| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2013/11/17
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| 6 | // filename: Socket_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe pour une Socket_impl
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "Socket_impl.h"
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| 18 | #include "Socket.h"
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| 19 | #include "FrameworkManager.h"
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| 20 | #include <fcntl.h>
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| 21 | #include <cstdlib>
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| 22 | #include <unistd.h>
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| 23 | #include <string.h>
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| 24 | #ifdef __XENO__
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| 25 | #include "config.h"
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| 26 | #endif
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 |
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| 31 | Socket_impl::Socket_impl(const Socket *self, string name, uint16_t port) {
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| 32 | this->self = self;
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| 33 | this->port = port;
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| 34 | this->address = "";
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| 35 | this->broadcast = false;
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| 36 | Init();
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| 37 | }
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| 38 |
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| 39 | Socket_impl::Socket_impl(const Socket *self, string name, string address,
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| 40 | bool broadcast) {
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| 41 | this->self = self;
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| 42 | int pos = address.find(":");
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| 43 | this->address = address.substr(0, pos);
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| 44 | port = atoi(address.substr(pos + 1).c_str());
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| 45 | this->broadcast = broadcast;
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| 46 |
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| 47 | if (pos == 0 || address == "") {
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| 48 | self->Err("address %s is not correct\n", address.c_str());
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| 49 | }
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| 50 | Init();
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| 51 | }
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| 52 |
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| 53 | void Socket_impl::Init(void) {
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| 54 | int yes = 1;
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| 55 |
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| 56 | fd = socket(AF_INET, SOCK_DGRAM, 0); // UDP
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| 57 |
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| 58 | if (broadcast == true) {
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| 59 | if (setsockopt(fd, SOL_SOCKET, SO_BROADCAST, &yes, sizeof(int)) != 0)
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| 60 | self->Err("Setsockopt error\n");
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| 61 | }
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| 62 |
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| 63 | if (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(int)) != 0)
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| 64 | self->Err("Setsockopt error\n");
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| 65 |
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| 66 | if (address == "" || broadcast == true) {
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| 67 | sockaddr_in sin = {0};
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| 68 |
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| 69 | if (broadcast == true) {
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| 70 | struct hostent *hostinfo;
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| 71 |
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| 72 | hostinfo = gethostbyname(this->address.c_str());
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| 73 | if (hostinfo == NULL) {
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| 74 | self->Err("hostinfo error\n");
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| 75 | }
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| 76 | sin.sin_addr = *(in_addr *)hostinfo->h_addr;
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| 77 | } else {
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| 78 | sin.sin_addr.s_addr = INADDR_ANY;
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| 79 | }
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| 80 |
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| 81 | sin.sin_port = htons(port);
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| 82 | sin.sin_family = AF_INET;
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| 83 | if (bind(fd, (sockaddr *)&sin, sizeof sin) == -1) {
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| 84 | self->Err("bind error\n");
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| 85 | }
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| 86 | }
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| 87 |
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| 88 | #ifdef __XENO__
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| 89 | string tmp_name;
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| 90 | int status;
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| 91 | is_running = true;
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| 92 |
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| 93 | // pipe
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| 94 | tmp_name =
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| 95 | getFrameworkManager()->ObjectName() + "-" + self->ObjectName() + "-pipe";
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| 96 | // xenomai limitation
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| 97 | if (tmp_name.size() > 31)
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| 98 | self->Err("rt_pipe_create error (%s is too long)\n", tmp_name.c_str());
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| 99 | #ifdef RT_PIPE_SIZE
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| 100 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
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| 101 | #else
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| 102 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, 0);
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| 103 | #endif
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| 104 | if (status != 0) {
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| 105 | self->Err("rt_pipe_create error (%s)\n", strerror(-status));
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| 106 | }
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| 107 |
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| 108 | // start user side thread
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| 109 | #ifdef NRT_STACK_SIZE
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| 110 | // Initialize thread creation attributes
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| 111 | pthread_attr_t attr;
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| 112 | if (pthread_attr_init(&attr) != 0) {
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| 113 | self->Err("pthread_attr_init error\n");
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| 114 | }
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| 115 | if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
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| 116 | self->Err("pthread_attr_setstacksize error\n");
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| 117 | }
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| 118 | if (pthread_create(&user_thread, &attr, user, (void *)this) < 0) {
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| 119 | self->Err("pthread_create error\n");
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| 120 | }
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| 121 | if (pthread_attr_destroy(&attr) != 0) {
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| 122 | self->Err("pthread_attr_destroy error\n");
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| 123 | }
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| 124 | #else // NRT_STACK_SIZE
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| 125 | if (pthread_create(&user_thread, NULL, user, (void *)this) < 0) {
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| 126 | self->Err("pthread_create error\n");
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| 127 | }
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| 128 | #endif // NRT_STACK_SIZE
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| 129 | #endif //__XENO__
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| 130 |
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| 131 | if (address != "") {
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| 132 | struct hostent *hostinfo;
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| 133 | hostinfo = gethostbyname(address.c_str());
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| 134 | if (hostinfo == NULL) {
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| 135 | self->Err("gethostbyname\n");
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| 136 | }
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| 137 |
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| 138 | sock_in.sin_addr = *(in_addr *)hostinfo->h_addr;
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| 139 | sock_in.sin_port = htons(port);
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| 140 | sock_in.sin_family = AF_INET;
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| 141 | }
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| 142 | }
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| 143 |
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| 144 | Socket_impl::~Socket_impl() {
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| 145 | #ifdef __XENO__
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| 146 | is_running = false;
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| 147 |
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| 148 | pthread_join(user_thread, NULL);
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| 149 | int status = rt_pipe_delete(&pipe);
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| 150 | if (status != 0)
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| 151 | self->Err("rt_pipe_delete error (%s)\n", strerror(-status));
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| 152 |
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| 153 | #endif
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| 154 | close(fd);
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| 155 | }
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| 156 |
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| 157 | void Socket_impl::SendMessage(const char *src, size_t src_len) {
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| 158 | ssize_t written;
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| 159 | string to_send;
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| 160 |
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| 161 | if (broadcast == true) {
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| 162 | to_send = getFrameworkManager()->ObjectName() + ":" + string(src, src_len);
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| 163 | src_len = to_send.size();
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| 164 | src = (char *)to_send.c_str();
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| 165 | }
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| 166 |
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| 167 | #ifdef __XENO__
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| 168 | // Printf("send pipe %s\n",src);
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| 169 | written = rt_pipe_write(&pipe, src, src_len, P_NORMAL);
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| 170 |
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| 171 | if (written < 0) {
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| 172 | self->Err("rt_pipe_write error (%s)\n", strerror(-written));
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| 173 | } else if (written != (ssize_t)src_len) {
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| 174 | self->Err("rt_pipe_write error %i/%i\n", written, to_send.size());
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| 175 | }
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| 176 | #else
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| 177 | written =
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| 178 | sendto(fd, src, src_len, 0, (struct sockaddr *)&sock_in, sizeof(sock_in));
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| 179 | if(written==-1) {
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| 180 | self->Err("sendto error (%s)\n",strerror(-errno));
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| 181 | } else if (written != (ssize_t)src_len) {
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| 182 | self->Err("sendto error %i/%i\n",written,src_len);
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| 183 | }
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| 184 | #endif
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| 185 | }
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| 186 |
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| 187 | void Socket_impl::SendMessage(string message) {
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| 188 | ssize_t written;
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| 189 |
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| 190 | if (broadcast == true)
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| 191 | message = self->Parent()->ObjectName() + ":" + message;
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| 192 | // Printf("SendMessage %s\n",message.c_str());
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| 193 | #ifdef __XENO__
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| 194 | written = rt_pipe_write(&pipe, message.c_str(), message.size(), P_NORMAL);
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| 195 |
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| 196 | if (written < 0) {
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| 197 | self->Err("rt_pipe_write error (%s)\n", strerror(-written));
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| 198 | } else if (written != (ssize_t)message.size()) {
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| 199 | self->Err("rt_pipe_write error %i/%i\n", written, message.size());
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| 200 | }
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| 201 | #else
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| 202 | written = sendto(fd, message.c_str(), message.size(), 0,
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| 203 | (struct sockaddr *)&sock_in, sizeof(sock_in));
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| 204 | if (written != (ssize_t)message.size()) {
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| 205 | self->Err("sendto error\n");
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| 206 | }
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| 207 |
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| 208 | #endif
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| 209 | }
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| 210 |
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| 211 | ssize_t Socket_impl::RecvMessage(char *msg, size_t msg_len, Time timeout,
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| 212 | char *src, size_t *src_len) {
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| 213 | ssize_t nb_read;
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| 214 | char buffer[128];
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| 215 | #ifdef __XENO__
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| 216 | nb_read = rt_pipe_read(&pipe, &buffer, sizeof(buffer), timeout);
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| 217 | #else
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| 218 | socklen_t sinsize = sizeof(sock_in);
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| 219 | struct timeval tv;
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| 220 |
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| 221 | if (timeout != TIME_NONBLOCK) {
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| 222 | int attr = fcntl(fd, F_GETFL, 0);
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| 223 | fcntl(fd, F_SETFL, attr & (~O_NONBLOCK));
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| 224 |
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| 225 | tv.tv_sec = timeout / 1000000000;
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| 226 | timeout = timeout - (timeout / 1000000000) * 1000000000;
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| 227 | tv.tv_usec = timeout / 1000;
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| 228 | if (setsockopt(fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
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| 229 | self->Err("setsockopt SO_RCVTIMEO failed\n");
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| 230 | }
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| 231 | } else {
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| 232 | fcntl(fd, F_SETFL, O_NONBLOCK);
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| 233 | }
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| 234 |
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| 235 | if (broadcast == false) {
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| 236 | nb_read =
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| 237 | recvfrom(fd, buffer, sizeof(buffer), 0, (sockaddr *)&sock_in, &sinsize);
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| 238 | } else {
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| 239 | nb_read = recvfrom(fd, buffer, sizeof(buffer), 0, NULL, NULL);
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| 240 | }
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| 241 | #endif
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| 242 | if (nb_read <= 0) {
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| 243 | return nb_read;
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| 244 | } else {
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| 245 | // printf("%s\n",buffer);
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| 246 | if (broadcast == true) {
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| 247 | int index = -1;
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| 248 | for (int i = 0; i < nb_read; i++) {
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| 249 | if (buffer[i] == ':') {
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| 250 | index = i;
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| 251 | break;
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| 252 | }
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| 253 | }
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| 254 | if (index < 0) {
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| 255 | self->Warn("Malformed message\n");
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| 256 | return -1;
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| 257 | } else if (src_len != NULL && src != NULL) {
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| 258 | if (index + 1 > (int)(*src_len) &&
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| 259 | src != NULL) { //+1 pour inserer un 0)
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| 260 | self->Warn("insufficent src size\n");
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| 261 | return -1;
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| 262 | }
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| 263 | } else if (nb_read - index - 1 + 1 >
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| 264 | (int)msg_len) { //+1 pour inserer un 0
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| 265 | self->Warn("insufficent msg size (%i/%i)\n", nb_read - index - 1 + 1,
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| 266 | msg_len);
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| 267 | return -1;
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| 268 | }
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| 269 | if (src != NULL) {
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| 270 | memcpy(src, buffer, index);
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| 271 | src[index] = 0;
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| 272 | }
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| 273 | memcpy(msg, &buffer[index + 1], nb_read - index - 1);
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| 274 | msg[nb_read - index - 1] = 0;
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| 275 | return nb_read - index;
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| 276 | } else {
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| 277 | if (nb_read > (int)msg_len) {
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| 278 | self->Warn("insufficent msg size (%i/%i)\n", nb_read, msg_len);
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| 279 | return -1;
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| 280 | }
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| 281 | memcpy(msg, buffer, nb_read);
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| 282 | return nb_read;
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| 283 | }
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| 284 | }
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| 285 | }
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| 286 |
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| 287 | #ifdef __XENO__
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| 288 | void *Socket_impl::user(void *arg) {
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| 289 | Socket_impl *caller = (Socket_impl *)arg;
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| 290 | int pipe_fd = -1;
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| 291 | string devname;
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| 292 |
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| 293 | devname = NRT_PIPE_PATH + getFrameworkManager()->ObjectName() + "-" +
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| 294 | caller->self->ObjectName() + "-pipe";
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| 295 | while (pipe_fd < 0) {
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| 296 | pipe_fd = open(devname.c_str(), O_RDWR);
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| 297 | if (pipe_fd < 0 && errno != ENOENT)
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| 298 | caller->self->Err("open pipe_fd error (%s)\n", strerror(-errno));
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| 299 | usleep(1000);
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| 300 | }
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| 301 |
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| 302 | while (caller->is_running == true) {
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| 303 | fd_set set;
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| 304 | struct timeval timeout;
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| 305 | int rv;
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| 306 |
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| 307 | FD_ZERO(&set); // clear the set
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| 308 | FD_SET(caller->fd, &set); // add our file descriptor to the set
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| 309 | FD_SET(pipe_fd, &set); // add our file descriptor to the set
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| 310 |
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| 311 | timeout.tv_sec = 0;
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| 312 | timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
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| 313 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
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| 314 |
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| 315 | if (rv == -1) {
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| 316 | caller->self->Err("select error\n"); // an error occured
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| 317 | } else if (rv == 0) {
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| 318 | // printf("timeout\n");
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| 319 | } else {
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| 320 | ssize_t nb_read, nb_write;
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| 321 | char buffer[1024];
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| 322 |
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| 323 | if (FD_ISSET(caller->fd, &set)) {
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| 324 | socklen_t sinsize = sizeof(caller->sock_in);
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| 325 | if (caller->broadcast == false) {
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| 326 | nb_read = recvfrom(caller->fd, buffer, sizeof(buffer), 0,
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| 327 | (sockaddr *)&(caller->sock_in), &sinsize);
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| 328 | } else {
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| 329 | nb_read = recvfrom(caller->fd, buffer, sizeof(buffer), 0, NULL, NULL);
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| 330 | }
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| 331 | if (nb_read < 0) {
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| 332 | caller->self->Err("recvfrom error\n");
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| 333 | }
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| 334 | // printf("user %s\n",buffer);
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| 335 | // on ne garde que les messages venant pas de soi meme
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| 336 | if (caller->broadcast == false ||
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| 337 | (caller->broadcast == true &&
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| 338 | getFrameworkManager()->ObjectName().compare(
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| 339 | 0, getFrameworkManager()->ObjectName().size(), buffer,
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| 340 | getFrameworkManager()->ObjectName().size()) != 0)) {
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| 341 | nb_write = write(pipe_fd, buffer, nb_read);
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| 342 | if (nb_write != nb_read) {
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| 343 | caller->self->Err("write error\n");
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| 344 | }
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| 345 | } else {
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| 346 | // printf("self %s\n",buffer);
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| 347 | }
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| 348 | }
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| 349 | if (FD_ISSET(pipe_fd, &set)) {
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| 350 | nb_read = read(pipe_fd, buffer, sizeof(buffer));
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| 351 | // printf("read pipe %i %s\n",nb_read,buffer);
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| 352 | if (nb_read > 0) {
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| 353 | // printf("send %s\n",buffer);
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| 354 | nb_write = sendto(caller->fd, buffer, nb_read, 0,
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| 355 | (struct sockaddr *)&(caller->sock_in),
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| 356 | sizeof(caller->sock_in));
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| 357 | if (nb_write != nb_read) {
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| 358 | caller->self->Err("sendto error\n");
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| 359 | }
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| 360 | }
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| 361 | }
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| 362 | }
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| 363 | }
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| 364 |
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| 365 | close(pipe_fd);
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| 366 | pthread_exit(0);
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| 367 | }
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| 368 | #endif
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