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udp multicast can now join multiple groups #252

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Sep 20, 2023
Merged

udp multicast can now join multiple groups #252

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97f3b17
udp multicast can now join multiple groups
p-avital Sep 20, 2023
ea4eb13
Fix join address parsing
Mallets Sep 20, 2023
7669c2f
fix _z_listen_udp_multicast function signature for non-unix targets
p-avital Sep 20, 2023
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9 changes: 7 additions & 2 deletions include/zenoh-pico/link/config/udp.h
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Expand Up @@ -20,20 +20,25 @@

#if Z_LINK_UDP_UNICAST == 1 || Z_LINK_UDP_MULTICAST == 1

#define UDP_CONFIG_ARGC 2
#define UDP_CONFIG_ARGC 3

#define UDP_CONFIG_IFACE_KEY 0x01
#define UDP_CONFIG_IFACE_STR "iface"

#define UDP_CONFIG_TOUT_KEY 0x02
#define UDP_CONFIG_TOUT_STR "tout"

#define UDP_CONFIG_JOIN_KEY 0x03
#define UDP_CONFIG_JOIN_STR "join"

#define UDP_CONFIG_MAPPING_BUILD \
_z_str_intmapping_t args[UDP_CONFIG_ARGC]; \
args[0]._key = UDP_CONFIG_IFACE_KEY; \
args[0]._str = UDP_CONFIG_IFACE_STR; \
args[1]._key = UDP_CONFIG_TOUT_KEY; \
args[1]._str = UDP_CONFIG_TOUT_STR;
args[1]._str = UDP_CONFIG_TOUT_STR; \
args[2]._key = UDP_CONFIG_JOIN_KEY; \
args[2]._str = UDP_CONFIG_JOIN_STR;

size_t _z_udp_config_strlen(const _z_str_intmap_t *s);

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2 changes: 1 addition & 1 deletion include/zenoh-pico/system/link/udp.h
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Expand Up @@ -45,7 +45,7 @@ size_t _z_send_udp_unicast(const _z_sys_net_socket_t sock, const uint8_t *ptr, s
int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, _z_sys_net_endpoint_t *lep,
uint32_t tout, const char *iface);
int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface);
const char *iface, const char *join);
void _z_close_udp_multicast(_z_sys_net_socket_t *sockrecv, _z_sys_net_socket_t *socksend,
const _z_sys_net_endpoint_t rep);
size_t _z_read_exact_udp_multicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len,
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1 change: 0 additions & 1 deletion src/link/config/udp.c
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Expand Up @@ -40,7 +40,6 @@ char *_z_udp_config_to_str(const _z_str_intmap_t *s) {

int8_t _z_udp_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n) {
UDP_CONFIG_MAPPING_BUILD

return _z_str_intmap_from_strn(strint, s, UDP_CONFIG_ARGC, args, n);
}

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4 changes: 3 additions & 1 deletion src/link/multicast/udp.c
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Expand Up @@ -129,7 +129,9 @@ int8_t _z_f_link_listen_udp_multicast(_z_link_t *self) {
int8_t ret = _Z_RES_OK;

const char *iface = _z_str_intmap_get(&self->_endpoint._config, UDP_CONFIG_IFACE_KEY);
ret = _z_listen_udp_multicast(&self->_socket._udp._sock, self->_socket._udp._rep, Z_CONFIG_SOCKET_TIMEOUT, iface);
const char *join = _z_str_intmap_get(&self->_endpoint._config, UDP_CONFIG_JOIN_KEY);
ret = _z_listen_udp_multicast(&self->_socket._udp._sock, self->_socket._udp._rep, Z_CONFIG_SOCKET_TIMEOUT, iface,
join);
ret |= _z_open_udp_multicast(&self->_socket._udp._msock, self->_socket._udp._rep, &self->_socket._udp._lep,
Z_CONFIG_SOCKET_TIMEOUT, iface);

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3 changes: 2 additions & 1 deletion src/system/arduino/esp32/network.cpp
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Expand Up @@ -346,7 +346,8 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
}

int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface) {
const char *iface, const char *join) {
(void)join;
int8_t ret = _Z_RES_OK;

struct sockaddr *lsockaddr = NULL;
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3 changes: 2 additions & 1 deletion src/system/arduino/opencr/network.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -252,7 +252,8 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
}

int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface) {
const char *iface, const char *join) {
(void)join;
int8_t ret = _Z_RES_OK;

sock->_udp = new WiFiUDP();
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3 changes: 2 additions & 1 deletion src/system/espidf/network.c
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Expand Up @@ -342,7 +342,8 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
}

int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface) {
const char *iface, const char *join) {
(void)join;
int8_t ret = _Z_RES_OK;

struct sockaddr *lsockaddr = NULL;
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3 changes: 2 additions & 1 deletion src/system/mbed/network.cpp
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Expand Up @@ -225,7 +225,8 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
}

int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface) {
const char *iface, const char *join) {
(void)join;
int8_t ret = _Z_RES_OK;

sock->_udp = new UDPSocket();
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57 changes: 43 additions & 14 deletions src/system/unix/network.c
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Expand Up @@ -378,7 +378,7 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
}

int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface) {
const char *iface, const char *join) {
int8_t ret = _Z_RES_OK;

struct sockaddr *lsockaddr = NULL;
Expand All @@ -393,32 +393,35 @@ int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpo
ret = _Z_ERR_GENERIC;
}

int optflag = 1;
if ((ret == _Z_RES_OK) &&
(setsockopt(sock->_fd, SOL_SOCKET, SO_REUSEADDR, (char *)&optflag, sizeof(optflag)) < 0)) {
int value = true;
if ((ret == _Z_RES_OK) && (setsockopt(sock->_fd, SOL_SOCKET, SO_REUSEADDR, &value, sizeof(value)) < 0)) {
ret = _Z_ERR_GENERIC;
}

#if defined(ZENOH_MACOS) || defined(ZENOH_BSD)
if ((ret == _Z_RES_OK) && (bind(sock->_fd, rep._iptcp->ai_addr, rep._iptcp->ai_addrlen) < 0)) {
if ((ret == _Z_RES_OK) && (setsockopt(sock->_fd, SOL_SOCKET, SO_REUSEPORT, &value, sizeof(value)) < 0)) {
ret = _Z_ERR_GENERIC;
}
#elif defined(ZENOH_LINUX)

if (rep._iptcp->ai_family == AF_INET) {
struct sockaddr_in address = {AF_INET, ((struct sockaddr_in *)rep._iptcp->ai_addr)->sin_port, {0}, {0}};
if ((ret == _Z_RES_OK) && (bind(sock->_fd, (struct sockaddr *)&address, sizeof address) < 0)) {
struct sockaddr_in address;
(void)memset(&address, 0, sizeof(address));
address.sin_family = rep._iptcp->ai_family;
address.sin_port = ((struct sockaddr_in *)rep._iptcp->ai_addr)->sin_port;
inet_pton(address.sin_family, "0.0.0.0", &address.sin_addr);
if ((ret == _Z_RES_OK) && (bind(sock->_fd, (struct sockaddr *)&address, sizeof(address)) < 0)) {
ret = _Z_ERR_GENERIC;
}
} else if (rep._iptcp->ai_family == AF_INET6) {
struct sockaddr_in6 address = {
AF_INET6, ((struct sockaddr_in6 *)rep._iptcp->ai_addr)->sin6_port, 0, {{{0}}}, 0};
if ((ret == _Z_RES_OK) && (bind(sock->_fd, (struct sockaddr *)&address, sizeof address) < 0)) {
struct sockaddr_in6 address;
(void)memset(&address, 0, sizeof(address));
address.sin6_family = rep._iptcp->ai_family;
address.sin6_port = ((struct sockaddr_in6 *)rep._iptcp->ai_addr)->sin6_port;
inet_pton(address.sin6_family, "::", &address.sin6_addr);
if ((ret == _Z_RES_OK) && (bind(sock->_fd, (struct sockaddr *)&address, sizeof(address)) < 0)) {
ret = _Z_ERR_GENERIC;
}
} else {
ret = _Z_ERR_GENERIC;
}
#endif

// Join the multicast group
if (rep._iptcp->ai_family == AF_INET) {
Expand All @@ -443,6 +446,32 @@ int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpo
} else {
ret = _Z_ERR_GENERIC;
}
// Join any additional multicast group
if (join != NULL) {
char *joins = _z_str_clone(join);
for (char *ip = strsep(&joins, "|"); ip != NULL; ip = strsep(&joins, "|")) {
if (rep._iptcp->ai_family == AF_INET) {
struct ip_mreq mreq;
(void)memset(&mreq, 0, sizeof(mreq));
inet_pton(rep._iptcp->ai_family, ip, &mreq.imr_multiaddr);
mreq.imr_interface.s_addr = ((struct sockaddr_in *)lsockaddr)->sin_addr.s_addr;
if ((ret == _Z_RES_OK) &&
(setsockopt(sock->_fd, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq)) < 0)) {
ret = _Z_ERR_GENERIC;
}
} else if (rep._iptcp->ai_family == AF_INET6) {
struct ipv6_mreq mreq;
(void)memset(&mreq, 0, sizeof(mreq));
inet_pton(rep._iptcp->ai_family, ip, &mreq.ipv6mr_multiaddr);
mreq.ipv6mr_interface = if_nametoindex(iface);
if ((ret == _Z_RES_OK) &&
(setsockopt(sock->_fd, IPPROTO_IPV6, IPV6_JOIN_GROUP, &mreq, sizeof(mreq)) < 0)) {
ret = _Z_ERR_GENERIC;
}
}
}
z_free(joins);
}

if (ret != _Z_RES_OK) {
close(sock->_fd);
Expand Down
3 changes: 2 additions & 1 deletion src/system/windows/network.c
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Expand Up @@ -417,7 +417,8 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
}

int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface) {
const char *iface, const char *join) {
(void)join;
int8_t ret = _Z_RES_OK;

if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
Expand Down
3 changes: 2 additions & 1 deletion src/system/zephyr/network.c
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Expand Up @@ -337,7 +337,8 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
}

int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout,
const char *iface) {
const char *iface, const char *join) {
(void)join;
int8_t ret = _Z_RES_OK;

struct sockaddr *lsockaddr = NULL;
Expand Down
2 changes: 1 addition & 1 deletion zenohpico.pc
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Expand Up @@ -3,6 +3,6 @@ prefix=/usr/local
Name: zenohpico
Description:
URL:
Version: 0.10.20230915dev
Version: 0.10.20230920dev
Cflags: -I${prefix}/
Libs: -L${prefix}/ -lzenohpico
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