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 f5b2079..6de40c3 100644 (file)
--- a/src/isotp/isotp.c
+++ b/src/isotp/isotp.c
@@ -2,16 +2,9 @@
 #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;
 
-// TODO why isn't this picked up from the header?
-extern IsoTpHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id,
-        IsoTpMessageReceivedHandler callback);
-
-
 /* void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) { */
     /* handler->timeout_ms = timeout_ms; */
 /* } */
@@ -28,36 +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) {
-    snprintf(destination, destination_length,"ID: 0x%02x, Payload: 0x%llx",
-            // TODO the payload may be backwards here
-            message->arbitration_id, message->payload);
+    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_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
-        const uint16_t arbitration_id, const uint8_t data[],
-        const uint8_t data_length) {
-    if(data_length < 1) {
-        return;
+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->type == ISOTP_HANDLE_RECEIVING) {
-        if(handle->receive_handle.arbitration_id != arbitration_id) {
-            return;
-        }
-    } else if(handle->type == ISOTP_HANDLE_SENDING) {
-        if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
-            return;
+    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);
     }
 
@@ -67,12 +70,13 @@ void isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
 
     switch(pci) {
         case PCI_SINGLE: {
-            IsoTpMessage message = {
-                arbitration_id: arbitration_id,
-                payload: payload,
-                size: payload_length
-            };
-
+            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;
          }
@@ -80,4 +84,22 @@ void isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
             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;
+}
+