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

   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 #pragma once
  19
  20 #include <thread>
  21 #include <mutex>
  22 #include <condition_variable>
  23 #include <linux/can/j1939.h>
  24 #include <net/if.h>
  25 #include "../socketcan.hpp"
  26 #include "../../can/message/j1939-message.hpp"
  27
  28 #ifndef J1939_NAME_ECU
  29 #define J1939_NAME_ECU 0x1234
  30 #endif
  31
  32 #define J1939_CAN_ID CAN_EFF_FLAG
  33 #define J1939_CAN_MASK (CAN_EFF_FLAG | CAN_RTR_FLAG)
  34
  35
  36 // PDU 1 = NO BROADCAST
  37 // PDU 2 = BRODCAST
  38 static inline bool j1939_pgn_is_pdu1(pgn_t pgn)
  39 {
  40         return (pgn & 0xff00) < 0xf000;
  41 }
  42
  43 namespace utils
  44 {
  45
  46         /**
  47          * @enum state
  48          * @brief The state of the address claiming
  49          */
  50         enum class claiming_state {
  51                 INITIAL, ///< INITIAL - INITIAL state
  52                 CLAIMING, ///< CLAIMING - CLAIMING state
  53                 OPERATIONAL, ///< OPERATIONAL - OPERATIONAL state
  54                 INVALID
  55         };
  56
  57         class socketcan_j1939_addressclaiming_t;
  58         class socketcan_j1939_t : public socketcan_t
  59         {
  60                 public:
  61                         using socketcan_t::socketcan_t;
  62                         virtual int open(std::string device_name);
  63                         virtual int open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr);
  64                         virtual std::shared_ptr<message_t> read_message();
  65                         virtual std::shared_ptr<message_t> read_message(int flag);
  66                         virtual int write_message(message_t& obj);
  67                         virtual int write_j1939_message(pgn_t pgn, std::vector<uint8_t> &data, uint32_t len_data);
  68                         void define_opt(bool broadcast = true, bool promisc = false);
  69
  70                 protected:
  71                         struct ifreq ifr_;
  72                         static std::mutex mutex_claiming_;
  73                         static std::condition_variable signal_address_claiming_;
  74                         void define_tx_address(std::string device_name, name_t name, pgn_t pgn, uint8_t addr);
  75                         int add_filter(name_t name, pgn_t pgn, uint8_t addr, name_t name_mask, pgn_t pgn_mask, uint8_t addr_mask);
  76
  77
  78         };
  79 }