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/*
* 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;
}
}
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