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, 191 insertions, 0 deletions

diff --git a/low-can-binding/utils/socketcan-isotp.cpp b/low-can-binding/utils/socketcan-isotp.cpp
new file mode 100644
index 00000000..1aab9afa
--- /dev/null
+++ b/low-can-binding/utils/socketcan-isotp.cpp
@@ -0,0 +1,191 @@
+/*
+ * Copyright (C) 2019, 2020 "IoT.bzh"
+ * Author "Arthur Guyader" <arthur.guyader@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "socketcan-isotp.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include "../utils/converter.hpp"
+#include "../binding/application.hpp"
+
+namespace utils
+{
+	/**
+	 * @brief Open ISOTP socket this default function will not work, because
+	 * isotp need rx_id and tx_id
+	 *
+	 * @param device_name The device name where to open socket
+	 * @return int -1 fail
+	 */
+	int socketcan_isotp_t::open(std::string device_name)
+	{
+		AFB_WARNING("NOT USE THIS FUNCTION !");
+		return open(device_name,NO_CAN_ID,NO_CAN_ID);
+	}
+
+	/**
+	 * @brief Open ISOTP socket, the socket will be open and bind
+	 * with rx_id and tx_id
+	 *
+	 * @param device_name The device name where to open socket
+	 * @param rx_id The source can_id
+	 * @param tx_id The destination can_id
+	 * @return int 0 if ok else -1
+	 */
+	int socketcan_isotp_t::open(std::string device_name, canid_t rx_id, canid_t tx_id)
+	{
+		close();
+		socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_ISOTP);
+
+		if(socket_ < 0)
+		{
+			AFB_ERROR("Error open ISO TP socket");
+			return -1;
+		}
+
+		if(define_tx_address(device_name,rx_id,tx_id) < 0)
+		{
+			return -1;
+		}
+
+		struct can_isotp_options opts;
+		memset(&opts,0,sizeof(opts));
+		setopt(SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+
+		if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+		{
+			AFB_ERROR("Bind failed. %s", strerror(errno));
+			close();
+			return -1;
+		}
+
+		return socket_;
+	}
+
+	/**
+	 * @brief Allows to read message
+	 *
+	 * @return std::shared_ptr<message_t> The message that was read
+	 */
+	std::shared_ptr<message_t> socketcan_isotp_t::read_message()
+	{
+
+		std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
+		uint8_t msg[MAX_ISOTP_FRAMES];
+		ssize_t nbytes = read(socket(),msg,MAX_ISOTP_FRAMES);
+
+		cm->set_id(tx_address_.can_addr.tp.rx_id);
+
+		if(nbytes < 0)
+		{
+			AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno));
+			return cm;
+		}
+
+		std::vector<uint8_t> data;
+		for (int i=0; i < nbytes; i++)
+		{
+			data.push_back(msg[i]);
+		}
+
+		std::string data_string;
+		data_string = converter_t::to_hex(msg,nbytes);
+		AFB_DEBUG("DATA ISO TP for id : %x = %s",cm->get_id(),data_string.c_str());
+
+
+		cm->set_data(data);
+		cm->erase_flags();
+		cm->set_flags(ISOTP_PROTOCOL);
+		cm->set_length((uint32_t)nbytes);
+		cm->set_sub_id((int)socket());
+		// Need to define behaviour
+
+		return cm;
+	}
+
+	/**
+	 * @brief Allows to write can message
+	 *
+	 * @param m The message to send
+	 * @return int 0 if ok else -1
+	 */
+	int socketcan_isotp_t::write_message(message_t& m)
+	{
+		size_t size = m.get_length();
+		if(size < MAX_ISOTP_FRAMES)
+		{
+			ssize_t ret = write(socket(),m.get_data(),size);
+			if(ret < 0)
+			{
+				AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+				return -1;
+			}
+
+			if(ret != size)
+			{
+				AFB_WARNING("ISOTP wrote only %zd byte",ret);
+			}
+		}
+		else
+		{
+			AFB_ERROR("Error sending too much data");
+			return -1;
+		}
+
+		return 0;
+	}
+
+	/**
+	 * @brief Define the tx address for the bind function
+	 *
+	 * @param device_name The device can that you want to bind
+	 * @param rx_id The source can_id
+	 * @param tx_id The destination can_id
+	 * @return int 0 if ok else -1
+	 */
+	int socketcan_isotp_t::define_tx_address(std::string device_name, canid_t rx_id, canid_t tx_id)
+	{
+		struct ifreq ifr;
+		::strcpy(ifr.ifr_name, device_name.c_str());
+		AFB_DEBUG("ifr_name is : %s", ifr.ifr_name);
+
+		if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
+		{
+			AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
+			close();
+		}
+		else
+		{
+			tx_address_.can_ifindex = ifr.ifr_ifindex;
+		}
+
+		tx_address_.can_family = AF_CAN;
+
+		if(tx_id == NO_CAN_ID || rx_id == NO_CAN_ID)
+		{
+			AFB_ERROR("Error tx_id or rx_id");
+			return -1;
+		}
+
+		tx_address_.can_addr.tp.rx_id = rx_id;
+		tx_address_.can_addr.tp.tx_id = tx_id;
+
+		return 0;
+	}
+}
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