Handle project new architecture using new CMakeFile

Change-Id: I672a9b49d9d5a3953ba6dccaafbbd738839f64a6
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

# Conflicts:
#	low-can-binding/libs/bitfield-c
#	low-can-binding/libs/isotp-c
#	low-can-binding/libs/openxc-message-format

1 files changed, 0 insertions, 618 deletions

diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp
deleted file mode 100644
index e3a78d0f..00000000
--- a/src/diagnostic/diagnostic-manager.cpp
+++ /dev/null
@@ -1,618 +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 "diagnostic-manager.hpp"
-
-#include "../utils/openxc-utils.hpp"
-#include "../configuration.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_ = configuration_t::instance().get_diagnostic_bus();
-
-	init_diagnostic_shims();
-	reset();
-
-	initialized_ = true;
-	DEBUG(binder_interface, "initialize: 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(binder_interface, "init_diagnostic_shims: Shims initialized");
-}
-
-/// @brief Force cleanup all active requests.
-void diagnostic_manager_t::reset()
-{
-	DEBUG(binder_interface, "Clearing existing diagnostic requests");
-	cleanup_active_requests(true);
-}
-
-/// @brief send function use by diagnostic library. Only one bus used for now
-///  so diagnostic request is sent using the default diagnostic bus not matter of
-///  which is specified in the diagnostic message definition.
-///
-/// @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)
-{
-	std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
-	if(can_bus_dev != nullptr)
-		return can_bus_dev->shims_send(arbitration_id, data, size);
-	ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str());
-	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(binder_interface, "shims_logger: %s", buffer);
-}
-
-/// @brief The type signature for a... OpenXC TODO: not used yet.
-void diagnostic_manager_t::shims_timer()
-{}
-
-std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
-{
-	return can_bus_t::get_can_device(bus_);
-}
-
-/// @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 TODO: implement cancel_request if needed... Don't know.
-void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
-{
-
-	/* TODO: implement acceptance filters.
-	if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
-		for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
-				filter < OBD2_FUNCTIONAL_RESPONSE_START +
-					OBD2_FUNCTIONAL_RESPONSE_COUNT;
-				filter++) {
-			removeAcceptanceFilter(entry.bus_, filter,
-					CanMessageFormat::STANDARD, getCanBuses(),
-					getCanBusCount());
-		}
-	} else {
-		removeAcceptanceFilter(entry.bus_,
-				entry.arbitration_id_ +
-					DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
-				CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
-	}*/
-}
-
-/// @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((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed())))
-	{
-		entry->set_in_flight(false);
-
-		char request_string[128] = {0};
-		diagnostic_request_to_string(&entry->get_handle()->request,
-			request_string, sizeof(request_string));
-		if(force && entry->get_recurring())
-		{
-			find_and_erase(entry, recurring_requests_);
-			cancel_request(entry);
-			DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
-		}
-		else
-		{
-			DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
-			find_and_erase(entry, non_recurring_requests_);
-			cancel_request(entry);
-		}
-	}
-}
-
-/// @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(const DiagnosticRequest* request)
-{
-	for (auto& entry : recurring_requests_)
-	{
-		if(entry != nullptr)
-		{
-			if(diagnostic_request_equals(&entry->get_handle()->request, request))
-			{
-				return entry;
-				break;
-			}
-		}
-	}
-	return nullptr;
-}
-
-/// @brief Add and send a new one-time diagnostic request.
-///
-/// 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,
-bool 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);
-
-	bool added = true;
-
-	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, 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));
-
-			find_and_erase(entry, non_recurring_requests_);
-			DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
-					bus_.c_str(), request_string);
-
-			non_recurring_requests_.push_back(entry);
-	}
-	else
-	{
-		WARNING(binder_interface, "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);
-		added = false;
-	}
-	return added;
-}
-
-bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
-{
-	if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
-		DEBUG(binder_interface, "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
-/// addRecurringRequest with the same key, it will return an error.
-///
-/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
-/// response. If the request is to the functional broadcast ID (0x7df) filters
-/// are added for all functional addresses (0x7e8 to 0x7f0).
-///
-/// Example:
-///
-///     // Creating a functional broadcast, mode 1 request for PID 2.
-///     DiagnosticRequest request = {
-///         arbitration_id: 0x7df,
-///         mode: 1,
-///         has_pid: true,
-///         pid: 2
-///     };
-///
-///     // Add a recurring request, to be sent at 1Hz, and published with the
-///     // name "my_pid_request"
-///     addRecurringRequest(&getConfiguration()->diagnosticsManager,
-///          canBus,
-///          &request,
-///          "my_pid_request",
-///          false,
-///          NULL,
-///          NULL,
-///          1);
-///
-/// @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,
-///
-bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
-		bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
-		const DiagnosticResponseCallback callback, float frequencyHz)
-{
-	if(!validate_optional_request_attributes(frequencyHz))
-		return false;
-
-	cleanup_active_requests(false);
-
-	bool added = true;
-	if(find_recurring_request(request) == nullptr)
-	{
-		if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
-		{
-			sd_event_source *source;
-			// TODO: implement Acceptance Filter
-			//if(updateRequiredAcceptanceFilters(bus, request)) {
-			active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
-					wait_for_multiple_responses, decoder, callback, frequencyHz);
-			entry->set_handle(shims_, request);
-
-			//start_diagnostic_request(&shims_, entry->get_handle());
-			//char request_string[128] = {0};
-			//diagnostic_request_to_string(&entry->get_handle()->request, request_string,
-			//		sizeof(request_string));
-
-			uint64_t usec;
-			sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec);
-			if(recurring_requests_.size() > 0)
-			{
-				DEBUG(binder_interface, "add_recurring_request: Added 100ms to usec to stagger sending requests");
-				usec += 100000;
-			}
-
-			DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d",
-					frequencyHz,
-					bus_.c_str(),
-					usec,
-					sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)));
-
-			if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
-					CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0)
-			{
-				ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
-				added = false;
-			}
-			recurring_requests_.push_back(entry);
-		}
-		else
-		{
-			WARNING(binder_interface, "add_recurring_request: 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);
-			added = false;
-		}
-	}
-	else
-	{
-		DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
-		added = false;
-	}
-	return added;
-}
-
-/// @brief Returns true if there are two active requests running for the same arbitration ID.
-bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
-{
-	return (candidate->get_in_flight() && candidate != request &&
-			candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
-			candidate->get_id() == request->get_id());
-}
-
-
-/// @brief Returns true if there are no other active requests to the same arbitration ID
-/// and if there aren't more than 8 requests in flight at the same time.
-bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
-{
-	int total_in_flight = 0;
-	for ( auto entry : non_recurring_requests_)
-	{
-		if(conflicting(request, entry))
-			return false;
-		if(entry->get_in_flight())
-			total_in_flight++;
-	}
-
-	for ( auto entry : recurring_requests_)
-	{
-		if(conflicting(request, entry))
-			return false;
-		if(entry->get_in_flight())
-			total_in_flight++;
-	}
-
-	if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
-		return false;
-	return true;
-}
-
-int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr)
-{
-	usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period());
-	DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
-	if(sd_event_source_set_time(s, usec) >= 0)
-		if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
-			return 0;
-	sd_event_source_unref(s);
-	return -1;
-}
-
-/// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
-/// on the diagnostic message frequency.
-///
-/// This should be called from systemd binder event loop and the event is created on add_recurring_request
-///
-/// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
-/// @param[in] usec - previous call timestamp in microseconds.
-/// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
-///
-/// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
-/// event will be disabled.
-int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
-{
-	diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
-	DiagnosticRequest* request = (DiagnosticRequest*)userdata;
-	active_diagnostic_request_t* adr = dm.find_recurring_request(request);
-
-	dm.cleanup_active_requests(false);
-	if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
-		dm.clear_to_send(adr))
-	{
-		adr->get_frequency_clock().tick();
-		start_diagnostic_request(&dm.shims_, adr->get_handle());
-		if(adr->get_handle()->completed && !adr->get_handle()->success)
-		{
-				ERROR(binder_interface, "send_request: Fatal error sending diagnostic request");
-				sd_event_source_unref(s);
-				return -1;
-		}
-
-		adr->get_timeout_clock().tick();
-		adr->set_in_flight(true);
-	}
-
-	if(adr != nullptr && adr->get_recurring())
-	{
-		return dm.reschedule_request(s, usec, adr);
-	}
-
-	sd_event_source_unref(s);
-	NOTICE(binder_interface, "send_request: Request doesn't exist anymore. Canceling.'");
-	return -2;
-}
-
-/// @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 && strnlen(adr->get_name().c_str(), 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)));
-	}
-	else
-	{
-		// If no name, 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)
-	{
-		std::vector<diagnostic_message_t*> found_signals;
-		configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals );
-		found_signals.front()->set_supported(false);
-		cleanup_request(adr, true);
-		NOTICE(binder_interface, "relay_diagnostic_response: 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);
-	}
-
-	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();
-	}
-
-	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;
-}