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feat: DoIP (iso 13400) client support#114

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feat: DoIP (iso 13400) client support#114
Magolves wants to merge 36 commits intodriftregion:mainfrom
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@Magolves Magolves commented Dec 16, 2025

Add DoIP (ISO 13400) Transport Layer Support

This PR implements DoIP (Diagnostic over IP - ISO 13400) as a new transport layer for UDS, enabling diagnostic communication over TCP/IP networks.

Features

  • DoIP Client Implementation (src/tp/doip/)
    • TCP-based diagnostic message transport (ISO 13400-2)
    • Routing activation and alive check handling
    • Proper DoIP message framing and state management
    • Support for diagnostic message ACK/NACK
    • Non-blocking I/O with configurable timeouts

Implementation Details

  • Protocol Version: DoIP v3 (ISO 13400:2019)
  • Standard Port: TCP 13400
  • Addressing: External test equipment range (0x0E00-0x0FFF)
  • Message Types: Routing activation, diagnostic messages, alive check

Testing

  • Compiles cleanly with -Wall -Wpedantic -Wextra
  • Integration test passes (examples/doip_client/test.sh)
  • Successfully exchanges RDBI/WDBI messages over DoIP (WDBI reports NRC -> intended)

Code Quality

  • Consistent with iso14229 coding style
  • Comprehensive error handling and logging
  • Well-documented with inline comments and function documentation
  • No compiler warnings

Missing Features

  • UDP vehicle discovery
  • DoIP server implementation in src/tp/doip/ (currently only in examples)
  • TLS support (port 3496)
  • Unit tests for DoIP module
  • Multi-client server support

Related Standards

  • ISO 13400-2:2019 - Road vehicles — Diagnostic communication over Internet Protocol (DoIP)
  • ISO 14229 - Unified Diagnostic Services (UDS)

Testing Instructions:

cd examples/doip_client
make
[test.sh](http://_vscodecontentref_/3)  # Automated integration test

Magolves and others added 21 commits December 9, 2025 23:20
@Magolves
feat: Add DoIP definitions
66cb860
@Magolves
chore: Add CMakeList.txt
d907973
@Magolves
doc: Add notes on setting up build env
0d96015
@Magolves
chore: Add option UDS_TP_DOIP
f388223
@Magolves
feat: Add DoIP header
061cc53
@Magolves
chore: Add source files; integrate files into amalgate.py
6da59ae
@Magolves
fix: Begin impl of DoIP transport
724b994
@Magolves
fix: Pass tp pointer to all functions, remove global instance
0044be0
@Magolves
feat: Add test code
219311d
@Magolves
fix: Update target address in DoIP client initialization
f1a9cfc
@Magolves
chore: Ignore example binaries
dbd84ee
@Magolves
WIP
1c4e5b1
@Magolves
feat: Add DoIP definitions
4304de0 
chore: Add CMakeList.txt

doc: Add notes on setting up build env

chore: Add option UDS_TP_DOIP

feat: Add DoIP header

chore: Add source files; integrate files into amalgate.py

fix: Begin impl of DoIP transport

fix: Pass tp pointer to all functions, remove global instance

feat: Add test code

fix: Update target address in DoIP client initialization

chore: Ignore example binaries

WIP

WIP: Corrected doip_poll/recv

feat: Add DOIP_DIAG_HEADER_SIZE

fix: Align return values of send/recv/poll to expected values (not finished)

test: Use sequence  from wdbi/rdbi test

test: Use verbose level

chore: Update amalgated code

doc: describe state machine
@Magolves
feat: Enhance DoIP client state handling and update function return t…
5ce6d25 
…ypes

doc: Add poll states

fix: Fix doip_tp_poll  to return proper status

fix: Add doip_store_uds_response

refactor: Simplify DoIP address extraction with macro

test: Rename source files, update Makefile

fix: Fix DOIP_ADDRESS macro

test: Add test script for doip test

style: Rename global vars

fix: Respond properly to keep-alive requests

test: Add option to poll forever to test keep-alive
@Magolves
style: Code cleanup, add missing doc
da8fa89 
fix: Fix compiler warnings
style: Code cleanup, adjust style, add README
doc: Add comments and refs to iso13400
doc: Add DoIP client to mainpage
chore: Add DoIP client test to CI
@Magolves
fix: Add safety belt for strncpy (sonar finding) and test case for in…
b1a3bd6 
…valid IP
@Magolves
test: Handle also WDBI messages
01b6073
@Magolves
fix: Use snprintf instead of strncpy to make SonarCube happy
6c24ca6
@Magolves
fix: Add missing const/sonarcube note
c83b911
@Magolves
fix: Manual merge of diverted branches
63efd7c
@Magolves
Merge branch 'main' of https://github.com/Magolves/iso14229
d54d59c
@sonarqubecloud
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sonarqubecloud bot commented Dec 17, 2025

Quality Gate Passed Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

@driftregion
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driftregion commented Jan 19, 2026

Thanks @Magolves for this PR!

I have not given this PR the full review it deserves but a few things stick out:

  • __attribute__((packed)) is not cross-platform and must be removed.
  • I see this targets unix. That is a great target, but it complicates testing (unit, fuzz) when the transport logic is coupled to the OS API.
  • Vehicle discovery is required by the standard (https://www.iso.org/standard/74785.html). It seems like this would be a good place to start testing.

Do you intend to merge this PR or is this a demo?

@Magolves
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Magolves commented Jan 19, 2026 •
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Thanks @Magolves for this PR!

Thanks for the hints - I will follow up on this

Do you intend to merge this PR or is this a demo?

My intention was to merge it some day, yes.

@Magolves Magolves marked this pull request as draft January 19, 2026 19:24
@driftregion
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driftregion commented Jan 19, 2026

My intention was to merge it some day, yes.

I am glad to hear. If a DoIP module is to be included in iso14229 in the future, these are my expectations:

Please consider whether these goals are consistent with your own. Thanks!

Magolves and others added 8 commits January 20, 2026 09:31
@Magolves
fix: Make sockets non-blocking, define timeout via config, handle MSG…
af322d8 
…_NOSIGNAL
@Magolves
fix: Fix & improve UDP discovery
62d5a41 
chore: Fix build of discovery example
@Magolves
doc: Add ReadMe on DoIP client
f29ff42
@Magolves
WIP: Add marker for TP layer
6768389
@Magolves
Merge branch 'main' of https://github.com/Magolves/iso14229
bdd70d1
@Magolves
Refactor DoIP transport layer to support mock implementations
617c628 
- Updated DoIPClient to use function pointers for TCP and UDP transport methods, allowing for easier testing with mock implementations.
- Introduced DoIPTcpTransport and DoIPUdpTransport structures to encapsulate transport-specific data and methods.
- Replaced direct calls to transport functions with calls through the new function pointers.
- Implemented mock transport functions for both TCP and UDP to facilitate unit testing without actual network dependencies.
- Enhanced error handling and logging for transport initialization and operations.
- Updated related functions and headers to reflect the new transport structure and function pointer usage.
@Magolves
fix: Type, time overflow
bf2cf75
@Magolves
fix: Use shared RX buffer, relief stack
38efbb8
@sonarqubecloud
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sonarqubecloud bot commented Jan 20, 2026

Quality Gate Failed Quality Gate failed

Failed conditions
3 Security Hotspots

See analysis details on SonarQube Cloud

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2 participants

@Magolves @driftregion