doip-server
C/C++ server library for ISO 13400-2 Diagnostics over IP (DoIP).
Features
- ISO 13400-2:2019 Compliance: Full implementation of DoIP protocol server-side operations
- Modern C++17: RAII, smart pointers, move semantics, and template metaprogramming
- Transport Abstraction: Pluggable transport layer supporting TCP, mocks, and custom implementations (TLS, WebSocket, etc.)
- Downstream Integration:
- SocketCAN ISO-TP support for CAN bus communication
- UDS mock provider for testing without hardware
- Extensible interface for custom downstream protocols
- State Machine: Clean DoIP connection lifecycle management with configurable timeouts
- Vehicle Announcement: UDP broadcast/loopback support with configurable intervals
- Routing Activation: Multiple routing types, socket slot management, and authorization hooks
- Alive Check: Automatic keep-alive mechanism with retry support
- Flexible Logging: spdlog integration with runtime level control and syslog support
- Daemon Mode: Background service support with signal handling
- Zero-Copy Message Handling: Efficient buffer management for high-throughput scenarios
- CI/CD Ready: GitHub Actions with coverage reporting, static analysis (clang-tidy), and documentation deployment
CAUTION: The current API is under construction and may change at any time.
Dependencies
doip-server uses spdlog for logging and CLI11 for command line parsing. The library is downloaded automatically, or you may install it locally via:
sudo apt install libspdlog-dev libcli11-dev
# For unit tests
sudo apt install doctest-dev
# For coverage tests
sudo apt install gcovr
See Logging for details.
Getting started
Quick start — read the generated tutorial for the example server:
- Online (published): https://magolves.github.io/doip-server/index.html
- Local example page: see
doc/DoIPServer.md(included in the Doxygen HTML under “Example DoIP Server Tutorial”). - Example tutorial (direct): https://magolves.github.io/doip-server/md_doc_DoIPServer.html
If you want to generate the docs locally, install Doxygen and Graphviz and run:
# Install Doxygen and Graphviz
sudo apt install doxygen graphviz
doxygen Doxyfile
xdg-open docs/html/index.html
Examples
Installation
- To install the library on the system, first get the source files with:
git clone https://github.com/Magolves/doip-server.git
- Enter the directory ‘doip-server’ and build the library with:
cmake . -Bbuild
cd build
make
- To install the library into
/usr/lib/doip-server, use:
sudo make install
Installing doctest
sudo apt install doctest
Debugging
Dump UDP
sudo tcpdump -i any udp port 13400 -X
Examples
The project includes a small example DoIP server demonstrating how to
use the DoIPServer and DoIPServerModel APIs and how to register UDS
handlers.
- Example source files:
examples/discover/DoIPServer.cpp,examples/discover/DoIPServerModel.h
See the “Examples” section in the generated Doxygen main page for additional annotated links to these files.
Acknowledgments
This project was initially inspired by and based on https://github.com/AVL-DiTEST-DiagDev/libdoip by AndiAn94 and GerritRiesch94. Over time, the codebase has been substantially rewritten and evolved in a different (server) direction. The original license (Apache 2.0) was therefore kept.
The original fork is no longer maintained.