summaryrefslogtreecommitdiffstats
path: root/low-can-binding/utils/socketcan-j1939/socketcan-j1939-addressclaiming.cpp
blob: 83ba71a33c13df6e9d2358cbd3d93eb048b9bcf3 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
/*
 * 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_;
	}

}