wfview/udpbase.cpp

554 wiersze
18 KiB
C++

#include "udpbase.h"
#include "logcategories.h"
void udpBase::init(quint16 lport)
{
//timeStarted.start();
udp = new QUdpSocket(this);
if (!udp->bind(lport))
{
// We couldn't bind to the selected random port.
qCritical(logUdp()) << "**** Unable to bind to UDP port" << lport << "Cannot continue! ****";
}
else
{
localPort = udp->localPort();
qInfo(logUdp()) << "UDP Stream bound to local port:" << localPort << " remote port:" << port;
uint32_t addr = localIP.toIPv4Address();
myId = (addr >> 8 & 0xff) << 24 | (addr & 0xff) << 16 | (localPort & 0xffff);
retransmitTimer = new QTimer();
connect(retransmitTimer, &QTimer::timeout, this, &udpBase::sendRetransmitRequest);
retransmitTimer->start(RETRANSMIT_PERIOD);
}
}
udpBase::~udpBase()
{
qInfo(logUdp()) << "Closing UDP stream :" << radioIP.toString() << ":" << port;
if (udp != Q_NULLPTR) {
sendControl(false, 0x05, 0x00); // Send disconnect
udp->close();
delete udp;
}
if (areYouThereTimer != Q_NULLPTR)
{
areYouThereTimer->stop();
delete areYouThereTimer;
}
if (pingTimer != Q_NULLPTR)
{
pingTimer->stop();
delete pingTimer;
}
if (idleTimer != Q_NULLPTR)
{
idleTimer->stop();
delete idleTimer;
}
if (retransmitTimer != Q_NULLPTR)
{
retransmitTimer->stop();
delete retransmitTimer;
}
pingTimer = Q_NULLPTR;
idleTimer = Q_NULLPTR;
areYouThereTimer = Q_NULLPTR;
retransmitTimer = Q_NULLPTR;
}
// Base class!
void udpBase::dataReceived(QByteArray r)
{
if (r.length() < 0x10)
{
return; // Packet too small do to anything with?
}
switch (r.length())
{
case (CONTROL_SIZE): // Empty response used for simple comms and retransmit requests.
{
control_packet_t in = (control_packet_t)r.constData();
if (in->type == 0x01 && in->len == 0x10)
{
// Single packet request
packetsLost++;
congestion = static_cast<double>(packetsSent) / packetsLost * 100;
txBufferMutex.lock();
auto match = txSeqBuf.find(in->seq);
if (match != txSeqBuf.end()) {
// Found matching entry?
// Send "untracked" as it has already been sent once.
// Don't constantly retransmit the same packet, give-up eventually
qDebug(logUdp()) << this->metaObject()->className() << ": Sending (single packet) retransmit of " << QString("0x%1").arg(match->seqNum, 0, 16);
match->retransmitCount++;
udpMutex.lock();
udp->writeDatagram(match->data, radioIP, port);
udpMutex.unlock();
}
else {
qDebug(logUdp()) << this->metaObject()->className() << ": Remote requested packet"
<< QString("0x%1").arg(in->seq, 0, 16) <<
"not found, have " << QString("0x%1").arg(txSeqBuf.firstKey(), 0, 16) <<
"to" << QString("0x%1").arg(txSeqBuf.lastKey(), 0, 16);
}
txBufferMutex.unlock();
}
if (in->type == 0x04) {
qInfo(logUdp()) << this->metaObject()->className() << ": Received I am here ";
areYouThereCounter = 0;
// I don't think that we will ever receive an "I am here" other than in response to "Are you there?"
remoteId = in->sentid;
if (areYouThereTimer != Q_NULLPTR && areYouThereTimer->isActive()) {
// send ping packets every second
areYouThereTimer->stop();
}
sendControl(false, 0x06, 0x01); // Send Are you ready - untracked.
}
else if (in->type == 0x06)
{
// Just get the seqnum and ignore the rest.
}
break;
}
case (PING_SIZE): // ping packet
{
ping_packet_t in = (ping_packet_t)r.constData();
if (in->type == 0x07)
{
// It is a ping request/response
if (in->reply == 0x00)
{
ping_packet p;
memset(p.packet, 0x0, sizeof(p)); // We can't be sure it is initialized with 0x00!
p.len = sizeof(p);
p.type = 0x07;
p.sentid = myId;
p.rcvdid = remoteId;
p.reply = 0x01;
p.seq = in->seq;
p.time = in->time;
udpMutex.lock();
udp->writeDatagram(QByteArray::fromRawData((const char*)p.packet, sizeof(p)), radioIP, port);
udpMutex.unlock();
}
else if (in->reply == 0x01) {
if (in->seq == pingSendSeq)
{
// This is response to OUR request so increment counter
pingSendSeq++;
}
}
else {
qInfo(logUdp()) << this->metaObject()->className() << "Unhandled response to ping. I have never seen this! 0x10=" << r[16];
}
}
break;
}
default:
{
// All packets "should" be added to the incoming buffer.
// First check that we haven't already received it.
}
break;
}
// All packets except ping and retransmit requests should trigger this.
control_packet_t in = (control_packet_t)r.constData();
// This is a variable length retransmit request!
if (in->type == 0x01 && in->len != 0x10)
{
for (quint16 i = 0x10; i < r.length(); i = i + 2)
{
quint16 seq = (quint8)r[i] | (quint8)r[i + 1] << 8;
auto match = txSeqBuf.find(seq);
if (match == txSeqBuf.end()) {
qDebug(logUdp()) << this->metaObject()->className() << ": Remote requested packet"
<< QString("0x%1").arg(seq, 0, 16) <<
"not found, have " << QString("0x%1").arg(txSeqBuf.firstKey(), 0, 16) <<
"to" << QString("0x%1").arg(txSeqBuf.lastKey(), 0, 16);
// Just send idle packet.
sendControl(false, 0, seq);
}
else {
// Found matching entry?
// Send "untracked" as it has already been sent once.
qDebug(logUdp()) << this->metaObject()->className() << ": Sending (multiple packet) retransmit of " << QString("0x%1").arg(match->seqNum, 0, 16);
match->retransmitCount++;
udpMutex.lock();
udp->writeDatagram(match->data, radioIP, port);
udpMutex.unlock();
packetsLost++;
congestion = static_cast<double>(packetsSent) / packetsLost * 100;
}
}
}
else if (in->len != PING_SIZE && in->type == 0x00 && in->seq != 0x00)
{
rxBufferMutex.lock();
if (rxSeqBuf.isEmpty()) {
rxSeqBuf.insert(in->seq, QTime::currentTime());
}
else
{
if (in->seq < rxSeqBuf.firstKey() || in->seq - rxSeqBuf.lastKey() > MAX_MISSING)
{
qDebug(logUdp()) << this->metaObject()->className() << "Large seq number gap detected, previous highest: " <<
QString("0x%1").arg(rxSeqBuf.lastKey(), 0, 16) << " current: " << QString("0x%1").arg(in->seq, 0, 16);
//seqPrefix++;
// Looks like it has rolled over so clear buffer and start again.
rxSeqBuf.clear();
// Add this packet to the incoming buffer
rxSeqBuf.insert(in->seq, QTime::currentTime());
rxBufferMutex.unlock();
missingMutex.lock();
rxMissing.clear();
missingMutex.unlock();
return;
}
if (!rxSeqBuf.contains(in->seq))
{
// Add incoming packet to the received buffer and if it is in the missing buffer, remove it.
if (in->seq > rxSeqBuf.lastKey() + 1) {
qDebug(logUdp()) << this->metaObject()->className() << "1 or more missing packets detected, previous: " <<
QString("0x%1").arg(rxSeqBuf.lastKey(), 0, 16) << " current: " << QString("0x%1").arg(in->seq, 0, 16);
// We are likely missing packets then!
missingMutex.lock();
//int missCounter = 0;
// Sanity check!
for (quint16 f = rxSeqBuf.lastKey() + 1; f <= in->seq; f++)
{
if (rxSeqBuf.size() > BUFSIZE)
{
rxSeqBuf.erase(rxSeqBuf.begin());
}
rxSeqBuf.insert(f, QTime::currentTime());
if (f != in->seq && !rxMissing.contains(f))
{
rxMissing.insert(f, 0);
}
}
missingMutex.unlock();
}
else {
if (rxSeqBuf.size() > BUFSIZE)
{
rxSeqBuf.erase(rxSeqBuf.begin());
}
rxSeqBuf.insert(in->seq, QTime::currentTime());
}
}
else {
// This is probably one of our missing packets!
missingMutex.lock();
auto s = rxMissing.find(in->seq);
if (s != rxMissing.end())
{
qDebug(logUdp()) << this->metaObject()->className() << ": Missing SEQ has been received! " << QString("0x%1").arg(in->seq, 0, 16);
s = rxMissing.erase(s);
}
missingMutex.unlock();
}
}
rxBufferMutex.unlock();
}
}
void udpBase::sendRetransmitRequest()
{
// Find all gaps in received packets and then send requests for them.
// This will run every 100ms so out-of-sequence packets will not trigger a retransmit request.
if (rxMissing.isEmpty()) {
return;
}
else if (rxMissing.size() > MAX_MISSING) {
qInfo(logUdp()) << "Too many missing packets," << rxMissing.size() << "flushing all buffers";
missingMutex.lock();
rxMissing.clear();
missingMutex.unlock();
rxBufferMutex.lock();
rxSeqBuf.clear();
rxBufferMutex.unlock();
return;
}
QByteArray missingSeqs;
missingMutex.lock();
auto it = rxMissing.begin();
while (it != rxMissing.end())
{
if (it.key() != 0x0)
{
if (it.value() < 4)
{
missingSeqs.append(it.key() & 0xff);
missingSeqs.append(it.key() >> 8 & 0xff);
missingSeqs.append(it.key() & 0xff);
missingSeqs.append(it.key() >> 8 & 0xff);
it.value()++;
it++;
}
else {
qInfo(logUdp()) << this->metaObject()->className() << ": No response for missing packet" << QString("0x%1").arg(it.key(), 0, 16) << "deleting";
it = rxMissing.erase(it);
}
}
else {
qInfo(logUdp()) << this->metaObject()->className() << ": found empty key in missing buffer";
it++;
}
}
missingMutex.unlock();
if (missingSeqs.length() != 0)
{
control_packet p;
memset(p.packet, 0x0, sizeof(p)); // We can't be sure it is initialized with 0x00!
p.len = sizeof(p);
p.type = 0x01;
p.seq = 0x0000;
p.sentid = myId;
p.rcvdid = remoteId;
if (missingSeqs.length() == 4) // This is just a single missing packet so send using a control.
{
p.seq = (missingSeqs[0] & 0xff) | (quint16)(missingSeqs[1] << 8);
qInfo(logUdp()) << this->metaObject()->className() << ": sending request for missing packet : " << QString("0x%1").arg(p.seq, 0, 16);
udpMutex.lock();
udp->writeDatagram(QByteArray::fromRawData((const char*)p.packet, sizeof(p)), radioIP, port);
udpMutex.unlock();
}
else
{
qInfo(logUdp()) << this->metaObject()->className() << ": sending request for multiple missing packets : " << missingSeqs.toHex(':');
missingMutex.lock();
p.len = (quint32)sizeof(p) + missingSeqs.size();
missingSeqs.insert(0, p.packet, sizeof(p));
missingMutex.unlock();
udpMutex.lock();
udp->writeDatagram(missingSeqs, radioIP, port);
udpMutex.unlock();
}
}
}
// Used to send idle and other "control" style messages
void udpBase::sendControl(bool tracked = true, quint8 type = 0, quint16 seq = 0)
{
control_packet p;
memset(p.packet, 0x0, sizeof(p)); // We can't be sure it is initialized with 0x00!
p.len = sizeof(p);
p.type = type;
p.sentid = myId;
p.rcvdid = remoteId;
if (!tracked) {
p.seq = seq;
udpMutex.lock();
udp->writeDatagram(QByteArray::fromRawData((const char*)p.packet, sizeof(p)), radioIP, port);
udpMutex.unlock();
}
else {
sendTrackedPacket(QByteArray::fromRawData((const char*)p.packet, sizeof(p)));
}
return;
}
// Send periodic ping packets
void udpBase::sendPing()
{
ping_packet p;
memset(p.packet, 0x0, sizeof(p)); // We can't be sure it is initialized with 0x00!
p.len = sizeof(p);
p.type = 0x07;
p.sentid = myId;
p.rcvdid = remoteId;
p.seq = pingSendSeq;
QTime now = QTime::currentTime();
p.time = (quint32)now.msecsSinceStartOfDay();
lastPingSentTime = QDateTime::currentDateTime();
udpMutex.lock();
udp->writeDatagram(QByteArray::fromRawData((const char*)p.packet, sizeof(p)), radioIP, port);
udpMutex.unlock();
return;
}
void udpBase::sendTrackedPacket(QByteArray d)
{
// As the radio can request retransmission of these packets, store them in a buffer
d[6] = sendSeq & 0xff;
d[7] = (sendSeq >> 8) & 0xff;
SEQBUFENTRY s;
s.seqNum = sendSeq;
s.timeSent = QTime::currentTime();
s.retransmitCount = 0;
s.data = d;
if (txBufferMutex.tryLock(100))
{
if (sendSeq == 0) {
// We are either the first ever sent packet or have rolled-over so clear the buffer.
txSeqBuf.clear();
congestion = 0;
}
if (txSeqBuf.size() > BUFSIZE)
{
txSeqBuf.erase(txSeqBuf.begin());
}
txSeqBuf.insert(sendSeq, s);
txBufferMutex.unlock();
}
else {
qInfo(logUdp()) << this->metaObject()->className() << ": txBuffer mutex is locked";
}
// Stop using purgeOldEntries() as it is likely slower than just removing the earliest packet.
//qInfo(logUdp()) << this->metaObject()->className() << "RX:" << rxSeqBuf.size() << "TX:" <<txSeqBuf.size() << "MISS:" << rxMissing.size();
//purgeOldEntries(); // Delete entries older than PURGE_SECONDS seconds (currently 5)
sendSeq++;
udpMutex.lock();
udp->writeDatagram(d, radioIP, port);
/*if (congestion > 10) { // Poor quality connection?
udp->writeDatagram(d, radioIP, port);
if (congestion > 20) // Even worse so send again.
udp->writeDatagram(d, radioIP, port);
} */
if (idleTimer != Q_NULLPTR && idleTimer->isActive()) {
idleTimer->start(IDLE_PERIOD); // Reset idle counter if it's running
}
udpMutex.unlock();
packetsSent++;
return;
}
/// <summary>
/// Once a packet has reached PURGE_SECONDS old (currently 10) then it is not likely to be any use.
/// </summary>
void udpBase::purgeOldEntries()
{
// Erase old entries from the tx packet buffer
if (txBufferMutex.tryLock(100))
{
if (!txSeqBuf.isEmpty())
{
// Loop through the earliest items in the buffer and delete if older than PURGE_SECONDS
for (auto it = txSeqBuf.begin(); it != txSeqBuf.end();) {
if (it.value().timeSent.secsTo(QTime::currentTime()) > PURGE_SECONDS) {
txSeqBuf.erase(it++);
}
else {
break;
}
}
}
txBufferMutex.unlock();
}
else {
qInfo(logUdp()) << this->metaObject()->className() << ": txBuffer mutex is locked";
}
if (rxBufferMutex.tryLock(100))
{
if (!rxSeqBuf.isEmpty()) {
// Loop through the earliest items in the buffer and delete if older than PURGE_SECONDS
for (auto it = rxSeqBuf.begin(); it != rxSeqBuf.end();) {
if (it.value().secsTo(QTime::currentTime()) > PURGE_SECONDS) {
rxSeqBuf.erase(it++);
}
else {
break;
}
}
}
rxBufferMutex.unlock();
}
else {
qInfo(logUdp()) << this->metaObject()->className() << ": rxBuffer mutex is locked";
}
if (missingMutex.tryLock(100))
{
// Erase old entries from the missing packets buffer
if (!rxMissing.isEmpty() && rxMissing.size() > 50) {
for (size_t i = 0; i < 25; ++i) {
rxMissing.erase(rxMissing.begin());
}
}
missingMutex.unlock();
}
else {
qInfo(logUdp()) << this->metaObject()->className() << ": missingBuffer mutex is locked";
}
}
void udpBase::printHex(const QByteArray& pdata)
{
printHex(pdata, false, true);
}
void udpBase::printHex(const QByteArray& pdata, bool printVert, bool printHoriz)
{
qDebug(logUdp()) << "---- Begin hex dump -----:";
QString sdata("DATA: ");
QString index("INDEX: ");
QStringList strings;
for (int i = 0; i < pdata.length(); i++)
{
strings << QString("[%1]: %2").arg(i, 8, 10, QChar('0')).arg((unsigned char)pdata[i], 2, 16, QChar('0'));
sdata.append(QString("%1 ").arg((unsigned char)pdata[i], 2, 16, QChar('0')));
index.append(QString("%1 ").arg(i, 2, 10, QChar('0')));
}
if (printVert)
{
for (int i = 0; i < strings.length(); i++)
{
//sdata = QString(strings.at(i));
qDebug(logUdp()) << strings.at(i);
}
}
if (printHoriz)
{
qDebug(logUdp()) << index;
qDebug(logUdp()) << sdata;
}
qDebug(logUdp()) << "----- End hex dump -----";
}