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

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