diff options
Diffstat (limited to 'low-can-binding/utils')
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); + + }; +} + |