Add skeleton tests for receiving and sending ISO-TP messages.

2 files changed, 107 insertions, 18 deletions

diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c
index 1b7f398b..da7fa29d 100644
--- a/src/isotp/isotp.c
+++ b/src/isotp/isotp.c
@@ -1,3 +1,9 @@
+#include <isotp/isotp.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) {
@@ -10,5 +16,41 @@ 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(uint16_t timeout) {
+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
+    };
+    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;
+}
+
+// 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]);
+    }
 }
diff --git a/src/isotp/isotp.h b/src/isotp/isotp.h
index 923d5926..c500f6e3 100644
--- a/src/isotp/isotp.h
+++ b/src/isotp/isotp.h
@@ -1,50 +1,93 @@
 #ifndef __ISOTP_H__
 #define __ISOTP_H__
 
+#include <stdint.h>
+#include <stdbool.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-struct {
+const uint16_t MAX_ISO_TP_MESSAGE_SIZE;
+const uint16_t MAX_CAN_FRAME_SIZE;
+const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
+const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
+
+typedef void (*LogShim)(const char* message);
+typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id, const uint8_t* data,
+            const uint8_t size);
+typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
+
+typedef void (*IsoTpMessageReceivedHandler)(const uint16_t arbitration_id,
+        const uint8_t* payload, const uint16_t size);
+typedef void (*IsoTpMessageSentHandler)(const bool success,
+        const uint16_t arbitration_id, const uint8_t* payload,
+        const uint16_t size);
+typedef void (*IsoTpCanFrameSentHandler)(const uint16_t arbitration_id,
+        const uint8_t* payload, const uint8_t size);
+
+// TODO this is really necessary and it would leak this library into the user's
+// code
+// typedef struct {
+    // const uint16_t arbitration_id;
+    // const uint8_t* payload;
+    // const uint16_t size;
+// } IsoTpMessage;
+
+typedef struct {
+    LogShim log;
+    SendCanMessageShim send_can_message;
+    SetTimerShim set_timer;
+} IsoTpShims;
+
+typedef struct {
+    IsoTpShims* shims;
     uint16_t arb_id;
-    void* message_received_callback;
-    void* message_sent_callback;
-    void* can_frame_sent_callback;
+    IsoTpMessageReceivedHandler message_received_callback;
+    IsoTpMessageSentHandler message_sent_callback;
+    IsoTpCanFrameSentHandler can_frame_sent_callback;
 
     // Private
     uint16_t timeout_ms;
-    bool framePadding;
+    bool frame_padding;
     uint8_t* receive_buffer;
     uint16_t received_buffer_size;
     uint16_t incoming_message_size;
     bool sending;
-    // TODO timer
+    // TODO timer callback
 } IsoTpHandler;
 
-enum {
+typedef enum {
     PCI_SINGLE,
     PCI_FIRST_FRAME,
     PCI_CONSECUTIVE_FRAME,
     PCI_FLOW_CONTROL_FRAME
 } IsoTpProtocolControlInformation;
 
-enum {
+typedef enum {
     PCI_FLOW_STATUS_CONTINUE,
     PCI_FLOW_STATUS_WAIT,
     PCI_FLOW_STATUS_OVERFLOW
 } IsoTpFlowStatus;
 
-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;
+IsoTpShims isotp_init_shims(LogShim log,
+        SendCanMessageShim send_can_message,
+        SetTimerShim set_timer);
 
-IsoTpHandler isotp_init(uint16_t arbitration_id,
-        IsoTpMessageReceivedHandler* message_received_callback,
-        IsoTpMessageSentHandler* message_sent_callback,
-        IsoTpCanFrameSentHandler* can_frame_sent_callback);
+IsoTpHandler isotp_init(IsoTpShims* shims,
+        uint16_t arbitration_id,
+        IsoTpMessageReceivedHandler message_received_callback,
+        IsoTpMessageSentHandler message_sent_callback,
+        IsoTpCanFrameSentHandler can_frame_sent_callback);
 
-void isotp_set_timeout(uint16_t timeout);
+/* Public: Change the timeout for waiting on an ISO-TP response frame.
+ *
+ * If this function is not used, the conventional 100ms is used by default.
+ *
+ * handler - the ISO-TP handler to modify.
+ * timeout - the new timeout in milliseconds.
+ */
+void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
 
 // TODO we have to make sure to copy the payload internall if it's more than 1
 // frame, the soure could go out of scope
@@ -55,6 +98,10 @@ void isotp_receive_can_frame(const uint16_t arbitration_id, const uint8_t* data,
 
 void isotp_destroy(IsoTpHandler* handler);
 
+void log_isotp_message(const uint16_t arbitration_id, const uint8_t* payload,
+        const uint16_t size);
+
+
 #ifdef __cplusplus
 }
 #endif