tdcan/src/components/linuxsocket/unix_socket.cpp

#include "unix_socket.hpp"
using namespace iflytop;
using namespace std;
using namespace core;
int UnixScoket::initRxSocket() {
  sock_fd = socket(AF_UNIX, SOCK_DGRAM, 0);
  if (sock_fd == -1) {
    logger->error("socket creation failed: {}", strerror(errno));
    return -1;
  }

  // Remove socket file if it already exists
  unlink(m_path.c_str());
  if (bind(sock_fd, (struct sockaddr *)&rx_addr, sizeof(rx_addr)) == -1) {
    logger->error("bind failed: {}", strerror(errno));
    close(sock_fd);
    sock_fd = -1;
    return -1;
  }

  // 设置超时时间为5秒
  struct timeval tv;
  tv.tv_sec  = 1;  // 秒
  tv.tv_usec = 0;  // 微秒

  // 设置SO_RCVTIMEO选项
  if (setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
    logger->error("setsockopt failed: {}", strerror(errno));
    close(sock_fd);
    sock_fd = -1;
    return -1;
  }
  return 0;
}
void UnixScoket::start() {
  logger->info("Creating UNIX domain socket at path: {}", m_path);
  logger->info("Connecting to opposite path: {}", m_opposite_path);

  initRxSocket();

  m_thread.reset(new Thread("UnixSocketThread", [this]() {
    uint8_t            rxbuffer[1024];
    struct sockaddr_un client_addr;
    ThisThread         thisThread;
    while (!thisThread.getExitFlag()) {
      if (sock_fd < 0) {
        usleep(100 * 1000);
        logger->error("Socket is closed, reinitializing...");
        initRxSocket();
        continue;
      }

      memset(rxbuffer, 0, sizeof(rxbuffer));
      socklen_t client_len = sizeof(client_addr);
      ssize_t   num_bytes  = recvfrom(sock_fd, rxbuffer, sizeof(rxbuffer) - 1, 0, (struct sockaddr *)&client_addr, &client_len);
      if (num_bytes > 0) {
        onPacket(rxbuffer, num_bytes);
      }
      if (num_bytes < 0) {
        if (errno == EAGAIN || errno == EWOULDBLOCK) {  // 超时错误
          logger->info("recvfrom timed out, no data received");
          continue;
        } else {
          logger->error("recvfrom failed: {}", strerror(errno));
          close(sock_fd);
          sock_fd = -1;
          continue;
        }
      }
    }
    close(sock_fd);
    unlink(m_path.c_str());
  }));
}
void UnixScoket::sendPacket(uint8_t *data, size_t len) {
  int ret = sendto(sock_fd, data, len, 0, (struct sockaddr *)&tx_addr, sizeof(tx_addr));
  if (ret == -1) {
    logger->error("sendto failed: {}", strerror(errno));
  }
}