Add 'CAN-binder/libs/uds-c/' from commit 'ca20db3dd978871bbb9f01f3c862b510c03d1dc4'

git-subtree-dir: CAN-binder/libs/uds-c
git-subtree-mainline: 3102ec9ce009d0f28355c5b7df9c5bd5013e6e75
git-subtree-split: ca20db3dd978871bbb9f01f3c862b510c03d1dc4

1 files changed, 400 insertions, 0 deletions

diff --git a/CAN-binder/libs/uds-c/src/uds/uds.c b/CAN-binder/libs/uds-c/src/uds/uds.c
new file mode 100644
index 00000000..0114384d
--- /dev/null
+++ b/CAN-binder/libs/uds-c/src/uds/uds.c
@@ -0,0 +1,400 @@
+#include <uds/uds.h>
+#include <bitfield/bitfield.h>
+#include <canutil/read.h>
+#include <string.h>
+#include <limits.h>
+#include <stddef.h>
+#include <sys/param.h>
+#include <inttypes.h>
+
+#define ARBITRATION_ID_OFFSET 0x8
+#define MODE_RESPONSE_OFFSET 0x40
+#define NEGATIVE_RESPONSE_MODE 0x7f
+#define MAX_DIAGNOSTIC_PAYLOAD_SIZE 6
+#define MODE_BYTE_INDEX 0
+#define PID_BYTE_INDEX 1
+#define NEGATIVE_RESPONSE_MODE_INDEX 1
+#define NEGATIVE_RESPONSE_NRC_INDEX 2
+
+#ifndef MAX
+#define MAX(x, y) (((x) > (y)) ? (x) : (y))
+#endif
+
+DiagnosticShims diagnostic_init_shims(LogShim log,
+        SendCanMessageShim send_can_message,
+        SetTimerShim set_timer) {
+    DiagnosticShims shims = {
+        log: log,
+        send_can_message: send_can_message,
+        set_timer: set_timer
+    };
+    return shims;
+}
+
+static void setup_receive_handle(DiagnosticRequestHandle* handle) {
+    if(handle->request.arbitration_id == OBD2_FUNCTIONAL_BROADCAST_ID) {
+        uint32_t response_id;
+        for(response_id = 0;
+                response_id < OBD2_FUNCTIONAL_RESPONSE_COUNT; ++response_id) {
+            handle->isotp_receive_handles[response_id] = isotp_receive(
+                    &handle->isotp_shims,
+                    OBD2_FUNCTIONAL_RESPONSE_START + response_id,
+                    NULL);
+        }
+        handle->isotp_receive_handle_count = OBD2_FUNCTIONAL_RESPONSE_COUNT;
+    } else {
+        handle->isotp_receive_handle_count = 1;
+        handle->isotp_receive_handles[0] = isotp_receive(&handle->isotp_shims,
+                handle->request.arbitration_id + ARBITRATION_ID_OFFSET,
+                NULL);
+    }
+}
+
+static uint16_t autoset_pid_length(uint8_t mode, uint16_t pid,
+        uint8_t pid_length) {
+    if(pid_length == 0) {
+        if(mode <= 0xa || mode == 0x3e ) {
+            pid_length = 1;
+        } else if(pid > 0xffff || ((pid & 0xFF00) > 0x0)) {
+            pid_length = 2;
+        } else {
+            pid_length = 1;
+        }
+    }
+    return pid_length;
+}
+
+static void send_diagnostic_request(DiagnosticShims* shims,
+        DiagnosticRequestHandle* handle) {
+    uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE] = {0};
+    payload[MODE_BYTE_INDEX] = handle->request.mode;
+    if(handle->request.has_pid) {
+        handle->request.pid_length = autoset_pid_length(handle->request.mode,
+                handle->request.pid, handle->request.pid_length);
+        set_bitfield(handle->request.pid, PID_BYTE_INDEX * CHAR_BIT,
+                handle->request.pid_length * CHAR_BIT, payload,
+                sizeof(payload));
+    }
+
+    if(handle->request.payload_length > 0) {
+        memcpy(&payload[PID_BYTE_INDEX + handle->request.pid_length],
+                handle->request.payload, handle->request.payload_length);
+    }
+
+    handle->isotp_send_handle = isotp_send(&handle->isotp_shims,
+            handle->request.arbitration_id, payload,
+            1 + handle->request.payload_length + handle->request.pid_length,
+            NULL);
+    if(handle->isotp_send_handle.completed &&
+            !handle->isotp_send_handle.success) {
+        handle->completed = true;
+        handle->success = false;
+        if(shims->log != NULL) {
+            shims->log("%s", "Diagnostic request not sent");
+        }
+    } else if(shims->log != NULL) {
+        char request_string[128] = {0};
+        diagnostic_request_to_string(&handle->request, request_string,
+                sizeof(request_string));
+        shims->log("Sending diagnostic request: %s", request_string);
+    }
+}
+
+bool diagnostic_request_sent(DiagnosticRequestHandle* handle) {
+    return handle->isotp_send_handle.completed;
+}
+
+void start_diagnostic_request(DiagnosticShims* shims,
+        DiagnosticRequestHandle* handle) {
+    handle->success = false;
+    handle->completed = false;
+    send_diagnostic_request(shims, handle);
+    if(!handle->completed) {
+        setup_receive_handle(handle);
+    }
+}
+
+DiagnosticRequestHandle generate_diagnostic_request(DiagnosticShims* shims,
+        DiagnosticRequest* request, DiagnosticResponseReceived callback) {
+    DiagnosticRequestHandle handle = {
+        request: *request,
+        callback: callback,
+        success: false,
+        completed: false
+    };
+
+    handle.isotp_shims = isotp_init_shims(shims->log,
+            shims->send_can_message,
+            shims->set_timer);
+    handle.isotp_shims.frame_padding = !request->no_frame_padding;
+
+    return handle;
+    // TODO notes on multi frame:
+    // TODO what are the timers for exactly?
+    //
+    // when sending multi frame, send 1 frame, wait for a response
+    // if it says send all, send all right away
+    // if it says flow control, set the time for the next send
+    // instead of creating a timer with an async callback, add a process_handle
+    // function that's called repeatedly in the main loop - if it's time to
+    // send, we do it. so there's a process_handle_send and receive_can_frame
+    // that are just called continuously from the main loop. it's a waste of a
+    // few cpu cycles but it may be more  natural than callbacks.
+    //
+    // what would a timer callback look like...it would need to pass the handle
+    // and that's all. seems like a context void* would be able to capture all
+    // of the information but arg, memory allocation. look at how it's done in
+    // the other library again
+    //
+}
+
+DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
+        DiagnosticRequest* request, DiagnosticResponseReceived callback) {
+    DiagnosticRequestHandle handle = generate_diagnostic_request(
+            shims, request, callback);
+    start_diagnostic_request(shims, &handle);
+    return handle;
+}
+
+DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
+        DiagnosticPidRequestType pid_request_type, uint32_t arbitration_id,
+        uint16_t pid, DiagnosticResponseReceived callback) {
+    DiagnosticRequest request = {
+        arbitration_id: arbitration_id,
+        mode: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 0x1 : 0x22,
+        has_pid: true,
+        pid: pid
+    };
+
+    return diagnostic_request(shims, &request, callback);
+}
+
+static bool handle_negative_response(IsoTpMessage* message,
+        DiagnosticResponse* response, DiagnosticShims* shims) {
+    bool response_was_negative = false;
+    if(response->mode == NEGATIVE_RESPONSE_MODE) {
+        response_was_negative = true;
+        if(message->size > NEGATIVE_RESPONSE_MODE_INDEX) {
+            response->mode = message->payload[NEGATIVE_RESPONSE_MODE_INDEX];
+        }
+
+        if(message->size > NEGATIVE_RESPONSE_NRC_INDEX) {
+            response->negative_response_code =
+                    message->payload[NEGATIVE_RESPONSE_NRC_INDEX];
+        }
+
+        response->success = false;
+        response->completed = true;
+    }
+    return response_was_negative;
+}
+
+static bool handle_positive_response(DiagnosticRequestHandle* handle,
+        IsoTpMessage* message, DiagnosticResponse* response,
+        DiagnosticShims* shims) {
+    bool response_was_positive = false;
+    if(response->mode == handle->request.mode + MODE_RESPONSE_OFFSET) {
+        response_was_positive = true;
+        // hide the "response" version of the mode from the user
+        // if it matched
+        response->mode = handle->request.mode;
+        response->has_pid = false;
+        if(handle->request.has_pid && message->size > 1) {
+            response->has_pid = true;
+            if(handle->request.pid_length == 2) {
+                response->pid = get_bitfield(message->payload, message->size,
+                        PID_BYTE_INDEX * CHAR_BIT, sizeof(uint16_t) * CHAR_BIT);
+            } else {
+                response->pid = message->payload[PID_BYTE_INDEX];
+            }
+
+        }
+
+        if((!handle->request.has_pid && !response->has_pid)
+                || response->pid == handle->request.pid) {
+            response->success = true;
+            response->completed = true;
+
+            uint8_t payload_index = 1 + handle->request.pid_length;
+            response->payload_length = MAX(0, message->size - payload_index);
+            if(response->payload_length > 0) {
+                memcpy(response->payload, &message->payload[payload_index],
+                        response->payload_length);
+            }
+        } else {
+            response_was_positive = false;
+        }
+    }
+    return response_was_positive;
+}
+
+DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
+        DiagnosticRequestHandle* handle, const uint32_t arbitration_id,
+        const uint8_t data[], const uint8_t size) {
+
+    DiagnosticResponse response = {
+        arbitration_id: arbitration_id,
+        multi_frame: false,
+        success: false,
+        completed: false
+    };
+
+    if(!handle->isotp_send_handle.completed) {
+        isotp_continue_send(&handle->isotp_shims,
+                &handle->isotp_send_handle, arbitration_id, data, size);
+    } else {
+        uint8_t i;
+        for(i = 0; i < handle->isotp_receive_handle_count; ++i) {
+            IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims,
+                    &handle->isotp_receive_handles[i], arbitration_id, data,
+                    size);
+            response.multi_frame = message.multi_frame;
+
+            if(message.completed) {
+                if(message.size > 0) {
+                    response.mode = message.payload[0];
+                    if(handle_negative_response(&message, &response, shims) ||
+                            handle_positive_response(handle, &message,
+                                &response, shims)) {
+                        if(shims->log != NULL) {
+                            char response_string[128] = {0};
+                            diagnostic_response_to_string(&response,
+                                    response_string, sizeof(response_string));
+                            shims->log("Diagnostic response received: %s",
+                                    response_string);
+                        }
+
+                        handle->success = true;
+                        handle->completed = true;
+                    }
+                } else {
+                    if(shims->log != NULL) {
+                        shims->log("Received an empty response on arb ID 0x%x",
+                                response.arbitration_id);
+                    }
+                }
+
+                if(handle->completed && handle->callback != NULL) {
+                    handle->callback(&response);
+                }
+
+                break;
+            }
+        }
+    }
+    return response;
+}
+
+int diagnostic_payload_to_integer(const DiagnosticResponse* response) {
+    return get_bitfield(response->payload, response->payload_length, 0,
+            response->payload_length * CHAR_BIT);
+}
+
+float diagnostic_decode_obd2_pid(const DiagnosticResponse* response) {
+    // handles on the single number values, not the bit encoded ones
+    switch(response->pid) {
+        case 0xa:
+            return response->payload[0] * 3;
+        case 0xc:
+            return (response->payload[0] * 256 + response->payload[1]) / 4.0;
+        case 0xd:
+        case 0x33:
+        case 0xb:
+            return response->payload[0];
+        case 0x10:
+            return (response->payload[0] * 256 + response->payload[1]) / 100.0;
+        case 0x11:
+        case 0x2f:
+        case 0x45:
+        case 0x4c:
+        case 0x52:
+        case 0x5a:
+        case 0x4:
+            return response->payload[0] * 100.0 / 255.0;
+        case 0x46:
+        case 0x5c:
+        case 0xf:
+        case 0x5:
+            return response->payload[0] - 40;
+        case 0x62:
+            return response->payload[0] - 125;
+        default:
+            return diagnostic_payload_to_integer(response);
+    }
+}
+
+void diagnostic_response_to_string(const DiagnosticResponse* response,
+        char* destination, size_t destination_length) {
+    int bytes_used = snprintf(destination, destination_length,
+            "arb_id: 0x%lx, mode: 0x%x, ",
+            (unsigned long) response->arbitration_id,
+            response->mode);
+
+    if(response->has_pid) {
+        bytes_used += snprintf(destination + bytes_used,
+                destination_length - bytes_used,
+                "pid: 0x%x, ",
+                response->pid);
+    }
+
+    if(!response->success) {
+        bytes_used += snprintf(destination + bytes_used,
+                destination_length - bytes_used,
+                "nrc: 0x%x, ",
+                response->negative_response_code);
+    }
+
+    if(response->payload_length > 0) {
+        snprintf(destination + bytes_used, destination_length - bytes_used,
+                "payload: 0x%02x%02x%02x%02x%02x%02x%02x",
+                response->payload[0],
+                response->payload[1],
+                response->payload[2],
+                response->payload[3],
+                response->payload[4],
+                response->payload[5],
+                response->payload[6]);
+    } else {
+        snprintf(destination + bytes_used, destination_length - bytes_used,
+                "no payload");
+    }
+}
+
+void diagnostic_request_to_string(const DiagnosticRequest* request,
+        char* destination, size_t destination_length) {
+    int bytes_used = snprintf(destination, destination_length,
+            "arb_id: 0x%lx, mode: 0x%x, ",
+            (unsigned long) request->arbitration_id,
+            request->mode);
+
+    if(request->has_pid) {
+        bytes_used += snprintf(destination + bytes_used,
+                destination_length - bytes_used,
+                "pid: 0x%x, ",
+                request->pid);
+    }
+
+    int remaining_space = destination_length - bytes_used;
+    if(request->payload_length > 0) {
+        snprintf(destination + bytes_used, remaining_space,
+                "payload: 0x%02x%02x%02x%02x%02x%02x%02x",
+                request->payload[0],
+                request->payload[1],
+                request->payload[2],
+                request->payload[3],
+                request->payload[4],
+                request->payload[5],
+                request->payload[6]);
+    } else {
+        snprintf(destination + bytes_used, remaining_space, "no payload");
+    }
+}
+
+bool diagnostic_request_equals(const DiagnosticRequest* ours,
+        const DiagnosticRequest* theirs) {
+    bool equals = ours->arbitration_id == theirs->arbitration_id &&
+        ours->mode == theirs->mode;
+    equals &= ours->has_pid == theirs->has_pid;
+    equals &= ours->pid == theirs->pid;
+    return equals;
+}