383 lines
13 KiB
C++
383 lines
13 KiB
C++
#include "isotp_handler.h"
|
|
#include "connections/canconmanager.h"
|
|
|
|
ISOTP_HANDLER::ISOTP_HANDLER()
|
|
{
|
|
useExtendedAddressing = false;
|
|
isReceiving = false;
|
|
issueFlowMsgs = false;
|
|
processAll = false;
|
|
lastSenderBus = 0;
|
|
lastSenderID = 0;
|
|
|
|
modelFrames = MainWindow::getReference()->getCANFrameModel()->getListReference();
|
|
|
|
connect(&frameTimer, SIGNAL(timeout()), this, SLOT(frameTimerTick()));
|
|
}
|
|
|
|
ISOTP_HANDLER::~ISOTP_HANDLER()
|
|
{
|
|
disconnect(&frameTimer, SIGNAL(timeout()), this, SLOT(frameTimerTick()));
|
|
}
|
|
|
|
void ISOTP_HANDLER::setExtendedAddressing(bool mode)
|
|
{
|
|
useExtendedAddressing = mode;
|
|
}
|
|
|
|
void ISOTP_HANDLER::setFlowCtrl(bool state)
|
|
{
|
|
issueFlowMsgs = state;
|
|
}
|
|
|
|
void ISOTP_HANDLER::setReception(bool mode)
|
|
{
|
|
if (isReceiving == mode) return;
|
|
isReceiving = mode;
|
|
|
|
if (isReceiving)
|
|
{
|
|
connect(CANConManager::getInstance(), &CANConManager::framesReceived, this, &ISOTP_HANDLER::rapidFrames);
|
|
qDebug() << "Enabling reception in ISOTP handler";
|
|
}
|
|
else
|
|
{
|
|
disconnect(CANConManager::getInstance(), &CANConManager::framesReceived, this, &ISOTP_HANDLER::rapidFrames);
|
|
qDebug() << "Disabling reception in ISOTP handler";
|
|
}
|
|
}
|
|
|
|
void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QByteArray data)
|
|
{
|
|
CANFrame frame;
|
|
frame.setFrameType(QCanBusFrame::DataFrame);
|
|
int currByte = 0;
|
|
int index = 0;
|
|
if (bus < 0) return;
|
|
if (bus >= CANConManager::getInstance()->getNumBuses()) return;
|
|
|
|
lastSenderID = ID;
|
|
lastSenderBus = bus;
|
|
|
|
frame.bus = bus;
|
|
frame.setFrameId(ID);
|
|
if (ID > 0x7FF) frame.setExtendedFrameFormat(true);
|
|
else frame.setExtendedFrameFormat(false);
|
|
|
|
if (data.length() < 8)
|
|
{
|
|
QByteArray bytes(8,0);
|
|
bytes.resize(8);
|
|
bytes[0] = data.length();
|
|
for (int i = 0; i < data.length(); i++) bytes[i + 1] = data[i];
|
|
frame.setPayload(bytes);
|
|
CANConManager::getInstance()->sendFrame(frame);
|
|
}
|
|
else //need to send a multi-part ISO_TP message - Respects timing and frame number based flow control
|
|
{
|
|
QByteArray bytes(8, 0);
|
|
bytes[0] = 0x10 + (data.length() / 256);
|
|
bytes[1] = data.length() & 0xFF;
|
|
for (int i = 0; i < 6; i++) bytes[2 + i] = data[currByte++];
|
|
frame.setPayload(bytes);
|
|
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++) bytes[b] = 0x00;
|
|
bytes[0] = 0x20 + index;
|
|
index = (index + 1) & 0xF;
|
|
int bytesToGo = data.length() - currByte;
|
|
if (bytesToGo > 7) bytesToGo = 7;
|
|
for (int i = 0; i < bytesToGo; i++) bytes[1 + i] = data[currByte++];
|
|
frame.setPayload(bytes);
|
|
sendingFrames.append(frame);
|
|
//CANConManager::getInstance()->sendFrame(frame);
|
|
}
|
|
}
|
|
}
|
|
|
|
//remember, negative numbers are special -1 = all frames deleted, -2 = totally new set of frames.
|
|
void ISOTP_HANDLER::updatedFrames(int numFrames)
|
|
{
|
|
if (numFrames == -1) //all frames deleted. Kill the display
|
|
{
|
|
}
|
|
else if (numFrames == -2) //all new set of frames. Reset
|
|
{
|
|
for (int i = 0; i < modelFrames->length(); i++) processFrame(modelFrames->at(i));
|
|
}
|
|
else //just got some new frames. See if they are relevant.
|
|
{
|
|
for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
|
|
{
|
|
//processFrame(modelFrames->at(i)); //accepting these frames in rapidFrames instead
|
|
}
|
|
}
|
|
}
|
|
|
|
void ISOTP_HANDLER::rapidFrames(const CANConnection* conn, const QVector<CANFrame>& pFrames)
|
|
{
|
|
Q_UNUSED(conn)
|
|
if (pFrames.length() <= 0) return;
|
|
|
|
//qDebug() << "received messages in ISOTP handler";
|
|
|
|
foreach(const CANFrame& thisFrame, pFrames)
|
|
{
|
|
//only process frames that we've marked are ISOTP frames
|
|
//unless processAll is true
|
|
if (processAll) processFrame(thisFrame);
|
|
else
|
|
{
|
|
for (int i = 0; i < filters.count(); i++)
|
|
{
|
|
if ((thisFrame.bus == filters[i].bus) && ((thisFrame.frameId() & filters[i].mask) == filters[i].ID))
|
|
{
|
|
processFrame(thisFrame);
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
void ISOTP_HANDLER::processFrame(const CANFrame &frame)
|
|
{
|
|
uint64_t ID = frame.frameId();
|
|
int frameType;
|
|
int frameLen;
|
|
int ln;
|
|
//int offset;
|
|
ISOTP_MESSAGE msg;
|
|
ISOTP_MESSAGE *pMsg;
|
|
const unsigned char *data = reinterpret_cast<const unsigned char *>(frame.payload().constData());
|
|
//int dataLen = frame.payload().count();
|
|
|
|
frameType = 0;
|
|
frameLen = 0;
|
|
|
|
if (useExtendedAddressing)
|
|
{
|
|
ID = ID << 8;
|
|
ID += data[0];
|
|
frameType = data[1] >> 4;
|
|
frameLen = data[1] & 0xF;
|
|
}
|
|
else
|
|
{
|
|
frameType = data[0] >> 4;
|
|
frameLen = data[0] & 0xF;
|
|
}
|
|
|
|
switch(frameType)
|
|
{
|
|
case 0: //single frame message
|
|
checkNeedFlush(ID);
|
|
|
|
if (frameLen == 0) return; //length of zero isn't valid.
|
|
if (frameLen > 6 && useExtendedAddressing) return; //impossible
|
|
if (frameLen > 7) return;
|
|
|
|
msg.bus = frame.bus;
|
|
msg.setExtendedFrameFormat( frame.hasExtendedFrameFormat() );
|
|
msg.setFrameId(ID);
|
|
msg.isReceived = frame.isReceived;
|
|
msg.payload().reserve(frameLen);
|
|
msg.reportedLength = frameLen;
|
|
msg.setTimeStamp(frame.timeStamp());
|
|
msg.isMultiframe = false;
|
|
if (useExtendedAddressing) for (int j = 0; j < frameLen; j++) msg.payload().append(frame.payload()[j+2]);
|
|
else for (int j = 0; j < frameLen; j++) msg.payload().append(frame.payload()[j+1]);
|
|
//qDebug() << "Emitting single frame ISOTP message";
|
|
emit newISOMessage(msg);
|
|
break;
|
|
case 1: //first frame of a multi-frame message
|
|
checkNeedFlush(ID);
|
|
msg.bus = frame.bus;
|
|
msg.setExtendedFrameFormat( frame.hasExtendedFrameFormat() );
|
|
msg.setFrameId(ID);
|
|
msg.setTimeStamp(frame.timeStamp());
|
|
msg.isReceived = frame.isReceived;
|
|
msg.isMultiframe = true;
|
|
frameLen = frameLen << 8;
|
|
if (useExtendedAddressing)
|
|
{
|
|
frameLen += data[2];
|
|
frameLen = frameLen & 0xFFF;
|
|
msg.payload().reserve(frameLen);
|
|
msg.reportedLength = frameLen;
|
|
for (int j = 0; j < 5; j++) msg.payload().append(frame.payload()[3 + j]);
|
|
}
|
|
else
|
|
{
|
|
frameLen += data[1];
|
|
frameLen = frameLen & 0xFFF;
|
|
msg.payload().reserve(frameLen);
|
|
msg.reportedLength = frameLen;
|
|
for (int j = 0; j < 6; j++) msg.payload().append(frame.payload()[2 + j]);
|
|
}
|
|
msg.lastSequence = -1;
|
|
messageBuffer.append(msg);
|
|
//The sending ID is set to the last ID we used to send from this class which is
|
|
//very likely to be correct. But, caution, there is a chance that it isn't. Beware.
|
|
if (issueFlowMsgs && lastSenderID > 0)
|
|
{
|
|
CANFrame outFrame;
|
|
outFrame.bus = lastSenderBus;
|
|
outFrame.setExtendedFrameFormat(false);
|
|
outFrame.setFrameId(lastSenderID);
|
|
QByteArray bytes(8, 0);
|
|
bytes[0] = 0x30; //flow control, go ahead and send
|
|
bytes[1] = 0; //dont ask again about flow control
|
|
bytes[2] = 3; //separation time in milliseconds between messages.
|
|
outFrame.setPayload(bytes);
|
|
CANConManager::getInstance()->sendFrame(outFrame);
|
|
}
|
|
break;
|
|
case 2: //subsequent frames for multi-frame messages
|
|
pMsg = nullptr;
|
|
for (int i = 0; i < messageBuffer.length(); i++)
|
|
{
|
|
if (messageBuffer[i].frameId() == ID)
|
|
{
|
|
pMsg = &messageBuffer[i];
|
|
break;
|
|
}
|
|
}
|
|
if (!pMsg) return;
|
|
if (!pMsg->isMultiframe) return; //if we didn't get a frame type 1 (start of multiframe) first then ignore this frame.
|
|
ln = pMsg->payload().length() - pMsg->payload().count();
|
|
//offset = pMsg->data.count();
|
|
if (useExtendedAddressing)
|
|
{
|
|
if (ln > 6) ln = 6;
|
|
for (int j = 0; j < ln; j++) pMsg->payload().append(frame.payload()[j+2]);
|
|
}
|
|
else
|
|
{
|
|
if (ln > 7) ln = 7;
|
|
for (int j = 0; j < ln; j++) pMsg->payload().append(frame.payload()[j+1]);
|
|
}
|
|
if (pMsg->reportedLength <= pMsg->payload().count())
|
|
{
|
|
//qDebug() << "Emitting multiframe ISOTP message";
|
|
checkNeedFlush(pMsg->frameId());
|
|
}
|
|
break;
|
|
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 = 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 (data[2] < 0xF1) frameTimer.start(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;
|
|
}
|
|
}
|
|
|
|
void ISOTP_HANDLER::checkNeedFlush(uint64_t ID)
|
|
{
|
|
for (int i = 0; i < messageBuffer.length(); i++)
|
|
{
|
|
if (messageBuffer[i].frameId() == ID)
|
|
{
|
|
//used to pass by reference but now newISOMessage should pass by value which makes it easier to use cross thread
|
|
if (messageBuffer[i].frameId() > 0x600 && messageBuffer[i].frameId() < 0x630)
|
|
{
|
|
if (messageBuffer[i].reportedLength <= messageBuffer[i].payload().count())
|
|
{
|
|
qDebug() << "Flushing full frame" << QString::number(messageBuffer[i].frameId(), 16) << " " << messageBuffer[i].reportedLength << " " << messageBuffer[i].payload().count();
|
|
}
|
|
else
|
|
{
|
|
qDebug() << "Flushing a partial frame " << QString::number(messageBuffer[i].frameId(), 16) << " " << messageBuffer[i].reportedLength << " " << messageBuffer[i].payload().count();
|
|
}
|
|
}
|
|
emit newISOMessage(messageBuffer[i]);
|
|
messageBuffer.removeAt(i);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
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::addFilter(int pBusId, uint32_t ID, uint32_t mask)
|
|
{
|
|
CANFilter filt;
|
|
filt.ID = ID;
|
|
filt.bus = pBusId;
|
|
filt.mask = mask;
|
|
|
|
filters.append(filt);
|
|
}
|
|
|
|
void ISOTP_HANDLER::removeFilter(int pBusId, uint32_t ID, uint32_t mask)
|
|
{
|
|
for (int i = 0; i < filters.count(); i++)
|
|
{
|
|
if (filters[i].bus == pBusId && filters[i].ID == ID && filters[i].mask == mask) filters.removeAt(i);
|
|
}
|
|
}
|
|
|
|
void ISOTP_HANDLER::clearAllFilters()
|
|
{
|
|
filters.clear();
|
|
}
|
|
|
|
|