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 <sys/ioctl.h>
25 #include "./socketcan-j1939.hpp"
26 #include "socketcan-j1939-addressclaiming.hpp"
30 std::mutex socketcan_j1939_t::mutex_claiming_;
31 std::condition_variable socketcan_j1939_t::signal_address_claiming_;
34 * @brief Apply a filter to the socket
36 * @param name - The name you want to receive
37 * @param pgn - The pgn you want to receive
38 * @param addr - The addr you want to receive
39 * @param name_mask - The mask to apply to the name (No mask : J1939_NO_NAME)
40 * @param pgn_mask - The mask to apply to the pgn (No mask : J1939_NO_PGN)
41 * @param addr_mask - The mask to apply to the addr (No mask : J1939_NO_ADDR)
43 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)
45 // AFB_DEBUG("[socketcan_j1939_t][add_filter] PGN : %" PRIu32 " ; NAME : %" PRIu64 " ; ADDR : %" PRIu8, pgn,(long unsigned int)name, addr);
46 // AFB_DEBUG("PGN_MASK : %" PRIu32 " ; NAME_MASK : %" PRIu64 "; ADDR_MASK : %" PRIu8, pgn_mask,(long unsigned int)name_mask, addr_mask);
48 struct j1939_filter filter;
49 memset(&filter, 0, sizeof(filter));
53 if(name_mask != J1939_NO_NAME)
54 filter.name_mask = name_mask;
56 filter.name_mask = ~0ULL;
63 if(addr_mask != J1939_NO_ADDR)
64 filter.addr_mask = addr_mask;
66 filter.addr_mask = ~0;
70 if (pgn <= J1939_PGN_MAX)
73 if(pgn_mask != J1939_NO_PGN)
74 filter.pgn_mask = pgn_mask;
82 setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
86 * @brief Define some parameters on the socket
88 * @param promisc - Allows to accept all packets that the socket receives even if they are not addressed directly to it
89 * @param recv_own_msgs - Allows you to receive your own packets
90 * @param broadcast - Allows to write message with address brodcast (255)
92 void socketcan_j1939_t::define_opt(bool promisc, bool recv_own_msgs, bool broadcast)
94 int promisc_i = promisc ? 1 : 0;
95 //int recv_own_msgs_i = recv_own_msgs ? 1 : 0;
96 int broadcast_i = broadcast ? 1 : 0;
98 setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc_i, sizeof(promisc_i));
99 //setopt(SOL_CAN_J1939, SO_J1939_RECV_OWN, &recv_own_msgs_i, sizeof(recv_own_msgs_i));
100 setopt(SOL_SOCKET, SO_BROADCAST, &broadcast_i, sizeof(broadcast_i));
105 * @brief Define the tx address for the bind function
107 * @param device_name - The device can that you want to bind
108 * @param name - The name that you want to bind
109 * @param pgn - The pgn that you want to bind
110 * @param addr - The addr that you want to bindthat you want to bind
112 void socketcan_j1939_t::define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
115 ::strcpy(ifr_.ifr_name, device_name.c_str());
116 AFB_DEBUG("ifr_name is : %s", ifr_.ifr_name);
119 if(::ioctl(socket_, SIOCGIFINDEX, &ifr_) < 0)
121 AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
126 tx_address_.can_ifindex = ifr_.ifr_ifindex;
129 tx_address_.can_family = AF_CAN;
132 if(addr <= 0 || addr >= UINT8_MAX )
133 tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
135 tx_address_.can_addr.j1939.addr = addr;
136 if(name <= 0 || name >= UINT64_MAX )
137 tx_address_.can_addr.j1939.name = J1939_NO_NAME;
139 tx_address_.can_addr.j1939.name = name;
141 if(pgn <= 0 || pgn > J1939_PGN_MAX)
142 tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
144 tx_address_.can_addr.j1939.pgn = pgn;
149 * @brief Open default socket
151 * @param device_name The device name to open the socket
152 * @return int The number of the socket
154 int socketcan_j1939_t::open(std::string device_name)
156 return open(device_name, 0, 0, 0);
160 * @brief Open a socket with name pgn and address
162 * @param device_name The device name to open the socket
163 * @param name - The name that you want to bind
164 * @param pgn - The pgn that you want to bind
165 * @param addr - The addr that you want to bindthat you want to bind
166 * @return int The number of the socket
168 int socketcan_j1939_t::open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
171 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
175 define_tx_address(device_name, name, pgn, addr);
177 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
179 AFB_ERROR("Bind failed. %s", strerror(errno));
187 * @brief Launch recvfrom on the socket with blocking flag
189 * @return std::shared_ptr<message_t> The j1939 message that is read
191 std::shared_ptr<message_t> socketcan_j1939_t::read_message()
193 return read_message(0);
197 * @brief Launch recvfrom on the socket with the flag you want
199 * @param flag The flag param for the recvfrom
200 * @return std::shared_ptr<message_t> The j1939 message that is read
202 std::shared_ptr<message_t> socketcan_j1939_t::read_message(int flag)
204 socklen_t peernamelen;
205 std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
206 uint8_t data[128] = {0};
208 struct sockaddr_can peername;
209 peernamelen = sizeof(peername);
210 ssize_t nbytes = recvfrom(socket_, &data, sizeof(data), flag, (struct sockaddr *)&peername, &peernamelen);
215 //AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
218 ioctl(socket(), SIOCGSTAMP, &tv);
219 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
220 jm = j1939_message_t::convert_from_addr(peername, data , nbytes, timestamp);
221 jm->set_sub_id((int)socket());
226 * @brief Write a j1939 message
228 * @param pgn The pgn that you want to emmit
229 * @param data The data that you want to emmit
230 * @param len_data The size of the data to emmit
231 * @return int 0 if the message is correctly send
233 int socketcan_j1939_t::write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data)
235 j1939_message_t msg = j1939_message_t(len_data, data, 0, 0, pgn, 0);
236 msg.set_sockname(pgn, J1939_NO_NAME, J1939_NO_ADDR);
237 return write_message(msg);
241 * @brief Write a j1939 message
243 * @param m A j1939 message
244 * @return int 0 if the message is correctly send
246 int socketcan_j1939_t::write_message(message_t& m)
248 j1939_message_t& jm = reinterpret_cast<j1939_message_t&>(m);
249 sockaddr_can sockname = jm.get_sockname();
250 uint8_t data[jm.get_data_vector().size()];
252 for(int i=0; i<jm.get_data_vector().size(); i++)
253 data[i] = jm.get_data_vector()[i];
255 if (sendto(socket_, &data, sizeof(data), 0, (const struct sockaddr *)&sockname, sizeof(sockname)) < 0)
257 AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));