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>

7 files changed, 921 insertions, 44 deletions

diff --git a/low-can-binding/utils/socketcan-j1939.hpp b/low-can-binding/utils/socketcan-j1939.hpp
deleted file mode 100644
index 2b370179..00000000
--- a/low-can-binding/utils/socketcan-j1939.hpp
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- * 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.
- */
-
-#pragma once
-
-#include <linux/can/j1939.h>
-
-#include "./socketcan.hpp"
-#include "../can/message/j1939-message.hpp"
-
-namespace utils
-{
-
-	class socketcan_j1939_t : public socketcan_t
-	{
-	public:
-		using socketcan_t::socketcan_t;
-		virtual int open(std::string device_name);
-		int open(std::string device_name,  name_t name, pgn_t pgn, uint8_t addr);
-		virtual std::shared_ptr<message_t> read_message();
-		virtual void write_message(std::shared_ptr<message_t> obj);
-		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
-		virtual int write_message(message_t& obj);
-
-	private:
-		int connect(const struct sockaddr* addr, socklen_t len);
-		int bind(const struct sockaddr* addr, socklen_t len);
-		void filter(name_t name, pgn_t pgn, uint8_t addr, uint64_t name_mask=0, uint32_t pgn_mask=0, uint8_t addr_mask=0);
-	};
-}
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
diff --git a/low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.hpp b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.hpp
new file mode 100644
index 00000000..92c44c8c
--- /dev/null
+++ b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.hpp
@@ -0,0 +1,52 @@
+/*
+ * 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.
+ */
+
+#pragma once
+#include <afb-timer.h>
+
+#include "./socketcan-j1939.hpp"
+
+namespace utils
+{
+	class socketcan_j1939_addressclaiming_t : public socketcan_j1939_t
+	{
+        public:
+            socketcan_j1939_addressclaiming_t();
+            virtual std::shared_ptr<message_t> read_message();
+            virtual int open(std::string device_name, pgn_t pgn);
+            virtual claiming_state get_state();
+            TimerHandleT *timer_handle_;
+            std::pair<uint64_t, bool> table_j1939_address_[J1939_IDLE_ADDR];
+
+        private:
+            int claim_address(bool first_claim,bool new_address);
+            int pgn_request();
+            void initialize_table_j1939_address();
+            int save_addr_name(uint8_t addr,name_t name);
+            uint8_t choose_new_address();
+            uint8_t get_addr_table(name_t name);
+            void change_state(claiming_state new_state);
+            void launch_timer();
+            static int no_response_claiming(TimerHandleT *timerhandle);
+            static int free_timer_handle(void *timer_context);
+
+            uint8_t current_address_;
+            bool signal_stop_;
+            claiming_state claiming_state_;
+            std::string device_name_;
+	};
+}
diff --git a/low-can-binding/utils/socketcan-j1939/socketcan-j1939-data.cpp b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-data.cpp
new file mode 100644
index 00000000..c9d3e0a6
--- /dev/null
+++ b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-data.cpp
@@ -0,0 +1,68 @@
+/*
+ * 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 "socketcan-j1939-data.hpp"
+#include "socketcan-j1939-addressclaiming.hpp"
+#include "../../binding/application.hpp"
+
+namespace utils
+{
+    /**
+     * @brief Open a socket for receive or send data
+     *
+     * @param device_name The device name to open the socket
+     * @param pgn The pgn to receive only him
+     * @return int Return the number of the socket
+     */
+    int socketcan_j1939_data_t::open(std::string device_name, pgn_t pgn)
+    {
+        int ret = socketcan_j1939_t::open(device_name,htole64(J1939_NAME_ECU),pgn,J1939_NO_ADDR);
+        if(ret >= 0)
+        {
+            if(tx_address_.can_addr.j1939.pgn != J1939_NO_PGN)
+            {
+                add_filter(J1939_NO_NAME,tx_address_.can_addr.j1939.pgn,J1939_NO_ADDR,J1939_NO_NAME,J1939_NO_PGN,J1939_NO_ADDR);
+            }
+            define_opt();
+        }
+        return ret;
+    }
+
+    /**
+     * @brief Write a message but check if the address claiming is operation before
+     *
+     * @param obj A j1939 message
+     * @return int 0 if the write is ok
+     */
+    int socketcan_j1939_data_t::write_message(message_t& obj)
+    {
+        std::unique_lock<std::mutex> lock(mutex_claiming_);
+        application_t &application = application_t::instance();
+        socketcan_j1939_addressclaiming_t *socket_addr_claimed = static_cast<socketcan_j1939_addressclaiming_t*>(application.get_socket_address_claiming().get());
+        while(socket_addr_claimed->get_state() != claiming_state::OPERATIONAL)
+        {
+            socketcan_j1939_t::signal_address_claiming_.wait(lock);
+            if(socket_addr_claimed->get_state() == claiming_state::INVALID)
+            {
+                AFB_ERROR("Invalid state");
+                return -1;
+            }
+        }
+        return socketcan_j1939_t::write_message(obj);
+    }
+}
diff --git a/low-can-binding/utils/socketcan-j1939/socketcan-j1939-data.hpp b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-data.hpp
new file mode 100644
index 00000000..0cb0b8f2
--- /dev/null
+++ b/low-can-binding/utils/socketcan-j1939/socketcan-j1939-data.hpp
@@ -0,0 +1,31 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+#include "./socketcan-j1939.hpp"
+
+namespace utils
+{
+	class socketcan_j1939_data_t : public socketcan_j1939_t
+	{
+		public:
+			using socketcan_j1939_t::socketcan_j1939_t;
+			virtual int open(std::string device_name, pgn_t pgn);
+			virtual int write_message(message_t& obj);
+	};
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp b/low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp
new file mode 100644
index 00000000..25d0f76e
--- /dev/null
+++ b/low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp
@@ -0,0 +1,288 @@
+/*
+ * 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 <sys/ioctl.h>
+#include <fcntl.h>
+#include <iostream>
+#include <algorithm>
+#include <vector>
+#include "./socketcan-j1939.hpp"
+#include "socketcan-j1939-addressclaiming.hpp"
+
+namespace utils
+{
+	std::mutex socketcan_j1939_t::mutex_claiming_;
+	std::condition_variable socketcan_j1939_t::signal_address_claiming_;
+
+	/**
+	 * @brief Apply a filter to the socket
+	 *
+	 * @param name - The name you want to receive
+	 * @param pgn - The pgn you want to receive
+	 * @param addr - The addr you want to receive
+	 * @param name_mask - The mask to apply to the name (No mask : J1939_NO_NAME)
+	 * @param pgn_mask - The mask to apply to the pgn (No mask : J1939_NO_PGN)
+	 * @param addr_mask - The mask to apply to the addr (No mask : J1939_NO_ADDR)
+	 */
+	void socketcan_j1939_t::add_filter(name_t name, pgn_t pgn, uint8_t addr, name_t name_mask, pgn_t pgn_mask, uint8_t addr_mask)
+	{
+	//	AFB_DEBUG("[socketcan_j1939_t][add_filter] PGN : %" PRIu32 " ; NAME : %" PRIu64 " ; ADDR : %" PRIu8,pgn,(long unsigned int)name,addr);
+	//	AFB_DEBUG("PGN_MASK : %" PRIu32 " ; NAME_MASK : %" PRIu64 "; ADDR_MASK : %" PRIu8,pgn_mask,(long unsigned int)name_mask,addr_mask);
+		int filter_on = 0;
+		struct j1939_filter filter;
+		memset(&filter, 0, sizeof(filter));
+		if (name)
+		{
+			filter.name = name;
+			if(name_mask != J1939_NO_NAME)
+			{
+				filter.name_mask = name_mask;
+			} else
+			{
+				filter.name_mask = ~0ULL;
+			}
+			++filter_on;
+		}
+
+		if (addr < 0xff)
+		{
+			filter.addr = addr;
+			if(addr_mask != J1939_NO_ADDR)
+			{
+				filter.addr_mask = addr_mask;
+			} else
+			{
+				filter.addr_mask = ~0;
+			}
+			++filter_on;
+		}
+		if (pgn <= J1939_PGN_MAX)
+		{
+			filter.pgn = pgn;
+			if(pgn_mask != J1939_NO_PGN)
+			{
+				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));
+		}
+	}
+
+	/**
+	 * @brief Define some parameters on the socket
+	 *
+	 * @param promisc - Allows to accept all packets that the socket receives even if they are not addressed directly to it
+	 * @param recv_own_msgs - Allows you to receive your own packets
+	 * @param broadcast - Allows to write message with address brodcast (255)
+	 */
+    void socketcan_j1939_t::define_opt(bool promisc, bool recv_own_msgs, bool broadcast)
+	{
+		int promisc_i = 0;
+		int recv_own_msgs_i = 0;
+		int broadcast_i = 0;
+
+		if(promisc) promisc_i = 1;
+		if(recv_own_msgs) recv_own_msgs_i=1;
+		if(broadcast) broadcast_i = 1;
+
+		setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc_i, sizeof(promisc_i));
+		setopt(SOL_CAN_J1939, SO_J1939_RECV_OWN, &recv_own_msgs_i, sizeof(recv_own_msgs_i));
+		setopt(SOL_SOCKET, SO_BROADCAST, &broadcast_i, sizeof(broadcast_i));
+	}
+
+
+	/**
+	 * @brief Define the tx address for the bind function
+	 *
+	 * @param device_name - The device can that you want to bind
+	 * @param name - The name that you want to bind
+	 * @param pgn - The pgn that you want to bind
+	 * @param addr - The addr that you want to bindthat you want to bind
+	 */
+	void socketcan_j1939_t::define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
+	{
+
+		::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(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;
+		}
+
+	}
+
+
+	/**
+	 * @brief Open default socket
+	 *
+	 * @param device_name The device name to open the socket
+	 * @return int The number of the socket
+	 */
+	int socketcan_j1939_t::open(std::string device_name)
+	{
+		return open(device_name,0,0,0);
+	}
+
+	/**
+	 * @brief Open a socket with name pgn and address
+	 *
+	 * @param device_name The device name to open the socket
+	 * @param name - The name that you want to bind
+	 * @param pgn - The pgn that you want to bind
+	 * @param addr - The addr that you want to bindthat you want to bind
+	 * @return int The number of the socket
+	 */
+	int socketcan_j1939_t::open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
+	{
+
+		socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
+
+		define_tx_address(device_name,name,pgn,addr);
+
+		if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+		{
+			AFB_ERROR("Bind failed. %s", strerror(errno));
+			close();
+		}
+
+		return socket_;
+	}
+
+	/**
+	 * @brief Launch recvfrom on the socket with blocking flag
+	 *
+	 * @return std::shared_ptr<message_t> The j1939 message that is read
+	 */
+	std::shared_ptr<message_t> socketcan_j1939_t::read_message()
+	{
+		return read_message(0);
+	}
+
+	/**
+	 * @brief Launch recvfrom on the socket with the flag you want
+	 *
+	 * @param flag The flag param for the recvfrom
+	 * @return std::shared_ptr<message_t> The j1939 message that is read
+	 */
+	std::shared_ptr<message_t> socketcan_j1939_t::read_message(int flag)
+	{
+		socklen_t peernamelen;
+		std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
+		uint8_t data[128] = {0};
+
+		struct sockaddr_can peername;
+		peernamelen = sizeof(peername);
+		ssize_t nbytes = recvfrom(socket_, &data, sizeof(data), flag, (struct sockaddr *)&peername,  &peernamelen);
+
+		if(nbytes < 0)
+		{
+			return nullptr;
+		}
+		//AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
+
+		struct timeval tv;
+		ioctl(socket(), SIOCGSTAMP, &tv);
+		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+		jm = j1939_message_t::convert_from_addr(peername, data , nbytes, timestamp);
+		jm->set_sub_id((int)socket());
+		return jm;
+	}
+
+	/**
+	 * @brief Write a j1939 message
+	 *
+	 * @param pgn The pgn that you want to emmit
+	 * @param data The data that you want to emmit
+	 * @param len_data The size of the data to emmit
+	 * @return int 0 if the message is correctly send
+	 */
+	int socketcan_j1939_t::write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data)
+	{
+		j1939_message_t msg = j1939_message_t(J1939_MAX_DLEN, len_data, message_format_t::J1939, data, 0, 0, pgn, 0);
+		msg.set_sockname(pgn,J1939_NO_NAME,J1939_NO_ADDR);
+		return write_message(msg);
+	}
+
+	/**
+	 * @brief Write a j1939 message
+	 *
+	 * @param m A j1939 message
+	 * @return int 0 if the message is correctly send
+	 */
+	int socketcan_j1939_t::write_message(message_t& m)
+	{
+		j1939_message_t& jm = reinterpret_cast<j1939_message_t&>(m);
+		sockaddr_can sockname =  jm.get_sockname();
+		uint8_t data[jm.get_data_vector().size()];
+
+		for(int i=0; i<jm.get_data_vector().size(); i++)
+		{
+			data[i] = jm.get_data_vector()[i];
+		}
+
+		if (sendto(socket_, &data, sizeof(data), 0, (const struct sockaddr *)&sockname, sizeof(sockname)) < 0)
+		{
+			AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+			return -errno;
+		}
+		return 0;
+	}
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-j1939/socketcan-j1939.hpp b/low-can-binding/utils/socketcan-j1939/socketcan-j1939.hpp
new file mode 100644
index 00000000..6c2ea696
--- /dev/null
+++ b/low-can-binding/utils/socketcan-j1939/socketcan-j1939.hpp
@@ -0,0 +1,68 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <linux/can/j1939.h>
+#include <net/if.h>
+#include "../socketcan.hpp"
+#include "../../can/message/j1939-message.hpp"
+
+#ifndef J1939_NAME_ECU
+#define J1939_NAME_ECU 0x1234
+#endif
+
+namespace utils
+{
+
+	/**
+     * @enum state
+     * @brief The state of the address claiming
+     */
+    enum class claiming_state {
+        INITIAL, ///< INITIAL - INITIAL state
+        CLAIMING, ///< CLAIMING - CLAIMING state
+        OPERATIONAL, ///< OPERATIONAL - OPERATIONAL state
+        INVALID
+    };
+
+	class socketcan_j1939_addressclaiming_t;
+	class socketcan_j1939_t : public socketcan_t
+	{
+		public:
+			using socketcan_t::socketcan_t;
+			virtual int open(std::string device_name);
+			virtual int open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr);
+			virtual std::shared_ptr<message_t> read_message();
+			virtual std::shared_ptr<message_t> read_message(int flag);
+			virtual int write_message(message_t& obj);
+			virtual int write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data);
+
+		protected:
+			struct ifreq ifr_;
+			static std::mutex mutex_claiming_;
+			static std::condition_variable signal_address_claiming_;
+			void define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr);
+			void add_filter(name_t name, pgn_t pgn, uint8_t addr, name_t name_mask, pgn_t pgn_mask, uint8_t addr_mask);
+			void define_opt(bool promisc = true, bool recv_own_msgs = true, bool broadcast = true);
+
+	};
+}
+