Commit a764f8c5 authored by DonLakeFlyer's avatar DonLakeFlyer

parent 7df400bc
......@@ -7,14 +7,6 @@
*
****************************************************************************/
/**
* @file
* @brief Definition of UDP connection (server) for unmanned vehicles
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QtGlobal>
#include <QTimer>
#include <QList>
......@@ -31,15 +23,12 @@
#include "SettingsManager.h"
#include "AutoConnectSettings.h"
#define REMOVE_GONE_HOSTS 0
static const char* kZeroconfRegistration = "_qgroundcontrol._udp";
static bool is_ip(const QString& address)
{
int a,b,c,d;
if (sscanf(address.toStdString().c_str(), "%d.%d.%d.%d", &a, &b, &c, &d) != 4
&& strcmp("::1", address.toStdString().c_str())) {
if (sscanf(address.toStdString().c_str(), "%d.%d.%d.%d", &a, &b, &c, &d) != 4 && strcmp("::1", address.toStdString().c_str())) {
return false;
} else {
return true;
......@@ -48,29 +37,28 @@ static bool is_ip(const QString& address)
static QString get_ip_address(const QString& address)
{
if(is_ip(address))
if (is_ip(address)) {
return address;
}
// Need to look it up
QHostInfo info = QHostInfo::fromName(address);
if (info.error() == QHostInfo::NoError)
{
if (info.error() == QHostInfo::NoError) {
QList<QHostAddress> hostAddresses = info.addresses();
for (int i = 0; i < hostAddresses.size(); i++)
{
for (int i=0; i<hostAddresses.size(); i++) {
// Exclude all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":"))
{
if (!hostAddresses.at(i).toString().contains(":")) {
return hostAddresses.at(i).toString();
}
}
}
return {};
return QString();
}
static bool contains_target(const QList<UDPCLient*> list, const QHostAddress& address, quint16 port)
{
for(UDPCLient* target: list) {
if(target->address == address && target->port == port) {
for (int i=0; i<list.count(); i++) {
UDPCLient* target = list[i];
if (target->address == address && target->port == port) {
return true;
}
}
......@@ -78,20 +66,22 @@ static bool contains_target(const QList<UDPCLient*> list, const QHostAddress& ad
}
UDPLink::UDPLink(SharedLinkConfigurationPointer& config)
: LinkInterface(config)
#if defined(QGC_ZEROCONF_ENABLED)
, _dnssServiceRef(nullptr)
#endif
, _running(false)
, _socket(nullptr)
, _udpConfig(qobject_cast<UDPConfiguration*>(config.data()))
, _connectState(false)
: LinkInterface (config)
#if defined(QGC_ZEROCONF_ENABLED)
, _dnssServiceRef (nullptr)
#endif
, _running (false)
, _socket (nullptr)
, _udpConfig (qobject_cast<UDPConfiguration*>(config.data()))
, _connectState (false)
{
if (!_udpConfig) {
qWarning() << "Internal error";
}
for (const QHostAddress &address: QNetworkInterface::allAddresses()) {
_localAddress.append(QHostAddress(address));
auto allAddresses = QNetworkInterface::allAddresses();
for (int i=0; i<allAddresses.count(); i++) {
QHostAddress &address = allAddresses[i];
_localAddresses.append(QHostAddress(address));
}
moveToThread(this);
}
......@@ -116,7 +106,7 @@ UDPLink::~UDPLink()
**/
void UDPLink::run()
{
if(_hardwareConnect()) {
if (_hardwareConnect()) {
exec();
}
if (_socket) {
......@@ -127,8 +117,7 @@ void UDPLink::run()
void UDPLink::_restartConnection()
{
if(this->isConnected())
{
if (this->isConnected()) {
_disconnect();
_connect();
}
......@@ -155,7 +144,8 @@ bool UDPLink::_isIpLocal(const QHostAddress& add)
// On Windows, this is a very expensive call only Redmond would know
// why. As such, we make it once and keep the list locally. If a new
// interface shows up after we start, it won't be on this list.
for (const QHostAddress &address: _localAddress) {
for (int i=0; i<_localAddresses.count(); i++) {
QHostAddress &address = _localAddresses[i];
if (address == add) {
// This is a local address of the same host
return true;
......@@ -216,7 +206,7 @@ void UDPLink::readBytes()
_socket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
databuffer.append(datagram);
//-- Wait a bit before sending it over
if(databuffer.size() > 10 * 1024) {
if (databuffer.size() > 10 * 1024) {
emit bytesReceived(this, databuffer);
databuffer.clear();
}
......@@ -236,7 +226,7 @@ void UDPLink::readBytes()
}
}
//-- Send whatever is left
if(databuffer.size()) {
if (databuffer.size()) {
emit bytesReceived(this, databuffer);
}
}
......@@ -267,8 +257,7 @@ void UDPLink::_disconnect(void)
**/
bool UDPLink::_connect(void)
{
if(this->isRunning() || _running)
{
if (this->isRunning() || _running) {
_running = false;
quit();
wait();
......@@ -408,7 +397,8 @@ void UDPConfiguration::_copyFrom(LinkConfiguration *source)
if (usource) {
_localPort = usource->localPort();
_clearTargetHosts();
for(UDPCLient* target: usource->targetHosts()) {
for (int i=0; i<usource->targetHosts().count(); i++) {
UDPCLient* target = usource->targetHosts()[i];
if(!contains_target(_targetHosts, target->address, target->port)) {
UDPCLient* newTarget = new UDPCLient(target);
_targetHosts.append(newTarget);
......@@ -432,13 +422,10 @@ void UDPConfiguration::_clearTargetHosts()
void UDPConfiguration::addHost(const QString host)
{
// Handle x.x.x.x:p
if (host.contains(":"))
{
if (host.contains(":")) {
addHost(host.split(":").first(), host.split(":").last().toUInt());
}
// If no port, use default
else
{
} else {
// If no port, use default
addHost(host, _localPort);
}
}
......@@ -446,7 +433,7 @@ void UDPConfiguration::addHost(const QString host)
void UDPConfiguration::addHost(const QString& host, quint16 port)
{
QString ipAdd = get_ip_address(host);
if(ipAdd.isEmpty()) {
if (ipAdd.isEmpty()) {
qWarning() << "UDP:" << "Could not resolve host:" << host << "port:" << port;
} else {
QHostAddress address(ipAdd);
......@@ -460,11 +447,10 @@ void UDPConfiguration::addHost(const QString& host, quint16 port)
void UDPConfiguration::removeHost(const QString host)
{
if (host.contains(":"))
{
if (host.contains(":")) {
QHostAddress address = QHostAddress(get_ip_address(host.split(":").first()));
quint16 port = host.split(":").last().toUInt();
for(int i = 0; i < _targetHosts.size(); i++) {
for (int i=0; i<_targetHosts.size(); i++) {
UDPCLient* target = _targetHosts.at(i);
if(target->address == address && target->port == port) {
_targetHosts.removeAt(i);
......@@ -488,7 +474,7 @@ void UDPConfiguration::saveSettings(QSettings& settings, const QString& root)
settings.beginGroup(root);
settings.setValue("port", (int)_localPort);
settings.setValue("hostCount", _targetHosts.size());
for(int i = 0; i < _targetHosts.size(); i++) {
for (int i=0; i<_targetHosts.size(); i++) {
UDPCLient* target = _targetHosts.at(i);
QString hkey = QString("host%1").arg(i);
settings.setValue(hkey, target->address.toString());
......@@ -505,7 +491,7 @@ void UDPConfiguration::loadSettings(QSettings& settings, const QString& root)
settings.beginGroup(root);
_localPort = (quint16)settings.value("port", acSettings->udpListenPort()->rawValue().toInt()).toUInt();
int hostCount = settings.value("hostCount", 0).toInt();
for(int i = 0; i < hostCount; i++) {
for (int i=0; i<hostCount; i++) {
QString hkey = QString("host%1").arg(i);
QString pkey = QString("port%1").arg(i);
if(settings.contains(hkey) && settings.contains(pkey)) {
......@@ -518,7 +504,7 @@ void UDPConfiguration::loadSettings(QSettings& settings, const QString& root)
void UDPConfiguration::updateSettings()
{
if(_link) {
if (_link) {
UDPLink* ulink = dynamic_cast<UDPLink*>(_link);
if(ulink) {
ulink->_restartConnection();
......@@ -529,7 +515,7 @@ void UDPConfiguration::updateSettings()
void UDPConfiguration::_updateHostList()
{
_hostList.clear();
for(int i = 0; i < _targetHosts.size(); i++) {
for (int i=0; i<_targetHosts.size(); i++) {
UDPCLient* target = _targetHosts.at(i);
QString host = QString("%1").arg(target->address.toString()) + ":" + QString("%1").arg(target->port);
_hostList << host;
......
......@@ -209,7 +209,7 @@ private:
UDPConfiguration* _udpConfig;
bool _connectState;
QList<UDPCLient*> _sessionTargets;
QList<QHostAddress> _localAddress;
QMutex _sessionTargetsMutex;
QList<QHostAddress> _localAddresses;
};
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