @return seconds
*/
double toDouble(const timeval timeval);
timeval toTimeval(const double seconds);
}
#endif /* TIMEVALOPERATIONS_H_ */

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@ -0,0 +1,138 @@
#include "TcUnixUdpPollingTask.h"
#include "../../globalfunctions/arrayprinter.h"
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) {
// Poll for new UDP datagrams in permanent loop.
while(1) {
//! Sender Address is cached here.
struct sockaddr_in senderAddress;
socklen_t senderSockLen = 0;
ssize_t bytesReceived = recvfrom(serverUdpSocket,
receptionBuffer.data(), frameSize, receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
if(bytesReceived < 0) {
// handle error
sif::error << "TcSocketPollingTask::performOperation: Reception"
"error." << std::endl;
handleReadError();
continue;
}
// sif::debug << "TcSocketPollingTask::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 TcUnixUdpPollingTask::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 TcUnixUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
serverUdpSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
// Initialize the destination after task creation. This ensures
// that the destination will be set in the TMTC bridge.
targetTcDestination = tmtcBridge->getRequestQueue();
return HasReturnvaluesIF::RETURN_OK;
}
void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
timeval tval;
tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
&tval, sizeof(receptionTimeout));
if(result == -1) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
}
}
// TODO: sleep after error detection to prevent spam
void TcUnixUdpPollingTask::handleReadError() {
switch(errno) {
case(EAGAIN): {
// todo: When working in timeout mode, this will occur more often
// and is not an error.
sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
<< std::endl;
break;
}
default: {
sif::error << "TcUnixUdpPollingTask::handleReadError: "
<< strerror(errno) << std::endl;
}
}
}

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@ -0,0 +1,67 @@
#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);
void handleReadError();
};
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

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@ -0,0 +1,170 @@
#include "TmTcUnixUdpBridge.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../ipc/MutexHelper.h"
#include <errno.h>
#include <arpa/inet.h>
TmTcUnixUdpBridge::TmTcUnixUdpBridge(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();
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 < 0) {
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
" UDP socket!" << std::endl;
handleSocketError();
return;
}
serverAddress.sin_family = AF_INET;
// Accept packets from any interface.
//serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0");
serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
serverAddress.sin_port = htons(setServerPort);
serverAddressLen = sizeof(serverAddress);
setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &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<struct sockaddr*>(&serverAddress),
serverAddressLen);
if(result == -1) {
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
"local port " << setServerPort << " to server socket!"
<< std::endl;
handleBindError();
return;
}
}
TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
}
ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
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, data, dataLen, flags,
reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
if(bytesSent < 0) {
sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
<< std::endl;
handleSendError();
}
// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
// " sent." << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcUnixUdpBridge::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 TmTcUnixUdpBridge::handleSocketError() {
// See: https://man7.org/linux/man-pages/man2/socket.2.html
switch(errno) {
case(EACCES):
case(EINVAL):
case(EMFILE):
case(ENFILE):
case(EAFNOSUPPORT):
case(ENOBUFS):
case(ENOMEM):
case(EPROTONOSUPPORT):
sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
<< " with " << strerror(errno) << std::endl;
break;
default:
sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
<< std::endl;
break;
}
}
void TmTcUnixUdpBridge::handleBindError() {
// See: https://man7.org/linux/man-pages/man2/bind.2.html
switch(errno) {
case(EACCES): {
/*
Ephermeral ports can be shown with following command:
sysctl -A | grep ip_local_port_range
*/
sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
"Ports 1-1024 are reserved on UNIX systems and require root "
"rights while ephermeral ports should not be used as well."
<< std::endl;
}
break;
case(EADDRINUSE):
case(EBADF):
case(EINVAL):
case(ENOTSOCK):
case(EADDRNOTAVAIL):
case(EFAULT):
case(ELOOP):
case(ENAMETOOLONG):
case(ENOENT):
case(ENOMEM):
case(ENOTDIR):
case(EROFS): {
sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
<< " with " << strerror(errno) << std::endl;
break;
}
default:
sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
<< std::endl;
break;
}
}
void TmTcUnixUdpBridge::handleSendError() {
switch(errno) {
default:
sif::error << "TmTcUnixBridge::handleSendError: "
<< strerror(errno) << std::endl;
}
}

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@ -0,0 +1,48 @@
#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 constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
TmTcUnixUdpBridge(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~ TmTcUnixUdpBridge();
void checkAndSetClientAddress(sockaddr_in clientAddress);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
int serverSocket = 0;
const int serverSocketOptions = 0;
struct sockaddr_in clientAddress;
socklen_t clientAddressLen = 0;
struct sockaddr_in serverAddress;
socklen_t 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 /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */

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@ -1,7 +1,7 @@
#include "TmTcBridge.h"
#include "../tmtcservices/TmTcBridge.h"
#include "../ipc/QueueFactory.h"
#include "AcceptsTelecommandsIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
@ -66,6 +66,8 @@ ReturnValue_t TmTcBridge::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmFifo = new DynamicFIFO<store_address_t>(maxNumberOfPacketsStored);
tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
return RETURN_OK;
}
@ -90,102 +92,122 @@ ReturnValue_t TmTcBridge::handleTc() {
}
ReturnValue_t TmTcBridge::handleTm() {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = handleTmQueue();
if(result != RETURN_OK) {
sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
return RETURN_FAILED;
sif::error << "TmTcBridge::handleTm: Error handling TM queue!"
<< std::endl;
status = result;
}
if(tmStored and communicationLinkUp) {
if(tmStored and communicationLinkUp and
(packetSentCounter < sentPacketsPerCycle)) {
result = handleStoredTm();
if(result != RETURN_OK) {
sif::error << "TmTcBridge::handleTm: Error handling stored TMs!"
<< std::endl;
status = result;
}
return result;
}
packetSentCounter = 0;
return status;
}
ReturnValue_t TmTcBridge::handleTmQueue() {
TmTcMessage message;
const uint8_t* data = nullptr;
size_t size = 0;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
result == HasReturnvaluesIF::RETURN_OK;
result = tmTcReceptionQueue->receiveMessage(&message))
{
if(communicationLinkUp == false) {
result = storeDownlinkData(&message);
return result;
//sif::info << (int) packetSentCounter << std::endl;
if(communicationLinkUp == false or
packetSentCounter >= sentPacketsPerCycle) {
storeDownlinkData(&message);
continue;
}
result = tmStore->getData(message.getStorageId(), &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
continue;
}
result = sendTm(data, size);
if (result != RETURN_OK) {
sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
tmStore->deleteData(message.getStorageId());
return result;
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
else {
tmStore->deleteData(message.getStorageId());
packetSentCounter++;
}
return RETURN_OK;
}
return status;
}
ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
store_address_t storeId = 0;
if(tmFifo.full()) {
sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
<< "of stored packet IDs reached! "
<< "Overwriting old data" << std::endl;
tmFifo.retrieve(&storeId);
if(tmFifo->full()) {
sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number "
<< "of stored packet IDs reached! " << std::endl;
if(overwriteOld) {
tmFifo->retrieve(&storeId);
tmStore->deleteData(storeId);
}
else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
storeId = message->getStorageId();
tmFifo.insert(storeId);
tmFifo->insert(storeId);
tmStored = true;
return RETURN_OK;
}
ReturnValue_t TmTcBridge::handleStoredTm() {
uint8_t counter = 0;
ReturnValue_t result = RETURN_OK;
while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
//info << "TMTC Bridge: Sending stored TM data. There are "
// << (int) fifo.size() << " left to send\r\n" << std::flush;
ReturnValue_t status = RETURN_OK;
while(not tmFifo->empty() and packetSentCounter < sentPacketsPerCycle) {
//sif::info << "TMTC Bridge: Sending stored TM data. There are "
// << (int) tmFifo->size() << " left to send\r\n" << std::flush;
store_address_t storeId;
const uint8_t* data = nullptr;
size_t size = 0;
tmFifo.retrieve(&storeId);
result = tmStore->getData(storeId, &data, &size);
sendTm(data,size);
tmFifo->retrieve(&storeId);
ReturnValue_t result = tmStore->getData(storeId, &data, &size);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
result = sendTm(data,size);
if(result != RETURN_OK) {
sif::error << "TMTC Bridge: Could not send stored downlink data"
<< std::endl;
result = RETURN_FAILED;
status = result;
}
counter ++;
packetSentCounter ++;
if(tmFifo.empty()) {
if(tmFifo->empty()) {
tmStored = false;
}
tmStore->deleteData(storeId);
}
return result;
return status;
}
void TmTcBridge::registerCommConnect() {
if(not communicationLinkUp) {
//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
//sif::info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
communicationLinkUp = true;
}
}
void TmTcBridge::registerCommDisconnect() {
//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
//sif::info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
if(communicationLinkUp) {
communicationLinkUp = false;
}
@ -209,3 +231,7 @@ MessageQueueId_t TmTcBridge::getRequestQueue() {
// Default implementation: Relay TC messages to TC distributor directly.
return tmTcReceptionQueue->getDefaultDestination();
}
void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) {
this->overwriteOld = overwriteOld;
}

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@ -1,15 +1,15 @@
#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
#include "../objectmanager/SystemObject.h"
#include "AcceptsTelemetryIF.h"
#include "../tmtcservices/AcceptsTelemetryIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "AcceptsTelecommandsIF.h"
#include "../container/FIFO.h"
#include "TmTcMessage.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../container/DynamicFIFO.h"
#include "../tmtcservices/TmTcMessage.h"
class TmTcBridge : public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
@ -46,6 +46,12 @@ public:
*/
ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
/**
* This will set up the bridge to overwrite old data in the FIFO.
* @param overwriteOld
*/
void setFifoToOverwriteOldData(bool overwriteOld);
virtual void registerCommConnect();
virtual void registerCommDisconnect();
@ -86,6 +92,8 @@ protected:
//! by default, so telemetry will be handled immediately.
bool communicationLinkUp = true;
bool tmStored = false;
bool overwriteOld = true;
uint8_t packetSentCounter = 0;
/**
* @brief Handle TC reception
@ -145,7 +153,7 @@ protected:
* This fifo can be used to store downlink data
* which can not be sent at the moment.
*/
FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
DynamicFIFO<store_address_t>* tmFifo = nullptr;
uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
};