AutowareV2X/src/raw_socket_link.cpp

#include "autoware_v2x/raw_socket_link.hpp"
#include <iostream>
#include <vanetza/access/data_request.hpp>
#include <vanetza/net/ethernet_header.hpp>
#include <chrono>

using namespace vanetza;

RawSocketLink::RawSocketLink(boost::asio::generic::raw_protocol::socket && socket)
: socket_(std::move(socket)),
  receive_buffer_(2048, 0x00),
  receive_endpoint_(socket_.local_endpoint())
{
  do_receive();
}

void RawSocketLink::request(
  const access::DataRequest & request, std::unique_ptr<ChunkPacket> packet)
{
  packet->layer(OsiLayer::Link) =
    create_ethernet_header(request.destination_addr, request.source_addr, request.ether_type);
  transmit(std::move(packet));
}

std::size_t RawSocketLink::transmit(std::unique_ptr<ChunkPacket> packet)
{
  std::array<boost::asio::const_buffer, layers_> const_buffers;
  for (auto & layer : osi_layer_range<OsiLayer::Physical, OsiLayer::Application>()) {
    const auto index = distance(OsiLayer::Physical, layer);
    packet->layer(layer).convert(buffers_[index]);
    const_buffers[index] = boost::asio::buffer(buffers_[index]);
  }

  return socket_.send(const_buffers);
}

void RawSocketLink::indicate(IndicationCallback callback) {
  callback_ = callback;
}

void RawSocketLink::do_receive()
{
  namespace sph = std::placeholders;
  socket_.async_receive_from(
    boost::asio::buffer(receive_buffer_), receive_endpoint_,
    std::bind(&RawSocketLink::on_read, this, sph::_1, sph::_2));
}

void RawSocketLink::on_read(const boost::system::error_code & ec, std::size_t read_bytes)
{
  if (!ec) {
    ByteBuffer buffer(receive_buffer_.begin(), receive_buffer_.begin() + read_bytes);
    CohesivePacket packet(std::move(buffer), OsiLayer::Physical);
    boost::optional<EthernetHeader> eth = parse_ethernet_header(packet);
    if (callback_ && eth) {
      callback_(std::move(packet), *eth);
    }
    do_receive();
  }
}

boost::optional<EthernetHeader> RawSocketLink::parse_ethernet_header(
  vanetza::CohesivePacket & packet) const
{
  packet.set_boundary(OsiLayer::Physical, 0);
  if (packet.size(OsiLayer::Link) < EthernetHeader::length_bytes) {
    std::cerr << "Router dropped invalid packet (too short for Ethernet header)\n";
  } else {
    packet.set_boundary(OsiLayer::Link, EthernetHeader::length_bytes);
    auto link_range = packet[OsiLayer::Link];
    return decode_ethernet_header(link_range.begin(), link_range.end());
  }

  return boost::none;
}