diff options
Diffstat (limited to 'CAN-binder/libs/isotp-c')
| -rw-r--r-- | CAN-binder/libs/isotp-c/.gitignore | 6 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/.travis.yml | 8 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/CHANGELOG.mkd | 10 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/CMakeLists.txt | 42 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/LICENSE | 24 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/Makefile | 56 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/README.mkd | 142 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/runtests.sh | 17 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/isotp.c | 32 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/isotp.h | 41 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/isotp_types.h | 144 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/receive.c | 166 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/receive.h | 86 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/send.c | 89 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/src/isotp/send.h | 86 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/tests/common.c | 91 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/tests/test_core.c | 78 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/tests/test_receive.c | 176 | ||||
| -rw-r--r-- | CAN-binder/libs/isotp-c/tests/test_send.c | 103 |
19 files changed, 0 insertions, 1397 deletions
diff --git a/CAN-binder/libs/isotp-c/.gitignore b/CAN-binder/libs/isotp-c/.gitignore deleted file mode 100644 index 96a3694f..00000000 --- a/CAN-binder/libs/isotp-c/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -*.o -.DS_Store -*~ -*.bin -*.gcno -build diff --git a/CAN-binder/libs/isotp-c/.travis.yml b/CAN-binder/libs/isotp-c/.travis.yml deleted file mode 100644 index 31bfdeb3..00000000 --- a/CAN-binder/libs/isotp-c/.travis.yml +++ /dev/null @@ -1,8 +0,0 @@ -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 deleted file mode 100644 index e6fd5cc0..00000000 --- a/CAN-binder/libs/isotp-c/CHANGELOG.mkd +++ /dev/null @@ -1,10 +0,0 @@ -# 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/CMakeLists.txt b/CAN-binder/libs/isotp-c/CMakeLists.txt deleted file mode 100644 index fbb5161f..00000000 --- a/CAN-binder/libs/isotp-c/CMakeLists.txt +++ /dev/null @@ -1,42 +0,0 @@ -########################################################################### -# Copyright 2015, 2016, 2017 IoT.bzh -# -# author: Fulup Ar Foll <fulup@iot.bzh> -# contrib: Romain Forlot <romain.forlot@iot.bzh> -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -########################################################################### - -# Add target to project dependency list -PROJECT_TARGET_ADD(isotp-c) - - # Define project Target - add_library(${TARGET_NAME} STATIC - src/isotp/isotp.c - src/isotp/receive.c - src/isotp/send.c) - - # Binder exposes a unique public entry point - SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES - OUTPUT_NAME ${TARGET_NAME} - ) - - # Define target includes - TARGET_INCLUDE_DIRECTORIES(${TARGET_NAME} - PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src - ) - - # Library dependencies (include updates automatically) - TARGET_LINK_LIBRARIES(${TARGET_NAME} - bitfield-c - ${link_libraries}) diff --git a/CAN-binder/libs/isotp-c/LICENSE b/CAN-binder/libs/isotp-c/LICENSE deleted file mode 100644 index 330d61f4..00000000 --- a/CAN-binder/libs/isotp-c/LICENSE +++ /dev/null @@ -1,24 +0,0 @@ -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 deleted file mode 100644 index 90165ba6..00000000 --- a/CAN-binder/libs/isotp-c/Makefile +++ /dev/null @@ -1,56 +0,0 @@ -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 deleted file mode 100644 index 98030483..00000000 --- a/CAN-binder/libs/isotp-c/README.mkd +++ /dev/null @@ -1,142 +0,0 @@ -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/runtests.sh b/CAN-binder/libs/isotp-c/runtests.sh deleted file mode 100644 index 4781636b..00000000 --- a/CAN-binder/libs/isotp-c/runtests.sh +++ /dev/null @@ -1,17 +0,0 @@ -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 deleted file mode 100644 index ce87f1bd..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/isotp.c +++ /dev/null @@ -1,32 +0,0 @@ -#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 deleted file mode 100644 index 3a3658c7..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/isotp.h +++ /dev/null @@ -1,41 +0,0 @@ -#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 deleted file mode 100644 index 3b7fd26d..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/isotp_types.h +++ /dev/null @@ -1,144 +0,0 @@ -#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 deleted file mode 100644 index 35b7a2a6..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/receive.c +++ /dev/null @@ -1,166 +0,0 @@ -#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 deleted file mode 100644 index 6788914a..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/receive.h +++ /dev/null @@ -1,86 +0,0 @@ -#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 deleted file mode 100644 index e849bb2c..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/send.c +++ /dev/null @@ -1,89 +0,0 @@ -#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 deleted file mode 100644 index 1af32668..00000000 --- a/CAN-binder/libs/isotp-c/src/isotp/send.h +++ /dev/null @@ -1,86 +0,0 @@ -#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 deleted file mode 100644 index a9eed39e..00000000 --- a/CAN-binder/libs/isotp-c/tests/common.c +++ /dev/null @@ -1,91 +0,0 @@ -#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 deleted file mode 100644 index 73b47af0..00000000 --- a/CAN-binder/libs/isotp-c/tests/test_core.c +++ /dev/null @@ -1,78 +0,0 @@ -#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 deleted file mode 100644 index 607f9061..00000000 --- a/CAN-binder/libs/isotp-c/tests/test_receive.c +++ /dev/null @@ -1,176 +0,0 @@ -#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 deleted file mode 100644 index 29cf5dec..00000000 --- a/CAN-binder/libs/isotp-c/tests/test_send.c +++ /dev/null @@ -1,103 +0,0 @@ -#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; -} |