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authorArthur Guyader <arthur.guyader@iot.bzh>2019-07-29 14:53:14 +0200
committerArthur Guyader <arthur.guyader@iot.bzh>2019-08-12 15:06:45 +0200
commit22e1fe8db6686ee6ae32cfe58a10aad9f7dfb3a7 (patch)
tree05c6a378a3ff2d846fc05141789e8225687d42a4 /low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.cpp
parent88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3 (diff)
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 Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh> Change-Id: I1bb95a7ba6f6ebe463319c3972d9d46897181d51
Diffstat (limited to 'low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.cpp')
-rw-r--r--low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.cpp414
1 files changed, 414 insertions, 0 deletions
diff --git a/low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.cpp b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.cpp
new file mode 100644
index 00000000..df994f59
--- /dev/null
+++ b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.cpp
@@ -0,0 +1,414 @@
+/*
+ * 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 <unistd.h>
+#include "./socketcan-j1939-addressclaiming.hpp"
+
+namespace utils
+{
+ /**
+ * @brief Construct a new socketcan j1939 addressclaiming t::socketcan j1939 addressclaiming t object
+ *
+ */
+ socketcan_j1939_addressclaiming_t::socketcan_j1939_addressclaiming_t():
+ socketcan_j1939_t(),
+ table_j1939_address_{{std::make_pair(0,false)}},
+ signal_stop_{false},
+ claiming_state_{claiming_state::INITIAL}
+ {}
+
+ /**
+ * @brief Allows to read the claiming message and react to them
+ *
+ * @return std::shared_ptr<message_t> Return an INVALID j1939 message because no need of return (only signature of the function)
+ */
+ std::shared_ptr<message_t> socketcan_j1939_addressclaiming_t::read_message()
+ {
+ AFB_DEBUG("[socketcan_j1939_addressclaiming_t] read_message");
+ std::shared_ptr<message_t> invalid_message = std::make_shared<j1939_message_t>();
+ std::shared_ptr<message_t> m;
+ j1939_message_t* jm;
+
+ m = socketcan_j1939_t::read_message();
+ jm = static_cast<j1939_message_t*>(m.get());
+
+ if(jm->get_pgn() == J1939_PGN_ADDRESS_CLAIMED)
+ {
+ if(jm->get_addr() >= J1939_IDLE_ADDR)
+ {
+ AFB_DEBUG("Get invalid address claiming by name : %x",(unsigned int)jm->get_name());
+ return invalid_message;
+ }
+
+ if(jm->get_name() == htole64(J1939_NAME_ECU))
+ {
+ AFB_DEBUG("Get own address claiming");
+ return invalid_message;
+ }
+
+ AFB_DEBUG("Get address claiming from %x",(unsigned int)jm->get_name());
+
+ if(jm->get_addr() != current_address_)
+ {
+ save_addr_name(jm->get_addr(),jm->get_name());
+ return invalid_message;
+ }
+
+ if(claiming_state_ == claiming_state::CLAIMING)
+ {
+ if(jm->get_name() > htole64(J1939_NAME_ECU))
+ {
+ AFB_WARNING("Error from %x to use j1939 protocol",(unsigned int)htole64(J1939_NAME_ECU));
+ return invalid_message;
+ }
+
+ save_addr_name(jm->get_addr(),jm->get_name());
+
+
+ if(timer_handle_->evtSource)
+ {
+ TimerEvtStop(timer_handle_);
+ timer_handle_ = nullptr;
+ }
+
+ if(claim_address(false, true) < 0)
+ {
+ AFB_ERROR("Claim address failed");
+ change_state(claiming_state::INVALID);
+ return invalid_message;
+ }
+ }
+ else if(claiming_state_ == claiming_state::OPERATIONAL)
+ {
+ AFB_DEBUG("Address colision");
+ if(jm->get_name() > htole64(J1939_NAME_ECU))
+ {
+ if(claim_address(false,false) < 0)
+ {
+ AFB_ERROR("Claim address failed");
+ change_state(claiming_state::INVALID);
+ return invalid_message;
+ }
+ return invalid_message;
+ }
+
+ save_addr_name(jm->get_addr(),jm->get_name());
+
+ if(claim_address(false,true) < 0)
+ {
+ AFB_ERROR("Claim address failed");
+ change_state(claiming_state::INVALID);
+ return invalid_message;
+ }
+ }
+ }
+ return invalid_message;
+ }
+
+ /**
+ * @brief Initialize the table j1939 with the valid address posible
+ *
+ */
+ void socketcan_j1939_addressclaiming_t::initialize_table_j1939_address()
+ {
+ int start_addr = 128;
+ int end_addr = 247;
+ if(start_addr < 0)
+ {
+ AFB_ERROR("[socketcan-j1939-addressclaiming][initialize_table_j1939_address] Invalid start address");
+ }
+ else
+ {
+ if(end_addr >= J1939_IDLE_ADDR)
+ {
+ AFB_ERROR("[socketcan-j1939-addressclaiming][initialize_table_j1939_address] Invalid end address");
+ }
+ else
+ {
+ for (int i = start_addr; i <= end_addr; i++) {
+ table_j1939_address_[i] = std::make_pair(0,true);
+ }
+ }
+ }
+ }
+
+ /**
+ * @brief Save at an address a name
+ *
+ * @param addr The adress where you want to save name
+ * @param name The name of the ECU that is in the address
+ * @return int 0 if save is ok
+ */
+ int socketcan_j1939_addressclaiming_t::save_addr_name(uint8_t addr,name_t name)
+ {
+ if(addr < J1939_IDLE_ADDR)
+ {
+ if(table_j1939_address_[addr].first < name)
+ {
+ table_j1939_address_[addr].first = name;
+ AFB_DEBUG("[socketcan-j1939-addressclaiming][save_addr_name] NAME : %x <--> ADDR : %d",(unsigned int)name,addr);
+ }
+ else if(table_j1939_address_[addr].first == name)
+ {
+ AFB_WARNING("Name %x has already adress %d",(unsigned int)name,addr);
+ }
+ }
+ else
+ {
+ AFB_ERROR("Invalid address to save");
+ return -1;
+ }
+ return 0;
+ }
+
+ /**
+ * @brief Choose new address for the ECU check in the table the best place to claim
+ *
+ * @return uint8_t The new address choosen
+ */
+ uint8_t socketcan_j1939_addressclaiming_t::choose_new_address()
+ {
+ for (int i = 0; i < J1939_IDLE_ADDR; i++)
+ {
+ if(table_j1939_address_[i].second && i!=current_address_)
+ {
+ if( table_j1939_address_[i].first >= htole64(J1939_NAME_ECU) || table_j1939_address_[i].first == 0)
+ {
+ return (uint8_t) i;
+ }
+ }
+ }
+ return J1939_IDLE_ADDR;
+ }
+
+ /**
+ * @brief The function that destoy the timer
+ *
+ * @param timer_context The timer context to destroy
+ * @return int
+ */
+ int socketcan_j1939_addressclaiming_t::free_timer_handle(void *timer_context)
+ {
+ socketcan_j1939_addressclaiming_t *addressclaiming_socket = (socketcan_j1939_addressclaiming_t*) timer_context;
+ addressclaiming_socket->timer_handle_ = nullptr;
+ return 0;
+ }
+
+ /**
+ * @brief The function is call when at the end of the timer, the socket has don't receive
+ *
+ * @param timerhandle The timerhandle of the timer
+ * @return int 1 it's all it's ok
+ */
+ int socketcan_j1939_addressclaiming_t::no_response_claiming(TimerHandleT *timerhandle)
+ {
+ socketcan_j1939_addressclaiming_t *addressclaiming_socket = (socketcan_j1939_addressclaiming_t*) timerhandle->context;
+ // If the cache is cleared :
+ addressclaiming_socket->change_state(claiming_state::OPERATIONAL);
+ addressclaiming_socket->save_addr_name(addressclaiming_socket->current_address_,htole64(J1939_NAME_ECU));
+ AFB_DEBUG("Get address %d for this ecu", addressclaiming_socket->current_address_);
+ /*Else :
+
+ uint8_t data[3]= { 0, 0, 0, };
+ std::vector<uint8_t> data_v(data,data+3);
+ int res = addressclaiming_socket->write_j1939_message(J1939_PGN_REQUEST,data_v,3);
+ if(res < 0)
+ {
+ if(res == -99)
+ {
+ addressclaiming_socket->save_addr_name(addressclaiming_socket->current_address_,htole64(1));
+ AFB_DEBUG("Address busy but no claming request from other ECU");
+ addressclaiming_socket->claim_address(false,true);
+ }
+ else
+ {
+ AFB_ERROR("ERROR");
+ }
+ }
+ else
+ {
+ addressclaiming_socket->change_state(claiming_state::OPERATIONAL);
+ addressclaiming_socket->save_addr_name(addressclaiming_socket->current_address_,htole64(J1939_NAME_ECU));
+ AFB_DEBUG("Get address %d for this ecu", addressclaiming_socket->current_address_);
+ }*/
+
+ return 1;
+ }
+
+ /**
+ * @brief Launch timer when an address is claimed
+ *
+ */
+ void socketcan_j1939_addressclaiming_t::launch_timer()
+ {
+ timer_handle_ = (TimerHandleT*) malloc(sizeof(TimerHandleT));
+ timer_handle_->uid = "claiming_wait";
+ timer_handle_->delay = 250;
+ timer_handle_->count = 1;
+ timer_handle_->freeCB = free_timer_handle;
+ TimerEvtStart(afbBindingV3root, timer_handle_, no_response_claiming, (void *) this);
+ }
+
+
+ /**
+ * @brief Allows to claim a new address
+ *
+ * @param first_claim If true, the socket is open
+ * @param new_address If true, claim a new address, else only resend a claim with same address
+ * @return int -1 if fail
+ */
+ int socketcan_j1939_addressclaiming_t::claim_address(bool first_claim,bool new_address)
+ {
+ if(new_address)
+ {
+ AFB_DEBUG("New address");
+ current_address_ = choose_new_address();
+ change_state(claiming_state::CLAIMING);
+ launch_timer();
+ }
+
+ if(current_address_ == J1939_IDLE_ADDR)
+ {
+ AFB_ERROR("No address left");
+ return -1;
+ }
+
+ if(first_claim)
+ {
+ int ret = socketcan_j1939_t::open(device_name_,htole64(J1939_NAME_ECU),J1939_NO_PGN,current_address_);
+
+ if(ret < 0)
+ {
+ AFB_ERROR("Error open socket address claiming");
+ return -1;
+ }
+
+ AFB_DEBUG("[socketcan-j1939-addressclaiming][claim_address] Success open socket address claiming");
+ add_filter(J1939_NO_NAME,J1939_PGN_ADDRESS_CLAIMED,J1939_NO_ADDR,J1939_NO_NAME,J1939_PGN_PDU1_MAX,J1939_NO_ADDR);
+ define_opt();
+ }
+ else
+ {
+ tx_address_.can_addr.j1939.addr = current_address_;
+ if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+ {
+ AFB_ERROR("rebind() fail");
+ return -1;
+ }
+ }
+
+ uint64_t name = htole64(J1939_NAME_ECU);
+ uint8_t dat[8] = {0};
+ memcpy(dat, &name, 8);
+ struct sockaddr_can sockname;
+ memset(&sockname, 0, sizeof(sockname));
+ sockname.can_family = AF_CAN;
+ sockname.can_addr.j1939.pgn = J1939_PGN_ADDRESS_CLAIMED;
+ sockname.can_addr.j1939.addr = J1939_NO_ADDR;
+ socklen_t socklen = sizeof(sockname);
+
+ ssize_t ret = sendto(socket_, &dat, sizeof(dat), 0, (const struct sockaddr *)&sockname, socklen);
+
+ if(ret < 0 )
+ {
+ AFB_ERROR("Address claimed fail : %s", strerror(errno));
+ return -1;
+ }
+
+ AFB_DEBUG("[socketcan-j1939-addressclaiming][claim_address] Send address claiming request");
+
+ return (int)ret;
+ }
+
+/* int socketcan_j1939_addressclaiming_t::pgn_request()
+ {
+ static const uint8_t dat[3] = { 0, 0xee, 0, };
+ static struct sockaddr_can peername;
+ peername.can_family = AF_CAN;
+ peername.can_addr.j1939.pgn = J1939_PGN_REQUEST;
+ peername.can_addr.j1939.addr = J1939_NO_ADDR;
+ int ret = sendto(socket_, dat, sizeof(dat), 0, (const struct sockaddr *)&peername, sizeof(peername));
+
+ if(ret < 0)
+ {
+ AFB_ERROR("Error pgn_request()");
+ }
+ return ret;
+ }
+ */
+
+ /**
+ * @brief Return the address associate to a name
+ *
+ * @param name The name you are looking for
+ * @return uint8_t The address if it is present, else J1939_IDLE_ADDR
+ */
+ uint8_t socketcan_j1939_addressclaiming_t::get_addr_table(name_t name)
+ {
+ for(int i = 0; i < J1939_IDLE_ADDR; i++)
+ {
+ if(table_j1939_address_[i].first == name)
+ {
+ return (uint8_t) i;
+ }
+ }
+ return J1939_IDLE_ADDR;
+ }
+
+ /**
+ * @brief Allows to open a J1939 socket address claiming
+ *
+ * @param device_name The name of the device on which to open the socket
+ * @param pgn NO_PGN
+ * @return int Return 0 if ok else -1
+ */
+ int socketcan_j1939_addressclaiming_t::open(std::string device_name, pgn_t pgn)
+ {
+ device_name_ = device_name;
+ initialize_table_j1939_address();
+ if(claim_address(true,true) < 0)
+ {
+ AFB_ERROR("Claim address failed");
+ return -1;
+ }
+ return 0;
+ }
+
+ /**
+ * @brief Allows to change the state of the socket address claiming
+ * When the state change a mutex is lock
+ *
+ * @param new_state The new state
+ */
+ void socketcan_j1939_addressclaiming_t::change_state(claiming_state new_state)
+ {
+ std::unique_lock<std::mutex> lock(socketcan_j1939_t::mutex_claiming_);
+ claiming_state_ = new_state;
+ socketcan_j1939_t::signal_address_claiming_.notify_one();
+ }
+
+ /**
+ * @brief Allows to get the states of the socket
+ *
+ * @return claiming_state The state of the socket
+ */
+ claiming_state socketcan_j1939_addressclaiming_t::get_state()
+ {
+ return claiming_state_;
+ }
+
+} \ No newline at end of file