Test basic single frame sending.

src/isotp/isotp.c

@@ -7,6 +7,12 @@ 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;
 
+const uint8_t PCI_START_BIT = 0;
+const uint8_t PCI_WIDTH = 4;
+const uint8_t PAYLOAD_LENGTH_START_BIT = 4;
+const uint8_t PAYLOAD_LENGTH_WIDTH = 4;
+const uint8_t PAYLOAD_START_BIT = 8;
+
 void isotp_receive_can_frame(IsoTpHandler* handler,
         const uint16_t arbitration_id, const uint64_t data,
         const uint8_t length) {
@@ -39,10 +45,42 @@ void isotp_receive_can_frame(IsoTpHandler* handler,
     }
 }
 
-bool isotp_send(const uint8_t* payload, uint16_t size) {
-     // we determine if it's single/multi frame and start the send
+void isotp_complete_send(IsoTpHandler* handler, const uint8_t* payload,
+        uint8_t size, bool status) {
+    handler->message_sent_callback(handler->arbitration_id, payload, size,
+            status);
 }
 
+bool isotp_send_single_frame(IsoTpHandler* handler, const uint8_t* payload,
+        uint8_t size) {
+    uint64_t data;
+    setBitField(&data, PCI_SINGLE, PCI_START_BIT, PCI_WIDTH);
+    setBitField(&data, size, PAYLOAD_LENGTH_START_BIT, PAYLOAD_LENGTH_WIDTH);
+    // TODO this is probably wrong
+    if(size > 0) {
+        setBitField(&data, *payload, PAYLOAD_START_BIT, size * 8);
+    }
+    handler->shims->send_can_message(handler->arbitration_id, payload, size);
+    isotp_complete_send(handler, payload, size, true);
+    return true;
+}
+
+bool isotp_send_multi_frame(IsoTpHandler* handler, const uint8_t* payload,
+        uint16_t size) {
+    return false;
+}
+
+bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
+        uint16_t size) {
+     // we determine if it's single/multi frame and start the send
+     if(size < 8) {
+         return isotp_send_single_frame(handler, payload, size);
+     } else {
+         return isotp_send_multi_frame(handler, payload, size);
+     }
+}
+
+
 void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms) {
     handler->timeout_ms = timeout_ms;
 }

src/isotp/isotp.h

@@ -14,15 +14,14 @@ const uint8_t ISO_TP_DEFAULT_RESPONSE_TIMEOUT;
 const bool ISO_TP_DEFAULT_FRAME_PADDING_STATUS;
 
 typedef void (*LogShim)(const char* message);
-typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id, const uint8_t* data,
-            const uint8_t size);
+typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
+        const uint8_t* data, const uint8_t size);
 typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
 
 typedef void (*IsoTpMessageReceivedHandler)(const uint16_t arbitration_id,
         const uint8_t* payload, const uint16_t size);
-typedef void (*IsoTpMessageSentHandler)(const bool success,
-        const uint16_t arbitration_id, const uint8_t* payload,
-        const uint16_t size);
+typedef void (*IsoTpMessageSentHandler)(const uint16_t arbitration_id,
+        const uint8_t* payload, const uint16_t size, const bool success);
 typedef void (*IsoTpCanFrameSentHandler)(const uint16_t arbitration_id,
         const uint8_t* payload, const uint8_t size);
 
@@ -91,7 +90,8 @@ void isotp_set_timeout(IsoTpHandler* handler, uint16_t timeout_ms);
 
 // TODO we have to make sure to copy the payload internall if it's more than 1
 // frame, the soure could go out of scope
-bool isotp_send(const uint8_t* payload, uint16_t payload_size);
+bool isotp_send(IsoTpHandler* handler, const uint8_t* payload,
+        uint16_t payload_size);
 
 void isotp_receive_can_frame(IsoTpHandler* handler,
         const uint16_t arbitration_id, const uint64_t data,

tests/common.c

@@ -44,11 +44,13 @@ void message_received(const uint16_t arbitration_id, const uint8_t* payload,
     log_isotp_message(arbitration_id, payload, size);
     last_message_received_arb_id = arbitration_id;
     last_message_received_payload_size = size;
-    memcpy(last_message_received_payload, payload, size);
+    if(size > 0) {
+        memcpy(last_message_received_payload, payload, size);
+    }
 }
 
-void message_sent(const bool success, const uint16_t arbitration_id,
-        const uint8_t* payload, const uint16_t size) {
+void message_sent(const uint16_t arbitration_id, const uint8_t* payload,
+        const uint16_t size, const bool success) {
     if(success) {
         debug("Sent ISO-TP message:");
     } else {
@@ -58,7 +60,10 @@ void message_sent(const bool success, const uint16_t arbitration_id,
 
     last_message_sent_arb_id = arbitration_id;
     last_message_sent_payload_size = size;
-    memcpy(last_message_sent_payload, payload, size);
+    last_message_sent_status = success;
+    if(size > 0) {
+        memcpy(last_message_sent_payload, payload, size);
+    }
 }
 
 void can_frame_sent(const uint16_t arbitration_id,
@@ -72,13 +77,16 @@ void can_frame_sent(const uint16_t arbitration_id,
     can_frame_was_sent = true;
     last_can_frame_sent_arb_id = arbitration_id;
     last_can_payload_sent = size;
-    memcpy(last_can_payload_sent, payload, size);
+    if(size > 0) {
+        memcpy(last_can_payload_sent, payload, size);
+    }
 }
 
 void setup() {
     SHIMS = isotp_init_shims(debug, mock_send_can, mock_set_timer);
     ISOTP_HANDLER = isotp_init(&SHIMS, 0x2a, message_received, message_sent,
             can_frame_sent);
+    last_message_sent_payload = malloc(MAX_ISO_TP_MESSAGE_SIZE);
     last_message_received_payload = malloc(MAX_ISO_TP_MESSAGE_SIZE);
     last_message_sent_status = false;
     message_was_received = false;

tests/test_send.c

@@ -25,15 +25,34 @@ extern uint8_t last_message_sent_payload_size;
 
 extern void setup();
 
+START_TEST (test_send_empty_payload)
+{
+    fail_unless(isotp_send(&ISOTP_HANDLER, NULL, 0));
+    ck_assert_int_eq(last_message_sent_arb_id, ISOTP_HANDLER.arbitration_id);
+    fail_unless(last_message_sent_status);
+    ck_assert_int_eq(last_message_sent_payload[0], NULL);
+    ck_assert_int_eq(last_message_sent_payload_size, 0);
+}
+END_TEST
+
 START_TEST (test_send_single_frame)
 {
-    fail_if(true);
+    const uint8_t payload[] = {0x12, 0x34};
+    fail_unless(isotp_send(&ISOTP_HANDLER, &payload, sizeof(payload)));
+    ck_assert_int_eq(last_message_sent_arb_id, ISOTP_HANDLER.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);
 }
 END_TEST
 
 START_TEST (test_send_multi_frame)
 {
-    fail_if(true);
+    const uint8_t payload[] = {0x12, 0x34, 0x56, 0x78, 0x90, 0x01, 0x23,
+            0x45, 0x67, 0x89};
+    bool status = isotp_send(&ISOTP_HANDLER, &payload, sizeof(payload));
+    fail_if(status);
 }
 END_TEST
 
@@ -41,6 +60,7 @@ 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);