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RIOT/sys/can/conn/isotp.c 10.2 KB
a752c7ab   elopes   add first test an...
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  /*
   * Copyright (C) 2016 OTA keys S.A.
   *
   * This file is subject to the terms and conditions of the GNU Lesser
   * General Public License v2.1. See the file LICENSE in the top level
   * directory for more details.
   */
  
  /**
   * @ingroup     sys_can_conn
   * @{
   * @file
   * @brief       Implementation of isotp CAN connection
   *
   * @author      Vincent Dupont <vincent@otakeys.com>
   * @}
   */
  
  #ifdef MODULE_CAN_ISOTP
  #include <errno.h>
  #include <string.h>
  
  #include "can/conn/isotp.h"
  #include "can/isotp.h"
  #include "can/device.h"
  
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
  #include "utlist.h"
  #endif
  
  #define ENABLE_DEBUG (0)
  #include "debug.h"
  
  #include "xtimer.h"
  
  #define _TIMEOUT_TX_MSG_TYPE    (0x8000)
  #define _TIMEOUT_RX_MSG_TYPE    (0x8001)
  #define _CLOSE_CONN_MSG_TYPE    (0x8002)
  #define _TIMEOUT_MSG_VALUE      (0xABCDEFAB)
  
  #ifndef CONN_CAN_ISOTP_TIMEOUT_TX_CONF
  #define CONN_CAN_ISOTP_TIMEOUT_TX_CONF (10 * US_PER_SEC)
  #endif
  
  static inline void put_msg(conn_can_isotp_t *conn, msg_t *msg)
  {
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
      mbox_put(&conn->master->mbox, msg);
  #else
      mbox_put(&conn->mbox, msg);
  #endif
  }
  
  static inline void get_msg(conn_can_isotp_t *conn, msg_t *msg)
  {
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
      mbox_get(&conn->master->mbox, msg);
  #else
      mbox_get(&conn->mbox, msg);
  #endif
  }
  
  int conn_can_isotp_create(conn_can_isotp_t *conn, struct isotp_options *options, int ifnum)
  {
      assert(conn != NULL);
      assert(options != NULL);
      assert(ifnum < CAN_DLL_NUMOF);
  
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
      DEBUG("conn_can_isotp_create: conn=%p, conn->master=%p, ifnum=%d\n",
            (void *)conn, (void *)conn->master, ifnum);
  
      if (conn->master == conn || conn->master == NULL) {
          conn->master = conn;
          conn->master->next = NULL;
          mutex_init(&conn->master->lock);
          mutex_lock(&conn->master->lock);
          DEBUG("conn_can_isotp_create: init master conn\n");
          mbox_init(&conn->master->mbox, conn->master->mbox_queue, CONN_CAN_ISOTP_MBOX_SIZE);
          mutex_unlock(&conn->master->lock);
      }
  #else
      mbox_init(&conn->mbox, conn->mbox_queue, CONN_CAN_ISOTP_MBOX_SIZE);
  #endif
  
      conn->ifnum = ifnum;
  
      memset(&conn->isotp, 0, sizeof(struct isotp));
      conn->isotp.opt = *options;
  
      return 0;
  }
  
  int conn_can_isotp_bind(conn_can_isotp_t *conn)
  {
      assert(conn != NULL);
      assert(conn->isotp.opt.tx_id != 0 || conn->isotp.opt.rx_id != 0);
  
      DEBUG("conn_can_isotp_bind: conn=%p, ifnum=%d\n",
            (void *)conn, conn->ifnum);
  
      if (conn->bound) {
          return -EALREADY;
      }
      msg_t msg;
      int ret;
      can_reg_entry_t entry;
      entry.ifnum = conn->ifnum;
      entry.type = CAN_TYPE_MBOX;
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
      assert(conn->master != NULL);
  
      entry.target.mbox = &(conn->master->mbox);
      if (conn != conn->master) {
          mutex_lock(&conn->master->lock);
          LL_APPEND(conn->master->next, (conn_can_isotp_slave_t *)conn);
          mutex_unlock(&conn->master->lock);
      }
      ret = mbox_try_get(&conn->master->mbox, &msg);
  #else
      entry.target.mbox = &conn->mbox;
      ret = mbox_try_get(&conn->mbox, &msg);
  #endif
      if ((ret == 1) && (msg.type != _CLOSE_CONN_MSG_TYPE)) {
          DEBUG("conn_can_isotp_bind: msg in queue type=%x\n", msg.type);
          put_msg(conn, &msg);
      }
  
      ret = isotp_bind(&conn->isotp, &entry, conn);
      if (!ret) {
          conn->bound = 1;
      }
      return ret;
  }
  
  static void _tx_conf_timeout(void *arg)
  {
      conn_can_isotp_t *conn = arg;
      msg_t msg;
  
      msg.type = _TIMEOUT_TX_MSG_TYPE;
      msg.content.value = _TIMEOUT_MSG_VALUE;
  
      put_msg(conn, &msg);
  }
  
  int conn_can_isotp_send(conn_can_isotp_t *conn, const void *buf, size_t size, int flags)
  {
      assert(conn != NULL);
      assert(buf != NULL || size == 0);
  
      int ret = 0;
  
      if (!conn->bound) {
          return -ENOTCONN;
      }
  
      if (flags & CAN_ISOTP_TX_DONT_WAIT) {
          return isotp_send(&conn->isotp, buf, size, flags);
      }
      else {
          xtimer_t timer;
          timer.callback = _tx_conf_timeout;
          timer.arg = conn;
          xtimer_set(&timer, CONN_CAN_ISOTP_TIMEOUT_TX_CONF);
  
          ret = isotp_send(&conn->isotp, buf, size, flags);
  
          msg_t msg;
          while (1) {
              get_msg(conn, &msg);
              switch (msg.type) {
              case CAN_MSG_TX_ERROR:
                  if (msg.content.ptr == conn) {
                      ret = -EIO;
                  }
                  /* No break */
              case CAN_MSG_TX_CONFIRMATION:
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
                  if (msg.content.ptr != conn) {
                      mbox_put(&conn->master->mbox, &msg);
                      break;
                  }
  #endif
                  xtimer_remove(&timer);
                  return ret;
              case _TIMEOUT_TX_MSG_TYPE:
                  return -ETIMEDOUT;
              default:
                  DEBUG("conn_can_isotp_send: unexpected msg %x, requeing\n", msg.type);
                  put_msg(conn, &msg);
                  break;
              }
          }
      }
  
      return ret;
  }
  
  static void _rx_timeout(void *arg)
  {
      conn_can_isotp_t *conn = arg;
      msg_t msg;
  
      msg.type = _TIMEOUT_RX_MSG_TYPE;
      msg.content.value = _TIMEOUT_MSG_VALUE;
  
      put_msg(conn, &msg);
  }
  
  int conn_can_isotp_recv(conn_can_isotp_t *conn, void *buf, size_t size, uint32_t timeout)
  {
      assert(conn != NULL);
      assert(buf != NULL);
  
      int ret = 0;
      gnrc_pktsnip_t *snip;
  
      if (!conn->bound) {
          return -ENOTCONN;
      }
  
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
      if (conn->rx) {
          snip = conn->rx->data.iov_base;
          if (snip->size <= size) {
              memcpy(buf, snip->data, snip->size);
              ret = snip->size;
          }
          else {
              ret = -EOVERFLOW;
          }
          isotp_free_rx(conn->rx);
          conn->rx = NULL;
          return ret;
      }
  #endif
  
      xtimer_t timer;
      if (timeout != 0) {
          timer.callback = _rx_timeout;
          timer.arg = conn;
          xtimer_set(&timer, timeout);
      }
  
      msg_t msg;
      can_rx_data_t *rx;
  
      while (1) {
          get_msg(conn, &msg);
          switch (msg.type) {
          case CAN_MSG_RX_INDICATION:
              DEBUG("conn_can_isotp_recv: CAN_MSG_RX_INDICATION\n");
              rx = msg.content.ptr;
              snip = rx->data.iov_base;
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
              if (rx->arg != conn) {
                  mbox_put(&conn->master->mbox, &msg);
                  break;
              }
  #endif
              if (timeout != 0) {
                  xtimer_remove(&timer);
              }
              if (snip->size <= size) {
                  memcpy(buf, snip->data, snip->size);
                  ret = snip->size;
              }
              else {
                  ret = -EOVERFLOW;
              }
              isotp_free_rx(rx);
              return ret;
          case _TIMEOUT_RX_MSG_TYPE:
              DEBUG("conn_can_isotp_recv: _TIMEOUT_RX_MSG_TYPE\n");
              if (msg.content.value == _TIMEOUT_MSG_VALUE) {
                  ret = -ETIMEDOUT;
              }
              else {
                  ret = -EINTR;
              }
              return ret;
          case _CLOSE_CONN_MSG_TYPE:
              DEBUG("conn_can_isotp_recv: _CLOSE_CONN_MSG_TYPE\n");
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
              if ((msg.content.ptr == conn) || (msg.content.ptr == conn->master)) {
  #endif
                  if (timeout != 0) {
                      xtimer_remove(&timer);
                  }
                  return -ECONNABORTED;
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
              }
  #endif
              break;
          default:
              DEBUG("conn_can_isotp_recv: unexpected msg %x\n", msg.type);
              if (timeout != 0) {
                  xtimer_remove(&timer);
              }
              ret = -EINTR;
              return ret;
          }
      }
  
      return ret;
  }
  
  int conn_can_isotp_close(conn_can_isotp_t *conn)
  {
      assert(conn != NULL);
      msg_t msg;
  
      DEBUG("conn_can_isotp_close: conn=%p, ifnum=%d\n",
            (void *)conn, conn->ifnum);
  
      if (!conn->bound) {
          return -EALREADY;
      }
  
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
      assert(conn->master != NULL);
  
      if (conn->master != conn) {
          mutex_lock(&conn->master->lock);
          LL_DELETE(conn->master->next, (conn_can_isotp_slave_t *)conn);
          mutex_unlock(&conn->master->lock);
      }
      else {
          if (conn->master->next) {
              return -EBUSY;
          }
      }
  #endif
  
      isotp_release(&conn->isotp);
  
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
      if (conn->rx) {
          isotp_free_rx(conn->rx);
      }
      if (conn->master == conn) {
          while (mbox_try_get(&conn->master->mbox, &msg)) {
              if (msg.type == CAN_MSG_RX_INDICATION) {
                  DEBUG("conn_can_isotp_close: freeing %p\n", msg.content.ptr);
                  isotp_free_rx(msg.content.ptr);
              }
          }
      }
  #else
      while (mbox_try_get(&conn->mbox, &msg)) {
          if (msg.type == CAN_MSG_RX_INDICATION) {
              DEBUG("conn_can_isotp_close: freeing %p\n", msg.content.ptr);
              isotp_free_rx(msg.content.ptr);
          }
      }
  #endif
  
      msg.type = _CLOSE_CONN_MSG_TYPE;
      msg.content.ptr = conn;
      put_msg(conn, &msg);
  
      conn->bound = 0;
  
      return 0;
  }
  
  #ifdef MODULE_CONN_CAN_ISOTP_MULTI
  int conn_can_isotp_select(conn_can_isotp_slave_t **conn, conn_can_isotp_t *master, uint32_t timeout)
  {
      assert(master != NULL);
      assert(conn != NULL);
  
      int ret;
  
      xtimer_t timer;
      if (timeout != 0) {
          timer.callback = _rx_timeout;
          timer.arg = master;
          xtimer_set(&timer, timeout);
      }
  
      msg_t msg;
      can_rx_data_t *rx;
  
      mbox_get(&master->mbox, &msg);
  
      if (timeout != 0) {
          xtimer_remove(&timer);
      }
      switch (msg.type) {
      case CAN_MSG_RX_INDICATION:
          DEBUG("conn_can_isotp_select: CAN_MSG_RX_INDICATION\n");
          rx = msg.content.ptr;
          *conn = rx->arg;
          (*conn)->rx = rx;
          ret = 0;
          break;
      case _TIMEOUT_RX_MSG_TYPE:
          DEBUG("conn_can_isotp_select: _TIMEOUT_MSG_VALUE\n");
          if (msg.content.value == _TIMEOUT_MSG_VALUE) {
              ret = -ETIMEDOUT;
          }
          else {
              ret = -EINTR;
          }
          *conn = NULL;
          break;
      default:
          DEBUG("conn_can_isotp_select: %d\n", msg.type);
          *conn = NULL;
          ret = -EINTR;
          break;
      }
  
      return ret;
  }
  #endif /* MODULE_CONN_CAN_ISOTP_MULTI */
  
  #else
  typedef int dont_be_pedantic;
  #endif /* MODULE_CAN_ISOTP */