#include <isotp/send.h>
+#include <bitfield/bitfield.h>
+#include <string.h>
#define PCI_NIBBLE_INDEX 0
#define PAYLOAD_LENGTH_NIBBLE_INDEX 1
#define PAYLOAD_BYTE_INDEX 1
-void isotp_complete_send(IsoTpHandler* handler, IsoTpMessage* message,
- bool status) {
- handler->message_sent_callback(message, status);
+void isotp_complete_send(IsoTpShims* shims, IsoTpMessage* message,
+ bool status, IsoTpMessageSentHandler callback) {
+ if(callback != NULL) {
+ callback(message, status);
+ }
}
-bool isotp_send_single_frame(IsoTpHandler* handler, IsoTpMessage* message) {
+IsoTpSendHandle isotp_send_single_frame(IsoTpShims* shims, IsoTpMessage* message,
+ IsoTpMessageSentHandler callback) {
+ IsoTpSendHandle handle = {
+ success: false,
+ completed: true
+ };
+
uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0};
if(!set_nibble(PCI_NIBBLE_INDEX, PCI_SINGLE, can_data, sizeof(can_data))) {
- handler->shims->log("Unable to set PCI in CAN data");
- return false;
+ shims->log("Unable to set PCI in CAN data");
+ return handle;
}
if(!set_nibble(PAYLOAD_LENGTH_NIBBLE_INDEX, message->size, can_data,
sizeof(can_data))) {
- handler->shims->log("Unable to set payload length in CAN data");
- return false;
+ shims->log("Unable to set payload length in CAN data");
+ return handle;
}
if(message->size > 0) {
memcpy(&can_data[1], message->payload, message->size);
}
- handler->shims->send_can_message(message->arbitration_id, can_data,
- 1 + message->size);
- isotp_complete_send(handler, message, true);
- return true;
+ shims->send_can_message(message->arbitration_id, can_data,
+ shims->frame_padding ? 8 : 1 + message->size);
+ handle.success = true;
+ isotp_complete_send(shims, message, true, callback);
+ return handle;
}
-bool isotp_send_multi_frame(IsoTpHandler* handler, IsoTpMessage* message) {
- // TODO make sure to copy payload into a local buffer
- handler->shims->log("Only single frame messages are supported");
- return false;
+IsoTpSendHandle isotp_send_multi_frame(IsoTpShims* shims, IsoTpMessage* message,
+ IsoTpMessageSentHandler callback) {
+ // TODO make sure to copy message into a local buffer
+ shims->log("Only single frame messages are supported");
+ IsoTpSendHandle handle = {
+ success: false,
+ completed: true
+ };
+ // TODO need to set sending and receiving arbitration IDs separately if we
+ // can't always just add 0x8 (and I think we can't)
+ return handle;
}
-bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
- uint16_t size) {
- // we determine if it's single/multi frame and start the send
+IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
+ const uint8_t payload[], uint16_t size,
+ IsoTpMessageSentHandler callback) {
IsoTpMessage message = {
- arbitration_id: handler->arbitration_id,
- payload: payload,
+ arbitration_id: arbitration_id,
size: size
};
+ memcpy(message.payload, payload, size);
if(size < 8) {
- return isotp_send_single_frame(handler, &message);
+ return isotp_send_single_frame(shims, &message, callback);
} else {
- return isotp_send_multi_frame(handler, &message);
+ return isotp_send_multi_frame(shims, &message, callback);
+ }
+}
+
+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;
}