Separation Generator to a dedicated repo

Change-Id: Id94831651c3266861435272a6e36c7884bef2c45
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

6 files changed, 1093 insertions, 0 deletions

diff --git a/low-can-binding/diagnostic/active-diagnostic-request.cpp b/low-can-binding/diagnostic/active-diagnostic-request.cpp
new file mode 100644
index 00000000..f503e0a5
--- /dev/null
+++ b/low-can-binding/diagnostic/active-diagnostic-request.cpp
@@ -0,0 +1,182 @@
+/*
+ * 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/low-can-binding/diagnostic/active-diagnostic-request.hpp b/low-can-binding/diagnostic/active-diagnostic-request.hpp
new file mode 100644
index 00000000..d263a2d2
--- /dev/null
+++ b/low-can-binding/diagnostic/active-diagnostic-request.hpp
@@ -0,0 +1,117 @@
+/*
+ * 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/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp
new file mode 100644
index 00000000..61aa699d
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -0,0 +1,508 @@
+/*
+ * 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/low-can-binding/diagnostic/diagnostic-manager.hpp b/low-can-binding/diagnostic/diagnostic-manager.hpp
new file mode 100644
index 00000000..05a67c81
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-manager.hpp
@@ -0,0 +1,91 @@
+/*
+ * 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/low-can-binding/diagnostic/diagnostic-message.cpp b/low-can-binding/diagnostic/diagnostic-message.cpp
new file mode 100644
index 00000000..69ca4e34
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-message.cpp
@@ -0,0 +1,113 @@
+/*
+ * 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/low-can-binding/diagnostic/diagnostic-message.hpp b/low-can-binding/diagnostic/diagnostic-message.hpp
new file mode 100644
index 00000000..99c48110
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-message.hpp
@@ -0,0 +1,82 @@
+/*
+ * 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);
+};