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Diffstat (limited to 'low-can-binding/utils/socketcan-j1939.cpp')
| -rw-r--r-- | low-can-binding/utils/socketcan-j1939.cpp | 194 |
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"); + } + +} |