Dev

.clang-tidy

@@ -1,5 +1,31 @@
 ---
-Checks: '*,-llvmlibc-*,-fuchsia-*,-google-readability-todo,-readability-else-after-return,-llvm-header-guard,-llvm-namespace-comment,-modernize-use-trailing-return-type,-altera-struct-pack-align,-google-explicit-constructor,-hicpp-explicit-conversions,-cppcoreguidelines-pro-bounds-pointer-arithmetic,-hicpp-signed-bitwise,-readability-identifier-length,-bugprone-reserved-identifier,-cert-dcl37-c,-cert-dcl51-cpp,-google-runtime-int,-misc-include-cleaner,-misc-non-private-member-variables-in-classes,-google-build-using-namespace,-readability-convert-member-functions-to-static,-llvm-include-order,-misc-const-correctness,-cppcoreguidelines-avoid-magic-numbers,-readability-magic-numbers,-modernize-use-nodiscard'
+Checks: |
+	-bugprone-*
+	-performance-*
+	-readability-braces-around-statements
+	-readability-inconsistent-declaration-parameter-name
+	-readability-implicit-bool-conversion
+	-readability-redundant-declaration
+	-readability-redundant-member-init
+	-readability-static-definition-in-anonymous-namespace
+	-readability-uppercase-literal-suffix
+	-cppcoreguidelines-avoid-goto
+	-cppcoreguidelines-avoid-magic-numbers
+	-cppcoreguidelines-no-malloc
+	-cppcoreguidelines-owning-memory
+	-cppcoreguidelines-slicing
+	-modernize-use-override
+	-modernize-avoid-c-arrays
+	-modernize-loop-convert
+	-modernize-redundant-void-arg
+	-modernize-use-auto
+	-modernize-use-equals-default
+	-modernize-use-equals-delete
+	-modernize-use-nullptr
+	-misc-definitions-in-headers
+	-misc-misplaced-const
+	-misc-no-recursion
+	-misc-static-assert
 WarningsAsErrors: ''
 HeaderFilterRegex: '.*'
 FormatStyle: none

CMakeLists.txt

@@ -58,9 +58,10 @@ endif()
 
 # Configuration options
 set(DOIP_ALIVE_CHECK_RETRIES "1" CACHE STRING "Number of retries for DoIP alive check messages")
+set(DOIP_MAXIMUM_MTU "4095" CACHE STRING "Maximum Transmission Unit (MTU) size for DoIP messages")
 
 # Validate numeric options
-foreach(VAR DOIP_ALIVE_CHECK_RETRIES)
+foreach(VAR DOIP_ALIVE_CHECK_RETRIES DOIP_MAXIMUM_MTU)
     if(NOT ${VAR} MATCHES "^[0-9]+$")
         message(FATAL_ERROR "${VAR} must be a positive integer")
     endif()

Doxyfile

@@ -49,7 +49,7 @@ INLINE_GROUPED_CLASSES = NO
 INLINE_SIMPLE_STRUCTS  = NO
 TYPEDEF_HIDES_STRUCT   = NO
 LOOKUP_CACHE_SIZE      = 0
-NUM_PROC_THREADS       = 1
+NUM_PROC_THREADS       = 4
 
 #---------------------------------------------------------------------------
 # Build related configuration options
@@ -60,7 +60,7 @@ EXTRACT_PRIV_VIRTUAL   = NO
 EXTRACT_PACKAGE        = NO
 EXTRACT_STATIC         = YES
 EXTRACT_LOCAL_CLASSES  = YES
-EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_LOCAL_METHODS  = YES
 EXTRACT_ANON_NSPACES   = NO
 RESOLVE_UNNAMED_PARAMS = YES
 HIDE_UNDOC_MEMBERS     = NO
@@ -103,7 +103,7 @@ WARNINGS               = YES
 WARN_IF_UNDOCUMENTED   = YES
 WARN_IF_DOC_ERROR      = YES
 WARN_IF_INCOMPLETE_DOC = YES
-WARN_NO_PARAMDOC       = NO
+WARN_NO_PARAMDOC       = YES
 WARN_AS_ERROR          = NO
 WARN_FORMAT            = "$file:$line: $text"
 WARN_LINE_FORMAT       = "at line $line of file $file"
@@ -153,7 +153,7 @@ USE_MDFILE_AS_MAINPAGE = README.md
 #---------------------------------------------------------------------------
 SOURCE_BROWSER         = YES
 INLINE_SOURCES         = NO
-STRIP_CODE_COMMENTS    = YES
+STRIP_CODE_COMMENTS    = NO
 REFERENCED_BY_RELATION = YES
 REFERENCES_RELATION    = YES
 REFERENCES_LINK_SOURCE = YES

README.md

@@ -7,7 +7,7 @@
 [![CMake](https://img.shields.io/badge/CMake-3.15+-blue.svg)](https://cmake.org/)
 [![doctest](https://img.shields.io/badge/Tests-doctest-green.svg)](https://github.com/doctest/doctest)
 
-C/C++ library for Diagnostics over IP (DoIP) (fork from https://github.com/AVL-DiTEST-DiagDev/libdoip)
+C/C++ library for Diagnostics over IP (DoIP) (fork from [https://github.com/AVL-DiTEST-DiagDev/libdoip](https://github.com/AVL-DiTEST-DiagDev/libdoip))
 
 **CAUTION** The current API is under construction any may change at any time.
 
@@ -26,9 +26,9 @@ See [Logging](./doc/LOGGING.md) for details.
 
 Quick start — read the generated tutorial for the example server:
 
-- Online (published): https://magolves.github.io/libdoip/index.html
+- Online (published): [https://magolves.github.io/libdoip/index.html](https://magolves.github.io/libdoip/index.html)
 - Local example page: see `doc/ExampleDoIPServer.md` (included in the Doxygen HTML under "Example DoIP Server Tutorial").
-- Example tutorial (direct): https://magolves.github.io/libdoip/ExampleDoIPServer.html
+- Example tutorial (direct): [https://magolves.github.io/libdoip/md_doc_ExampleDoIPServer.html](https://magolves.github.io/libdoip/md_doc_ExampleDoIPServer.html)
 
 If you want to generate the docs locally, install Doxygen and Graphviz and
 run:
@@ -47,7 +47,7 @@ xdg-open docs/html/index.html
 git clone https://github.com/Magolves/libdoip.git
 ```
 
-2. Enter the directory 'libdoip' and build the library with:
+1. Enter the directory 'libdoip' and build the library with:
 
 ```bash
 cmake . -Bbuild
@@ -83,14 +83,13 @@ handlers.
 
 - Example source files: `examples/exampleDoIPServer.cpp`,
   `examples/ExampleDoIPServerModel.h`
-- Example tutorial (published): https://magolves.github.io/libdoip/ExampleDoIPServer.html
+- Example tutorial: [https://magolves.github.io/libdoip/ExampleDoIPServer.html](https://magolves.github.io/libdoip/ExampleDoIPServer.html)
 
 See the "Examples" section in the generated Doxygen main page for
 additional annotated links to these files.
 
-
 ## References
 
 - [ISO 13400-2:2019(en) Road vehicles — Diagnostic communication over Internet Protocol (DoIP) — Part 2: Transport protocol and network layer services](<https://www.iso.org/obp/ui/#iso:std:iso:13400:-2:ed-2:v1:en>)
 - [Specification of Diagnostic over IP](<https://www.autosar.org/fileadmin/standards/R20-11/CP/AUTOSAR_SWS_DiagnosticOverIP.pdf>)
-- [Diagnostics over Internet Protocol (DoIP)](<https://cdn.vector.com/cms/content/know-how/_application-notes/AN-IND-1-026_DoIP_in_CANoe.pdf>)
+- [Diagnostics over Internet Protocol (DoIP)](<https://cdn.vector.com/cms/content/know-how/_application-notes/AN-IND-1-026_DoIP_in_CANoe.pdf>)

doc/ExampleDoIPServer.md

@@ -174,11 +174,6 @@ m_model.onDownstreamRequest = [this](IConnectionContext &ctx, const DoIPMessage
 Below is a PlantUML diagram illustrating `DoIPServer`, `DoIPConnection`,
 `DoIPServerModel` and a downstream UDS/CAN backend interaction.
 
-[\image html ]ServerModel.svg
-
-For GitHub or other markdown viewers that don't process the Doxygen
-directive, the SVG is also referenced directly:
-
 ![ServerModel](diagrams/ServerModel.svg)
 
 ## Logging and debugging tips

doc/Fix-UDP-reception.md

@@ -0,0 +1,123 @@
+From your **tcpdump output**, the **8-byte UDP packet** from the client (port 50290) to the server (port 13400) **is arriving** at the loopback interface:
+
+```
+17:31:49.091339 lo    In  IP localhost.50290 > localhost.13400: UDP, length 8
+    0x0020:  04fb 0001 0000 0000
+```
+This is a **DoIP Vehicle Identification Request** (type `0x0001`), and it is **reaching the kernel**.
+
+---
+
+### **Root Cause Analysis**
+Since the packet is visible in `tcpdump` but **not logged by your server**, the issue is **almost certainly in your server code**. Here’s what’s happening:
+
+#### **1. The Server Socket is Not Receiving the Packet**
+- The server socket is bound to port 13400, but **something is preventing `recvfrom` from returning the packet**.
+- Possible reasons:
+  - The socket is **not in the expected state** (e.g., closed, re-bound, or filtered).
+  - The socket is **not the same as the one bound to port 13400** (e.g., `m_udp_sock` was overwritten or closed).
+  - The socket is **blocked by a firewall or SELinux** (unlikely for loopback, but possible).
+  - The socket is **not actually bound to port 13400** (e.g., `bind` failed silently).
+
+#### **2. The Server is Stuck in a Timeout Loop**
+- Your logs show `recvfrom returned: -1 (errno: 11)` repeatedly.
+- This means `recvfrom` is **timing out** (`EAGAIN`), but the packet is **not being delivered to userspace**.
+- This suggests the socket is **not properly bound** or is **not the same socket** as the one receiving the packet.
+
+---
+
+### **Debugging Steps**
+#### **1. Verify the Socket is Bound Correctly**
+Add this **right after `bind()`** in `setupUdpSocket()`:
+```cpp
+// After bind()
+sockaddr_in bound_addr;
+socklen_t bound_addr_len = sizeof(bound_addr);
+getsockname(m_udp_sock, (sockaddr*)&bound_addr, &bound_addr_len);
+LOG_UDP_DEBUG(
+    "Socket {} bound to {}:{}",
+    m_udp_sock,
+    inet_ntoa(bound_addr.sin_addr),
+    ntohs(bound_addr.sin_port)
+);
+```
+- If this logs `0.0.0.0:13400` or `127.0.0.1:13400`, the socket is bound correctly.
+- If not, `bind()` failed or was not called.
+
+#### **2. Check for Socket Descriptor Leaks or Overwrites**
+- Log `m_udp_sock` in `receiveUdpMessage()`:
+  ```cpp
+  LOG_UDP_DEBUG("Using socket fd: {}", m_udp_sock);
+  ```
+- If the value changes between `setupUdpSocket()` and `receiveUdpMessage()`, something is overwriting it.
+
+#### **3. Test with a Minimal UDP Server**
+Replace your `receiveUdpMessage()` with this **minimal test**:
+```cpp
+ssize_t DoIPServer::receiveUdpMessage() {
+    char buf[1024];
+    sockaddr_in client_addr;
+    socklen_t client_len = sizeof(client_addr);
+    ssize_t read_bytes = recvfrom(
+        m_udp_sock, buf, sizeof(buf), 0,
+        (sockaddr*)&client_addr, &client_len
+    );
+    LOG_UDP_DEBUG(
+        "recvfrom returned: {} (errno: {})",
+        read_bytes, errno
+    );
+    if (read_bytes > 0) {
+        LOG_UDP_INFO(
+            "RX {} bytes from {}:{}",
+            read_bytes,
+            inet_ntoa(client_addr.sin_addr),
+            ntohs(client_addr.sin_port)
+        );
+    }
+    return read_bytes;
+}
+```
+- If this works, the issue is in your buffer or processing logic.
+- If it still times out, the socket is **not receiving packets**.
+
+#### **4. Check for Firewall/SELinux**
+Even for loopback, run:
+```bash
+sudo iptables -L -n -v  # Check firewall rules
+sudo setenforce 0       # Disable SELinux temporarily
+```
+Retest. If it works, adjust your firewall/SELinux rules.
+
+#### **5. Use `strace` to Confirm `recvfrom` Behavior**
+Run the server with:
+```bash
+strace -e trace=recvfrom ./your_server
+```
+- If `recvfrom` is **never called**, your loop is broken.
+- If it returns `-1 EAGAIN` repeatedly, the socket is **not receiving packets**.
+
+#### **6. Check for Multiple Sockets**
+- If your code creates **multiple UDP sockets**, ensure the correct one is used for `recvfrom`.
+- Log all socket creation and `bind()` calls.
+
+---
+
+### **Most Likely Fixes**
+1. **The socket is not bound to port 13400.**
+   - Confirm `bind()` succeeds and logs the correct port.
+2. **`m_udp_sock` is overwritten or closed.**
+   - Log its value in `setupUdpSocket()` and `receiveUdpMessage()`.
+3. **The socket is non-blocking and the timeout is too short.**
+   - Try removing `SO_RCVTIMEO` temporarily to see if packets arrive.
+
+---
+
+### **Summary**
+- The packet **is arriving at the kernel** (confirmed by `tcpdump`).
+- The server **is not receiving it**, likely due to:
+  - Socket not bound correctly.
+  - Wrong socket file descriptor used in `recvfrom`.
+  - Firewall/SELinux blocking delivery to userspace.
+
+**Next step:**
+Add the debug logs for `m_udp_sock` and `getsockname()` as shown above. If the socket is correct, test with the minimal `recvfrom` code. If it still fails, the issue is **outside your code** (firewall, SELinux, or kernel networking stack).

examples/CMakeLists.txt

@@ -1,55 +1,54 @@
 # Examples CMakeLists.txt
 
-# DoIP Server Example
-add_executable(exampleDoIPServer exampleDoIPServer.cpp)
-target_link_libraries(exampleDoIPServer
-    PRIVATE
-    ${DOIP_NAME}
-    Threads::Threads
+set (EXAMPLE_SOURCES
+    exampleDoIPServer.cpp
+    exampleDoIPClient.cpp
+    exampleDoIPDiscover.cpp
 )
 
-# Set properties for the example
-set_target_properties(exampleDoIPServer PROPERTIES
-    CXX_STANDARD 17
-    CXX_STANDARD_REQUIRED ON
-    CXX_EXTENSIONS OFF
-)
-
-# DoIP Client Example
-add_executable(exampleDoIPClient exampleDoIPClient.cpp)
-target_link_libraries(exampleDoIPClient
-    PRIVATE
-    ${DOIP_NAME}
-)
-
-# Set properties for the client example
-set_target_properties(exampleDoIPClient PROPERTIES
-    CXX_STANDARD 17
-    CXX_STANDARD_REQUIRED ON
-    CXX_EXTENSIONS OFF
-)
-
-# Simple DoIP Server Example (using high-level API)
-add_executable(exampleDoIPServerSimple exampleDoIPServerSimple.cpp)
-target_link_libraries(exampleDoIPServerSimple
-    PRIVATE
-    ${DOIP_NAME}
-    Threads::Threads
-)
-
-# Set properties for the simple server example
-set_target_properties(exampleDoIPServerSimple PROPERTIES
-    CXX_STANDARD 17
-    CXX_STANDARD_REQUIRED ON
-    CXX_EXTENSIONS OFF
-)
-
-# Disable switch-default warning for examples using spdlog
-target_compile_options(exampleDoIPServer PRIVATE -Wno-switch-default)
-target_compile_options(exampleDoIPClient PRIVATE -Wno-switch-default)
-target_compile_options(exampleDoIPServerSimple PRIVATE -Wno-switch-default)
-
-# Install examples (optional)
-install(TARGETS exampleDoIPServer exampleDoIPClient exampleDoIPServerSimple
-    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}/examples
-)
+foreach(example_source ${EXAMPLE_SOURCES})
+    get_filename_component(example_name ${example_source} NAME_WE)
+    add_executable(${example_name} ${example_source})
+    target_link_libraries(${example_name}
+        PRIVATE
+        ${DOIP_NAME}
+        Threads::Threads
+    )
+
+    # Set properties for the example
+    set_target_properties(${example_name} PROPERTIES
+        CXX_STANDARD 17
+        CXX_STANDARD_REQUIRED ON
+        CXX_EXTENSIONS OFF
+    )
+
+    # Disable switch-default warning for examples using spdlog
+    target_compile_options(${example_name} PRIVATE -Wno-switch-default)
+
+    # Install examples (optional)
+    install(TARGETS ${example_name}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}/examples
+    )
+
+endforeach()
+
+if (WITH_UNIT_TEST)
+    enable_testing()
+    # Integration fixture: start exampleDoIPServer as a daemon
+    add_test(NAME Integration_StartExampleServer
+        COMMAND $<TARGET_FILE:exampleDoIPServer> --daemonize --loopback
+    )
+    set_tests_properties(Integration_StartExampleServer PROPERTIES FIXTURES_SETUP example_server TIMEOUT 20)
+
+    # Integration test: run discover against the running server
+    add_test(NAME Integration_DiscoverRuns
+       COMMAND $<TARGET_FILE:exampleDoIPDiscover> --loopback
+    )
+    set_tests_properties(Integration_DiscoverRuns PROPERTIES FIXTURES_REQUIRED example_server TIMEOUT 20)
+
+    # Teardown fixture: stop exampleDoIPServer
+    add_test(NAME Integration_StopExampleServer
+       COMMAND pkill -f exampleDoIPServer
+    )
+    set_tests_properties(Integration_StopExampleServer PROPERTIES FIXTURES_CLEANUP example_server TIMEOUT 10)
+endif()