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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.
*/
#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
#define J1939_CAN_ID CAN_EFF_FLAG
#define J1939_CAN_MASK (CAN_EFF_FLAG | CAN_RTR_FLAG)
// PDU 1 = NO BROADCAST
// PDU 2 = BRODCAST
static inline bool j1939_pgn_is_pdu1(pgn_t pgn)
{
return (pgn & 0xff00) < 0xf000;
}
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);
void define_opt(bool broadcast = true, bool promisc = false);
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);
int add_filter(name_t name, pgn_t pgn, uint8_t addr, name_t name_mask, pgn_t pgn_mask, uint8_t addr_mask);
};
}
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