source: flair-src/trunk/tools/FlairGCS/src/UdtSocket.cpp @ 399

Last change on this file since 399 was 399, checked in by Sanahuja Guillaume, 7 months ago

change color of status bar in gcs if high bandwidth usage is detected

File size: 10.8 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
18#define COMPRESS_CHUNK 1024*100
19
20#ifndef WIN32
21#include <arpa/inet.h>
22#else
23#include <winsock2.h>
24#include <ws2tcpip.h>
25#endif
26
27#define COMPUTE_UDT_STATS_TIMER 2000
28#define HEARTBEAT_TIMER 200
29
30using namespace std;
31
32UdtSocket::UdtSocket(UDTSOCKET socket,QString name): QObject() {
33  this->socket = socket;
34  this->name=name;
35  stop = false;
36  destroySocket=true;
37  socketType=unknown;
38  total_received=0;
39  pktSndLossTotal=0;
40  lastpktRecvTotal=0;
41 
42  bool blocking = false;
43  if (UDT::setsockopt(socket, 0, UDT_RCVSYN, &blocking, sizeof(bool)) != 0)
44    fprintf(stderr,"UDT::setsockopt error (UDT_RCVSYN)\n");
45   
46  heartbeat_timer = new QTimer(this);
47  connect(heartbeat_timer, SIGNAL(timeout()), this, SLOT(heartbeat()));
48  heartbeat_timer->start(HEARTBEAT_TIMER);
49  //heartbeat();//send directly the first one, but conflicts if this socket is for logs... TODO: delay start of watchdog timer on uav side
50  udtstats_timer = new QTimer(this);
51  connect(udtstats_timer, SIGNAL(timeout()), this, SLOT(getUTDStats()));
52  udtstats_timer->start(COMPUTE_UDT_STATS_TIMER);
53}
54
55UdtSocket::~UdtSocket() {
56  heartbeat_timer->stop();
57  udtstats_timer->stop();
58  if(destroySocket) UDT::close(socket);
59}
60
61void UdtSocket::setName(QString name) {
62  fprintf(stderr,"  %s is %s\n",this->name.toLocal8Bit().constData(),name.toLocal8Bit().constData());
63  this->name=name;
64}
65
66// send signal to uav, to check connectivity through a watchdog
67// this is necessary because we use udt (udp based), and we cannot check
68// disconnection of ground station
69void UdtSocket::heartbeat(void) {
70  //printf("h %s %i.%i\n",name.toLocal8Bit().constData(),QTime::currentTime().second(),QTime::currentTime().msec());
71  char data = WATCHDOG_HEADER;
72  quint64 sent=write(&data, 1,HEARTBEAT_TIMER,true);
73  if (sent != 1 && UDT::getlasterror().getErrorCode() == 2001) {
74    heartbeat_timer->stop();
75  }
76 
77}
78
79void UdtSocket::getUTDStats(void) {
80  float rxRate=((float)total_received/(COMPUTE_UDT_STATS_TIMER/1000))/1000;//in Ko/s
81  total_received=0;
82 
83  UDT::TRACEINFO perf;
84  if (UDT::ERROR == UDT::perfmon(socket, &perf))   {
85    fprintf(stderr,"perfmon: %s\n",UDT::getlasterror().getErrorMessage());
86  }/* else {
87    fprintf(stderr,"%s socket stats:\n",name.toLocal8Bit().constData());
88    fprintf(stderr,"total number of sent packets, including retransmissions: %i\n",perf.pktSentTotal);
89    fprintf(stderr,"total number of received packets: %i\n",perf.pktRecvTotal);
90    fprintf(stderr,"total number of lost packets, measured in the sending side: %i\n",perf.pktSndLossTotal);
91    fprintf(stderr,"total number of lost packets, measured in the receiving side: %i\n",perf.pktRcvLossTotal);
92    fprintf(stderr,"total number of retransmitted packets, measured in the sending side: %i\n",perf.pktRetransTotal);
93    fprintf(stderr,"total number of sent ACK packets: %i\n",perf.pktSentACKTotal);
94    fprintf(stderr,"total number of received ACK packets: %i\n",perf.pktRecvACKTotal);
95    fprintf(stderr,"total number of sent NAK packets: %i\n",perf.pktSentNAKTotal);
96    fprintf(stderr,"total number of received NAK packets: %i\n",perf.pktRecvNAKTotal);
97    fprintf(stderr,"round trip time: %fms\n",perf.msRTT);
98  }*/
99  bool loosingPackets=false;
100  if(perf.pktSndLossTotal>pktSndLossTotal) loosingPackets=true;
101  pktSndLossTotal=perf.pktSndLossTotal;
102  unsigned int pktPerSec=(perf.pktRecvTotal-lastpktRecvTotal)*1000/COMPUTE_UDT_STATS_TIMER;
103  QString stylesheet="color: black";
104  if(pktPerSec>=100) {
105    stylesheet="color: red";
106  }
107  else if(pktPerSec>=50) {
108    stylesheet="color: orange";
109  }
110  stats=QString("rx rate %1kB/s, %2 rx packets/s, round trip %3ms, lost packets %4").arg(rxRate,0,'f',3).arg(pktPerSec).arg(perf.msRTT,0,'f',3).arg(perf.pktSndLossTotal);
111  lastpktRecvTotal=perf.pktRecvTotal;
112  UDTStats(stats,stylesheet,loosingPackets);
113}
114
115QString UdtSocket::getUDTStats() {
116  return stats;
117}
118
119void UdtSocket::kill(void) {
120  stop = true;
121  deleteLater();
122}
123
124void UdtSocket::receiveData(void) {
125  int buf_size;
126  int opt_size;
127  UDT::getsockopt(socket, 0, UDT_RCVBUF, &buf_size, &opt_size);
128  char *buf = (char *)malloc(buf_size);
129  if (!buf) {
130    fprintf(stderr,"error malloc UdtSocket::receiveData buffer\n");
131    return;
132  }
133  char *uncompressbuf=(char *)malloc(COMPRESS_CHUNK);
134  if (!uncompressbuf) {
135    fprintf(stderr,"error malloc UdtSocket::receiveData uncompress buffer\n");
136    free(buf);
137    return;
138  }
139  //fprintf(stderr,stderr,"receiveData %x\n",thread());
140 
141  while (!stop) {
142    QCoreApplication::processEvents();
143   
144    //we need to use epoll?
145    //tests are showing that UDT::recvmsg is waiting for the entire timeout before returning
146    //note that in flair::core the behaviour of UDT::recvmsg timeout is as expected
147    //is it a difference between client and server??
148    //tests also show that we need to recreate the eid every time, otherwise wait returns immediately
149    int eid = UDT::epoll_create();
150    if (eid < 0) {
151      fprintf(stderr,"%s: epoll_create error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
152    }
153
154    if (UDT::epoll_add_usock(eid, socket) < 0) {
155      if (UDT::getlasterror().getErrorCode() == 5004) {
156        fprintf(stderr,"disconnected from %s\n",name.toLocal8Bit().constData());
157        heartbeat_timer->stop();
158        deleteLater();
159        stop=true;;
160      } else {
161        fprintf(stderr,"%s: epoll_add_usock error (%s)\n",name.toLocal8Bit().constData(),UDT::getlasterror().getErrorMessage());
162      }
163    }
164 
165    int num = 1;
166    UDTSOCKET readfds;
167 
168    int rv = UDT::epoll_wait2(eid, &readfds, &num,NULL, NULL,100);
169    if (rv == -1) {
170      if (UDT::getlasterror().getErrorCode() != 6003)
171        fprintf(stderr,"prob %i\n", UDT::getlasterror().getErrorCode());
172    } else if(readfds==socket && num==1 && rv==1) {
173      int size;
174      QTime initTime;
175      initTime.start();
176      do {
177        //we are in "infinite" loop, so let the heartbeat run if needed
178        if(initTime.elapsed()>HEARTBEAT_TIMER) {
179          initTime.start();
180          //do not use error check of heartbeat() method: (otherwise, closes com too early)
181          char data = WATCHDOG_HEADER;
182          UDT::sendmsg(socket, &data, 1, HEARTBEAT_TIMER, true);
183        }
184       
185        size=UDT::recvmsg(socket, buf, buf_size);
186     
187        //fprintf(stderr,"recu %i %x\n",size,buf[0]);
188        if (size > 0) {
189          total_received+=size;
190         
191          switch ((unsigned char)buf[0]) {
192            case ZLIB_HEADER: {
193              ssize_t out_size;
194              uncompressBuffer(buf, size, uncompressbuf, &out_size);
195              if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
196                socketType=gui;
197                QString remoteName=ConnectionLayout::getDocRootName(uncompressbuf, out_size);
198                setName(remoteName);
199                emit newConnectionLayout(remoteName);//connection is Qt::BlockingQueuedConnection
200              }
201              emit dataReady(uncompressbuf, out_size);//connection is Qt::BlockingQueuedConnection, as we have only one buffer
202              break;
203            }
204            case START_SENDING_FILES: {
205              //printf("log\n");
206              if((unsigned char)uncompressbuf[0]==XML_HEADER && socketType==unknown) {
207                socketType=log;
208              }
209              setName("log files");
210              heartbeat_timer->stop();
211              emit newFileUI(socket);
212              deleteLater();
213              stop=true;
214              size=-1;//exit from do while loop
215              destroySocket=false;
216              break;
217            }
218            case XML_HEADER:
219              if(socketType==unknown) {
220                socketType=gui;
221                QString remoteName=ConnectionLayout::getDocRootName(buf, size );
222                setName(remoteName);
223                emit newConnectionLayout(remoteName);
224              }
225            case DATA_BIG_ENDIAN:
226            case DATA_LITTLE_ENDIAN:
227              emit dataReady(buf, size );
228              break;
229            case CLOSING_CONNECTION:
230              fprintf(stderr,"%s, connection closed by remote\n",name.toLocal8Bit().constData());
231              emit dataReady(buf, size );
232              stop = true;
233              heartbeat_timer->stop();
234              deleteLater();
235              break;
236            default:
237              fprintf(stderr,"udt trame non supportée %x\n", buf[0]);
238          }
239        } else {
240          //not necessary to check, watchdog (heartbeat_timer) can do it
241          //if(UDT::getlasterror().getErrorCode()!=6002 && !stop)
242            //fprintf(stderr,"udt socket: %s\n",UDT::getlasterror().getErrorMessage());
243          //UDT::close(socket);//si deconnecté
244          //free(buf);
245          //break;
246        }
247      } while(size>0);
248    } else {
249      //not necessary to check, watchdog (heartbeat_timer) can do it
250      //fprintf(stderr,"udt socket: %s\n",UDT::getlasterror().getErrorMessage());
251    }
252    UDT::epoll_remove_usock(eid, socket);
253    UDT::epoll_release(eid);
254  }
255 
256  free(uncompressbuf);
257  free(buf);
258  thread()->quit();
259}
260
261qint64 UdtSocket::write(const char *buf, qint64 size,int ttl,bool inOrder) {
262  qint64 sent = UDT::sendmsg(socket, buf, size, ttl, inOrder);
263  if (sent != size) {
264    fprintf(stderr,"sent %lld/%lld %s\n",sent ,size,UDT::getlasterror().getErrorMessage());
265    fprintf(stderr,"%s, error writting to udt (%s)\n",name.toLocal8Bit().constData(), UDT::getlasterror().getErrorMessage());
266    if (UDT::getlasterror().getErrorCode() == 2001) {
267      fprintf(stderr,"%s, closing connection\n",name.toLocal8Bit().constData());
268      stop = true;
269      heartbeat_timer->stop();
270      deleteLater();
271    }
272  }
273  return sent;
274}
275
276int UdtSocket::uncompressBuffer(char *in, ssize_t in_size, char *out,
277                                       ssize_t *out_size) {
278  int ret;
279  unsigned have;
280  z_stream strm;
281
282  // allocate inflate state
283  strm.zalloc = Z_NULL;
284  strm.zfree = Z_NULL;
285  strm.opaque = Z_NULL;
286  strm.avail_in = 0;
287  strm.next_in = Z_NULL;
288  ret = inflateInit(&strm);
289  if (ret != Z_OK)
290    return ret;
291
292  strm.avail_in = in_size;
293  strm.next_in = (unsigned char *)in;
294  strm.avail_out = COMPRESS_CHUNK;
295  strm.next_out = (unsigned char *)out;
296
297  ret = inflate(&strm, Z_NO_FLUSH);
298  assert(ret != Z_STREAM_ERROR); // state not clobbered
299  switch (ret) {
300  case Z_NEED_DICT:
301    ret = Z_DATA_ERROR; // and fall through
302  case Z_DATA_ERROR:
303  case Z_MEM_ERROR:
304    (void)inflateEnd(&strm);
305    return ret;
306  }
307  have = COMPRESS_CHUNK - strm.avail_out;
308  *out_size = have;
309
310  // clean up and return
311  (void)inflateEnd(&strm);
312  return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
313}
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