Integrate the J1939 features : address claiming and write.

This commit allows to write J1939 messages and add the management
of the address claiming.

Bug-AGL: SPEC-2386
Bug-AGL: SPEC-2976

Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Change-Id: I1bb95a7ba6f6ebe463319c3972d9d46897181d51
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

5 files changed, 202 insertions, 48 deletions

diff --git a/low-can-binding/binding/application.cpp b/low-can-binding/binding/application.cpp
index f0f008c5..d93bf0cf 100644
--- a/low-can-binding/binding/application.cpp
+++ b/low-can-binding/binding/application.cpp
@@ -154,3 +154,22 @@ bool application_t::isEngineOn()
 
 	return engine_on;
 }
+
+#ifdef USE_FEATURE_J1939
+std::shared_ptr<utils::socketcan_t> application_t::get_socket_address_claiming()
+{
+	return subscription_address_claiming_->get_socket();
+}
+
+std::shared_ptr<low_can_subscription_t> application_t::get_subscription_address_claiming()
+{
+	return subscription_address_claiming_;
+}
+
+
+void application_t::set_subscription_address_claiming(std::shared_ptr<low_can_subscription_t> new_subscription)
+{
+	subscription_address_claiming_ = new_subscription;
+}
+
+#endif
\ No newline at end of file
diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp
index b73ace71..a5d2285c 100644
--- a/low-can-binding/binding/application.hpp
+++ b/low-can-binding/binding/application.hpp
@@ -26,6 +26,10 @@
 #include "../can/message-set.hpp"
 #include "../can/signals.hpp"
 #include "../diagnostic/diagnostic-manager.hpp"
+#ifdef USE_FEATURE_J1939
+	#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
+	#include "../utils/socketcan-j1939/socketcan-j1939-addressclaiming.hpp"
+#endif
 
 ///
 /// @brief Class represents a configuration attached to the binding.
@@ -48,7 +52,10 @@ class application_t
 		std::vector<std::shared_ptr<message_set_t> > message_set_; ///< Vector holding all message set from JSON signals description file
 
 		std::map<std::string, std::shared_ptr<low_can_subscription_t> > can_devices_; ///< Map containing all independant opened CAN sockets, key is the socket int value.
-
+#ifdef USE_FEATURE_J1939
+		std::shared_ptr<low_can_subscription_t> subscription_address_claiming_; ///< Subscription holding the socketcan J1939 which is in charge of handling the address claiming protocol
+		//std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket_address_claiming_;
+#endif
 		application_t(); ///< Private constructor with implementation generated by the AGL generator.
 
 	public:
@@ -84,6 +91,13 @@ class application_t
 
 		void set_active_message_set(uint8_t id);
 
+#ifdef USE_FEATURE_J1939
+		std::shared_ptr<utils::socketcan_t> get_socket_address_claiming();
+
+		std::shared_ptr<low_can_subscription_t> get_subscription_address_claiming();
+
+		void set_subscription_address_claiming(std::shared_ptr<low_can_subscription_t> new_subscription);
+#endif
 /*
 		/// TODO: implement this function as method into can_bus class
 		/// @brief Pre initialize actions made before CAN bus initialization
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 9c21b675..5fdd961e 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -26,7 +26,6 @@
 #include <thread>
 #include <wrap-json.h>
 #include <systemd/sd-event.h>
-
 #include "openxc.pb.h"
 #include "application.hpp"
 #include "../can/can-encoder.hpp"
@@ -37,6 +36,10 @@
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/openxc-utils.hpp"
 
+#ifdef USE_FEATURE_J1939
+	#include "../can/message/j1939-message.hpp"
+	#include <linux/can/j1939.h>
+#endif
 ///******************************************************************************
 ///
 ///		SystemD event loop Callbacks
@@ -82,18 +85,27 @@ static void push_n_notify(std::shared_ptr<message_t> m)
 
 int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
 {
+
 	low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
 
 
 	if ((revents & EPOLLIN) != 0)
 	{
-		std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
-		std::shared_ptr<message_t> message = s->read_message();
-
-		// Sure we got a valid CAN message ?
-		if (! message->get_id() == 0 && ! message->get_length() == 0)
+		utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+		std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+		if(can_subscription->get_index() != -1)
 		{
-			push_n_notify(message);
+			std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
+			if(s->socket() && s->socket() != -1)
+			{
+				std::shared_ptr<message_t> message = s->read_message();
+
+				// Sure we got a valid CAN message ?
+				if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_msg_format() != message_format_t::INVALID)
+				{
+					push_n_notify(message);
+				}
+			}
 		}
 	}
 
@@ -164,8 +176,8 @@ static int subscribe_unsubscribe_signal(afb_req_t request,
 
 	if( (ret = s[sub_index]->unsubscribe(request)) < 0)
 		return ret;
+	s.find(sub_index)->second->set_index(-1);
 	s.erase(sub_index);
-
 	return ret;
 }
 
@@ -227,7 +239,9 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 		else
 		{
 			if(sig->get_supported())
-			{AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
+			{
+				AFB_DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());
+			}
 			else
 			{
 				AFB_WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
@@ -240,7 +254,6 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 
 		rets++;
 	}
-
 	return rets;
 }
 
@@ -493,6 +506,10 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, sock
 	{
 		return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
 	}
+	else if(type == socket_type::J1939)
+	{
+		return low_can_subscription_t::j1939_send(*cd[bus_name], cfd, bus_name);
+	}
 	else{
 		return -1;
 	}
@@ -517,6 +534,12 @@ static int send_message(message_t *message, const std::string& bus_name, socket_
 	{
 		return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
 	}
+#ifdef USE_FEATURE_J1939
+	else if(type == socket_type::J1939)
+	{
+		return low_can_subscription_t::j1939_send(*cd[bus_name], message, bus_name);
+	}
+#endif
 	else
 	{
 		return -1;
@@ -548,6 +571,10 @@ static void write_raw_frame(afb_req_t request, const std::string& bus_name, mess
 		{
 			afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
 		}
+		else if(type == socket_type::J1939)
+		{
+			afb_req_fail(request, "Invalid", "Data array too large");
+		}
 		else
 		{
 			afb_req_fail(request, "Invalid", "Invalid socket type");
@@ -583,6 +610,16 @@ static void write_frame(afb_req_t request, const std::string& bus_name, json_obj
 		message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
 		write_raw_frame(request,bus_name,message,can_data,socket_type::BCM);
 	}
+#ifdef USE_FEATURE_J1939
+	else if(!wrap_json_unpack(json_value, "{si, si, so !}",
+			      "pgn", &id,
+			      "length", &length,
+			      "data", &can_data))
+	{
+		message = new j1939_message_t(J1939_MAX_DLEN,(uint32_t)length,message_format_t::J1939,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
+		write_raw_frame(request,bus_name,message,can_data,socket_type::J1939);
+	}
+#endif
 	else
 	{
 		afb_req_fail(request, "Invalid", "Frame object malformed");
@@ -800,8 +837,9 @@ void list(afb_req_t request)
 /// @return Exit code, zero if success.
 int init_binding(afb_api_t api)
 {
-	uint32_t ret = 1;
-	can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
+	int ret = 1;
+	application_t& application = application_t::instance();
+	can_bus_t& can_bus_manager = application.get_can_bus_manager();
 
 	can_bus_manager.set_can_devices();
 	can_bus_manager.start_threads();
@@ -829,8 +867,38 @@ int init_binding(afb_api_t api)
 		subscribe_unsubscribe_diagnostic_messages(request, true, sf.diagnostic_messages, event_filter, s, true);
 	}
 
+
+#ifdef USE_FEATURE_J1939
+	std::vector<std::shared_ptr<message_definition_t>> current_messages_definition = application.get_messages_definition();
+	for(std::shared_ptr<message_definition_t> message_definition: current_messages_definition)
+	{
+		if(message_definition->is_j1939())
+		{
+			std::shared_ptr<low_can_subscription_t> low_can_j1939 = std::make_shared<low_can_subscription_t>();
+
+			application.set_subscription_address_claiming(low_can_j1939);
+
+			ret = low_can_subscription_t::open_socket(*low_can_j1939,
+													message_definition->get_bus_device_name(),
+													socket_type::J1939_ADDR_CLAIM);
+			if(ret < 0)
+			{
+				AFB_ERROR("Error open socket address claiming for j1939 protocol");
+				return -1;
+			}
+
+//			std::shared_ptr<low_can_subscription_t> saddrclaim = application.get_subscription_address_claiming();
+
+			add_to_event_loop(low_can_j1939);
+			break;
+		}
+	}
+#endif
+
 	if(ret)
+	{
 		AFB_ERROR("There was something wrong with CAN device Initialization.");
+	}
 
 	return ret;
 }
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index b31fe48e..bb488887 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -20,9 +20,8 @@
 #include "application.hpp"
 #include "canutil/write.h"
 #include "../utils/socketcan-bcm.hpp"
-
 #ifdef USE_FEATURE_J1939
-	#include "../utils/socketcan-j1939.hpp"
+#include "../utils/socketcan-j1939/socketcan-j1939-data.hpp"
 #endif
 
 low_can_subscription_t::low_can_subscription_t()
@@ -226,40 +225,24 @@ void low_can_subscription_t::set_max(float max)
 	event_filter_.max = max;
 }
 
+void low_can_subscription_t::set_index(int index)
+{
+	index_ = index;
+}
+
 /// @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.
 ///
 /// @return INVALID_SOCKET on failure, else positive integer
-int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name)
+int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, const std::string& bus_name, socket_type type)
 {
-	int ret = 0;
+	int ret = -1;
 	if(! subscription.socket_)
 	{
-
-		#ifdef USE_FEATURE_J1939
-		if((subscription.signal_ != nullptr || !bus_name.empty()) && subscription.signal_->get_message()->is_j1939())
+		switch (type)
 		{
-			name_t name = J1939_NO_NAME;
-			pgn_t pgn = J1939_NO_PGN;
-			uint8_t addr = J1939_NO_ADDR;
-			pgn = subscription.signal_->get_message()->get_id();
-			if( subscription.signal_ != nullptr)
-			{
-				std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
-				ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), name, pgn, addr);
-				subscription.socket_ = socket;
-		}
-		else if ( !bus_name.empty())
+		case socket_type::BCM:
 		{
-				std::shared_ptr<utils::socketcan_j1939_t> socket = std::make_shared<utils::socketcan_j1939_t>();
-				ret = socket->open(bus_name, name, pgn, addr);
-				subscription.socket_ = socket;
-		}
-		subscription.index_ = (int)subscription.socket_->socket();
-		}
-		else
-		{
-		#endif
 			if( subscription.signal_ != nullptr)
 			{
 					subscription.socket_ = std::make_shared<utils::socketcan_bcm_t>();
@@ -276,13 +259,56 @@ int low_can_subscription_t::open_socket(low_can_subscription_t &subscription, co
 					ret = subscription.socket_->open(bus_name);
 			}
 			subscription.index_ = (int)subscription.socket_->socket();
-		#ifdef USE_FEATURE_J1939
+			break;
+		}
+#ifdef USE_FEATURE_J1939
+		case socket_type::J1939_ADDR_CLAIM:
+		{
+			pgn_t pgn = J1939_NO_PGN;
+			if(!bus_name.empty())
+			{
+				std::shared_ptr<utils::socketcan_j1939_addressclaiming_t> socket = std::make_shared<utils::socketcan_j1939_addressclaiming_t>();
+				ret = socket->open(bus_name, pgn);
+				subscription.socket_ = socket;
+			}
+			subscription.index_ = (int)subscription.socket_->socket();
+			break;
+		}
+		case socket_type::J1939:
+		{
+			pgn_t pgn = J1939_NO_PGN;
+			if(subscription.signal_ != nullptr)
+			{
+				pgn = subscription.signal_->get_message()->get_id();
+				std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
+				ret = socket->open(subscription.signal_->get_message()->get_bus_device_name(), pgn);
+				subscription.socket_ = socket;
+			}
+			else if(!bus_name.empty())
+			{
+				std::shared_ptr<utils::socketcan_j1939_data_t> socket = std::make_shared<utils::socketcan_j1939_data_t>();
+				ret = socket->open(bus_name, pgn);
+				subscription.socket_ = socket;
+			}
+			subscription.index_ = (int)subscription.socket_->socket();
+			break;
+		}
+#endif
+		default:
+		{
+			AFB_ERROR("Socket format not supported");
+			return INVALID_SOCKET;
+			break;
+		}
 		}
-		#endif
+	}
+	else{
+		ret = subscription.socket_->socket();
 	}
 	return ret;
 }
 
+
 /// @brief Builds a BCM message head but doesn't set can_frame.
 ///
 /// @returns a bcm_msg with the msg_head parts set and can_frame
@@ -328,7 +354,7 @@ int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subsc
 	subscription.signal_= sig;
 
 	// Make sure that socket is opened.
-	if(open_socket(subscription) < 0)
+	if(open_socket(subscription,"",socket_type::J1939) < 0)
 	{
 			return -1;
 	}
@@ -421,7 +447,7 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_
 int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 {
 	// Make sure that socket is opened.
-	if(subscription.open_socket(subscription) < 0)
+	if(subscription.open_socket(subscription,"",socket_type::BCM) < 0)
 		{return -1;}
 
 	// If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
@@ -463,8 +489,10 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag
 	canfd_frame cfd = cm->convert_to_canfd_frame();
 	subscription.add_one_bcm_frame(cfd, bcm_msg);
 
-	if(subscription.open_socket(subscription, bus_name) < 0)
-		{return -1;}
+	if(subscription.open_socket(subscription, bus_name,socket_type::BCM) < 0)
+	{
+			return -1;
+	}
 
 	cm->set_bcm_msg(bcm_msg);
 	subscription.socket_->write_message(*cm);
@@ -474,4 +502,27 @@ int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, messag
 	}
 
 	return 0;
-}
\ No newline at end of file
+}
+
+#ifdef USE_FEATURE_J1939
+int low_can_subscription_t::j1939_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, socket_type::J1939) < 0)
+	{
+		return -1;
+	}
+
+	j1939_message_t *jm = static_cast<j1939_message_t*>(message);
+	jm->set_sockname(jm->get_pgn(),J1939_NO_NAME,J1939_NO_ADDR);
+	if(subscription.socket_->write_message(*jm) < 0)
+	{
+		AFB_ERROR("Error write j1939 message");
+		return -1;
+	}
+
+	return 0;
+}
+#endif
\ No newline at end of file
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
index 5ea1cf17..d0462ecb 100644
--- a/low-can-binding/binding/low-can-subscription.hpp
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -89,11 +89,12 @@ public:
 	void set_frequency(float freq);
 	void set_min(float min);
 	void set_max(float max);
+	void set_index(int index);
 
 	static struct bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0});
 	static void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg);
 
-	static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "");
+	static int open_socket(low_can_subscription_t &subscription, const std::string& bus_name = "", socket_type type = socket_type::INVALID);
 
 	int create_rx_filter(std::shared_ptr<signal_t> sig);
 	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
@@ -102,4 +103,5 @@ public:
 	static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg);
 
 	static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
+	static int j1939_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
 };