1 files changed, 56 insertions, 20 deletions

diff --git a/src/isotp/isotp.c b/src/isotp/isotp.c
index f303e214..f5b20795 100644
--- a/src/isotp/isotp.c
+++ b/src/isotp/isotp.c
@@ -7,10 +7,14 @@ const uint16_t MAX_CAN_FRAME_SIZE = 8;
 const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT = 100;
 const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS = true;
 
+// TODO why isn't this picked up from the header?
+extern IsoTpHandle isotp_receive(IsoTpShims* shims, const uint16_t arbitration_id,
+        IsoTpMessageReceivedHandler callback);
 
-void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
-    handler->timeout_ms = timeout_ms;
-}
+
+/* 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) {
@@ -22,26 +26,58 @@ IsoTpShims isotp_init_shims(LogShim log, SendCanMessageShim send_can_message,
     return shims;
 }
 
-IsoTpHandler isotp_init(IsoTpShims* shims, uint16_t arbitration_id,
-        IsoTpMessageReceivedHandler message_received_callback,
-        IsoTpMessageSentHandler message_sent_callback,
-        IsoTpCanFrameSentHandler can_frame_sent_callback) {
-    IsoTpHandler handler = {
-        shims: shims,
-        arbitration_id: arbitration_id,
-        message_received_callback: message_received_callback,
-        message_sent_callback: message_sent_callback,
-        can_frame_sent_callback: can_frame_sent_callback,
-        timeout_ms: ISO_TP_DEFAULT_RESPONSE_TIMEOUT,
-        frame_padding: ISO_TP_DEFAULT_FRAME_PADDING_STATUS,
-        sending: false
-    };
-    return handler;
-}
-
 void isotp_message_to_string(const IsoTpMessage* message, char* destination,
         size_t destination_length) {
     snprintf(destination, destination_length,"ID: 0x%02x, Payload: 0x%llx",
             // TODO the payload may be backwards here
             message->arbitration_id, message->payload);
 }
+
+void isotp_receive_can_frame(IsoTpShims* shims, IsoTpHandle* handle,
+        const uint16_t arbitration_id, const uint8_t data[],
+        const uint8_t data_length) {
+    if(data_length < 1) {
+        return;
+    }
+
+    if(handle->type == ISOTP_HANDLE_RECEIVING) {
+        if(handle->receive_handle.arbitration_id != arbitration_id) {
+            return;
+        }
+    } else if(handle->type == ISOTP_HANDLE_SENDING) {
+        if(handle->send_handle.receiving_arbitration_id != arbitration_id) {
+            return;
+        }
+    } else {
+        shims->log("The ISO-TP handle is corrupt");
+    }
+
+    IsoTpProtocolControlInformation pci = (IsoTpProtocolControlInformation)
+            get_nibble(data, data_length, 0);
+
+    uint8_t payload_length = get_nibble(data, data_length, 1);
+    uint8_t payload[payload_length];
+    if(payload_length > 0 && data_length > 0) {
+        memcpy(payload, &data[1], payload_length);
+    }
+
+    // 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: {
+            IsoTpMessage message = {
+                arbitration_id: arbitration_id,
+                payload: payload,
+                size: payload_length
+            };
+
+            isotp_handle_single_frame(handle, &message);
+            break;
+         }
+        default:
+            shims->log("Only single frame messages are supported");
+            break;
+    }
+}