Split up functions to rx CAN messages for rx and tx of ISO-TP.

[apps/agl-service-can-low-level.git] / src / isotp / isotp.c

diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c
index 1605d43..6de40c3 100644 (file)
--- a/src/isotp/isotp.c
+++ b/src/isotp/isotp.c
@@ -2,8 +2,6 @@
 #include <isotp/receive.h>
 #include <bitfield/bitfield.h>
 
-const uint16_t MAX_ISO_TP_MESSAGE_SIZE = 4096;
-const uint16_t MAX_CAN_FRAME_SIZE = 8;
 const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100;
 const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS = true;
 
@@ -23,47 +21,46 @@ IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
 
 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
         size_t destination_length) {
-    char payload_string[message->size * 2 + 1];
-    for(int i = 0; i < message->size; i++) {
-        // TODO, bah this isn't working because snprintf hits the NULL char that
-        // it wrote the last time and stops cold
-        snprintf(&payload_string[i * 2], 2, "%02x", message->payload[i]);
-    }
-    snprintf(destination, destination_length, "ID: 0x%02x, Payload: 0x%s",
-            message->arbitration_id, payload_string);
+    snprintf(destination, destination_length, "ID: 0x%02x, Payload: 0x%02x%02x%02x%02x%02x%02x%02x%02x",
+            message->arbitration_id,
+            message->payload[0],
+            message->payload[1],
+            message->payload[2],
+            message->payload[3],
+            message->payload[4],
+            message->payload[5],
+            message->payload[6],
+            message->payload[7]);
 }
 
-IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
-        const uint16_t arbitration_id, const uint8_t data[],
-        const uint8_t data_length) {
+IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
+        IsoTpReceiveHandle* handle, const uint16_t arbitration_id,
+        const uint8_t data[], const uint8_t size) {
     IsoTpMessage message = {
         arbitration_id: arbitration_id,
-        completed: false
+        completed: false,
+        payload: {0},
+        size: 0
     };
 
-    if(data_length < 1) {
+    if(size < 1) {
         return message;
     }
 
-    if(handle->type == ISOTP_HANDLE_RECEIVING) {
-        if(handle->receive_handle.arbitration_id != arbitration_id) {
-            return message;
-        }
-    } else if(handle->type == ISOTP_HANDLE_SENDING) {
-        if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
-            return message;
+    if(handle->arbitration_id != arbitration_id) {
+        if(shims->log != NULL)  {
+            shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x",
+                    arbitration_id, handle->arbitration_id);
         }
-    } else {
-        shims->log("The ISO-TP handle is corrupt");
         return message;
     }
 
     IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
-            get_nibble(data, data_length, 0);
+            get_nibble(data, size, 0);
 
-    uint8_t payload_length = get_nibble(data, data_length, 1);
+    uint8_t payload_length = get_nibble(data, size, 1);
     uint8_t payload[payload_length];
-    if(payload_length > 0 && data_length > 0) {
+    if(payload_length > 0 && size > 0) {
         memcpy(payload, &data[1], payload_length);
     }
 
@@ -73,7 +70,9 @@ IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
 
     switch(pci) {
         case PCI_SINGLE: {
-            message.payload = payload;
+            if(payload_length > 0) {
+                memcpy(message.payload, payload, payload_length);
+            }
             message.size = payload_length;
             message.completed = true;
             handle->success = true;
@@ -87,3 +86,20 @@ IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
     }
     return message;
 }
+
+bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
+        const uint16_t arbitration_id, const uint8_t data[],
+        const uint8_t size) {
+    // TODO this will need to be tested when we add multi-frame support,
+    // which is when it'll be necessary to pass in CAN messages to SENDING
+    // handles.
+    if(handle->receiving_arbitration_id != arbitration_id) {
+        if(shims->log != NULL) {
+            shims->log("The arb ID 0x%x doesn't match the expected tx continuation ID 0x%x",
+                    arbitration_id, handle->receiving_arbitration_id);
+        }
+        return false;
+    }
+    return false;
+}
+