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authorRomain Forlot <romain.forlot@iot.bzh>2017-06-20 10:24:05 +0000
committerRomain Forlot <romain.forlot@iot.bzh>2017-06-20 10:24:05 +0000
commit32e25cbca210a359b09768537b6f443fe90a3070 (patch)
tree3309794c15d8a8f8e9c1c08cad072ee1378813ba /CAN-binder/low-can-binding/diagnostic
parent76c43dec62b2e21cd6446360c00d4fe6b437533f (diff)
Separation Generator to a dedicated repo
Change-Id: Id94831651c3266861435272a6e36c7884bef2c45 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'CAN-binder/low-can-binding/diagnostic')
-rw-r--r--CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp182
-rw-r--r--CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp117
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp508
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp91
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp113
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp82
6 files changed, 0 insertions, 1093 deletions
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp
deleted file mode 100644
index f503e0a5..00000000
--- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp
+++ /dev/null
@@ -1,182 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <map>
-#include <fnmatch.h>
-
-#include "active-diagnostic-request.hpp"
-
-#include "../binding/application.hpp"
-
-#define ERROR_PID 0xFF
-
-std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
-
-bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
-{
- return (bus_ == b.bus_ && id_ == b.id_ && handle_ == b.handle_);
-}
-
-active_diagnostic_request_t& active_diagnostic_request_t::operator=(const active_diagnostic_request_t& adr)
-{
- if (this != &adr)
- {
- bus_ = adr.bus_;
- id_ = adr.id_;
- handle_ = adr.handle_;
- name_ = adr.name_;
- decoder_ = adr.decoder_;
- callback_ = adr.callback_;
- recurring_ = adr.recurring_;
- wait_for_multiple_responses_ = adr.wait_for_multiple_responses_;
- frequency_clock_ = adr.frequency_clock_;
- timeout_clock_ = adr.timeout_clock_;
- socket_ = adr.socket_;
- }
-
- return *this;
-}
-
-active_diagnostic_request_t::active_diagnostic_request_t()
- : bus_{nullptr},
- id_{0},
- handle_{nullptr},
- name_{""},
- decoder_{nullptr},
- callback_{nullptr},
- recurring_{false},
- wait_for_multiple_responses_{false},
- frequency_clock_{frequency_clock_t()},
- timeout_clock_{frequency_clock_t()},
- socket_{}
-{}
-
-active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, uint32_t id,
- const std::string& name,
- bool wait_for_multiple_responses,
- const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback,
- float frequencyHz)
- : bus_{bus},
- id_{id},
- handle_{nullptr},
- name_{name},
- decoder_{decoder},
- callback_{callback},
- recurring_{frequencyHz ? true : false},
- wait_for_multiple_responses_{wait_for_multiple_responses},
- frequency_clock_{frequency_clock_t(frequencyHz)},
- timeout_clock_{frequency_clock_t(10)},
- socket_{}
-{}
-
-active_diagnostic_request_t::~active_diagnostic_request_t()
-{
- socket_.close();
- delete handle_;
- handle_ = nullptr;
-}
-
-uint32_t active_diagnostic_request_t::get_id() const
-{
- return id_;
-}
-
-uint16_t active_diagnostic_request_t::get_pid() const
-{
- if (handle_->request.has_pid)
- return handle_->request.pid;
- return ERROR_PID;
-}
-
-DiagnosticRequestHandle* active_diagnostic_request_t::get_handle()
-{
- return handle_;
-}
-
-const std::string active_diagnostic_request_t::get_name() const
-{
- return name_;
-}
-
-std::string& active_diagnostic_request_t::get_prefix()
-{
- return active_diagnostic_request_t::prefix_;
-}
-
-DiagnosticResponseDecoder& active_diagnostic_request_t::get_decoder()
-{
- return decoder_;
-}
-
-DiagnosticResponseCallback& active_diagnostic_request_t::get_callback()
-{
- return callback_;
-}
-
-bool active_diagnostic_request_t::get_recurring() const
-{
- return recurring_;
-}
-
-frequency_clock_t& active_diagnostic_request_t::get_frequency_clock()
-{
- return frequency_clock_;
-}
-
-frequency_clock_t& active_diagnostic_request_t::get_timeout_clock()
-{
- return timeout_clock_;
-}
-
-utils::socketcan_bcm_t& active_diagnostic_request_t::get_socket()
-{
- return socket_;
-}
-
-void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request)
-{
- handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr));
-}
-
-///
-/// @brief Check if requested signal name is a diagnostic message. If the name
-/// begin with the diagnostic message prefix then true else false.
-///
-/// @param[in] name - A signal name.
-///
-/// @return true if name began with the diagnostic message prefix else false.
-///
-bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name)
-{
- const std::string p = active_diagnostic_request_t::prefix_ + "*";
- if(::fnmatch(p.c_str(), name.c_str(), FNM_CASEFOLD) == 0)
- return true;
- return false;
-}
-
-/// @brief Returns true if a sufficient response has been received for a
-/// diagnostic request.
-///
-/// This is true when at least one response has been received and the request is
-/// configured to not wait for multiple responses. Functional broadcast requests
-/// may often wish to wait the full 100ms for modules to respond.
-bool active_diagnostic_request_t::response_received() const
-{
- return !wait_for_multiple_responses_ &&
- handle_->completed && handle_->success;
-}
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
deleted file mode 100644
index d263a2d2..00000000
--- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include "../utils/socketcan-bcm.hpp"
-#include "uds/uds.h"
-#include "uds/uds_types.h"
-#include "../utils/timer.hpp"
-
-class active_diagnostic_request_t;
-class diagnostic_manager_t;
-
-/// @brief The signature for an optional function that can apply the neccessary
-/// formula to translate the binary payload into meaningful data.
-///
-/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
-/// a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas.
-/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
-///
-/// @return float value after decoding.
-///
-typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
- float parsed_payload);
-
-/// @brief: The signature for an optional function to handle a new diagnostic
-/// response.
-///
-/// @param[in] request - The original diagnostic request.
-/// @param[in] response - The response object that was just received.
-/// @param[in] parsed_payload - The payload of the response, parsed as a float.
-///
-typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request,
- const DiagnosticResponse* response, float parsed_payload);
-
-///
-/// @brief An active diagnostic request, either recurring or one-time.
-///
-/// Will host a diagnostic_message_t class members to describe an on going
-/// diagnostic request on the CAN bus. Diagnostic message will be converted to
-/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
-/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
-/// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
-/// an active_diagnostic_request_t object before sending it.
-///
-class active_diagnostic_request_t {
-private:
- std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on
- uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request.
- DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between
- ///< sending the frames of the request and receiving all frames of the response.
- std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
- ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format.
- static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting
- ///< incoming CAN messages.
- DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
- ///< to this request. If the decoder is NULL, the output will include the raw payload
- ///< instead of a parsed value.
- DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
- ///< response is received for this request.
- bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
- ///< The frequencyClock attribute controls how often a recurrin request is made.
- bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request
- ///< it will be removed from the active list. If true, the request will remain active until the timeout
- ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).
- frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
- ///< recurring request. If the request is not reecurring, this attribute is not used.
- frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
- ///< this request was sent.
- utils::socketcan_bcm_t socket_; ///< socket_ - A BCM socket setup to send cyclic message to CAN ID 7DF.
-public:
- bool operator==(const active_diagnostic_request_t& b);
- active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
-
- active_diagnostic_request_t();
- active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
- active_diagnostic_request_t(const std::string& bus, uint32_t id,
- const std::string& name, bool wait_for_multiple_responses,
- const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz);
- ~active_diagnostic_request_t();
-
- uint32_t get_id() const;
- DiagnosticRequestHandle* get_handle();
- uint16_t get_pid() const;
- const std::string get_name() const;
- static std::string& get_prefix();
- DiagnosticResponseDecoder& get_decoder();
- DiagnosticResponseCallback& get_callback();
- bool get_recurring() const;
- frequency_clock_t& get_frequency_clock();
- frequency_clock_t& get_timeout_clock();
- utils::socketcan_bcm_t& get_socket();
-
- void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
-
- static bool is_diagnostic_signal(const std::string& name);
-
- bool response_received() const;
-};
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
deleted file mode 100644
index 61aa699d..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ /dev/null
@@ -1,508 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <systemd/sd-event.h>
-#include <algorithm>
-#include <string.h>
-
-#include "diagnostic-manager.hpp"
-
-#include "../utils/openxc-utils.hpp"
-#include "../utils/signals.hpp"
-#include "../binding/application.hpp"
-
-#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
-#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
-// There are only 8 slots of in flight diagnostic requests
-#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
-#define TIMERFD_ACCURACY 0
-#define MICRO 1000000
-
-diagnostic_manager_t::diagnostic_manager_t()
- : initialized_{false}
-{}
-
-/// @brief Diagnostic manager isn't initialized at launch but after
-/// CAN bus devices initialization. For the moment, it is only possible
-/// to have 1 diagnostic bus which are the first bus declared in the JSON
-/// description file. Configuration instance will return it.
-///
-/// this will initialize DiagnosticShims and cancel all active requests
-/// if there are any.
-bool diagnostic_manager_t::initialize()
-{
- // Mandatory to set the bus before intialize shims.
- bus_ = application_t::instance().get_diagnostic_bus();
-
- init_diagnostic_shims();
- reset();
-
- initialized_ = true;
- DEBUG("Diagnostic Manager initialized");
- return initialized_;
-}
-
-/// @brief initialize shims used by UDS lib and set initialized_ to true.
-/// It is needed before used the diagnostic manager fully because shims are
-/// required by most member functions.
-void diagnostic_manager_t::init_diagnostic_shims()
-{
- shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
- DEBUG("Shims initialized");
-}
-
-/// @brief Force cleanup all active requests.
-void diagnostic_manager_t::reset()
-{
- DEBUG("Clearing existing diagnostic requests");
- cleanup_active_requests(true);
-}
-
-/// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type.
-/// That socket will send cyclic messages configured from a diagnostic request.
-///
-/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
-/// is 0x7DF by example.
-/// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
-/// @param[in] size - The size of the data payload, in bytes.
-///
-/// @return true if the CAN message was sent successfully.
-bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
-{
- diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager();
- active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
- utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
-
- // Make sure that socket has been opened.
- if(! tx_socket)
- tx_socket.open(
- dm.get_bus_device_name());
-
- struct utils::simple_bcm_msg bcm_msg;
- struct can_frame cfd;
-
- memset(&cfd, 0, sizeof(cfd));
- memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
-
- struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
-
- bcm_msg.msg_head.opcode = TX_SETUP;
- bcm_msg.msg_head.can_id = arbitration_id;
- bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
- bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
- bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
- bcm_msg.msg_head.nframes = 1;
- cfd.can_dlc = size;
- ::memcpy(cfd.data, data, size);
-
- bcm_msg.frames = cfd;
-
- tx_socket << bcm_msg;
- if(tx_socket)
- return true;
- return false;
-}
-
-/// @brief The type signature for an optional logging function, if the user
-/// wishes to provide one. It should print, store or otherwise display the
-/// message.
-///
-/// message - A format string to log using the given parameters.
-/// ... (vargs) - the parameters for the format string.
-///
-void diagnostic_manager_t::shims_logger(const char* format, ...)
-{
- va_list args;
- va_start(args, format);
-
- char buffer[256];
- vsnprintf(buffer, 256, format, args);
-
- DEBUG("%s", buffer);
- va_end(args);
-}
-
-/// @brief The type signature for a... OpenXC TODO: not used yet.
-void diagnostic_manager_t::shims_timer()
-{}
-
-const std::string diagnostic_manager_t::get_bus_name() const
-{
- return bus_;
-}
-
-const std::string diagnostic_manager_t::get_bus_device_name() const
-{
- return application_t::instance().get_can_bus_manager()
- .get_can_device_name(bus_);
-}
-
-active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
-{
- return recurring_requests_.back();
-}
-
-/// @brief Return diagnostic manager shims member.
-DiagnosticShims& diagnostic_manager_t::get_shims()
-{
- return shims_;
-}
-
-/// @brief Search for a specific active diagnostic request in the provided requests list
-/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
-/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
-/// contained in the vector but no event if connected to, so we will decode uneeded request.
-///
-/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
-/// @param[in] requests_list - a vector where to make the search and cleaning.
-void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
-{
- auto i = std::find(requests_list.begin(), requests_list.end(), entry);
- if ( i != requests_list.end())
- requests_list.erase(i);
-}
-
-/// @brief Free memory allocated on active_diagnostic_request_t object and close the socket.
-void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
-{
- entry->get_socket().close();
- delete entry;
- entry = nullptr;
-}
-
-/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
-/// impossible to get that state for a recurring request without waiting for that, you can
-/// force the cleaning operation.
-///
-/// @param[in] entry - the request to clean
-/// @param[in] force - Force the cleaning or not ?
-void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
-{
- if(entry != nullptr && (force || entry->response_received()))
- {
- char request_string[128] = {0};
- diagnostic_request_to_string(&entry->get_handle()->request,
- request_string, sizeof(request_string));
- if(force && entry->get_recurring())
- {
- cancel_request(entry);
- find_and_erase(entry, recurring_requests_);
- DEBUG("Cancelling completed, recurring request: %s", request_string);
- }
- else if (!entry->get_recurring())
- {
- DEBUG("Cancelling completed, non-recurring request: %s", request_string);
- cancel_request(entry);
- find_and_erase(entry, non_recurring_requests_);
- }
- }
-}
-
-/// @brief Clean up all requests lists, recurring and not recurring.
-///
-/// @param[in] force - Force the cleaning or not ? If true, that will do
-/// the same effect as a call to reset().
-void diagnostic_manager_t::cleanup_active_requests(bool force)
-{
- for(auto& entry : non_recurring_requests_)
- {
- if (entry != nullptr)
- cleanup_request(entry, force);
- }
-
- for(auto& entry : recurring_requests_)
- {
- if (entry != nullptr)
- cleanup_request(entry, force);
- }
-}
-
-/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
-/// not found.
-///
-/// @param[in] request - Search key, method will go through recurring list to see if it find that request
-/// holded by the DiagnosticHandle member.
-active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(DiagnosticRequest& request)
-{
- for (auto& entry : recurring_requests_)
- {
- if(entry != nullptr)
- {
- if(diagnostic_request_equals(&entry->get_handle()->request, &request))
- {return entry;}
- }
- }
- return nullptr;
-}
-
-/// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME
-///
-/// A one-time (aka non-recurring) request can existing in parallel with a
-/// recurring request for the same PID or mode, that's not a problem.
-///
-/// For an example, see the docs for addRecurringRequest. This function is very
-/// similar but leaves out the frequencyHz parameter.
-///
-/// @param[in] request - The parameters for the request.
-/// @param[in] name - Human readable name this response, to be used when
-/// publishing received responses. TODO: If the name is NULL, the published output
-/// will use the raw OBD-II response format.
-/// @param[in] wait_for_multiple_responses - If false, When any response is received
-/// for this request it will be removed from the active list. If true, the
-/// request will remain active until the timeout clock expires, to allow it
-/// to receive multiple response. Functional broadcast requests will always
-/// waint for the timeout, regardless of this parameter.
-/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
-/// responses to this request. If the decoder is NULL, the output will
-/// include the raw payload instead of a parsed value.
-/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
-/// response is received for this request.
-///
-/// @return true if the request was added successfully. Returns false if there
-/// wasn't a free active request entry, if the frequency was too high or if the
-/// CAN acceptance filters could not be configured,
-active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string& name,
- bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback)
-{
- cleanup_active_requests(false);
-
- active_diagnostic_request_t* entry = nullptr;
-
- if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
- {
- // TODO: implement Acceptance Filter
- // if(updateRequiredAcceptanceFilters(bus, request)) {
- active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
- wait_for_multiple_responses, decoder, callback, 0);
- entry->set_handle(shims_, request);
-
- char request_string[128] = {0};
- diagnostic_request_to_string(&entry->get_handle()->request, request_string,
- sizeof(request_string));
-
- // Erase any existing request not already cleaned.
- cleanup_request(entry, true);
- DEBUG("Added one-time diagnostic request on bus %s: %s",
- bus_.c_str(), request_string);
-
- non_recurring_requests_.push_back(entry);
- }
- else
- {
- WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
- non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- }
- return entry;
-}
-
-/// @brief Validate frequency asked don't get higher than the maximum of a classical
-/// CAN bus OBD2 request.
-///
-/// @param[in] frequencyHz - frequency asked for sending diagnostic requests.
-///
-/// @return True if frequency is below the Maximum false if not.
-bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
-{
- if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
- DEBUG("Requested recurring diagnostic frequency %lf is higher than maximum of %d",
- frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
- return false;
- }
- return true;
-}
-
-/// @brief Add and send a new recurring diagnostic request.
-///
-/// At most one recurring request can be active for the same arbitration ID, mode
-/// and (if set) PID on the same bus at one time. If you try and call
-/// add_recurring_request with the same key, it will return an error.
-///
-/// @param[in] request - The parameters for the request.
-/// @param[in] name - An optional human readable name this response, to be used when
-/// publishing received responses. If the name is NULL, the published output
-/// will use the raw OBD-II response format.
-/// @param[in] wait_for_multiple_responses - If false, When any response is received
-/// for this request it will be removed from the active list. If true, the
-/// request will remain active until the timeout clock expires, to allow it
-/// to receive multiple response. Functional broadcast requests will always
-/// waint for the timeout, regardless of this parameter.
-/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
-/// responses to this request. If the decoder is NULL, the output will
-/// include the raw payload instead of a parsed value.
-/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
-/// response is received for this request.
-/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
-/// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
-/// function return false.
-///
-/// @return true if the request was added successfully. Returns false if there
-/// was too much already running requests, if the frequency was too high TODO:or if the
-/// CAN acceptance filters could not be configured,
-active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
- bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz)
-{
- active_diagnostic_request_t* entry = nullptr;
-
- if(!validate_optional_request_attributes(frequencyHz))
- return entry;
-
- cleanup_active_requests(false);
-
- if(find_recurring_request(*request) == nullptr)
- {
- if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
- {
- entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
- wait_for_multiple_responses, decoder, callback, frequencyHz);
- recurring_requests_.push_back(entry);
-
- entry->set_handle(shims_, request);
- start_diagnostic_request(&shims_, entry->get_handle());
- }
- else
- {
- WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
- recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- }
- }
- else
- { DEBUG("Can't add request, one already exists with same key");}
- return entry;
-}
-
-/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
-///
-/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
-/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
-///
-/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
-{
- openxc_VehicleMessage message = build_VehicleMessage();
- float value = (float)diagnostic_payload_to_integer(&response);
- if(adr->get_decoder() != nullptr)
- {
- value = adr->get_decoder()(&response, value);
- }
-
- if((response.success && adr->get_name().size()) > 0)
- {
- // If name, include 'value' instead of payload, and leave of response
- // details.
- message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
- message.has_diagnostic_response = true;
- message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
- }
- else
- {
- // If no name, only send full details of response but still include 'value'
- // instead of 'payload' if they provided a decoder. The one case you
- // can't get is the full detailed response with 'value'. We could add
- // another parameter for that but it's onerous to carry that around.
- message = build_VehicleMessage(adr, response, value);
- }
-
- // If not success but completed then the pid isn't supported
- if(!response.success)
- {
- struct utils::signals_found found_signals;
- found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
- found_signals.diagnostic_messages.front()->set_supported(false);
- cleanup_request(adr, true);
- NOTICE("PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
- message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
- }
-
- if(adr->get_callback() != nullptr)
- {
- adr->get_callback()(adr, &response, value);
- }
-
- // Reset the completed flag handle to make sure that it will be reprocessed the next time.
- adr->get_handle()->success = false;
- return message;
-}
-
-/// @brief Will take the CAN message and pass it to the receive functions that will process
-/// diagnostic handle for each active diagnostic request then depending on the result we will
-/// return pass the diagnostic response to decode it.
-///
-/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
-/// @param[in] cm - A raw CAN message.
-///
-/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
-{
- DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
- if(response.completed && entry->get_handle()->completed)
- {
- if(entry->get_handle()->success)
- return relay_diagnostic_response(entry, response);
- }
- else if(!response.completed && response.multi_frame)
- {
- // Reset the timeout clock while completing the multi-frame receive
- entry->get_timeout_clock().tick(
- entry->get_timeout_clock().get_time_function()());
- }
-
- return build_VehicleMessage();
-}
-
-/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
-/// member that will understand the CAN message using diagnostic_receive_can_frame function
-/// from UDS-C library. Then decode it with an ad-hoc method.
-///
-/// @param[in] cm - Raw CAN message received
-///
-/// @return VehicleMessage with decoded value.
-openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
-{
- openxc_VehicleMessage vehicle_message = build_VehicleMessage();
-
- for ( auto entry : non_recurring_requests_)
- {
- vehicle_message = relay_diagnostic_handle(entry, cm);
- if (is_valid(vehicle_message))
- return vehicle_message;
- }
-
- for ( auto entry : recurring_requests_)
- {
- vehicle_message = relay_diagnostic_handle(entry, cm);
- if (is_valid(vehicle_message))
- return vehicle_message;
- }
-
- return vehicle_message;
-}
-
-/// @brief Tell if the CAN message received is a diagnostic response.
-/// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
-/// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
-///
-/// @param[in] cm - CAN message received from the socket.
-///
-/// @return True if the active diagnostic request match the response.
-bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
-{
- if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
- return true;
- return false;
-}
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
deleted file mode 100644
index 05a67c81..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <systemd/sd-event.h>
-#include <map>
-#include <vector>
-
-#include "../utils/socketcan-bcm.hpp"
-#include "uds/uds.h"
-#include "openxc.pb.h"
-#include "../can/can-bus.hpp"
-#include "active-diagnostic-request.hpp"
-
-/// Each CAN bus needs its own set of shim functions, so this should
-/// match the maximum CAN controller count.
-///
-#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
-#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
-
-class active_diagnostic_request_t;
-
-///
-/// @brief The core structure for running the diagnostics module by the binding.
-///
-/// This stores details about the active requests and shims required to connect
-/// the diagnostics library to the CAN device.
-///
-class diagnostic_manager_t {
-private:
- DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics
- * library (uds-c) into the VI's CAN peripheral.*/
- std::string bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
- * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
- std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
- std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
- * response is received for a non-recurring request or it times out, it is removed*/
- bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
-
- void init_diagnostic_shims();
- void reset();
-
- static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
- static void shims_logger(const char* m, ...);
- static void shims_timer();
-public:
- diagnostic_manager_t();
-
- bool initialize();
-
- const std::string get_bus_name() const;
- const std::string get_bus_device_name() const;
- active_diagnostic_request_t* get_last_recurring_requests() const;
- DiagnosticShims& get_shims();
-
- void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
- void cancel_request(active_diagnostic_request_t* entry);
- void cleanup_request(active_diagnostic_request_t* entry, bool force);
- void cleanup_active_requests(bool force);
- active_diagnostic_request_t* find_recurring_request(DiagnosticRequest& request);
-
- // Subscription parts
- active_diagnostic_request_t* add_request(DiagnosticRequest* request, const std::string& name,
- bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback);
- bool validate_optional_request_attributes(float frequencyHz);
- active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name,
- bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz);
-
- // Decoding part
- openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response);
- openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
- openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
- bool is_diagnostic_response(const can_message_t& cm);
-};
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp
deleted file mode 100644
index 69ca4e34..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include <map>
-
-#include "diagnostic-message.hpp"
-
-#include "../binding/application.hpp"
-#include "../utils/signals.hpp"
-
-const char *UNIT_NAMES[10] = {
- "POURCENT",
- "DEGREES_CELSIUS",
- "KPA",
- "RPM",
- "GRAMS_SEC",
- "SECONDS",
- "KM",
- "KM_H",
- "PA",
- "NM"
-};
-
-diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string& generic_name, const int min,
- const int max, enum UNIT unit, float frequency, DiagnosticResponseDecoder decoder,
- DiagnosticResponseCallback callback, bool supported)
- : parent_{nullptr}, pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit},
- frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported}
-{}
-
-uint32_t diagnostic_message_t::get_pid()
-{
- return (uint32_t)pid_;
-}
-
-const std::string diagnostic_message_t::get_generic_name() const
-{
- return generic_name_;
-}
-
-const std::string diagnostic_message_t::get_name() const
-{
- return active_diagnostic_request_t::get_prefix() + "." + generic_name_;
-}
-
-float diagnostic_message_t::get_frequency() const
-{
- return frequency_;
-}
-
-DiagnosticResponseDecoder diagnostic_message_t::get_decoder() const
-{
- return decoder_;
-}
-DiagnosticResponseCallback diagnostic_message_t::get_callback() const
-{
- return callback_;
-}
-
-bool diagnostic_message_t::get_supported() const
-{
- return supported_;
-}
-
-void diagnostic_message_t::set_supported(bool value)
-{
- supported_ = value;
-}
-
-void diagnostic_message_t::set_parent(can_message_set_t* parent)
-{
- parent_ = parent;
-}
-
-///
-/// @brief Build a DiagnosticRequest struct to be passed
-/// to diagnostic manager instance.
-///
- const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() const
-{
- return {/*arbitration_id: */OBD2_FUNCTIONAL_BROADCAST_ID,
- /*mode: */0x1,
- /*has_pid: */true,
- /*pid: */pid_,
- /*pid_length: */0,
- /*payload[]: */{0},
- /*payload_length: */0,
- /*no_frame_padding: */false,
- /*DiagnosticRequestType: */DiagnosticRequestType::DIAGNOSTIC_REQUEST_TYPE_PID };
-}
-
-///
-/// @brief Check if a request is an OBD-II PID request.
-///
-/// @return true if the request is a mode 1 request and it has a 1 byte PID.
-///
-bool diagnostic_message_t::is_obd2_request(const DiagnosticRequest* request)
-{
- return request->mode == 0x1 && request->has_pid && request->pid < 0xff;
-}
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
deleted file mode 100644
index 99c48110..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <vector>
-#include <string>
-
-#include "uds/uds.h"
-#include "../can/can-message-set.hpp"
-#include "../can/can-message.hpp"
-#include "active-diagnostic-request.hpp"
-
-enum UNIT {
- POURCENT,
- DEGREES_CELSIUS,
- KPA,
- RPM,
- GRAMS_SEC,
- SECONDS,
- KM,
- KM_H,
- PA,
- NM,
- INVALID
-};
-
-class can_message_set_t;
-
-/// @brief - A representation of an OBD-II PID.
-class diagnostic_message_t
-{
- private:
- can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this diagnostic message */
- uint8_t pid_; /*!< pid_ - The 1 byte PID.*/
- std::string generic_name_; /*!< generic_name_ - A human readable name to use for this PID when published.*/
- int min_; /*!< min_ - Minimum value that can take this pid */
- int max_; /*!< max_ - Maximum value that can take this pid */
- enum UNIT unit_; /*!< unit_ : Which unit system is used by that pid. See enum UNIT above.*/
- float frequency_; /*!< frequency_ - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/
- DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
- * to this request. If the decoder is NULL, the output will include the raw payload
- * instead of a parsed value.*/
- DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
- * response is received for this request.*/
-
- bool supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/
-
- public:
- const char* generic_name = generic_name_.c_str();
- diagnostic_message_t(uint8_t pid, const std::string& generic_name, const int min, const int max, enum UNIT unit, float frequency,
- DiagnosticResponseDecoder decoder, DiagnosticResponseCallback callback, bool supported);
-
- uint32_t get_pid();
- const std::string get_generic_name() const;
- const std::string get_name() const;
- float get_frequency() const;
- DiagnosticResponseDecoder get_decoder() const;
- DiagnosticResponseCallback get_callback() const;
- bool get_supported() const;
-
- void set_supported(bool value);
- void set_parent(can_message_set_t* parent);
- const DiagnosticRequest build_diagnostic_request() const;
-
- bool is_obd2_response(const can_message_t& can_message);
- bool is_obd2_request(const DiagnosticRequest *request);
-};