Split up FIFO into StaticFIFO and normale FIFO

osal/linux/TcUnixUdpPollingTask.cpp

@@ -1,16 +1,80 @@
 #include <framework/osal/linux/TcUnixUdpPollingTask.h>
 
 TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
-		object_id_t tmtcUnixUdpBridge): SystemObject(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);
+	}
+
+	// Set receive timeout.
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			&receptionTimeout, sizeof(receptionTimeout));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting receive"
+				"timeout failed with " << strerror(errno) << std::endl;
+		return;
+	}
 }
 
 TcSocketPollingTask::~TcSocketPollingTask() {
 }
 
 ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new data permanently. The call will block until the specified
+	// length of bytes has been received or a timeout occured.
+	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: recvfrom "
+					"failed with " << strerror(errno) << std::endl;
+			continue;
+		}
+		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+				<< " bytes received" << std::endl;
+
+		ReturnValue_t result = handleSuccessfullTcRead();
+		tmtcBridge->checkAndSetClientAddress(senderAddress);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcSocketPollingTask::initialize() {
+	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 TcSocketPollingTask::handleSuccessfullTcRead() {
+
 	return HasReturnvaluesIF::RETURN_OK;
 }

osal/linux/TcUnixUdpPollingTask.h

@@ -1,8 +1,11 @@
 #ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #include <framework/objectmanager/SystemObject.h>
+#include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/tasks/ExecutableObjectIF.h>
+
 #include <sys/socket.h>
+#include <vector>
 
 /**
  * @brief 	This class can be used to implement the polling of a Unix socket,
@@ -17,15 +20,34 @@ class TcSocketPollingTask: public SystemObject,
 		public ExecutableObjectIF {
 	friend class TmTcUnixUdpBridge;
 public:
-	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge);
+	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};
+
+	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+			size_t frameSize = 0, double timeoutSeconds = -1);
 	virtual~ TcSocketPollingTask();
 
 	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 	virtual ReturnValue_t initialize() override;
+
 private:
-	//! Sender Address is cached here.
-	const struct sockaddr senderAddress;
-};
+	//! TMTC bridge is cached.
+	object_id_t tmtcBridgeId = objects::NO_OBJECT;
+	TmTcUnixUdpBridge* tmtcBridge = nullptr;
+	//! 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();
 
 
 

osal/linux/TmTcUnixUdpBridge.cpp

@@ -1,11 +1,14 @@
 #include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <errno.h>
+#include <framework/ipc/MutexHelper.h>
 
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		object_id_t ccsdsPacketDistributor, uint16_t serverPort,
 		uint16_t clientPort):
 		TmTcBridge(objectId, ccsdsPacketDistributor) {
+	mutex = MutexFactory::instance()->createMutex();
+
 	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
 	if(serverPort != 0xFFFF) {
 		setServerPort = serverPort;
@@ -16,6 +19,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		setClientPort = clientPort;
 	}
 
+	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
 	serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
 	if(socket < 0) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
@@ -26,14 +30,16 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	}
 
 	serverAddress.sin_family = AF_INET;
+	// Accept packets from any interface.
 	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
 	serverAddress.sin_port = htons(setServerPort);
 	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
 			sizeof(serverSocketOptions));
 
+	serverSocketLen = sizeof(serverAddress);
 	int result = bind(serverSocket,
 			reinterpret_cast<struct sockaddr*>(&serverAddress),
-			sizeof(serverAddress));
+			serverSocketLen);
 	if(result == -1) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
 				"local port " << setServerPort << " to server socket!"
@@ -81,6 +87,17 @@ void TmTcUnixUdpBridge::handleSocketError() {
 	}
 }
 
+void TmTcUnixUdpBridge::setTimeout(float timeoutSeconds) {
+}
+
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+	MutexHelper lock(mutex, 10);
+	// Set new IP address if it has changed.
+	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+	}
+}
+
 void TmTcUnixUdpBridge::handleBindError() {
 	// See: https://man7.org/linux/man-pages/man2/bind.2.html
 	switch(errno) {

osal/linux/TmTcUnixUdpBridge.h

@@ -7,16 +7,20 @@
 #include <netinet/udp.h>
 
 class TmTcUnixUdpBridge: public TmTcBridge {
+	friend class TcSocketPollingTask;
 public:
 	// The ports chosen here should not be used by any other process.
 	// List of used ports on Linux: /etc/services
-	static constexpr int DEFAULT_UDP_SERVER_PORT = 7301;
-	static constexpr int DEFAULT_UDP_CLIENT_PORT = 7302;
+	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 ccsdsPacketDistributor,
 			 uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
+	void setTimeout(float timeoutSeconds);
+	void checkAndSetClientAddress(sockaddr_in clientAddress);
+
 protected:
 	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
 			size_t * size) override;
@@ -24,8 +28,16 @@ protected:
 private:
 	int serverSocket = 0;
 	const int serverSocketOptions = 0;
+
 	struct sockaddr_in clientAddress;
+	socklen_t clientSocketLen = 0;
+
 	struct sockaddr_in serverAddress;
+	socklen_t serverSocketLen = 0;
+
+	//! Access to the client address is mutex protected as it is set
+	//! by another task.
+	MutexIF* mutex;
 
 	void handleSocketError();
 	void handleBindError();