source: flair-src/trunk/tools/FlairGCS/src/UdtSocket.cpp@ 242

Last change on this file since 242 was 242, checked in by Sanahuja Guillaume, 7 years ago

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File size: 8.5 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5#include "UdtSocket.h"
6#include "ConnectionLayout.h"
7#include <stdio.h>
8#include <stdlib.h>
9#include <QApplication>
10#include <QtEndian>
11#include <QDir>
12#include <QDate>
13#include "communication.h"
14#include <zlib.h>
15#include <assert.h>
16#include <QThread>
17#define COMPRESS_CHUNK 1024*100
18
19#ifndef WIN32
20#include <arpa/inet.h>
21#else
22#include <winsock2.h>
23#include <ws2tcpip.h>
24#endif
25
26#define COMPUTE_UDT_STATS_TIMER 2000
27#define HEARTBEAT_TIMER 200
28
29using namespace std;
30
31UdtSocket::UdtSocket(UDTSOCKET socket,QString name): QObject() {
32 this->socket = socket;
33 this->name=name;
34 stop = false;
35 destroySocket=true;
36 socketType=unknown;
37 total_received=0;
38
39 bool blocking = false;
40 if (UDT::setsockopt(socket, 0, UDT_RCVSYN, &blocking, sizeof(bool)) != 0)
41 printf("UDT::setsockopt error (UDT_RCVSYN)\n");
42
43 heartbeat_timer = new QTimer(this);
44 connect(heartbeat_timer, SIGNAL(timeout()), this, SLOT(heartbeat()));
45 heartbeat_timer->start(HEARTBEAT_TIMER);
46
47 udtstats_timer = new QTimer(this);
48 connect(udtstats_timer, SIGNAL(timeout()), this, SLOT(getUTDStats()));
49 udtstats_timer->start(COMPUTE_UDT_STATS_TIMER);
50}
51
52UdtSocket::~UdtSocket() {
53 heartbeat_timer->stop();
54 udtstats_timer->stop();
55 if(destroySocket) UDT::close(socket);
56}
57
58void UdtSocket::setName(QString name) {
59 printf(" %s is %s\n",this->name.toLocal8Bit().constData(),name.toLocal8Bit().constData());
60 this->name=name;
61}
62
63// send signal to uav, to check connectivity through a watchdog
64// this is necessary because we use udt (udp based), and we cannot check
65// disconnection of ground station
66void UdtSocket::heartbeat(void) {
67 char data = WATCHDOG_HEADER;
68 quint64 sent=write(&data, 1,HEARTBEAT_TIMER,false);
69 if (sent != 1 && UDT::getlasterror().getErrorCode() == 2001) {
70 heartbeat_timer->stop();
71 }
72
73}
74
75void UdtSocket::getUTDStats(void) {
76 float rxRate=((float)total_received/(COMPUTE_UDT_STATS_TIMER/1000))/1000;//in Ko/s
77 total_received=0;
78
79 UDT::TRACEINFO perf;
80 if (UDT::ERROR == UDT::perfmon(socket, &perf)) {
81 printf("perfmon: %s\n",UDT::getlasterror().getErrorMessage());
82 }/* else {
83 printf("%s socket stats:\n",name.toLocal8Bit().constData());
84 printf("total number of sent packets, including retransmissions: %i\n",perf.pktSentTotal);
85 printf("total number of received packets: %i\n",perf.pktRecvTotal);
86 printf("total number of lost packets, measured in the sending side: %i\n",perf.pktSndLossTotal);
87 printf("total number of lost packets, measured in the receiving side: %i\n",perf.pktRcvLossTotal);
88 printf("total number of retransmitted packets, measured in the sending side: %i\n",perf.pktRetransTotal);
89 printf("total number of sent ACK packets: %i\n",perf.pktSentACKTotal);
90 printf("total number of received ACK packets: %i\n",perf.pktRecvACKTotal);
91 printf("total number of sent NAK packets: %i\n",perf.pktSentNAKTotal);
92 printf("total number of received NAK packets: %i\n",perf.pktRecvNAKTotal);
93 printf("round trip time: %fms\n",perf.msRTT);
94
95 }*/
96 stats=QString("rx rate %1kB/s, round trip %2ms, lost packets %3").arg(rxRate,0,'f',3).arg(perf.msRTT,0,'f',3).arg(perf.pktSndLossTotal);
97 UDTStats(stats);
98
99}
100
101QString UdtSocket::getUDTStats() {
102 return stats;
103}
104
105void UdtSocket::kill(void) {
106 stop = true;
107 deleteLater();
108}
109
110void UdtSocket::receiveData(void) {
111 int buf_size;
112 int opt_size;
113 UDT::getsockopt(socket, 0, UDT_RCVBUF, &buf_size, &opt_size);
114 char *buf = (char *)malloc(buf_size);
115 if (!buf) {
116 printf("error malloc UdtSocket::receiveData buffer\n");
117 return;
118 }
119 char *uncompressbuf=(char *)malloc(COMPRESS_CHUNK);
120 if (!uncompressbuf) {
121 printf("error malloc UdtSocket::receiveData uncompress buffer\n");
122 free(buf);
123 return;
124 }
125 //fprintf(stderr,"receiveData %x\n",thread());
126
127 while (!stop) {
128 QCoreApplication::processEvents();
129
130 //we need to use epoll?
131 //tests are showing that UDT::recvmsg is waiting for the entire timeout before returning
132 //note that in flair::core the behaviour of UDT::recvmsg timeout is as expected
133 //is it a difference between client and server??
134 //tests also show that we need to recreate the eid every time, otherwise wait returns immediately
135 int eid = UDT::epoll_create();
136 if (eid < 0) {
137 printf("%s: epoll_create error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
138 }
139
140 if (UDT::epoll_add_usock(eid, socket) < 0) {
141 if (UDT::getlasterror().getErrorCode() == 5004) {
142 printf("disconnected from %s\n",name.toLocal8Bit().constData());
143 heartbeat_timer->stop();
144 deleteLater();
145 stop=true;;
146 } else {
147 printf("%s: epoll_add_usock error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
148 }
149 }
150
151 int num = 1;
152 UDTSOCKET readfds;
153 int rv = UDT::epoll_wait2(eid, &readfds, &num,NULL, NULL,100);
154
155 if (rv == -1) {
156 if (UDT::getlasterror().getErrorCode() != 6003)
157 printf("prob %i\n", UDT::getlasterror().getErrorCode());
158 } else if(readfds==socket && num==1 && rv==1) {
159
160 int size=UDT::recvmsg(socket, buf, buf_size);
161 if (size > 0) {
162 total_received+=size;
163
164 switch ((unsigned char)buf[0]) {
165 case ZLIB_HEADER: {
166 ssize_t out_size;
167 uncompressBuffer(buf, size, uncompressbuf, &out_size);
168 if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
169 socketType=gui;
170 QString remoteName=ConnectionLayout::getDocRootName(uncompressbuf, out_size);
171 setName(remoteName);
172 emit newConnectionLayout(remoteName);//connection is Qt::BlockingQueuedConnection
173 }
174 emit dataReady(uncompressbuf, out_size);//connection is Qt::BlockingQueuedConnection, as we have only one buffer
175 break;
176 }
177 case START_SENDING_FILES: {
178 if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
179 socketType=log;
180 }
181 setName("log files");
182 heartbeat_timer->stop();
183 emit newFileUI(socket);
184 deleteLater();
185 stop=true;
186 destroySocket=false;
187 break;
188 }
189 case XML_HEADER:
190 if(socketType==unknown) {
191 socketType=gui;
192 QString remoteName=ConnectionLayout::getDocRootName(buf, size );
193 setName(remoteName);
194 emit newConnectionLayout(remoteName);
195 }
196 case DATAS_BIG_ENDIAN:
197 case DATAS_LITTLE_ENDIAN:
198 emit dataReady(buf, size );
199 break;
200 }
201 } else {
202 if(UDT::getlasterror().getErrorCode()!=6002)
203 printf("udt socket:%s %i\n",UDT::getlasterror().getErrorMessage(),size);
204 //UDT::close(socket);//si deconnecté
205 //free(buf);
206 //break;
207 }
208 } else {
209 printf("udt socket:%s\n",UDT::getlasterror().getErrorMessage());
210 }
211 UDT::epoll_remove_usock(eid, socket);
212 UDT::epoll_release(eid);
213 }
214 free(uncompressbuf);
215 free(buf);
216 thread()->quit();
217}
218
219qint64 UdtSocket::write(const char *buf, qint64 size,int ttl,bool inOrder) {
220 qint64 sent = UDT::sendmsg(socket, buf, size, ttl, inOrder);
221 if (sent != size) {
222 printf("%s, error writting to udt (%s)\n",name.toLocal8Bit().constData(), UDT::getlasterror().getErrorMessage());
223 if (UDT::getlasterror().getErrorCode() == 2001) {
224 stop = true;
225 heartbeat_timer->stop();
226 deleteLater();
227 }
228 }
229 return sent;
230}
231
232int UdtSocket::uncompressBuffer(char *in, ssize_t in_size, char *out,
233 ssize_t *out_size) {
234 int ret;
235 unsigned have;
236 z_stream strm;
237
238 // allocate inflate state
239 strm.zalloc = Z_NULL;
240 strm.zfree = Z_NULL;
241 strm.opaque = Z_NULL;
242 strm.avail_in = 0;
243 strm.next_in = Z_NULL;
244 ret = inflateInit(&strm);
245 if (ret != Z_OK)
246 return ret;
247
248 strm.avail_in = in_size;
249 strm.next_in = (unsigned char *)in;
250 strm.avail_out = COMPRESS_CHUNK;
251 strm.next_out = (unsigned char *)out;
252
253 ret = inflate(&strm, Z_NO_FLUSH);
254 assert(ret != Z_STREAM_ERROR); // state not clobbered
255 switch (ret) {
256 case Z_NEED_DICT:
257 ret = Z_DATA_ERROR; // and fall through
258 case Z_DATA_ERROR:
259 case Z_MEM_ERROR:
260 (void)inflateEnd(&strm);
261 return ret;
262 }
263 have = COMPRESS_CHUNK - strm.avail_out;
264 *out_size = have;
265
266 // clean up and return
267 (void)inflateEnd(&strm);
268 return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
269}
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