diff --git a/CMakeLists.txt b/CMakeLists.txt index 3ec097df..c12fe13f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -64,7 +64,7 @@ pkg_check_modules(GST REQUIRED gstreamer-1.0 gstreamer-app-1.0) add_library(ArduPilotPlugin SHARED src/ArduPilotPlugin.cc - src/Socket.cpp + src/SocketUDP.cc src/Util.cc ) target_include_directories(ArduPilotPlugin PRIVATE diff --git a/LICENSE.md b/LICENSE.md index 94a9ed02..5357f691 100644 --- a/LICENSE.md +++ b/LICENSE.md @@ -1,674 +1,166 @@ - GNU GENERAL PUBLIC LICENSE + GNU LESSER GENERAL PUBLIC LICENSE Version 3, 29 June 2007 - Copyright (C) 2007 Free Software Foundation, Inc. + Copyright (C) 2007 Free Software Foundation, Inc. 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Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. + diff --git a/include/ArduCopterIRLockPlugin.hh b/include/ArduCopterIRLockPlugin.hh deleted file mode 100755 index 1cb8c9ec..00000000 --- a/include/ArduCopterIRLockPlugin.hh +++ /dev/null @@ -1,68 +0,0 @@ -/* - * Copyright (C) 2016 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * -*/ - -#ifndef ARDUCOPTERIRLOCKPLUGIN_HH_ -#define ARDUCOPTERIRLOCKPLUGIN_HH_ - -#include -#include - -#include "gazebo/common/Plugin.hh" -#include "gazebo/util/system.hh" - -namespace gazebo -{ -// Forward declare private class. -class ArduCopterIRLockPluginPrivate; - -/// \brief A camera sensor plugin for fiducial detection -class GAZEBO_VISIBLE ArduCopterIRLockPlugin : public SensorPlugin -{ - /// \brief Constructor - public: ArduCopterIRLockPlugin(); - - /// \brief Destructor - public: virtual ~ArduCopterIRLockPlugin(); - - // Documentation Inherited. - public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf); - - /// \brief Callback when a new camera frame is available - /// \param[in] _image image data - /// \param[in] _width image width - /// \param[in] _height image height - /// \param[in] _depth image depth - /// \param[in] _format image format - public: virtual void OnNewFrame(const unsigned char *_image, - unsigned int _width, unsigned int _height, unsigned int _depth, - const std::string &_format); - - /// \brief Publish the result - /// \param[in] _name Name of fiducial - /// \param[in] _x x position in image - /// \param[in] _y y position in image - public: virtual void Publish(const std::string &_fiducial, unsigned int _x, - unsigned int _y); - - /// \internal - /// \brief Pointer to private data. - private: std::unique_ptr dataPtr; -}; - -} // namespace gazebo - -#endif // ARDUCOPTERIRLOCKPLUGIN_HH_ diff --git a/include/CameraZoomPlugin.hh b/include/CameraZoomPlugin.hh index 2250f349..374d927d 100644 --- a/include/CameraZoomPlugin.hh +++ b/include/CameraZoomPlugin.hh @@ -2,7 +2,7 @@ Copyright (C) 2023 ArduPilot.org This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by + it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. @@ -11,7 +11,7 @@ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. - You should have received a copy of the GNU General Public License + You should have received a copy of the GNU Lesser General Public License along with this program. If not, see . */ #ifndef CAMERAZOOMPLUGIN_HH_ diff --git a/include/ParachutePlugin.hh b/include/ParachutePlugin.hh index 5dd77798..6da6719a 100644 --- a/include/ParachutePlugin.hh +++ b/include/ParachutePlugin.hh @@ -1,19 +1,19 @@ /* - Copyright (C) 2022 ardupilot.org + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - */ #ifndef PARACHUTEPLUGIN_HH_ #define PARACHUTEPLUGIN_HH_ diff --git a/include/Socket.h b/include/Socket.h deleted file mode 100644 index cae666c1..00000000 --- a/include/Socket.h +++ /dev/null @@ -1,73 +0,0 @@ -/* - Copyright (C) 2022 ardupilot.org - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - */ -/* - simple socket handling class for systems with BSD socket API - */ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include - -class SocketAPM { -public: - explicit SocketAPM(bool _datagram); - SocketAPM(bool _datagram, int _fd); - ~SocketAPM(); - - bool connect(const char *address, uint16_t port); - bool bind(const char *address, uint16_t port); - bool reuseaddress(); - bool set_blocking(bool blocking); - bool set_cloexec(); - void set_broadcast(void); - - ssize_t send(const void *pkt, size_t size); - ssize_t sendto(const void *buf, size_t size, - const char *address, uint16_t port); - ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms); - - // return the IP address and port of the last received packet - void last_recv_address(const char *&ip_addr, uint16_t &port); - - // return true if there is pending data for input - bool pollin(uint32_t timeout_ms); - - // return true if there is room for output data - bool pollout(uint32_t timeout_ms); - - // start listening for new tcp connections - bool listen(uint16_t backlog); - - // accept a new connection. Only valid for TCP connections after - // listen has been used. A new socket is returned - SocketAPM *accept(uint32_t timeout_ms); - -private: - bool datagram; - struct sockaddr_in in_addr {}; - - int fd = -1; - - void make_sockaddr(const char *address, uint16_t port, - struct sockaddr_in &sockaddr); -}; diff --git a/include/SocketUDP.hh b/include/SocketUDP.hh new file mode 100644 index 00000000..7024313a --- /dev/null +++ b/include/SocketUDP.hh @@ -0,0 +1,75 @@ +/* + Copyright (C) 2024 ardupilot.org + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + */ + +#ifndef SOCKETUDP_HH_ +#define SOCKETUDP_HH_ + +#include +#include +#ifdef _WIN32 + #include + #include +#else + #include + #include + #include + #include + #include + #include +#endif + +/// \brief Simple UDP socket handling class. +class SocketUDP { +public: + /// \brief Constructor. + SocketUDP(bool reuseaddress, bool blocking); + + /// \brief Destructor. + ~SocketUDP(); + + /// \brief Bind socket to address and port. + bool bind(const char *address, uint16_t port); + + /// \brief Set reuse address option. + bool set_reuseaddress(); + + /// \brief Set blocking state. + bool set_blocking(bool blocking); + + /// \brief Send data to address and port. + ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port); + + /// \brief Receive data. + ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms); + + /// \brief Get last client address and port + void get_client_address(const char *&ip_addr, uint16_t &port); + +private: + /// \brief File descriptor. + struct sockaddr_in in_addr {}; + + /// \brief File descriptor. + int fd = -1; + + /// \brief Poll for incoming data with timeout. + bool pollin(uint32_t timeout_ms); + + /// \brief Make a sockaddr_in struct from address and port. + void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr); +}; +#endif // SOCKETUDP_HH_ diff --git a/include/Util.hh b/include/Util.hh index cd4a26ad..06bbffc8 100644 --- a/include/Util.hh +++ b/include/Util.hh @@ -2,7 +2,7 @@ Copyright (C) 2022 ardupilot.org This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by + it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. @@ -11,7 +11,7 @@ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. - You should have received a copy of the GNU General Public License + You should have received a copy of the GNU Lesser General Public License along with this program. If not, see . */ diff --git a/package.xml b/package.xml index 1e67aee1..b47f6352 100644 --- a/package.xml +++ b/package.xml @@ -5,7 +5,7 @@ 0.0.0 Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers Rhys Mainwaring - GPL-3.0 + LGPL-3.0 Rhys Mainwaring ament_cmake diff --git a/src/ArduCopterIRLockPlugin.cc b/src/ArduCopterIRLockPlugin.cc deleted file mode 100755 index 24b9310e..00000000 --- a/src/ArduCopterIRLockPlugin.cc +++ /dev/null @@ -1,283 +0,0 @@ -/* - * Copyright (C) 2016 Open Source Robotics Foundation - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * -*/ - -#include "ArduCopterIRLockPlugin.hh" - -#include -#include - -#ifdef _WIN32 - #include - #include - #include - #include - using raw_type = char; -#else - #include - #include - #include - #include - using raw_type = void; -#endif - -#if defined(_MSC_VER) - #include - typedef SSIZE_T ssize_t; -#endif - -#include -#include -#include - -#include -#include -#include -#include - -#include - -GZ_REGISTER_SENSOR_PLUGIN(gazebo::ArduCopterIRLockPlugin) - -namespace gazebo -{ -class ArduCopterIRLockPluginPrivate -{ - /// \brief Pointer to the parent camera sensor - public: sensors::CameraSensorPtr parentSensor; - - /// \brief Selection buffer used for occlusion detection - public: std::unique_ptr selectionBuffer; - - /// \brief All event connections. - public: std::vector connections; - - /// \brief A list of fiducials tracked by this camera. - public: std::vector fiducials; - - /// \brief Irlock address - public: std::string irlock_addr; - - /// \brief Irlock port for receiver socket - public: uint16_t irlock_port; - - public: int handle; - - public: struct irlockPacket - { - uint64_t timestamp; - uint16_t num_targets; - float pos_x; - float pos_y; - float size_x; - float size_y; - }; -}; - -} // namespace gazebo - -///////////////////////////////////////////////// -gz::math::Vector2i GetScreenSpaceCoords(gz::math::Vector3d _pt, - gazebo::rendering::CameraPtr _cam) -{ - // Convert from 3D world pos to 2D screen pos - Ogre::Vector3 pos = _cam->OgreCamera()->getProjectionMatrix() * - _cam->OgreCamera()->getViewMatrix() * - gazebo::rendering::Conversions::Convert(_pt); - - gz::math::Vector2i screenPos; - screenPos.X() = ((pos.x / 2.0) + 0.5) * _cam->ViewportWidth(); - screenPos.Y() = (1 - ((pos.y / 2.0) + 0.5)) * _cam->ViewportHeight(); - - return screenPos; -} - -///////////////////////////////////////////////// -ArduCopterIRLockPlugin::ArduCopterIRLockPlugin() - : SensorPlugin(), - dataPtr(new ArduCopterIRLockPluginPrivate) -{ - // socket - this->dataPtr->handle = socket(AF_INET, SOCK_DGRAM /*SOCK_STREAM*/, 0); - #ifndef _WIN32 - // Windows does not support FD_CLOEXEC - fcntl(this->dataPtr->handle, F_SETFD, FD_CLOEXEC); - #endif - int one = 1; - setsockopt(this->dataPtr->handle, IPPROTO_TCP, TCP_NODELAY, - reinterpret_cast(&one), sizeof(one)); - setsockopt(this->dataPtr->handle, SOL_SOCKET, SO_REUSEADDR, - reinterpret_cast(&one), sizeof(one)); - - #ifdef _WIN32 - u_long on = 1; - ioctlsocket(this->dataPtr->handle, FIONBIO, - reinterpret_cast(&on)); - #else - fcntl(this->dataPtr->handle, F_SETFL, - fcntl(this->dataPtr->handle, F_GETFL, 0) | O_NONBLOCK); - #endif -} - -///////////////////////////////////////////////// -ArduCopterIRLockPlugin::~ArduCopterIRLockPlugin() -{ - this->dataPtr->connections.clear(); - this->dataPtr->parentSensor.reset(); -} - -///////////////////////////////////////////////// -void ArduCopterIRLockPlugin::Load(sensors::SensorPtr _sensor, - sdf::ElementPtr _sdf) -{ - this->dataPtr->parentSensor = - std::dynamic_pointer_cast(_sensor); - - if (!this->dataPtr->parentSensor) - { - gzerr << "ArduCopterIRLockPlugin not attached to a camera sensor\n"; - return; - } - - // load the fiducials - if (_sdf->HasElement("fiducial")) - { - sdf::ElementPtr elem = _sdf->GetElement("fiducial"); - while (elem) - { - this->dataPtr->fiducials.push_back(elem->Get()); - elem = elem->GetNextElement("fiducial"); - } - } - else - { - gzerr << "No fidicuals specified. ArduCopterIRLockPlugin will not be run." - << std::endl; - return; - } - this->dataPtr->irlock_addr = - _sdf->Get("irlock_addr", static_cast("127.0.0.1")).first; - this->dataPtr->irlock_port = - _sdf->Get("irlock_port", 9005).first; - - this->dataPtr->parentSensor->SetActive(true); - - this->dataPtr->connections.push_back( - this->dataPtr->parentSensor->Camera()->ConnectNewImageFrame( - std::bind(&ArduCopterIRLockPlugin::OnNewFrame, this, - std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, - std::placeholders::_4, std::placeholders::_5))); -} - -///////////////////////////////////////////////// -void ArduCopterIRLockPlugin::OnNewFrame(const unsigned char * /*_image*/, - unsigned int /*_width*/, unsigned int /*_height*/, unsigned int /*_depth*/, - const std::string &/*_format*/) -{ - rendering::CameraPtr camera = this->dataPtr->parentSensor->Camera(); - rendering::ScenePtr scene = camera->GetScene(); - - if (!this->dataPtr->selectionBuffer) - { - std::string cameraName = camera->OgreCamera()->getName(); - this->dataPtr->selectionBuffer.reset( - new rendering::SelectionBuffer(cameraName, scene->OgreSceneManager(), - camera->RenderTexture()->getBuffer()->getRenderTarget())); - } - - for (const auto &f : this->dataPtr->fiducials) - { - // check if fiducial is visible within the frustum - rendering::VisualPtr vis = scene->GetVisual(f); - if (!vis) - continue; - - if (!camera->IsVisible(vis)) - continue; - - gz::math::Vector2i pt = GetScreenSpaceCoords( - vis->WorldPose().Pos(), camera); - - // use selection buffer to check if visual is occluded by other entities - // in the camera view - Ogre::Entity *entity = - this->dataPtr->selectionBuffer->OnSelectionClick(pt.X(), pt.Y()); - - rendering::VisualPtr result; - if (entity && !entity->getUserObjectBindings().getUserAny().isEmpty()) - { - try - { - result = scene->GetVisual( - Ogre::any_cast( - entity->getUserObjectBindings().getUserAny())); - } - catch(Ogre::Exception &e) - { - gzerr << "Ogre Error:" << e.getFullDescription() << "\n"; - continue; - } - } - - if (result && result->GetRootVisual() == vis) - { - this->Publish(vis->Name(), pt.X(), pt.Y()); - } - } -} - -///////////////////////////////////////////////// -void ArduCopterIRLockPlugin::Publish(const std::string &/*_fiducial*/, - unsigned int _x, unsigned int _y) -{ - rendering::CameraPtr camera = this->dataPtr->parentSensor->Camera(); - - const double imageWidth = this->dataPtr->parentSensor->ImageWidth(); - const double imageHeight = this->dataPtr->parentSensor->ImageHeight(); - const double hfov = camera->HFOV().Radian(); - const double vfov = camera->VFOV().Radian(); - const double pixelsPerRadianX = imageWidth / hfov; - const double pixelsPerRadianY = imageHeight / vfov; - const float angleX = static_cast( - (static_cast(_x) - (imageWidth * 0.5)) / pixelsPerRadianX); - const float angleY = static_cast( - -((imageHeight * 0.5) - static_cast(_y)) / pixelsPerRadianY); - - // send_packet - ArduCopterIRLockPluginPrivate::irlockPacket pkt; - - pkt.timestamp = static_cast - (1.0e3 * this->dataPtr->parentSensor->LastMeasurementTime().Double()); - pkt.num_targets = static_cast(1); - pkt.pos_x = angleX; - pkt.pos_y = angleY; - // 1x1 pixel box for now - pkt.size_x = static_cast(1); - pkt.size_y = static_cast(1); - - // std::cerr << "fiducial '" << _fiducial << "':" << _x << ", " << _y - // << ", pos: " << pkt.pos_x << ", " << pkt.pos_y << std::endl; - - struct sockaddr_in sockaddr; - memset(&sockaddr, 0, sizeof(sockaddr)); - sockaddr.sin_port = htons(this->dataPtr->irlock_port); - sockaddr.sin_family = AF_INET; - sockaddr.sin_addr.s_addr = inet_addr(this->dataPtr->irlock_addr.c_str()); - ::sendto(this->dataPtr->handle, - reinterpret_cast(&pkt), - sizeof(pkt), 0, - (struct sockaddr *)&sockaddr, sizeof(sockaddr)); -} diff --git a/src/ArduPilotPlugin.cc b/src/ArduPilotPlugin.cc index b2a3a25b..3ef599bf 100755 --- a/src/ArduPilotPlugin.cc +++ b/src/ArduPilotPlugin.cc @@ -57,7 +57,7 @@ #include -#include "Socket.h" +#include "SocketUDP.hh" #include "Util.hh" #define DEBUG_JSON_IO 0 @@ -219,7 +219,7 @@ class gz::sim::systems::ArduPilotPluginPrivate public: std::mutex mutex; /// \brief Socket manager - public: SocketAPM sock = SocketAPM(true); + public: SocketUDP sock = SocketUDP(true, true); /// \brief The address for the flight dynamics model (i.e. this plugin) public: std::string fdm_address{"127.0.0.1"}; @@ -1253,10 +1253,6 @@ void gz::sim::systems::ArduPilotPlugin::ResetPIDs() ///////////////////////////////////////////////// bool gz::sim::systems::ArduPilotPlugin::InitSockets(sdf::ElementPtr _sdf) const { - // configure port - this->dataPtr->sock.set_blocking(false); - this->dataPtr->sock.reuseaddress(); - // get the fdm address if provided, otherwise default to localhost this->dataPtr->fdm_address = _sdf->Get("fdm_addr", static_cast("127.0.0.1")).first; @@ -1407,7 +1403,7 @@ namespace /// \brief Get a servo packet. Templated for 16 or 32 channel packets. template ssize_t getServoPacket( - SocketAPM &_sock, + SocketUDP &_sock, const char *&_fcu_address, uint16_t &_fcu_port_out, uint32_t _waitMs, @@ -1417,7 +1413,7 @@ ssize_t getServoPacket( { ssize_t recvSize = _sock.recv(&_pkt, sizeof(TServoPacket), _waitMs); - _sock.last_recv_address(_fcu_address, _fcu_port_out); + _sock.get_client_address(_fcu_address, _fcu_port_out); // drain the socket in the case we're backed up int counter = 0; diff --git a/src/CameraZoomPlugin.cc b/src/CameraZoomPlugin.cc index f2c2d29a..e6d1444c 100644 --- a/src/CameraZoomPlugin.cc +++ b/src/CameraZoomPlugin.cc @@ -2,7 +2,7 @@ Copyright (C) 2023 ArduPilot.org This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by + it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. @@ -11,7 +11,7 @@ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. - You should have received a copy of the GNU General Public License + You should have received a copy of the GNU Lesser General Public License along with this program. If not, see . */ diff --git a/src/Socket.cpp b/src/Socket.cpp deleted file mode 100644 index 0ef3d785..00000000 --- a/src/Socket.cpp +++ /dev/null @@ -1,240 +0,0 @@ -/* - Copyright (C) 2022 ardupilot.org - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - */ -/* - simple socket handling class for systems with BSD socket API - */ - -#include "Socket.h" -#include - -/* - constructor - */ -SocketAPM::SocketAPM(bool _datagram) : - SocketAPM(_datagram, - socket(AF_INET, _datagram?SOCK_DGRAM:SOCK_STREAM, 0)) -{} - -SocketAPM::SocketAPM(bool _datagram, int _fd) : - datagram(_datagram), - fd(_fd) -{ - fcntl(fd, F_SETFD, FD_CLOEXEC); - if (!datagram) { - int one = 1; - setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one)); - } -} - -SocketAPM::~SocketAPM() -{ - if (fd != -1) { - ::close(fd); - fd = -1; - } -} - -void SocketAPM::make_sockaddr(const char *address, uint16_t port, - struct sockaddr_in &sockaddr) -{ - memset(&sockaddr, 0, sizeof(sockaddr)); - -#ifdef HAVE_SOCK_SIN_LEN - sockaddr.sin_len = sizeof(sockaddr); -#endif - sockaddr.sin_port = htons(port); - sockaddr.sin_family = AF_INET; - sockaddr.sin_addr.s_addr = inet_addr(address); -} - -/* - connect the socket - */ -bool SocketAPM::connect(const char *address, uint16_t port) -{ - struct sockaddr_in sockaddr; - make_sockaddr(address, port, sockaddr); - - if (::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) { - return false; - } - return true; -} - -/* - bind the socket - */ -bool SocketAPM::bind(const char *address, uint16_t port) -{ - struct sockaddr_in sockaddr; - make_sockaddr(address, port, sockaddr); - - if (::bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) { - return false; - } - return true; -} - - -/* - set SO_REUSEADDR - */ -bool SocketAPM::reuseaddress(void) -{ - int one = 1; - return (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)) != -1); -} - -/* - set blocking state - */ -bool SocketAPM::set_blocking(bool blocking) -{ - int fcntl_ret; - if (blocking) { - fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) & ~O_NONBLOCK); - } else { - fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) | O_NONBLOCK); - } - return fcntl_ret != -1; -} - -/* - set cloexec state - */ -bool SocketAPM::set_cloexec() -{ - return (fcntl(fd, F_SETFD, FD_CLOEXEC) != -1); -} - -/* - send some data - */ -ssize_t SocketAPM::send(const void *buf, size_t size) -{ - return ::send(fd, buf, size, 0); -} - -/* - send some data - */ -ssize_t SocketAPM::sendto(const void *buf, size_t size, - const char *address, uint16_t port) -{ - struct sockaddr_in sockaddr; - make_sockaddr(address, port, sockaddr); - return ::sendto(fd, buf, size, 0, - (struct sockaddr *)&sockaddr, sizeof(sockaddr)); -} - -/* - receive some data - */ -ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms) -{ - if (!pollin(timeout_ms)) { - return -1; - } - socklen_t len = sizeof(in_addr); - return ::recvfrom(fd, buf, size, MSG_DONTWAIT, - reinterpret_cast(&in_addr), &len); -} - -/* - return the IP address and port of the last received packet - */ -void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) -{ - ip_addr = inet_ntoa(in_addr.sin_addr); - port = ntohs(in_addr.sin_port); -} - -void SocketAPM::set_broadcast(void) -{ - int one = 1; - setsockopt(fd, SOL_SOCKET, SO_BROADCAST, - reinterpret_cast(&one), sizeof(one)); -} - -/* - return true if there is pending data for input - */ -bool SocketAPM::pollin(uint32_t timeout_ms) -{ - fd_set fds; - struct timeval tv; - - FD_ZERO(&fds); - FD_SET(fd, &fds); - - tv.tv_sec = timeout_ms / 1000; - tv.tv_usec = (timeout_ms % 1000) * 1000UL; - - if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) { - return false; - } - return true; -} - - -/* - return true if there is room for output data - */ -bool SocketAPM::pollout(uint32_t timeout_ms) -{ - fd_set fds; - struct timeval tv; - - FD_ZERO(&fds); - FD_SET(fd, &fds); - - tv.tv_sec = timeout_ms / 1000; - tv.tv_usec = (timeout_ms % 1000) * 1000UL; - - if (select(fd+1, nullptr, &fds, nullptr, &tv) != 1) { - return false; - } - return true; -} - -/* - start listening for new tcp connections - */ -bool SocketAPM::listen(uint16_t backlog) -{ - return ::listen(fd, static_cast(backlog)) == 0; -} - -/* - accept a new connection. Only valid for TCP connections after - listen has been used. A new socket is returned -*/ -SocketAPM *SocketAPM::accept(uint32_t timeout_ms) -{ - if (!pollin(timeout_ms)) { - return nullptr; - } - - int newfd = ::accept(fd, nullptr, nullptr); - if (newfd == -1) { - return nullptr; - } - // turn off nagle for lower latency - int one = 1; - setsockopt(newfd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one)); - return new SocketAPM(false, newfd); -} diff --git a/src/SocketUDP.cc b/src/SocketUDP.cc new file mode 100644 index 00000000..f9aaa274 --- /dev/null +++ b/src/SocketUDP.cc @@ -0,0 +1,144 @@ +/* + Copyright (C) 2024 ardupilot.org + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + */ + + +#include "SocketUDP.hh" +#include +#include +#include + + +SocketUDP::SocketUDP(bool reuseaddress, bool blocking) { + fd = socket(AF_INET, SOCK_DGRAM, 0); + if (fd < 0) { + perror("SocketUDP creation failed"); + exit(EXIT_FAILURE); + } + +#ifndef _WIN32 + // Windows does not support FD_CLOEXEC + fcntl(fd, F_SETFD, FD_CLOEXEC); +#endif + + if (reuseaddress) { + set_reuseaddress(); + } + if (blocking) { + set_blocking(true); + } +} + + +SocketUDP::~SocketUDP() { + if (fd != -1) { + ::close(fd); + fd = -1; + } +} + + +bool SocketUDP::bind(const char *address, uint16_t port) { + struct sockaddr_in server_addr{}; + make_sockaddr(address, port, server_addr); + + if (::bind(fd, reinterpret_cast(&server_addr), sizeof(server_addr)) != 0) { + perror("SocketUDP Bind failed"); +#ifdef _WIN32 + closesocket(fd); +#else + close(fd); +#endif + return false; + } + return true; +} + + +bool SocketUDP::set_reuseaddress() { + int one = 1; + return (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)) != -1); +} + + +bool SocketUDP::set_blocking(bool blocking) { + int fcntl_ret; +#ifdef _WIN32 + u_long mode = blocking ? 0 : 1; + fcntl_ret = ioctlsocket(fd, FIONBIO, reinterpret_cast(&mode)); +#else + if (blocking) { + fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) & ~O_NONBLOCK); + } else { + fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) | O_NONBLOCK); + } +#endif + return fcntl_ret != -1; +} + + +ssize_t SocketUDP::sendto(const void *buf, size_t size, const char *address, uint16_t port) { + struct sockaddr_in sockaddr_out{}; + make_sockaddr(address, port, sockaddr_out); + + return ::sendto(fd, buf, size, 0, reinterpret_cast(&sockaddr_out), sizeof(sockaddr_out)); +} + +/* + receive some data + */ +ssize_t SocketUDP::recv(void *buf, size_t size, uint32_t timeout_ms) { + if (!pollin(timeout_ms)) { + return -1; + } + socklen_t len = sizeof(in_addr); + return ::recvfrom(fd, buf, size, MSG_DONTWAIT, reinterpret_cast(&in_addr), &len); +} + + +void SocketUDP::get_client_address(const char *&ip_addr, uint16_t &port) { + ip_addr = inet_ntoa(in_addr.sin_addr); + port = ntohs(in_addr.sin_port); +} + + +bool SocketUDP::pollin(uint32_t timeout_ms) { + fd_set fds; + struct timeval tv; + + FD_ZERO(&fds); + FD_SET(fd, &fds); + + tv.tv_sec = timeout_ms / 1000; + tv.tv_usec = (timeout_ms % 1000) * 1000UL; + + if (select(fd + 1, &fds, nullptr, nullptr, &tv) != 1) { + return false; + } + return true; +} + +void SocketUDP::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr) +{ + sockaddr = {}; + + sockaddr.sin_family = AF_INET; + sockaddr.sin_addr.s_addr = inet_addr(address); + sockaddr.sin_port = htons(port); +#ifdef HAVE_SOCK_SIN_LEN + sockaddr.sin_len = sizeof(sockaddr); +#endif +} diff --git a/src/Util.cc b/src/Util.cc index 894e0bdb..398a974f 100644 --- a/src/Util.cc +++ b/src/Util.cc @@ -2,7 +2,7 @@ Copyright (C) 2022 ardupilot.org This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by + it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. @@ -11,7 +11,7 @@ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. - You should have received a copy of the GNU General Public License + You should have received a copy of the GNU Lesser General Public License along with this program. If not, see . */