郑州市建网站,wordpress页面 文章列表,wordpress调用当前文章标题,百度网页提交入口在使用esp32 idf例程中的tcp_server和tcp_client通信测试时发现#xff0c; 在tcp_server端#xff0c;接收到一帧数据之后必须马上回复至少一个字节#xff0c;才能保证每帧数据不粘包#xff0c; 如果不回复操作#xff0c;300ms以内的通信时延会导致tcp严重粘包…在使用esp32 idf例程中的tcp_server和tcp_client通信测试时发现 在tcp_server端接收到一帧数据之后必须马上回复至少一个字节才能保证每帧数据不粘包 如果不回复操作300ms以内的通信时延会导致tcp严重粘包后续解析这些数据费时费力 可能跟lwip的回环读写机制有关这严重打乱了双向通信逻辑。 换一种方式使用udp广播来作为数据传输通道使用tcp连接来做状态检测这样就可以 避免粘包问题。 udp广播服务如下 /*** udp服务器高速通信控制器控制命令传输通道(不需要应答的)* */ static void udp_server_task(void *pvParameters) {unsigned char rx_buffer[128];char addr_str[128];int addr_family (int)pvParameters;//ipv4 or ipv6int ip_protocol 0;struct sockaddr_in6 dest_addr;while (1) {if (addr_family AF_INET) {struct sockaddr_in *dest_addr_ip4 (struct sockaddr_in *)dest_addr;/**** 接收广播地址:* 192.168.100.1* 192.168.100.255* 255.255.255.255*/dest_addr_ip4-sin_addr.s_addr htonl(INADDR_ANY);dest_addr_ip4-sin_family AF_INET;dest_addr_ip4-sin_port htons(UDP_SERVER_PORT);ip_protocol IPPROTO_IP;} else if (addr_family AF_INET6) {bzero(dest_addr.sin6_addr.un, sizeof(dest_addr.sin6_addr.un));dest_addr.sin6_family AF_INET6;dest_addr.sin6_port htons(UDP_SERVER_PORT);ip_protocol IPPROTO_IPV6;}global_udpsock_handle socket(addr_family, SOCK_DGRAM, ip_protocol);if (global_udpsock_handle 0) {ESP_LOGE(TAG, Unable to create socket: errno %d, errno);/**因为正在创建的时候网络可能还没有完全连接上不能退出*/vTaskDelay(100 / portTICK_PERIOD_MS);//100mscontinue;}ESP_LOGI(TAG, UDP Socket created);#if defined(CONFIG_LWIP_NETBUF_RECVINFO) !defined(CONFIG_EXAMPLE_IPV6)int enable 1;lwip_setsockopt(sock, IPPROTO_IP, IP_PKTINFO, enable, sizeof(enable)); #endif#if defined(CONFIG_EXAMPLE_IPV4) defined(CONFIG_EXAMPLE_IPV6)if (addr_family AF_INET6) {// Note that by default IPV6 binds to both protocols, it is must be disabled// if both protocols used at the same time (used in CI)int opt 1;setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, opt, sizeof(opt));setsockopt(sock, IPPROTO_IPV6, IPV6_V6ONLY, opt, sizeof(opt));} #endif // // Set timeout 接收广播数据超时时间 // struct timeval timeout; // timeout.tv_sec 10; // timeout.tv_usec 0; // setsockopt (sock, SOL_SOCKET, SO_RCVTIMEO, timeout, sizeof timeout);/*** E (106995) BOT-TAG: Socket unable to bind: errno 112* */int opt 1;setsockopt(global_udpsock_handle, SOL_SOCKET, SO_REUSEADDR, opt, sizeof(opt));int err bind(global_udpsock_handle, (struct sockaddr *)dest_addr, sizeof(dest_addr));if (err 0) {ESP_LOGE(TAG, udp Socket unable to bind: errno %d, errno);close(global_udpsock_handle);/**因为正在创建的时候网络可能还没有完全连接上不能退出*/vTaskDelay(100 / portTICK_PERIOD_MS);//100mscontinue;}ESP_LOGI(TAG, udp Socket bound, port %d,UDP_SERVER_PORT);struct sockaddr_storage source_addr; // Large enough for both IPv4 or IPv6socklen_t socklen sizeof(source_addr);#if defined(CONFIG_LWIP_NETBUF_RECVINFO) !defined(CONFIG_EXAMPLE_IPV6)struct iovec iov;struct msghdr msg;struct cmsghdr *cmsgtmp;u8_t cmsg_buf[CMSG_SPACE(sizeof(struct in_pktinfo))];iov.iov_base rx_buffer;iov.iov_len sizeof(rx_buffer);msg.msg_control cmsg_buf;msg.msg_controllen sizeof(cmsg_buf);msg.msg_flags 0;msg.msg_iov iov;msg.msg_iovlen 1;msg.msg_name (struct sockaddr *)source_addr;msg.msg_namelen socklen; #endifESP_LOGI(TAG, udp start Waiting for data);/*** 重新启动udp server可以清除之前接收的缓存数据防止对下一个连接影响* */while (1) {//tcp没有有效连接则处于睡眠等待状态if(global_tcpsock_handle 0){vTaskDelay(100 / portTICK_PERIOD_MS);//100mscontinue;}#if defined(CONFIG_LWIP_NETBUF_RECVINFO) !defined(CONFIG_EXAMPLE_IPV6)int len recvmsg(global_udpsock_handle, msg, 0); #elseint len recvfrom(global_udpsock_handle, rx_buffer, sizeof(rx_buffer) - 1, 0, (struct sockaddr *)source_addr, socklen); #endif// Error occurred during receivingif (len 0) {ESP_LOGE(TAG, udp recvfrom failed: errno %d, errno);/*** E (615075) BOT-TAG: udp Socket unable to bind: errno 9* *///sock关闭后稍等一下不用立即去创建和bindvTaskDelay(100 / portTICK_PERIOD_MS);break;}// Data receivedelse {// Get the senders ip address as stringif (source_addr.ss_family PF_INET) {inet_ntoa_r(((struct sockaddr_in *)source_addr)-sin_addr, addr_str, sizeof(addr_str) - 1); #if defined(CONFIG_LWIP_NETBUF_RECVINFO) !defined(CONFIG_EXAMPLE_IPV6)for ( cmsgtmp CMSG_FIRSTHDR(msg); cmsgtmp ! NULL; cmsgtmp CMSG_NXTHDR(msg, cmsgtmp) ) {if ( cmsgtmp-cmsg_level IPPROTO_IP cmsgtmp-cmsg_type IP_PKTINFO ) {struct in_pktinfo *pktinfo;pktinfo (struct in_pktinfo*)CMSG_DATA(cmsgtmp);ESP_LOGI(TAG, dest ip: %s\n, inet_ntoa(pktinfo-ipi_addr));}} #endif} else if (source_addr.ss_family PF_INET6) {inet6_ntoa_r(((struct sockaddr_in6 *)source_addr)-sin6_addr, addr_str, sizeof(addr_str) - 1);}//rx_buffer[len] 0; // Null-terminate whatever we received and treat like a string...//ESP_LOGI(TAG, udp Received %d bytes from %s:, len, addr_str);//ESP_LOGI(TAG, %s, rx_buffer);//print0x(rx_buffer,len);cmd_resolve_high_speed(rx_buffer, len);// int err sendto(global_udpsock_handle, rx_buffer, len, 0, (struct sockaddr *)source_addr, sizeof(source_addr)); // if (err 0) { // ESP_LOGE(TAG, Error occurred during sending: errno %d, errno); // break; // }}}// if (global_udpsock_handle ! -1) { // ESP_LOGE(TAG, Shutting down socket and restarting...); // shutdown(global_udpsock_handle, 0); // close(global_udpsock_handle); // }}vTaskDelete(NULL); } tcp状态监听服务如下 /*** tcp服务端,慢速通道处理维护心跳包* */ static void tcp_server_task(void *pvParameters) {char addr_str[128];int addr_family (int)pvParameters;//ipv4 or ipv6int ip_protocol 0;int keepAlive 1;int option 1;int keepIdle KEEPALIVE_IDLE;int keepInterval KEEPALIVE_INTERVAL;int keepCount KEEPALIVE_COUNT;struct sockaddr_storage dest_addr;#ifdef CONFIG_EXAMPLE_IPV4if (addr_family AF_INET) {struct sockaddr_in *dest_addr_ip4 (struct sockaddr_in *)dest_addr;dest_addr_ip4-sin_addr.s_addr htonl(INADDR_ANY);dest_addr_ip4-sin_family AF_INET;dest_addr_ip4-sin_port htons(TCP_SERVER_PORT);ip_protocol IPPROTO_IP;} #endif #ifdef CONFIG_EXAMPLE_IPV6if (addr_family AF_INET6) {struct sockaddr_in6 *dest_addr_ip6 (struct sockaddr_in6 *)dest_addr;bzero(dest_addr_ip6-sin6_addr.un, sizeof(dest_addr_ip6-sin6_addr.un));dest_addr_ip6-sin6_family AF_INET6;dest_addr_ip6-sin6_port htons(PORT);ip_protocol IPPROTO_IPV6;} #endifint listen_sock socket(addr_family, SOCK_STREAM, ip_protocol);if (listen_sock 0) {ESP_LOGE(TAG, Unable to create socket: errno %d, errno);vTaskDelete(NULL);return;}int opt 1;setsockopt(listen_sock, SOL_SOCKET, SO_REUSEADDR, opt, sizeof(opt));#if defined(CONFIG_EXAMPLE_IPV4) defined(CONFIG_EXAMPLE_IPV6)// Note that by default IPV6 binds to both protocols, it is must be disabled// if both protocols used at the same time (used in CI)setsockopt(listen_sock, IPPROTO_IPV6, IPV6_V6ONLY, opt, sizeof(opt)); #endifESP_LOGI(TAG, tcp Socket created);int err bind(listen_sock, (struct sockaddr *)dest_addr, sizeof(dest_addr));if (err ! 0) {ESP_LOGE(TAG, tcp Socket unable to bind: errno %d, errno);ESP_LOGE(TAG, IPPROTO: %d, addr_family);goto CLEAN_UP;}ESP_LOGI(TAG, tcp Socket bound, port %d, TCP_SERVER_PORT);err listen(listen_sock, 1);if (err ! 0) {ESP_LOGE(TAG, Error occurred during listen: errno %d, errno);goto CLEAN_UP;}while (1) {ESP_LOGI(TAG, Socket listening);//建立握手随机数校验标志generate_com_check();hp_check_load();struct sockaddr_storage source_addr; // Large enough for both IPv4 or IPv6socklen_t addr_len sizeof(source_addr);global_tcpsock_handle accept(listen_sock, (struct sockaddr *)source_addr, addr_len);if (global_tcpsock_handle 0) {ESP_LOGE(TAG, Unable to accept connection: errno %d, errno);break;}// Set tcp keepalive optionsetsockopt(global_tcpsock_handle, SOL_SOCKET, SO_KEEPALIVE, keepAlive, sizeof(int));setsockopt(global_tcpsock_handle, IPPROTO_TCP, TCP_KEEPIDLE, keepIdle, sizeof(int));setsockopt(global_tcpsock_handle, IPPROTO_TCP, TCP_KEEPINTVL, keepInterval, sizeof(int));setsockopt(global_tcpsock_handle, IPPROTO_TCP, TCP_KEEPCNT, keepCount, sizeof(int));setsockopt(global_tcpsock_handle, IPPROTO_TCP, TCP_NODELAY, option, sizeof(int));// Convert ip address to string #ifdef CONFIG_EXAMPLE_IPV4if (source_addr.ss_family PF_INET) {inet_ntoa_r(((struct sockaddr_in *)source_addr)-sin_addr, addr_str, sizeof(addr_str) - 1);} #endif #ifdef CONFIG_EXAMPLE_IPV6if (source_addr.ss_family PF_INET6) {inet6_ntoa_r(((struct sockaddr_in6 *)source_addr)-sin6_addr, addr_str, sizeof(addr_str) - 1);} #endifESP_LOGI(TAG, Socket accepted ip address: %s, addr_str);//接收控制器端的下发数据do_tcpsock_recv();//用户主动关闭sockdo_tcpsock_close();do_udpsock_close();}CLEAN_UP:close(listen_sock);vTaskDelete(NULL); }