1 files changed, 86 insertions, 0 deletions
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__