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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 <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 = promisc ? 1 : 0;
//int recv_own_msgs_i = recv_own_msgs ? 1 : 0;
int broadcast_i = broadcast ? 1 : 0;
setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc_i, sizeof(promisc_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);
if (socket_ < 0)
return socket_;
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(len_data, 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;
}
}
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