Add feature ISO TP (multi frames and peer to peer)

This commit adds the ISO TP feature. The ISO TP protocol
allows to communicate between two ECU. The protocol
allows multi packets management.

Bug-AGL : SPEC-2779
Bug-AGL: SPEC-2976

Change-Id: Ic222615b547f28e926930e6c1dea2c0265055afd
Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 108 insertions, 6 deletions

diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index 0f4bf0c9..6d02b101 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -22,6 +22,10 @@
 #include "../utils/socketcan-bcm.hpp"
 #include "../can/can-encoder.hpp"
 
+#ifdef USE_FEATURE_ISOTP
+#include "../utils/socketcan-isotp.hpp"
+#endif
+
 #ifdef USE_FEATURE_J1939
 #include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
 #endif
@@ -212,6 +216,16 @@ float low_can_subscription_t::get_max() const
 	return event_filter_.max;
 }
 
+canid_t low_can_subscription_t::get_rx_id() const
+{
+	return event_filter_.rx_id;
+}
+
+canid_t low_can_subscription_t::get_tx_id() const
+{
+	return event_filter_.tx_id;
+}
+
 std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket()
 {
 	return socket_;
@@ -232,11 +246,27 @@ void low_can_subscription_t::set_max(float max)
 	event_filter_.max = max;
 }
 
+void low_can_subscription_t::set_rx_id(canid_t rx_id)
+{
+	event_filter_.rx_id = rx_id;
+}
+
+void low_can_subscription_t::set_tx_id(canid_t tx_id)
+{
+	event_filter_.tx_id = tx_id;
+}
+
 void low_can_subscription_t::set_index(int index)
 {
 	index_ = index;
 }
 
+void low_can_subscription_t::set_signal(std::shared_ptr<signal_t> signal)
+{
+	signal_ = signal;
+}
+
+
 /// @brief Based upon which object is a subscribed CAN signal or diagnostic message
 /// it will open the socket with the required CAN bus device name.
 ///
@@ -265,6 +295,36 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co
 			}
 			subscription.index_ = (int)subscription.socket_->socket();
 		}
+#ifdef USE_FEATURE_ISOTP
+		else if(flags&ISOTP_PROTOCOL)
+		{
+			if(subscription.signal_ != nullptr)
+			{
+				canid_t rx = NO_CAN_ID;
+				canid_t tx = NO_CAN_ID;
+				if(flags&ISOTP_SEND)
+				{
+					rx = subscription.get_rx_id();
+					tx = subscription.signal_->get_message()->get_id();
+				}
+				else if(flags&ISOTP_RECEIVE)
+				{
+					rx = subscription.signal_->get_message()->get_id();
+					tx = subscription.get_tx_id();
+				}
+				std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
+				ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(),rx,tx);
+				subscription.socket_ = socket;
+			}
+			else if(!bus_name.empty())
+			{
+				std::shared_ptr<utils::socketcan_isotp_t> socket = std::make_shared<utils::socketcan_isotp_t>();
+				ret = socket->open(bus_name, subscription.get_rx_id(),subscription.get_tx_id());
+				subscription.socket_ = socket;
+			}
+			subscription.index_ = (int)subscription.socket_->socket();
+		}
+#endif
 #ifdef USE_FEATURE_J1939
 		else if(flags&J1939_ADDR_CLAIM_PROTOCOL)
 		{
@@ -374,6 +434,18 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc
 }
 #endif
 
+int low_can_subscription_t::create_rx_filter_isotp(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig)
+{
+	subscription.signal_= sig;
+
+	// Make sure that socket is opened.
+	if(open_socket(subscription,"",ISOTP_PROTOCOL|ISOTP_RECEIVE) < 0)
+	{
+			return -1;
+	}
+	return 0;
+}
+
 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 /// subscription
 ///
@@ -462,18 +534,27 @@ int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscri
 
 int low_can_subscription_t::create_rx_filter(std::shared_ptr<signal_t> sig)
 {
-	#ifdef USE_FEATURE_J1939
-	if(sig->get_message()->is_j1939())
+	if(!sig->get_message()->is_isotp() && !sig->get_message()->is_j1939())
+	{
+		return low_can_subscription_t::create_rx_filter_can(*this, sig);
+	}
+#ifdef USE_FEATURE_ISOTP
+	else if(sig->get_message()->is_isotp())
+	{
+		return low_can_subscription_t::create_rx_filter_isotp(*this,sig);
+	}
+#endif
+#ifdef USE_FEATURE_J1939
+	else if(sig->get_message()->is_j1939())
 	{
 		return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
 	}
+#endif
 	else
 	{
-	#endif
-		return low_can_subscription_t::create_rx_filter_can(*this, sig);
-	#ifdef USE_FEATURE_J1939
+		AFB_ERROR("Signal can't be j1939 and isotp");
+		return -1;
 	}
-	#endif
 }
 
 
@@ -607,3 +688,24 @@ int low_can_subscription_t::j1939_send(low_can_subscription_t &subscription, mes
 	return 0;
 }
 #endif
+
+
+int low_can_subscription_t::isotp_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
+{
+	//struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
+	//subscription.add_one_bcm_frame(cfd, bcm_msg);
+
+	if(subscription.open_socket(subscription, bus_name, ISOTP_PROTOCOL|ISOTP_SEND) < 0)
+	{
+		return -1;
+	}
+
+	can_message_t *cm = static_cast<can_message_t*>(message);
+	if(subscription.socket_->write_message(*cm) < 0)
+	{
+		AFB_ERROR("Error write iso tp message");
+		return -1;
+	}
+
+	return 0;
+}
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