2 * Copyright (C) 2018, 2019 "IoT.bzh"
3 * Author "Arthur Guyader" <arthur.guyader@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
19 #include "./socketcan-j1939-addressclaiming.hpp"
24 * @brief Construct a new socketcan j1939 addressclaiming t::socketcan j1939 addressclaiming t object
27 socketcan_j1939_addressclaiming_t::socketcan_j1939_addressclaiming_t():
29 table_j1939_address_{{std::make_pair(0,false)}},
31 claiming_state_{claiming_state::INITIAL}
35 * @brief Allows to read the claiming message and react to them
37 * @return std::shared_ptr<message_t> Return an INVALID j1939 message because no need of return (only signature of the function)
39 std::shared_ptr<message_t> socketcan_j1939_addressclaiming_t::read_message()
41 AFB_DEBUG("[socketcan_j1939_addressclaiming_t] read_message");
42 std::shared_ptr<message_t> invalid_message = std::make_shared<j1939_message_t>();
43 std::shared_ptr<message_t> m;
46 m = socketcan_j1939_t::read_message();
47 jm = static_cast<j1939_message_t*>(m.get());
49 if(jm->get_pgn() == J1939_PGN_ADDRESS_CLAIMED)
51 if(jm->get_addr() >= J1939_IDLE_ADDR)
53 AFB_DEBUG("Get invalid address claiming by name : %x",(unsigned int)jm->get_name());
54 return invalid_message;
57 if(jm->get_name() == htole64(J1939_NAME_ECU))
59 AFB_DEBUG("Get own address claiming");
60 return invalid_message;
63 AFB_DEBUG("Get address claiming from %x",(unsigned int)jm->get_name());
65 if(jm->get_addr() != current_address_)
67 save_addr_name(jm->get_addr(),jm->get_name());
68 return invalid_message;
71 if(claiming_state_ == claiming_state::CLAIMING)
73 if(jm->get_name() > htole64(J1939_NAME_ECU))
75 AFB_WARNING("Error from %x to use j1939 protocol",(unsigned int)htole64(J1939_NAME_ECU));
76 return invalid_message;
79 save_addr_name(jm->get_addr(),jm->get_name());
82 if(timer_handle_->evtSource)
84 TimerEvtStop(timer_handle_);
85 timer_handle_ = nullptr;
88 if(claim_address(false, true) < 0)
90 AFB_ERROR("Claim address failed");
91 change_state(claiming_state::INVALID);
92 return invalid_message;
95 else if(claiming_state_ == claiming_state::OPERATIONAL)
97 AFB_DEBUG("Address colision");
98 if(jm->get_name() > htole64(J1939_NAME_ECU))
100 if(claim_address(false,false) < 0)
102 AFB_ERROR("Claim address failed");
103 change_state(claiming_state::INVALID);
104 return invalid_message;
106 return invalid_message;
109 save_addr_name(jm->get_addr(),jm->get_name());
111 if(claim_address(false,true) < 0)
113 AFB_ERROR("Claim address failed");
114 change_state(claiming_state::INVALID);
115 return invalid_message;
119 return invalid_message;
123 * @brief Initialize the table j1939 with the valid address posible
126 void socketcan_j1939_addressclaiming_t::initialize_table_j1939_address()
128 int start_addr = 128;
132 AFB_ERROR("[socketcan-j1939-addressclaiming][initialize_table_j1939_address] Invalid start address");
136 if(end_addr >= J1939_IDLE_ADDR)
138 AFB_ERROR("[socketcan-j1939-addressclaiming][initialize_table_j1939_address] Invalid end address");
142 for (int i = start_addr; i <= end_addr; i++) {
143 table_j1939_address_[i] = std::make_pair(0,true);
150 * @brief Save at an address a name
152 * @param addr The adress where you want to save name
153 * @param name The name of the ECU that is in the address
154 * @return int 0 if save is ok
156 int socketcan_j1939_addressclaiming_t::save_addr_name(uint8_t addr,name_t name)
158 if(addr < J1939_IDLE_ADDR)
160 if(table_j1939_address_[addr].first < name)
162 table_j1939_address_[addr].first = name;
163 AFB_DEBUG("[socketcan-j1939-addressclaiming][save_addr_name] NAME : %x <--> ADDR : %d",(unsigned int)name,addr);
165 else if(table_j1939_address_[addr].first == name)
167 AFB_WARNING("Name %x has already adress %d",(unsigned int)name,addr);
172 AFB_ERROR("Invalid address to save");
179 * @brief Choose new address for the ECU check in the table the best place to claim
181 * @return uint8_t The new address choosen
183 uint8_t socketcan_j1939_addressclaiming_t::choose_new_address()
185 for (int i = 0; i < J1939_IDLE_ADDR; i++)
187 if(table_j1939_address_[i].second && i!=current_address_)
189 if( table_j1939_address_[i].first >= htole64(J1939_NAME_ECU) || table_j1939_address_[i].first == 0)
195 return J1939_IDLE_ADDR;
199 * @brief The function that destoy the timer
201 * @param timer_context The timer context to destroy
204 int socketcan_j1939_addressclaiming_t::free_timer_handle(void *timer_context)
206 socketcan_j1939_addressclaiming_t *addressclaiming_socket = (socketcan_j1939_addressclaiming_t*) timer_context;
207 addressclaiming_socket->timer_handle_ = nullptr;
212 * @brief The function is call when at the end of the timer, the socket has don't receive
214 * @param timerhandle The timerhandle of the timer
215 * @return int 1 it's all it's ok
217 int socketcan_j1939_addressclaiming_t::no_response_claiming(TimerHandleT *timerhandle)
219 socketcan_j1939_addressclaiming_t *addressclaiming_socket = (socketcan_j1939_addressclaiming_t*) timerhandle->context;
220 // If the cache is cleared :
221 addressclaiming_socket->change_state(claiming_state::OPERATIONAL);
222 addressclaiming_socket->save_addr_name(addressclaiming_socket->current_address_,htole64(J1939_NAME_ECU));
223 AFB_DEBUG("Get address %d for this ecu", addressclaiming_socket->current_address_);
226 uint8_t data[3]= { 0, 0, 0, };
227 std::vector<uint8_t> data_v(data,data+3);
228 int res = addressclaiming_socket->write_j1939_message(J1939_PGN_REQUEST,data_v,3);
233 addressclaiming_socket->save_addr_name(addressclaiming_socket->current_address_,htole64(1));
234 AFB_DEBUG("Address busy but no claming request from other ECU");
235 addressclaiming_socket->claim_address(false,true);
244 addressclaiming_socket->change_state(claiming_state::OPERATIONAL);
245 addressclaiming_socket->save_addr_name(addressclaiming_socket->current_address_,htole64(J1939_NAME_ECU));
246 AFB_DEBUG("Get address %d for this ecu", addressclaiming_socket->current_address_);
253 * @brief Launch timer when an address is claimed
256 void socketcan_j1939_addressclaiming_t::launch_timer()
258 timer_handle_ = (TimerHandleT*) malloc(sizeof(TimerHandleT));
259 timer_handle_->uid = "claiming_wait";
260 timer_handle_->delay = 250;
261 timer_handle_->count = 1;
262 timer_handle_->freeCB = free_timer_handle;
263 TimerEvtStart(afbBindingV3root, timer_handle_, no_response_claiming, (void *) this);
268 * @brief Allows to claim a new address
270 * @param first_claim If true, the socket is open
271 * @param new_address If true, claim a new address, else only resend a claim with same address
272 * @return int -1 if fail
274 int socketcan_j1939_addressclaiming_t::claim_address(bool first_claim,bool new_address)
278 AFB_DEBUG("New address");
279 current_address_ = choose_new_address();
280 change_state(claiming_state::CLAIMING);
284 if(current_address_ == J1939_IDLE_ADDR)
286 AFB_ERROR("No address left");
292 int ret = socketcan_j1939_t::open(device_name_,htole64(J1939_NAME_ECU),J1939_NO_PGN,current_address_);
296 AFB_ERROR("Error open socket address claiming");
300 AFB_DEBUG("[socketcan-j1939-addressclaiming][claim_address] Success open socket address claiming");
301 add_filter(J1939_NO_NAME,J1939_PGN_ADDRESS_CLAIMED,J1939_NO_ADDR,J1939_NO_NAME,J1939_PGN_PDU1_MAX,J1939_NO_ADDR);
306 tx_address_.can_addr.j1939.addr = current_address_;
307 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
309 AFB_ERROR("rebind() fail");
314 uint64_t name = htole64(J1939_NAME_ECU);
315 uint8_t dat[8] = {0};
316 memcpy(dat, &name, 8);
317 struct sockaddr_can sockname;
318 memset(&sockname, 0, sizeof(sockname));
319 sockname.can_family = AF_CAN;
320 sockname.can_addr.j1939.pgn = J1939_PGN_ADDRESS_CLAIMED;
321 sockname.can_addr.j1939.addr = J1939_NO_ADDR;
322 socklen_t socklen = sizeof(sockname);
324 ssize_t ret = sendto(socket_, &dat, sizeof(dat), 0, (const struct sockaddr *)&sockname, socklen);
328 AFB_ERROR("Address claimed fail : %s", strerror(errno));
332 AFB_DEBUG("[socketcan-j1939-addressclaiming][claim_address] Send address claiming request");
337 /* int socketcan_j1939_addressclaiming_t::pgn_request()
339 static const uint8_t dat[3] = { 0, 0xee, 0, };
340 static struct sockaddr_can peername;
341 peername.can_family = AF_CAN;
342 peername.can_addr.j1939.pgn = J1939_PGN_REQUEST;
343 peername.can_addr.j1939.addr = J1939_NO_ADDR;
344 int ret = sendto(socket_, dat, sizeof(dat), 0, (const struct sockaddr *)&peername, sizeof(peername));
348 AFB_ERROR("Error pgn_request()");
355 * @brief Return the address associate to a name
357 * @param name The name you are looking for
358 * @return uint8_t The address if it is present, else J1939_IDLE_ADDR
360 uint8_t socketcan_j1939_addressclaiming_t::get_addr_table(name_t name)
362 for(int i = 0; i < J1939_IDLE_ADDR; i++)
364 if(table_j1939_address_[i].first == name)
369 return J1939_IDLE_ADDR;
373 * @brief Allows to open a J1939 socket address claiming
375 * @param device_name The name of the device on which to open the socket
377 * @return int Return 0 if ok else -1
379 int socketcan_j1939_addressclaiming_t::open(std::string device_name, pgn_t pgn)
381 device_name_ = device_name;
382 initialize_table_j1939_address();
383 if(claim_address(true,true) < 0)
385 AFB_ERROR("Claim address failed");
392 * @brief Allows to change the state of the socket address claiming
393 * When the state change a mutex is lock
395 * @param new_state The new state
397 void socketcan_j1939_addressclaiming_t::change_state(claiming_state new_state)
399 std::unique_lock<std::mutex> lock(socketcan_j1939_t::mutex_claiming_);
400 claiming_state_ = new_state;
401 socketcan_j1939_t::signal_address_claiming_.notify_one();
405 * @brief Allows to get the states of the socket
407 * @return claiming_state The state of the socket
409 claiming_state socketcan_j1939_addressclaiming_t::get_state()
411 return claiming_state_;