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                         {
  55                                 filter.name_mask = name_mask;
  56                         } else
  57                         {
  58                                 filter.name_mask = ~0ULL;
  59                         }
  60                         ++filter_on;
  61                 }
  62
  63                 if (addr < 0xff)
  64                 {
  65                         filter.addr = addr;
  66                         if(addr_mask != J1939_NO_ADDR)
  67                         {
  68                                 filter.addr_mask = addr_mask;
  69                         } else
  70                         {
  71                                 filter.addr_mask = ~0;
  72                         }
  73                         ++filter_on;
  74                 }
  75                 if (pgn <= J1939_PGN_MAX)
  76                 {
  77                         filter.pgn = pgn;
  78                         if(pgn_mask != J1939_NO_PGN)
  79                         {
  80                                 filter.pgn_mask = pgn_mask;
  81                         } else
  82                         {
  83                                 filter.pgn_mask = ~0;
  84                         }
  85                         ++filter_on;
  86                 }
  87                 if(filter_on)
  88                 {
  89                         setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
  90                 }
  91         }
  92
  93         /**
  94          * @brief Define some parameters on the socket
  95          *
  96          * @param promisc - Allows to accept all packets that the socket receives even if they are not addressed directly to it
  97          * @param recv_own_msgs - Allows you to receive your own packets
  98          * @param broadcast - Allows to write message with address brodcast (255)
  99          */
 100         void socketcan_j1939_t::define_opt(bool promisc, bool recv_own_msgs, bool broadcast)
 101         {
 102                 int promisc_i = promisc ? 1 : 0;
 103                 //int recv_own_msgs_i = recv_own_msgs ? 1 : 0;
 104                 int broadcast_i = broadcast ? 1 : 0;
 105
 106                 setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc_i, sizeof(promisc_i));
 107                 setopt(SOL_SOCKET, SO_BROADCAST, &broadcast_i, sizeof(broadcast_i));
 108         }
 109
 110
 111         /**
 112          * @brief Define the tx address for the bind function
 113          *
 114          * @param device_name - The device can that you want to bind
 115          * @param name - The name that you want to bind
 116          * @param pgn - The pgn that you want to bind
 117          * @param addr - The addr that you want to bindthat you want to bind
 118          */
 119         void socketcan_j1939_t::define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 120         {
 121
 122                 ::strcpy(ifr_.ifr_name, device_name.c_str());
 123                 AFB_DEBUG("ifr_name is : %s", ifr_.ifr_name);
 124
 125
 126                 if(::ioctl(socket_, SIOCGIFINDEX, &ifr_) < 0)
 127                 {
 128                         AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
 129                         close();
 130                 }
 131                 else
 132                 {
 133                         tx_address_.can_ifindex = ifr_.ifr_ifindex;
 134                 }
 135
 136                 tx_address_.can_family = AF_CAN;
 137
 138
 139                 if(addr <= 0 || addr >= UINT8_MAX )
 140                 {
 141                         tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
 142                 }
 143                 else
 144                 {
 145                         tx_address_.can_addr.j1939.addr = addr;
 146                 }
 147
 148                 if(name <= 0 || name >= UINT64_MAX )
 149                 {
 150                         tx_address_.can_addr.j1939.name = J1939_NO_NAME;
 151                 }
 152                 else
 153                 {
 154                         tx_address_.can_addr.j1939.name = name;
 155                 }
 156
 157                 if(pgn <= 0 || pgn > J1939_PGN_MAX)
 158                 {
 159                         tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
 160                 }
 161                 else
 162                 {
 163                         tx_address_.can_addr.j1939.pgn = pgn;
 164                 }
 165
 166         }
 167
 168
 169         /**
 170          * @brief Open default socket
 171          *
 172          * @param device_name The device name to open the socket
 173          * @return int The number of the socket
 174          */
 175         int socketcan_j1939_t::open(std::string device_name)
 176         {
 177                 return open(device_name,0,0,0);
 178         }
 179
 180         /**
 181          * @brief Open a socket with name pgn and address
 182          *
 183          * @param device_name The device name to open the socket
 184          * @param name - The name that you want to bind
 185          * @param pgn - The pgn that you want to bind
 186          * @param addr - The addr that you want to bindthat you want to bind
 187          * @return int The number of the socket
 188          */
 189         int socketcan_j1939_t::open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
 190         {
 191
 192                 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
 193
 194                 define_tx_address(device_name,name,pgn,addr);
 195
 196                 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
 197                 {
 198                         AFB_ERROR("Bind failed. %s", strerror(errno));
 199                         close();
 200                 }
 201
 202                 return socket_;
 203         }
 204
 205         /**
 206          * @brief Launch recvfrom on the socket with blocking flag
 207          *
 208          * @return std::shared_ptr<message_t> The j1939 message that is read
 209          */
 210         std::shared_ptr<message_t> socketcan_j1939_t::read_message()
 211         {
 212                 return read_message(0);
 213         }
 214
 215         /**
 216          * @brief Launch recvfrom on the socket with the flag you want
 217          *
 218          * @param flag The flag param for the recvfrom
 219          * @return std::shared_ptr<message_t> The j1939 message that is read
 220          */
 221         std::shared_ptr<message_t> socketcan_j1939_t::read_message(int flag)
 222         {
 223                 socklen_t peernamelen;
 224                 std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
 225                 uint8_t data[128] = {0};
 226
 227                 struct sockaddr_can peername;
 228                 peernamelen = sizeof(peername);
 229                 ssize_t nbytes = recvfrom(socket_, &data, sizeof(data), flag, (struct sockaddr *)&peername,  &peernamelen);
 230
 231                 if(nbytes < 0)
 232                 {
 233                         return nullptr;
 234                 }
 235                 //AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
 236
 237                 struct timeval tv;
 238                 ioctl(socket(), SIOCGSTAMP, &tv);
 239                 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
 240                 jm = j1939_message_t::convert_from_addr(peername, data , nbytes, timestamp);
 241                 jm->set_sub_id((int)socket());
 242                 return jm;
 243         }
 244
 245         /**
 246          * @brief Write a j1939 message
 247          *
 248          * @param pgn The pgn that you want to emmit
 249          * @param data The data that you want to emmit
 250          * @param len_data The size of the data to emmit
 251          * @return int 0 if the message is correctly send
 252          */
 253         int socketcan_j1939_t::write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data)
 254         {
 255                 j1939_message_t msg = j1939_message_t(len_data, data, 0, 0, pgn, 0);
 256                 msg.set_sockname(pgn,J1939_NO_NAME,J1939_NO_ADDR);
 257                 return write_message(msg);
 258         }
 259
 260         /**
 261          * @brief Write a j1939 message
 262          *
 263          * @param m A j1939 message
 264          * @return int 0 if the message is correctly send
 265          */
 266         int socketcan_j1939_t::write_message(message_t& m)
 267         {
 268                 j1939_message_t& jm = reinterpret_cast<j1939_message_t&>(m);
 269                 sockaddr_can sockname =  jm.get_sockname();
 270                 uint8_t data[jm.get_data_vector().size()];
 271
 272                 for(int i=0; i<jm.get_data_vector().size(); i++)
 273                 {
 274                         data[i] = jm.get_data_vector()[i];
 275                 }
 276
 277                 if (sendto(socket_, &data, sizeof(data), 0, (const struct sockaddr *)&sockname, sizeof(sockname)) < 0)
 278                 {
 279                         AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
 280                         return -errno;
 281                 }
 282                 return 0;
 283         }
 284 }