| 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 | #include "UdtSocket.h"
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| 6 | #include <stdio.h>
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| 7 | #include <stdlib.h>
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| 8 | #include <QApplication>
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| 9 | #include <QtEndian>
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| 10 | #include <QDir>
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| 11 | #include <QDate>
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| 12 | #include "file_ui.h"
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| 13 | #include "communication.h"
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| 14 |
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| 15 | #ifndef WIN32
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| 16 | #include <arpa/inet.h>
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| 17 | #else
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| 18 | #include <winsock2.h>
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| 19 | #include <ws2tcpip.h>
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| 20 | #endif
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| 21 |
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| 22 | using namespace std;
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| 23 |
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| 24 | UdtSocket::UdtSocket(UDTSOCKET file_socket,UDTSOCKET com_socket,QString name): QObject() {
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| 25 | this->file_socket=file_socket;
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| 26 | this->com_socket=com_socket;
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| 27 | this->name=name;
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| 28 | stop=false;
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| 29 | file_dialog=new file_ui();
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| 30 |
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| 31 | bool blocking = true;
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| 32 | UDT::setsockopt(file_socket, 0, UDT_RCVSYN, &blocking, sizeof(bool));
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| 33 |
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| 34 | heartbeat_timer = new QTimer(this);
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| 35 | connect(heartbeat_timer, SIGNAL(timeout()), this, SLOT(heartbeat()));
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| 36 | heartbeat_timer->start(200);
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| 37 | }
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| 38 |
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| 39 | UdtSocket::~UdtSocket() {
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| 40 | heartbeat_timer->stop();
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| 41 |
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| 42 | UDT::close(file_socket);
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| 43 | UDT::close(com_socket);
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| 44 |
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| 45 | file_dialog->deleteLater();
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| 46 | }
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| 47 |
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| 48 | //send signal to uav, to check connectivity through a watchdog
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| 49 | //this is necessary because we use udt (udp based), and we cannot check disconnection of ground station
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| 50 | void UdtSocket::heartbeat(void) {
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| 51 | char data=WATCHDOG_HEADER;
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| 52 | write(&data,1);
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| 53 | }
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| 54 |
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| 55 | void UdtSocket::kill(void) {
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| 56 | printf("disconnected\n");
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| 57 | stop=true;
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| 58 | deleteLater();
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| 59 | }
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| 60 |
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| 61 | void UdtSocket::handleConnections(void) {
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| 62 | while(!stop) {
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| 63 | int eid = UDT::epoll_create();
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| 64 | if(eid<0) {
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| 65 | printf("epoll_create error: %s\n",UDT::getlasterror().getErrorMessage());
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| 66 | }
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| 67 |
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| 68 | if(UDT::epoll_add_usock(eid,file_socket)<0) {
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| 69 | if(UDT::getlasterror().getErrorCode()==5004) {
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| 70 | printf("epoll_add_usock\n");
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| 71 | break;
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| 72 | } else {
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| 73 | printf("epoll_add_usock error: %s\n",UDT::getlasterror().getErrorMessage());
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| 74 | }
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| 75 | }
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| 76 | if(UDT::epoll_add_usock(eid,com_socket)<0) {
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| 77 | if(UDT::getlasterror().getErrorCode()==5004) {
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| 78 | printf("epoll_add_usock\n");
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| 79 | break;
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| 80 | } else {
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| 81 | printf("epoll_add_usock error: %s\n",UDT::getlasterror().getErrorMessage());
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| 82 | }
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| 83 | }
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| 84 |
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| 85 | set<UDTSOCKET> readfds;
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| 86 |
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| 87 | int rv=UDT::epoll_wait(eid, &readfds,NULL, 10) ;
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| 88 |
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| 89 | if(rv == -1) {
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| 90 | if(UDT::getlasterror().getErrorCode()!=6003) printf("prob %i\n",UDT::getlasterror().getErrorCode());
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| 91 | //printf("wait\n");
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| 92 | } else if(rv == 0) {
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| 93 | printf("timeout\n"); // a timeout occured
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| 94 | } else {
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| 95 | /*
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| 96 | if(UDT::getlasterror().getErrorCode()==2001) {
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| 97 | UDT::epoll_release(eid);
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| 98 | }*/
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| 99 | for (set<UDTSOCKET>::iterator i = readfds.begin(); i != readfds.end(); i++) {
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| 100 | //printf("a\n");
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| 101 | if(*i==file_socket) receiveFile();
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| 102 | if(*i==com_socket) receiveData();
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| 103 | }
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| 104 | }
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| 105 |
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| 106 | UDT::epoll_remove_usock(eid,file_socket);
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| 107 | UDT::epoll_remove_usock(eid,com_socket);
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| 108 | UDT::epoll_release(eid);
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| 109 |
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| 110 | QCoreApplication::processEvents();
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| 111 | }
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| 112 | kill();
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| 113 | }
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| 114 |
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| 115 | void UdtSocket::receiveFile(void) {
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| 116 | char* recv_buf;
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| 117 | int bytesRead;
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| 118 | static bool flag_new_seq=true;
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| 119 | static QString folder_name;
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| 120 |
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| 121 | //receive file info
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| 122 | recv_buf= (char*)malloc(1024);
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| 123 | bytesRead = UDT::recvmsg(file_socket,recv_buf,1024);
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| 124 |
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| 125 | if(bytesRead<=0) {
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| 126 | free(recv_buf);
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| 127 | return;
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| 128 | }
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| 129 |
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| 130 | int size;
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| 131 | memcpy(&size,&recv_buf[1],sizeof(int));
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| 132 | if(recv_buf[0]==FILE_INFO_BIG_ENDIAN) size=qFromBigEndian(size);
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| 133 |
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| 134 | //printf("file_ui recu %i %x\n",bytesRead,recv_buf[0]);
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| 135 | if((recv_buf[0]==FILE_INFO_LITTLE_ENDIAN || recv_buf[0]==FILE_INFO_BIG_ENDIAN) && size>0) {
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| 136 | if(flag_new_seq==true) {
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| 137 | //create directory for storage
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| 138 | QDateTime dateTime = QDateTime::currentDateTime();
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| 139 | folder_name = dateTime.toString("yyyyMMdd_hhmm")+ "_" + name;
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| 140 | if(QDir().exists(folder_name)==true) {
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| 141 | folder_name = dateTime.toString("yyyyMMdd_hhmm_ss")+ "_" + name;
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| 142 | }
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| 143 | QDir().mkdir(folder_name);
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| 144 |
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| 145 | flag_new_seq=false;
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| 146 | file_dialog->log("Creating directory " +folder_name);
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| 147 | }
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| 148 |
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| 149 | QString file_name= QString::fromAscii((const char*)&recv_buf[5],bytesRead-5);
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| 150 | QString file_path=folder_name + "/" + file_name;
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| 151 | file_dialog->log(QString("receiving %1 (%2 bytes)").arg(file_name).arg(size));
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| 152 | QFile fichier(file_path);
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| 153 |
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| 154 | if(!fichier.open(QIODevice::WriteOnly)) {
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| 155 | file_dialog->log(" could not write to file!");
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| 156 | } else {
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| 157 | //receive file
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| 158 | recv_buf= (char*)realloc((void*)recv_buf,size);
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| 159 | bytesRead = UDT::recvmsg(file_socket,recv_buf,size);
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| 160 | if(bytesRead!=size) {
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| 161 | file_dialog->log(QString(" error receiving file! (%1/%2)").arg(bytesRead).arg(size));
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| 162 | free(recv_buf);
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| 163 | return;
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| 164 | } else {
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| 165 | file_dialog->log(" ok");
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| 166 | }
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| 167 |
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| 168 | QDataStream stream(&fichier);
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| 169 | stream.writeRawData(recv_buf,size);
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| 170 | fichier.close();
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| 171 |
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| 172 | file_dialog->addFile(file_path);
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| 173 | }
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| 174 |
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| 175 | free(recv_buf);
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| 176 | } else if(recv_buf[0]==END) {
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| 177 | file_dialog->endOfFiles();
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| 178 | flag_new_seq=true;
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| 179 | }
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| 180 | }
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| 181 |
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| 182 | void UdtSocket::receiveData(void) {
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| 183 | while(1) {
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| 184 | int buf_size;
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| 185 | int opt_size;
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| 186 | UDT::getsockopt(com_socket,0,UDT_RCVBUF,&buf_size,&opt_size);
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| 187 |
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| 188 | char* buf=(char*)malloc(buf_size);
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| 189 | int size;
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| 190 | size = UDT::recvmsg(com_socket,buf, buf_size);
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| 191 | buf=(char*)realloc(buf,size+1);
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| 192 |
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| 193 | if(size>0) {
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| 194 | buf[size]=0;
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| 195 | emit dataReady(buf,size+1);
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| 196 | } else {
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| 197 | //if(UDT::getlasterror().getErrorCode()!=6002) printf("udt socket: %s\n",UDT::getlasterror().getErrorMessage());
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| 198 | free(buf);
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| 199 | break;
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| 200 | }
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| 201 | }
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| 202 | }
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| 203 |
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| 204 | void UdtSocket::write(const char* buf, qint64 size) {
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| 205 | //printf("write\n%s\n",buf);
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| 206 | qint64 sent=UDT::sendmsg(com_socket,buf,size, -1, true);
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| 207 | if(sent!=size) {
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| 208 | printf("erreur envoi: %s\n",UDT::getlasterror().getErrorMessage());
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| 209 | if(UDT::getlasterror().getErrorCode()==2001) {
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| 210 | stop=true;
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| 211 | }
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| 212 | }
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| 213 | }
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