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 1b7f398..6de40c3 100644 (file)
--- a/src/isotp/isotp.c
+++ b/src/isotp/isotp.c
@@ -1,14 +1,105 @@
+#include <isotp/isotp.h>
+#include <isotp/receive.h>
+#include <bitfield/bitfield.h>
 
-void isotp_receive_can_frame(const uint16_t arbitration_id, const uint8_t* data,
-        const uint8_t length) {
-    //match with any request we made
-    //handle flow control if necessary
-    //call callback if message completed
+const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100;
+const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS = true;
+
+/* void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) { */
+    /* handler->timeout_ms = timeout_ms; */
+/* } */
+
+IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
+        SetTimerShim set_timer) {
+    IsoTpShims shims = {
+        log: log,
+        send_can_message: send_can_message,
+        set_timer: set_timer
+    };
+    return shims;
 }
 
-bool isotp_send(const uint8_t* payload, uint16_t payload_size) {
-     // we determine if it's single/multi frame and start the send
+void isotp_message_to_string(const IsoTpMessage* message, char* destination,
+        size_t destination_length) {
+    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]);
 }
 
-void isotp_set_timeout(uint16_t timeout) {
+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,
+        payload: {0},
+        size: 0
+    };
+
+    if(size < 1) {
+        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);
+        }
+        return message;
+    }
+
+    IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
+            get_nibble(data, size, 0);
+
+    uint8_t payload_length = get_nibble(data, size, 1);
+    uint8_t payload[payload_length];
+    if(payload_length > 0 && size > 0) {
+        memcpy(payload, &data[1], payload_length);
+    }
+
+    // TODO this is set up to handle rx a response with a payload, but not to
+    // handle flow control responses for multi frame messages that we're in the
+    // process of sending
+
+    switch(pci) {
+        case PCI_SINGLE: {
+            if(payload_length > 0) {
+                memcpy(message.payload, payload, payload_length);
+            }
+            message.size = payload_length;
+            message.completed = true;
+            handle->success = true;
+            handle->completed = true;
+            isotp_handle_single_frame(handle, &message);
+            break;
+         }
+        default:
+            shims->log("Only single frame messages are supported");
+            break;
+    }
+    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;
+}
+