73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
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#include "autoware_v2x/raw_socket_link.hpp"
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#include <iostream>
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#include <vanetza/access/data_request.hpp>
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#include <vanetza/net/ethernet_header.hpp>
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using namespace vanetza;
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RawSocketLink::RawSocketLink(boost::asio::generic::raw_protocol::socket && socket)
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: socket_(std::move(socket)),
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receive_buffer_(2048, 0x00),
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receive_endpoint_(socket_.local_endpoint())
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{
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do_receive();
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}
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void RawSocketLink::request(
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const access::DataRequest & request, std::unique_ptr<ChunkPacket> packet)
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{
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packet->layer(OsiLayer::Link) =
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create_ethernet_header(request.destination_addr, request.source_addr, request.ether_type);
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transmit(std::move(packet));
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}
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std::size_t RawSocketLink::transmit(std::unique_ptr<ChunkPacket> packet)
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{
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std::array<boost::asio::const_buffer, layers_> const_buffers;
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for (auto & layer : osi_layer_range<OsiLayer::Physical, OsiLayer::Application>()) {
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const auto index = distance(OsiLayer::Physical, layer);
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packet->layer(layer).convert(buffers_[index]);
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const_buffers[index] = boost::asio::buffer(buffers_[index]);
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}
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return socket_.send(const_buffers);
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}
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void RawSocketLink::indicate(IndicationCallback callback) { callback_ = callback; }
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void RawSocketLink::do_receive()
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{
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namespace sph = std::placeholders;
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socket_.async_receive_from(
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boost::asio::buffer(receive_buffer_), receive_endpoint_,
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std::bind(&RawSocketLink::on_read, this, sph::_1, sph::_2));
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}
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void RawSocketLink::on_read(const boost::system::error_code & ec, std::size_t read_bytes)
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{
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if (!ec) {
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ByteBuffer buffer(receive_buffer_.begin(), receive_buffer_.begin() + read_bytes);
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CohesivePacket packet(std::move(buffer), OsiLayer::Physical);
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boost::optional<EthernetHeader> eth = parse_ethernet_header(packet);
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if (callback_ && eth) {
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callback_(std::move(packet), *eth);
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}
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do_receive();
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}
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}
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boost::optional<EthernetHeader> RawSocketLink::parse_ethernet_header(
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vanetza::CohesivePacket & packet) const
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{
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packet.set_boundary(OsiLayer::Physical, 0);
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if (packet.size(OsiLayer::Link) < EthernetHeader::length_bytes) {
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std::cerr << "Router dropped invalid packet (too short for Ethernet header)\n";
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} else {
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packet.set_boundary(OsiLayer::Link, EthernetHeader::length_bytes);
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auto link_range = packet[OsiLayer::Link];
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return decode_ethernet_header(link_range.begin(), link_range.end());
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}
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return boost::none;
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}
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