diff options
Diffstat (limited to 'low-can-binding/utils')
| -rw-r--r-- | low-can-binding/utils/socketcan-isotp.cpp | 191 | ||||
| -rw-r--r-- | low-can-binding/utils/socketcan-isotp.hpp | 39 | ||||
| -rw-r--r-- | low-can-binding/utils/socketcan.hpp | 3 |
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); }; - - } |