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20 files changed, 1364 insertions, 0 deletions
diff --git a/CAN-binder/libs/isotp-c/.gitignore b/CAN-binder/libs/isotp-c/.gitignore new file mode 100644 index 00000000..96a3694f --- /dev/null +++ b/CAN-binder/libs/isotp-c/.gitignore @@ -0,0 +1,6 @@ +*.o +.DS_Store +*~ +*.bin +*.gcno +build diff --git a/CAN-binder/libs/isotp-c/.gitmodules b/CAN-binder/libs/isotp-c/.gitmodules new file mode 100644 index 00000000..aae6d232 --- /dev/null +++ b/CAN-binder/libs/isotp-c/.gitmodules @@ -0,0 +1,3 @@ +[submodule "deps/canutil"] + path = deps/bitfield-c + url = https://github.com/openxc/canutil diff --git a/CAN-binder/libs/isotp-c/.travis.yml b/CAN-binder/libs/isotp-c/.travis.yml new file mode 100644 index 00000000..31bfdeb3 --- /dev/null +++ b/CAN-binder/libs/isotp-c/.travis.yml @@ -0,0 +1,8 @@ +language: c +compiler: + - gcc +script: make test +before_install: + - git submodule update --init + - sudo apt-get update -qq + - sudo apt-get install check diff --git a/CAN-binder/libs/isotp-c/CHANGELOG.mkd b/CAN-binder/libs/isotp-c/CHANGELOG.mkd new file mode 100644 index 00000000..e6fd5cc0 --- /dev/null +++ b/CAN-binder/libs/isotp-c/CHANGELOG.mkd @@ -0,0 +1,10 @@ +# 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 diff --git a/CAN-binder/libs/isotp-c/LICENSE b/CAN-binder/libs/isotp-c/LICENSE new file mode 100644 index 00000000..330d61f4 --- /dev/null +++ b/CAN-binder/libs/isotp-c/LICENSE @@ -0,0 +1,24 @@ +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. diff --git a/CAN-binder/libs/isotp-c/Makefile b/CAN-binder/libs/isotp-c/Makefile new file mode 100644 index 00000000..90165ba6 --- /dev/null +++ b/CAN-binder/libs/isotp-c/Makefile @@ -0,0 +1,56 @@ +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) diff --git a/CAN-binder/libs/isotp-c/README.mkd b/CAN-binder/libs/isotp-c/README.mkd new file mode 100644 index 00000000..98030483 --- /dev/null +++ b/CAN-binder/libs/isotp-c/README.mkd @@ -0,0 +1,142 @@ +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. diff --git a/CAN-binder/libs/isotp-c/deps/bitfield-c b/CAN-binder/libs/isotp-c/deps/bitfield-c new file mode 160000 +Subproject 7f1d5473842361f97fef886bc4e98949ecf853b diff --git a/CAN-binder/libs/isotp-c/runtests.sh b/CAN-binder/libs/isotp-c/runtests.sh new file mode 100644 index 00000000..4781636b --- /dev/null +++ b/CAN-binder/libs/isotp-c/runtests.sh @@ -0,0 +1,17 @@ +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)" diff --git a/CAN-binder/libs/isotp-c/src/isotp/isotp.c b/CAN-binder/libs/isotp-c/src/isotp/isotp.c new file mode 100644 index 00000000..ce87f1bd --- /dev/null +++ b/CAN-binder/libs/isotp-c/src/isotp/isotp.c @@ -0,0 +1,32 @@ +#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]); +} diff --git a/CAN-binder/libs/isotp-c/src/isotp/isotp.h b/CAN-binder/libs/isotp-c/src/isotp/isotp.h new file mode 100644 index 00000000..3a3658c7 --- /dev/null +++ b/CAN-binder/libs/isotp-c/src/isotp/isotp.h @@ -0,0 +1,41 @@ +#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__ diff --git a/CAN-binder/libs/isotp-c/src/isotp/isotp_types.h b/CAN-binder/libs/isotp-c/src/isotp/isotp_types.h new file mode 100644 index 00000000..3b7fd26d --- /dev/null +++ b/CAN-binder/libs/isotp-c/src/isotp/isotp_types.h @@ -0,0 +1,144 @@ +#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__ diff --git a/CAN-binder/libs/isotp-c/src/isotp/receive.c b/CAN-binder/libs/isotp-c/src/isotp/receive.c new file mode 100644 index 00000000..35b7a2a6 --- /dev/null +++ b/CAN-binder/libs/isotp-c/src/isotp/receive.c @@ -0,0 +1,166 @@ +#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; +} diff --git a/CAN-binder/libs/isotp-c/src/isotp/receive.h b/CAN-binder/libs/isotp-c/src/isotp/receive.h new file mode 100644 index 00000000..6788914a --- /dev/null +++ b/CAN-binder/libs/isotp-c/src/isotp/receive.h @@ -0,0 +1,86 @@ +#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__ diff --git a/CAN-binder/libs/isotp-c/src/isotp/send.c b/CAN-binder/libs/isotp-c/src/isotp/send.c new file mode 100644 index 00000000..e849bb2c --- /dev/null +++ b/CAN-binder/libs/isotp-c/src/isotp/send.c @@ -0,0 +1,89 @@ +#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; +} diff --git a/CAN-binder/libs/isotp-c/src/isotp/send.h b/CAN-binder/libs/isotp-c/src/isotp/send.h new file mode 100644 index 00000000..1af32668 --- /dev/null +++ b/CAN-binder/libs/isotp-c/src/isotp/send.h @@ -0,0 +1,86 @@ +#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__ diff --git a/CAN-binder/libs/isotp-c/tests/common.c b/CAN-binder/libs/isotp-c/tests/common.c new file mode 100644 index 00000000..a9eed39e --- /dev/null +++ b/CAN-binder/libs/isotp-c/tests/common.c @@ -0,0 +1,91 @@ +#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; +} + diff --git a/CAN-binder/libs/isotp-c/tests/test_core.c b/CAN-binder/libs/isotp-c/tests/test_core.c new file mode 100644 index 00000000..73b47af0 --- /dev/null +++ b/CAN-binder/libs/isotp-c/tests/test_core.c @@ -0,0 +1,78 @@ +#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; +} diff --git a/CAN-binder/libs/isotp-c/tests/test_receive.c b/CAN-binder/libs/isotp-c/tests/test_receive.c new file mode 100644 index 00000000..607f9061 --- /dev/null +++ b/CAN-binder/libs/isotp-c/tests/test_receive.c @@ -0,0 +1,176 @@ +#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; +} diff --git a/CAN-binder/libs/isotp-c/tests/test_send.c b/CAN-binder/libs/isotp-c/tests/test_send.c new file mode 100644 index 00000000..29cf5dec --- /dev/null +++ b/CAN-binder/libs/isotp-c/tests/test_send.c @@ -0,0 +1,103 @@ +#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; +} |