CPM generation can work without TMC software

src/config.c

@@ -249,6 +249,11 @@ int facilities_config(void* facilities_s) {
     facilities->dissemination->T_GenCpmMin = config->facilities.cpm.rsu_obu_period_min;
     facilities->dissemination->T_GenCpmMax = config->facilities.cpm.rsu_obu_period_max;
     facilities->dissemination->radar_rotation = config->applications.its_center.rotation;
+    facilities->dissemination->tmc_connect = config->facilities.cpm.tmc_connected;
+    facilities->dissemination->latitude = config->management.gps.latitude;
+    facilities->dissemination->longitude = config->management.gps.longitude;
+
+
 
     // Replay
     facilities->replay = config->networking.replay.activate;

src/cpm.c

@@ -17,6 +17,8 @@
 #include <stdbool.h>
 #include <stdio.h>
 #include <signal.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
 
 #include <it2s-tender/time.h>
 
@@ -38,6 +40,7 @@
 float roadRotationSin;
 float roadRotationCos;
 S_ETHERNET_CONNECTION_T s_socket;
+S_INTERFACE_CONNECTION_T raw_socket;
 S_OBJECT_CONTROL_T s_objectControl;
 S_OBJECTS_T as_objects[NOF_OBJECTS];
 
@@ -63,29 +66,64 @@ bool waitingIncomingConnection(void){
 
 
 
-bool interface_connection(char* radar_ip,char* radar_port){
+bool interface_connection(char* radar_ip,char* radar_port, facilities_t* facilities){
 	
-	// 1 - Create socket
+	if(facilities->dissemination->tmc_connect == false){
-	s_socket.i32_socket = socket(AF_INET, SOCK_STREAM, 0);
 
-	if(s_socket.i32_socket < 0){
+		// 1 - Create socket
-		syslog_err("Initializing socket failed ...");
+		s_socket.i32_socket = socket(AF_INET, SOCK_STREAM, 0);
+		
+		if(s_socket.i32_socket < 0){
+			syslog_err("Initializing socket failed ...");
+			return false;
+		}
+	
+		// 2 - Bind it to server address and port
+		bzero(&s_socket.s_server, sizeof(s_socket.s_server));
+		s_socket.s_server.sin_family = AF_INET;
+		s_socket.s_server.sin_addr.s_addr = inet_addr(radar_ip);
+		s_socket.s_server.sin_port = htons(atoi(radar_port));
+
+		if(bind(s_socket.i32_socket, (struct sockaddr*)&s_socket.s_server,sizeof(s_socket.s_server)) < 0){
+			syslog_err("Binding socket to address error ...");
+			return false;
+		}
+
+		if(!waitingIncomingConnection())
+			return false;
+		}
+
+	// Create RAW socket
+
+	raw_socket.raw_fd = socket(AF_PACKET, SOCK_RAW, htons(0x0800));
+
+	if(raw_socket.raw_fd < 0){
+		syslog_err("Failed to initializing RAW socket ...");
 		return false;
 	}
 		
-	// 2 - Bind it to server address and port
+	// Get interface index
-	bzero(&s_socket.s_server, sizeof(s_socket.s_server));
-	s_socket.s_server.sin_family = AF_INET;
-	s_socket.s_server.sin_addr.s_addr = inet_addr(radar_ip);
-	s_socket.s_server.sin_port = htons(atoi(radar_port));
 
-	if(bind(s_socket.i32_socket, (struct sockaddr*)&s_socket.s_server,sizeof(s_socket.s_server)) < 0){
+	bzero(&raw_socket.sll, sizeof(raw_socket.sll));
-		syslog_err("Binding socket to address error ...");
+	bzero(&raw_socket.ifr, sizeof(raw_socket.ifr));
-		 return false;
+		
+	strncpy((char *)raw_socket.ifr.ifr_name, INTERFACE_RADAR, IFNAMSIZ);
+	if((ioctl(raw_socket.raw_fd, SIOCGIFINDEX, &raw_socket.ifr)) == -1){
+		syslog_err("Error getting interface index");
+		return false;
 	}
 
-	if(!waitingIncomingConnection())
+	raw_socket.sll.sll_family = AF_PACKET;
+	raw_socket.sll.sll_ifindex = raw_socket.ifr.ifr_ifindex;
+	raw_socket.sll.sll_protocol = htons(0x0800);
+
+	// Bind it to the interface
+
+	if(bind(raw_socket.raw_fd, (struct sockaddr *)&raw_socket.sll, sizeof(raw_socket.sll))<0){
+		syslog_err("Error binding RAW socket ...");
 		return false;
+	}
+
 
 	return true;
 
@@ -377,8 +415,8 @@ void mk_cpm(facilities_t* facilities,CPM_t* cpm_tx, struct timespec* systemtime)
 
   cpm_tx->cpm.generationDeltaTime = generationDeltaTime;
   cpm_tx->cpm.cpmParameters.managementContainer.stationType = StationType_roadSideUnit;
-  cpm_tx->cpm.cpmParameters.managementContainer.referencePosition.latitude = 420309860;	//A3				// 412400078; (A24)
+  cpm_tx->cpm.cpmParameters.managementContainer.referencePosition.latitude = facilities->dissemination->latitude;
-  cpm_tx->cpm.cpmParameters.managementContainer.referencePosition.longitude =	-86515778; //A3			  // -86950224; (A24)
+  cpm_tx->cpm.cpmParameters.managementContainer.referencePosition.longitude = facilities->dissemination->longitude;
   cpm_tx->cpm.cpmParameters.managementContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = 100;
   cpm_tx->cpm.cpmParameters.managementContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = 100;
   cpm_tx->cpm.cpmParameters.managementContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = HeadingValue_wgs84North;
@@ -504,6 +542,10 @@ void *cp_service(void *fc){
 	int i32_recv_bytes;
 	u_int8_t au8_readBuffer[READ_BUFFER_SIZE];
 	bool is_radar_connected;
+	u_int8_t au8_readTcp[READ_BUFFER_SIZE];
+	facilities_t *facilities = (facilities_t *) fc;
+
+
 
 	uint8_t bdr_oer[2048];
 	uint8_t fdi_oer[2048];
@@ -511,7 +553,6 @@ void *cp_service(void *fc){
 	fdi_oer[0] = 4;
 
 	
-	facilities_t *facilities = (facilities_t *) fc;
 	BTPDataRequest_t *bdr = calloc(1, sizeof(BTPDataRequest_t));
 	FacilitiesDataIndication_t *fdi = calloc(1, sizeof(FacilitiesDataIndication_t));
 
@@ -540,7 +581,7 @@ void *cp_service(void *fc){
         	*bdr->gnSecurityProfile = 1;
     	}
    
-	is_radar_connected = interface_connection(RADAR_IP,RADAR_PORT);	// Create Radar listening socket	
+	is_radar_connected = interface_connection(RADAR_IP,RADAR_PORT,facilities);	// Create Radar listening socket	
 
 
 	/*--- Fill mandatory Facilities Data Indication parameters ---*/
@@ -560,9 +601,15 @@ void *cp_service(void *fc){
 	while(!facilities->exit){
 		usleep(1000*50);
    
-		   /* Receive Data from radar interface */
+	/* If the Radar is not connected to TMC, a TCP socket is needed to fool the Radar */
-		CPM_t* cpm_tx = calloc(1, sizeof(CPM_t));
+			
-		i32_recv_bytes = recv(s_socket.i32_client, &au8_readBuffer, READ_BUFFER_SIZE, 0);		//recv(socket,buffer,size,flags)
+	if(facilities->dissemination->tmc_connect == false)
+		i32_recv_bytes = recv(s_socket.i32_client, &au8_readTcp, READ_BUFFER_SIZE, 0);
+
+	/* Reads from the radar */
+	CPM_t* cpm_tx = calloc(1, sizeof(CPM_t));
+	i32_recv_bytes = recv(raw_socket.raw_fd, &au8_readBuffer, READ_BUFFER_SIZE, 0);		//recv(socket,buffer,size,flags)
+	
 
         if (dissemination_check(facilities->dissemination, &facilities->epv) && facilities->dissemination->active){
 		if(is_radar_connected){ 
@@ -573,12 +620,14 @@ void *cp_service(void *fc){
 				continue;
 			}
 			
+						
 			/* Information parsing */
 			parse_input(au8_readBuffer,i32_recv_bytes);																				
     	
     			/* CPM build and encoding to bdr and fdi (Could be merged if needed) */ 						
 	    		mk_cpm(facilities,cpm_tx,systemtime);																			
 						
+		
 			if(encode_cpm(cpm_tx, bdr->data.buf, (uint32_t *) &bdr->data.size) == 1){
 				ASN_STRUCT_FREE(asn_DEF_CPM, cpm_tx);
 				continue;
@@ -621,7 +670,7 @@ void *cp_service(void *fc){
 	
 
 	    	} else {	/* Waiting for Radar to reconnect */
-			    is_radar_connected = waitingIncomingConnection();
+	    		    is_radar_connected = waitingIncomingConnection();
 	    	}
     	}    
 	}

src/cpm.h

@@ -17,8 +17,9 @@
 #define ROAD_ANGLE 120
 #define MESSAGE_ID 14
 #define PROTOCOL_VERSION 1
+#define INTERFACE_RADAR "enp3s0"
 
-#define RADAR_IP "11.11.11.13"	  // ITS-S interface connected to the radar
+#define RADAR_IP "192.168.11.1"	  // ITS-S interface connected to the radar
 #define RADAR_PORT "55555"	  // Destination port from the radar
 
 
@@ -118,10 +119,11 @@ typedef struct
 {
 
    bool active;
+   bool tmc_connect;
 
    pthread_mutex_t lock;
 
-   uint8_t type;
+   uint32_t type;
 
    uint64_t next_cpm_max;
    uint64_t next_cpm_min;
@@ -130,9 +132,15 @@ typedef struct
    uint64_t T_GenCpmMin;
    uint64_t T_GenCpmMax;
 
+
 /* Position of the radar (Value from toml)  */
    
-   int8_t radar_rotation; 
+   int64_t radar_rotation;
+ 
+/* Fixed GPS coordenates */
+
+   double latitude;
+   double longitude;
 
 } dissemination_t;