+++ /dev/null
-/*
- * 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 <stdlib.h>
-#include <string.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <linux/can.h>
-#include <linux/can/raw.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 void nm_update_my_next_id(struct NM_Main *nm)
-{
- unsigned id = nm->my_id;
-
- do {
- NM_State state;
-
- id++;
- if (id >= nm->max_nodes) {
- id = 0;
- }
-
- state = nm->nodes[id].state & NM_MAIN_MASK;
-
- if (state == NM_MAIN_ON || state == NM_MAIN_LOGIN) {
- /* We skip limp home nodes */
- nm->nodes[nm->my_id].next = id;
- break;
- }
- } while (id != nm->my_id);
-}
-
-
-
-
-static unsigned nm_num_active_nodes(struct NM_Main *nm)
-{
- unsigned id = 0;
- unsigned active = 0;
-
- for (id = 0; id < nm->max_nodes; id++) {
- NM_State state;
-
- state = nm->nodes[id].state & NM_MAIN_MASK;
-
- if (state == NM_MAIN_ON || state == NM_MAIN_LOGIN) {
- /* We skip limp home nodes */
- active++;
- }
- }
-
- return active;
-}
-
-
-
-static void nm_handle_can_frame(struct NM_Main *nm, struct can_frame *frame)
-{
- NM_ID sender, next;
- NM_State state;
-
- /* Is this a valid frame within our logical network? */
- if (!nm_is_rx_frame_valid(nm, frame)) {
- return;
- }
-
- printf("Received NM frame from CAN ID %03x\n", frame->can_id);
-
-
- /* Parse sender, its perceived successor, and its state */
- sender = frame->can_id & (nm->max_nodes - 1);
- next = frame->data[0];
- state = frame->data[1];
-
- /* TODO: Validate state, it needs to be within the enum */
-
- /* Skip our own frames */
- if (sender == nm->my_id) {
- return;
- }
-
- /* If we're currently stuck in Limp Home mode, and we can see
- * someone else's messages: reset counters, reset NM, re-login.
- */
- if ((nm->nodes[nm->my_id].state & NM_MAIN_MASK)
- == NM_MAIN_LIMPHOME) {
- nm_initreset(nm);
- return;
- }
-
- nm->nodes[sender].next = next;
- nm->nodes[sender].state = state;
-
- /* Update our view of the world */
- nm_update_my_next_id(nm);
-
- switch (state & NM_MAIN_MASK) {
- case NM_MAIN_ON:
- /* We're not alone, so let's transition to ON for now.
- */
- nm->nodes[nm->my_id].state = NM_MAIN_ON;
-
- /* The AWOL timeout is ONLY reset on
- * NM_MAIN_ON messages.
- */
- nm_set_timer_awol(nm);
-
- if (next == nm->nodes[nm->my_id].next
- && nm->nodes[nm->my_id].next != nm->my_id) {
- /* Sender doesn't know we exist */
-
- nm->nodes[nm->my_id].state = NM_MAIN_LOGIN;
-
- nm_set_timer_now(nm);
-
- /* IMPORTANT: The caller needs to check for
- * timeouts first, i.e. no other NM frames
- * are received until our correcting login
- * has been sent.
- */
- } else if (next == nm->nodes[nm->my_id].next) {
- /* where (nm->nodes[nm->my_id].next == nm->my_id) */
-
- /* It can happen when:
- * - our sent frames don't go anywhere
- * - we just logged in and immediately
- * afterwards another ECU sent a regular
- * NM frame.
- */
-
- /* Nothing to do. */
- } else if (next == nm->my_id) {
- /* It's our turn, do a normal timeout.
- * This is a period in which anyone we missed
- * can send its re-login frame to correct us.
- */
-
- nm_set_timer_normal(nm);
- } else {
- /* We just received a random ON message. */
-
- /* Nothing to do. */
- }
- break;
- case NM_MAIN_LOGIN:
- /* Note: sender != nm->my_id */
-
- /* We're not alone anymore, so let's change state. */
- nm->nodes[nm->my_id].state = NM_MAIN_ON;
-
- /* We don't reset the timeout when somebody logs in.
- * Instead, we'll simply include them in the next
- * round.
- */
-
- /* HACK:
- * Special case: The Media-In's NM implementation
- * doesn't auto-switch to NM_ON. Let's say hello,
- * even if it ends up being a little late.
- */
- if (nm_num_active_nodes(nm) >= 2) {
- nm_set_timer_normal(nm);
- }
-
- /* Nothing else to do. */
- break;
- case NM_MAIN_LIMPHOME:
- /* Nothing we can do. Poor guy. */
- break;
- }
-
- nm_dump_all(nm);
-}
-
-
-
-
-
-
-static void nm_buildframe(struct NM_Main *nm, struct can_frame *frame)
-{
- 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->nodes[nm->my_id].state;
-}
-
-
-
-
-static void nm_timeout_callback(struct NM_Main *nm, struct can_frame *frame)
-{
- switch(nm->timer_reason) {
- case NM_TIMER_NOW:
- /* We're due to log in */
- nm_buildframe(nm, frame);
-
- if ((nm->nodes[nm->my_id].state & NM_MAIN_MASK)
- != NM_MAIN_LOGIN) {
-
- printf("BUG: TIMER_NOW expired in non-ON state %u\n",
- nm->nodes[nm->my_id].state & NM_MAIN_MASK);
- }
-
- /* We're going to be ready, let's
- * change state (RCD 310 behavior)
- */
- nm->nodes[nm->my_id].state = NM_MAIN_ON;
-
- nm_set_timer_normal(nm);
- break;
- case NM_TIMER_NORMAL:
- /* We're due to send our own ring message */
- nm_buildframe(nm, frame);
-
- if ((nm->nodes[nm->my_id].state & NM_MAIN_MASK)
- != NM_MAIN_ON) {
-
- printf("BUG: TIMER_NORMAL expired in non-ON state %u\n",
- nm->nodes[nm->my_id].state & NM_MAIN_MASK);
- }
-
- nm_set_timer_awol(nm);
- break;
- case NM_TIMER_AWOL:
- /* The network is silent because a node disappeared
- * or something bad happened.
- * Reset everything and start over.
- */
- nm_reset(nm);
- nm_buildframe(nm, frame);
- break;
- case NM_TIMER_LIMPHOME:
- printf("Limp home timer expired again :(\n");
-
- nm_buildframe(nm, frame);
- nm_set_timer_limphome(nm);
- break;
- }
-}
-
-
-
-
-static int net_init(char *ifname)
-{
- int s;
- 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) {
- perror("socket");
- 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) {
- perror("SIOCGIFINDEX");
- exit(1);
- }
-
- /* Open the CAN interface */
- memset(&addr, 0, sizeof(addr));
- addr.can_family = AF_CAN;
- addr.can_ifindex = ifr.ifr_ifindex;
- if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bind");
- return 0;
- }
-
- 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;
- fd_set rdfs;
- int s;
- NM_ID my_id;
-
- if (argc != 3) {
- printf("syntax: %s IFNAME MY_ID\n", argv[0]);
- return 1;
- }
-
- my_id = strtoul(argv[2], NULL, 0);
-
- nm = nm_alloc(5, my_id, 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);
-
- retval = select(s+1, &rdfs, NULL, NULL, &nm->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;
- } else if (!retval) {
- /* Timeout, we NEED to check this first */
- struct can_frame frame;
-
- nm_timeout_callback(nm, &frame);
- can_tx(s, &frame);
- } 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;
- }
-
- nm_handle_can_frame(nm, &frame);
- continue;
- }
- }
-
- nm_free(nm);
- close(s);
-
- return 0;
-}
projects / revag-nm.git / blobdiff