#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
+#include <string.h>
IsoTpShims SHIMS;
-IsoTpHandler ISOTP_HANDLER;
+IsoTpReceiveHandle RECEIVE_HANDLE;
-uint16_t last_can_frame_sent_arb_id;
+uint32_t last_can_frame_sent_arb_id;
uint8_t last_can_payload_sent[8];
uint8_t last_can_payload_size;
bool can_frame_was_sent;
bool message_was_received;
-uint16_t last_message_received_arb_id;
-uint8_t* last_message_received_payload;
+uint32_t last_message_received_arb_id;
+uint8_t last_message_received_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
uint8_t last_message_received_payload_size;
-uint16_t last_message_sent_arb_id;
+uint32_t last_message_sent_arb_id;
bool last_message_sent_status;
-uint8_t* last_message_sent_payload;
+uint8_t last_message_sent_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
uint8_t last_message_sent_payload_size;
void debug(const char* format, ...) {
va_end(args);
}
-void mock_send_can(const uint16_t arbitration_id, const uint8_t* data,
+bool mock_send_can(const uint32_t arbitration_id, const uint8_t* data,
const uint8_t size) {
can_frame_was_sent = true;
last_can_frame_sent_arb_id = arbitration_id;
if(size > 0) {
memcpy(last_can_payload_sent, data, size);
}
-}
-
-void mock_set_timer(uint16_t time_ms, void (*callback)) {
+ return true;
}
void message_received(const IsoTpMessage* message) {
debug("Received ISO-TP message:");
message_was_received = true;
- log_isotp_message(message);
+ char str_message[48] = {0};
+ isotp_message_to_string(message, str_message, sizeof(str_message));
+ debug("%s", str_message);
last_message_received_arb_id = message->arbitration_id;
last_message_received_payload_size = message->size;
if(message->size > 0) {
} else {
debug("Unable to send ISO-TP message:");
}
- log_isotp_message(message);
+ char str_message[48] = {0};
+ isotp_message_to_string(message, str_message, sizeof(str_message));
+ debug("%s", str_message);
last_message_sent_arb_id = message->arbitration_id;
last_message_sent_payload_size = message->size;
}
}
-void can_frame_sent(const uint16_t arbitration_id, const uint8_t* payload,
+void can_frame_sent(const uint32_t arbitration_id, const uint8_t* payload,
const uint8_t size) {
- debug("Sent CAN Frame:");
- // TODO add something like this to canutil
- /* log_can_message(arbitration_id, payload, size); */
+ debug("Sent CAN Frame with arb ID 0x%x and %d bytes", arbitration_id, size);
}
void setup() {
- SHIMS = isotp_init_shims(debug, mock_send_can, mock_set_timer);
- ISOTP_HANDLER = isotp_init(&SHIMS, 0x2a, message_received, message_sent,
- can_frame_sent);
- last_message_sent_payload = malloc(MAX_ISO_TP_MESSAGE_SIZE);
- last_message_received_payload = malloc(MAX_ISO_TP_MESSAGE_SIZE);
+ SHIMS = isotp_init_shims(debug, mock_send_can, NULL);
+ RECEIVE_HANDLE = isotp_receive(&SHIMS, 0x2a, message_received);
+ memset(last_message_sent_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
+ memset(last_message_received_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent));
last_message_sent_status = false;
message_was_received = false;