mirror of https://github.com/ArduPilot/ardupilot
AP_HAL: make Socket.cpp safe for lwip and SITL usage
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896b95654c
commit
e53729f331
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@ -21,9 +21,23 @@
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#if AP_NETWORKING_SOCKETS_ENABLED
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#if AP_NETWORKING_SOCKETS_ENABLED
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#include "Socket.h"
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#include "Socket.h"
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#if AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP
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#include <lwip/sockets.h>
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#else
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// SITL or Linux
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#include <fcntl.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/tcp.h>
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#include <arpa/inet.h>
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#include <sys/select.h>
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#endif
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#include <errno.h>
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#include <errno.h>
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#if AP_NETWORKING_BACKEND_CHIBIOS
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#if AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP
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#define CALL_PREFIX(x) ::lwip_##x
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#define CALL_PREFIX(x) ::lwip_##x
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#else
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#else
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#define CALL_PREFIX(x) ::x
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#define CALL_PREFIX(x) ::x
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@ -33,6 +47,8 @@
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#define MSG_NOSIGNAL 0
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#define MSG_NOSIGNAL 0
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#endif
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#endif
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static_assert(sizeof(last_in_addr) == sizeof(struct sockaddr_in), "last_in_addr must match sockaddr_in size");
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/*
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/*
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constructor
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constructor
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*/
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*/
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@ -185,7 +201,7 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
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}
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}
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int sock_error = 0;
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int sock_error = 0;
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socklen_t len = sizeof(sock_error);
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socklen_t len = sizeof(sock_error);
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if (getsockopt(fd, SOL_SOCKET, SO_ERROR, (void*)&sock_error, &len) != 0) {
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if (CALL_PREFIX(getsockopt)(fd, SOL_SOCKET, SO_ERROR, (void*)&sock_error, &len) != 0) {
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return false;
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return false;
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}
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}
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connected = sock_error == 0;
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connected = sock_error == 0;
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@ -294,10 +310,10 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
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errno = EWOULDBLOCK;
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errno = EWOULDBLOCK;
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return -1;
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return -1;
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}
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}
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socklen_t len = sizeof(in_addr);
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socklen_t len = sizeof(last_in_addr);
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int fin = get_read_fd();
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int fin = get_read_fd();
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ssize_t ret;
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ssize_t ret;
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ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
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ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&last_in_addr, &len);
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if (ret <= 0) {
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if (ret <= 0) {
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if (!datagram && connected && ret == 0) {
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if (!datagram && connected && ret == 0) {
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// remote host has closed connection
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// remote host has closed connection
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@ -314,9 +330,9 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
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if (CALL_PREFIX(getsockname)(fd, (struct sockaddr *)&send_addr, &send_len) != 0) {
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if (CALL_PREFIX(getsockname)(fd, (struct sockaddr *)&send_addr, &send_len) != 0) {
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return -1;
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return -1;
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}
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}
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if (in_addr.sin_port == send_addr.sin_port &&
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if (last_in_addr.sin_port == send_addr.sin_port &&
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in_addr.sin_family == send_addr.sin_family &&
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last_in_addr.sin_family == send_addr.sin_family &&
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in_addr.sin_addr.s_addr == send_addr.sin_addr.s_addr) {
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last_in_addr.sin_addr.s_addr == send_addr.sin_addr.s_addr) {
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// discard packets from ourselves
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// discard packets from ourselves
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return -1;
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return -1;
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}
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}
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@ -329,8 +345,9 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
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*/
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*/
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void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
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void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
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{
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{
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ip_addr = inet_ntoa(in_addr.sin_addr);
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static char buf[16];
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port = ntohs(in_addr.sin_port);
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auto *str = last_recv_address(buf, sizeof(buf), port);
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ip_addr = str;
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}
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}
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/*
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/*
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@ -338,11 +355,11 @@ void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
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*/
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*/
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const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
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const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
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{
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{
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const char *ret = inet_ntop(AF_INET, (void*)&in_addr.sin_addr, ip_addr_buf, buflen);
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const char *ret = CALL_PREFIX(inet_ntop)(AF_INET, (void*)&last_in_addr.sin_addr, ip_addr_buf, buflen);
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if (ret == nullptr) {
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if (ret == nullptr) {
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return nullptr;
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return nullptr;
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}
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}
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port = ntohs(in_addr.sin_port);
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port = ntohs(last_in_addr.sin_port);
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return ret;
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return ret;
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}
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}
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@ -427,8 +444,8 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
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return nullptr;
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return nullptr;
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}
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}
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socklen_t len = sizeof(in_addr);
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socklen_t len = sizeof(last_in_addr);
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int newfd = CALL_PREFIX(accept)(fd, (sockaddr *)&in_addr, &len);
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int newfd = CALL_PREFIX(accept)(fd, (sockaddr *)&last_in_addr, &len);
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if (newfd == -1) {
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if (newfd == -1) {
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return nullptr;
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return nullptr;
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}
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}
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@ -19,22 +19,12 @@
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Networking/AP_Networking_Config.h>
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#include <AP_Networking/AP_Networking_Config.h>
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#if AP_NETWORKING_SOCKETS_ENABLED
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#if AP_NETWORKING_SOCKETS_ENABLED
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#if HAL_OS_SOCKETS
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#if HAL_OS_SOCKETS
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#include <fcntl.h>
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struct sockaddr_in;
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/tcp.h>
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#include <arpa/inet.h>
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#include <sys/select.h>
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#elif AP_NETWORKING_BACKEND_CHIBIOS
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#include <AP_Networking/AP_Networking_ChibiOS.h>
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#include <lwip/sockets.h>
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#endif
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class SocketAPM {
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class SocketAPM {
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public:
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public:
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@ -91,7 +81,13 @@ public:
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private:
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private:
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bool datagram;
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bool datagram;
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struct sockaddr_in in_addr {};
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struct {
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uint16_t sin_family;
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uint16_t sin_port;
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struct {
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uint32_t s_addr;
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} sin_addr;
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} last_in_addr;
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bool is_multicast_address(struct sockaddr_in &addr) const;
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bool is_multicast_address(struct sockaddr_in &addr) const;
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int fd = -1;
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int fd = -1;
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@ -104,4 +100,5 @@ private:
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void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
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void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
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};
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};
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#endif // HAL_OS_SOCKETS
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#endif // AP_NETWORKING_SOCKETS_ENABLED
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#endif // AP_NETWORKING_SOCKETS_ENABLED
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