Socket can (#4126)

* Linux is asking for SocketCAN ISO-TP console connector #4123 * Linux is asking for SocketCAN ISO-TP console connector #4123 * gradle * Linux is asking for SocketCAN ISO-TP console connector #4123 Co-authored-by: rusefillc <sdfsdfqsf2334234234>
2022-05-03 16:41:24 -04:00 · 2022-05-03 16:41:24 -04:00 · 085d0d4941
parent ae807e722a
commit 085d0d4941
14 changed files with 214 additions and 8 deletions
--- a/java_console/.idea/libraries/javacan_core.xml
+++ b/java_console/.idea/libraries/javacan_core.xml
@ -0,0 +1,18 @@
+<component name="libraryTable">
+  <library name="javacan-core">
+    <CLASSES>
+      <root url="jar://$PROJECT_DIR$/lib/javacan-core.jar!/" />
+      <root url="jar://$PROJECT_DIR$/lib/slf4j-api.jar!/" />
+      <root url="jar://$PROJECT_DIR$/lib/slf4j-simple.jar!/" />
+      <root url="jar://$PROJECT_DIR$/lib/javacan-core-x86_64.jar!/" />
+    </CLASSES>
+    <JAVADOC />
+    <SOURCES>
+      <root url="jar://$PROJECT_DIR$/lib/JavaCAN-javacan.zip!/JavaCAN-javacan-3.2.0/core-test/src/main/java" />
+      <root url="jar://$PROJECT_DIR$/lib/JavaCAN-javacan.zip!/JavaCAN-javacan-3.2.0/core-test/src/test/java" />
+      <root url="jar://$PROJECT_DIR$/lib/JavaCAN-javacan.zip!/JavaCAN-javacan-3.2.0/core/src/main/java" />
+      <root url="jar://$PROJECT_DIR$/lib/JavaCAN-javacan.zip!/JavaCAN-javacan-3.2.0/epoll-test/src/test/java" />
+      <root url="jar://$PROJECT_DIR$/lib/JavaCAN-javacan.zip!/JavaCAN-javacan-3.2.0/epoll/src/main/java" />
+    </SOURCES>
+  </library>
+</component>
--- a/java_console/.idea/runConfigurations/Launcher_socketcan_connector.xml
+++ b/java_console/.idea/runConfigurations/Launcher_socketcan_connector.xml
@ -0,0 +1,11 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Launcher socketcan_connector" type="Application" factoryName="Application">
+    <option name="MAIN_CLASS_NAME" value="com.rusefi.Launcher" />
+    <module name="ui" />
+    <option name="PROGRAM_PARAMETERS" value="elm327_connector" />
+    <option name="VM_PARAMETERS" value="-Dini_file_path=../firmware/tunerstudio -Dshow_etb_pane=true -Dhigh_speed_logger_rpm=10000" />
+    <method v="2">
+      <option name="Make" enabled="true" />
+    </method>
+  </configuration>
+</component>
--- a/java_console/build.xml
+++ b/java_console/build.xml
@ -3,6 +3,7 @@
    <property name="hw_tests" value="build_hw"/>
    <property name="jar_file" value="${jar_file_folder}/rusefi_console.jar"/>
    <property name="server_jar_file" value="${jar_file_folder}/rusefi_server.jar"/>
+
    <resources id="libs">
        <string>lib/mockito-all-1.10.19.jar</string>
        <string>../java_tools/configuration_definition/lib/snakeyaml.jar</string>
@ -31,8 +32,10 @@
        <string>lib/miglayout-4.0.jar</string>
        <string>lib/surfaceplotter-2.0.1.jar</string>
        <string>../java_tools/configuration_definition/lib/antlr-4.9.3-complete.jar</string>
+        <string>lib/javacan-core.jar</string>
    </resources>
    <pathconvert property="lib_list" refid="libs" pathsep=":" />
+
    <target name="clean">
        <delete dir="build"/>
        <delete dir="${hw_tests}"/>
@ -201,6 +204,10 @@
            <zipfileset src="lib/jep.jar" includes="**/*.class"/>
            <zipfileset src="lib/httpclient.jar" includes="**/*.class"/>
            <zipfileset src="lib/commons-logging.jar" includes="**/*.class"/>
+            <zipfileset src="lib/javacan-core.jar" includes="**/*.class"/>
+            <zipfileset src="lib/javacan-core-x86_64.jar" includes="**/*.class"/>
+            <zipfileset src="lib/slf4j-api.jar" includes="**/*.class"/>
+            <zipfileset src="lib/slf4j-simple.jar" includes="**/*.class"/>
            <zipfileset src="lib/httpcore.jar" includes="**/*.class"/>
            <zipfileset src="lib/httpmime.jar" includes="**/*.class"/>
            <zipfileset src="lib/jaxb-api.jar" includes="**/*.class"/>
--- a/java_console/io/build.gradle
+++ b/java_console/io/build.gradle
@ -22,6 +22,7 @@ dependencies {
    implementation project(':logging')

    implementation group: 'com.fazecast', name: 'jSerialComm', version: '2.9.0'
+    implementation group: 'tel.schich', name: 'javacan-core', version: '3.2.0'
    implementation group: 'net.jcip', name: 'jcip-annotations', version: '1.0'
    implementation group: 'com.googlecode.json-simple', name: 'json-simple', version: '1.1.1'
    implementation group: 'org.apache.httpcomponents', name: 'httpclient', version: '4.5.12'
--- a/java_console/io/io.iml
+++ b/java_console/io/io.iml
@ -17,5 +17,6 @@
    <orderEntry type="module" module-name="inifile" exported="" />
    <orderEntry type="library" name="mockito-all-1.10.19" level="project" />
    <orderEntry type="module" module-name="logging" exported="" />
+    <orderEntry type="library" name="javacan-core" level="project" />
  </component>
 </module>
--- a/java_console/io/src/main/java/com/rusefi/io/stream/SocketCANIoStream.java
+++ b/java_console/io/src/main/java/com/rusefi/io/stream/SocketCANIoStream.java
@ -0,0 +1,112 @@
+package com.rusefi.io.stream;
+
+import com.devexperts.logging.Logging;
+import com.opensr5.io.DataListener;
+import com.rusefi.binaryprotocol.IncomingDataBuffer;
+import com.rusefi.config.generated.Fields;
+import com.rusefi.io.IoStream;
+import com.rusefi.io.can.IsoTpCanDecoder;
+import com.rusefi.io.can.IsoTpConnector;
+import com.rusefi.io.serial.AbstractIoStream;
+import com.rusefi.io.tcp.BinaryProtocolServer;
+import org.jetbrains.annotations.Nullable;
+import tel.schich.javacan.CanChannels;
+import tel.schich.javacan.CanFrame;
+import tel.schich.javacan.NetworkDevice;
+import tel.schich.javacan.RawCanChannel;
+
+import java.io.IOException;
+import java.util.concurrent.Executor;
+import java.util.concurrent.Executors;
+
+import static com.devexperts.logging.Logging.getLogging;
+import static com.rusefi.config.generated.Fields.CAN_ECU_SERIAL_TX_ID;
+import static tel.schich.javacan.CanFrame.FD_NO_FLAGS;
+import static tel.schich.javacan.CanSocketOptions.RECV_OWN_MSGS;
+
+public class SocketCANIoStream extends AbstractIoStream {
+    static Logging log = getLogging(SocketCANIoStream.class);
+    private final IncomingDataBuffer dataBuffer;
+    private final RawCanChannel socket;
+
+    private final IsoTpCanDecoder canDecoder = new IsoTpCanDecoder();
+
+    private final IsoTpConnector isoTpConnector = new IsoTpConnector() {
+        @Override
+        public void sendCanData(byte[] hdr, byte[] data, int dataOffset, int dataLength) {
+            byte[] total = combineArrays(hdr, data, dataOffset, dataLength);
+
+            log.info("-------sendIsoTp " + total.length + " byte(s):");
+
+            log.info("Sending " + IoStream.printHexBinary(total));
+
+            CanFrame packet = CanFrame.create(Fields.CAN_ECU_SERIAL_RX_ID, FD_NO_FLAGS, total);
+            try {
+                socket.write(packet);
+            } catch (IOException e) {
+                throw new IllegalStateException(e);
+            }
+        }
+
+        @Override
+        public void receiveData() {
+        }
+    };
+
+    public SocketCANIoStream() {
+        try {
+            NetworkDevice canInterface = NetworkDevice.lookup("can0");
+            socket = CanChannels.newRawChannel();
+            socket.bind(canInterface);
+
+            socket.configureBlocking(true); // we want reader thread to wait for messages
+            socket.setOption(RECV_OWN_MSGS, true);
+        } catch (IOException e) {
+            throw new IllegalStateException("Error looking up", e);
+        }
+        // buffer could only be created once socket variable is not null due to callback
+        dataBuffer = createDataBuffer("[SocketCAN] ");
+    }
+
+    @Nullable
+    public static SocketCANIoStream create() {
+        return new SocketCANIoStream();
+    }
+
+    @Override
+    public void write(byte[] bytes) throws IOException {
+        IsoTpConnector.sendStrategy(bytes, isoTpConnector);
+    }
+
+    @Override
+    public void setInputListener(DataListener listener) {
+        Executor threadExecutor = Executors.newSingleThreadExecutor(BinaryProtocolServer.getThreadFactory("SocketCAN reader"));
+        threadExecutor.execute(() -> {
+            while (!isClosed()) {
+                readOnePacket(listener);
+            }
+        });
+    }
+
+    private void readOnePacket(DataListener listener) {
+        try {
+            CanFrame rx = socket.read();
+            log.info("GOT " + rx);
+            if (rx.getId() != CAN_ECU_SERIAL_TX_ID) {
+                log.info("Skipping non " + CAN_ECU_SERIAL_TX_ID + " packet");
+                return;
+            }
+            byte[] raw = new byte[rx.getDataLength()];
+            rx.getData(raw, 0, raw.length);
+            byte[] decode = canDecoder.decodePacket(raw);
+            listener.onDataArrived(decode);
+        } catch (IOException e) {
+            throw new IllegalStateException(e);
+        }
+    }
+
+    @Override
+    public IncomingDataBuffer getDataBuffer() {
+        return dataBuffer;
+    }
+}
--- a/java_console/io/src/test/java/com/rusefi/binaryprotocol/test/PCanSandbox.java
+++ b/java_console/io/src/test/java/com/rusefi/binaryprotocol/test/PCanSandbox.java
@ -3,7 +3,6 @@ package com.rusefi.binaryprotocol.test;
 import com.devexperts.logging.Logging;
 import com.opensr5.ConfigurationImage;
 import com.rusefi.binaryprotocol.BinaryProtocol;
-import com.rusefi.config.generated.Fields;
 import com.rusefi.io.LinkManager;
 import com.rusefi.io.serial.AbstractIoStream;
 import com.rusefi.io.stream.PCanIoStream;
@ -42,12 +41,9 @@ public class PCanSandbox {
 */

        BinaryProtocol bp = new BinaryProtocol(linkManager, tsStream);
-        linkManager.submit(new Runnable() {
-            @Override
-            public void run() {
-                boolean response = bp.requestOutputChannels();
-                log.info("requestOutputChannels " + response);
-            }
+        linkManager.submit(() -> {
+            boolean response = bp.requestOutputChannels();
+            log.info("requestOutputChannels " + response);
        });

        ConfigurationImage ci = SandboxCommon.readImage(tsStream, linkManager);
--- a/java_console/io/src/test/java/com/rusefi/binaryprotocol/test/SocketCANSandbox.java
+++ b/java_console/io/src/test/java/com/rusefi/binaryprotocol/test/SocketCANSandbox.java
@ -0,0 +1,52 @@
+package com.rusefi.binaryprotocol.test;
+
+import com.devexperts.logging.Logging;
+import com.opensr5.ConfigurationImage;
+import com.rusefi.binaryprotocol.BinaryProtocol;
+import com.rusefi.io.LinkManager;
+import com.rusefi.io.serial.AbstractIoStream;
+import com.rusefi.io.stream.SocketCANIoStream;
+
+import java.io.IOException;
+
+import static com.devexperts.logging.Logging.getLogging;
+
+public class SocketCANSandbox {
+    private static final Logging log = getLogging(PCanSandbox.class);
+
+    public static void main(String[] args) throws IOException, InterruptedException {
+        AbstractIoStream tsStream = SocketCANIoStream.create();
+        if (tsStream == null)
+            throw new IOException("No SocketCAN");
+
+/*
+        for (int i = 0; i < 17; i++) {
+            String signature = BinaryProtocol.getSignature(tsStream);
+            System.out.println("Got " + i + " " + signature + " signature via PCAN");
+            if (signature == null || !signature.startsWith(Fields.PROTOCOL_SIGNATURE_PREFIX))
+                throw new IllegalStateException("Unexpected S " + signature);
+        }
+        log.info("****************************************");
+        log.info("******  SocketCAN LOOKS GREAT  *********");
+        log.info("****************************************");
+*/
+        LinkManager linkManager = new LinkManager();
+/*
+        for (int i = 0; i < 4; i++) {
+            SandboxCommon.verifyCrcNoPending(tsStream, linkManager);
+        }
+*/
+
+        BinaryProtocol bp = new BinaryProtocol(linkManager, tsStream);
+        linkManager.submit(() -> {
+            boolean response = bp.requestOutputChannels();
+            log.info("requestOutputChannels " + response);
+        });
+
+        ConfigurationImage ci = SandboxCommon.readImage(tsStream, linkManager);
+        log.info("Got ConfigurationImage " + ci);
+
+//        System.out.println("We are done");
+//        System.exit(0);
+    }
+}
--- a/java_console/lib/JavaCAN-javacan.zip
+++ b/java_console/lib/JavaCAN-javacan.zip
--- a/java_console/lib/javacan-core-x86_64.jar
+++ b/java_console/lib/javacan-core-x86_64.jar
--- a/java_console/lib/javacan-core.jar
+++ b/java_console/lib/javacan-core.jar
--- a/java_console/lib/slf4j-api.jar
+++ b/java_console/lib/slf4j-api.jar
--- a/java_console/lib/slf4j-simple.jar
+++ b/java_console/lib/slf4j-simple.jar
--- a/java_tools/ts_plugin/build.xml
+++ b/java_tools/ts_plugin/build.xml
@ -11,9 +11,16 @@
    <target name="compile">
        <mkdir dir="build/classes"/>

+        <resources id="libs">
+        <string>lib/mockito-all-1.10.19.jar</string>
+            <string>${console_path}/../java_tools/configuration_definition/lib/snakeyaml.jar</string>
+            <string>${console_path}/lib/javacan-core.jar</string>
+        </resources>
+        <pathconvert property="lib_list" refid="libs" pathsep=":" />
+
        <javac debug="yes"
               destdir="build/classes"
-               classpath="${console_path}/../java_tools/configuration_definition/lib/snakeyaml.jar:${console_path}/lib/log4j-api-2.13.3.jar:${console_path}/lib/log4j-core-2.13.3.jar:${console_path}/lib/jsr305-2.0.1.jar:${console_path}/lib/jcip-annotations-1.0.jar:${console_path}/lib/annotations.jar:${console_path}/lib/jSerialComm.jar:${console_path}/lib/junit.jar:${console_path}/lib/json-simple-1.1.1.jar:${console_path}/lib/annotations.jar:${launcher_path}/lib/TunerStudioPluginAPI.jar:${console_path}/lib/httpclient.jar:${console_path}/lib/httpmime.jar:${console_path}/lib/httpcore.jar"
+               classpath="${lib_list}:${console_path}/lib/log4j-api-2.13.3.jar:${console_path}/lib/log4j-core-2.13.3.jar:${console_path}/lib/jsr305-2.0.1.jar:${console_path}/lib/jcip-annotations-1.0.jar:${console_path}/lib/annotations.jar:${console_path}/lib/jSerialComm.jar:${console_path}/lib/junit.jar:${console_path}/lib/json-simple-1.1.1.jar:${console_path}/lib/annotations.jar:${launcher_path}/lib/TunerStudioPluginAPI.jar:${console_path}/lib/httpclient.jar:${console_path}/lib/httpmime.jar:${console_path}/lib/httpcore.jar"
        >
            <src path="${console_path}/shared_ui/src"/>
            <src path="${console_path}/autoupdate/src/main/java"/>
@ -55,6 +62,7 @@
            <zipfileset src="../../java_console/lib/httpclient.jar" includes="**/*.class"/>
            <zipfileset src="../../java_console/lib/httpcore.jar" includes="**/*.class"/>
            <zipfileset src="../../java_console/lib/httpmime.jar" includes="**/*.class"/>
+            <zipfileset src="../../java_console/lib/javacan-core.jar" includes="**/*.class"/>
            <zipfileset src="../../java_console/lib/json-simple-1.1.1.jar" includes="**/*.class"/>
            <zipfileset src="../../java_console/lib/jSerialComm.jar" includes="**/*.class **/*.so **/*.dll **/*.jnilib"/>
 <!--            <zipfileset src="lib/commons-logging.jar" includes="**/*.class"/>-->