low-can-binding/utils/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 <net/if.h>
  19 #include <sys/ioctl.h>
  20 #include <fcntl.h>
  21 #include "./socketcan-j1939.hpp"
  22 #include "../binding/application.hpp"
  23
  24 namespace utils
  25 {
  26         /// @brief Connect the socket.
  27         /// @return 0 if success.
  28         int socketcan_j1939_t::connect(const struct sockaddr* addr, socklen_t len)
  29         {
  30                 return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
  31         }
  32
  33         /// @brief Bind the socket.
  34         /// @return 0 if success.
  35         int socketcan_j1939_t::bind(const struct sockaddr* addr, socklen_t len)
  36         {
  37                 return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
  38         }
  39
  40         void socketcan_j1939_t::filter(name_t name, pgn_t pgn, uint8_t addr, uint64_t name_mask, uint32_t pgn_mask, uint8_t addr_mask)
  41         {
  42                 int filter_on = 0;
  43                 struct j1939_filter filter;
  44                 memset(&filter, 0, sizeof(filter));
  45                 if (name)
  46                 {
  47                         filter.name = name;
  48                         if(name_mask)
  49                         {
  50                                 filter.name_mask = name_mask;
  51                         } else
  52                         {
  53                                 filter.name_mask = ~0ULL;
  54                         }
  55                         ++filter_on;
  56                 }
  57
  58                 if (addr < 0xff)
  59                 {
  60                         filter.addr = addr;
  61                         if(addr_mask)
  62                         {
  63                                 filter.addr_mask = addr_mask;
  64                         } else
  65                         {
  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)
  74                         {
  75                                 filter.pgn_mask = pgn_mask;
  76                         } else
  77                         {
  78                                 filter.pgn_mask = ~0;
  79                         }
  80                         ++filter_on;
  81                 }
  82                 if(filter_on){
  83                         setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
  84                 }
  85         }
  86
  87         int socketcan_j1939_t::open(std::string device_name)
  88         {
  89                 return open(device_name,0,0,0);
  90         }
  91
  92         int socketcan_j1939_t::open(std::string device_name,  name_t name, pgn_t pgn, uint8_t addr)
  93         {
  94
  95                 struct ifreq ifr;
  96                 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
  97
  98                 // Attempts to open a socket to CAN bus
  99                 ::strcpy(ifr.ifr_name, device_name.c_str());
 100                 AFB_DEBUG("ifr_name is : %s", ifr.ifr_name);
 101                 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
 102                 {
 103                         AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
 104                         close();
 105                 }
 106                 else
 107                 {
 108                         tx_address_.can_family = AF_CAN;
 109                         tx_address_.can_ifindex = ifr.ifr_ifindex;
 110
 111                         if(addr <= 0 || addr >= UINT8_MAX )
 112                         {
 113                                 tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
 114                         }
 115                         else
 116                         {
 117                                 tx_address_.can_addr.j1939.addr = addr;
 118                         }
 119
 120                         if(name <= 0 || name >= UINT64_MAX )
 121                         {
 122                                 tx_address_.can_addr.j1939.name = J1939_NO_NAME;
 123                         }
 124                         else
 125                         {
 126                                 tx_address_.can_addr.j1939.name = name;
 127                         }
 128
 129                         if(pgn <= 0 || pgn > J1939_PGN_MAX)
 130                         {
 131                                 tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
 132                         }
 133                         else
 134                         {
 135                                 tx_address_.can_addr.j1939.pgn = pgn;
 136                         }
 137
 138                         if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
 139                         {
 140                                 AFB_ERROR("Bind failed. %s", strerror(errno));
 141                                 close();
 142                         }
 143                         else
 144                         {
 145                                 int promisc = 1; // 0 = disabled (default), 1 = enabled
 146                                 setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc, sizeof(promisc));
 147                                 int recv_own_msgs = 1; // 0 = disabled (default), 1 = enabled
 148                                 setopt(SOL_CAN_J1939, SO_J1939_RECV_OWN, &recv_own_msgs, sizeof(recv_own_msgs));
 149                                 if(tx_address_.can_addr.j1939.pgn != J1939_NO_PGN)
 150                                 {
 151                                         filter(J1939_NO_NAME,tx_address_.can_addr.j1939.pgn,J1939_NO_ADDR);
 152                                 }
 153                         }
 154                 }
 155                 return socket_;
 156         }
 157
 158         std::shared_ptr<message_t> socketcan_j1939_t::read_message()
 159         {
 160                 std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
 161                 uint8_t data[128] = {0};
 162
 163                 struct sockaddr_can addr;
 164                 socklen_t addrlen = sizeof(addr);
 165                 struct ifreq ifr;
 166
 167                 ssize_t nbytes = ::recvfrom(socket(), &data, sizeof(data), 0, (struct sockaddr*)&addr, &addrlen);
 168                 ifr.ifr_ifindex = get_tx_address().can_ifindex;
 169                 ioctl(socket(), SIOCGIFNAME, &ifr);
 170
 171                 AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
 172                 /*AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
 173                         data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);*/
 174
 175                 struct timeval tv;
 176                 ioctl(socket(), SIOCGSTAMP, &tv);
 177                 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
 178                 jm = j1939_message_t::convert_from_addr(addr, data , nbytes, timestamp);
 179                 jm->set_sub_id((int)socket());
 180                 return jm;
 181         }
 182
 183
 184         void socketcan_j1939_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
 185         {
 186                 AFB_WARNING("Not implemented");
 187         }
 188
 189         void socketcan_j1939_t::write_message(std::shared_ptr<message_t> cm)
 190         {
 191                 AFB_WARNING("Not implemented");
 192         }
 193
 194 }