feat: DoIP (iso 13400) client support

.circleci/config.yml

@@ -105,6 +105,12 @@ jobs:
             cd examples/linux_server_0x27
             ./test.sh
 
+      - run:
+          name: Build and test DoIP client example
+          command: |
+            cd examples/doip_client
+            ./test.sh
+
 workflows:
   version: 2
   build:

.gitignore

@@ -40,3 +40,6 @@ cppcheck_reports
 .venv
 tools/cppcheck/misra_c_2023__headlines_for_cppcheck.txt
 latex/
+# Ignore binaries of doip example
+examples/doip_client/doip_server
+examples/doip_client/doip_client

CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.15)
+project(iso14229)
+
+# Options for each transport layer variant
+option(BUILD_UDS_TP_ISOTP_C "Build ISO-TP C variant" OFF)
+option(BUILD_UDS_TP_ISOTP_C_SOCKETCAN "Build ISO-TP C SocketCAN variant" OFF)
+option(BUILD_UDS_TP_ISOTP_SOCK "Build ISO-TP socket variant" ON)
+option(BUILD_UDS_TP_ISOTP_MOCK "Build ISO-TP mock variant" OFF)
+option(BUILD_UDS_TP_DOIP "Build DoIP (ISO 13400) variant" OFF)
+
+# Populate VARIANT_LIST based on enabled options
+set(VARIANT_LIST)
+if(BUILD_UDS_TP_ISOTP_C)
+    list(APPEND VARIANT_LIST UDS_TP_ISOTP_C)
+endif()
+if(BUILD_UDS_TP_ISOTP_C_SOCKETCAN)
+    list(APPEND VARIANT_LIST UDS_TP_ISOTP_C_SOCKETCAN)
+endif()
+if(BUILD_UDS_TP_ISOTP_SOCK)
+    list(APPEND VARIANT_LIST UDS_TP_ISOTP_SOCK)
+endif()
+if(BUILD_UDS_TP_ISOTP_MOCK)
+    list(APPEND VARIANT_LIST UDS_TP_ISOTP_MOCK)
+endif()
+if(BUILD_UDS_TP_DOIP)
+    list(APPEND VARIANT_LIST UDS_TP_DOIP)
+endif()
+
+# Create a library target for each enabled variant
+foreach(VARIANT IN LISTS VARIANT_LIST)
+    # Remove UDS_TP_ prefix and convert to lowercase
+    string(REPLACE "UDS_TP_" "" VARIANT_SUFFIX ${VARIANT})
+    string(TOLOWER ${VARIANT_SUFFIX} VARIANT_SUFFIX_LOWER)
+
+    # Define target name
+    set(TARGET_NAME "iso14229_${VARIANT_SUFFIX_LOWER}")
+
+    # Create library target
+    add_library(${TARGET_NAME} iso14229.c)
+
+    # Set compile definition for this variant
+    target_compile_definitions(${TARGET_NAME} PRIVATE ${VARIANT})
+
+    # When building DoIP, also compile the transport instances (TCP/UDP)
+    if (VARIANT STREQUAL "UDS_TP_DOIP")
+        target_sources(${TARGET_NAME} PRIVATE
+            src/tp/doip/doip_tp_tcp.c
+            src/tp/doip/doip_tp_udp.c
+        )
+    endif()
+
+    message(STATUS "Configured target: ${TARGET_NAME} with variant: ${VARIANT}")
+endforeach()
+
+

docs/client_doip.md

@@ -0,0 +1,155 @@
+# DoIP Client {#client_doip}
+
+This document describes the DoIP (ISO 13400) client and transport usage in this codebase, focusing on TCP diagnostics, UDP vehicle discovery, and the DoIP transport layer.
+
+## Basic Usage
+
+### Discovery and Selection
+
+Use UDP discovery to locate vehicles and select one based on VIN or first responder.
+
+```c
+#include "tp/doip/doip_client.h"
+
+DoIPClient_t tp;
+UDSDoIPSetDiscoveryOptions(/*request_only=*/true, /*dump_raw=*/false);
+UDSDoIPSetSelectionCallback(&tp, /*optional*/ NULL, NULL);
+
+// Loopback discovery (binds 13401, sends VI request to 13400)
+int found = UDSDoIPDiscoverVehicles(&tp, /*timeout_ms=*/2000, /*loopback=*/true);
+if (found <= 0 || tp.server_ip[0] == '\0') {
+    // handle no selection
+}
+
+// Selected server is available in tp.server_ip and tp.server_port
+```
+
+To filter by VIN prefix:
+
+```c
+static bool select_by_vin(const DoIPDiscoveryInfo *info, void *user) {
+    const char *prefix = (const char*)user;
+    if (!prefix || !*prefix || info->vin[0] == '\0') return false;
+    return strncmp(info->vin, prefix, strlen(prefix)) == 0;
+}
+
+UDSDoIPSetSelectionCallback(&tp, select_by_vin, (void*)"WVWZZZ");
+int found = UDSDoIPDiscoverVehicles(&tp, 2000, true);
+```
+
+### Initialization and Routing Activation
+
+After discovery, initialize the TCP connection and activate routing:
+
+```c
+// Provide source/target logical addresses
+uint16_t SA = 0x0E00; // example tester address
+uint16_t TA = 0x0E80; // example server address
+
+UDSErr_t rc = UDSDoIPInitClient(&tp, tp.server_ip, tp.server_port, SA, TA);
+if (rc != UDS_OK) {
+    // handle error
+}
+
+// If needed later:
+rc = UDSDoIPActivateRouting(&tp);
+```
+
+### Sending and Receiving Diagnostic Messages
+
+Once routing is active, the higher-level UDS client can use the DoIP transport (via `UDSTp_t` inside `DoIPClient_t`) to send UDS requests and receive responses. See the generic client flow in [docs/client.md](client.md) and the DoIP transport integration in [src/tp/doip/doip_client.c](src/tp/doip/doip_client.c).
+
+## DoIP Client Structure
+
+`DoIPClient_t` holds TCP/UDP transports, state, addresses, buffers, and flags. Relevant fields:
+
+- `tcp`: DoIP TCP transport for diagnostics
+- `udp`: DoIP UDP transport for discovery
+- `source_address`, `target_address`: logical addresses
+- `server_ip`, `server_port`: selected server endpoint
+- `uds_response`/`uds_response_len`: buffered diagnostic response
+
+See [src/tp/doip/doip_client.h](src/tp/doip/doip_client.h).
+
+## Transport Layer (DoIP)
+
+The DoIP transport abstraction is defined in [src/tp/doip/doip_transport.h](src/tp/doip/doip_transport.h).
+
+- `DoIPTransport`:
+  - `fd`, `port`, `ip`, `is_udp`, `loopback`
+  - `connect_timeout_ms`, `send_timeout_ms`
+- TCP helpers:
+  - `doip_tp_tcp_init()`, `doip_tp_tcp_connect()`, `doip_tp_tcp_send()`, `doip_tp_tcp_recv()`, `doip_tp_tcp_close()`
+- UDP helpers:
+  - `doip_tp_udp_init()`, `doip_tp_udp_join_default_multicast()`,
+    `doip_tp_udp_recv()`, `doip_tp_udp_recvfrom()`, `doip_tp_udp_sendto()`, `doip_tp_udp_close()`
+
+### Non-Blocking Behavior
+
+- Sockets are set to non-blocking (`O_NONBLOCK`).
+- `select()` is used for readiness and timeouts.
+- TCP connect: non-blocking with `EINPROGRESS` handling (select on writable + `SO_ERROR`). See [src/tp/doip/doip_tp_tcp.c](src/tp/doip/doip_tp_tcp.c).
+- TCP send: send-all loop with timeout (`MSG_NOSIGNAL` used when available). Partial writes are handled until the buffer is sent or timeout. See [src/tp/doip/doip_tp_tcp.c](src/tp/doip/doip_tp_tcp.c).
+- TCP/UDP recv: `select()` for readability then a single `recv()`/`recvfrom()`.
+
+### Ports and Constants
+
+Defined in [src/tp/doip/doip_defines.h](src/tp/doip/doip_defines.h):
+
+- `DOIP_TCP_PORT` = 13400
+- `DOIP_UDP_DISCOVERY_PORT` = 13400 (vehicle side)
+- `DOIP_UDP_TEST_EQUIPMENT_REQUEST_PORT` = 13401 (tester side)
+- `DOIP_DEFAULT_TIMEOUT_MS` = 5000
+
+UDP discovery binds to 13401 by default (tester request port). Active VI requests are sent to 13400.
+
+### Configuring Timeouts
+
+```c
+DoIPTransport *tcp = &tp.tcp;
+// Override defaults per transport
+doip_tp_set_timeouts(tcp, /*connect_timeout_ms=*/2000, /*send_timeout_ms=*/1000);
+```
+
+## UDP Discovery Details
+
+Implemented in [src/tp/doip/doip_client.c](src/tp/doip/doip_client.c) and [src/tp/doip/doip_tp_udp.c](src/tp/doip/doip_tp_udp.c):
+
+- Bind (loopback): `127.0.0.1:13401` to receive announcements/responses.
+- Bind (non-loopback): `INADDR_ANY:13401` with `SO_BROADCAST` enabled.
+- Active VI Request: `doip_tp_udp_sendto()` sends a header-only VI request (payload type 0x0001, length 0) to `13400`.
+- Optional multicast join (non-loopback): `224.224.224.224` when not in request-only mode.
+- VIN/EID/GID parsing: best-effort extraction from vehicle identification payloads.
+
+## Example: Discovery CLI
+
+See the example in [examples/doip_discovery_example/doip_discover.c](examples/doip_discovery_example/doip_discover.c):
+
+- Loopback discover first responder:
+```bash
+(cd examples/doip_discovery_example && ./doip_discovery loopback)
+```
+- Filter by VIN prefix:
+```bash
+(cd examples/doip_discovery_example && ./doip_discovery WVWZZZ loopback)
+```
+- Options:
+  - `--request-only`: send VI requests, skip multicast
+  - `--raw`: dump raw frames via logger
+
+## Configuration {#doip_configuration}
+
+Compile-time and runtime:
+
+- `DOIP_DEFAULT_TIMEOUT_MS` (compile-time): select timeouts default
+- `doip_tp_set_timeouts()` (runtime): per-transport connect/send timeouts (TCP)
+- `UDSDoIPSetDiscoveryOptions(request_only, dump_raw)` (runtime): discovery behavior
+
+## See Also
+
+- DoIP client implementation: [src/tp/doip/doip_client.c](src/tp/doip/doip_client.c)
+- DoIP transport API: [src/tp/doip/doip_transport.h](src/tp/doip/doip_transport.h)
+- TCP transport: [src/tp/doip/doip_tp_tcp.c](src/tp/doip/doip_tp_tcp.c)
+- UDP transport: [src/tp/doip/doip_tp_udp.c](src/tp/doip/doip_tp_udp.c)
+- DoIP constants: [src/tp/doip/doip_defines.h](src/tp/doip/doip_defines.h)
+- Generic client guide: [docs/client.md](client.md)

docs/mainpage.md

@@ -1,6 +1,6 @@
 # iso14229 {#mainpage}
 
-iso14229 is a UDS (ISO14229) library for writing servers and clients. 
+iso14229 is a UDS (ISO14229) library for writing servers and clients.
 
 **Source Code:** https://github.com/driftregion/iso14229
 
@@ -23,6 +23,7 @@ To access the examples, clone or download the repository from https://github.com
 | \ref examples/arduino_server/README.md "arduino_server" | Arduino server |
 | \ref examples/esp32_server/README.md "esp32_server" | ESP32 server |
 | \ref examples/s32k144_server/README.md "s32k144_server" | NXP S32K144 server |
+| \ref examples/doip_client/README.md "doip_client" | DoIP client |
 
 ---
 
@@ -44,6 +45,7 @@ Configure the library at compilation time with preprocessor defines:
 | **isotp_c_socketcan** | `-DUDS_TP_ISOTP_C_SOCKETCAN` | isotp-c over SocketCAN | Linux newer than 2.6.25 | \ref examples/linux_server_0x27/README.md "linux_server_0x27" |
 | **isotp_c** | `-DUDS_TP_ISOTP_C` | Software ISO-TP | Everything else | \ref examples/arduino_server/README.md "arduino_server" \ref examples/esp32_server/README.md "esp32_server" \ref examples/s32k144_server/README.md "s32k144_server" |
 | **isotp_mock** | `-DUDS_TP_ISOTP_MOCK` | In-memory transport for testing | platform-independent unit tests | see unit tests |
+| **doip** | `-DUDS_TP_DOIP` | DoIP (iso 13400) client | platform-independent unit tests | \ref examples/linux_rdbi_wdbi/README.md |
 
 ### System Selection Override
 

examples/doip_client/Makefile

@@ -0,0 +1,21 @@
+CLI_SRCS += iso14229.c doip_test_client.c
+CLI_HDRS += iso14229.h
+CLI_TARGET = doip_client
+
+SVR_SRCS = doip_server.c doip_test_server.c
+SVR_TARGET = doip_server
+
+# Use the verbose log level for debugging
+# CFLAGS = -DUDS_TP_DOIP=1 -DUDS_CONFIG_LOG_COLORS=1 -DUDS_LOG_LEVEL=UDS_LOG_VERBOSE -g -Wall -Wpedantic -Wextra
+CFLAGS = -DUDS_TP_DOIP=1 -DUDS_CONFIG_LOG_COLORS=1 -DUDS_LOG_LEVEL=UDS_LOG_INFO -g -Wall -Wpedantic -Wextra
+
+all: client server
+
+client: $(CLI_SRCS) $(CLI_HDRS)
+	$(CC) $(CFLAGS) $(CLI_SRCS) -o $(CLI_TARGET)
+
+server: $(SVR_SRCS)
+	$(CC) $(CFLAGS) $(SVR_SRCS) -o $(SVR_TARGET)
+
+clean:
+	rm -f $(CLI_TARGET) $(SVR_TARGET)