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 #include "./socketcan-j1939.hpp"
  25 #include "socketcan-j1939-addressclaiming.hpp"
  26
  27 namespace utils
  28 {
  29         std::mutex socketcan_j1939_t::mutex_claiming_;
  30         std::condition_variable socketcan_j1939_t::signal_address_claiming_;
  31
  32         /**
  33          * @brief Apply a filter to the socket
  34          *
  35          * @param name - The name you want to receive
  36          * @param pgn - The pgn you want to receive
  37          * @param addr - The addr you want to receive
  38          * @param name_mask - The mask to apply to the name (No mask : J1939_NO_NAME)
  39          * @param pgn_mask - The mask to apply to the pgn (No mask : J1939_NO_PGN)
  40          * @param addr_mask - The mask to apply to the addr (No mask : J1939_NO_ADDR)
  41          */
  42         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)
  43         {
  44         //      AFB_DEBUG("[socketcan_j1939_t][add_filter] PGN : %" PRIu32 " ; NAME : %" PRIu64 " ; ADDR : %" PRIu8,pgn,(long unsigned int)name,addr);
  45         //      AFB_DEBUG("PGN_MASK : %" PRIu32 " ; NAME_MASK : %" PRIu64 "; ADDR_MASK : %" PRIu8,pgn_mask,(long unsigned int)name_mask,addr_mask);
  46                 int filter_on = 0;
  47                 struct j1939_filter filter;
  48                 memset(&filter, 0, sizeof(filter));
  49                 if (name)
  50                 {
  51                         filter.name = name;
  52                         if(name_mask != J1939_NO_NAME)
  53                                 filter.name_mask = name_mask;
  54                         else
  55                                 filter.name_mask = ~0ULL;
  56                         ++filter_on;
  57                 }
  58
  59                 if (addr < 0xff)
  60                 {
  61                         filter.addr = addr;
  62                         if(addr_mask != J1939_NO_ADDR)
  63                                 filter.addr_mask = addr_mask;
  64                         else
  65                                 filter.addr_mask = ~0;
  66
  67                         ++filter_on;
  68                 }
  69                 if (pgn <= J1939_PGN_MAX)
  70                 {
  71                         filter.pgn = pgn;
  72                         if(pgn_mask != J1939_NO_PGN)
  73                                 filter.pgn_mask = pgn_mask;
  74                         else
  75                                 filter.pgn_mask = ~0;
  76
  77                         ++filter_on;
  78                 }
  79
  80                 if(filter_on)
  81                         setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
  82         }
  83
  84         /**
  85          * @brief Define some parameters on the socket
  86          *
  87          * @param promisc - Allows to accept all packets that the socket receives even if they are not addressed directly to it
  88          * @param recv_own_msgs - Allows you to receive your own packets
  89          * @param broadcast - Allows to write message with address brodcast (255)
  90          */
  91         void socketcan_j1939_t::define_opt(bool promisc, bool recv_own_msgs, bool broadcast)
  92         {
  93                 int promisc_i = 0;
  94                 int recv_own_msgs_i = 0;
  95                 int broadcast_i = 0;
  96
  97                 if(promisc) promisc_i = 1;
  98                 if(recv_own_msgs) recv_own_msgs_i=1;
  99                 if(broadcast) broadcast_i = 1;
 100
 101                 setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc_i, sizeof(promisc_i));
 102                 setopt(SOL_CAN_J1939, SO_J1939_RECV_OWN, &recv_own_msgs_i, sizeof(recv_own_msgs_i));
 103                 setopt(SOL_SOCKET, SO_BROADCAST, &broadcast_i, sizeof(broadcast_i));
 104         }
 105
 106
 107         /**
 108          * @brief Define the tx address for the bind function
 109          *
 110          * @param device_name - The device can that you want to bind
 111          * @param name - The name that you want to bind
 112          * @param pgn - The pgn that you want to bind
 113          * @param addr - The addr that you want to bindthat you want to bind
 114          */
 115         void socketcan_j1939_t::define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 116         {
 117
 118                 ::strcpy(ifr_.ifr_name, device_name.c_str());
 119                 AFB_DEBUG("ifr_name is : %s", ifr_.ifr_name);
 120
 121
 122                 if(::ioctl(socket_, SIOCGIFINDEX, &ifr_) < 0)
 123                 {
 124                         AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
 125                         close();
 126                 }
 127                 else
 128                 {
 129                         tx_address_.can_ifindex = ifr_.ifr_ifindex;
 130                 }
 131
 132                 tx_address_.can_family = AF_CAN;
 133
 134
 135                 if(addr <= 0 || addr >= UINT8_MAX )
 136                         tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
 137                 else
 138                         tx_address_.can_addr.j1939.addr = addr;
 139                 if(name <= 0 || name >= UINT64_MAX )
 140                         tx_address_.can_addr.j1939.name = J1939_NO_NAME;
 141                 else
 142                         tx_address_.can_addr.j1939.name = name;
 143
 144                 if(pgn <= 0 || pgn > J1939_PGN_MAX)
 145                         tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
 146                 else
 147                         tx_address_.can_addr.j1939.pgn = pgn;
 148         }
 149
 150
 151         /**
 152          * @brief Open default socket
 153          *
 154          * @param device_name The device name to open the socket
 155          * @return int The number of the socket
 156          */
 157         int socketcan_j1939_t::open(std::string device_name)
 158         {
 159                 return open(device_name,0,0,0);
 160         }
 161
 162         /**
 163          * @brief Open a socket with name pgn and address
 164          *
 165          * @param device_name The device name to open the socket
 166          * @param name - The name that you want to bind
 167          * @param pgn - The pgn that you want to bind
 168          * @param addr - The addr that you want to bindthat you want to bind
 169          * @return int The number of the socket
 170          */
 171         int socketcan_j1939_t::open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 172         {
 173
 174                 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
 175
 176                 define_tx_address(device_name,name,pgn,addr);
 177
 178                 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
 179                 {
 180                         AFB_ERROR("Bind failed. %s", strerror(errno));
 181                         close();
 182                 }
 183
 184                 return socket_;
 185         }
 186
 187         /**
 188          * @brief Launch recvfrom on the socket with blocking flag
 189          *
 190          * @return std::shared_ptr<message_t> The j1939 message that is read
 191          */
 192         std::shared_ptr<message_t> socketcan_j1939_t::read_message()
 193         {
 194                 return read_message(0);
 195         }
 196
 197         /**
 198          * @brief Launch recvfrom on the socket with the flag you want
 199          *
 200          * @param flag The flag param for the recvfrom
 201          * @return std::shared_ptr<message_t> The j1939 message that is read
 202          */
 203         std::shared_ptr<message_t> socketcan_j1939_t::read_message(int flag)
 204         {
 205                 socklen_t peernamelen;
 206                 std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
 207                 uint8_t data[128] = {0};
 208
 209                 struct sockaddr_can peername;
 210                 peernamelen = sizeof(peername);
 211                 ssize_t nbytes = recvfrom(socket_, &data, sizeof(data), flag, (struct sockaddr *)&peername,  &peernamelen);
 212
 213                 if(nbytes < 0)
 214                         return nullptr;
 215
 216                 //AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
 217
 218                 struct timeval tv;
 219                 ioctl(socket(), SIOCGSTAMP, &tv);
 220                 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
 221                 jm = j1939_message_t::convert_from_addr(peername, data , nbytes, timestamp);
 222                 jm->set_sub_id((int)socket());
 223                 return jm;
 224         }
 225
 226         /**
 227          * @brief Write a j1939 message
 228          *
 229          * @param pgn The pgn that you want to emmit
 230          * @param data The data that you want to emmit
 231          * @param len_data The size of the data to emmit
 232          * @return int 0 if the message is correctly send
 233          */
 234         int socketcan_j1939_t::write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data)
 235         {
 236                 j1939_message_t msg = j1939_message_t(len_data, data, 0, 0, pgn, 0);
 237                 msg.set_sockname(pgn,J1939_NO_NAME,J1939_NO_ADDR);
 238                 return write_message(msg);
 239         }
 240
 241         /**
 242          * @brief Write a j1939 message
 243          *
 244          * @param m A j1939 message
 245          * @return int 0 if the message is correctly send
 246          */
 247         int socketcan_j1939_t::write_message(message_t& m)
 248         {
 249                 j1939_message_t& jm = reinterpret_cast<j1939_message_t&>(m);
 250                 sockaddr_can sockname =  jm.get_sockname();
 251                 uint8_t data[jm.get_data_vector().size()];
 252
 253                 for(int i=0; i<jm.get_data_vector().size(); i++)
 254                         data[i] = jm.get_data_vector()[i];
 255
 256                 if (sendto(socket_, &data, sizeof(data), 0, (const struct sockaddr *)&sockname, sizeof(sockname)) < 0)
 257                 {
 258                         AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
 259                         return -errno;
 260                 }
 261                 return 0;
 262         }
 263 }