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-rw-r--r--low-can-binding/utils/socketcan-j1939.cpp194
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
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+++ b/low-can-binding/utils/socketcan-j1939.cpp
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+/*
+ * 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");
+ }
+
+}