feat(ISOTP): 实现多帧消息发送功能并优化消息处理

src/isotp/isotp_types.h

@@ -8,20 +8,19 @@
 // 1=Turn on the stitch Multiframe feature of April 2020
 // 0=No stitching so accumulate all partials and pass full Diag response
 //           when all Diag partials have been received.
-#define STITCH_MULTIFRAME  1
-
+#define STITCH_MULTIFRAME 0
 
 #define CAN_MESSAGE_BYTE_SIZE 8
-#if (STITCH_MULTIFRAME==1)
+#if (STITCH_MULTIFRAME == 1)
 #define MAX_ISO_TP_MESSAGE_SIZE 4096
 #else
 // Really This could be reduced to 8 bytes
-#define MAX_ISO_TP_MESSAGE_SIZE 16
+#define MAX_ISO_TP_MESSAGE_SIZE 4096
 #endif
 // 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
+#define OUR_MAX_ISO_TP_MESSAGE_SIZE 2047
 
 /* Private: IsoTp nibble specifics for PCI and Payload.
  */
@@ -39,114 +38,119 @@
 #define ISO_TP_DEFAULT_FRAME_PADDING_STATUS true
 
 #ifdef __cplusplus
-extern "C" {
+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;
+    /* 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
 }