feat(tcp): TCPStreamer DataSources, in-process TCPStreamService, stream multiplexing and TCPStreamJoin
Add TCPStreamer/TCPStreamerClient (TCP transport behind the UDPSServerI/UDPSClientI seam), an optional single in-process TCPStreamService serving many streams over worker threads, multiplexed SUBSCRIBE (comma list, stream index in fragmentIdx), and TCPStreamJoin, which merges several streams into one sample-and-hold stream paced by a master. StreamHub takes a comma list of streams over one connection. Includes GTests, E2E scenarios s58-s73 and docs. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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/**
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* @file TCPSWorker.cpp
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* @brief Implementation of TCPSWorker.
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*/
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#define DLL_API
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#include "TCPSWorker.h"
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#include "AdvancedErrorManagement.h"
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#include "Atomic.h"
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#include "HighResolutionTimer.h"
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#include "TCPSConn.h"
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#include "TCPStreamService.h"
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#include "UDPSProtocol.h"
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#include <errno.h>
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#include <fcntl.h>
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#include <string.h>
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#include <sys/socket.h>
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#include <unistd.h>
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namespace MARTe {
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/** Longest wait in poll(): bounds Stop() latency and the stall / handshake checks. */
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static const int TCPS_WORKER_SLICE_MS = 50;
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TCPSWorker::TCPSWorker(TCPStreamService &owner, uint32 maxConnections)
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: service(owner), maxConns(maxConnections), thread(*this),
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incoming(new TCPSConn *[maxConnections]), numIncoming(0u),
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conns(new TCPSConn *[maxConnections]), numConns(0u),
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pfds(new struct pollfd[maxConnections + 1u]), load(0) {
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wakeFd[0] = -1;
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wakeFd[1] = -1;
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if (pipe(wakeFd) == 0) {
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for (int i = 0; i < 2; i++) {
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int flags = fcntl(wakeFd[i], F_GETFL, 0);
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if (flags >= 0) {
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(void)fcntl(wakeFd[i], F_SETFL, flags | O_NONBLOCK);
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}
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}
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}
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}
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TCPSWorker::~TCPSWorker() {
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Stop();
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CloseAll();
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for (uint32 i = 0u; i < numIncoming; i++) {
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delete incoming[i];
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service.ConnClosed();
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}
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delete[] incoming;
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delete[] conns;
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delete[] pfds;
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for (int i = 0; i < 2; i++) {
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if (wakeFd[i] >= 0) {
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(void)close(wakeFd[i]);
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}
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}
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}
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bool TCPSWorker::Start(uint32 cpuMask, uint32 stackSize) {
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if (wakeFd[0] < 0) {
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return false;
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}
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thread.SetCPUMask(cpuMask);
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thread.SetStackSize(stackSize);
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return thread.Start() == ErrorManagement::NoError;
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}
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void TCPSWorker::Stop() {
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(void)thread.Stop();
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}
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bool TCPSWorker::AddIncoming(TCPSConn *c) {
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bool ok = false;
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incomingMutex.FastLock();
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if (numIncoming < maxConns) {
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incoming[numIncoming] = c;
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numIncoming++;
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ok = true;
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}
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incomingMutex.FastUnLock();
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if (ok) {
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Atomic::Increment(&load);
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Wake();
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}
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return ok;
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}
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void TCPSWorker::Wake() {
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if (wakeFd[1] >= 0) {
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const uint8 b = 1u;
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// EAGAIN means the pipe is already full of wake-ups: nothing to add.
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ssize_t r = write(wakeFd[1], &b, 1u);
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(void)r;
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}
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}
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int32 TCPSWorker::Load() const {
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return load;
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}
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void TCPSWorker::AdoptIncoming() {
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incomingMutex.FastLock();
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for (uint32 i = 0u; i < numIncoming; i++) {
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conns[numConns] = incoming[i];
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numConns++;
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}
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numIncoming = 0u;
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incomingMutex.FastUnLock();
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}
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void TCPSWorker::CloseConn(TCPSConn *c) {
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service.Detach(c);
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delete c; // closes the socket
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service.ConnClosed();
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Atomic::Decrement(&load);
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}
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void TCPSWorker::CloseAll() {
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for (uint32 i = 0u; i < numConns; i++) {
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CloseConn(conns[i]);
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}
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numConns = 0u;
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}
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bool TCPSWorker::Drain(TCPSConn &c) {
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uint8 scratch[64];
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bool alive = true;
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for (;;) {
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ssize_t n = recv(c.fd, scratch, sizeof(scratch), MSG_DONTWAIT);
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if (n > 0) {
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continue; // clients have nothing more to say after SUBSCRIBE
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}
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if (n == 0) {
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alive = false;
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} else if ((errno == EAGAIN) || (errno == EWOULDBLOCK)) {
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alive = true;
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} else if (errno == EINTR) {
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continue;
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} else {
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alive = false;
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}
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break;
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}
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return alive;
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}
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bool TCPSWorker::HandshakeStep(TCPSConn &c) {
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ssize_t n = recv(c.fd, &c.hs[c.hsHave], c.hsWant - c.hsHave, MSG_DONTWAIT);
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if (n == 0) {
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return false;
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}
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if (n < 0) {
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return (errno == EAGAIN) || (errno == EWOULDBLOCK) || (errno == EINTR);
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}
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c.hsHave += static_cast<uint32>(n);
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if (!c.hsHeaderOk && (c.hsHave >= UDPS_HEADER_SIZE)) {
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UDPSPacketHeader h;
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memcpy(&h, c.hs, UDPS_HEADER_SIZE);
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if ((h.magic != UDPS_MAGIC) || (h.type != UDPS_TYPE_SUBSCRIBE) ||
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(h.payloadBytes == 0u) || (h.payloadBytes > TCPS_MAX_SUBSCRIBE_PAYLOAD)) {
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REPORT_ERROR_STATIC(ErrorManagement::Warning,
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"TCPStreamService: connection did not open with a valid SUBSCRIBE; closing.");
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service.NoteRejected();
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return false;
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}
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c.hsHeaderOk = true;
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c.hsWant = UDPS_HEADER_SIZE + h.payloadBytes;
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}
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if (c.hsHeaderOk && (c.hsHave == c.hsWant)) {
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c.hs[c.hsWant] = 0u;
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char8 *names = reinterpret_cast<char8 *>(&c.hs[UDPS_HEADER_SIZE]);
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if (!service.Attach(&c, names)) {
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REPORT_ERROR_STATIC(ErrorManagement::Warning,
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"TCPStreamService: cannot attach to '%s'; closing.", names);
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service.NoteRejected();
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return false;
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}
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c.subscribed = true;
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}
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return true;
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}
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ErrorManagement::ErrorType TCPSWorker::Execute(ExecutionInfo &info) {
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if (info.GetStage() == ExecutionInfo::TerminationStage) {
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return ErrorManagement::NoError;
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}
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if (info.GetStage() != ExecutionInfo::MainStage) {
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return ErrorManagement::NoError;
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}
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AdoptIncoming();
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pfds[0].fd = wakeFd[0];
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pfds[0].events = POLLIN;
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pfds[0].revents = 0;
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for (uint32 i = 0u; i < numConns; i++) {
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TCPSConn *c = conns[i];
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short ev = POLLIN;
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if (c->subscribed) {
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c->qMutex.FastLock();
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if (!c->q.Empty()) {
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ev = static_cast<short>(ev | POLLOUT);
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}
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c->qMutex.FastUnLock();
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}
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pfds[i + 1u].fd = c->fd;
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pfds[i + 1u].events = ev;
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pfds[i + 1u].revents = 0;
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}
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int pr = poll(pfds, static_cast<nfds_t>(numConns + 1u), TCPS_WORKER_SLICE_MS);
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if (pr < 0) {
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return ErrorManagement::NoError; // EINTR
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}
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if ((pfds[0].revents & POLLIN) != 0) {
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uint8 sink[64];
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while (read(wakeFd[0], sink, sizeof(sink)) > 0) {
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}
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}
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const uint64 now = HighResolutionTimer::Counter();
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const uint64 stallTicks = service.StallTicks();
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uint32 kept = 0u;
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for (uint32 i = 0u; i < numConns; i++) {
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TCPSConn *c = conns[i];
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const short re = pfds[i + 1u].revents;
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bool keep = !c->closeRequested && ((re & (POLLERR | POLLNVAL)) == 0);
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if (keep && ((re & (POLLIN | POLLHUP)) != 0)) {
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keep = c->subscribed ? Drain(*c) : HandshakeStep(*c);
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}
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if (keep && c->subscribed) {
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c->qMutex.FastLock();
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keep = c->q.Flush(c->fd);
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if (keep && !c->q.Empty() && (stallTicks > 0u) &&
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(now > c->q.LastProgress()) && ((now - c->q.LastProgress()) > stallTicks)) {
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REPORT_ERROR_STATIC(ErrorManagement::Warning,
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"TCPStreamService: client stalled; disconnecting.");
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service.NoteEviction();
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keep = false;
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}
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c->qMutex.FastUnLock();
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}
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if (keep && !c->subscribed && (now > c->hsDeadline)) {
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REPORT_ERROR_STATIC(ErrorManagement::Warning,
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"TCPStreamService: SUBSCRIBE timeout; closing.");
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service.NoteRejected();
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keep = false;
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}
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if (keep) {
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conns[kept] = c;
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kept++;
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} else {
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CloseConn(c);
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}
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}
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numConns = kept;
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return ErrorManagement::NoError;
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}
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} // namespace MARTe
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