X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;ds=sidebyside;f=src%2Fisotp%2Fisotp.c;h=67a5df17fc46c03e19bd9869ed167f756eda5e3f;hb=64af0554cb8c60f56bf2c1fa5cd59b9c2c5758ff;hp=da7fa29debe3263f1318af2ccde5ae17bfcb267d;hpb=34a7c0ca08683eb83d6b6b3d5a6a8fb2f7d5b918;p=apps%2Flow-level-can-service.git

diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c
index da7fa29..67a5df1 100644
--- a/src/isotp/isotp.c
+++ b/src/isotp/isotp.c
@@ -1,24 +1,13 @@
 #include <isotp/isotp.h>
+#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;
 
-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
-}
-
-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_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
-    handler->timeout_ms = timeout_ms;
-}
+/* 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) {
@@ -30,27 +19,83 @@ IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
     return shims;
 }
 
-IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id,
-        IsoTpMessageReceivedHandler message_received_callback,
-        IsoTpMessageSentHandler message_sent_callback,
-        IsoTpCanFrameSentHandler can_frame_sent_callback) {
-    IsoTpHandler handler = {
-        shims: shims,
-        message_received_callback: message_received_callback,
-        message_sent_callback: message_sent_callback,
-        can_frame_sent_callback: can_frame_sent_callback,
-        timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
-        frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
-        sending: false
-    };
-    return handler;
+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]);
 }
 
-// TODO this would be better as a "isotp_message_to_string"
-void log_isotp_message(const uint16_t arbitration_id,
-        const uint8_t* payload, const uint16_t size) {
-    debug("ID: 0x%02x, Payload:", arbitration_id);
-    for(int i = 0; i < size; i++) {
-        debug("0x%x", payload[i]);
+IsoTpMessage isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
+        const uint16_t arbitration_id, const uint8_t data[],
+        const uint8_t data_length) {
+    IsoTpMessage message = {
+        arbitration_id: arbitration_id,
+        completed: false,
+        payload: {0},
+        size: 0
+    };
+
+    if(data_length < 1) {
+        return message;
+    }
+
+    if(handle->type == ISOTP_HANDLE_RECEIVING) {
+        if(handle->receive_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->receive_handle.arbitration_id);
+            }
+            return message;
+        }
+    } else if(handle->type == ISOTP_HANDLE_SENDING) {
+        if(handle->send_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->send_handle.receiving_arbitration_id);
+            }
+            return message;
+        }
+    } else {
+        shims->log("The ISO-TP handle is corrupt");
+        return message;
+    }
+
+    IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
+            get_nibble(data, data_length, 0);
+
+    uint8_t payload_length = get_nibble(data, data_length, 1);
+    uint8_t payload[payload_length];
+    if(payload_length > 0 && data_length > 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;
 }