source: flair-src/trunk/tools/FlairGCS/src/UdtSocket.cpp @ 248

Last change on this file since 248 was 248, checked in by Sanahuja Guillaume, 3 years ago

add orange icon to gcs

File size: 9.6 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  pktSndLossTotal=0;
39 
40  bool blocking = false;
41  if (UDT::setsockopt(socket, 0, UDT_RCVSYN, &blocking, sizeof(bool)) != 0)
42    fprintf(stderr,"UDT::setsockopt error (UDT_RCVSYN)\n");
43   
44  heartbeat_timer = new QTimer(this);
45  connect(heartbeat_timer, SIGNAL(timeout()), this, SLOT(heartbeat()));
46  heartbeat_timer->start(HEARTBEAT_TIMER);
47 
48  udtstats_timer = new QTimer(this);
49  connect(udtstats_timer, SIGNAL(timeout()), this, SLOT(getUTDStats()));
50  udtstats_timer->start(COMPUTE_UDT_STATS_TIMER);
51}
52
53UdtSocket::~UdtSocket() {
54  heartbeat_timer->stop();
55  udtstats_timer->stop();
56  if(destroySocket) UDT::close(socket);
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  bool loosingPackets=false;
98  if(perf.pktSndLossTotal>pktSndLossTotal) loosingPackets=true;
99  pktSndLossTotal=perf.pktSndLossTotal;
100  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);
101  UDTStats(stats,loosingPackets);
102}
103
104QString UdtSocket::getUDTStats() {
105  return stats;
106}
107
108void UdtSocket::kill(void) {
109  stop = true;
110  deleteLater();
111}
112
113void UdtSocket::receiveData(void) {
114  int buf_size;
115  int opt_size;
116  UDT::getsockopt(socket, 0, UDT_RCVBUF, &buf_size, &opt_size);
117  char *buf = (char *)malloc(buf_size);
118  if (!buf) {
119    fprintf(stderr,"error malloc UdtSocket::receiveData buffer\n");
120    return;
121  }
122  char *uncompressbuf=(char *)malloc(COMPRESS_CHUNK);
123  if (!uncompressbuf) {
124    fprintf(stderr,"error malloc UdtSocket::receiveData uncompress buffer\n");
125    free(buf);
126    return;
127  }
128  //fprintf(stderr,stderr,"receiveData %x\n",thread());
129 
130  while (!stop) {
131    QCoreApplication::processEvents();
132   
133    //we need to use epoll?
134    //tests are showing that UDT::recvmsg is waiting for the entire timeout before returning
135    //note that in flair::core the behaviour of UDT::recvmsg timeout is as expected
136    //is it a difference between client and server??
137    //tests also show that we need to recreate the eid every time, otherwise wait returns immediately
138    int eid = UDT::epoll_create();
139    if (eid < 0) {
140      fprintf(stderr,"%s: epoll_create error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
141    }
142
143    if (UDT::epoll_add_usock(eid, socket) < 0) {
144      if (UDT::getlasterror().getErrorCode() == 5004) {
145        fprintf(stderr,"disconnected from %s\n",name.toLocal8Bit().constData());
146        heartbeat_timer->stop();
147        deleteLater();
148        stop=true;;
149      } else {
150        fprintf(stderr,"%s: epoll_add_usock error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
151      }
152    }
153 
154    int num = 1;
155    UDTSOCKET readfds;
156 
157    int rv = UDT::epoll_wait2(eid, &readfds, &num,NULL, NULL,100);
158    if (rv == -1) {
159      if (UDT::getlasterror().getErrorCode() != 6003)
160        fprintf(stderr,"prob %i\n", UDT::getlasterror().getErrorCode());
161    } else if(readfds==socket && num==1 && rv==1) {
162       
163      int size;
164      do {
165        size=UDT::recvmsg(socket, buf, buf_size);
166     
167        //fprintf(stderr,"recu %i\n",size);
168        if (size > 0) {
169          total_received+=size;
170         
171          switch ((unsigned char)buf[0]) {
172            case ZLIB_HEADER: {
173              ssize_t out_size;
174              uncompressBuffer(buf, size, uncompressbuf, &out_size);
175              if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
176                socketType=gui;
177                QString remoteName=ConnectionLayout::getDocRootName(uncompressbuf, out_size);
178                setName(remoteName);
179                emit newConnectionLayout(remoteName);//connection is Qt::BlockingQueuedConnection
180              }
181              emit dataReady(uncompressbuf, out_size);//connection is Qt::BlockingQueuedConnection, as we have only one buffer
182              break;
183            }
184            case START_SENDING_FILES: {
185              if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
186                socketType=log;
187              }
188              setName("log files");
189              heartbeat_timer->stop();
190              emit newFileUI(socket);
191              deleteLater();
192              stop=true;
193              destroySocket=false;
194              break;
195            }
196            case XML_HEADER:
197              if(socketType==unknown) {
198                socketType=gui;
199                QString remoteName=ConnectionLayout::getDocRootName(buf, size );
200                setName(remoteName);
201                emit newConnectionLayout(remoteName);
202              }
203            case DATAS_BIG_ENDIAN:
204            case DATAS_LITTLE_ENDIAN:
205              emit dataReady(buf, size );
206              break;
207            case CLOSING_CONNECTION:
208              fprintf(stderr,"%s, connection closed\n",name.toLocal8Bit().constData());
209              emit dataReady(buf, size );
210              stop = true;
211              heartbeat_timer->stop();
212              deleteLater();
213              break;
214            default:
215              fprintf(stderr,"trame non supportée %x\n", buf[0]);
216          }
217        } else {
218          //not necessary to check, watchdog (heartbeat_timer) can do it
219          //if(UDT::getlasterror().getErrorCode()!=6002 && !stop)
220            //fprintf(stderr,"udt socket: %s\n",UDT::getlasterror().getErrorMessage());
221          //UDT::close(socket);//si deconnecté
222          //free(buf);
223          //break;
224        }
225      } while(size>0);
226    } else {
227      //not necessary to check, watchdog (heartbeat_timer) can do it
228      //fprintf(stderr,"udt socket: %s\n",UDT::getlasterror().getErrorMessage());
229    }
230    UDT::epoll_remove_usock(eid, socket);
231    UDT::epoll_release(eid);
232  }
233 
234  free(uncompressbuf);
235  free(buf);
236  thread()->quit();
237}
238
239qint64 UdtSocket::write(const char *buf, qint64 size,int ttl,bool inOrder) {
240  qint64 sent = UDT::sendmsg(socket, buf, size, ttl, inOrder);
241  if (sent != size) {
242    fprintf(stderr,"%s, error writting to udt (%s)\n",name.toLocal8Bit().constData(), UDT::getlasterror().getErrorMessage());
243    if (UDT::getlasterror().getErrorCode() == 2001) {
244      fprintf(stderr,"%s, closing connection\n",name.toLocal8Bit().constData());
245      stop = true;
246      heartbeat_timer->stop();
247      deleteLater();
248    }
249  }
250  return sent;
251}
252
253int UdtSocket::uncompressBuffer(char *in, ssize_t in_size, char *out,
254                                       ssize_t *out_size) {
255  int ret;
256  unsigned have;
257  z_stream strm;
258
259  // allocate inflate state
260  strm.zalloc = Z_NULL;
261  strm.zfree = Z_NULL;
262  strm.opaque = Z_NULL;
263  strm.avail_in = 0;
264  strm.next_in = Z_NULL;
265  ret = inflateInit(&strm);
266  if (ret != Z_OK)
267    return ret;
268
269  strm.avail_in = in_size;
270  strm.next_in = (unsigned char *)in;
271  strm.avail_out = COMPRESS_CHUNK;
272  strm.next_out = (unsigned char *)out;
273
274  ret = inflate(&strm, Z_NO_FLUSH);
275  assert(ret != Z_STREAM_ERROR); // state not clobbered
276  switch (ret) {
277  case Z_NEED_DICT:
278    ret = Z_DATA_ERROR; // and fall through
279  case Z_DATA_ERROR:
280  case Z_MEM_ERROR:
281    (void)inflateEnd(&strm);
282    return ret;
283  }
284  have = COMPRESS_CHUNK - strm.avail_out;
285  *out_size = have;
286
287  // clean up and return
288  (void)inflateEnd(&strm);
289  return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
290}
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