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-rw-r--r--low-can-binding/utils/socketcan-isotp.cpp191
-rw-r--r--low-can-binding/utils/socketcan-isotp.hpp39
-rw-r--r--low-can-binding/utils/socketcan.hpp3
3 files changed, 231 insertions, 2 deletions
diff --git a/low-can-binding/utils/socketcan-isotp.cpp b/low-can-binding/utils/socketcan-isotp.cpp
new file mode 100644
index 00000000..1aab9afa
--- /dev/null
+++ b/low-can-binding/utils/socketcan-isotp.cpp
@@ -0,0 +1,191 @@
+/*
+ * Copyright (C) 2019, 2020 "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-isotp.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include "../utils/converter.hpp"
+#include "../binding/application.hpp"
+
+namespace utils
+{
+ /**
+ * @brief Open ISOTP socket this default function will not work, because
+ * isotp need rx_id and tx_id
+ *
+ * @param device_name The device name where to open socket
+ * @return int -1 fail
+ */
+ int socketcan_isotp_t::open(std::string device_name)
+ {
+ AFB_WARNING("NOT USE THIS FUNCTION !");
+ return open(device_name,NO_CAN_ID,NO_CAN_ID);
+ }
+
+ /**
+ * @brief Open ISOTP socket, the socket will be open and bind
+ * with rx_id and tx_id
+ *
+ * @param device_name The device name where to open socket
+ * @param rx_id The source can_id
+ * @param tx_id The destination can_id
+ * @return int 0 if ok else -1
+ */
+ int socketcan_isotp_t::open(std::string device_name, canid_t rx_id, canid_t tx_id)
+ {
+ close();
+ socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_ISOTP);
+
+ if(socket_ < 0)
+ {
+ AFB_ERROR("Error open ISO TP socket");
+ return -1;
+ }
+
+ if(define_tx_address(device_name,rx_id,tx_id) < 0)
+ {
+ return -1;
+ }
+
+ struct can_isotp_options opts;
+ memset(&opts,0,sizeof(opts));
+ setopt(SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+
+ if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+ {
+ AFB_ERROR("Bind failed. %s", strerror(errno));
+ close();
+ return -1;
+ }
+
+ return socket_;
+ }
+
+ /**
+ * @brief Allows to read message
+ *
+ * @return std::shared_ptr<message_t> The message that was read
+ */
+ std::shared_ptr<message_t> socketcan_isotp_t::read_message()
+ {
+
+ std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
+ uint8_t msg[MAX_ISOTP_FRAMES];
+ ssize_t nbytes = read(socket(),msg,MAX_ISOTP_FRAMES);
+
+ cm->set_id(tx_address_.can_addr.tp.rx_id);
+
+ if(nbytes < 0)
+ {
+ AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno));
+ return cm;
+ }
+
+ std::vector<uint8_t> data;
+ for (int i=0; i < nbytes; i++)
+ {
+ data.push_back(msg[i]);
+ }
+
+ std::string data_string;
+ data_string = converter_t::to_hex(msg,nbytes);
+ AFB_DEBUG("DATA ISO TP for id : %x = %s",cm->get_id(),data_string.c_str());
+
+
+ cm->set_data(data);
+ cm->erase_flags();
+ cm->set_flags(ISOTP_PROTOCOL);
+ cm->set_length((uint32_t)nbytes);
+ cm->set_sub_id((int)socket());
+ // Need to define behaviour
+
+ return cm;
+ }
+
+ /**
+ * @brief Allows to write can message
+ *
+ * @param m The message to send
+ * @return int 0 if ok else -1
+ */
+ int socketcan_isotp_t::write_message(message_t& m)
+ {
+ size_t size = m.get_length();
+ if(size < MAX_ISOTP_FRAMES)
+ {
+ ssize_t ret = write(socket(),m.get_data(),size);
+ if(ret < 0)
+ {
+ AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+ return -1;
+ }
+
+ if(ret != size)
+ {
+ AFB_WARNING("ISOTP wrote only %zd byte",ret);
+ }
+ }
+ else
+ {
+ AFB_ERROR("Error sending too much data");
+ return -1;
+ }
+
+ return 0;
+ }
+
+ /**
+ * @brief Define the tx address for the bind function
+ *
+ * @param device_name The device can that you want to bind
+ * @param rx_id The source can_id
+ * @param tx_id The destination can_id
+ * @return int 0 if ok else -1
+ */
+ int socketcan_isotp_t::define_tx_address(std::string device_name, canid_t rx_id, canid_t tx_id)
+ {
+ struct ifreq ifr;
+ ::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(tx_id == NO_CAN_ID || rx_id == NO_CAN_ID)
+ {
+ AFB_ERROR("Error tx_id or rx_id");
+ return -1;
+ }
+
+ tx_address_.can_addr.tp.rx_id = rx_id;
+ tx_address_.can_addr.tp.tx_id = tx_id;
+
+ return 0;
+ }
+} \ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-isotp.hpp b/low-can-binding/utils/socketcan-isotp.hpp
new file mode 100644
index 00000000..86ed9faf
--- /dev/null
+++ b/low-can-binding/utils/socketcan-isotp.hpp
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2019, 2020 "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/isotp.h>
+#include "socketcan.hpp"
+#include "../can/message/can-message.hpp"
+
+#define CAN_ISOTP_MAX_DLEN 4096
+
+namespace utils
+{
+ class socketcan_isotp_t : public socketcan_t
+ {
+ public:
+ using socketcan_t::socketcan_t;
+
+ virtual int open(std::string device_name);
+ virtual int open(std::string device_name, canid_t rx_id, canid_t tx_id);
+ virtual std::shared_ptr<message_t> read_message();
+ virtual int write_message(message_t& obj);
+ int define_tx_address(std::string device_name, canid_t rx_id, canid_t tx_id);
+ };
+} \ No newline at end of file
diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp
index 6391d011..a3b31591 100644
--- a/low-can-binding/utils/socketcan.hpp
+++ b/low-can-binding/utils/socketcan.hpp
@@ -27,6 +27,7 @@
#include "../can/message/can-message.hpp"
#define INVALID_SOCKET -1
+#define NO_CAN_ID 0xFFFFFFFFU
namespace utils
{
@@ -58,6 +59,4 @@ namespace utils
int bind(const struct sockaddr* addr, socklen_t len);
int connect(const struct sockaddr* addr, socklen_t len);
};
-
-
}