Implement a new socket type CAN for j1939 protocol

This commit implements a new socket class for the j1939 protocol and
prepares the bases classes by modifying the write and read methods.

Bug-AGL: SPEC-2386

Change-Id: I16ba493418a4bb37a0262b61a2a2629be6ab5051
Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Signed-off-by: Stephane Desneux <stephane.desneux@iot.bzh>
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 194 insertions, 0 deletions

diff --git a/low-can-binding/utils/socketcan-j1939.cpp b/low-can-binding/utils/socketcan-j1939.cpp
new file mode 100644
index 00000000..f914ac27
--- /dev/null
+++ b/low-can-binding/utils/socketcan-j1939.cpp
@@ -0,0 +1,194 @@
+/*
+ * Copyright (C) 2018, 2019 "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 <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include "./socketcan-j1939.hpp"
+#include "../binding/application.hpp"
+
+namespace utils
+{
+	/// @brief Connect the socket.
+	/// @return 0 if success.
+	int socketcan_j1939_t::connect(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+	}
+
+	/// @brief Bind the socket.
+	/// @return 0 if success.
+	int socketcan_j1939_t::bind(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+	}
+
+	void socketcan_j1939_t::filter(name_t name, pgn_t pgn, uint8_t addr, uint64_t name_mask, uint32_t pgn_mask, uint8_t addr_mask)
+	{
+		int filter_on = 0;
+		struct j1939_filter filter;
+		memset(&filter, 0, sizeof(filter));
+		if (name)
+		{
+			filter.name = name;
+			if(name_mask)
+			{
+				filter.name_mask = name_mask;
+			} else
+			{
+				filter.name_mask = ~0ULL;
+			}
+			++filter_on;
+		}
+
+		if (addr < 0xff)
+		{
+			filter.addr = addr;
+			if(addr_mask)
+			{
+				filter.addr_mask = addr_mask;
+			} else
+			{
+				filter.addr_mask = ~0;
+			}
+			++filter_on;
+		}
+		if (pgn <= J1939_PGN_MAX)
+		{
+			filter.pgn = pgn;
+			if(pgn_mask)
+			{
+				filter.pgn_mask = pgn_mask;
+			} else
+			{
+				filter.pgn_mask = ~0;
+			}
+			++filter_on;
+		}
+		if(filter_on){
+			setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
+		}
+	}
+
+	int socketcan_j1939_t::open(std::string device_name)
+	{
+		return open(device_name,0,0,0);
+	}
+
+	int socketcan_j1939_t::open(std::string device_name,  name_t name, pgn_t pgn, uint8_t addr)
+	{
+
+		struct ifreq ifr;
+		socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
+
+		// Attempts to open a socket to CAN bus
+		::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_family = AF_CAN;
+			tx_address_.can_ifindex = ifr.ifr_ifindex;
+
+			if(addr <= 0 || addr >= UINT8_MAX )
+			{
+				tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
+			}
+			else
+			{
+				tx_address_.can_addr.j1939.addr = addr;
+			}
+
+			if(name <= 0 || name >= UINT64_MAX )
+			{
+				tx_address_.can_addr.j1939.name = J1939_NO_NAME;
+			}
+			else
+			{
+				tx_address_.can_addr.j1939.name = name;
+			}
+
+			if(pgn <= 0 || pgn > J1939_PGN_MAX)
+			{
+				tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
+			}
+			else
+			{
+				tx_address_.can_addr.j1939.pgn = pgn;
+			}
+
+			if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+			{
+				AFB_ERROR("Bind failed. %s", strerror(errno));
+				close();
+			}
+			else
+			{
+				int promisc = 1; // 0 = disabled (default), 1 = enabled
+				setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc, sizeof(promisc));
+				int recv_own_msgs = 1; // 0 = disabled (default), 1 = enabled
+				setopt(SOL_CAN_J1939, SO_J1939_RECV_OWN, &recv_own_msgs, sizeof(recv_own_msgs));
+				if(tx_address_.can_addr.j1939.pgn != J1939_NO_PGN)
+				{
+					filter(J1939_NO_NAME,tx_address_.can_addr.j1939.pgn,J1939_NO_ADDR);
+				}
+			}
+		}
+		return socket_;
+	}
+
+	std::shared_ptr<message_t> socketcan_j1939_t::read_message()
+	{
+		std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
+		uint8_t data[128] = {0};
+
+		struct sockaddr_can addr;
+		socklen_t addrlen = sizeof(addr);
+		struct ifreq ifr;
+
+		ssize_t nbytes = ::recvfrom(socket(), &data, sizeof(data), 0, (struct sockaddr*)&addr, &addrlen);
+		ifr.ifr_ifindex = get_tx_address().can_ifindex;
+		ioctl(socket(), SIOCGIFNAME, &ifr);
+
+		AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
+		/*AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
+			data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);*/
+
+		struct timeval tv;
+		ioctl(socket(), SIOCGSTAMP, &tv);
+		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+		jm = j1939_message_t::convert_from_addr(addr, data , nbytes, timestamp);
+		jm->set_sub_id((int)socket());
+		return jm;
+	}
+
+
+	void socketcan_j1939_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
+	{
+		AFB_WARNING("Not implemented");
+	}
+
+	void socketcan_j1939_t::write_message(std::shared_ptr<can_message_t> cm)
+	{
+		AFB_WARNING("Not implemented");
+	}
+
+}