Comms: TCPLink Options Updates

mavlink · Oct 30, 2024 · 4319228 · 4319228
1 parent 617b651
commit 4319228
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Showing 3 changed files with 53 additions and 43 deletions.
diff --git a/src/Comms/LinkManager.cc b/src/Comms/LinkManager.cc
@@ -230,6 +230,7 @@ void LinkManager::_linkDisconnected()
         if (it->get() == link) {
             qCDebug(LinkManagerLog) << "LinkManager::_linkDisconnected" << it->get()->linkConfiguration()->name() << it->use_count();
             (void) _rgLinks.erase(it);
+            // TODO: emit config->linkChanged() ?
             return;
         }
     }

diff --git a/src/Comms/TCPLink.cc b/src/Comms/TCPLink.cc
@@ -18,12 +18,9 @@
 QGC_LOGGING_CATEGORY(TCPLinkLog, "qgc.comms.tcplink")
 
 namespace {
-    constexpr int SEND_BUFFER_SIZE = 1024; // >= MAVLINK_MAX_PACKET_LEN
-    constexpr int RECEIVE_BUFFER_SIZE = 1024; // >= MAVLINK_MAX_PACKET_LEN
-    constexpr int READ_BUFFER_SIZE = 1024; // >= MAVLINK_MAX_PACKET_LEN
     constexpr int CONNECT_TIMEOUT_MS = 1000;
-    constexpr int TYPE_OF_SERVICE = 32; // Optional: Set ToS for low delay
-    constexpr int MAX_RECONNECTION_ATTEMPTS = 5;
+    constexpr int TYPE_OF_SERVICE = 32; // Set ToS for low delay
+    constexpr int MAX_RECONNECTION_ATTEMPTS = 3;
 }
 
 TCPLink::TCPLink(SharedLinkConfigurationPtr &config, QObject *parent)
@@ -43,12 +40,35 @@ TCPLink::TCPLink(SharedLinkConfigurationPtr &config, QObject *parent)
         return;
     }
 
-    _socket->setSocketOption(QAbstractSocket::SendBufferSizeSocketOption, SEND_BUFFER_SIZE);
-    _socket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, RECEIVE_BUFFER_SIZE);
-    _socket->setReadBufferSize(READ_BUFFER_SIZE);
+    _setupSocket();
+}
+
+TCPLink::~TCPLink()
+{
+    if (isConnected()) {
+        _socket->disconnectFromHost();
+    }
+
+    _socket->deleteLater();
+
+    // qCDebug(TCPLinkLog) << Q_FUNC_INFO << this;
+}
+
+void TCPLink::_setupSocket()
+{
+    qCDebug(TCPLinkLog) << "Default Socket Settings -"
+                        << "LowDelayOption:" << _socket->socketOption(QAbstractSocket::LowDelayOption)
+                        << "KeepAliveOption:" << _socket->socketOption(QAbstractSocket::KeepAliveOption)
+                        << "TypeOfServiceOption" << _socket->socketOption(QAbstractSocket::TypeOfServiceOption);
+
     _socket->setSocketOption(QAbstractSocket::LowDelayOption, 1);
     _socket->setSocketOption(QAbstractSocket::KeepAliveOption, 1);
-    // _socket->setSocketOption(QAbstractSocket::TypeOfServiceOption, TYPE_OF_SERVICE);
+    _socket->setSocketOption(QAbstractSocket::TypeOfServiceOption, TYPE_OF_SERVICE);
+
+    qCDebug(TCPLinkLog) << "Adjusted Socket Settings -"
+                        << "LowDelayOption:" << _socket->socketOption(QAbstractSocket::LowDelayOption)
+                        << "KeepAliveOption:" << _socket->socketOption(QAbstractSocket::KeepAliveOption)
+                        << "TypeOfServiceOption:" << _socket->socketOption(QAbstractSocket::TypeOfServiceOption);
 
     (void) QObject::connect(_socket, &QTcpSocket::connected, this, [this]() {
         _isConnected = true;
@@ -61,8 +81,6 @@ TCPLink::TCPLink(SharedLinkConfigurationPtr &config, QObject *parent)
         _isConnected = false;
         qCDebug(TCPLinkLog) << "TCP disconnected from" << _tcpConfig->host() << ":" << _tcpConfig->port();
         emit disconnected();
-        // TODO: Uncomment after threading changes
-        // _attemptReconnection();
     }, Qt::AutoConnection);
 
     (void) QObject::connect(_socket, &QTcpSocket::readyRead, this, &TCPLink::_readBytes, Qt::AutoConnection);
@@ -73,6 +91,11 @@ TCPLink::TCPLink(SharedLinkConfigurationPtr &config, QObject *parent)
             tr("TCP Link Error"),
             tr("Link %1: %2.").arg(_tcpConfig->name(), _socket->errorString())
         );
+
+        // TODO: Uncomment after threading changes
+        // if (!isConnected()) {
+            // _attemptReconnection();
+        // }
     }, Qt::AutoConnection);
 
 #ifdef QT_DEBUG
@@ -86,18 +109,9 @@ TCPLink::TCPLink(SharedLinkConfigurationPtr &config, QObject *parent)
 #endif
 }
 
-TCPLink::~TCPLink()
+bool TCPLink::isConnected() const
 {
-    if (_socket->isOpen()) {
-        _socket->disconnectFromHost();
-        if (_socket->state() != QAbstractSocket::UnconnectedState) {
-            _socket->waitForDisconnected(CONNECT_TIMEOUT_MS);
-        }
-    }
-
-    _socket->deleteLater();
-
-    // qCDebug(TCPLinkLog) << Q_FUNC_INFO << this;
+    return (_isConnected && _socket && _socket->isValid());
 }
 
 void TCPLink::disconnect()
@@ -139,44 +153,37 @@ bool TCPLink::_connect()
 
 void TCPLink::_writeBytes(const QByteArray &bytes)
 {
-    if (!_socket->isValid()) {
-        return;
-    }
-
-    static const QString title = tr("TCP Link Write Error");
-
     if (!isConnected()) {
         emit communicationError(
-            title,
+            tr("TCP Link Write Error"),
             tr("Link %1: Could Not Send Data - Link is Disconnected!").arg(_tcpConfig->name())
         );
         return;
     }
 
-    const qint64 bytesWritten = _socket->write(bytes);
-    if (bytesWritten < 0) {
+    qint64 totalBytesWritten = 0;
+    while (totalBytesWritten < bytes.size()) {
+        const qint64 bytesWritten = _socket->write(bytes.constData() + totalBytesWritten, bytes.size() - totalBytesWritten);
+        if (bytesWritten <= 0) {
+            break;
+        }
+
+        totalBytesWritten += bytesWritten;
+    }
+
+    if (totalBytesWritten < 0) {
         emit communicationError(
-            title,
+            tr("TCP Link Write Error"),
             tr("Link %1: Could Not Send Data - Write Failed: %2").arg(_tcpConfig->name(), _socket->errorString())
         );
         return;
     }
 
-    if (bytesWritten < bytes.size()) {
-        qCWarning(TCPLinkLog) << "Wrote" << bytesWritten << "Out of" << bytes.size() << "total bytes";
-        const QByteArray remainingBytes = bytes.mid(bytesWritten);
-        writeBytesThreadSafe(remainingBytes.constData(), remainingBytes.size());
-    }
-
     emit bytesSent(this, bytes);
 }
 
 void TCPLink::_readBytes()
 {
-    if (!_socket->isValid()) {
-        return;
-    }
-
     if (!isConnected()) {
         emit communicationError(
             tr("TCP Link Read Error"),
@@ -209,6 +216,7 @@ void TCPLink::_attemptReconnection()
     _reconnectionAttempts++;
     const int delay = qPow(2, _reconnectionAttempts) * 1000; // Exponential backoff
     qCDebug(TCPLinkLog) << "Attempting reconnection #" << _reconnectionAttempts << "in" << delay << "ms";
+
     QTimer::singleShot(delay, this, [this]() {
         _connect();
     });

diff --git a/src/Comms/TCPLink.h b/src/Comms/TCPLink.h
@@ -66,7 +66,7 @@ class TCPLink : public LinkInterface
     virtual ~TCPLink();
 
     void run() override {};
-    bool isConnected() const override { return _isConnected; }
+    bool isConnected() const override;
     void disconnect() override;
     bool isSecureConnection() override;
 
@@ -76,6 +76,7 @@ private slots:
 
 private:
     bool _connect() override;
+    void _setupSocket();
     void _attemptReconnection();
 
     const TCPConfiguration *_tcpConfig = nullptr;