Merge pull request #553 from olerem/j1939_vehicle_position

J1939 vehicle position

.github/workflows/compile.yml

@@ -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

CMakeLists.txt

@@ -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

Makefile

@@ -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 \

libj1939.c

@@ -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

libj1939.h

@@ -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);