/**************************************************************************** * net/can/can_recvmsg.c * * Licensed to the Apache Software Foundation (ASF) under one or more * contributor license agreements. See the NOTICE file distributed with * this work for additional information regarding copyright ownership. The * ASF licenses this file to you under the Apache License, Version 2.0 (the * "License"); you may not use this file except in compliance with the * License. You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the * License for the specific language governing permissions and limitations * under the License. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #ifdef CONFIG_NET_CAN #include #include #include #include #include #include #include #include #include #include #include #include "netdev/netdev.h" #include "devif/devif.h" #include "can/can.h" #include "socket/socket.h" #include #ifdef CONFIG_NET_TIMESTAMP #include #endif /**************************************************************************** * Private Types ****************************************************************************/ struct can_recvfrom_s { FAR struct socket *pr_sock; /* The parent socket structure */ FAR struct devif_callback_s *pr_cb; /* Reference to callback instance */ sem_t pr_sem; /* Semaphore signals recv completion */ size_t pr_buflen; /* Length of receive buffer */ FAR uint8_t *pr_buffer; /* Pointer to receive buffer */ ssize_t pr_recvlen; /* The received length */ size_t pr_msglen; /* Length of msg buffer */ FAR uint8_t *pr_msgbuf; /* Pointer to msg buffer */ int pr_result; /* Success:OK, failure:negated errno */ }; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: can_add_recvlen * * Description: * Update information about space available for new data and update size * of data in buffer, This logic accounts for the case where * recvfrom_udpreadahead() sets state.pr_recvlen == -1 . * * Input Parameters: * pstate recvfrom state structure * recvlen size of new data appended to buffer * * Returned Value: * None * ****************************************************************************/ static inline void can_add_recvlen(FAR struct can_recvfrom_s *pstate, size_t recvlen) { if (pstate->pr_recvlen < 0) { pstate->pr_recvlen = 0; } pstate->pr_recvlen += recvlen; pstate->pr_buffer += recvlen; pstate->pr_buflen -= recvlen; } /**************************************************************************** * Name: can_recvfrom_newdata * * Description: * Copy the read data from the packet * * Input Parameters: * dev The structure of the network driver that caused the event. * pstate recvfrom state structure * * Returned Value: * None. * * Assumptions: * The network is locked. * ****************************************************************************/ static size_t can_recvfrom_newdata(FAR struct net_driver_s *dev, FAR struct can_recvfrom_s *pstate) { size_t recvlen; if (dev->d_len > pstate->pr_buflen) { recvlen = pstate->pr_buflen; } else { recvlen = dev->d_len; } /* Copy the new packet data into the user buffer */ memcpy(pstate->pr_buffer, dev->d_buf, recvlen); /* Update the accumulated size of the data read */ can_add_recvlen(pstate, recvlen); return recvlen; } /**************************************************************************** * Name: can_newdata * * Description: * Copy the read data from the packet * * Input Parameters: * dev The structure of the network driver that generated the event * pstate recvfrom state structure * * Returned Value: * None. * * Assumptions: * The network is locked. * ****************************************************************************/ static inline void can_newdata(FAR struct net_driver_s *dev, FAR struct can_recvfrom_s *pstate) { /* Take as much data from the packet as we can */ size_t recvlen = can_recvfrom_newdata(dev, pstate); /* If there is more data left in the packet that we could not buffer, then * add it to the read-ahead buffers. */ if (recvlen < dev->d_len) { FAR struct can_conn_s *conn = (FAR struct can_conn_s *)pstate->pr_sock->s_conn; FAR uint8_t *buffer = (FAR uint8_t *)dev->d_appdata + recvlen; uint16_t buflen = dev->d_len - recvlen; #ifdef CONFIG_DEBUG_NET uint16_t nsaved; nsaved = can_datahandler(conn, buffer, buflen); #else can_datahandler(conn, buffer, buflen); #endif /* There are complicated buffering issues that are not addressed fully * here. For example, what if up_datahandler() cannot buffer the * remainder of the packet? In that case, the data will be dropped but * still ACKed. Therefore it would not be resent. * * This is probably not an issue here because we only get here if the * read-ahead buffers are empty and there would have to be something * serioulsy wrong with the configuration not to be able to buffer a * partial packet in this context. */ #ifdef CONFIG_DEBUG_NET if (nsaved < buflen) { nerr("ERROR: packet data not saved (%d bytes)\n", buflen - nsaved); } #endif } /* Indicate no data in the buffer */ dev->d_len = 0; } /**************************************************************************** * Name: can_readahead * * Description: * Copy the read-ahead data from the packet * * Input Parameters: * pstate recvfrom state structure * * Returned Value: * None * * Assumptions: * The network is locked. * ****************************************************************************/ static inline int can_readahead(struct can_recvfrom_s *pstate) { FAR struct can_conn_s *conn = (FAR struct can_conn_s *) pstate->pr_sock->s_conn; FAR struct iob_s *iob; int recvlen; /* Check there is any CAN data already buffered in a read-ahead * buffer. */ pstate->pr_recvlen = -1; if ((iob = iob_peek_queue(&conn->readahead)) != NULL && pstate->pr_buflen > 0) { DEBUGASSERT(iob->io_pktlen > 0); /* Transfer that buffered data from the I/O buffer chain into * the user buffer. */ recvlen = iob_copyout(pstate->pr_buffer, iob, pstate->pr_buflen, 0); /* If we took all of the data from the I/O buffer chain is empty, then * release it. If there is still data available in the I/O buffer * chain, then just trim the data that we have taken from the * beginning of the I/O buffer chain. */ if (recvlen >= iob->io_pktlen) { FAR struct iob_s *tmp; /* Remove the I/O buffer chain from the head of the read-ahead * buffer queue. */ tmp = iob_remove_queue(&conn->readahead); DEBUGASSERT(tmp == iob); UNUSED(tmp); /* And free the I/O buffer chain */ iob_free_chain(iob, IOBUSER_NET_CAN_READAHEAD); } else { /* The bytes that we have received from the head of the I/O * buffer chain (probably changing the head of the I/O * buffer queue). */ iob_trimhead_queue(&conn->readahead, recvlen, IOBUSER_NET_CAN_READAHEAD); } /* do not pass frames with DLC > 8 to a legacy socket */ #if defined(CONFIG_NET_CANPROTO_OPTIONS) && defined(CONFIG_NET_CAN_CANFD) if (!conn->fd_frames) #endif { if (recvlen > sizeof(struct can_frame)) { return 0; } } return recvlen; } return 0; } /**************************************************************************** * Name: can_readahead * * Description: * Copy the read-ahead data from the packet * * Input Parameters: * pstate recvfrom state structure * * Returned Value: * None * * Assumptions: * The network is locked. * ****************************************************************************/ #ifdef CONFIG_NET_TIMESTAMP static inline int can_readahead_timestamp(struct can_conn_s *conn, FAR uint8_t *buffer) { FAR struct iob_s *iob; int recvlen; if ((iob = iob_peek_queue(&conn->readahead)) != NULL) { DEBUGASSERT(iob->io_pktlen > 0); /* Transfer that buffered data from the I/O buffer chain into * the user buffer. */ recvlen = iob_copyout(buffer, iob, sizeof(struct timeval), 0); /* If we took all of the data from the I/O buffer chain is empty, then * release it. If there is still data available in the I/O buffer * chain, then just trim the data that we have taken from the * beginning of the I/O buffer chain. */ if (recvlen >= iob->io_pktlen) { FAR struct iob_s *tmp; /* Remove the I/O buffer chain from the head of the read-ahead * buffer queue. */ tmp = iob_remove_queue(&conn->readahead); DEBUGASSERT(tmp == iob); UNUSED(tmp); /* And free the I/O buffer chain */ iob_free_chain(iob, IOBUSER_NET_CAN_READAHEAD); } else { /* The bytes that we have received from the head of the I/O * buffer chain (probably changing the head of the I/O * buffer queue). */ iob_trimhead_queue(&conn->readahead, recvlen, IOBUSER_NET_CAN_READAHEAD); } return recvlen; } return 0; } #endif #ifdef CONFIG_NET_CANPROTO_OPTIONS static int can_recv_filter(struct can_conn_s *conn, canid_t id) { uint32_t i; for (i = 0; i < conn->filter_count; i++) { if (conn->filters[i].can_id & CAN_INV_FILTER) { if ((id & conn->filters[i].can_mask) != ((conn->filters[i].can_id & ~CAN_INV_FILTER) & conn->filters[i].can_mask)) { return 1; } } else { if ((id & conn->filters[i].can_mask) == (conn->filters[i].can_id & conn->filters[i].can_mask)) { return 1; } } } return 0; } #endif static uint16_t can_recvfrom_eventhandler(FAR struct net_driver_s *dev, FAR void *pvconn, FAR void *pvpriv, uint16_t flags) { struct can_recvfrom_s *pstate = (struct can_recvfrom_s *)pvpriv; #if defined(CONFIG_NET_CANPROTO_OPTIONS) || defined(CONFIG_NET_CAN_CANFD) || \ defined(CONFIG_NET_TIMESTAMP) struct can_conn_s *conn = (struct can_conn_s *)pstate->pr_sock->s_conn; #endif /* 'priv' might be null in some race conditions (?) */ if (pstate) { if ((flags & CAN_NEWDATA) != 0) { /* If a new packet is available, check receive filters * when is valid then complete the read action. */ #ifdef CONFIG_NET_CANPROTO_OPTIONS if (can_recv_filter(conn, (canid_t) *dev->d_appdata) == 0) { flags &= ~CAN_NEWDATA; return flags; } #endif /* do not pass frames with DLC > 8 to a legacy socket */ #if defined(CONFIG_NET_CANPROTO_OPTIONS) && defined(CONFIG_NET_CAN_CANFD) if (!conn->fd_frames) #endif { #if defined(CONFIG_NET_TIMESTAMP) if ((conn->sconn.s_timestamp && (dev->d_len > sizeof(struct can_frame) + sizeof(struct timeval))) || (!conn->sconn.s_timestamp && (dev->d_len > sizeof(struct can_frame)))) #else if (dev->d_len > sizeof(struct can_frame)) #endif { /* DO WE NEED TO CLEAR FLAGS?? */ flags &= ~CAN_NEWDATA; return flags; } } /* Copy the packet */ can_newdata(dev, pstate); #ifdef CONFIG_NET_TIMESTAMP if (conn->sconn.s_timestamp) { if (pstate->pr_msglen == sizeof(struct timeval)) { can_readahead_timestamp(conn, pstate->pr_msgbuf); } else { /* We still have to consume the data * otherwise IOB gets full */ uint8_t dummy_buf[sizeof(struct timeval)]; can_readahead_timestamp(conn, (uint8_t *)&dummy_buf); } } #endif /* We are finished. */ /* Don't allow any further call backs. */ pstate->pr_cb->flags = 0; pstate->pr_cb->priv = NULL; pstate->pr_cb->event = NULL; /* indicate that the data has been consumed */ flags &= ~CAN_NEWDATA; /* Wake up the waiting thread, returning the number of bytes * actually read. */ nxsem_post(&pstate->pr_sem); } } return flags; } /**************************************************************************** * Name: can_recvfrom_result * * Description: * Evaluate the result of the recv operations * * Input Parameters: * result The result of the net_lockedwait operation (may indicate EINTR) * pstate A pointer to the state structure to be initialized * * Returned Value: * The result of the recv operation with errno set appropriately * * Assumptions: * ****************************************************************************/ static ssize_t can_recvfrom_result(int result, FAR struct can_recvfrom_s *pstate) { /* Check for a error/timeout detected by the event handler. Errors are * signaled by negative errno values for the rcv length */ if (pstate->pr_result < 0) { /* This might return EAGAIN on a timeout */ return pstate->pr_result; } /* If net_lockedwait failed, then we were probably reawakened by a signal. * In this case, net_lockedwait will have returned negated errno * appropriately. */ if (result < 0) { return result; } return pstate->pr_recvlen; } /**************************************************************************** * Name: can_recvmsg * * Description: * recvmsg() receives messages from a socket, and may be used to receive * data on a socket whether or not it is connection-oriented. * * If from is not NULL, and the underlying protocol provides the source * address, this source address is filled in. The argument 'msg_namelen' * initialized to the size of the buffer associated with from, and modified * on return to indicate the actual size of the address stored there. * * Input Parameters: * psock A pointer to a NuttX-specific, internal socket structure * msg Buffer to receive the message * flags Receive flags (ignored) * ****************************************************************************/ ssize_t can_recvmsg(FAR struct socket *psock, FAR struct msghdr *msg, int flags) { FAR struct can_conn_s *conn; FAR struct net_driver_s *dev; struct can_recvfrom_s state; int ret; DEBUGASSERT(psock != NULL && psock->s_conn != NULL); conn = (FAR struct can_conn_s *)psock->s_conn; if (psock->s_type != SOCK_RAW) { nerr("ERROR: Unsupported socket type: %d\n", psock->s_type); ret = -ENOSYS; } net_lock(); /* Initialize the state structure. */ memset(&state, 0, sizeof(struct can_recvfrom_s)); /* This semaphore is used for signaling and, hence, should not have * priority inheritance enabled. */ nxsem_init(&state.pr_sem, 0, 0); /* Doesn't really fail */ nxsem_set_protocol(&state.pr_sem, SEM_PRIO_NONE); state.pr_buflen = msg->msg_iov->iov_len; state.pr_buffer = msg->msg_iov->iov_base; #ifdef CONFIG_NET_TIMESTAMP if (conn->sconn.s_timestamp && msg->msg_controllen >= (sizeof(struct cmsghdr) + sizeof(struct timeval))) { struct cmsghdr *cmsg = CMSG_FIRSTHDR(msg); state.pr_msglen = sizeof(struct timeval); state.pr_msgbuf = CMSG_DATA(cmsg); cmsg->cmsg_level = SOL_SOCKET; cmsg->cmsg_type = SO_TIMESTAMP; cmsg->cmsg_len = state.pr_msglen; msg->msg_controllen = sizeof(struct cmsghdr) + sizeof(struct timeval); } else { /* Expected behavior is that the msg_controllen becomes 0, * otherwise CMSG_NXTHDR will go into a infinite loop */ msg->msg_controllen = 0; } #endif state.pr_sock = psock; /* Handle any any CAN data already buffered in a read-ahead buffer. NOTE * that there may be read-ahead data to be retrieved even after the * socket has been disconnected. */ ret = can_readahead(&state); if (ret > 0) { #ifdef CONFIG_NET_TIMESTAMP if (conn->sconn.s_timestamp) { if (state.pr_msglen == sizeof(struct timeval)) { can_readahead_timestamp(conn, state.pr_msgbuf); } else { /* We still have to consume the data otherwise IOB gets full */ uint8_t dummy_buf[sizeof(struct timeval)]; can_readahead_timestamp(conn, (uint8_t *)&dummy_buf); } } #endif goto errout_with_state; } ret = state.pr_recvlen; /* Handle non-blocking CAN sockets */ if (_SS_ISNONBLOCK(conn->sconn.s_flags) || (flags & MSG_DONTWAIT) != 0) { /* Return the number of bytes read from the read-ahead buffer if * something was received (already in 'ret'); EAGAIN if not. */ if (ret < 0) { /* Nothing was received */ ret = -EAGAIN; goto errout_with_state; } } /* Get the device driver that will service this transfer */ dev = conn->dev; if (dev == NULL) { ret = -ENODEV; goto errout_with_state; } /* Set up the callback in the connection */ state.pr_cb = can_callback_alloc(dev, conn); if (state.pr_cb) { state.pr_cb->flags = (CAN_NEWDATA | CAN_POLL); state.pr_cb->priv = (FAR void *)&state; state.pr_cb->event = can_recvfrom_eventhandler; /* Wait for either the receive to complete or for an error/timeout to * occur. NOTES: (1) net_lockedwait will also terminate if a signal * is received, (2) the network is locked! It will be un-locked while * the task sleeps and automatically re-locked when the task restarts. */ ret = net_lockedwait(&state.pr_sem); /* Make sure that no further events are processed */ can_callback_free(dev, conn, state.pr_cb); ret = can_recvfrom_result(ret, &state); } else { ret = -EBUSY; } errout_with_state: net_unlock(); nxsem_destroy(&state.pr_sem); return ret; } #endif /* CONFIG_NET_CAN */