source: flair-src/trunk/tools/FlairGCS/src/UdtSocket.cpp @ 247

Last change on this file since 247 was 247, checked in by Sanahuja Guillaume, 3 years ago

improve gcs disconnections

File size: 9.5 KB
Line 
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    fprintf(stderr,"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);
56fprintf(stderr,"fin udt\n");
57}
58
59void UdtSocket::setName(QString name) {
60  fprintf(stderr,"  %s is %s\n",this->name.toLocal8Bit().constData(),name.toLocal8Bit().constData());
61  this->name=name;
62}
63
64// send signal to uav, to check connectivity through a watchdog
65// this is necessary because we use udt (udp based), and we cannot check
66// disconnection of ground station
67void UdtSocket::heartbeat(void) {
68  char data = WATCHDOG_HEADER;
69  quint64 sent=write(&data, 1,HEARTBEAT_TIMER,false);
70  if (sent != 1 && UDT::getlasterror().getErrorCode() == 2001) {
71    heartbeat_timer->stop();
72  }
73 
74}
75
76void UdtSocket::getUTDStats(void) {
77  float rxRate=((float)total_received/(COMPUTE_UDT_STATS_TIMER/1000))/1000;//in Ko/s
78  total_received=0;
79 
80  UDT::TRACEINFO perf;
81  if (UDT::ERROR == UDT::perfmon(socket, &perf))   {
82    fprintf(stderr,"perfmon: %s\n",UDT::getlasterror().getErrorMessage());
83  }/* else {
84    fprintf(stderr,"%s socket stats:\n",name.toLocal8Bit().constData());
85    fprintf(stderr,"total number of sent packets, including retransmissions: %i\n",perf.pktSentTotal);
86    fprintf(stderr,"total number of received packets: %i\n",perf.pktRecvTotal);
87    fprintf(stderr,"total number of lost packets, measured in the sending side: %i\n",perf.pktSndLossTotal);
88    fprintf(stderr,"total number of lost packets, measured in the receiving side: %i\n",perf.pktRcvLossTotal);
89    fprintf(stderr,"total number of retransmitted packets, measured in the sending side: %i\n",perf.pktRetransTotal);
90    fprintf(stderr,"total number of sent ACK packets: %i\n",perf.pktSentACKTotal);
91    fprintf(stderr,"total number of received ACK packets: %i\n",perf.pktRecvACKTotal);
92    fprintf(stderr,"total number of sent NAK packets: %i\n",perf.pktSentNAKTotal);
93    fprintf(stderr,"total number of received NAK packets: %i\n",perf.pktRecvNAKTotal);
94    fprintf(stderr,"round trip time: %fms\n",perf.msRTT);
95     
96  }*/
97  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);
98  UDTStats(stats);
99 
100}
101
102QString UdtSocket::getUDTStats() {
103  return stats;
104}
105
106void UdtSocket::kill(void) {
107  stop = true;
108  deleteLater();
109}
110
111void UdtSocket::receiveData(void) {
112  int buf_size;
113  int opt_size;
114  UDT::getsockopt(socket, 0, UDT_RCVBUF, &buf_size, &opt_size);
115  char *buf = (char *)malloc(buf_size);
116  if (!buf) {
117    fprintf(stderr,"error malloc UdtSocket::receiveData buffer\n");
118    return;
119  }
120  char *uncompressbuf=(char *)malloc(COMPRESS_CHUNK);
121  if (!uncompressbuf) {
122    fprintf(stderr,"error malloc UdtSocket::receiveData uncompress buffer\n");
123    free(buf);
124    return;
125  }
126  //ffprintf(stderr,stderr,"receiveData %x\n",thread());
127 
128  while (!stop) {
129    QCoreApplication::processEvents();
130   
131    //we need to use epoll?
132    //tests are showing that UDT::recvmsg is waiting for the entire timeout before returning
133    //note that in flair::core the behaviour of UDT::recvmsg timeout is as expected
134    //is it a difference between client and server??
135    //tests also show that we need to recreate the eid every time, otherwise wait returns immediately
136    int eid = UDT::epoll_create();
137    if (eid < 0) {
138      fprintf(stderr,"%s: epoll_create error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
139    }
140
141    if (UDT::epoll_add_usock(eid, socket) < 0) {
142      if (UDT::getlasterror().getErrorCode() == 5004) {
143        fprintf(stderr,"disconnected from %s\n",name.toLocal8Bit().constData());
144        heartbeat_timer->stop();
145        deleteLater();
146        stop=true;;
147      } else {
148        fprintf(stderr,"%s: epoll_add_usock error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
149      }
150    }
151 
152    int num = 1;
153    UDTSOCKET readfds;
154 
155    int rv = UDT::epoll_wait2(eid, &readfds, &num,NULL, NULL,100);
156    if (rv == -1) {
157      if (UDT::getlasterror().getErrorCode() != 6003)
158        fprintf(stderr,"prob %i\n", UDT::getlasterror().getErrorCode());
159    } else if(readfds==socket && num==1 && rv==1) {
160       
161      int size;
162      do {
163        size=UDT::recvmsg(socket, buf, buf_size);
164     
165        //fprintf(stderr,"recu %i\n",size);
166        if (size > 0) {
167          total_received+=size;
168         
169          switch ((unsigned char)buf[0]) {
170            case ZLIB_HEADER: {
171              ssize_t out_size;
172              uncompressBuffer(buf, size, uncompressbuf, &out_size);
173              if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
174                socketType=gui;
175                QString remoteName=ConnectionLayout::getDocRootName(uncompressbuf, out_size);
176                setName(remoteName);
177                emit newConnectionLayout(remoteName);//connection is Qt::BlockingQueuedConnection
178              }
179              emit dataReady(uncompressbuf, out_size);//connection is Qt::BlockingQueuedConnection, as we have only one buffer
180              break;
181            }
182            case START_SENDING_FILES: {
183              if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
184                socketType=log;
185              }
186              setName("log files");
187              heartbeat_timer->stop();
188              emit newFileUI(socket);
189              deleteLater();
190              stop=true;
191              destroySocket=false;
192              break;
193            }
194            case XML_HEADER:
195              if(socketType==unknown) {
196                socketType=gui;
197                QString remoteName=ConnectionLayout::getDocRootName(buf, size );
198                setName(remoteName);
199                emit newConnectionLayout(remoteName);
200              }
201            case DATAS_BIG_ENDIAN:
202            case DATAS_LITTLE_ENDIAN:
203              emit dataReady(buf, size );
204              break;
205            case CLOSING_CONNECTION:
206              fprintf(stderr,"%s, connection closed\n",name.toLocal8Bit().constData());
207              emit dataReady(buf, size );
208              stop = true;
209              heartbeat_timer->stop();
210              deleteLater();
211              break;
212            default:
213              fprintf(stderr,"trame non supportée %x\n", buf[0]);
214          }
215        } else {
216          //not necessary to check, watchdog (heartbeat_timer) can do it
217          //if(UDT::getlasterror().getErrorCode()!=6002 && !stop)
218            //fprintf(stderr,"udt socket: %s\n",UDT::getlasterror().getErrorMessage());
219          //UDT::close(socket);//si deconnecté
220          //free(buf);
221          //break;
222        }
223      } while(size>0);
224    } else {
225      //not necessary to check, watchdog (heartbeat_timer) can do it
226      //fprintf(stderr,"udt socket: %s\n",UDT::getlasterror().getErrorMessage());
227    }
228    UDT::epoll_remove_usock(eid, socket);
229    UDT::epoll_release(eid);
230  }
231 
232  free(uncompressbuf);
233  free(buf);
234  thread()->quit();
235}
236
237qint64 UdtSocket::write(const char *buf, qint64 size,int ttl,bool inOrder) {
238  qint64 sent = UDT::sendmsg(socket, buf, size, ttl, inOrder);
239  if (sent != size) {
240    fprintf(stderr,"%s, error writting to udt (%s)\n",name.toLocal8Bit().constData(), UDT::getlasterror().getErrorMessage());
241    if (UDT::getlasterror().getErrorCode() == 2001) {
242      fprintf(stderr,"%s, closing connection\n",name.toLocal8Bit().constData());
243      stop = true;
244      heartbeat_timer->stop();
245      deleteLater();
246    }
247  }
248  return sent;
249}
250
251int UdtSocket::uncompressBuffer(char *in, ssize_t in_size, char *out,
252                                       ssize_t *out_size) {
253  int ret;
254  unsigned have;
255  z_stream strm;
256
257  // allocate inflate state
258  strm.zalloc = Z_NULL;
259  strm.zfree = Z_NULL;
260  strm.opaque = Z_NULL;
261  strm.avail_in = 0;
262  strm.next_in = Z_NULL;
263  ret = inflateInit(&strm);
264  if (ret != Z_OK)
265    return ret;
266
267  strm.avail_in = in_size;
268  strm.next_in = (unsigned char *)in;
269  strm.avail_out = COMPRESS_CHUNK;
270  strm.next_out = (unsigned char *)out;
271
272  ret = inflate(&strm, Z_NO_FLUSH);
273  assert(ret != Z_STREAM_ERROR); // state not clobbered
274  switch (ret) {
275  case Z_NEED_DICT:
276    ret = Z_DATA_ERROR; // and fall through
277  case Z_DATA_ERROR:
278  case Z_MEM_ERROR:
279    (void)inflateEnd(&strm);
280    return ret;
281  }
282  have = COMPRESS_CHUNK - strm.avail_out;
283  *out_size = have;
284
285  // clean up and return
286  (void)inflateEnd(&strm);
287  return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
288}
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