low-can-binding/utils/socketcan-j1939/socketcan-j1939.cpp

   1 /*
   2  * Copyright (C) 2018, 2019 "IoT.bzh"
   3  * Author "Arthur Guyader" <arthur.guyader@iot.bzh>
   4  *
   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
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  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.
  16  */
  17
  18 #include <unistd.h>
  19 #include <sys/ioctl.h>
  20 #include <fcntl.h>
  21 #include <iostream>
  22 #include <algorithm>
  23 #include <vector>
  24
  25 #include "./socketcan-j1939.hpp"
  26 #include "socketcan-j1939-addressclaiming.hpp"
  27
  28 namespace utils
  29 {
  30         std::mutex socketcan_j1939_t::mutex_claiming_;
  31         std::condition_variable socketcan_j1939_t::signal_address_claiming_;
  32
  33         /**
  34          * @brief Apply a filter to the socket
  35          *
  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)
  42          */
  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)
  44         {
  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);
  47                 int filter_on = 0;
  48                 struct j1939_filter filter;
  49                 memset(&filter, 0, sizeof(filter));
  50                 if (name)
  51                 {
  52                         filter.name = name;
  53                         if(name_mask != J1939_NO_NAME)
  54                                 filter.name_mask = name_mask;
  55                         else
  56                                 filter.name_mask = ~0ULL;
  57                         ++filter_on;
  58                 }
  59
  60                 if (addr < 0xff)
  61                 {
  62                         filter.addr = addr;
  63                         if(addr_mask != J1939_NO_ADDR)
  64                                 filter.addr_mask = addr_mask;
  65                         else
  66                                 filter.addr_mask = ~0;
  67
  68                         ++filter_on;
  69                 }
  70                 if (pgn <= J1939_PGN_MAX)
  71                 {
  72                         filter.pgn = pgn;
  73                         if(pgn_mask != J1939_NO_PGN)
  74                                 filter.pgn_mask = pgn_mask;
  75                         else
  76                                 filter.pgn_mask = ~0;
  77
  78                         ++filter_on;
  79                 }
  80
  81                 if(filter_on)
  82                         setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
  83         }
  84
  85         /**
  86          * @brief Define some parameters on the socket
  87          *
  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)
  91          */
  92         void socketcan_j1939_t::define_opt(bool promisc, bool recv_own_msgs, bool broadcast)
  93         {
  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;
  97
  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));
 101         }
 102
 103
 104         /**
 105          * @brief Define the tx address for the bind function
 106          *
 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
 111          */
 112         void socketcan_j1939_t::define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 113         {
 114
 115                 ::strcpy(ifr_.ifr_name, device_name.c_str());
 116                 AFB_DEBUG("ifr_name is : %s", ifr_.ifr_name);
 117
 118
 119                 if(::ioctl(socket_, SIOCGIFINDEX, &ifr_) < 0)
 120                 {
 121                         AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
 122                         close();
 123                 }
 124                 else
 125                 {
 126                         tx_address_.can_ifindex = ifr_.ifr_ifindex;
 127                 }
 128
 129                 tx_address_.can_family = AF_CAN;
 130
 131
 132                 if(addr <= 0 || addr >= UINT8_MAX )
 133                         tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
 134                 else
 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;
 138                 else
 139                         tx_address_.can_addr.j1939.name = name;
 140
 141                 if(pgn <= 0 || pgn > J1939_PGN_MAX)
 142                         tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
 143                 else
 144                         tx_address_.can_addr.j1939.pgn = pgn;
 145         }
 146
 147
 148         /**
 149          * @brief Open default socket
 150          *
 151          * @param device_name The device name to open the socket
 152          * @return int The number of the socket
 153          */
 154         int socketcan_j1939_t::open(std::string device_name)
 155         {
 156                 return open(device_name, 0, 0, 0);
 157         }
 158
 159         /**
 160          * @brief Open a socket with name pgn and address
 161          *
 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
 167          */
 168         int socketcan_j1939_t::open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 169         {
 170
 171                 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
 172                 if (socket_ < 0)
 173                         return socket_;
 174
 175                 define_tx_address(device_name, name, pgn, addr);
 176
 177                 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
 178                 {
 179                         AFB_ERROR("Bind failed. %s", strerror(errno));
 180                         close();
 181                 }
 182
 183                 return socket_;
 184         }
 185
 186         /**
 187          * @brief Launch recvfrom on the socket with blocking flag
 188          *
 189          * @return std::shared_ptr<message_t> The j1939 message that is read
 190          */
 191         std::shared_ptr<message_t> socketcan_j1939_t::read_message()
 192         {
 193                 return read_message(0);
 194         }
 195
 196         /**
 197          * @brief Launch recvfrom on the socket with the flag you want
 198          *
 199          * @param flag The flag param for the recvfrom
 200          * @return std::shared_ptr<message_t> The j1939 message that is read
 201          */
 202         std::shared_ptr<message_t> socketcan_j1939_t::read_message(int flag)
 203         {
 204                 socklen_t peernamelen;
 205                 std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
 206                 uint8_t data[128] = {0};
 207
 208                 struct sockaddr_can peername;
 209                 peernamelen = sizeof(peername);
 210                 ssize_t nbytes = recvfrom(socket_, &data, sizeof(data), flag, (struct sockaddr *)&peername,  &peernamelen);
 211
 212                 if(nbytes < 0)
 213                         return nullptr;
 214
 215                 //AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
 216
 217                 struct timeval tv;
 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());
 222                 return jm;
 223         }
 224
 225         /**
 226          * @brief Write a j1939 message
 227          *
 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
 232          */
 233         int socketcan_j1939_t::write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data)
 234         {
 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);
 238         }
 239
 240         /**
 241          * @brief Write a j1939 message
 242          *
 243          * @param m A j1939 message
 244          * @return int 0 if the message is correctly send
 245          */
 246         int socketcan_j1939_t::write_message(message_t& m)
 247         {
 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()];
 251
 252                 for(int i=0; i<jm.get_data_vector().size(); i++)
 253                         data[i] = jm.get_data_vector()[i];
 254
 255                 if (sendto(socket_, &data, sizeof(data), 0, (const struct sockaddr *)&sockname, sizeof(sockname)) < 0)
 256                 {
 257                         AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
 258                         return -errno;
 259                 }
 260                 return 0;
 261         }
 262 }