--- /dev/null
+*.o
+.DS_Store
+*~
+*.bin
+*.gcno
+build
--- /dev/null
+[submodule "deps/canutil"]
+ path = deps/bitfield-c
+ url = https://github.com/openxc/canutil
--- /dev/null
+language: c
+compiler:
+ - gcc
+script: make test
+before_install:
+ - git submodule update --init
+ - sudo apt-get update -qq
+ - sudo apt-get install check
--- /dev/null
+# ISO 15765-2 Support Library in C
+
+## v0.2
+
+* Add multi-frame support for diagnostic responses. An IsoTpMessage payload is
+ currently limited to 256 bytes.
+
+## v0.1
+
+* Initial release
--- /dev/null
+Copyright (c) 2013 Ford Motor Company
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of the <organization> nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- /dev/null
+CC = gcc
+INCLUDES = -Isrc -Ideps/bitfield-c/src
+CFLAGS = $(INCLUDES) -c -Wall -Werror -g -ggdb -std=gnu99 -coverage
+LDFLAGS = -coverage
+LDLIBS = -lcheck -lm -lrt -lpthread
+
+TEST_DIR = tests
+TEST_OBJDIR = build
+
+# Guard against \r\n line endings only in Cygwin
+OSTYPE := $(shell uname)
+ifneq ($(OSTYPE),Darwin)
+ OSTYPE := $(shell uname -o)
+ ifeq ($(OSTYPE),Cygwin)
+ TEST_SET_OPTS = igncr
+ endif
+endif
+
+LIBS_PATH = deps
+SRC = $(wildcard src/**/*.c)
+SRC += $(wildcard deps/bitfield-c/src/**/*.c)
+OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(SRC:.c=.o))
+TEST_SRC = $(wildcard $(TEST_DIR)/test_*.c)
+TESTS=$(patsubst %.c,$(TEST_OBJDIR)/%.bin,$(TEST_SRC))
+TEST_SUPPORT_SRC = $(TEST_DIR)/common.c
+TEST_SUPPORT_OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(TEST_SUPPORT_SRC:.c=.o))
+
+all: $(OBJS)
+
+test: $(TESTS)
+ @set -o $(TEST_SET_OPTS) >/dev/null 2>&1
+ @export SHELLOPTS
+ @sh runtests.sh $(TEST_OBJDIR)/$(TEST_DIR)
+
+COVERAGE_INFO_FILENAME = coverage.info
+COVERAGE_INFO_PATH = $(TEST_OBJDIR)/$(COVERAGE_INFO_FILENAME)
+coverage:
+ @lcov --base-directory . --directory src --zerocounters -q
+ @make clean
+ @make test
+ @lcov --base-directory . --directory $(TEST_OBJDIR) -c -o $(TEST_OBJDIR)/coverage.info
+ @lcov --remove $(COVERAGE_INFO_PATH) "$(LIBS_PATH)/bitfield-c/*" -o $(COVERAGE_INFO_PATH)
+ @genhtml -o $(TEST_OBJDIR)/coverage -t "isotp-c test coverage" --num-spaces 4 $(COVERAGE_INFO_PATH)
+ @$(BROWSER) $(TEST_OBJDIR)/coverage/index.html
+ @echo "$(GREEN)Coverage information generated in $(TEST_OBJDIR)/coverage/index.html.$(COLOR_RESET)"
+
+$(TEST_OBJDIR)/%.o: %.c
+ @mkdir -p $(dir $@)
+ $(CC) $(CFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $<
+
+$(TEST_OBJDIR)/%.bin: $(TEST_OBJDIR)/%.o $(OBJS) $(TEST_SUPPORT_OBJS)
+ @mkdir -p $(dir $@)
+ $(CC) $(LDFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $^ $(LDLIBS)
+
+clean:
+ rm -rf $(TEST_OBJDIR)
--- /dev/null
+ISO-TP (ISO 15765-2) Support Library in C
+================================
+
+This is a platform agnostic C library that implements the ISO 15765-2 (also
+known as ISO-TP) protocol, which runs over a CAN bus. Quoting Wikipedia:
+
+>ISO 15765-2, or ISO-TP, is an international standard for sending data packets
+>over a CAN-Bus. The protocol allows for the transport of messages that exceed
+>the eight byte maximum payload of CAN frames. ISO-TP segments longer messages
+>into multiple frames, adding metadata that allows the interpretation of
+>individual frames and reassembly into a complete message packet by the
+>recipient. It can carry up to 4095 bytes of payload per message packet.
+
+This library doesn't assume anything about the source of the ISO-TP messages or
+the underlying interface to CAN. It uses dependency injection to give you
+complete control.
+
+The current version supports *only single frame ISO-TP messages*. This is fine
+for OBD-II diagnostic messages, for example, but this library needs some
+additional work before it can support sending larger messages.
+
+## Usage
+
+First, create some shim functions to let this library use your lower level
+system:
+
+ // required, this must send a single CAN message with the given arbitration
+ // ID (i.e. the CAN message ID) and data. The size will never be more than 8
+ // bytes.
+ void send_can(const uint16_t arbitration_id, const uint8_t* data,
+ const uint8_t size) {
+ ...
+ }
+
+ // optional, provide to receive debugging log messages
+ void debug(const char* format, ...) {
+ ...
+ }
+
+
+ // not used in the current version
+ void set_timer(uint16_t time_ms, void (*callback)) {
+ ...
+ }
+
+With your shims in place, create an IsoTpShims object to pass them around:
+
+ IsoTpShims shims = isotp_init_shims(debug, send_can, set_timer);
+
+### API
+
+With your shims in hand, send an ISO-TP message:
+
+ // Optional: This is your callback that will be called when the message is
+ // completely sent. If it was single frame (the only type supported right
+ // now), this will be called immediately.
+ void message_sent(const IsoTpMessage* message, const bool success) {
+ // You received the message! Do something with it.
+ }
+
+ IsoTpSendHandle handle = isotp_send(&shims, 0x100, NULL, 0, message_sent);
+
+ if(handle.completed) {
+ if(!handle.success) {
+ // something happened and it already failed - possibly we aren't able to
+ // send CAN messages
+ return;
+ } else {
+ // If the message fit in a single frame, it's already been sent
+ // and you're done
+ }
+ } else {
+ while(true) {
+ // Continue to read from CAN, passing off each message to the handle
+ // this will return true when the message is completely sent (which
+ // may take more than one call if it was multi frame and we're waiting
+ // on flow control responses from the receiver)
+ bool complete = isotp_continue_send(&shims, &handle, 0x100, data, size);
+
+ if(complete && handle.completed) {
+ if(handle.success) {
+ // All frames of the message have now been sent, following
+ // whatever flow control feedback it got from the receiver
+ } else {
+ // the message was unable to be sent and we bailed - fatal
+ // error!
+ }
+ }
+ }
+ }
+
+Finally, receive an ISO-TP message:
+
+ // Optional: This is your callback for when a complete ISO-TP message is
+ // received at the arbitration ID you specify. The completed message is
+ // also returned by isotp_continue_receive, which can sometimes be more
+ // useful since you have more context.
+ void message_received(const IsoTpMessage* message) {
+ }
+
+ IsoTpReceiveHandle handle = isotp_receive(&shims, 0x100, message_received);
+ if(!handle.success) {
+ // something happened and it already failed - possibly we aren't able to
+ // send CAN messages
+ } else {
+ while(true) {
+ // Continue to read from CAN, passing off each message to the handle
+ IsoTpMessage message = isotp_continue_receive(&shims, &handle, 0x100, data, size);
+
+ if(message.completed && handle.completed) {
+ if(handle.success) {
+ // A message has been received successfully
+ } else {
+ // Fatal error - we weren't able to receive a message and
+ // gave up trying. A message using flow control may have
+ // timed out.
+ }
+ }
+ }
+ }
+
+## Testing
+
+The library includes a test suite that uses the `check` C unit test library.
+
+ $ make test
+
+You can also see the test coverage if you have `lcov` installed and the
+`BROWSER` environment variable set to your choice of web browsers:
+
+ $ BROWSER=google-chrome-stable make coverage
+
+## Authors
+
+* Chris Peplin cpeplin@ford.com
+* David Boll dboll2@ford.com (the inspiration for the library's API is from David)
+
+## License
+
+Copyright (c) 2013 Ford Motor Company
+
+Licensed under the BSD license.
--- /dev/null
+Subproject commit 7f1d5473842361f97fef886bc4e98949ecf853b6
--- /dev/null
+echo "Running unit tests:"
+
+for i in $1/*.bin
+do
+ if test -f $i
+ then
+ if ./$i
+ then
+ echo $i PASS
+ else
+ echo "ERROR in test $i:"
+ exit 1
+ fi
+ fi
+done
+
+echo "${txtbld}$(tput setaf 2)All unit tests passed.$(tput sgr0)"
--- /dev/null
+#include <isotp/isotp.h>
+#include <bitfield/bitfield.h>
+#include <inttypes.h>
+
+/* 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) {
+ IsoTpShims shims = {
+ log: log,
+ send_can_message: send_can_message,
+ set_timer: set_timer,
+ frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS
+ };
+ return shims;
+}
+
+void isotp_message_to_string(const IsoTpMessage* message, char* destination,
+ size_t destination_length) {
+ snprintf(destination, destination_length, "ID: 0x%" SCNd32 ", 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]);
+}
--- /dev/null
+#ifndef __ISOTP_H__
+#define __ISOTP_H__
+
+#include <isotp/isotp_types.h>
+#include <isotp/send.h>
+#include <isotp/receive.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: Initialize an IsoTpShims with the given callback functions.
+ *
+ * If any callbacks are not to be used, set them to NULL. For documentation of
+ * the function type signatures, see isotp_types.h. This struct is a handy
+ * encapsulation used to pass the shims around to the various isotp_* functions.
+ *
+ * Returns a struct with the fields initailized to the callbacks.
+ */
+IsoTpShims isotp_init_shims(LogShim log,
+ SendCanMessageShim send_can_message,
+ SetTimerShim set_timer);
+
+/* Public: Render an IsoTpMessage as a string into the given buffer.
+ *
+ * message - the message to convert to a string, for debug logging.
+ * destination - the target string buffer.
+ * destination_length - the size of the destination buffer, i.e. the max size
+ * for the rendered string.
+ */
+void isotp_message_to_string(const IsoTpMessage* message, char* destination,
+ size_t destination_length);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __ISOTP_H__
--- /dev/null
+#ifndef __ISOTP_TYPES__
+#define __ISOTP_TYPES__
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#define CAN_MESSAGE_BYTE_SIZE 8
+#define MAX_ISO_TP_MESSAGE_SIZE 4096
+// TODO we want to avoid malloc, and we can't be allocated 4K on the stack for
+// each IsoTpMessage, so for now we're setting an artificial max message size
+// here - for most multi-frame use cases, 256 bytes is plenty.
+#define OUR_MAX_ISO_TP_MESSAGE_SIZE 127
+
+/* Private: IsoTp nibble specifics for PCI and Payload.
+ */
+#define PCI_NIBBLE_INDEX 0
+#define PAYLOAD_LENGTH_NIBBLE_INDEX 1
+#define PAYLOAD_BYTE_INDEX 1
+
+/* Private: The default timeout to use when waiting for a response during a
+ * multi-frame send or receive.
+ */
+#define ISO_TP_DEFAULT_RESPONSE_TIMEOUT 100
+
+/* Private: Determines if by default, padding is added to ISO-TP message frames.
+ */
+#define ISO_TP_DEFAULT_FRAME_PADDING_STATUS true
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: A container for a sent or received ISO-TP message.
+ *
+ * completed - An IsoTpMessage is the return value from a few functions - this
+ * attribute will be true if the message is actually completely received.
+ * If the function returns but is only partially through receiving the
+ * message, this will be false, the multi_frame attribute will be true,
+ * and you should not consider the other data to be valid.
+ * multi_frame - Designates the message is being built with multi-frame.
+ * arbitration_id - The arbitration ID of the message.
+ * payload - The optional payload of the message - don't forget to check the
+ * size!
+ * size - The size of the payload. The size will be 0 if there is no payload.
+ */
+typedef struct {
+ const uint32_t arbitration_id;
+ uint8_t payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
+ uint16_t size;
+ bool completed;
+ bool multi_frame;
+} IsoTpMessage;
+
+/* Public: The type signature for an optional logging function, if the user
+ * wishes to provide one. It should print, store or otherwise display the
+ * message.
+ *
+ * message - A format string to log using the given parameters.
+ * ... (vargs) - the parameters for the format string.
+ */
+typedef void (*LogShim)(const char* message, ...);
+/* Public: The type signature for a function to send a single CAN message.
+ *
+ * arbitration_id - The arbitration ID of the message.
+ * data - The data payload for the message. NULL is valid if size is also 0.
+ * size - The size of the data payload, in bytes.
+ *
+ * Returns true if the CAN message was sent successfully.
+ */
+typedef bool (*SendCanMessageShim)(const uint32_t arbitration_id,
+ const uint8_t* data, const uint8_t size);
+
+/* Public: The type signature for a... TODO, not used yet.
+ */
+typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
+
+/* Public: The signature for a function to be called when an ISO-TP message has
+ * been completely received.
+ *
+ * message - The received message.
+ */
+typedef void (*IsoTpMessageReceivedHandler)(const IsoTpMessage* message);
+
+/* Public: the signature for a function to be called when an ISO-TP message has
+ * been completely sent, or had a fatal error during sending.
+ *
+ * message - The sent message.
+ * success - True if the message was sent successfully.
+ */
+typedef void (*IsoTpMessageSentHandler)(const IsoTpMessage* message,
+ const bool success);
+
+/* Public: The signature for a function to be called when a CAN frame has been
+ * sent as as part of sending or receive an ISO-TP message.
+ *
+ * This is really only useful for debugging the library itself.
+ *
+ * message - The ISO-TP message that generated this CAN frame.
+ */
+typedef void (*IsoTpCanFrameSentHandler)(const IsoTpMessage* message);
+
+/* Public: A container for the 3 shim functions used by the library to interact
+ * with the wider system.
+ *
+ * Use the isotp_init_shims(...) function to create an instance of this struct.
+ *
+ * By default, all CAN frames sent from this device in the process of an ISO-TP
+ * message are padded out to a complete 8 byte frame. This is often required by
+ * ECUs. To disable this feature, change the 'frame_padding' field to false on
+ * the IsoTpShims object returned from isotp_init_shims(...).
+ *
+ * frame_padding - true if outgoing CAN frames should be padded to a full 8
+ * bytes.
+ */
+typedef struct {
+ LogShim log;
+ SendCanMessageShim send_can_message;
+ SetTimerShim set_timer;
+ bool frame_padding;
+} IsoTpShims;
+
+/* Private: PCI types, for identifying each frame of an ISO-TP message.
+ */
+typedef enum {
+ PCI_SINGLE = 0x0,
+ PCI_FIRST_FRAME = 0x1,
+ PCI_CONSECUTIVE_FRAME = 0x2,
+ PCI_FLOW_CONTROL_FRAME = 0x3
+} IsoTpProtocolControlInformation;
+
+/* Private: PCI flow control identifiers.
+ */
+typedef enum {
+ PCI_FLOW_STATUS_CONTINUE = 0x0,
+ PCI_FLOW_STATUS_WAIT = 0x1,
+ PCI_FLOW_STATUS_OVERFLOW = 0x2
+} IsoTpFlowStatus;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __ISOTP_TYPES__
--- /dev/null
+#include <isotp/receive.h>
+#include <isotp/send.h>
+#include <bitfield/bitfield.h>
+#include <string.h>
+#include <stdlib.h>
+
+#define ARBITRATION_ID_OFFSET 0x8
+
+static void isotp_complete_receive(IsoTpReceiveHandle* handle, IsoTpMessage* message) {
+ if(handle->message_received_callback != NULL) {
+ handle->message_received_callback(message);
+ }
+}
+
+bool isotp_handle_single_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message) {
+ isotp_complete_receive(handle, message);
+ return true;
+}
+
+bool isotp_handle_multi_frame(IsoTpReceiveHandle* handle, IsoTpMessage* message) {
+ // call this once all consecutive frames have been received
+ isotp_complete_receive(handle, message);
+ return true;
+}
+
+bool isotp_send_flow_control_frame(IsoTpShims* shims, IsoTpMessage* message) {
+ uint8_t can_data[CAN_MESSAGE_BYTE_SIZE] = {0};
+
+ if(!set_nibble(PCI_NIBBLE_INDEX, PCI_FLOW_CONTROL_FRAME, can_data, sizeof(can_data))) {
+ shims->log("Unable to set PCI in CAN data");
+ return false;
+ }
+
+ shims->send_can_message(message->arbitration_id - ARBITRATION_ID_OFFSET, can_data,
+ shims->frame_padding ? 8 : 1 + message->size);
+ return true;
+}
+
+
+IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
+ const uint32_t arbitration_id, IsoTpMessageReceivedHandler callback) {
+ IsoTpReceiveHandle handle = {
+ success: false,
+ completed: false,
+ arbitration_id: arbitration_id,
+ message_received_callback: callback
+ };
+
+ return handle;
+}
+
+IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
+ IsoTpReceiveHandle* handle, const uint32_t arbitration_id,
+ const uint8_t data[], const uint8_t size) {
+ IsoTpMessage message = {
+ arbitration_id: arbitration_id,
+ completed: false,
+ multi_frame: false,
+ payload: {0},
+ size: 0
+ };
+
+ if(size < 1) {
+ return message;
+ }
+
+ if(handle->arbitration_id != arbitration_id) {
+ if(shims->log != NULL) {
+ // You may turn this on for debugging, but in normal operation it's
+ // very noisy if you are passing all received CAN messages to this
+ // handler.
+ /* shims->log("The arb ID 0x%x doesn't match the expected rx ID 0x%x", */
+ /* arbitration_id, handle->arbitration_id); */
+ }
+ return message;
+ }
+
+ IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
+ get_nibble(data, size, 0);
+
+ // 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: {
+ uint8_t payload_length = get_nibble(data, size, 1);
+
+ if(payload_length > 0) {
+ memcpy(message.payload, &data[1], payload_length);
+ }
+
+ message.size = payload_length;
+ message.completed = true;
+ handle->success = true;
+ handle->completed = true;
+ isotp_handle_single_frame(handle, &message);
+ break;
+ }
+ //If multi-frame, then the payload length is contained in the 12
+ //bits following the first nibble of Byte 0.
+ case PCI_FIRST_FRAME: {
+ uint16_t payload_length = (get_nibble(data, size, 1) << 8) + get_byte(data, size, 1);
+
+ if(payload_length > OUR_MAX_ISO_TP_MESSAGE_SIZE) {
+ shims->log("Multi-frame response too large for receive buffer.");
+ break;
+ }
+
+ //Need to allocate memory for the combination of multi-frame
+ //messages. That way we don't have to allocate 4k of memory
+ //for each multi-frame response.
+ uint8_t* combined_payload = NULL;
+ combined_payload = (uint8_t*)malloc(sizeof(uint8_t)*payload_length);
+
+ if(combined_payload == NULL) {
+ shims->log("Unable to allocate memory for multi-frame response.");
+ break;
+ }
+
+ memcpy(combined_payload, &data[2], CAN_MESSAGE_BYTE_SIZE - 2);
+ handle->receive_buffer = combined_payload;
+ handle->received_buffer_size = CAN_MESSAGE_BYTE_SIZE - 2;
+ handle->incoming_message_size = payload_length;
+
+ message.multi_frame = true;
+ handle->success = false;
+ handle->completed = false;
+ isotp_send_flow_control_frame(shims, &message);
+ break;
+ }
+ case PCI_CONSECUTIVE_FRAME: {
+ uint8_t start_index = handle->received_buffer_size;
+ uint8_t remaining_bytes = handle->incoming_message_size - start_index;
+ message.multi_frame = true;
+
+ if(remaining_bytes > 7) {
+ memcpy(&handle->receive_buffer[start_index], &data[1], CAN_MESSAGE_BYTE_SIZE - 1);
+ handle->received_buffer_size = start_index + 7;
+ } else {
+ memcpy(&handle->receive_buffer[start_index], &data[1], remaining_bytes);
+ handle->received_buffer_size = start_index + remaining_bytes;
+
+ if(handle->received_buffer_size != handle->incoming_message_size){
+ free(handle->receive_buffer);
+ handle->success = false;
+ shims->log("Error capturing all bytes of multi-frame. Freeing memory.");
+ } else {
+ memcpy(message.payload,&handle->receive_buffer[0],handle->incoming_message_size);
+ free(handle->receive_buffer);
+ message.size = handle->incoming_message_size;
+ message.completed = true;
+ shims->log("Successfully captured all of multi-frame. Freeing memory.");
+
+ handle->success = true;
+ handle->completed = true;
+ isotp_handle_multi_frame(handle, &message);
+ }
+ }
+ break;
+ }
+ default:
+ break;
+ }
+ return message;
+}
--- /dev/null
+#ifndef __ISOTP_RECEIVE_H__
+#define __ISOTP_RECEIVE_H__
+
+#include <isotp/isotp.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: A handle for beginning and continuing receiving a single ISO-TP
+ * message - both single and multi-frame.
+ *
+ * Since an ISO-TP message may contain multiple frames, we need to keep a handle
+ * around while waiting for subsequent CAN messages to complete the message.
+ * This struct encapsulates the local state required.
+ *
+ * completed - True if the received message request is completely finished.
+ * success - True if the message request was successful. The value if this field
+ * isn't valid if 'completed' isn't true.
+ */
+typedef struct {
+ bool completed;
+ bool success;
+
+ // Private
+ uint32_t arbitration_id;
+ IsoTpMessageReceivedHandler message_received_callback;
+ uint16_t timeout_ms;
+ // timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
+ uint8_t* receive_buffer;
+ uint16_t received_buffer_size;
+ uint16_t incoming_message_size;
+ // TODO timer callback for multi frame
+} IsoTpReceiveHandle;
+
+/* Public: Initiate receiving a single ISO-TP message on a particular
+ * arbitration ID.
+ *
+ * Note that no actual CAN data has been received at this point - this just sets
+ * up a handle to be used when new CAN messages to arrive, so they can be parsed
+ * as potential single or multi-frame ISO-TP messages.
+ *
+ * shims - Low-level shims required to send and receive CAN messages, etc.
+ * arbitration_id - The arbitration ID to receive the message on.
+ * callback - an optional function to be called when the message is completely
+ * received (use NULL if no callback required).
+ *
+ * Returns a handle to be used with isotp_continue_receive when a new CAN frame
+ * arrives. The 'completed' field in the returned IsoTpReceiveHandle will be true
+ * when the message is completely sent.
+ */
+IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
+ const uint32_t arbitration_id, IsoTpMessageReceivedHandler callback);
+
+/* Public: Continue to receive a an ISO-TP message, based on a freshly
+ * received CAN message.
+ *
+ * For a multi-frame ISO-TP message, this function must be called
+ * repeatedly whenever a new CAN message is received in order to complete
+ * receipt.
+ *
+ * TODO does this API work for if we wanted to receive an ISO-TP message and
+ * send our own flow control messages back?
+ *
+ * shims - Low-level shims required to send and receive CAN messages, etc.
+ * handle - An IsoTpReceiveHandle previously returned by isotp_receive(...).
+ * arbitration_id - The arbitration_id of the received CAN message.
+ * data - The data of the received CAN message.
+ * size - The size of the data in the received CAN message.
+ *
+ * Returns an IsoTpMessage with the 'completed' field set to true if a message
+ * was completely received. If 'completed' is false, more CAN frames are
+ * required to complete the messages, or the arbitration ID didn't match this
+ * handle. Keep passing the same handle to this function when CAN frames arrive.
+ */
+IsoTpMessage isotp_continue_receive(IsoTpShims* shims,
+ IsoTpReceiveHandle* handle, const uint32_t arbitration_id,
+ const uint8_t data[], const uint8_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __ISOTP_RECEIVE_H__
--- /dev/null
+#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(IsoTpShims* shims, IsoTpMessage* message,
+ bool status, IsoTpMessageSentHandler callback) {
+ if(callback != NULL) {
+ callback(message, status);
+ }
+}
+
+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;
+ }
+
+ 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;
+ }
+
+ 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;
+}
+
+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;
+}
+
+IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
+ const uint8_t payload[], uint16_t size,
+ IsoTpMessageSentHandler callback) {
+ IsoTpMessage message = {
+ arbitration_id: arbitration_id,
+ size: size
+ };
+
+ memcpy(message.payload, payload, size);
+ if(size < 8) {
+ return isotp_send_single_frame(shims, &message, callback);
+ } else {
+ 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;
+}
--- /dev/null
+#ifndef __ISOTP_SEND_H__
+#define __ISOTP_SEND_H__
+
+#include <isotp/isotp.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Public: A handle for beginning and continuing sending a single ISO-TP
+ * message - both single and multi-frame.
+ *
+ * Since an ISO-TP message may contain multiple frames, we need to keep a handle
+ * around while waiting for flow control messages from the receiver.
+ * This struct encapsulates the local state required.
+ *
+ * completed - True if the message was completely sent, or the send was
+ * otherwise cancelled.
+ * success - True if the message send request was successful. The value if this
+ * field isn't valid if 'completed' isn't true.
+ */
+typedef struct {
+ bool completed;
+ bool success;
+
+ // Private
+ uint16_t sending_arbitration_id;
+ uint16_t receiving_arbitration_id;
+ IsoTpMessageSentHandler message_sent_callback;
+ IsoTpCanFrameSentHandler can_frame_sent_callback;
+ // TODO going to need some state here for multi frame messages
+} IsoTpSendHandle;
+
+/* Public: Initiate sending a single ISO-TP message.
+ *
+ * If the message fits in a single ISO-TP frame (i.e. the payload isn't more
+ * than 7 bytes) it will be sent immediately and the returned IsoTpSendHandle's
+ * 'completed' flag will be true.
+ *
+ * For multi-frame messages, see isotp_continue_send(...).
+ *
+ * shims - Low-level shims required to send CAN messages, etc.
+ * arbitration_id - The arbitration ID to send the message on.
+ * payload - The payload for the message. If no payload, NULL is valid is size
+ * is also 0.
+ * size - The size of the payload, or 0 if no payload.
+ * callback - an optional function to be called when the message is completely
+ * sent (use NULL if no callback required).
+ *
+ * Returns a handle to be used with isotp_continue_send to continue sending
+ * multi-frame messages. The 'completed' field in the returned IsoTpSendHandle
+ * will be true when the message is completely sent.
+ */
+IsoTpSendHandle isotp_send(IsoTpShims* shims, const uint16_t arbitration_id,
+ const uint8_t payload[], uint16_t size,
+ IsoTpMessageSentHandler callback);
+
+/* Public: Continue to send a multi-frame ISO-TP message, based on a freshly
+ * received CAN message (potentially from the receiver about flow control).
+ *
+ * For a multi-frame ISO-TP message, this function must be called
+ * repeatedly whenever a new CAN message is received in order to complete the
+ * send. The sender can't just blast everything onto the bus at once - it must
+ * wait for some response from the receiver to know how much to send at once.
+ *
+ * shims - Low-level shims required to send CAN messages, etc.
+ * handle - An IsoTpSendHandle previously returned by isotp_send(...).
+ * arbitration_id - The arbitration_id of the received CAN message.
+ * data - The data of the received CAN message.
+ * size - The size of the data in the received CAN message.
+ *
+ * Returns true if the message was completely sent, or the send was
+ * otherwise cancelled. Check the 'success' field of the handle to see if
+ * it was successful.
+ */
+bool isotp_continue_send(IsoTpShims* shims, IsoTpSendHandle* handle,
+ const uint16_t arbitration_id, const uint8_t data[],
+ const uint8_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __ISOTP_SEND_H__
--- /dev/null
+#include <isotp/isotp.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <string.h>
+
+IsoTpShims SHIMS;
+IsoTpReceiveHandle RECEIVE_HANDLE;
+
+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;
+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;
+
+uint32_t last_message_sent_arb_id;
+bool last_message_sent_status;
+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_list args;
+ va_start(args, format);
+ vprintf(format, args);
+ printf("\r\n");
+ va_end(args);
+}
+
+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;
+ last_can_payload_size = size;
+ if(size > 0) {
+ memcpy(last_can_payload_sent, data, size);
+ }
+ return true;
+}
+
+void message_received(const IsoTpMessage* message) {
+ debug("Received ISO-TP message:");
+ message_was_received = true;
+ 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) {
+ memcpy(last_message_received_payload, message->payload, message->size);
+ }
+}
+
+void message_sent(const IsoTpMessage* message, const bool success) {
+ if(success) {
+ debug("Sent ISO-TP message:");
+ } else {
+ debug("Unable to send ISO-TP 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;
+ last_message_sent_status = success;
+ if(message->size > 0) {
+ memcpy(last_message_sent_payload, message->payload, message->size);
+ }
+}
+
+void can_frame_sent(const uint32_t arbitration_id, const uint8_t* payload,
+ const uint8_t 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, 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;
+ can_frame_was_sent = false;
+}
+
--- /dev/null
+#include <isotp/receive.h>
+#include <check.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+extern IsoTpShims SHIMS;
+
+extern void message_sent(const IsoTpMessage* message, const bool success);
+
+extern uint16_t last_can_frame_sent_arb_id;
+extern uint8_t last_can_payload_sent[8];
+extern uint8_t last_can_payload_size;
+extern bool can_frame_was_sent;
+
+extern bool message_was_received;
+extern uint16_t last_message_received_arb_id;
+extern uint8_t last_message_received_payload[];
+extern uint8_t last_message_received_payload_size;
+
+extern uint16_t last_message_sent_arb_id;
+extern bool last_message_sent_status;
+extern uint8_t last_message_sent_payload[];
+extern uint8_t last_message_sent_payload_size;
+
+extern void setup();
+
+START_TEST (test_default_frame_padding_on)
+{
+ ck_assert(SHIMS.frame_padding);
+ const uint8_t payload[] = {0x12, 0x34};
+ uint32_t arbitration_id = 0x2a;
+ isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent);
+ ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+ fail_unless(last_message_sent_status);
+ ck_assert_int_eq(last_message_sent_payload_size, 2);
+ ck_assert_int_eq(last_can_payload_size, 8);
+
+}
+END_TEST
+
+START_TEST (test_disabled_frame_padding)
+{
+ SHIMS.frame_padding = false;
+ const uint8_t payload[] = {0x12, 0x34};
+ uint32_t arbitration_id = 0x2a;
+ isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent);
+ ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+ fail_unless(last_message_sent_status);
+ ck_assert_int_eq(last_message_sent_payload_size, 2);
+ ck_assert_int_eq(last_can_payload_size, 3);
+
+}
+END_TEST
+
+Suite* testSuite(void) {
+ Suite* s = suite_create("iso15765");
+ TCase *tc_core = tcase_create("core");
+ tcase_add_checked_fixture(tc_core, setup, NULL);
+ tcase_add_test(tc_core, test_default_frame_padding_on);
+ tcase_add_test(tc_core, test_disabled_frame_padding);
+ suite_add_tcase(s, tc_core);
+
+ return s;
+}
+
+int main(void) {
+ int numberFailed;
+ Suite* s = testSuite();
+ SRunner *sr = srunner_create(s);
+ // Don't fork so we can actually use gdb
+ srunner_set_fork_status(sr, CK_NOFORK);
+ srunner_run_all(sr, CK_NORMAL);
+ numberFailed = srunner_ntests_failed(sr);
+ srunner_free(sr);
+ return (numberFailed == 0) ? 0 : 1;
+}
--- /dev/null
+#include <isotp/isotp.h>
+#include <check.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+extern IsoTpShims SHIMS;
+extern IsoTpReceiveHandle RECEIVE_HANDLE;
+
+extern void message_sent(const IsoTpMessage* message, const bool success);
+
+extern uint16_t last_can_frame_sent_arb_id;
+extern uint8_t last_can_payload_sent;
+extern uint8_t last_can_payload_size;
+extern bool can_frame_was_sent;
+
+extern bool message_was_received;
+extern uint16_t last_message_received_arb_id;
+extern uint8_t last_message_received_payload[];
+extern uint8_t last_message_received_payload_size;
+
+extern uint16_t last_message_sent_arb_id;
+extern bool last_message_sent_status;
+extern uint8_t last_message_sent_payload[];
+extern uint8_t last_message_sent_payload_size;
+
+extern void setup();
+
+START_TEST (test_receive_empty_can_message)
+{
+ const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0};
+ fail_if(RECEIVE_HANDLE.completed);
+ IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x100, data, 0);
+ fail_if(message.completed);
+ fail_if(message_was_received);
+}
+END_TEST
+
+START_TEST (test_receive_wrong_id)
+{
+ const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0};
+ fail_if(RECEIVE_HANDLE.completed);
+ IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x100, data, 1);
+ fail_if(message.completed);
+ fail_if(message_was_received);
+}
+END_TEST
+
+START_TEST (test_receive_bad_pci)
+{
+ // 4 is a reserved number for the PCI field - only 0-3 are allowed
+ const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x40};
+ IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 1);
+ fail_if(message.completed);
+ fail_if(message_was_received);
+}
+END_TEST
+
+START_TEST (test_receive_single_frame_empty_payload)
+{
+ const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x00, 0x12, 0x34};
+ fail_if(RECEIVE_HANDLE.completed);
+ IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 3);
+ fail_unless(RECEIVE_HANDLE.completed);
+ fail_unless(message.completed);
+ fail_unless(message_was_received);
+ ck_assert_int_eq(last_message_received_arb_id, 0x2a);
+ ck_assert_int_eq(last_message_received_payload_size, 0);
+}
+END_TEST
+
+START_TEST (test_receive_single_frame)
+{
+ const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x02, 0x12, 0x34};
+ IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 3);
+ fail_unless(message.completed);
+ fail_unless(message_was_received);
+ ck_assert_int_eq(last_message_received_arb_id, 0x2a);
+ ck_assert_int_eq(last_message_received_payload_size, 2);
+ ck_assert_int_eq(last_message_received_payload[0], 0x12);
+ ck_assert_int_eq(last_message_received_payload[1], 0x34);
+}
+END_TEST
+
+START_TEST (test_receive_multi_frame)
+{
+ const uint8_t data0[CAN_MESSAGE_BYTE_SIZE] = {0x10, 0x14, 0x49, 0x02, 0x01, 0x31, 0x46, 0x4d};
+ IsoTpMessage message0 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data0, 8);
+ fail_unless(!RECEIVE_HANDLE.completed);
+ fail_unless(!message0.completed);
+ fail_unless(!message_was_received);
+ fail_unless(message0.multi_frame);
+ //make sure flow control message has been sent.
+ ck_assert_int_eq(last_can_frame_sent_arb_id, 0x2a - 8);
+ ck_assert_int_eq(last_can_payload_sent, 0x30);
+
+ const uint8_t data1[CAN_MESSAGE_BYTE_SIZE] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48};
+ IsoTpMessage message1 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data1, 8);
+ fail_unless(!RECEIVE_HANDLE.completed);
+ fail_unless(!message1.completed);
+ fail_unless(!message_was_received);
+ fail_unless(message1.multi_frame);
+
+ const uint8_t data2[CAN_MESSAGE_BYTE_SIZE] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34};
+ IsoTpMessage message2 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data2, 8);
+ fail_unless(RECEIVE_HANDLE.completed);
+ fail_unless(message2.completed);
+ fail_unless(message_was_received);
+ fail_unless(message2.multi_frame);
+
+ ck_assert_int_eq(last_message_received_arb_id, 0x2a);
+ ck_assert_int_eq(last_message_received_payload_size, 0x14);
+ ck_assert_int_eq(last_message_received_payload[0], 0x49);
+ ck_assert_int_eq(last_message_received_payload[1], 0x02);
+ ck_assert_int_eq(last_message_received_payload[2], 0x01);
+ ck_assert_int_eq(last_message_received_payload[3], 0x31);
+ ck_assert_int_eq(last_message_received_payload[4], 0x46);
+ ck_assert_int_eq(last_message_received_payload[5], 0x4d);
+ ck_assert_int_eq(last_message_received_payload[6], 0x43);
+ ck_assert_int_eq(last_message_received_payload[7], 0x55);
+ ck_assert_int_eq(last_message_received_payload[8], 0x39);
+ ck_assert_int_eq(last_message_received_payload[9], 0x4a);
+ ck_assert_int_eq(last_message_received_payload[10], 0x39);
+ ck_assert_int_eq(last_message_received_payload[11], 0x34);
+ ck_assert_int_eq(last_message_received_payload[12], 0x48);
+ ck_assert_int_eq(last_message_received_payload[13], 0x55);
+ ck_assert_int_eq(last_message_received_payload[14], 0x41);
+ ck_assert_int_eq(last_message_received_payload[15], 0x30);
+ ck_assert_int_eq(last_message_received_payload[16], 0x34);
+ ck_assert_int_eq(last_message_received_payload[17], 0x35);
+ ck_assert_int_eq(last_message_received_payload[18], 0x32);
+ ck_assert_int_eq(last_message_received_payload[19], 0x34);
+}
+END_TEST
+
+START_TEST (test_receive_large_multi_frame)
+{
+ const uint8_t data0[CAN_MESSAGE_BYTE_SIZE] = {0x10, 0x80, 0x49, 0x02, 0x01, 0x31, 0x46, 0x4d};
+ IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data0, 8);
+ //Make sure we don't try to receive messages that are too large and don't send flow control.
+ fail_unless(!can_frame_was_sent);
+ fail_unless(!RECEIVE_HANDLE.completed);
+ fail_unless(!message.completed);
+ fail_unless(!message_was_received);
+ fail_unless(!message.multi_frame);
+}
+END_TEST
+
+Suite* testSuite(void) {
+ Suite* s = suite_create("iso15765");
+ TCase *tc_core = tcase_create("receive");
+ tcase_add_checked_fixture(tc_core, setup, NULL);
+ tcase_add_test(tc_core, test_receive_wrong_id);
+ tcase_add_test(tc_core, test_receive_bad_pci);
+ tcase_add_test(tc_core, test_receive_single_frame);
+ tcase_add_test(tc_core, test_receive_single_frame_empty_payload);
+ tcase_add_test(tc_core, test_receive_empty_can_message);
+ tcase_add_test(tc_core, test_receive_multi_frame);
+ tcase_add_test(tc_core, test_receive_large_multi_frame);
+ suite_add_tcase(s, tc_core);
+
+ return s;
+}
+
+int main(void) {
+ int numberFailed;
+ Suite* s = testSuite();
+ SRunner *sr = srunner_create(s);
+ // Don't fork so we can actually use gdb
+ srunner_set_fork_status(sr, CK_NOFORK);
+ srunner_run_all(sr, CK_NORMAL);
+ numberFailed = srunner_ntests_failed(sr);
+ srunner_free(sr);
+ return (numberFailed == 0) ? 0 : 1;
+}
--- /dev/null
+#include <isotp/receive.h>
+#include <check.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+extern IsoTpShims SHIMS;
+
+extern void message_sent(const IsoTpMessage* message, const bool success);
+
+extern uint16_t last_can_frame_sent_arb_id;
+extern uint8_t last_can_payload_sent[8];
+extern uint8_t last_can_payload_size;
+extern bool can_frame_was_sent;
+
+extern bool message_was_received;
+extern uint16_t last_message_received_arb_id;
+extern uint8_t last_message_received_payload[];
+extern uint8_t last_message_received_payload_size;
+
+extern uint16_t last_message_sent_arb_id;
+extern bool last_message_sent_status;
+extern uint8_t last_message_sent_payload[];
+extern uint8_t last_message_sent_payload_size;
+
+extern void setup();
+
+START_TEST (test_send_empty_payload)
+{
+ SHIMS.frame_padding = false;
+ uint16_t arbitration_id = 0x2a;
+ IsoTpSendHandle handle = isotp_send(&SHIMS, arbitration_id, NULL, 0, message_sent);
+ fail_unless(handle.success);
+ fail_unless(handle.completed);
+ ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+ fail_unless(last_message_sent_status);
+ ck_assert_int_eq(last_message_sent_payload[0], '\0');
+ ck_assert_int_eq(last_message_sent_payload_size, 0);
+
+ ck_assert_int_eq(last_can_frame_sent_arb_id, arbitration_id);
+ fail_unless(can_frame_was_sent);
+ ck_assert_int_eq(last_can_payload_sent[0], 0x0);
+ ck_assert_int_eq(last_can_payload_size, 1);
+}
+END_TEST
+
+START_TEST (test_send_single_frame)
+{
+ SHIMS.frame_padding = false;
+ const uint8_t payload[] = {0x12, 0x34};
+ uint16_t arbitration_id = 0x2a;
+ isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent);
+ ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+ fail_unless(last_message_sent_status);
+ ck_assert_int_eq(last_message_sent_payload[0], 0x12);
+ ck_assert_int_eq(last_message_sent_payload[1], 0x34);
+ ck_assert_int_eq(last_message_sent_payload_size, 2);
+
+ ck_assert_int_eq(last_can_frame_sent_arb_id, arbitration_id);
+ fail_unless(can_frame_was_sent);
+ ck_assert_int_eq(last_can_payload_sent[0], 0x2);
+ ck_assert_int_eq(last_can_payload_sent[1], 0x12);
+ ck_assert_int_eq(last_can_payload_sent[2], 0x34);
+ ck_assert_int_eq(last_can_payload_size, 3);
+}
+END_TEST
+
+START_TEST (test_send_multi_frame)
+{
+ const uint8_t payload[] = {0x12, 0x34, 0x56, 0x78, 0x90, 0x01, 0x23,
+ 0x45, 0x67, 0x89};
+ uint16_t arbitration_id = 0x2a;
+ IsoTpSendHandle handle = isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload),
+ message_sent);
+ fail_unless(handle.completed);
+ fail_if(handle.success);
+}
+END_TEST
+
+Suite* testSuite(void) {
+ Suite* s = suite_create("iso15765");
+ TCase *tc_core = tcase_create("send");
+ tcase_add_checked_fixture(tc_core, setup, NULL);
+ tcase_add_test(tc_core, test_send_empty_payload);
+ tcase_add_test(tc_core, test_send_single_frame);
+ tcase_add_test(tc_core, test_send_multi_frame);
+ suite_add_tcase(s, tc_core);
+
+ return s;
+}
+
+int main(void) {
+ int numberFailed;
+ Suite* s = testSuite();
+ SRunner *sr = srunner_create(s);
+ // Don't fork so we can actually use gdb
+ srunner_set_fork_status(sr, CK_NOFORK);
+ srunner_run_all(sr, CK_NORMAL);
+ numberFailed = srunner_ntests_failed(sr);
+ srunner_free(sr);
+ return (numberFailed == 0) ? 0 : 1;
+}
Code Review / apps / agl-service-can-low-level.git / commitdiff