livoxProto1:bug workaround: for boost:asio:udp async ops on dlopen libs

Updated Boost dependency to version 1.73.0 to address segfault issues with boost::asio in dynamic libraries. Refactored heartbeat socket management to use raw UDP sockets instead of boost::asio, improving compatibility and error handling during socket operations.

CMakeLists.txt

@@ -36,7 +36,10 @@ include_directories(
 )
 
 # Find core dependencies
-find_package(Boost 1.69.0 REQUIRED COMPONENTS system)
+# Boost 1.72.0 is required to ensure that a certain bug where boost::asio
+# objects depend on specific copies of symbols, and boost will cause a segfault
+# if boost::asio objects are used inside of a dlopen()'d library, is fixed.
+find_package(Boost 1.73.0 REQUIRED COMPONENTS system)
 find_package(PkgConfig REQUIRED)
 find_package(FLEX REQUIRED)
 find_package(BISON REQUIRED)

commonLibs/livoxProto1/device.cpp

@@ -8,6 +8,8 @@
 #include <ifaddrs.h>
 #include <arpa/inet.h>
 #include <sys/socket.h>
+#include <errno.h>
+#include <cstring>
 #include <netinet/in.h>
 #include <boost/asio.hpp>
 #include "device.h"
@@ -77,6 +79,7 @@ componentThread(componentThread),
 handshakeTimeoutMs(handshakeTimeoutMs), retryDelayMs(retryDelayMs),
 smoIp(smoIp), smoSubnetNbits(smoSubnetNbits),
 dataPort(dataPort), cmdPort(cmdPort), imuPort(imuPort),
+heartbeatSocketFd(-1),
 heartbeatActive(false)
 {
 	connect();
@@ -92,7 +95,10 @@ Device::~Device()
 	}
 
 	heartbeatTimer.reset();
-	heartbeatSocket.reset();
+	if (heartbeatSocketFd >= 0) {
+		close(heartbeatSocketFd);
+		heartbeatSocketFd = -1;
+	}
 }
 
 void Device::connect()
@@ -426,20 +432,36 @@ void Device::startHeartbeat()
 	}
 
 	/**		EXPLANATION:
-	 * Create heartbeat socket using io_service of the componentThread that was
+	 * Create raw UDP socket for heartbeat sending to avoid boost::asio dlopen
-	 * given to us for use by this device.
+	 * issues.
 	 */
-	heartbeatSocket = std::make_unique<boost::asio::ip::udp::socket>(
+	heartbeatSocketFd = socket(AF_INET, SOCK_DGRAM, 0);
-		componentThread->getIoService());
+	if (heartbeatSocketFd < 0)
-	heartbeatSocket->open(boost::asio::ip::udp::v4());
+	{
+		std::cerr << "[" << __func__ << "] Failed to create heartbeat socket: "
+			<< strerror(errno) << std::endl;
+		return;
+	}
 
 	/**		EXPLANATION:
 	 * Bind heartbeat socket to cmdPort so heartbeats come from the same port
 	 * as handshake.
 	 */
-	boost::asio::ip::udp::endpoint heartbeatLocalEndpoint(
+	struct sockaddr_in localAddr;
-		boost::asio::ip::address_v4::any(), cmdPort);
+	memset(&localAddr, 0, sizeof(localAddr));
-	heartbeatSocket->bind(heartbeatLocalEndpoint);
+	localAddr.sin_family = AF_INET;
+	localAddr.sin_addr.s_addr = INADDR_ANY;
+	localAddr.sin_port = htons(cmdPort);
+
+	if (bind(
+		heartbeatSocketFd, (struct sockaddr*)&localAddr, sizeof(localAddr)) < 0)
+	{
+		std::cerr << "[" << __func__ << "] Failed to bind heartbeat socket to "
+			"port " << cmdPort << ": " << strerror(errno) << std::endl;
+		close(heartbeatSocketFd);
+		heartbeatSocketFd = -1;
+		return;
+	}
 
 	// Create heartbeat timer
 	heartbeatTimer = std::make_unique<boost::asio::deadline_timer>(
@@ -453,7 +475,7 @@ void Device::startHeartbeat()
 
 void Device::sendHeartbeat()
 {
-	if (!heartbeatActive.load() || !heartbeatSocket
+	if (!heartbeatActive.load() || heartbeatSocketFd < 0
 		|| discoveredDevice.ipAddr.empty())
 	{
 		return;
@@ -468,13 +490,24 @@ void Device::sendHeartbeat()
 		heartbeatMsg.footer.crc_32 = heartbeatMsg.calculateCrc32();
 		heartbeatMsg.footer.swapCrc32ToProtocolEndianness();
 
-		boost::asio::ip::udp::endpoint deviceEndpoint(
+		// Set up destination address for raw socket
-			boost::asio::ip::address::from_string(discoveredDevice.ipAddr),
+		struct sockaddr_in deviceAddr;
-			65000);  // Heartbeats and commands go to port 65000
+		memset(&deviceAddr, 0, sizeof(deviceAddr));
+		deviceAddr.sin_family = AF_INET;
+		deviceAddr.sin_addr.s_addr = inet_addr(discoveredDevice.ipAddr.c_str());
+		// Heartbeats and commands go to port 65000
+		deviceAddr.sin_port = htons(65000);
 
-		heartbeatSocket->send_to(
+		ssize_t bytesSent = sendto(
-			boost::asio::buffer(&heartbeatMsg, sizeof(heartbeatMsg)),
+			heartbeatSocketFd, &heartbeatMsg, sizeof(heartbeatMsg), 0,
-			deviceEndpoint);
+			(struct sockaddr*)&deviceAddr, sizeof(deviceAddr));
+
+		if (bytesSent < 0)
+		{
+			std::cerr << "[" << __func__ << "] Failed to send heartbeat: "
+				<< strerror(errno) << std::endl;
+			return;
+		}
 
 		/**		EXPLANATION:
 		 * Schedule next heartbeat in 1 second, per the spec.

commonLibs/livoxProto1/device.h

@@ -6,6 +6,10 @@
 #include <memory>
 #include <atomic>
 #include <optional>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
 #include <boost/asio.hpp>
 #include "protocol.h"
 
@@ -94,7 +98,7 @@ private:
 
 	// Heartbeat state
 	std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;
-	std::unique_ptr<boost::asio::ip::udp::socket> heartbeatSocket;
+	int heartbeatSocketFd;  // Raw socket file descriptor
 	std::atomic<bool> heartbeatActive;
 };