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feat(el): Support txtime for sending Ethernet packets (on Linux)
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@jpfr
jpfr committed Sep 1, 2023
1 parent cc18714 commit 473e530
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Showing 2 changed files with 160 additions and 5 deletions.
143 changes: 140 additions & 3 deletions arch/eventloop_posix_eth.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,10 @@
#include <arpa/inet.h> /* htons */
#include <net/ethernet.h> /* ETH_P_*/
#include <linux/if_packet.h>
#include <linux/net_tstamp.h> /* txtime */

/* Configuration parameters */
#define ETH_PARAMETERSSIZE 9
#define ETH_PARAMETERSSIZE 14
#define ETH_PARAMINDEX_ADDR 0
#define ETH_PARAMINDEX_LISTEN 1
#define ETH_PARAMINDEX_IFACE 2
Expand All @@ -28,6 +29,11 @@
#define ETH_PARAMINDEX_DEI 6
#define ETH_PARAMINDEX_PROMISCUOUS 7
#define ETH_PARAMINDEX_PRIORITY 8
#define ETH_PARAMINDEX_TXTIME_ENABLE 9
#define ETH_PARAMINDEX_TXTIME_FLAGS 10
#define ETH_PARAMINDEX_TXTIME 11
#define ETH_PARAMINDEX_TXTIME_PICO 12
#define ETH_PARAMINDEX_TXTIME_DROP 13

static UA_KeyValueRestriction ETHConfigParameters[ETH_PARAMETERSSIZE+1] = {
{{0, UA_STRING_STATIC("address")}, &UA_TYPES[UA_TYPES_STRING], false, true, false},
Expand All @@ -39,6 +45,11 @@ static UA_KeyValueRestriction ETHConfigParameters[ETH_PARAMETERSSIZE+1] = {
{{0, UA_STRING_STATIC("dei")}, &UA_TYPES[UA_TYPES_BOOLEAN], false, true, false},
{{0, UA_STRING_STATIC("promiscuous")}, &UA_TYPES[UA_TYPES_BOOLEAN], false, true, false},
{{0, UA_STRING_STATIC("priority")}, &UA_TYPES[UA_TYPES_UINT32], false, true, false},
{{0, UA_STRING_STATIC("txtime-enable")}, &UA_TYPES[UA_TYPES_BOOLEAN], false, true, false},
{{0, UA_STRING_STATIC("txtime-flags")}, &UA_TYPES[UA_TYPES_UINT32], false, true, false},
{{0, UA_STRING_STATIC("txtime")}, &UA_TYPES[UA_TYPES_DATETIME], false, true, false},
{{0, UA_STRING_STATIC("txtime-pico")}, &UA_TYPES[UA_TYPES_UINT16], false, true, false},
{{0, UA_STRING_STATIC("txtime-drop-late")}, &UA_TYPES[UA_TYPES_BOOLEAN], false, true, false},
/* Duplicated address parameter with a scalar value required. For the send-socket case. */
{{0, UA_STRING_STATIC("address")}, &UA_TYPES[UA_TYPES_STRING], true, true, false},
};
Expand All @@ -62,6 +73,8 @@ typedef struct {
unsigned char header[UA_ETH_MAXHEADERLENGTH];
unsigned char headerSize;
unsigned char lengthOffset; /* No length field if zero */

UA_Boolean txtimeEnabled;
} ETH_FD;

/* The format of a Ethernet address is six groups of hexadecimal digits,
Expand Down Expand Up @@ -570,6 +583,40 @@ ETH_openSendConnection(UA_EventLoopPOSIX *el, ETH_FD *conn, const UA_KeyValueMap
}
}

/* Enable txtime sending */
const UA_Boolean *txtime_enable = (const UA_Boolean*)
UA_KeyValueMap_getScalar(params,
ETHConfigParameters[ETH_PARAMINDEX_TXTIME_ENABLE].name,
&UA_TYPES[UA_TYPES_BOOLEAN]);
const UA_UInt32 *txtime_flags = (const UA_UInt32*)
UA_KeyValueMap_getScalar(params,
ETHConfigParameters[ETH_PARAMINDEX_TXTIME_FLAGS].name,
&UA_TYPES[UA_TYPES_UINT32]);
if(txtime_enable && *txtime_enable) {
#ifndef SO_TXTIME
UA_LOG_WARNING(el->eventLoop.logger, UA_LOGCATEGORY_NETWORK,
"ETH %u\t| txtime feature not supported",
(unsigned)conn->rfd.fd);
#else
struct sock_txtime so_txtime_val;
memset(&so_txtime_val, 0, sizeof(struct sock_txtime));
so_txtime_val.clockid = el->clockSourceMonotonic;
so_txtime_val.flags = SOF_TXTIME_REPORT_ERRORS;
if(txtime_flags)
so_txtime_val.flags = *txtime_flags;
if(setsockopt(conn->rfd.fd, SOL_SOCKET, SO_TXTIME,
&so_txtime_val, sizeof(so_txtime_val)) == 0) {
conn->txtimeEnabled = true;
} else {
UA_LOG_SOCKET_ERRNO_WRAP(
UA_LOG_WARNING(el->eventLoop.logger, UA_LOGCATEGORY_NETWORK,
"ETH %u\t| Could not enable txtime (%s)",
(unsigned)conn->rfd.fd, errno_str));
}
#endif
}

/* Done creating the socket */
UA_LOG_INFO(el->eventLoop.logger, UA_LOGCATEGORY_NETWORK,
"ETH %u\t| Opened an Ethernet send socket",
(unsigned)conn->rfd.fd);
Expand Down Expand Up @@ -757,6 +804,74 @@ ETH_shutdownConnection(UA_ConnectionManager *cm, uintptr_t connectionId) {
return UA_STATUSCODE_GOOD;
}

#ifdef SO_TXTIME
static ssize_t
send_txtime(UA_EventLoopPOSIX *el, ETH_FD *conn, const UA_KeyValueMap *params,
UA_DateTime txtime, const char *bytes, size_t bytesSize) {
/* Get additiona parameters */
const UA_UInt16 *txtime_pico = (const UA_UInt16*)
UA_KeyValueMap_getScalar(params,
ETHConfigParameters[ETH_PARAMINDEX_TXTIME_PICO].name,
&UA_TYPES[UA_TYPES_UINT16]);
const UA_Boolean *txtime_drop = (const UA_Boolean*)
UA_KeyValueMap_getScalar(params,
ETHConfigParameters[ETH_PARAMINDEX_TXTIME_DROP].name,
&UA_TYPES[UA_TYPES_BOOLEAN]);
#ifndef SCM_DROP_IF_LATE
if(txtime_drop) {
UA_LOG_ERROR(el->eventLoop.logger, UA_LOGCATEGORY_NETWORK,
"ETH %u\t| txtime drop_if_late not supported on the current system",
(unsigned)conn->rfd.fd);
return 0;
}
#endif


/* Transform from 100ns since 1601 to ns since the Unix Epoch */
UA_UInt64 transmission_time = (UA_UInt64)
(txtime - UA_DATETIME_UNIX_EPOCH) * 100;
if(txtime_pico)
transmission_time += (*txtime_pico) / 1000;

/* Structure for scattering or gathering of input/output */
struct iovec inputOutputVec;
inputOutputVec.iov_base = (void*)(uintptr_t)bytes;
inputOutputVec.iov_len = bytesSize;

/* Specify the transmission time in the CMSG. */
char dataPacket[CMSG_SPACE(sizeof(uint64_t))
#ifdef SCM_DROP_IF_LATE
+ CMSG_SPACE(sizeof(uint8_t))
#endif
];
struct msghdr message;
memset(&message, 0, sizeof(struct msghdr));
message.msg_control = dataPacket;
message.msg_controllen = sizeof(dataPacket);
message.msg_name = (struct sockaddr*)&conn->sll;
message.msg_namelen = sizeof(conn->sll);
message.msg_iov = &inputOutputVec;
message.msg_iovlen = 1;

struct cmsghdr *cmsg = CMSG_FIRSTHDR(&message);
cmsg->cmsg_level = SOL_SOCKET;
cmsg->cmsg_type = SCM_TXTIME;
cmsg->cmsg_len = CMSG_LEN(sizeof(__u64));
*((__u64*)CMSG_DATA(cmsg)) = transmission_time;

#ifdef SCM_DROP_IF_LATE
cmsg = CMSG_NXTHDR(&message, cmsg);
cmsg->cmsg_level = SOL_SOCKET;
cmsg->cmsg_type = SCM_DROP_IF_LATE;
cmsg->cmsg_len = CMSG_LEN(sizeof(uint8_t));
*((uint8_t*)CMSG_DATA(cmsg)) = (!txtime_drop || *txtime_drop) ? 1: 0;
#endif

/* Send */
return sendmsg(conn->rfd.fd, &message, 0);
}
#endif

static UA_StatusCode
ETH_sendWithConnection(UA_ConnectionManager *cm, uintptr_t connectionId,
const UA_KeyValueMap *params, UA_ByteString *buf) {
Expand All @@ -782,6 +897,19 @@ ETH_sendWithConnection(UA_ConnectionManager *cm, uintptr_t connectionId,
*ethLength = htons((UA_UInt16)(buf->length - conn->headerSize));
}

/* Was a txtime configured? */
const UA_DateTime *txtime = (const UA_DateTime*)
UA_KeyValueMap_getScalar(params, ETHConfigParameters[ETH_PARAMINDEX_TXTIME].name,
&UA_TYPES[UA_TYPES_DATETIME]);
if(txtime && !conn->txtimeEnabled) {
UA_LOG_ERROR(el->eventLoop.logger, UA_LOGCATEGORY_NETWORK,
"ETH %u\t| txtime was not configured for the connection",
(unsigned)connectionId);
UA_UNLOCK(&el->elMutex);
UA_ByteString_clear(buf);
return UA_STATUSCODE_BADINTERNALERROR;
}

/* Prevent OS signals when sending to a closed socket */
int flags = MSG_NOSIGNAL;

Expand All @@ -797,8 +925,17 @@ ETH_sendWithConnection(UA_ConnectionManager *cm, uintptr_t connectionId,
UA_LOG_DEBUG(el->eventLoop.logger, UA_LOGCATEGORY_NETWORK,
"ETH %u\t| Attempting to send", (unsigned)connectionId);
size_t bytes_to_send = buf->length - nWritten;
n = UA_sendto(conn->rfd.fd, (const char*)buf->data + nWritten, bytes_to_send,
flags, (struct sockaddr*)&conn->sll, sizeof(conn->sll));
#ifdef SO_TXTIME
if(txtime) {
n = send_txtime(el, conn, params, *txtime,
(const char*)buf->data + nWritten, bytes_to_send);
} else
#endif
{
n = UA_sendto(conn->rfd.fd,
(const char*)buf->data + nWritten, bytes_to_send,
flags, (struct sockaddr*)&conn->sll, sizeof(conn->sll));
}
if(n < 0) {
/* An error we cannot recover from? */
if(UA_ERRNO != UA_INTERRUPTED &&
Expand Down
22 changes: 20 additions & 2 deletions include/open62541/plugin/eventloop.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -570,8 +570,26 @@ UA_ConnectionManager_new_POSIX_UDP(const UA_String eventSourceName);
* - 0:pcp [byte]: 3-bit priority code point (optional for send connections).
* - 0:dei [bool]: 1-bit drop eligible indicator (optional for send connections).
*
* Send Parameters:
* No additional parameters for sending over an Ethernet connection defined. */
* Sending with a txtime (for Time-Sensitive Networking) is possible on recent
* Linux kernels, If enabled for the socket, then a txtime parameters can be
* passed to `sendWithConnection`. Note that the clock source for txtime sending
* is the monotonic clock source set for the entire EventLoop. Check the
* EventLoop parameters for how to set that e.g. to a PTP clock source.
*
* The txtime configuration uses Linux conventions:
* - 0:txtime-enable [bool]: Enable sending with a txtime for the connection
* (default: false).
* - 0:txtime-flags [uint32]: txtime flags set for the socket (default:
* SOF_TXTIME_REPORT_ERRORS).
*
* Send Parameters (only with txtime enabled for the connection):
* - 0:txtime [datetime]: Time when the message is sent out (Datetime has 100ns
* precision) for the "monotonic" clock source of the
* EventLoop.
* - 0:txtime-pico [uint16]: Picoseconds added to the txtime timestamp
* (default: 0).
* - 0:txtime-drop-late [bool]: Drop message if it cannot be sent in time
* (default: true). */
UA_EXPORT UA_ConnectionManager *
UA_ConnectionManager_new_POSIX_Ethernet(const UA_String eventSourceName);

Expand Down

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