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_SOCKET, SO_BROADCAST, &broadcast_i, sizeof(broadcast_i));
 100         }
 101
 102
 103         /**
 104          * @brief Define the tx address for the bind function
 105          *
 106          * @param device_name - The device can that you want to bind
 107          * @param name - The name that you want to bind
 108          * @param pgn - The pgn that you want to bind
 109          * @param addr - The addr that you want to bindthat you want to bind
 110          */
 111         void socketcan_j1939_t::define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 112         {
 113
 114                 ::strcpy(ifr_.ifr_name, device_name.c_str());
 115                 AFB_DEBUG("ifr_name is : %s", ifr_.ifr_name);
 116
 117
 118                 if(::ioctl(socket_, SIOCGIFINDEX, &ifr_) < 0)
 119                 {
 120                         AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
 121                         close();
 122                 }
 123                 else
 124                 {
 125                         tx_address_.can_ifindex = ifr_.ifr_ifindex;
 126                 }
 127
 128                 tx_address_.can_family = AF_CAN;
 129
 130
 131                 if(addr <= 0 || addr >= UINT8_MAX )
 132                         tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
 133                 else
 134                         tx_address_.can_addr.j1939.addr = addr;
 135                 if(name <= 0 || name >= UINT64_MAX )
 136                         tx_address_.can_addr.j1939.name = J1939_NO_NAME;
 137                 else
 138                         tx_address_.can_addr.j1939.name = name;
 139
 140                 if(pgn <= 0 || pgn > J1939_PGN_MAX)
 141                         tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
 142                 else
 143                         tx_address_.can_addr.j1939.pgn = pgn;
 144         }
 145
 146
 147         /**
 148          * @brief Open default socket
 149          *
 150          * @param device_name The device name to open the socket
 151          * @return int The number of the socket
 152          */
 153         int socketcan_j1939_t::open(std::string device_name)
 154         {
 155                 return open(device_name, 0, 0, 0);
 156         }
 157
 158         /**
 159          * @brief Open a socket with name pgn and address
 160          *
 161          * @param device_name The device name to open the socket
 162          * @param name - The name that you want to bind
 163          * @param pgn - The pgn that you want to bind
 164          * @param addr - The addr that you want to bindthat you want to bind
 165          * @return int The number of the socket
 166          */
 167         int socketcan_j1939_t::open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 168         {
 169
 170                 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
 171
 172                 define_tx_address(device_name, name, pgn, addr);
 173
 174                 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
 175                 {
 176                         AFB_ERROR("Bind failed. %s", strerror(errno));
 177                         close();
 178                 }
 179
 180                 return socket_;
 181         }
 182
 183         /**
 184          * @brief Launch recvfrom on the socket with blocking flag
 185          *
 186          * @return std::shared_ptr<message_t> The j1939 message that is read
 187          */
 188         std::shared_ptr<message_t> socketcan_j1939_t::read_message()
 189         {
 190                 return read_message(0);
 191         }
 192
 193         /**
 194          * @brief Launch recvfrom on the socket with the flag you want
 195          *
 196          * @param flag The flag param for the recvfrom
 197          * @return std::shared_ptr<message_t> The j1939 message that is read
 198          */
 199         std::shared_ptr<message_t> socketcan_j1939_t::read_message(int flag)
 200         {
 201                 socklen_t peernamelen;
 202                 std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
 203                 uint8_t data[128] = {0};
 204
 205                 struct sockaddr_can peername;
 206                 peernamelen = sizeof(peername);
 207                 ssize_t nbytes = recvfrom(socket_, &data, sizeof(data), flag, (struct sockaddr *)&peername,  &peernamelen);
 208
 209                 if(nbytes < 0)
 210                         return nullptr;
 211
 212                 //AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
 213
 214                 struct timeval tv;
 215                 ioctl(socket(), SIOCGSTAMP, &tv);
 216                 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
 217                 jm = j1939_message_t::convert_from_addr(peername, data , nbytes, timestamp);
 218                 jm->set_sub_id((int)socket());
 219                 return jm;
 220         }
 221
 222         /**
 223          * @brief Write a j1939 message
 224          *
 225          * @param pgn The pgn that you want to emmit
 226          * @param data The data that you want to emmit
 227          * @param len_data The size of the data to emmit
 228          * @return int 0 if the message is correctly send
 229          */
 230         int socketcan_j1939_t::write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data)
 231         {
 232                 j1939_message_t msg = j1939_message_t(len_data, data, 0, 0, pgn, 0);
 233                 msg.set_sockname(pgn, J1939_NO_NAME, J1939_NO_ADDR);
 234                 return write_message(msg);
 235         }
 236
 237         /**
 238          * @brief Write a j1939 message
 239          *
 240          * @param m A j1939 message
 241          * @return int 0 if the message is correctly send
 242          */
 243         int socketcan_j1939_t::write_message(message_t& m)
 244         {
 245                 j1939_message_t& jm = reinterpret_cast<j1939_message_t&>(m);
 246                 sockaddr_can sockname =  jm.get_sockname();
 247                 uint8_t data[jm.get_data_vector().size()];
 248
 249                 for(int i=0; i<jm.get_data_vector().size(); i++)
 250                         data[i] = jm.get_data_vector()[i];
 251
 252                 if (sendto(socket_, &data, sizeof(data), 0, (const struct sockaddr *)&sockname, sizeof(sockname)) < 0)
 253                 {
 254                         AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
 255                         return -errno;
 256                 }
 257                 return 0;
 258         }
 259 }