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#include <isotp/receive.h>
#include <bitfield/bitfield.h>
#include <string.h>
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;
}
IsoTpReceiveHandle isotp_receive(IsoTpShims* shims,
const uint16_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 uint16_t arbitration_id,
const uint8_t data[], const uint8_t size) {
IsoTpMessage message = {
arbitration_id: arbitration_id,
completed: 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);
uint8_t payload_length = get_nibble(data, size, 1);
uint8_t payload[payload_length];
if(payload_length > 0 && size > 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: {
if(payload_length > 0) {
memcpy(message.payload, payload, payload_length);
}
message.size = payload_length;
message.completed = true;
handle->success = true;
handle->completed = true;
isotp_handle_single_frame(handle, &message);
break;
}
default:
shims->log("Only single frame messages are supported");
break;
}
return message;
}
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