1 #include <isotp/isotp.h>
9 IsoTpReceiveHandle RECEIVE_HANDLE;
11 uint32_t last_can_frame_sent_arb_id;
12 uint8_t last_can_payload_sent[8];
13 uint8_t last_can_payload_size;
14 bool can_frame_was_sent;
16 bool message_was_received;
17 uint32_t last_message_received_arb_id;
18 uint8_t last_message_received_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
19 uint8_t last_message_received_payload_size;
21 uint32_t last_message_sent_arb_id;
22 bool last_message_sent_status;
23 uint8_t last_message_sent_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
24 uint8_t last_message_sent_payload_size;
26 void debug(const char* format, ...) {
28 va_start(args, format);
29 vprintf(format, args);
34 bool mock_send_can(const uint32_t arbitration_id, const uint8_t* data,
36 can_frame_was_sent = true;
37 last_can_frame_sent_arb_id = arbitration_id;
38 last_can_payload_size = size;
40 memcpy(last_can_payload_sent, data, size);
45 void message_received(const IsoTpMessage* message) {
46 debug("Received ISO-TP message:");
47 message_was_received = true;
48 char str_message[48] = {0};
49 isotp_message_to_string(message, str_message, sizeof(str_message));
50 debug("%s", str_message);
51 last_message_received_arb_id = message->arbitration_id;
52 last_message_received_payload_size = message->size;
53 if(message->size > 0) {
54 memcpy(last_message_received_payload, message->payload, message->size);
58 void message_sent(const IsoTpMessage* message, const bool success) {
60 debug("Sent ISO-TP message:");
62 debug("Unable to send ISO-TP message:");
64 char str_message[48] = {0};
65 isotp_message_to_string(message, str_message, sizeof(str_message));
66 debug("%s", str_message);
68 last_message_sent_arb_id = message->arbitration_id;
69 last_message_sent_payload_size = message->size;
70 last_message_sent_status = success;
71 if(message->size > 0) {
72 memcpy(last_message_sent_payload, message->payload, message->size);
76 void can_frame_sent(const uint32_t arbitration_id, const uint8_t* payload,
78 debug("Sent CAN Frame with arb ID 0x%x and %d bytes", arbitration_id, size);
82 SHIMS = isotp_init_shims(debug, mock_send_can, NULL);
83 RECEIVE_HANDLE = isotp_receive(&SHIMS, 0x2a, message_received);
84 memset(last_message_sent_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
85 memset(last_message_received_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
86 memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent));
87 last_message_sent_status = false;
88 message_was_received = false;
89 can_frame_was_sent = false;