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Merge pull request #553 from olerem/j1939_vehicle_position 

J1939 vehicle position
pull/585/head
Marc Kleine-Budde 2025-03-02 17:19:09 +01:00 committed by GitHub
parent f1cea504a4 e448d542e8
commit 18b1e7970a
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
7 changed files with 3037 additions and 9 deletions
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69
.github/workflows/compile.yml vendored
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@ -30,7 +30,45 @@ jobs:
podman run --name stable -di --userns=keep-id:uid=1000,gid=1000 -v "$PWD":/home -w /home ${{ matrix.release }} bash
podman exec -i stable uname -a
podman exec -i stable id
- name: Update APT Sources List (Ubuntu Only)
if:
startsWith(matrix.release, 'ubuntu:') && matrix.release != 'ubuntu:20.04'
run: |
podman exec -i -u root stable apt update
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy \
lsb-release
podman exec -i -u root stable \
test -e /etc/apt/sources.list &&
podman exec -i -u root stable \
sed -i -e 's|\(http.*:\)|[arch=amd64] \1|g' /etc/apt/sources.list
podman exec -i -u root stable \
test -e /etc/apt/sources.list.d/ubuntu.sources &&
podman exec -i -u root stable \
sed -i -e '/^Components:/a Architectures: amd64' /etc/apt/sources.list.d/ubuntu.sources
echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs) main restricted universe multiverse" | \
podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs)-updates main restricted universe multiverse" | \
podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs)-backports main restricted universe multiverse" | \
podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
- name: Add Architecture
if:
matrix.release != 'ubuntu:20.04'
run: |
podman exec -i -u root stable dpkg --add-architecture arm64
podman exec -i -u root stable dpkg --add-architecture armhf
- name: Install Development Packages
env:
release: ${{ matrix.release == 'debian:experimental' && '-t experimental' || '' }}
run: |
podman exec -i -u root stable apt update
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt upgrade -o APT::Install-Suggests=false -qy
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy ${release} \
clang \
cmake \
@ -38,52 +76,67 @@ jobs:
gcc-aarch64-linux-gnu \
gcc-arm-linux-gnueabihf \
gcc-mips-linux-gnu \
libgps-dev \
make
- name: Install Cross Libs
env:
release: ${{ matrix.release == 'debian:experimental' && '-t experimental' || '' }}
if:
matrix.release != 'ubuntu:20.04'
run: |
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy ${release} \
libgps-dev:arm64 \
libgps-dev:armhf
- name: Configure & Build with gcc
env:
cc: gcc
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -B build-${cc}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -DENABLE_GPS=ON -B build-${cc}
podman exec -i stable cmake --build build-${cc}
- name: Configure & Build with clang
env:
cc: clang
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -B build-${cc}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -DENABLE_GPS=ON -B build-${cc}
podman exec -i stable cmake --build build-${cc}
- name: Configure & Build with arm-linux-gnueabihf-gcc
env:
toolchain: arm-linux-gnueabihf-gcc
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake --build build-${toolchain}
- name: Configure & Build with arm-linux-gnueabihf-clang
if:
${{ matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim' }}
matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim'
env:
toolchain: arm-linux-gnueabihf-clang
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake --build build-${toolchain}
- name: Configure & Build with aarch64-linux-gnu-gcc
env:
toolchain: aarch64-linux-gnu-gcc
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake --build build-${toolchain}
- name: Configure & Build with aarch64-linux-gnu-clang
if:
${{ matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim' }}
matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim'
env:
toolchain: aarch64-linux-gnu-clang
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake --build build-${toolchain}
- name: Configure & Build with mips-linux-gnu-gcc

28
CMakeLists.txt
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@ -18,6 +18,12 @@ endif()
# Add an option to enable treating warnings as errors
option(ENABLE_WERROR "Treat all compiler warnings as errors" OFF)
option(ENABLE_GPS "Enable GPS support" OFF)
find_package(PkgConfig REQUIRED)
if(ENABLE_GPS)
pkg_check_modules(GPS REQUIRED libgps)
endif()
if(ENABLE_WERROR)
add_compile_options(-Werror)
@ -71,6 +77,10 @@ set(PROGRAMS_J1939_TIMEDATE
j1939-timedate-cli
)
set(PROGRAMS_J1939_VEHICLE_POSITION
j1939-vehicle-position-srv
)
set(PROGRAMS_ISOBUSFS
isobusfs-srv
isobusfs-cli
@ -195,6 +205,24 @@ if(NOT ANDROID)
j1939-timedate-srv
DESTINATION ${CMAKE_INSTALL_BINDIR})
if(ENABLE_GPS)
set(PUBLIC_HEADER_J1939_VEHICLE_POSITION
j1939_vehicle_position/j1939_vehicle_position_cmn.h
)
add_executable(j1939-vehicle-position-srv
j1939_vehicle_position/j1939_vehicle_position_srv.c
)
target_link_libraries(j1939-vehicle-position-srv
PRIVATE can j1939 ${GPS_LIBRARIES}
)
install(TARGETS
j1939-vehicle-position-srv
DESTINATION ${CMAKE_INSTALL_BINDIR})
endif()
endif()
add_library(can STATIC

15
Makefile
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@ -67,6 +67,9 @@ PROGRAMS_J1939_TIMEDATE := \
j1939-timedate-srv \
j1939-timedate-cli
PROGRAMS_J1939_VEHICLE_POSITION := \
j1939-vehicle-position-srv
PROGRAMS_ISOBUSFS := \
isobusfs-srv \
isobusfs-cli
@ -98,6 +101,7 @@ PROGRAMS_SLCAN := \
PROGRAMS := \
$(PROGRAMS_CANGW) \
$(PROGRAMS_J1939_TIMEDATE) \
$(PROGRAMS_J1939_VEHICLE_POSITION) \
$(PROGRAMS_ISOBUSFS) \
$(PROGRAMS_ISOTP) \
$(PROGRAMS_J1939) \
@ -126,7 +130,8 @@ endif
all: $(PROGRAMS)
clean:
rm -f $(PROGRAMS) *.o mcp251xfd/*.o isobusfs/*.o j1939_timedate/*.o
rm -f $(PROGRAMS) *.o mcp251xfd/*.o isobusfs/*.o j1939_timedate/*.o \
j1939_vehicle_position/*.o
install:
mkdir -p $(DESTDIR)$(PREFIX)/bin
@ -153,6 +158,8 @@ isobusfs_srv.o: lib.h libj1939.h
isobusfs_c.o: lib.h libj1939.h
j1939_timedate_srv.o: lib.h libj1939.h
j1939_timedate_cli.o: lib.h libj1939.h
j1939_vehicle_position_srv.o: lib.h libj1939.h
canframelen.o: canframelen.h
asc2log: asc2log.o lib.o
@ -182,6 +189,12 @@ j1939-timedate-cli: lib.o \
j1939_timedate/j1939_timedate_cli.o
$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $@
j1939-vehicle-position-srv: \
lib.o \
libj1939.o \
j1939_vehicle_position/j1939_vehicle_position_srv.o \
$(CC) $(LDFLAGS) $^ $(LDLIBS) -lgps -o $@
isobusfs-srv: lib.o \
libj1939.o \
isobusfs/isobusfs_cmn.o \

1394
j1939_vehicle_position/j1939_vehicle_position_cmn.h 100644
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File diff suppressed because it is too large Load Diff

1514
j1939_vehicle_position/j1939_vehicle_position_srv.c 100644
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File diff suppressed because it is too large Load Diff

25
libj1939.c
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@ -253,6 +253,31 @@ int libj1939_bind_socket(int sock, struct sockaddr_can *addr)
return 0;
}
/**
* libj1939_connect_socket - Connects a socket to a CAN address.
* @sock: The socket file descriptor.
* @addr: The CAN address to connect to.
*
* This function attempts to establish a connection between the given socket
* and the specified CAN address. If the connection fails, it logs an error
* message with the error code and a description of the error.
*
* Return: 0 on success, or a negative error code on failure.
*/
int libj1939_connect_socket(int sock, struct sockaddr_can *addr)
{
int ret;
ret = connect(sock, (void *)addr, sizeof(*addr));
if (ret < 0) {
ret = -errno;
pr_err("failed to connect socket: %d (%s)", ret, strerror(ret));
return ret;
}
return 0;
}
/**
* libj1939_socket_prio - Set the priority of a J1939 socket
* @sock: The file descriptor of the socket

1
libj1939.h
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@ -43,6 +43,7 @@ void libj1939_init_sockaddr_can(struct sockaddr_can *sac, uint32_t pgn);
int libj1939_open_socket(void);
int libj1939_bind_socket(int sock, struct sockaddr_can *addr);
int libj1939_connect_socket(int sock, struct sockaddr_can *addr);
int libj1939_socket_prio(int sock, int prio);
int libj1939_set_broadcast(int sock);
int libj1939_add_socket_to_epoll(int epoll_fd, int sock, uint32_t events);