/*
- * Copyright 2015 Max Staudt
+ * Copyright 2015-2016 Max Staudt
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License 2 as published
* by the Free Software Foundation.
*/
+#include <assert.h>
+
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <endian.h>
+#include <sys/time.h>
+
+
+#include "vw-nm.h"
+#include "vw-nm-tools.h"
+
+
+
-static int base_id = 0x420;
-static int my_id = 0x1a;
-static int next_id = 0x19; //myid
-static int ignore_counter = 10;
-static void on_nm_frame(int socket)
+static int nm_handle_can_frame(struct NM_Main *nm, struct can_frame *frame)
{
- struct can_frame frame;
- struct sockaddr_can addr;
- int ret;
- socklen_t len;
-
- ret = recvfrom(socket, &frame, sizeof(struct can_frame), 0,
- (struct sockaddr *)&addr, &len);
- if (ret < 0) {
- perror("recvfrom");
- exit(1);
- }
-
- if (frame.can_id >> 5 == 0x420 >> 5) {
- printf("Received NM frame from %03x\n", frame.can_id);
- }
-
- if (frame.can_id == base_id + my_id) {
- printf("Skipping my own NM frame.\n");
- return;
- }
-
- switch (frame.data[1]) {
- case 01:
- if (frame.data[0] == my_id) {
- struct can_frame txframe = {.can_id = base_id + next_id,
- .can_dlc = 8,
- .data = {next_id, 01, 00, 00, 00, 00, 00, 00},
- };
- ssize_t tmp = write(socket, &txframe, sizeof(txframe));
- if (tmp != sizeof(txframe)) {
- perror("write socket");
- //return 1;
+ NM_ID id;
+ NM_ID next;
+ NM_State state;
+ int its_my_turn = 0;
+
+ if (frame->can_dlc < 2) {
+ printf("Skipping short frame from CAN ID %03x\n", frame->can_id);
+ return 0;
+ }
+
+
+ if ((frame->can_id & ~(nm->max_nodes - 1)) != nm->can_base) {
+ printf("Skipping non-NM from CAN ID %03x\n", frame->can_id);
+ return 0;
}
- }
- break;
- case 02:
- if (ignore_counter > 0) {
- ignore_counter--;
- break;
- }
- if (next_id <= my_id
- ? frame.can_id - base_id < next_id
- : next_id == my_id || frame.can_id - base_id < next_id) {
- next_id = frame.can_id - base_id;
-
- struct can_frame txframe = {.can_id = base_id + my_id,
- .can_dlc = 8,
- .data = {my_id, 02, 01, 04, 00, 04, 00, 00},
- };
- ssize_t tmp = write(socket, &txframe, sizeof(txframe));
- if (tmp != sizeof(txframe)) {
- perror("write socket");
- //return 1;
+
+ printf("Received NM frame from CAN ID %03x\n", frame->can_id);
+
+ id = frame->can_id & (nm->max_nodes - 1);
+ next = frame->data[0];
+ state = frame->data[1];
+
+ nm->nodes[id].next = (state & NM_MAIN_MASK) == NM_MAIN_ON
+ ? next
+ : 0xff;
+ nm->nodes[id].state = state;
+
+ switch (state & NM_MAIN_MASK) {
+ case NM_MAIN_ON:
+ if (next == nm->my_id) {
+ its_my_turn = 1;
+ }
+ break;
+ case NM_MAIN_LOGIN:
+ if (id == nm->my_id) {
+ break;
+ }
+ printf("Handling LOGIN\n");
+ printf("Testing %x < %x\n", id, nm->nodes[nm->my_id].next);
+ if (id < nm->nodes[nm->my_id].next) {
+ nm->nodes[nm->my_id].next = id;
+ }
+ break;
}
- }
- break;
- }
+
+ nm_dump_all(nm);
+
+ return its_my_turn;
}
+static NM_ID nm_my_next_id(struct NM_Main *nm) {
+ unsigned id;
+
+ if (nm->max_nodes < 2
+ || (nm->nodes[nm->my_id].state & NM_MAIN_MASK) != NM_MAIN_ON) {
+ assert(0);
+ }
+
+ id = nm->my_id;
+ do {
+ struct NM_Node *node;
+
+ id++;
+ if (id >= nm->max_nodes) {
+ id = 0;
+ }
+ node = &nm->nodes[id];
+
+ if ((node->state & NM_MAIN_MASK) == NM_MAIN_ON) {
+ return id;
+ }
+ } while (id != nm->my_id);
+
+ /* This is never reached */
+ assert(0);
+ return -1;
+}
+
+
+
+
+static void nm_timeout_callback(struct NM_Main *nm, struct can_frame *frame) {
+ nm->nodes[nm->my_id].next = nm_my_next_id(nm);
+
+ frame->can_id = nm->can_base + nm->my_id;
+ frame->can_dlc = 2;
+ frame->data[0] = nm->nodes[nm->my_id].next;
+ frame->data[1] = NM_MAIN_ON;
+}
+
+
+
static int net_init(char *ifname)
{
int recv_own_msgs;
struct sockaddr_can addr;
struct ifreq ifr;
+ struct can_filter fi;
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s < 0) {
exit(1);
}
+ /* Convert interface name to index */
memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
strncpy(ifr.ifr_name, ifname, IFNAMSIZ);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
exit(1);
}
+ /* Open the CAN interface */
memset(&addr, 0, sizeof(addr));
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
return 0;
}
- recv_own_msgs = 0; /* 0 = disabled (default), 1 = enabled */
+ recv_own_msgs = 1; /* 0 = disabled (default), 1 = enabled */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
&recv_own_msgs, sizeof(recv_own_msgs));
+ /* Handle only 32 NM IDs at CAN base ID 0x420 */
+ fi.can_id = 0x420;
+ fi.can_mask = 0x7E0;
+
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &fi, sizeof(struct can_filter));
+
return s;
}
+
int main(int argc, char **argv)
{
+ struct NM_Main *nm;
+ struct timeval tv, *next_tv = NULL;
fd_set rdfs;
int s;
if (argc != 2) {
printf("syntax: %s IFNAME\n", argv[0]);
- exit(1);
+ return 1;
+ }
+
+ nm = nm_alloc(5, 0x0b, 0x420);
+ if (!nm) {
+ printf("Out of memory allocating NM struct.\n");
+ return 1;
}
s = net_init(argv[1]);
while (1) {
+ int retval;
FD_ZERO(&rdfs);
-
FD_SET(s, &rdfs);
- if (select(s+1, &rdfs, NULL, NULL, NULL) < 0) {
+ retval = select(s+1, &rdfs, NULL, NULL, next_tv);
+ /* We currently rely on Linux timeout behavior here,
+ * i.e. the timeout now reflects the remaining time */
+ if (retval < 0) {
perror("select");
return 1;
- }
-
- if (FD_ISSET(s, &rdfs)) {
- on_nm_frame(s);
+ } else if (!retval) {
+ /* Timeout */
+ struct can_frame frame;
+
+ nm_timeout_callback(nm, &frame);
+ can_tx(s, &frame);
+
+ next_tv = NULL;
+ } else if (FD_ISSET(s, &rdfs)) {
+ struct can_frame frame;
+ ssize_t ret;
+
+ ret = read(s, &frame, sizeof(frame));
+ if (ret < 0) {
+ perror("recvfrom CAN socket");
+ return 1;
+ }
+
+ if (nm_handle_can_frame(nm, &frame)) {
+ tv.tv_sec = 0;
+ tv.tv_usec = 400000;
+ next_tv = &tv;
+ }
continue;
}
}
+ nm_free(nm);
+
return 0;
}
projects / revag-nm.git / blobdiff