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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");
}
}
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