Cleanup rpc interfaces

components/rpc/wireless/TCPServer.cpp

@@ -0,0 +1,231 @@
+#include <iostream>
+#include <memory>
+
+#include "esp_log.h"
+#include "sys/param.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_event.h"
+#include "esp_netif.h"
+#include "lwip/err.h"
+#include "lwip/sockets.h"
+#include "lwip/sys.h"
+#include "lwip/netdb.h"
+#include "wireless/TCPServer.h"
+#include "bits/shared_ptr_base.h"
+#include "constants/app_comms.h"
+#include "constants/tcp.h"
+
+#define TAG "TCPServer"
+
+// todo: - add message routing to correct client
+//       - authenticate (don't just return true from the auth function)
+//       - tx from board
+
+TCPServer::TCPServer(const int port, const std::shared_ptr<PtrQueue<std::vector<uint8_t>>>& rx_queue) {
+    this->m_port = port;
+    this->m_mutex = xSemaphoreCreateMutex();
+    this->m_clients = std::unordered_set<int>();
+    this->m_task = nullptr;
+    this->m_rx_task = nullptr;
+    this->m_rx_queue = rx_queue;
+    this->m_server_sock = 0;
+
+    xTaskCreate(tcp_server_task, "tcp_accept_server", 3072, this, 5, &this->m_task);
+    xTaskCreate(socket_monitor_thread, "tcp_rx", 4096, this, 5, &this->m_rx_task);
+}
+
+TCPServer::~TCPServer() {
+    vTaskDelete(this->m_task);
+    vTaskDelete(this->m_rx_task);
+    vSemaphoreDelete(this->m_mutex);
+}
+
+[[noreturn]] void TCPServer::tcp_server_task(void *args) {
+    constexpr int keepAlive = 1;
+    constexpr int keepIdle = KEEPALIVE_IDLE;
+    constexpr int keepInterval = KEEPALIVE_INTERVAL;
+    constexpr int keepCount = KEEPALIVE_COUNT;
+
+    const auto that = static_cast<TCPServer*>(args);
+
+    while (true) {
+        ESP_LOGI(TAG, "Attempting to start TCP Server on port %d", that->m_port);
+
+        that->m_server_sock = socket(AF_INET, SOCK_STREAM, IPPROTO_IP);
+        if (that->m_server_sock < 0) {
+            ESP_LOGE(TAG, "Unable to create TCP socket: errno %d\n", errno);
+            vTaskDelay(SLEEP_AFTER_FAIL_MS / portTICK_PERIOD_MS);
+            continue;
+        }
+
+        constexpr int opt = 1;
+        setsockopt(that->m_server_sock, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
+        ESP_LOGI(TAG, "Socket created\n");
+
+        sockaddr_in server_addr = {
+            .sin_family = AF_INET,
+            .sin_port = htons(that->m_port),
+            .sin_addr = {
+                .s_addr = htonl(INADDR_ANY),
+                },
+        };
+
+        int err = bind(that->m_server_sock, reinterpret_cast<struct sockaddr *>(&server_addr), sizeof(server_addr));
+        if (0 != err) {
+            ESP_LOGE(TAG, "Socket unable to bind: errno %d\n", errno);
+            close(that->m_server_sock);
+            that->m_server_sock = -1;
+            vTaskDelay(SLEEP_AFTER_FAIL_MS / portTICK_PERIOD_MS);
+            continue;
+        }
+
+        ESP_LOGI(TAG, "Socket bound to port %d\n", that->m_port);
+
+        err = listen(that->m_server_sock, TCP_DEFAULT_LISTEN_BACKLOG);
+        if (0 != err) {
+            ESP_LOGE(TAG, "Error occurred during TCP listen: errno %d\n", errno);
+            close(that->m_server_sock);
+            that->m_server_sock = -1;
+            vTaskDelay(SLEEP_AFTER_FAIL_MS / portTICK_PERIOD_MS);
+            continue;
+        }
+
+        while (is_network_connected()) {
+            sockaddr_in client_addr{};
+            socklen_t addr_len = sizeof(client_addr);
+            int client_sock = accept(that->m_server_sock, reinterpret_cast<struct sockaddr *>(&client_addr), &addr_len);
+            if (client_sock < 0) {
+                ESP_LOGE(TAG, "Unable to accept TCP connection: errno %d\n", errno);
+                continue;
+            }
+
+            err = that->authenticate_client(client_sock);
+            if (0 != err) {
+                ESP_LOGE(TAG, "Client failed authentication\n");
+            }
+
+            setsockopt(client_sock, SOL_SOCKET, SO_KEEPALIVE, &keepAlive, sizeof(int));
+            setsockopt(client_sock, IPPROTO_TCP, TCP_KEEPIDLE, &keepIdle, sizeof(int));
+            setsockopt(client_sock, IPPROTO_TCP, TCP_KEEPINTVL, &keepInterval, sizeof(int));
+            setsockopt(client_sock, IPPROTO_TCP, TCP_KEEPCNT, &keepCount, sizeof(int));
+
+            xSemaphoreTake(that->m_mutex, portMAX_DELAY);
+            that->m_clients.emplace(client_sock);
+            xSemaphoreGive(that->m_mutex);
+        }
+
+        close(that->m_server_sock);
+        vTaskDelay(SLEEP_AFTER_FAIL_MS / portTICK_PERIOD_MS);
+    }
+}
+
+[[noreturn]] void TCPServer::socket_monitor_thread(void *args) {
+    const auto that = static_cast<TCPServer *>(args);
+
+    while (true) {
+        vTaskDelay(0); // Avoid starving other threads
+
+        fd_set readfds;
+        FD_ZERO(&readfds);
+        int max_fd = -1;
+
+        xSemaphoreTake(that->m_mutex, portMAX_DELAY);
+        for (const auto sock : that->m_clients) {
+            FD_SET(sock, &readfds);
+            if (sock > max_fd) max_fd = sock;
+        }
+        xSemaphoreGive(that->m_mutex);
+
+        // todo: Select seems to be timing out the watchdog, even though we have a 50ms timeout.
+        //       Potentially select is not respecting our timeout?
+        timeval timeout = {0, 50000}; // 50 ms timeout
+        int ret = select(max_fd + 1, &readfds, nullptr, nullptr, &timeout);
+
+        vTaskDelay(0); // Avoid starving other threads
+
+        if (ret > 0) {
+            xSemaphoreTake(that->m_mutex, portMAX_DELAY);
+            std::vector<int> to_remove;
+            for (int sock : that->m_clients) {
+                vTaskDelay(0); // Avoid starving other threads
+                if (FD_ISSET(sock, &readfds)) {
+                    // Handle socket
+                    auto buffer = std::make_unique<std::vector<uint8_t>>();
+                    buffer->resize(MAX_RX_BUFFER_SIZE);
+
+                    uint32_t msg_size = 0;
+                    recv(sock, &msg_size, 4, MSG_WAITALL);
+                    if (msg_size < 1 || msg_size > 512) {
+                        continue;
+                    }
+
+                    ESP_LOGD(TAG, "Message size: %ld\n", msg_size);
+
+                    if (int len = recv(sock, buffer->data(), msg_size, MSG_WAITALL); len < 0) {
+                        ESP_LOGE(TAG, "Error occurred during receiving: errno %d\n", errno);
+                        to_remove.emplace_back(sock);
+                    } else if (0 == len) {
+                        ESP_LOGI(TAG, "TCP Connection closed\n");
+                        close(sock);
+                        to_remove.emplace_back(sock);
+                    } else {
+                        ESP_LOGD(TAG, "TCP Server Received %d bytes\n", len);
+                        buffer->resize(len);
+                        that->m_rx_queue->enqueue(std::move(buffer));
+                    }
+                }
+            }
+
+            for (const auto r : to_remove) {
+                that->m_clients.erase(r);
+            }
+
+            xSemaphoreGive(that->m_mutex);
+        }
+    }
+}
+
+bool TCPServer::is_network_connected() {
+    esp_netif_ip_info_t ip_info;
+    esp_netif_t *netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF");
+
+    if (netif != nullptr && esp_netif_get_ip_info(netif, &ip_info) == ESP_OK) {
+        return true;
+    }
+
+    if (0 != ip_info.ip.addr) {
+        return true;
+    }
+
+    netif = esp_netif_get_handle_from_ifkey("WIFI_AP_DEF");
+
+    if (netif != nullptr && esp_netif_get_ip_info(netif, &ip_info) == ESP_OK) {
+        return true;
+    }
+
+    if (0 != ip_info.ip.addr) {
+        return true;
+    }
+
+    return false;
+}
+
+bool TCPServer::authenticate_client(int sock) {
+    // todo: authentication (key?)
+    return 0;
+}
+
+int TCPServer::send_msg(char *buffer, const uint32_t length) const {
+    if (!is_network_connected()) {
+        return -1;
+    }
+
+    for (const auto client_sock : m_clients) {
+        send(client_sock, &length, 4, 0);
+        send(client_sock, buffer, length, 0);
+    }
+
+    return 0;
+}
+