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rewrite(phase3): port can/lin from c-RCP, wire CAN XL fragmentation via fragment.hpp - #136
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…ia fragment.hpp Part of the v3.0.0 ground-up rewrite (cpp-RCP #129, ROADMAP.md Phase 17), branch rewrite/v3-from-c-rcp. Second of Phase 3's Wave 1 batches, alongside iseled/i2c and adc/gpio (separate PRs). can.hpp: the pre-rewrite header was validation-only -- its own v2.24.0 ROADMAP.md note said 'no ACF-level wire encode/decode ... anywhere in this codebase'. Ported the real wire codec from ep_can.c's rcp_ep_can_encode_frame_request/response, _decode_frame_request/ response. FrameFormat widened from an invented 3-value {Classical,Fd,Xl} to c-RCP's real 6-value Table 57 set (Cbff/Ceff/Fbff/ Feff/XlClassicalPl/XlNewPl), each with its own 11-/29-bit id width derived from format -- fixes a real defect where the old CanIdentifier::extended flag was settable independently of FrameFormat, permitting contradictory states. CanBitTimingPhase::sync_jump_width corrected uint16_t->uint8_t; default prescaler corrected 1->0 to match c-RCP's zero-init contract. Ported CanFunctionalConfig (three bit- timing sets, delay compensation, xl_filters[4]) and the Table 56 EP_func register block, porting forward c-RCP issue #470's enable&clr bit-4 fix (was bit 1) directly rather than re-introducing the bug. CAN XL fragmentation (c-RCP issues #610/#611/#612/#613) wired via Phase 1's fragment.hpp: frame_request_fragment_count()/ encode_frame_request_fragmented() and the response-side count/encode/decode/reassemble quartet, all built on fragment::plan_count()/plan()/Segment and fragment::Reassembler. Combined-payload and fragment-plan buffers are fixed std::array (2058 octets / 256 segments, c-RCP issue #521's bounds) -- no heap allocation. Tests round-trip a worst-case 2048-octet CAN XL write request and read response end to end through Reassembler, and prove the c-RCP #614/#616 oversized-reassembly lesson holds (kErrTooLarge, not silent truncation, both immediately and partway through a multi-fragment sequence). lin.hpp: ported response_matches() (thin wrapper over the already- ported acf::compound_wait_match), LinTrigger/trigger_fires(), LinFunctionalConfig + Table 55 register block, and the real encode_command_request/decode_command_request/encode_response/ decode_response wire codec -- none of this existed in the pre-rewrite header. Fixed-capacity: kXlMaxEncodedLen/kMaxFragmentSegments/kMaxXlFilters all std::array-backed, ported from c-RCP's own bound constants. CanDataFrame::data/LinEndpoint's byte buffers deliberately stayed std::vector<uint8_t> -- mock.hpp assigns from a const std::vector<uint8_t>&, which wouldn't compile against a fixed array. test_can.cpp: 20 -> 43 TEST_CASEs (267 assertions). test_lin.cpp: 12 -> 28 TEST_CASEs (103 assertions). Call sites touched: none. mock.hpp confirmed unchanged and its own test suite passes against the new headers unmodified. Left as // TODO(phase3-followup) in both headers: once regmap.hpp's functional-config split is re-derived from c-RCP (Phase 17 item 4), recompose the five local ep_enable/ep_clear_req_storage/ ep_req_crc_enable/ep_response_ts_enable/ep_suppress_response flags onto that shared struct instead of carrying local duplicates. can.hpp also documents (not a TODO, a deferral matching c-RCP's own disposition) that Table 56's acceptance-filter register region has a genuine unresolved address-collision defect in the primary source, so this module's register-block model deliberately stops at kEpFuncLen. Verified: full tree rebuilds clean (223/223 targets), 56/56 ctest suites pass (100%) -- independently re-verified from a fresh build, not just the porting agent's own report. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Signed-off-by: Matt <47545907+SoundMatt@users.noreply.github.com>
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Part of the v3.0.0 ground-up rewrite (#129, ROADMAP.md Phase 17). Second of Phase 3's Wave 1 batches, alongside
iseled/i2candadc/gpio(separate PRs).can.hppPre-rewrite header was validation-only — its own v2.24.0 ROADMAP.md note said 'no ACF-level wire encode/decode ... anywhere in this codebase'. Ported the real wire codec.
FrameFormatwidened from an invented 3-value set to c-RCP's real 6-value Table 57 set, each with its own id width derived from format — fixes a real defect where the oldextendedflag was settable independently ofFrameFormat, permitting contradictory states.sync_jump_widthtype and a default value both corrected to match c-RCP exactly. PortedCanFunctionalConfig+ Table 56 EP_func register block, including c-RCP issue #470's enable&clr bit-4 fix (was bit 1) ported forward correctly.CAN XL fragmentation wired via Phase 1's
fragment.hpp— the centerpiece of this batch: request/response fragment-count/encode/decode/reassemble, all built onfragment::plan_count()/plan()/Reassembler. Fixedstd::arraybuffers (2058 octets/256 segments, c-RCP's own bounds), no heap allocation. Tests round-trip a worst-case 2048-octet CAN XL write/read end to end and prove the c-RCP #614/#616 oversized-reassembly lesson holds (kErrTooLarge, not silent truncation).lin.hppNone of this existed in the pre-rewrite header:
response_matches()(wraps the already-portedacf::compound_wait_match),LinTrigger,LinFunctionalConfig+ Table 55 register block, and the real request/response wire codec.test_can.cpp: 20→43 cases.test_lin.cpp: 12→28 cases.Call sites touched
None —
mock.hppconfirmed unchanged, its own suite passes against the new headers unmodified.Verified
Full tree rebuilds clean (223/223 targets), 56/56 ctest suites pass (100%) — independently re-verified from a fresh build.
Tracked at #129.