void
Cucs_processor::On_incoming_connection(std::string, int, Socket_address::Ptr addr, Io_stream::Ref stream)
{
if (stream->Get_type() != Io_stream::Type::TCP) {
// support only TCP connections.
stream->Close();
return;
}
auto new_id = Get_next_id();
Server_context sc;
sc.stream = stream;
sc.stream_id = new_id;
sc.address = addr;
sc.last_message_time = std::chrono::steady_clock::now();
Schedule_next_read(sc);
ucs_connections.emplace(sc.stream_id, std::move(sc));
ugcs::vsm::proto::Vsm_message msg;
auto p = msg.mutable_register_peer();
p->set_peer_id(Get_application_instance_id());
p->set_peer_type(proto::PEER_TYPE_VSM);
// Get the VSM name which must be defined using DEFINE_DEFAULT_VSM_NAME in VSM sources.
p->set_name(Get_vsm_name());
p->set_version_major(SDK_VERSION_MAJOR);
p->set_version_minor(SDK_VERSION_MINOR);
p->set_version_build(SDK_VERSION_BUILD);
msg.set_device_id(0);
Send_ucs_message(new_id, msg);
}
void
Ucs_vehicle_ctx::Write_to_ucs_timed_out(
const Operation_waiter::Ptr& waiter,
Ugcs_mavlink_stream::Weak_ptr mav_stream)
{
auto locked = mav_stream.lock();
Io_stream::Ref stream = locked ? locked->Get_stream() : nullptr;
std::string server_info =
stream ? stream->Get_name() : "already disconnected";
LOG_DEBUG("Write timeout towards UCS server at [%s] detected from vehicle context.",
server_info.c_str());
waiter->Abort();
if (stream) {
stream->Close();
}
}