Source Code for UDP/TCP Receiver/Sender From/To Non-ADTF Application Plugin

Location

./src/examples/src/remote/foreign_application/

Build Environment

To see how to set up the build environment have a look at ADTF CMake Environment

This example shows:

• how to implement a Streaming Source
• how to implement a Streaming Sink
• how to implement an UDP and a TCP socket (IPv4 and IPv6) with asio library communication
• how to communicate with a small non-ADTF application

Header (UDP Sender)

 
#pragma once
 
#include <sink_to_non_adtf.h>
#include "udp_socket_wrapper.h"
 
class cUdpSinkToNonADTFSystem : public cSinkToNonADTFSystem
{
public:
    ADTF_CLASS_ID_NAME(cUdpSinkToNonADTFSystem,
                       "demo_foreign_application_udp_sender.streaming_sink.adtf.cid",
                       "UDP Sender To Non ADTF Application");   
 
    cUdpSinkToNonADTFSystem();
    tResult StartStreaming() override;
 
private:
    void Send(const void* pData, size_t nDataSize) override;
    IUdpSocket& GetSocket();
 
    adtf::base::property_variable<adtf::util::cString>  m_strRemoteHost = {""};
    adtf::base::property_variable<uint16_t> m_nRemotePort = 0;
 
    adtf::filter::interface_client<IUdpSocket> m_oUdpSocketClient;
    adtf::ucom::object_ptr<IUdpSocket> m_pFallbackSocket;
};

Implementation (UDP Sender)

 
#include "udp_sink_to_non_adtf.h"
 
using namespace adtf::util;
using namespace adtf::ucom;
using namespace adtf::base;
using namespace adtf::streaming;
using namespace asio::ip;
 
cUdpSinkToNonADTFSystem::cUdpSinkToNonADTFSystem()
{
    m_strRemoteHost.SetDescription("If set, send data to this host. This is required if the sink is not connected to a source.\n"
                                   "If this property is empty, packets will be sent to the last endpoint that data was received from.\n"
                                   "If set to 'localhost' the IPv4 localhost address '127.0.0.1' is used.\n"
                                   "IPv4 Example: '127.0.0.1'\n"
                                   "IPv6 Example: '::1'\n");
    RegisterPropertyVariable("remote_host", m_strRemoteHost);
 
    m_nRemotePort.SetDescription("This is only taken into account when remote_host is set as well and when this sink is not connected to a source via the socket interface binding.");
    RegisterPropertyVariable("port", m_nRemotePort);
 
    m_oUdpSocketClient = CreateInterfaceClient<IUdpSocket>("socket");
    SetDescription("socket", "Interface client to use a shared socket for communication. The connected socket provides the local host and port to bound as source.");
 
    // sets a short description for the component
    SetDescription("Use this Streaming Sink to transmit sample data to a Non-ADTF Application using the UDP protocol");
 
    // set help link to jump to documentation from ADTF Configuration Editor
    SetHelpLink("$(ADTF_DIR)/doc/adtf_html/page_demo_non_adtf_application_sender_receiver.html");
}
 
tResult cUdpSinkToNonADTFSystem::StartStreaming()
{
    RETURN_IF_FAILED(cSampleStreamingSink::StartStreaming());
 
    if (!m_oUdpSocketClient.IsValid())
    {
        // we are not connected to a source, so just create our own socket instance
        auto pSocket = make_object_ptr<cUdpSocketWrapper>();
        RETURN_IF_FAILED(pSocket->Open("", 0, "", 0, 0));
        m_pFallbackSocket = pSocket;
    }
 
    if (m_strRemoteHost->IsNotEmpty())
    {
        RETURN_IF_FAILED(GetSocket().SetRemote(m_strRemoteHost->GetPtr(), m_nRemotePort));
    }
 
    RETURN_NOERROR;
}
 
void cUdpSinkToNonADTFSystem::Send(const void* pData, size_t nDataSize)
{
    const auto oResult = GetSocket().Send(pData, nDataSize);
    if (IS_FAILED(oResult))
    {
        LOG_RESULT(oResult);
    }
}
 
IUdpSocket& cUdpSinkToNonADTFSystem::GetSocket()
{
    return m_pFallbackSocket ? *m_pFallbackSocket : m_oUdpSocketClient.Get();
}
 

Header (UDP Receiver)

 
#pragma once
 
#include <adtf_base.h>
#include <adtf_filtersdk.h>
#include <adtffiltersdk/runner_fallback.h>
 
#include "udp_socket_wrapper.h"
 
class cUdpSourceFromNonADTFSystem : public adtf::filter::cSampleStreamingSource
{
public: 
    ADTF_CLASS_ID_NAME(cUdpSourceFromNonADTFSystem,
                       "demo_foreign_application_udp_receiver.streaming_source.adtf.cid",
                       "UDP Receiver From Non ADTF Application");
 
    ADTF_CLASS_DEPENDENCIES(REQUIRE_INTERFACE(adtf::services::IReferenceClock),
                            REQUIRE_INTERFACE(adtf::services::IKernel));
 
    cUdpSourceFromNonADTFSystem();
 
    tResult Construct() override;
    tResult Init() override;
    tResult StartStreaming() override;
    tResult StopStreaming() override;
 
private:
    void SocketThread();
    void PackToSample(const void* pData, size_t nBytes);
 
    adtf::base::property_variable<std::string> m_strInterface;
    adtf::base::property_variable<std::string> m_strMulticastGroup;
    adtf::base::property_variable<uint16_t> m_nListeningPort = 0;
    adtf::base::property_variable<std::string> m_strDDLStructName;
    adtf::base::property_variable<bool> m_bDeserializeViaMediaDescription = false;
    adtf::base::property_variable<bool> m_bMarkSamplesAsDeserialized = true;
    adtf::base::property_variable<size_t> m_nReceiveBufferSize = 9000;
    adtf::base::property_variable<size_t> m_nSocketReceiveBufferSize = 0;
 
    // Usually, every device source will need the reference clock.
    // Either to stamp samples using this clock on arrival, or to convert external timestamps.
    adtf::ucom::object_ptr<adtf::services::IReferenceClock> m_pClock;
 
    adtf::streaming::ISampleWriter* m_pOutputWriter = nullptr;
 
    // A device source usually a runners for the device context, which is under real-time constraints as it's under risk of having device side buffers flow over.
    // The consumer should connect a Thread Invoker or similar decoupling components to the output of the source in order to preserve real-time properties.
 
    // This runner is providing our real-time handling of the socket thread.
    adtf::filter::cRunnerFallback m_oSocketThread;
 
    adtf::ucom::object_ptr<cUdpSocketWrapper> m_pSocket;
    ddl::codec::CodecFactory m_oCodecFactory;
};

Implementation (UDP Receiver)

 
#include "udp_source_from_non_adtf.h"
#include <functional>
 
using namespace adtf::util;
using namespace adtf::ucom;
using namespace adtf::base;
using namespace adtf::streaming;
using namespace adtf::system;
 
cUdpSourceFromNonADTFSystem::cUdpSourceFromNonADTFSystem()
{
    m_strInterface.SetDescription("if set, bind the socket to this local interface");
    RegisterPropertyVariable("interface", m_strInterface);
 
    m_nListeningPort.SetDescription("The UDP port to bind to and listen on.");
    RegisterPropertyVariable("port", m_nListeningPort);
 
    m_strMulticastGroup.SetDescription("if set, join the given multicast group");
    RegisterPropertyVariable("multicast_group", m_strMulticastGroup);
 
    m_strDDLStructName.SetDescription("If set, the stream type will contain the media description of the given struct, retrieved from the Media Description Service.");
    RegisterPropertyVariable("ddl_struct_name", m_strDDLStructName);
 
    m_bDeserializeViaMediaDescription.SetDescription("If activated, incoming data will be deserialized as defined "
                                                     "by the media description of the struct selected via ddl_struct_name before writing it into output samples.");
    RegisterPropertyVariable("deserialize_via_media_description", m_bDeserializeViaMediaDescription);
 
    m_bMarkSamplesAsDeserialized.SetDescription("In case that 'deserialize_via_media_description' is disabled, this will force the output stream type to have the deserialized flag set.");
    RegisterPropertyVariable("mark_samples_as_deserialized", m_bMarkSamplesAsDeserialized);
 
    m_nReceiveBufferSize.SetDescription("Maximum payload size in bytes this filter can accept. Choose according to configured MTU. Values up to 64kB are plausible from UDP side.");
    m_nReceiveBufferSize.SetValidRange(1, 0xFFFF);
    RegisterPropertyVariable("receive_buffer_size", m_nReceiveBufferSize);
 
    m_nSocketReceiveBufferSize.SetDescription("Sockets receive buffer size in bytes (min: 4098, Default: 0 - uses system default)");
    RegisterPropertyVariable("socket_receive_buffer_size", m_nSocketReceiveBufferSize);
 
    m_pOutputWriter = CreateOutputPin("output");
    SetDescription("output", "Provides the sample data received from a Non-ADTF instance over UDP");
 
    m_pSocket = adtf::ucom::make_object_ptr<cUdpSocketWrapper>(
        std::bind(&cUdpSourceFromNonADTFSystem::PackToSample, this, std::placeholders::_1, std::placeholders::_2)
    );
    CreateInterfaceServer<IUdpSocket>("socket", ucom_object_ptr_cast<IUdpSocket>(m_pSocket));
    SetDescription("socket", "Interface server to provide a shared socket for communication");
 
    // For session compatibility reasons we use this fallback helper for the case where no active runner is connected to the runner.
    // In your own implementations use a simple CreateRunner(...) instead!
    // We are using the callback based signature so the device context thread is free-running.
    // This means WE have to deal with thread synchronization for this thread!
    m_oSocketThread = adtf::filter::cRunnerFallback(this, "socket_thread", cThreadTriggerHint(), [this](){ SocketThread(); });
    SetDescription("socket_thread", 
                   "Connect a Thread Runner that will provide the context for receiving all data from the socket. "
                   "If this is not connected, the source will create a thread on its own.");
 
    // sets a short description for the component
    SetDescription("Use this Streaming Source to receive sample data from a Non-ADTF Application using the UDP protocol");
 
    // set help link to jump to documentation from ADTF Configuration Editor
    SetHelpLink("$(ADTF_DIR)/doc/adtf_html/page_demo_non_adtf_application_sender_receiver.html");
}
 
tResult cUdpSourceFromNonADTFSystem::Construct()
{
    RETURN_IF_FAILED(cSampleStreamingSource::Construct());
 
    if (!m_strDDLStructName->empty())
    {
        object_ptr<IStreamType> pType = make_object_ptr<adtf::mediadescription::stream_type_default<>>(
            m_strDDLStructName->c_str(), m_bDeserializeViaMediaDescription || m_bMarkSamplesAsDeserialized ?
                                             ddl::tDataRepresentation::Deserialized :
                                             ddl::tDataRepresentation::Serialized);
        m_pOutputWriter->ChangeType(pType);
 
        if (m_bDeserializeViaMediaDescription)
        {
            auto oDescription = adtf::mediadescription::get_media_description_from_stream_type(*pType.Get());
            m_oCodecFactory = ddl::codec::CodecFactory(std::get<0>(oDescription).c_str(),
                                                       std::get<1>(oDescription).c_str());
        }
    }
    else
    {
        if (m_bDeserializeViaMediaDescription)
        {
            RETURN_ERROR_DESC(ERR_INVALID_ARG, "Deserialization requires a ddl struct name to be set.");
        }
    }
 
    RETURN_NOERROR;
}
 
tResult cUdpSourceFromNonADTFSystem::Init()
{
    RETURN_IF_FAILED(cSampleStreamingSource::Init());
    RETURN_IF_FAILED(_runtime->GetObject(m_pClock));
    RETURN_IF_FAILED(m_pSocket->Open(*m_strInterface, *m_nListeningPort, *m_strMulticastGroup, *m_nReceiveBufferSize,
                                     *m_nSocketReceiveBufferSize));
 
    RETURN_NOERROR;
}
 
tResult cUdpSourceFromNonADTFSystem::StartStreaming()
{
    // In StartStreaming() we enable our filter to stream data.
    // This means foremost starting all threads which we control ourselves.
    // Additionallly, we may now enable blocking operations on thread runner ports.
 
    // The implementation of this method needs to be threadsafe with regard to any already running trigger processing.
 
    // Base class FIRST for init / start.
    RETURN_IF_FAILED(cSampleStreamingSource::StartStreaming());
 
    RETURN_IF_FAILED(m_pSocket->Start());
 
    // Used with cRunnerFallback only. Normally, a runner will start running without any further action.
    RETURN_IF_FAILED(m_oSocketThread.Activate());
 
    RETURN_NOERROR;
}
 
tResult cUdpSourceFromNonADTFSystem::StopStreaming()
{
    // In StopStreaming() we must ensure that all streaming can seize.
    // This means we must both stop all threads we have started ourselves.
    // We also must unblock all connected runners, and ensure that they can not block again!
 
    // The implementation of this method needs to be threadsafe with regard to any trigger processing.
 
    RETURN_IF_FAILED(m_pSocket->Stop());
 
    // Used with cRunnerFallback only. Normally, a runner thread will be joined by the attached runner.
    m_oSocketThread.Deactivate();
 
    // Base class LAST for shutdown / stop.
    return cSampleStreamingSource::StopStreaming();
}
 
void cUdpSourceFromNonADTFSystem::SocketThread()
{
    // There is still a chance of pending invocations to 
    const tResult nResult = m_pSocket->Run();
    if (IS_FAILED(nResult))
    {
        LOG_RESULT(nResult);
    }
}
 
void cUdpSourceFromNonADTFSystem::PackToSample(const void* pData, size_t nBytes)
{
    // Get the applicable time stamps as ealy as possible!
    // Usually, you would want to prefer to use a hardware provided timestamp if *any* exists.
    // This timestamp is not going to be accurate as this method is potentially already called several milliseconds delayed.
    // If you need precise timestamps, then ASIO and UDP are not the way to go. PCAP will be a much better fit, but requires aditional drivers.
    const auto tmNow = m_pClock->GetStreamTimeNs();
 
    object_ptr<ISample> pSample;
    THROW_IF_FAILED(alloc_sample(pSample, tmNow));
 
    if (m_bDeserializeViaMediaDescription)
    {
        const auto oDecoder = m_oCodecFactory.makeDecoderFor(pData, nBytes, ddl::tDataRepresentation::Serialized);
        THROW_IF_FAILED(alloc_sample(pSample, tmNow));
        (TO_ADTF_RESULT(oDecoder.isValid()));
        object_ptr_locked<ISampleBuffer> pBuffer;
        THROW_IF_FAILED(pSample->WriteLock(pBuffer, oDecoder.getBufferSize(ddl::tDataRepresentation::Deserialized)));
        auto oCodec =
            oDecoder.makeCodecFor(pBuffer->GetPtr(), pBuffer->GetSize(), ddl::tDataRepresentation::Deserialized);
        THROW_IF_FAILED(TO_ADTF_RESULT(ddl::codec::transform(oDecoder, oCodec)));
    }
    else
    {
        object_ptr_locked<ISampleBuffer> pBuffer;
        THROW_IF_FAILED(pSample->WriteLock(pBuffer, nBytes));
        THROW_IF_FAILED(pBuffer->Write(adtf_memory_buffer<const void>(pData, nBytes)));
    }
 
    m_pOutputWriter->Write(pSample);
    // We are not returning from this thread, and we have opted *against* forwarding triggers when we return from the runner function.
    // That means we are responsible ourselves for gennerating triggers.
    m_pOutputWriter->ManualTrigger(tmNow);
}

Header (UDP Socket Wrapper)

 
#pragma once
#include <asio.hpp>
 
#include <optional>
#include <array>
 
#include <adtf_base.h>
#include <adtf_utils.h>
#include <adtf_filtersdk.h>
#include <adtf_systemsdk.h>
 
#ifdef _WIN32
    #undef GetObject
#endif
 
#if defined(__GLIBC__) && (__GLIBC__ > 2 || (__GLIBC__ == 2 && __GLIBC_MINOR__ >= 12))
    #define OS_HAS_RECVMMSG 1
#endif
 
class IUdpSocket: public adtf::ucom::ant::IObject
{
public:
    ADTF_IID(IUdpSocket, "udp_socket.demo.adtf");
 
public:
    virtual tResult SetRemote(const std::string& strRemoteAddress, uint16_t nRemotePort) = 0;
    virtual tResult Send(const void* pData, size_t nDataSize) = 0;
 
protected:
    ~IUdpSocket() = default;
};
 
class cUdpSocketWrapper: public adtf::ucom::object<IUdpSocket>
{
public:
    cUdpSocketWrapper(
        // Avoid polling schemes, maintain async behavior as much as you can.
        std::function<void(const void*, size_t)> fnOnReceive = {}
    );
    ~cUdpSocketWrapper() override;
    tResult Open(const std::string& strInterface,
                 uint16_t nLocalPort,
                 const std::string& strMulticastGroup,
                 size_t nReceiveBufferSize,
                 size_t nSocketReceiveBufferSize);
    tResult SetRemote(const std::string& strRemoteAddress, uint16_t nRemotePort) override;
    tResult Send(const void* pData, size_t nDataSize) override;
 
 
    // Prepare to restart a the io_context.
    // Only allowed to call when not currently running.
    tResult Start();
 
    // Run the io_context for this socket on the current thread.
    // Will not return until Stop() is called explicitly.
    // Unsafe to call if PrepareForRun() is still in progress.
    tResult Run();
 
    // Interrupt the io_context running on a different thread.
    // You'll still need to wait until Run() returns.
    // You'll need to call PrepareForRun() again before restarting.
    tResult Stop();
 
 
private:
 
#if defined(ASIO_HAS_IOCP) || defined(ASIO_HAS_IO_URING_AS_DEFAULT) || defined(OS_HAS_RECVMMSG)
    // IOCP and uring backends are safe to use with enqueued read ops, proper scaling and order of execution is
    // preserved.
    // For the other backends, direct use of deep async queues is unsafe and doesn't scale from asio side, packets are
    // received out-of-order. Linux has recvmmsg as a synchronous, but still high performance alternative.
    static constexpr size_t m_nQueueDepth = 64;
#else
    static constexpr size_t m_nQueueDepth = 1;
#endif
 
    struct tPacketHandler
    {
        tPacketHandler(size_t nHandlerId, size_t nBufferSize): nHandlerId(nHandlerId), oBuffer(nBufferSize)
        {
        }
        size_t nHandlerId;
        std::vector<std::byte> oBuffer;
        asio::mutable_registered_buffer oRegisteredBuffer;
        asio::ip::udp::endpoint oEndpoint;
    };
 
 
#if defined(OS_HAS_RECVMMSG)
    void ScheduleReadMany() noexcept;
    void ReadMany(const std::error_code& nError // Result of operation
                     ) noexcept;
#endif
 
    void ScheduleReadOne(const std::shared_ptr<tPacketHandler>& oBuffer) noexcept;
    void OnReceiveOne(const std::error_code& nError, // Result of operation.
                   std::size_t nBytesTransferred, // Number of bytes received.
                   const std::shared_ptr<tPacketHandler>& oBuffer) noexcept;
 
    asio::io_context        m_oIoContext;
    asio::ip::udp::socket   m_oUdpSocket;
    // Statically configured endpoint for sending.
    std::optional<asio::ip::udp::endpoint> m_oUdpRemoteEndpoint;
    std::optional<asio::ip::udp::endpoint> m_oLastReceivedUdpRemoteEndpoint;
 
    std::unique_ptr<asio::buffer_registration<std::vector<asio::mutable_buffer>>> m_pAsioBufferRegistration;
 
    // Callback passed externally in constructor.
    const std::function<void(const void*, size_t)> m_fnOnReceive;
    std::array<std::shared_ptr<tPacketHandler>, m_nQueueDepth> m_oHandlers;
 
    bool m_bRunning = false;
    std::mutex m_oRunningMutex;
    std::condition_variable m_oRunningCv;
};

Implementation (UDP Socket Wrapper)

 
#include "udp_socket_wrapper.h"
#include <asio_helpers.h>
#include <iostream>
#include <cinttypes>
 
cUdpSocketWrapper::cUdpSocketWrapper(std::function<void(const void*, size_t)> fnOnReceive):
    m_oUdpSocket(m_oIoContext), m_fnOnReceive(std::move(fnOnReceive))
{
    // Start in stopped state.
    m_oIoContext.stop();
}
 
cUdpSocketWrapper::~cUdpSocketWrapper() = default;
 
tResult cUdpSocketWrapper::Open(const std::string& strInterface,
                                uint16_t nLocalPort,
                                const std::string& strMulticastGroup,
                                size_t nReceiveBufferSize,
                                size_t nSocketReceiveBufferSize)
{
    if (m_oUdpSocket.is_open())
    {
        RETURN_ERROR_DESC(ERR_INVALID_STATE, "Can't reconfigure socket - socket is already open.");
    }
 
    const auto oBindAddress = resolve_address(strInterface);
    asio::ip::udp::socket::protocol_type protocol = oBindAddress.is_v4() ? asio::ip::udp::socket::protocol_type::v4() : asio::ip::udp::socket::protocol_type::v6();
    RETURN_IF_THROWS(m_oUdpSocket.open(protocol));
    RETURN_IF_THROWS(m_oUdpSocket.set_option(asio::ip::udp::socket::reuse_address(true)));
 
    // 0 means ... do not touch and use systems default
    if (nSocketReceiveBufferSize != 0)
    {
        try
        {
            asio::ip::udp::socket::receive_buffer_size oRcvBufferSizeOptionGet;
            m_oUdpSocket.get_option(oRcvBufferSizeOptionGet);
            m_oUdpSocket.set_option(asio::ip::udp::socket::receive_buffer_size(static_cast<int>(nSocketReceiveBufferSize)));
            LOG_INFO("Sockets buffersize set from %d to %zu bytes.", oRcvBufferSizeOptionGet.value(),
                     nSocketReceiveBufferSize);
            
        }
        catch (const asio::error_code&)
        {
            return adtf::base::current_exception_to_result();
        }
    }
    
 
    if (strMulticastGroup.empty())
    {
        RETURN_IF_THROWS(m_oUdpSocket.bind(asio::ip::udp::endpoint(oBindAddress, nLocalPort)));
    }
    else
    {
        const auto oMulticastAddress = resolve_address(strMulticastGroup);
        if (!oMulticastAddress.is_multicast())
        {
            RETURN_ERROR_DESC(ERR_INVALID_ARG, "%s is not a multicast address.", strMulticastGroup.c_str());
        }
 
        if (!oBindAddress.is_unspecified() &&
            oMulticastAddress.is_v4() != oBindAddress.is_v4())
        {
            RETURN_ERROR_DESC(ERR_INVALID_ARG, "Both the multicast address and the bind interface address need to be of the same ip version.");
        }
 
#ifdef _WIN32
        RETURN_IF_THROWS(m_oUdpSocket.bind(asio::ip::udp::endpoint(oBindAddress, nLocalPort)));
#else
        RETURN_IF_THROWS(m_oUdpSocket.bind(asio::ip::udp::endpoint(oMulticastAddress, nLocalPort)));
#endif
 
        if (oMulticastAddress.is_v4())
        {
            RETURN_IF_THROWS(m_oUdpSocket.set_option(asio::ip::multicast::join_group(oMulticastAddress.to_v4(), oBindAddress.to_v4())));
        }
        else
        {
            RETURN_IF_THROWS(m_oUdpSocket.set_option(asio::ip::multicast::join_group(oMulticastAddress.to_v6(), oBindAddress.to_v6().scope_id())));
        }
    }
 
    // Set up receive operations if used with callback.
    if (m_fnOnReceive)
    {
        std::vector<asio::mutable_buffer> oOriginalBuffers;
 
        for (size_t i = 0; i < m_nQueueDepth; ++i)
        {
            m_oHandlers[i] = std::make_shared<tPacketHandler>(i, nReceiveBufferSize);
            oOriginalBuffers.emplace_back(m_oHandlers[i]->oBuffer.data(), m_oHandlers[i]->oBuffer.size());
        }
 
        m_pAsioBufferRegistration = std::make_unique<asio::buffer_registration<std::vector<asio::mutable_buffer>>>(
            asio::register_buffers(m_oIoContext, oOriginalBuffers));
 
        for (size_t i = 0; i < m_nQueueDepth; ++i)
        {
            m_oHandlers[i]->oRegisteredBuffer = (*m_pAsioBufferRegistration)[i];
        }
 
        #if defined(OS_HAS_RECVMMSG) && !defined(ASIO_HAS_IO_URING_AS_DEFAULT)
        // The reactive backend is not preserving the order for queued async operations.
        // So instead keep only a single async wait in flight, but poll in bulk instead.
        ScheduleReadMany();
        #else
        for (auto& oBuffer : m_oHandlers)
        {
            ScheduleReadOne(oBuffer);
        }
        #endif
    }
 
    RETURN_NOERROR;
}
 
tResult cUdpSocketWrapper::SetRemote(const std::string& strRemoteAddress, uint16_t nRemotePort)
{
    RETURN_IF_THROWS(m_oUdpRemoteEndpoint = asio::ip::udp::endpoint(resolve_address(strRemoteAddress), nRemotePort));
    RETURN_NOERROR;
}
 
tResult cUdpSocketWrapper::Send(const void* pData, size_t nDataSize)
{
    asio::ip::udp::endpoint oDestination;
    if (m_oUdpRemoteEndpoint)
    {
        oDestination = *m_oUdpRemoteEndpoint;
    }
    else if (m_oLastReceivedUdpRemoteEndpoint)
    {
        oDestination = *m_oLastReceivedUdpRemoteEndpoint;
    }
    else
    {
        RETURN_ERROR_DESC(ERR_INVALID_STATE, "Unable to send data via UDP, remote endpoint is not yet known.");
    }
    size_t nDataSent = 0;
    RETURN_IF_THROWS(nDataSent = m_oUdpSocket.send_to(asio::buffer(pData, nDataSize), oDestination));
    if (static_cast<size_t>(nDataSent) != nDataSize)
    {
        RETURN_ERROR_DESC(ERR_INVALID_ARG, "Unable to send data via UDP, data size is too large: %" PRIu64, nDataSize);
    }
 
    RETURN_NOERROR;
}
 
tResult cUdpSocketWrapper::Start()
{
    std::unique_lock oLock(m_oRunningMutex);
 
    if (m_bRunning)
    {
        RETURN_ERROR(ERR_INVALID_STATE);
    }
 
    // Reset to runnable if previously stopped.
    if (m_oIoContext.stopped())
    {
        RETURN_IF_THROWS(m_oIoContext.restart());
    }
 
    m_bRunning = true;
    m_oRunningCv.notify_all();
 
    RETURN_NOERROR;
}
 
tResult cUdpSocketWrapper::Run()
{
    std::unique_lock oLock(m_oRunningMutex);
 
    if (m_oRunningCv.wait_for(oLock, std::chrono::milliseconds(100), [this]() { return m_bRunning; }))
    {
        oLock.unlock();
        m_oIoContext.run();
        oLock.lock();
 
        m_bRunning = false;
        m_oRunningCv.notify_all();
    }
    else
    {
        RETURN_ERROR(ERR_NOT_READY);
    }
 
    RETURN_NOERROR;
}
 
tResult cUdpSocketWrapper::Stop()
{
    {
        std::unique_lock oLock(m_oRunningMutex);
        m_oIoContext.stop();
        m_oRunningCv.wait(oLock, [this]() -> bool { return !m_bRunning; });
    }
    RETURN_NOERROR;
}
 
#if defined(OS_HAS_RECVMMSG)
 
void cUdpSocketWrapper::ScheduleReadMany() noexcept
{
    m_oUdpSocket.async_wait(asio::ip::udp::socket::wait_read, std::bind(&cUdpSocketWrapper::ReadMany, this, std::placeholders::_1));
}
 
void cUdpSocketWrapper::ReadMany(const std::error_code& nError) noexcept
{
    if (!nError)
    {
        // Pull bulk messages in a non-blocking, tight loop.
        do {
            // What is received may be IPv4 or IPv6 address.
            std::array<sockaddr_storage, m_nQueueDepth> oAddresses = {0};
            std::array<iovec, m_nQueueDepth> oBuffers = {0};
            std::array<mmsghdr, m_nQueueDepth> oMessages = {0};
 
            for (size_t i = 0; i < m_nQueueDepth; ++i)
            {
                // Sender address.
                oMessages[i].msg_hdr.msg_name = &oAddresses[i];
                oMessages[i].msg_hdr.msg_namelen = sizeof(sockaddr_storage);
                // Scatter fragments.
                oBuffers[i].iov_base = m_oHandlers[i]->oBuffer.data();
                oBuffers[i].iov_len = m_oHandlers[i]->oBuffer.size();
                oMessages[i].msg_hdr.msg_iov = &oBuffers[i];
                oMessages[i].msg_hdr.msg_iovlen = 1;
                // Received number of bytes.
                oMessages[i].msg_len = 0;
            }
            // recvmmsg is missing in ASIO, but absolutely necessary to avoid excessive syscall overhead...
            const auto nReceived =
                ::recvmmsg(m_oUdpSocket.native_handle(), oMessages.data(), oMessages.size(), MSG_DONTWAIT, nullptr);
            if (nReceived > 0)
            {
                for (int i = 0; i < nReceived; ++i)
                {
                    const auto& oMessage = oMessages[i];
                    if (m_fnOnReceive && oMessage.msg_hdr.msg_iovlen > 0)
                    {
                        m_fnOnReceive(oMessage.msg_hdr.msg_iov[0].iov_base, oMessage.msg_len);
                    }
                }
                const auto& oLastMessage = oMessages[nReceived - 1];
                const auto pAddress = static_cast<const sockaddr_storage*>(oLastMessage.msg_hdr.msg_name);
                if (pAddress)
                {
                    if (pAddress->ss_family == AF_INET)
                    {
                        const auto pIPV4 = reinterpret_cast<const sockaddr_in*>(pAddress);
                        m_oLastReceivedUdpRemoteEndpoint = {asio::ip::address_v4(pIPV4->sin_addr.s_addr),
                                                            pIPV4->sin_port};
                    }
                    else if (pAddress->ss_family == AF_INET6)
                    {
                        const auto pIPV6 = reinterpret_cast<const sockaddr_in6*>(pAddress);
                        m_oLastReceivedUdpRemoteEndpoint = {
                            asio::ip::address_v6(
                                reinterpret_cast<const asio::ip::address_v6::bytes_type&>(pIPV6->sin6_addr.s6_addr),
                                pIPV6->sin6_scope_id),
                            pIPV6->sin6_port};
                    }
                }
            }
            else
            {
                // Return control back to ASIO.
                break;
            }
        } while(true);
    }
    if (nError != asio::error::operation_aborted)
    {
        ScheduleReadMany();
    }
}
 
#endif
 
void cUdpSocketWrapper::ScheduleReadOne(const std::shared_ptr<tPacketHandler>& oBuffer) noexcept
{
    m_oUdpSocket.async_receive_from(
        oBuffer->oRegisteredBuffer, oBuffer->oEndpoint,
        std::bind(&cUdpSocketWrapper::OnReceiveOne, this, std::placeholders::_1, std::placeholders::_2, oBuffer)
    );
}
 
void cUdpSocketWrapper::OnReceiveOne(
    const std::error_code& nError,
    std::size_t nBytesTransferred,
    const std::shared_ptr<tPacketHandler>& oBuffer) noexcept
{
    if (!nError)
    {
        m_oLastReceivedUdpRemoteEndpoint = oBuffer->oEndpoint;
        if (m_fnOnReceive)
        {
            m_fnOnReceive(oBuffer->oBuffer.data(), nBytesTransferred);
        }
    }
    // Keep recycling our buffers.
    if (nError != asio::error::operation_aborted)
    {
        ScheduleReadOne(oBuffer);
    }
}

Header (TCP Sender)

 
#pragma once
 
#include <sink_to_non_adtf.h>
#include "tcp_socket_wrapper.h"
 
class cTcpSinkToNonADTFSystem : public cSinkToNonADTFSystem
{
public:
    ADTF_CLASS_ID_NAME(cTcpSinkToNonADTFSystem,
                       "demo_foreign_application_tcp_sender.streaming_sink.adtf.cid",
                       "TCP Sender To Non ADTF Application");   
 
    cTcpSinkToNonADTFSystem();
 
    tResult StartStreaming() override;
 
protected:
    void Send(const void* pData, size_t nDataSize) override;
 
private:
    ITCPSocket& GetSocket();
 
    adtf::base::property_variable<adtf::util::cString> m_strRemoteHost;
    adtf::base::property_variable<uint16_t> m_nRemotePort = 0;
    adtf::base::property_variable<bool> m_bNoTCPDelay = true;
    adtf::base::property_variable<bool> m_bEnableAutomaticReconnection = false;
 
    adtf::filter::interface_client<ITCPSocket> m_oSocketClient;
    adtf::ucom::object_ptr<ITCPSocket> m_pFallbackSocket;
};

Implementation (TCP Sender)

 
#include "tcp_sink_to_non_adtf.h"
 
using namespace adtf::util;
using namespace adtf::ucom;
using namespace adtf::base;
using namespace adtf::streaming;
 
cTcpSinkToNonADTFSystem::cTcpSinkToNonADTFSystem()
{
    m_strRemoteHost.SetDescription("This is only taken into account when the sink is not connected to a source via the socket interface binding.\n"
                                   "If set to 'localhost' the IPv4 localhost address '127.0.0.1' is used.\n"
                                   "IPv4 Example: '127.0.0.1'\n"
                                   "IPv6 Example: '::1'\n");
    RegisterPropertyVariable("remote_host", m_strRemoteHost);
    m_nRemotePort.SetDescription("This is only taken into account when the sink is not connected to a source via the socket interface binding.");
    RegisterPropertyVariable("remote_port", m_nRemotePort);
    m_bNoTCPDelay.SetDescription("If activated, the TCP_NODELAY option will be set for the socket.");
    RegisterPropertyVariable("no_tcp_delay", m_bNoTCPDelay);
    m_bEnableAutomaticReconnection.SetDescription("If enabled, connection loss is not treated as an error, but the source tries to reconnect."
                                                  " This is only taken into account when the sink is not connected to a source via the socket interface binding.");
    RegisterPropertyVariable("enable_automatic_reconnection", m_bEnableAutomaticReconnection);
 
    m_oSocketClient = CreateInterfaceClient<ITCPSocket>("socket");
    SetDescription("socket", "Interface client to use a shared socket for communication");
 
    // sets a short description for the component
    SetDescription("Use this Streaming Sink to transmit sample data to a Non-ADTF Application using the TCP protocol");
 
    // set help link to jump to documentation from ADTF Configuration Editor
    SetHelpLink("$(ADTF_DIR)/doc/adtf_html/page_demo_non_adtf_application_sender_receiver.html");
}
 
tResult cTcpSinkToNonADTFSystem::StartStreaming()
{
    RETURN_IF_FAILED(cSampleStreamingSink::StartStreaming());
 
    if (!m_oSocketClient.IsValid())
    {
        // we are not connected to a source, so just create our own socket instance
        auto pSocket = make_object_ptr<cTCPSocketWrapper>();
        if (m_bNoTCPDelay)
        {
            pSocket->EnableTcpNoDelay();
        }
        RETURN_IF_FAILED_DESC(pSocket->Connect(*m_strRemoteHost, m_nRemotePort, m_bEnableAutomaticReconnection),
                              "Unable to connect to %s:%d", m_strRemoteHost->GetPtr(), *m_nRemotePort);
        m_pFallbackSocket = pSocket;
    }
    else
    {
        if (m_bNoTCPDelay)
        {
            GetSocket().EnableTcpNoDelay();
        }
    }
 
    RETURN_NOERROR;
}
 
void cTcpSinkToNonADTFSystem::Send(const void* pData, size_t nDataSize)
{
    const auto oResult = GetSocket().Send(pData, nDataSize);
 
    if (!m_bEnableAutomaticReconnection || oResult != ERR_RETRY)
    {
        THROW_IF_FAILED(oResult);
    }
}
 
ITCPSocket& cTcpSinkToNonADTFSystem::GetSocket()
{
    return m_pFallbackSocket ? *m_pFallbackSocket : m_oSocketClient.Get();
}

Header (TCP Receiver)

 
#pragma once
 
#include "tcp_socket_wrapper.h"
 
#include <adtfbase/adtf_base.h>
#include <adtffiltersdk/adtf_filtersdk.h>
#include <adtffiltersdk/runner_fallback.h>
#include <adtfsystemsdk/adtf_systemsdk.h>
 
 
class cTcpSourceFromNonADTFSystem : public adtf::filter::cSampleStreamingSource
{
public: 
    ADTF_CLASS_ID_NAME(cTcpSourceFromNonADTFSystem,
                       "demo_foreign_application_tcp_receiver.streaming_source.adtf.cid",
                       "TCP Receiver From Non ADTF Application");
 
    ADTF_CLASS_DEPENDENCIES(REQUIRE_INTERFACE(adtf::services::IReferenceClock),
                            REQUIRE_INTERFACE(adtf::services::IKernel));
 
    cTcpSourceFromNonADTFSystem();
 
    tResult Construct() override;
    tResult Init() override;
    tResult StartStreaming() override;
    tResult StopStreaming() override;
 
private:
    void ReadThread();
    adtf::ucom::object_ptr<adtf::streaming::ISample> ReadIntoSample();
    adtf::ucom::object_ptr<adtf::streaming::ISample> ReadIntoBuffer();
    adtf::ucom::object_ptr<adtf::streaming::ISample> ReadAndDeserialize();
    size_t ReadFromSocket(void* pBuffer, size_t nBufferSize, bool bFillBuffer);
 
private:
    adtf::base::property_variable<adtf::util::cString> m_strRemoteHost;
    adtf::base::property_variable<uint16_t> m_nRemotePort = 0;
    adtf::base::property_variable<uint64_t> m_nFixedPacketSize = 0;
 
    adtf::base::property_variable<adtf::util::cString> m_strDDLStructName;
    adtf::base::property_variable<bool> m_bDeserializeViaMediaDescription = false;
    adtf::base::property_variable<bool> m_bMarkSamplesAsDeserialized = true;
    adtf::base::property_variable<bool> m_bEnableAutomaticReconnection = false;
 
    adtf::ucom::object_ptr<adtf::services::IReferenceClock> m_pClock;
 
    adtf::streaming::ISampleWriter* m_pOutputWriter = nullptr;
    adtf::filter::cRunnerFallback m_oReadThread;
 
    std::vector<uint8_t> m_oReadBuffer;
 
    adtf::ucom::object_ptr<cTCPSocketWrapper> m_pSocket;
    ddl::codec::CodecFactory m_oCodecFactory;
    bool m_bReadDirectlyIntoSample = true;
};

Implementation (TCP Receiver)

 
#include "tcp_source_from_non_adtf.h"
#include <asio_helpers.h>
 
constexpr const tTimeStamp g_tmSocketTimeOut = 50000;
constexpr const size_t g_nDefaultReadBufferSize = 0xFFFF;
 
using namespace adtf::util;
using namespace adtf::ucom;
using namespace adtf::base;
using namespace adtf::streaming;
using namespace adtf::system;
 
cTcpSourceFromNonADTFSystem::cTcpSourceFromNonADTFSystem()
{
    m_strRemoteHost.SetDescription("The hostname or ip address that the source should connect to.");
    RegisterPropertyVariable("remote_host", m_strRemoteHost);
    m_nRemotePort.SetDescription("The port on the remote host that the source should connect to.");
    RegisterPropertyVariable("remote_port", m_nRemotePort);
 
    m_nFixedPacketSize.SetDescription("If non-zero, the source will wait to read this amount of bytes before putting them into a Sample.");
    RegisterPropertyVariable("fixed_packet_size", m_nFixedPacketSize);
 
    m_strDDLStructName.SetDescription("If set, the stream type will contain the media description of the given struct, retrieved from the Media Description Service.");
    RegisterPropertyVariable("ddl_struct_name", m_strDDLStructName);
    m_bDeserializeViaMediaDescription.SetDescription("If activated, incoming data will be deserialized as defined "
                                                     "by the media description of the struct selected via ddl_struct_name before writing it into output samples.");
    RegisterPropertyVariable("deserialize_via_media_description", m_bDeserializeViaMediaDescription);
    m_bMarkSamplesAsDeserialized.SetDescription("In case that 'deserialize_via_media_description' is disabled, this will force the output stream type to have the deserialized flag set.");
    RegisterPropertyVariable("mark_samples_as_deserialized", m_bMarkSamplesAsDeserialized);
 
    m_bEnableAutomaticReconnection.SetDescription("If enabled, connection loss is not treated as an error, but the source tries to reconnect.");
    RegisterPropertyVariable("enable_automatic_reconnection", m_bEnableAutomaticReconnection);
 
    m_pOutputWriter = CreateOutputPin("output");
    SetDescription("output", "Provides the sample data received from a Non-ADTF instance over TCP");
 
    m_pSocket = make_object_ptr<cTCPSocketWrapper>();
    CreateInterfaceServer<ITCPSocket>("socket", ucom_object_ptr_cast<ITCPSocket>(m_pSocket));
    SetDescription("socket", "Interface server to provide a shared socket for communication");
 
    // For session compatibility reasons we use this fallback helper for the case where no active runner is connected to the runner.
    // In your own implementations use a simple CreateRunner(...) instead!
    m_oReadThread = adtf::filter::cRunnerFallback(this, "receive_data", cThreadTriggerHint(), [this](){ ReadThread(); });
    SetDescription("receive_data", 
                   "Connect a Thread Runner that will provide the context for receiving all data. "
                   "If this is not connected, the source will create a thread on its own.");
 
    // sets a short description for the component
    SetDescription("Use this Streaming Source to receive sample data from a Non-ADTF Application using the TCP protocol");
 
    // set help link to jump to documentation from ADTF Configuration Editor
    SetHelpLink("$(ADTF_DIR)/doc/adtf_html/page_demo_non_adtf_application_sender_receiver.html");
}
 
tResult cTcpSourceFromNonADTFSystem::Construct()
{
    RETURN_IF_FAILED(cSampleStreamingSource::Construct());
 
    if (m_strDDLStructName->IsNotEmpty())
    {
        object_ptr<IStreamType> pType = make_object_ptr<adtf::mediadescription::stream_type_default<>>(
            m_strDDLStructName->GetPtr(), m_bDeserializeViaMediaDescription || m_bMarkSamplesAsDeserialized ?
                                     ddl::tDataRepresentation::Deserialized :
                                     ddl::tDataRepresentation::Serialized);
        m_pOutputWriter->ChangeType(pType);
 
        if (m_bDeserializeViaMediaDescription)
        {
            const auto oDescription = adtf::mediadescription::get_media_description_from_stream_type(*pType.Get());
            m_oCodecFactory = ddl::codec::CodecFactory(std::get<0>(oDescription).c_str(),
                                                       std::get<1>(oDescription).c_str());
        }
 
        if (*m_nFixedPacketSize == 0)
        {
            if (m_bDeserializeViaMediaDescription)
            {
                m_nFixedPacketSize = m_oCodecFactory.getStaticBufferSize(ddl::tDataRepresentation::Serialized);
            }
            else
            {
                m_nFixedPacketSize = m_oCodecFactory.getStaticBufferSize(ddl::tDataRepresentation::Deserialized);
            }
        }
    }
    else
    {
        if (m_bDeserializeViaMediaDescription)
        {
            RETURN_ERROR_DESC(ERR_INVALID_ARG, "Deserialization requires a ddl struct name to be set.");
        }
    }
 
    RETURN_NOERROR;
}
 
tResult cTcpSourceFromNonADTFSystem::Init()
{
    RETURN_IF_FAILED(cSampleStreamingSource::Init());
 
    RETURN_IF_FAILED(_runtime->GetObject(m_pClock));
 
    m_bReadDirectlyIntoSample = m_nFixedPacketSize > 0 && !m_bDeserializeViaMediaDescription;
 
    if (!m_bReadDirectlyIntoSample)
    {
        if (m_nFixedPacketSize > 0)
        {
            m_oReadBuffer.resize(m_nFixedPacketSize);
        }
        else
        {
            m_oReadBuffer.resize(g_nDefaultReadBufferSize);
        }
    }
 
    RETURN_NOERROR;
}
 
tResult cTcpSourceFromNonADTFSystem::StartStreaming()
{
    RETURN_IF_FAILED(cSampleStreamingSource::StartStreaming());
 
    RETURN_IF_FAILED_DESC(m_pSocket->Connect(*m_strRemoteHost, m_nRemotePort, m_bEnableAutomaticReconnection),
                          "Unable to connect to %s:%d", m_strRemoteHost->GetPtr(), *m_nRemotePort);
 
    RETURN_IF_FAILED(m_oReadThread.Activate());
 
    RETURN_NOERROR;
}
 
tResult cTcpSourceFromNonADTFSystem::StopStreaming()
{
    m_oReadThread.Deactivate();
 
    m_pSocket->Close();
 
    return cSampleStreamingSource::StopStreaming();
}
 
void cTcpSourceFromNonADTFSystem::ReadThread()
{
    try
    {
        object_ptr<ISample> pSample;
 
        if (m_bReadDirectlyIntoSample)
        {
            pSample = ReadIntoSample();
        }
        else
        {
            if (m_bDeserializeViaMediaDescription)
            {
                pSample = ReadAndDeserialize();
            }
            else
            {
                pSample = ReadIntoBuffer();
            }
        }
 
        if (pSample)
        {
            m_pOutputWriter->Write(pSample);
            m_pOutputWriter->ManualTrigger(get_sample_time(pSample));
        }
    }
    catch (...)
    {
        m_pOutputWriter->SetStreamError(current_exception_to_result());
    }
}
 
adtf::ucom::object_ptr<adtf::streaming::ISample> cTcpSourceFromNonADTFSystem::ReadIntoSample()
{
    object_ptr<adtf::streaming::flash::ISample> pSample;
    THROW_IF_FAILED(alloc_sample(pSample));
    object_ptr_locked<ISampleBuffer> pBuffer;
    THROW_IF_FAILED(pSample->WriteLock(pBuffer, m_nFixedPacketSize));
 
    const auto nBytesRead = ReadFromSocket(pBuffer->GetPtr(), pBuffer->GetSize(), true);
    if (nBytesRead == 0)
    {
        return nullptr;
    }
 
    pSample->SetTime(m_pClock->GetStreamTimeNs());
 
    return pSample;
}
 
adtf::ucom::object_ptr<adtf::streaming::ant::ISample> cTcpSourceFromNonADTFSystem::ReadIntoBuffer()
{
    const auto nBytesRead = ReadFromSocket(m_oReadBuffer.data(), m_oReadBuffer.size(), false);
    if (nBytesRead == 0)
    {
        return nullptr;
    }
 
    object_ptr<adtf::streaming::flash::ISample> pSample;
    THROW_IF_FAILED(alloc_sample(pSample, m_pClock->GetStreamTimeNs()));
    object_ptr_locked<ISampleBuffer> pBuffer;
    THROW_IF_FAILED(pSample->WriteLock(pBuffer, nBytesRead));
    THROW_IF_FAILED(pBuffer->Write(adtf_memory_buffer<const void>(m_oReadBuffer.data(), nBytesRead)));
 
    return pSample;
}
 
adtf::ucom::object_ptr<adtf::streaming::ant::ISample> cTcpSourceFromNonADTFSystem::ReadAndDeserialize()
{
    const auto nBytesRead = ReadFromSocket(m_oReadBuffer.data(), m_oReadBuffer.size(), true);
    if (nBytesRead == 0)
    {
        return nullptr;
    }
 
    object_ptr<adtf::streaming::flash::ISample> pSample;
    THROW_IF_FAILED(alloc_sample(pSample, m_pClock->GetStreamTimeNs()));
 
    const auto oDecoder = m_oCodecFactory.makeDecoderFor(m_oReadBuffer.data(), nBytesRead, ddl::tDataRepresentation::Serialized);
    THROW_IF_FAILED(TO_ADTF_RESULT(oDecoder.isValid()));
 
    object_ptr_locked<ISampleBuffer> pBuffer;
    THROW_IF_FAILED(pSample->WriteLock(pBuffer, oDecoder.getBufferSize(ddl::tDataRepresentation::Deserialized)));
    auto oCodec = oDecoder.makeCodecFor(pBuffer->GetPtr(), pBuffer->GetSize(), ddl::tDataRepresentation::Deserialized);
    THROW_IF_FAILED(TO_ADTF_RESULT(ddl::codec::transform(oDecoder, oCodec)));
 
    return pSample;
}
 
size_t cTcpSourceFromNonADTFSystem::ReadFromSocket(void* pBuffer, size_t nBufferSize, bool bFillBuffer)
{
    auto pBufferWritePosition = static_cast<uint8_t*>(pBuffer);
    size_t nOverallBytesRead = 0;
    do
    {
        size_t nLastBytesRead = 0;
 
        auto oResult = m_pSocket->Read(pBufferWritePosition, static_cast<int>(nBufferSize), &nLastBytesRead);
        if (IS_FAILED(oResult))
        {
            if (oResult == ERR_TIMEOUT)
            {
                if (nOverallBytesRead == 0)
                {
                    return 0;
                }
 
                continue;
            }
 
            if (oResult == ERR_RETRY)
            {
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                return 0;
            }
 
            throw oResult;
        }
 
        nOverallBytesRead += nLastBytesRead;
        pBufferWritePosition += nLastBytesRead;
        nBufferSize -= nLastBytesRead;
    }
    while (bFillBuffer && nBufferSize > 0);
 
    return nOverallBytesRead;
}

Header (TCP Socket Wrapper)

 
#pragma once
#include <asio.hpp>
#include <adtfucom3/adtf_ucom3.h>
#include <mutex>
 
#ifdef WIN32
    #undef GetObject
#endif
 
class ITCPSocket: public adtf::ucom::ant::IObject
{
    public:
        ADTF_IID(ITCPSocket, "tcp_socket.demo.adtf");
 
    public:
        virtual void EnableTcpNoDelay() = 0;
        virtual tResult Send(const void* pData, size_t nDataSize) = 0;
 
    protected:
        ~ITCPSocket() = default;
};
 
class cTCPSocketWrapper: public adtf::ucom::object<ITCPSocket>
{
    public:
        cTCPSocketWrapper();
        void EnableTcpNoDelay() override;
        tResult Connect(const char* strRemoteHost, uint16_t nRemotePort, bool bReconnect);
        tResult Send(const void* pData, size_t nDataSize) override;
        tResult Read(void* pDestination, size_t nBytes, size_t* pBytesRead);
        void Close();
 
    private:
        tResult Connect();
 
        std::string m_strRemoteHost;
        uint16_t m_nRemotePort = 0;
        bool m_bReconnect = false;
        std::mutex m_oConnectMutex;
        asio::io_context m_oIoContext;
        asio::ip::tcp::socket m_oTcpSocket;
        bool m_bTcpNoDelay = false;
};

Implementation (TCP Socket Wrapper)

 
#include "tcp_socket_wrapper.h"
#include <asio_helpers.h>
 
constexpr std::chrono::milliseconds SOCKET_READ_TIMEOUT{50};
 
cTCPSocketWrapper::cTCPSocketWrapper():
    m_oTcpSocket(m_oIoContext)
{
}
 
tResult cTCPSocketWrapper::Connect(const char* strRemoteHost, uint16_t nRemotePort, bool bReconnect)
{
    m_strRemoteHost = strRemoteHost;
    m_nRemotePort = nRemotePort;
    m_bReconnect = bReconnect;
 
    return Connect();
}
 
tResult cTCPSocketWrapper::Connect()
{
    std::lock_guard<std::mutex> oGuard(m_oConnectMutex);
    m_oTcpSocket.close();
 
    try
    {
        m_oTcpSocket.connect(asio::ip::tcp::endpoint(resolve_address(m_strRemoteHost), m_nRemotePort));
    }
    catch (...)
    {
        if (m_bReconnect)
        {
            RETURN_NOERROR;
        }
 
        RETURN_CURRENT_EXCEPTION();
    }
 
    if (m_bTcpNoDelay)
    {
        RETURN_IF_THROWS(m_oTcpSocket.set_option(asio::ip::tcp::no_delay(true)));
    }
 
    RETURN_NOERROR;
}
 
void cTCPSocketWrapper::EnableTcpNoDelay()
{
    m_bTcpNoDelay = true;
}
 
bool is_connection_error(const asio::system_error& oError)
{
    return oError.code() == asio::error::not_connected ||
           oError.code() == asio::error::connection_aborted ||
           oError.code() == asio::error::connection_refused ||
           oError.code() == asio::error::connection_reset ||
           oError.code() == asio::error::eof ||
           oError.code() == asio::error::broken_pipe;
}
 
tResult cTCPSocketWrapper::Send(const void* pData, size_t nDataSize)
{
    auto pPosition = static_cast<const uint8_t*>(pData);
    size_t nDataLeft = nDataSize;
 
    while (nDataLeft)
    {
        size_t nDataSent = 0;
        try
        {
            nDataSent = m_oTcpSocket.send(asio::buffer(pPosition, nDataSize));
        }
        catch (const asio::system_error& oError)
        {
            if (is_connection_error(oError) &&
                m_bReconnect)
            {
                if (IS_OK(Connect()))
                {
                    pPosition = static_cast<const uint8_t*>(pData);
                    nDataLeft = nDataSize;
                    continue;
                }
 
                RETURN_ERROR(ERR_RETRY);
            }
 
            RETURN_CURRENT_EXCEPTION();
        }
 
        pPosition += nDataSent;
        nDataLeft -= static_cast<size_t>(nDataSent);
    }
 
    RETURN_NOERROR;
}
 
tResult cTCPSocketWrapper::Read(void* pDestination, size_t nBytes, size_t* pBytesRead)
{
    if (!wait_for_data<>(m_oTcpSocket, SOCKET_READ_TIMEOUT))
    {
        RETURN_ERROR(ERR_TIMEOUT);
    }
 
    try
    {
       *pBytesRead = m_oTcpSocket.receive(asio::buffer(pDestination, nBytes));
    }
    catch (const asio::system_error& oError)
    {
        if (is_connection_error(oError) &&
            m_bReconnect)
        {
            Connect();
            RETURN_ERROR(ERR_RETRY);
        }
 
        RETURN_CURRENT_EXCEPTION();
    }
 
    RETURN_NOERROR;
}
 
void cTCPSocketWrapper::Close()
{
    m_oTcpSocket.close();
}

Demo executable Non-ADTF Application

 
#include <a_utils.h>
#include <iostream>
#include <csignal>
#include <vector>
#include <asio.hpp>
 
 
namespace udp
{
 
struct async_context
{
    async_context(const std::shared_ptr<asio::ip::udp::socket>& socket): socket(socket)
    {
    }
    std::shared_ptr<asio::ip::udp::socket> socket;
    std::array<uint8_t, 9000> buffer;
    asio::ip::udp::endpoint endpoint;
};
 
void schedule_read(const std::error_code& nError, const std::shared_ptr<async_context>& oContext);
 
void schedule_echo(const std::error_code& nError, size_t nBytesRead, const std::shared_ptr<async_context>& context)
{
    if (!nError)
    {
        context->socket->async_send_to(asio::buffer(context->buffer.data(), nBytesRead), context->endpoint,
                                      std::bind(&schedule_read, std::placeholders::_1, context));
    }
    else
    {
        schedule_read(nError, context);
    }
}
void schedule_read(const std::error_code& nError, const std::shared_ptr<async_context>& oContext)
{
    if (nError)
    {
        std::cerr << nError.message();
    }
    if (nError != asio::error::operation_aborted)
    {
        oContext->socket->async_receive_from(asio::buffer(oContext->buffer.data(), oContext->buffer.size()),
                                           oContext->endpoint,
                                           std::bind(&schedule_echo, std::placeholders::_1, std::placeholders::_2, oContext));
    }
}
 
void server(asio::io_context& oIoContext, uint16_t nPort, bool bIpv6, const std::string& strMulticastGroup)
{
    std::cout << "Creating UDP server " << (bIpv6 ? "v6" : "v4") << " at port " << nPort << " mc: " << strMulticastGroup
              << std::endl;
 
    std::shared_ptr<asio::ip::udp::socket> oUdpSocket = std::make_shared<asio::ip::udp::socket>(
        oIoContext, asio::ip::udp::endpoint(bIpv6 ? asio::ip::udp::v6() : asio::ip::udp::v4(), nPort));
 
    if (!strMulticastGroup.empty())
    {
        oUdpSocket->set_option(asio::ip::multicast::join_group(asio::ip::make_address(strMulticastGroup)));
    }
 
    // Just make sure this echo app isn't going to responsible for loosing packets...
    for (size_t nBufferCount = 0; nBufferCount < 64; ++nBufferCount)
    {
        auto oContext = std::make_shared<udp::async_context>(oUdpSocket);
        schedule_read(std::error_code(), oContext);
    }
}
 
}
 
 
namespace tcp
{
struct async_context
{
    async_context(const std::shared_ptr<asio::ip::tcp::socket>& socket) : socket(socket)
    {
    }
    std::shared_ptr<asio::ip::tcp::socket> socket;
    std::array<uint8_t, 9000> buffer;
};
 
 
void schedule_read(const std::error_code& nError, const std::shared_ptr<async_context>& oContext);
 
void on_accept(const std::error_code& nError,
               const std::shared_ptr<async_context>& context,
               const std::shared_ptr<asio::ip::tcp::acceptor>& acceptor)
{
    if (context)
    {
        schedule_read(nError, context);
    }
    if (nError != asio::error::operation_aborted)
    {
        auto nextSocket = std::make_shared<asio::ip::tcp::socket>(acceptor->get_executor());
        auto nextContext = std::make_shared<async_context>(nextSocket);
        acceptor->async_accept(*nextSocket,
                               std::bind(&on_accept, std::placeholders::_1, nextContext, acceptor));
    }
}
 
void schedule_echo(const std::error_code& nError, size_t nBytesWritten, asio::const_buffer oCurrentTxBuffer, const std::shared_ptr<async_context>& oContext)
{
    if (!nError)
    {
        oCurrentTxBuffer += nBytesWritten;
        if (oCurrentTxBuffer.size() > 0)
        {
            oContext->socket->async_write_some(oCurrentTxBuffer,
                std::bind(&schedule_echo, std::placeholders::_1, std::placeholders::_2, oCurrentTxBuffer, oContext));
        }
        else
        {
            schedule_read(nError, oContext);
        }
    }
    else
    {
        schedule_read(nError, oContext);
    }
}
 
void on_read(const std::error_code& nError, size_t nBytesRead, const std::shared_ptr<async_context>& oContext)
{
    if (nError != asio::error::operation_aborted)
    {
        schedule_echo(nError, 0, asio::buffer(oContext->buffer.data(), nBytesRead), oContext);
    }
}
 
void schedule_read(const std::error_code& nError, const std::shared_ptr<async_context>& oContext)
{
    if (nError)
    {
        std::cerr << nError.message();
    }
    if (nError != asio::error::operation_aborted)
    {
        oContext->socket->async_read_some(asio::buffer(oContext->buffer.data(), oContext->buffer.size()),
                                      std::bind(&on_read, std::placeholders::_1, std::placeholders::_2, oContext));
    }
}
 
void server(asio::io_context& oIoContext, uint16_t nPort, bool bIpv6)
{
    std::cout << "Creating TCP server at " << (bIpv6 ? "v6" : "v4") << " port " << nPort << std::endl;
 
    {
        auto oTcpAcceptor = std::make_shared<asio::ip::tcp::acceptor>(
            oIoContext, bIpv6 ? asio::ip::tcp::endpoint(asio::ip::tcp::v6(), nPort) :
                                asio::ip::tcp::endpoint(asio::ip::tcp::v4(), nPort));
 
        oTcpAcceptor->set_option(asio::ip::tcp::acceptor::reuse_address(true));
 
        on_accept(std::error_code(), nullptr, oTcpAcceptor);
    }
}
} // namespace tcp
 
 
namespace
{
asio::io_context oIoContext;
 
void signal_handler(int nSignalId)
{
    oIoContext.stop();
    std::signal(nSignalId, SIG_DFL);
}
} // namespace
 
void run_threaded(asio::io_context& context, size_t count)
{
    std::list<std::thread> threads;
    for (size_t i = 0; i < count; ++i)
    {
        threads.emplace_back([&]() { context.run(); });
    }
 
    while (!threads.empty())
    {
        threads.front().join();
        threads.pop_front();
    }
}
 
int main(int nArgn, const char** pArgv)
{
    try
    {
        adtf::util::cCommandLine arguments(nArgn, pArgv);
 
        std::signal(SIGINT, &signal_handler);
 
        tUInt16 nPort = static_cast<uint16_t>(arguments.GetProperty("p", "54321").AsInt32());
        tBool bTcp = arguments.GetFlag("tcp");
        tBool bIpv6 = arguments.GetFlag("ipv6");
        std::string strMulticastGroup = arguments.GetProperty("m").GetPtr();
 
        if (bTcp)
        {
            tcp::server(oIoContext, nPort, bIpv6);
        }
        else
        {
            udp::server(oIoContext, nPort, bIpv6, strMulticastGroup);
        }
 
        // Stick to one thread for now - otherwise we'd loose order of events for UDP.
        // Even though this app can be made to scale up arbitrarily.
        run_threaded(oIoContext, 1);
 
        return 0;
    }
    catch (const asio::system_error& oError)
    {
        if (oError.code() == asio::error::bad_descriptor)
        {
            std::cout << "server closed\n";
            return 0;
        }
 
        std::cerr << "exception: " << oError.what() << "\n";
        return 1;
    }
}