2 * Copyright (C) 2018, 2019 "IoT.bzh"
3 * Author "Arthur Guyader" <arthur.guyader@iot.bzh>
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
9 * http://www.apache.org/licenses/LICENSE-2.0
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.
19 #include <sys/ioctl.h>
21 #include "./socketcan-j1939.hpp"
22 #include "../binding/application.hpp"
26 /// @brief Connect the socket.
27 /// @return 0 if success.
28 int socketcan_j1939_t::connect(const struct sockaddr* addr, socklen_t len)
30 return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
33 /// @brief Bind the socket.
34 /// @return 0 if success.
35 int socketcan_j1939_t::bind(const struct sockaddr* addr, socklen_t len)
37 return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
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)
43 struct j1939_filter filter;
44 memset(&filter, 0, sizeof(filter));
50 filter.name_mask = name_mask;
53 filter.name_mask = ~0ULL;
63 filter.addr_mask = addr_mask;
66 filter.addr_mask = ~0;
70 if (pgn <= J1939_PGN_MAX)
75 filter.pgn_mask = pgn_mask;
84 setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
88 int socketcan_j1939_t::open(std::string device_name)
90 return open(device_name,0,0,0);
93 int socketcan_j1939_t::open(std::string device_name, name_t name, pgn_t pgn, uint8_t addr)
97 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_J1939);
99 // Attempts to open a socket to CAN bus
100 ::strcpy(ifr.ifr_name, device_name.c_str());
101 AFB_DEBUG("ifr_name is : %s", ifr.ifr_name);
102 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
104 AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
109 tx_address_.can_family = AF_CAN;
110 tx_address_.can_ifindex = ifr.ifr_ifindex;
112 if(addr <= 0 || addr >= UINT8_MAX )
114 tx_address_.can_addr.j1939.addr = J1939_NO_ADDR;
118 tx_address_.can_addr.j1939.addr = addr;
121 if(name <= 0 || name >= UINT64_MAX )
123 tx_address_.can_addr.j1939.name = J1939_NO_NAME;
127 tx_address_.can_addr.j1939.name = name;
130 if(pgn <= 0 || pgn > J1939_PGN_MAX)
132 tx_address_.can_addr.j1939.pgn = J1939_NO_PGN;
136 tx_address_.can_addr.j1939.pgn = pgn;
139 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
141 AFB_ERROR("Bind failed. %s", strerror(errno));
146 int promisc = 1; // 0 = disabled (default), 1 = enabled
147 setopt(SOL_CAN_J1939, SO_J1939_PROMISC, &promisc, sizeof(promisc));
148 int recv_own_msgs = 1; // 0 = disabled (default), 1 = enabled
149 setopt(SOL_CAN_J1939, SO_J1939_RECV_OWN, &recv_own_msgs, sizeof(recv_own_msgs));
150 if(tx_address_.can_addr.j1939.pgn != J1939_NO_PGN)
152 filter(J1939_NO_NAME,tx_address_.can_addr.j1939.pgn,J1939_NO_ADDR);
159 std::shared_ptr<message_t> socketcan_j1939_t::read_message()
161 std::shared_ptr<j1939_message_t> jm = std::make_shared<j1939_message_t>();
162 uint8_t data[128] = {0};
164 struct sockaddr_can addr;
165 socklen_t addrlen = sizeof(addr);
168 ssize_t nbytes = ::recvfrom(socket(), &data, sizeof(data), 0, (struct sockaddr*)&addr, &addrlen);
169 ifr.ifr_ifindex = get_tx_address().can_ifindex;
170 ioctl(socket(), SIOCGIFNAME, &ifr);
172 AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
173 /*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,
174 data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);*/
177 ioctl(socket(), SIOCGSTAMP, &tv);
178 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
179 jm = j1939_message_t::convert_from_addr(addr, data , nbytes, timestamp);
180 jm->set_sub_id((int)socket());
185 void socketcan_j1939_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
187 AFB_WARNING("Not implemented");
190 void socketcan_j1939_t::write_message(std::shared_ptr<message_t> cm)
192 AFB_WARNING("Not implemented");