forked from Archive/PX4-Autopilot
microRTPS_transport.cxx fix code style
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
17727b5a82
commit
319c1d2046
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@ -86,388 +86,417 @@ Transport_node::~Transport_node()
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uint16_t Transport_node::crc16_byte(uint16_t crc, const uint8_t data)
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{
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return (crc >> 8) ^ crc16_table[(crc ^ data) & 0xff];
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return (crc >> 8) ^ crc16_table[(crc ^ data) & 0xff];
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}
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uint16_t Transport_node::crc16(uint8_t const *buffer, size_t len)
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{
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uint16_t crc = 0;
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while (len--) crc = crc16_byte(crc, *buffer++);
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return crc;
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uint16_t crc = 0;
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while (len--) {
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crc = crc16_byte(crc, *buffer++);
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}
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return crc;
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}
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ssize_t Transport_node::read(uint8_t* topic_ID, char out_buffer[], size_t buffer_len)
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ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer_len)
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{
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if (nullptr == out_buffer || nullptr == topic_ID || !fds_OK()) return -1;
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if (nullptr == out_buffer || nullptr == topic_ID || !fds_OK()) {
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return -1;
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}
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*topic_ID = 255;
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*topic_ID = 255;
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ssize_t len = node_read((void*)(rx_buffer + rx_buff_pos), sizeof(rx_buffer) - rx_buff_pos);
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if (len <= 0)
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{
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int errsv = errno;
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if (errsv && EAGAIN != errsv && ETIMEDOUT != errsv)
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{
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printf("Read fail %d\n", errsv);
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}
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return len;
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}
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rx_buff_pos += len;
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ssize_t len = node_read((void *)(rx_buffer + rx_buff_pos), sizeof(rx_buffer) - rx_buff_pos);
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// We read some
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size_t header_size = sizeof(struct Header);
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if (rx_buff_pos < header_size) return 0; //but not enough
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if (len <= 0) {
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int errsv = errno;
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uint32_t msg_start_pos = 0;
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for (msg_start_pos = 0; msg_start_pos <= rx_buff_pos - header_size; ++msg_start_pos)
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{
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if ('>' == rx_buffer[msg_start_pos] && memcmp(rx_buffer + msg_start_pos, ">>>", 3) == 0)
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{
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break;
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}
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}
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if (errsv && EAGAIN != errsv && ETIMEDOUT != errsv) {
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printf("Read fail %d\n", errsv);
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}
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// Start not found
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if (msg_start_pos > rx_buff_pos - header_size)
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{
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printf(" (↓↓ %u)\n", msg_start_pos);
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// All we've checked so far is garbage, drop it - but save unchecked bytes
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos = rx_buff_pos - msg_start_pos;
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return -1;
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}
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return len;
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}
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/*
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* [>,>,>,topic_ID,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart, ... ,payloadEnd]
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*/
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rx_buff_pos += len;
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struct Header *header = (struct Header *)&rx_buffer[msg_start_pos];
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uint32_t payload_len = ((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
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// The message won't fit the buffer.
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if (buffer_len < header_size + payload_len) return -EMSGSIZE;
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// We do not have a complete message yet
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if(msg_start_pos + header_size + payload_len > rx_buff_pos)
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{
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// If there's garbage at the beginning, drop it
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if (msg_start_pos > 0)
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{
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printf(" (↓ %u)\n", msg_start_pos);
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos -= msg_start_pos;
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}
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return 0;
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}
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// We read some
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size_t header_size = sizeof(struct Header);
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uint16_t read_crc = ((uint16_t)header->crc_h << 8) | header->crc_l;
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uint16_t calc_crc = crc16((uint8_t*)rx_buffer + msg_start_pos + header_size, payload_len);
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if (read_crc != calc_crc)
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{
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printf("BAD CRC %u != %u\n", read_crc, calc_crc);
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printf(" (↓ %lu)\n", (unsigned long)(header_size + payload_len));
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len = -1;
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}
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else
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{
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// copy message to outbuffer and set other return values
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memmove(out_buffer, rx_buffer + msg_start_pos + header_size, payload_len);
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*topic_ID = header->topic_ID;
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len = payload_len + header_size;
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}
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// but not enough
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if (rx_buff_pos < header_size) {
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return 0;
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}
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// discard message from rx_buffer
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rx_buff_pos -= header_size + payload_len;
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memmove(rx_buffer, rx_buffer + msg_start_pos + header_size + payload_len, rx_buff_pos);
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uint32_t msg_start_pos = 0;
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return len;
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for (msg_start_pos = 0; msg_start_pos <= rx_buff_pos - header_size; ++msg_start_pos) {
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if ('>' == rx_buffer[msg_start_pos] && memcmp(rx_buffer + msg_start_pos, ">>>", 3) == 0) {
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break;
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}
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}
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// Start not found
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if (msg_start_pos > rx_buff_pos - header_size) {
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printf(" (↓↓ %u)\n", msg_start_pos);
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// All we've checked so far is garbage, drop it - but save unchecked bytes
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos = rx_buff_pos - msg_start_pos;
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return -1;
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}
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/*
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* [>,>,>,topic_ID,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart, ... ,payloadEnd]
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*/
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struct Header *header = (struct Header *)&rx_buffer[msg_start_pos];
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uint32_t payload_len = ((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
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// The message won't fit the buffer.
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if (buffer_len < header_size + payload_len) {
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return -EMSGSIZE;
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}
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// We do not have a complete message yet
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if (msg_start_pos + header_size + payload_len > rx_buff_pos) {
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// If there's garbage at the beginning, drop it
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if (msg_start_pos > 0) {
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printf(" (↓ %u)\n", msg_start_pos);
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memmove(rx_buffer, rx_buffer + msg_start_pos, rx_buff_pos - msg_start_pos);
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rx_buff_pos -= msg_start_pos;
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}
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return 0;
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}
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uint16_t read_crc = ((uint16_t)header->crc_h << 8) | header->crc_l;
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uint16_t calc_crc = crc16((uint8_t *)rx_buffer + msg_start_pos + header_size, payload_len);
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if (read_crc != calc_crc) {
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printf("BAD CRC %u != %u\n", read_crc, calc_crc);
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printf(" (↓ %lu)\n", (unsigned long)(header_size + payload_len));
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len = -1;
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} else {
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// copy message to outbuffer and set other return values
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memmove(out_buffer, rx_buffer + msg_start_pos + header_size, payload_len);
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*topic_ID = header->topic_ID;
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len = payload_len + header_size;
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}
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// discard message from rx_buffer
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rx_buff_pos -= header_size + payload_len;
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memmove(rx_buffer, rx_buffer + msg_start_pos + header_size + payload_len, rx_buff_pos);
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return len;
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}
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ssize_t Transport_node::write(const uint8_t topic_ID, char buffer[], size_t length)
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{
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if (!fds_OK()) return -1;
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if (!fds_OK()) {
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return -1;
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}
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static struct Header header
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{
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.marker = {'>','>','>'},
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.topic_ID = 0u,
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.seq = 0u,
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.payload_len_h = 0u,
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.payload_len_l = 0u,
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.crc_h = 0u,
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.crc_l = 0u
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static struct Header header = {
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.marker = {'>', '>', '>'},
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.topic_ID = 0u,
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.seq = 0u,
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.payload_len_h = 0u,
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.payload_len_l = 0u,
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.crc_h = 0u,
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.crc_l = 0u
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};
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static uint8_t seq = 0;
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};
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// [>,>,>,topic_ID,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
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static uint8_t seq = 0;
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uint16_t crc = crc16((uint8_t*)buffer, length);
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// [>,>,>,topic_ID,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
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header.topic_ID = topic_ID;
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header.seq = seq++;
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header.payload_len_h = (length >> 8) & 0xff;
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header.payload_len_l = length & 0xff;
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header.crc_h = (crc >> 8) & 0xff;
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header.crc_l = crc & 0xff;
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uint16_t crc = crc16((uint8_t *)buffer, length);
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ssize_t len = node_write(&header, sizeof(header));
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if (len != sizeof(header)) goto err;
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len = node_write(buffer, length);
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if (len != ssize_t(length)) goto err;
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header.topic_ID = topic_ID;
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header.seq = seq++;
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header.payload_len_h = (length >> 8) & 0xff;
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header.payload_len_l = length & 0xff;
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header.crc_h = (crc >> 8) & 0xff;
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header.crc_l = crc & 0xff;
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return len + sizeof(header);
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ssize_t len = node_write(&header, sizeof(header));
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if (len != sizeof(header)) {
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goto err;
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}
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len = node_write(buffer, length);
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if (len != ssize_t(length)) {
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goto err;
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}
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return len + sizeof(header);
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err:
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//int errsv = errno;
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//if (len == -1 ) printf(" => Writing error '%d'\n", errsv);
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//else printf(" => Wrote '%ld' != length(%lu) error '%d'\n", (long)len, (unsigned long)length, errsv);
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//int errsv = errno;
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//if (len == -1 ) printf(" => Writing error '%d'\n", errsv);
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//else printf(" => Wrote '%ld' != length(%lu) error '%d'\n", (long)len, (unsigned long)length, errsv);
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return len;
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return len;
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}
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UART_node::UART_node(const char *_uart_name, uint32_t _baudrate, uint32_t _poll_ms):
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uart_fd(-1),
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baudrate(_baudrate),
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poll_ms(_poll_ms)
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uart_fd(-1),
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baudrate(_baudrate),
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poll_ms(_poll_ms)
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{
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if (nullptr != _uart_name) strcpy(uart_name, _uart_name);
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if (nullptr != _uart_name) {
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strcpy(uart_name, _uart_name);
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}
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}
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UART_node::~UART_node()
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{
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close();
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close();
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}
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int UART_node::init()
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{
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// Open a serial port
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uart_fd = open(uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
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// Open a serial port
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uart_fd = open(uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (uart_fd < 0)
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{
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printf("failed to open device: %s (%d)\n", uart_name, errno);
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return -errno;
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}
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if (uart_fd < 0) {
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printf("failed to open device: %s (%d)\n", uart_name, errno);
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return -errno;
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}
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// If using shared UART, no need to set it up
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if (baudrate == 0) {
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return uart_fd;
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}
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// If using shared UART, no need to set it up
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if (baudrate == 0) {
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return uart_fd;
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}
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// Try to set baud rate
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struct termios uart_config;
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int termios_state;
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// Back up the original uart configuration to restore it after exit
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if ((termios_state = tcgetattr(uart_fd, &uart_config)) < 0)
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{
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int errno_bkp = errno;
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printf("ERR GET CONF %s: %d (%d)\n", uart_name, termios_state, errno);
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close();
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return -errno_bkp;
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}
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// Try to set baud rate
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struct termios uart_config;
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int termios_state;
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// Clear ONLCR flag (which appends a CR for every LF)
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uart_config.c_oflag &= ~ONLCR;
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// Back up the original uart configuration to restore it after exit
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if ((termios_state = tcgetattr(uart_fd, &uart_config)) < 0) {
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int errno_bkp = errno;
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printf("ERR GET CONF %s: %d (%d)\n", uart_name, termios_state, errno);
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close();
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return -errno_bkp;
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}
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// USB serial is indicated by /dev/ttyACM0
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if (strcmp(uart_name, "/dev/ttyACM0") != 0 && strcmp(uart_name, "/dev/ttyACM1") != 0)
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{
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// Set baud rate
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if (cfsetispeed(&uart_config, baudrate) < 0 || cfsetospeed(&uart_config, baudrate) < 0)
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{
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int errno_bkp = errno;
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printf("ERR SET BAUD %s: %d (%d)\n", uart_name, termios_state, errno);
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close();
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return -errno_bkp;
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}
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}
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// Clear ONLCR flag (which appends a CR for every LF)
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uart_config.c_oflag &= ~ONLCR;
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if ((termios_state = tcsetattr(uart_fd, TCSANOW, &uart_config)) < 0)
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{
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int errno_bkp = errno;
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printf("ERR SET CONF %s (%d)\n", uart_name, errno);
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close();
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return -errno_bkp;
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}
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// USB serial is indicated by /dev/ttyACM0
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if (strcmp(uart_name, "/dev/ttyACM0") != 0 && strcmp(uart_name, "/dev/ttyACM1") != 0) {
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// Set baud rate
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if (cfsetispeed(&uart_config, baudrate) < 0 || cfsetospeed(&uart_config, baudrate) < 0) {
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int errno_bkp = errno;
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printf("ERR SET BAUD %s: %d (%d)\n", uart_name, termios_state, errno);
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close();
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return -errno_bkp;
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}
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}
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char aux[64];
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bool flush = false;
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while (0 < ::read(uart_fd, (void*)&aux, 64))
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{
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//printf("%s ", aux);
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flush = true;
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usleep(1000);
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}
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if (flush)
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{
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printf("flush\n");
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}
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else
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{
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printf("no flush\n");
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}
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if ((termios_state = tcsetattr(uart_fd, TCSANOW, &uart_config)) < 0) {
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int errno_bkp = errno;
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printf("ERR SET CONF %s (%d)\n", uart_name, errno);
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close();
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return -errno_bkp;
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}
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poll_fd[0].fd = uart_fd;
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poll_fd[0].events = POLLIN;
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char aux[64];
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bool flush = false;
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return uart_fd;
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while (0 < ::read(uart_fd, (void *)&aux, 64)) {
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//printf("%s ", aux);
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flush = true;
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usleep(1000);
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}
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if (flush) {
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printf("flush\n");
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} else {
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printf("no flush\n");
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}
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poll_fd[0].fd = uart_fd;
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poll_fd[0].events = POLLIN;
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return uart_fd;
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}
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bool UART_node::fds_OK()
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{
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return (-1 != uart_fd);
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return (-1 != uart_fd);
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}
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uint8_t UART_node::close()
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{
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if (-1 != uart_fd)
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{
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printf("Close UART\n");
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::close(uart_fd);
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uart_fd = -1;
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memset(&poll_fd, 0, sizeof(poll_fd));
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}
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return 0;
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if (-1 != uart_fd) {
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printf("Close UART\n");
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::close(uart_fd);
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uart_fd = -1;
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memset(&poll_fd, 0, sizeof(poll_fd));
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}
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return 0;
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}
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ssize_t UART_node::node_read(void *buffer, size_t len)
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{
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if (nullptr == buffer || !fds_OK()) return -1;
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ssize_t ret = 0;
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int r = poll(poll_fd, 1, poll_ms);
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if (r == 1 && (poll_fd[0].revents & POLLIN))
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{
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ret = ::read(uart_fd, buffer, len);
|
||||
}
|
||||
return ret;
|
||||
if (nullptr == buffer || !fds_OK()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
ssize_t ret = 0;
|
||||
int r = poll(poll_fd, 1, poll_ms);
|
||||
|
||||
if (r == 1 && (poll_fd[0].revents & POLLIN)) {
|
||||
ret = ::read(uart_fd, buffer, len);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
ssize_t UART_node::node_write(void *buffer, size_t len)
|
||||
{
|
||||
if (nullptr == buffer || !fds_OK()) return -1;
|
||||
return ::write(uart_fd, buffer, len);
|
||||
if (nullptr == buffer || !fds_OK()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return ::write(uart_fd, buffer, len);
|
||||
}
|
||||
|
||||
|
||||
UDP_node::UDP_node(uint16_t _udp_port_recv, uint16_t _udp_port_send):
|
||||
sender_fd(-1),
|
||||
receiver_fd(-1),
|
||||
udp_port_recv(_udp_port_recv),
|
||||
udp_port_send(_udp_port_send)
|
||||
sender_fd(-1),
|
||||
receiver_fd(-1),
|
||||
udp_port_recv(_udp_port_recv),
|
||||
udp_port_send(_udp_port_send)
|
||||
{
|
||||
}
|
||||
|
||||
UDP_node::~UDP_node()
|
||||
{
|
||||
close();
|
||||
close();
|
||||
}
|
||||
|
||||
int UDP_node::init()
|
||||
{
|
||||
if (0 > init_receiver(udp_port_recv) || 0 > init_sender(udp_port_send))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
return 0;
|
||||
if (0 > init_receiver(udp_port_recv) || 0 > init_sender(udp_port_send)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool UDP_node::fds_OK()
|
||||
{
|
||||
return (-1 != sender_fd && -1 != receiver_fd);
|
||||
return (-1 != sender_fd && -1 != receiver_fd);
|
||||
}
|
||||
|
||||
int UDP_node::init_receiver(uint16_t udp_port)
|
||||
{
|
||||
#ifndef __PX4_NUTTX
|
||||
// udp socket data
|
||||
memset((char *)&receiver_inaddr, 0, sizeof(receiver_inaddr));
|
||||
receiver_inaddr.sin_family = AF_INET;
|
||||
receiver_inaddr.sin_port = htons(udp_port);
|
||||
receiver_inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
|
||||
// udp socket data
|
||||
memset((char *)&receiver_inaddr, 0, sizeof(receiver_inaddr));
|
||||
receiver_inaddr.sin_family = AF_INET;
|
||||
receiver_inaddr.sin_port = htons(udp_port);
|
||||
receiver_inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
|
||||
|
||||
if ((receiver_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0)
|
||||
{
|
||||
printf("create socket failed\n");
|
||||
return -1;
|
||||
}
|
||||
if ((receiver_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
|
||||
printf("create socket failed\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Trying to connect...\n");
|
||||
printf("Trying to connect...\n");
|
||||
|
||||
if (bind(receiver_fd, (struct sockaddr *)&receiver_inaddr, sizeof(receiver_inaddr)) < 0)
|
||||
{
|
||||
printf("bind failed\n");
|
||||
return -1;
|
||||
}
|
||||
if (bind(receiver_fd, (struct sockaddr *)&receiver_inaddr, sizeof(receiver_inaddr)) < 0) {
|
||||
printf("bind failed\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("connected to server!\n");
|
||||
printf("connected to server!\n");
|
||||
#endif /* __PX4_NUTTX */
|
||||
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int UDP_node::init_sender(uint16_t udp_port)
|
||||
{
|
||||
#ifndef __PX4_NUTTX
|
||||
if ((sender_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0)
|
||||
{
|
||||
printf("create socket failed\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
memset((char *) &sender_outaddr, 0, sizeof(sender_outaddr));
|
||||
sender_outaddr.sin_family = AF_INET;
|
||||
sender_outaddr.sin_port = htons(udp_port);
|
||||
if ((sender_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
|
||||
printf("create socket failed\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
memset((char *) &sender_outaddr, 0, sizeof(sender_outaddr));
|
||||
sender_outaddr.sin_family = AF_INET;
|
||||
sender_outaddr.sin_port = htons(udp_port);
|
||||
|
||||
if (inet_aton("127.0.0.1", &sender_outaddr.sin_addr) == 0) {
|
||||
printf("inet_aton() failed\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (inet_aton("127.0.0.1" , &sender_outaddr.sin_addr) == 0)
|
||||
{
|
||||
printf("inet_aton() failed\n");
|
||||
return -1;
|
||||
}
|
||||
#endif /* __PX4_NUTTX */
|
||||
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t UDP_node::close()
|
||||
{
|
||||
#ifndef __PX4_NUTTX
|
||||
if (sender_fd != -1)
|
||||
{
|
||||
printf("Close sender socket\n");
|
||||
shutdown(sender_fd, SHUT_RDWR);
|
||||
::close(sender_fd);
|
||||
sender_fd = -1;
|
||||
}
|
||||
|
||||
if (receiver_fd != -1)
|
||||
{
|
||||
printf("Close receiver socket\n");
|
||||
shutdown(receiver_fd, SHUT_RDWR);
|
||||
::close(receiver_fd);
|
||||
receiver_fd = -1;
|
||||
}
|
||||
if (sender_fd != -1) {
|
||||
printf("Close sender socket\n");
|
||||
shutdown(sender_fd, SHUT_RDWR);
|
||||
::close(sender_fd);
|
||||
sender_fd = -1;
|
||||
}
|
||||
|
||||
if (receiver_fd != -1) {
|
||||
printf("Close receiver socket\n");
|
||||
shutdown(receiver_fd, SHUT_RDWR);
|
||||
::close(receiver_fd);
|
||||
receiver_fd = -1;
|
||||
}
|
||||
|
||||
#endif /* __PX4_NUTTX */
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
ssize_t UDP_node::node_read(void *buffer, size_t len)
|
||||
{
|
||||
if (nullptr == buffer || !fds_OK()) return -1;
|
||||
int ret = 0;
|
||||
if (nullptr == buffer || !fds_OK()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
int ret = 0;
|
||||
#ifndef __PX4_NUTTX
|
||||
// Blocking call
|
||||
static socklen_t addrlen = sizeof(receiver_outaddr);
|
||||
ret = recvfrom(receiver_fd, buffer, len, 0, (struct sockaddr*) &receiver_outaddr, &addrlen);
|
||||
// Blocking call
|
||||
static socklen_t addrlen = sizeof(receiver_outaddr);
|
||||
ret = recvfrom(receiver_fd, buffer, len, 0, (struct sockaddr *) &receiver_outaddr, &addrlen);
|
||||
#endif /* __PX4_NUTTX */
|
||||
return ret;
|
||||
return ret;
|
||||
}
|
||||
|
||||
ssize_t UDP_node::node_write(void *buffer, size_t len)
|
||||
{
|
||||
if (nullptr == buffer || !fds_OK()) return -1;
|
||||
int ret = 0;
|
||||
if (nullptr == buffer || !fds_OK()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
int ret = 0;
|
||||
#ifndef __PX4_NUTTX
|
||||
ret = sendto(sender_fd, buffer, len, 0, (struct sockaddr *)&sender_outaddr, sizeof(sender_outaddr));
|
||||
ret = sendto(sender_fd, buffer, len, 0, (struct sockaddr *)&sender_outaddr, sizeof(sender_outaddr));
|
||||
#endif /* __PX4_NUTTX */
|
||||
return ret;
|
||||
return ret;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue