#include <jni.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <net/if.h>
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#include <sys/socket.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <android/log.h>
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#include <fcntl.h>
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#define TAG "CanControl"
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#define LOGI(fmt, args...) __android_log_print(ANDROID_LOG_INFO, TAG, fmt, ##args)
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#define LOGD(fmt, args...) __android_log_print(ANDROID_LOG_DEBUG, TAG, fmt, ##args)
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#define LOGE(fmt, args...) __android_log_print(ANDROID_LOG_ERROR, TAG, fmt, ##args)
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extern "C"
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JNIEXPORT jint JNICALL
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Java_com_example_serial_CanControl_sendMessage(JNIEnv *env, jclass clazz, jstring id, jstring dlc,
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jstring data, jstring ifname) {
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// TODO: implement sendMessage()
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int fd;
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int i;
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struct sockaddr_can addr;
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struct ifreq ifr;
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struct can_frame frame;
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unsigned int byte;
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char *token;
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const char *sendId = env->GetStringUTFChars(id, 0);
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const char *sendDlc = env->GetStringUTFChars(dlc, 0);
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const char *sendMsg = env->GetStringUTFChars(data, 0);
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const char *if_name = env->GetStringUTFChars(ifname, 0);
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if ( sendId == nullptr || sendDlc == nullptr || sendMsg == nullptr || if_name == nullptr)
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{
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LOGE("Invalid parameter");
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return -1;
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}
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// create socket
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fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if(fd < 0)
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{
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LOGE("create can socket failed:%s\n", strerror(errno));
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return -2;
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}
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strcpy(ifr.ifr_name, if_name);
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ioctl(fd, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (bind(fd, (struct sockaddr*)&addr, sizeof (addr)) < 0)
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{
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LOGE("bind socket failed:%s\n", strerror(errno));
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return -3;
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}
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sscanf(sendId, "%X", &byte);
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frame.can_id = byte;
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sscanf(sendDlc, "%u", &byte);
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frame.can_dlc = byte;
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token = strtok((char *)sendMsg, " ");
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for (int i = 0; i < frame.can_dlc && token != NULL; ++i)
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{
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unsigned int data_byte;
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sscanf(token, "%02X", &data_byte);
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frame.data[i] = (unsigned char)data_byte;
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token = strtok(NULL, " ");
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}
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if (write(fd, &frame, sizeof (struct can_frame)) != sizeof (struct can_frame))
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{
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LOGE("write data failed:%s\n", strerror(errno));
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return -4;
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}
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LOGD("Send CAN frame: ID=0x%X DLC=%d data=", frame.can_id, frame.can_dlc);
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for(int i = 0; i < frame.can_dlc; i++)
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{
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LOGD("%02X ", frame.data[i]);
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}
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printf("\n");
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close(fd);
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env->ReleaseStringUTFChars(id, sendId);
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env->ReleaseStringUTFChars(dlc, sendDlc);
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env->ReleaseStringUTFChars(data, sendMsg);
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env->ReleaseStringUTFChars(ifname, if_name);
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return 0;
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}
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extern "C"
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JNIEXPORT jstring JNICALL
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Java_com_example_serial_CanControl_receiveMessage(JNIEnv *env, jclass clazz, jstring ifname) {
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// TODO: implement receiveMessage()
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int fd;
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int rv;
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struct sockaddr_can addr;
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struct ifreq ifr;
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struct can_frame frame;
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char recvMsg[128];
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char buf[4];
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const char *if_name = env->GetStringUTFChars(ifname, 0);
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if (if_name == nullptr)
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{
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LOGE("Invalid parameter");
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return nullptr;
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}
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fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if(fd < 0)
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{
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LOGE("create can socket failed:%s\n", strerror(errno));
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return nullptr;
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}
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strcpy(ifr.ifr_name, if_name);
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ioctl(fd, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (bind(fd, (struct sockaddr*)&addr, sizeof (addr)) < 0)
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{
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LOGE("bind socket failed:%s\n", strerror(errno));
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return nullptr;
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}
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rv = read(fd, &frame, sizeof (struct can_frame));
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if (rv < 0)
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{
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LOGE("read data failed:%s\n", strerror(errno));
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return nullptr;
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} else if (rv < sizeof (struct can_frame))
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{
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LOGE("read incomplete CAN frame\n");
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return nullptr;
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}
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memset(recvMsg, 0, sizeof (recvMsg));
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sprintf(recvMsg, "ID=%X DLC=%d Data=", frame.can_id, frame.can_dlc);
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for (int i = 0; i < frame.can_dlc; ++i) {
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memset(buf, 0, sizeof (buf));
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sprintf(buf, "%02X ", frame.data[i]);
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strcat(recvMsg, buf);
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}
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LOGD("recived: %s", recvMsg);
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close(fd);
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env->ReleaseStringUTFChars(ifname, if_name);
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return env->NewStringUTF(recvMsg);
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}
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extern "C"
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JNIEXPORT jint JNICALL
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Java_com_example_serial_CanControl_openCan(JNIEnv *env, jclass clazz, jstring ifname,
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jstring bitrate) {
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// TODO: implement openCan()
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char *ifname_native;
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char *bitrate_native;
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char command[128];
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ifname_native = (char *)env->GetStringUTFChars(ifname, 0);
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bitrate_native = (char *)env->GetStringUTFChars(bitrate, 0);
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memset(command, 0, sizeof (command));
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snprintf(command, sizeof (command), "ip link set %s down", ifname_native);
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if( system(command) == -1)
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{
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LOGE("system %s failure:%s\n", command, strerror(errno));
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return -1;
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}
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LOGD("system %s success\n", command);
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memset(command, 0, sizeof (command));
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snprintf(command, sizeof(command), "ip link set %s up type can bitrate %d", ifname_native, bitrate_native);
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if( system(command) == -1)
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{
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LOGE("system %s failure:%s\n", command, strerror(errno));
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return -1;
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}
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LOGD("system %s success\n", command);
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memset(command, 0, sizeof (command));
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snprintf(command, sizeof(command), "ip link set %s up type can", ifname_native);
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if( system(command) == -1)
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{
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LOGE("system %s failure:%s\n", command, strerror(errno));
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return -1;
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}
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LOGD("system %s success\n", command);
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env->ReleaseStringUTFChars(ifname, ifname_native);
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env->ReleaseStringUTFChars(bitrate, bitrate_native);
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return 0;
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}
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