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Added flow control and other functionality to UDS / ISO_TP code.

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This commit is contained in:
Collin Kidder
2017-08-13 17:03:11 -04:00
parent 83399ed0a7
commit c05bd2c043
10 changed files with 147 additions and 27 deletions
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bus_protocols/isotp_handler.cpp
+88 -12
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@@ -18,6 +18,8 @@ ISOTP_HANDLER::ISOTP_HANDLER()
{
useExtendedAddressing = false;
isReceiving = false;
connect(&frameTimer, SIGNAL(timeout()), this, SLOT(frameTimerTick()));
}
void ISOTP_HANDLER::setExtendedAddressing(bool mode)
@@ -61,7 +63,7 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
for (int i = 0; i < frame.data[0]; i++) frame.data[i + 1] = data[i];
CANConManager::getInstance()->sendFrame(frame);
}
else //need to send a multi-part ISO_TP message - no flow control possible right now. TODO - Add flow control
else //need to send a multi-part ISO_TP message - Respects timing and frame number based flow control
{
frame.bus = bus;
frame.ID = ID;
@@ -72,6 +74,11 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
frame.data[1] = data.length() & 0xFF;
for (int i = 0; i < 6; i++) frame.data[2 + i] = data[currByte++];
CANConManager::getInstance()->sendFrame(frame);
//Queue up the rest of the frames
waitingForFlow = true;
frameTimer.setInterval(200); //wait a while for the flow frame to come in
frameTimer.setTimerType(Qt::PreciseTimer);
frameTimer.start();
while (currByte < data.length())
{
for (int b = 0; b < 8; b++) frame.data[b] = 0xAA;
@@ -81,7 +88,8 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
if (bytesToGo > 7) bytesToGo = 7;
for (int i = 0; i < bytesToGo; i++) frame.data[1 + i] = data[currByte++];
frame.len = 8;
CANConManager::getInstance()->sendFrame(frame);
sendingFrames.append(frame);
//CANConManager::getInstance()->sendFrame(frame);
}
}
}
@@ -100,7 +108,7 @@ void ISOTP_HANDLER::updatedFrames(int numFrames)
{
for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
{
//processFrame(modelFrames->at(i));
//processFrame(modelFrames->at(i)); //accepting these frames in rapidFrames instead
}
}
}
@@ -114,7 +122,9 @@ void ISOTP_HANDLER::rapidFrames(const CANConnection* conn, const QVector<CANFram
foreach(const CANFrame& thisFrame, pFrames)
{
processFrame(thisFrame);
//only process frames that we've marked are ISOTP frames
//unless processAll is true
if (isoIDs[thisFrame.ID] || processAll) processFrame(thisFrame);
}
}
@@ -220,7 +230,30 @@ void ISOTP_HANDLER::processFrame(const CANFrame &frame)
emit newISOMessage(*pMsg);
}
break;
case 3: //flow control messages -ignored for now
case 3: //flow control messages
switch (frameLen) //actually flow control type in this case
{
case 0: //continue to send frames but maybe change inter-frame delay
waitingForFlow = false;
//data[1] contains number of frames to send before waiting for next flow control
framesUntilFlow = frame.data[1];
if (framesUntilFlow == 0) framesUntilFlow = -1; //-1 means don't count frames and just keep going
//data[2] contains the interframe delay to use (0xF1 through 0xF9 are special through)
if (frame.data[2] < 0xF1) frameTimer.start(frame.data[2]); //set proper delay between frames
else frameTimer.start(1); //can't do sub-millisecond sending with this code so just use 1ms timing
break;
case 1: //wait - do not send any more frames until other side says so
waitingForFlow = true;
frameTimer.stop(); //quit sending frames for now
break;
case 2: //overflow or abort. Assume this means abort and quit sending
frameTimer.stop();
sendingFrames.clear();
waitingForFlow = false;
break;
}
waitingForFlow = false;
break;
}
}
@@ -231,13 +264,7 @@ void ISOTP_HANDLER::checkNeedFlush(uint64_t ID)
{
if (messageBuffer[i].ID == ID)
{
//warning... this code will work for direct signals as emit turns into a function call
//and thus the other side will have time to do its processing before control returns
//and we delete the message on our side. But, if this code were used cross thread the
//emit would be a queued message instead and control would immediately return
//here and then the message would be deleted before being delivered.
//To fix that the message would have to be passed by value instead which I'd like to avoid.
//Thus, don't use this across threads unless you like to debug strange issues.
//used to pass by reference but now newISOMessage should pass by value which makes it easier to use cross thread
qDebug() << "Flushing a partial frame";
emit newISOMessage(messageBuffer[i]);
messageBuffer.removeAt(i);
@@ -245,3 +272,52 @@ void ISOTP_HANDLER::checkNeedFlush(uint64_t ID)
}
}
}
void ISOTP_HANDLER::frameTimerTick()
{
CANFrame frame;
if (!waitingForFlow)
{
if (!sendingFrames.isEmpty())
{
frame = sendingFrames.takeFirst();
CANConManager::getInstance()->sendFrame(frame);
if (framesUntilFlow > -1) framesUntilFlow--;
if (framesUntilFlow == 0) //stop sending and wait for another flow control message
{
frameTimer.stop(); //we absolutely will not send anything until other side says to.
waitingForFlow = true;
}
}
else //no more frames to send
{
frameTimer.stop();
}
}
else //while waiting for a flow frame we didn't get one during timeout period. Try to send anyway with default timeout
{
waitingForFlow = false;
frameTimer.setInterval(20); //pretty slow sending which should be OK as a default
}
}
void ISOTP_HANDLER::setProcessAll(bool state)
{
processAll = state;
}
void ISOTP_HANDLER::addID(uint32_t id)
{
isoIDs[id] = true;
}
void ISOTP_HANDLER::removeID(uint32_t id)
{
isoIDs.remove(id);
}
void ISOTP_HANDLER::clearAllIDs()
{
isoIDs.clear();
}