X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fisotp%2Fsend.c;h=e849bb2c8eed3bc9b8bdd75c2a2cf29d0696c24f;hb=ee24440b7c123ab1b0317e57be33e837a1cb51f1;hp=b72d1b91d4d6a45935aa9b2624b9f787f530dea5;hpb=fd2f9c3b0d869e8243c871e66d31da62bc65887a;p=apps%2Flow-level-can-service.git

diff --git a/src/isotp/send.c b/src/isotp/send.c
index b72d1b9..e849bb2 100644
--- a/src/isotp/send.c
+++ b/src/isotp/send.c
@@ -1,54 +1,89 @@
 #include <isotp/send.h>
+#include <bitfield/bitfield.h>
+#include <string.h>
 
-#define PCI_START_BIT 0
-#define PCI_WIDTH 4
-#define PAYLOAD_LENGTH_START_BIT PCI_START_BIT + PCI_WIDTH
-#define PAYLOAD_LENGTH_WIDTH 4
-#define PAYLOAD_START_BIT PAYLOAD_LENGTH_START_BIT + PAYLOAD_LENGTH_WIDTH
+#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) {
-    uint64_t data = 0;
-    setBitField(&data, PCI_SINGLE, PCI_START_BIT, PCI_WIDTH);
-    setBitField(&data, message->size, PAYLOAD_LENGTH_START_BIT, PAYLOAD_LENGTH_WIDTH);
-    // TODO need a better bitfield API to support this - use byte array instead
-    // of uint64_t and specify desired total width
-    for(int i = 0; i < message->size; i++) {
-        setBitField(&data, message->payload[i], PAYLOAD_START_BIT + i * 8, 8);
+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))) {
+        shims->log("Unable to set PCI in CAN data");
+        return handle;
     }
 
-    uint8_t data_array[message->size + 1];
-    for(int i = 0; i < sizeof(data_array); i++) {
-        // TODO need getByte(x) function
-        data_array[i] = getBitField(data, i * 8, 8, false);
+    if(!set_nibble(PAYLOAD_LENGTH_NIBBLE_INDEX, message->size, can_data,
+                sizeof(can_data))) {
+        shims->log("Unable to set payload length in CAN data");
+        return handle;
     }
-    handler->shims->send_can_message(message->arbitration_id, data_array, sizeof(data_array));
-    isotp_complete_send(handler, message, true);
-    return true;
+
+    if(message->size > 0) {
+        memcpy(&can_data[1], message->payload, message->size);
+    }
+
+    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;
 }