Merge cb2ca58e4b into 95aae6bf83

J1939: VP1/VP2 PG fixes

.github/workflows/release-deb.yml

@@ -0,0 +1,57 @@
+name: Build Deb Package
+
+on:
+  release:
+    types: [created]
+
+permissions:
+  contents: write
+
+jobs:
+  build:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04, ubuntu-24.04]
+
+    steps:
+    - name: Checkout source code
+      uses: actions/checkout@v6
+      with:
+        path: can-utils
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y build-essential devscripts debhelper cmake equivs
+
+        cd can-utils
+        # Install build dependencies defined in debian/control
+        sudo mk-build-deps -i -r -t "apt-get -y" debian/control
+
+    - name: Update changelog
+      run: |
+        cd can-utils
+        # Get version from tag, strip 'v' prefix if present
+        VERSION=${{ github.event.release.tag_name }}
+        VERSION=${VERSION#v}
+
+        # Add new entry to changelog
+        # Use the codename of the current OS (jammy or noble)
+        CODENAME=$(lsb_release -cs)
+
+        dch --create -v "${VERSION}-1~${CODENAME}" --package can-utils --distribution ${CODENAME} "New upstream release ${VERSION}"
+        dch -r ""
+
+    - name: Build package
+      run: |
+        cd can-utils
+        # Build binary packages only, unsigned
+        dpkg-buildpackage -us -uc -b
+
+    - name: Upload to Release
+      uses: softprops/action-gh-release@v2
+      with:
+        files: |
+          *.deb

canlogserver.c

@@ -177,7 +177,8 @@ int main(int argc, char **argv)
 	sigset_t sigset;
 	fd_set rdfs;
 	int s[MAXDEV];
-	int socki, accsocket;
+	int socki;
+	int accsocket = -1;
 	canid_t mask[MAXDEV] = {0};
 	canid_t value[MAXDEV] = {0};
 	int inv_filter[MAXDEV] = {0};
@@ -286,7 +287,7 @@ int main(int argc, char **argv)
 	inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
 	inaddr.sin_port = htons(port);
 
-	while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
+	while(running && bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
 		struct timespec f = {
 			.tv_nsec = 100 * 1000 * 1000,
 		};
@@ -295,18 +296,28 @@ int main(int argc, char **argv)
 		nanosleep(&f, NULL);
 	}
 
+	/*
+	 * Check if loop exited due to signal (during nanosleep) rather than
+	 * successful bind.
+	 */
+	if (!running) {
+		close(socki);
+		return 128 + signal_num;
+	}
+
 	if (listen(socki, 3) != 0) {
 		perror("listen");
 		exit(1);
 	}
 
-	while(1) {
+	while(running) {
 		accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
 		if (accsocket > 0) {
 			//printf("accepted\n");
 			if (!fork())
 				break;
 			close(accsocket);
+			accsocket = -1;
 		}
 		else if (errno != EINTR) {
 			perror("accept");
@@ -314,6 +325,17 @@ int main(int argc, char **argv)
 		}
 	}
 
+	/*
+	 * Check if loop exited due to signal (accept returned EINTR) rather
+	 * than successful fork
+	 */
+	if (!running) {
+		if (accsocket > 0)
+			close(accsocket);
+		close(socki);
+		return 128 + signal_num;
+	}
+
 	for (i=0; i<currmax; i++) {
 
 		pr_debug("open %d '%s' m%08X v%08X i%d e%d.\n",

debian/changelog

@@ -0,0 +1,5 @@
+can-utils (0.0.0-1) unstable; urgency=medium
+
+  * Initial release.
+
+ -- Maintainer Name <maintainer@example.com>  Thu, 01 Jan 1970 00:00:00 +0000

debian/control

@@ -0,0 +1,23 @@
+Source: can-utils
+Section: net
+Priority: optional
+Maintainer: GitHub Actions <actions@github.com>
+Build-Depends: debhelper-compat (= 13), cmake
+Standards-Version: 4.6.2
+Homepage: https://github.com/linux-can/can-utils
+
+Package: can-utils
+Architecture: linux-any
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: SocketCAN userspace utilities and tools
+ This package contains some userspace utilities for Linux SocketCAN subsystem.
+
+ Basic tools to display, record, generate and replay CAN traffic:
+ candump, canplayer, cansend, cangen, cansniffer, cansequence.
+ CAN access via IP sockets: canlogserver, bcmserver.
+ CAN in-kernel gateway configuration: cangw.
+ CAN bus measurement and testing: canbusload, can-calc-bit-timing, canfdtest, canerrsim.
+ ISO-TP tools: isotpsend, isotprecv, isotpsniffer, isotpdump, isotpserver, isotptun.
+ CAN log file converters: asc2log, log2asc, log2long.
+ Serial Line Discipline configuration: slcan_attach, slcand, slcanpty.
+ J1939 tools: j1939acd, j1939cat, j1939spy, j1939sr, testj1939.

debian/rules

@@ -0,0 +1,3 @@
+#!/usr/bin/make -f
+%:
+	dh $@

j1939_vehicle_position/j1939_vehicle_position_cmn.h

@@ -51,7 +51,7 @@ struct j1939_vp_err_msg {
 #define J1939_VP1_PRIO_DEFAULT				6
 #define J1939_VP1_MAX_TRANSFER_LENGH \
 	sizeof(struct j1939_vp1_packet)
-#define J1939_VP1_REPETITION_RATE_MS			5000
+#define J1939_VP1_REPETITION_RATE_MS			1000
 #define J1939_VP1_JITTER_MS				500
 
 /**
@@ -63,8 +63,8 @@ struct j1939_vp_err_msg {
  *           - Data Length: 4 bytes
  *           - Resolution: 10^-7 deg/bit
  *           - Offset: -210 degrees
- *           - Range: -210 to +211.1008122 degrees
- *           - Operating Range: -210 degrees (SOUTH) to +211.108122 degrees
+ *           - Range: -210 to +211.10081215 degrees
+ *           - Operating Range: -210 degrees (SOUTH) to +211.1081215 degrees
  *             (NORTH)
  *
  * @longitude: Raw longitude position of the vehicle
@@ -72,8 +72,8 @@ struct j1939_vp_err_msg {
  *           - Data Length: 4 bytes
  *           - Resolution: 10^-7 deg/bit
  *           - Offset: -210 degrees
- *           - Range: -210 to +211.1008122 degrees
- *           - Operating Range: -210 degrees (WEST) to +211.108122 degrees
+ *           - Range: -210 to +211.10081215 degrees
+ *           - Operating Range: -210 degrees (WEST) to +211.1081215 degrees
  *             (EAST)
  *
  * This structure defines each component of the Vehicle Position as described in
@@ -142,42 +142,48 @@ j1939_vp1_set_longitude(struct j1939_vp1_packet *packet, int32_t longitude)
 /**
  * struct j1939_vp2_packet - Represents the PGN 64502 Vehicle
  *                                         Position 2 packet
- * FIXME: current packet layout is guessed based on limited information:
- * https://www.isobus.net/isobus/pGNAndSPN/10801?type=PGN
  *
  * @total_satellites: Total number of satellites in view
  *           - SPN: 8128
  *           - Data Length: 1 byte
+ *           - Range: 0 to 250
  *
  * @hdop: Horizontal dilution of precision
  *           - SPN: 8129
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * @vdop: Vertical dilution of precision
  *           - SPN: 8130
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * @pdop: Position dilution of precision
  *           - SPN: 8131
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * @tdop: Time dilution of precision
  *           - SPN: 8132
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * This structure defines each component of the Vehicle Position 2 as described
  * in PGN 64502.
  */
 struct j1939_vp2_packet {
 	uint8_t total_satellites; /* SPN 8128 */
-	uint8_t hdop;			  /* SPN 8129 */
-	uint8_t vdop;			  /* SPN 8130 */
-	uint8_t pdop;			  /* SPN 8131 */
-	uint8_t tdop;			  /* SPN 8132 */
+	uint8_t hdop;             /* SPN 8129 */
+	uint8_t vdop;             /* SPN 8130 */
+	uint8_t pdop;             /* SPN 8131 */
+	uint8_t tdop;             /* SPN 8132 */
+	uint8_t unused5;          /* Always 0xFF */
+	uint8_t unused6;          /* Always 0xFF */
+	uint8_t unused7;          /* Always 0xFF */
 } __attribute__((__packed__));
 
 /**

j1939_vehicle_position/j1939_vehicle_position_srv.c

@@ -270,6 +270,12 @@ static int j1939_vp2_get_data(struct j1939_vp_srv_priv *priv,
 	j1939_vp2_set_pdop(vp2p, pdop);
 	j1939_vp2_set_tdop(vp2p, tdop);
 
+	/* This PG's last 3 bytes are not assigned and hence must be set
+	 * to 0xFF as per J1939-71, section 5.2 */
+	vp2p->unused5 = 0xFF;
+	vp2p->unused6 = 0xFF;
+	vp2p->unused7 = 0xFF;
+
 	return 0;
 }