source: flair-src/trunk/tools/FlairGCS/src/UdtSocket.cpp@ 441

Last change on this file since 441 was 399, checked in by Sanahuja Guillaume, 4 years 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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