diff options
| -rw-r--r-- | src/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | src/can/can-bus.cpp | 8 | ||||
| -rw-r--r-- | src/can/can-bus.hpp | 10 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.cpp | 43 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.hpp | 77 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-message.cpp | 15 |
6 files changed, 133 insertions, 21 deletions
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index a1a32532..b01ee07f 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -85,6 +85,7 @@ message(STATUS "Creation of ${PROJECT_NAME} binding for AFB-DAEMON") ########################################################################### add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.cpp can/can-bus.cpp can/can-message.cpp can/can-signals.cpp can/can-decoder.cpp + obd2/obd2-signals.cpp obd2/diagnostic-manager.cpp utils/signals.cpp utils/openxc-utils.cpp utils/timer.cpp) target_link_libraries(${PROJECT_NAME} ${EXTRAS_LIBRARIES} bitfield isotp uds openxc pthread) diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index 851f62a5..034e0ac9 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -31,6 +31,7 @@ #include "can/can-decoder.hpp" #include "utils/openxc-utils.hpp" +#include "obd2/diagnostic-manager.hpp" extern "C" { @@ -363,10 +364,9 @@ std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices * * @param const string representing the device name into the linux /dev tree */ -can_bus_dev_t::can_bus_dev_t(const std::string &dev_name) - : device_name_{dev_name}, can_socket_{-1} -{ -} +can_bus_dev_t::can_bus_dev_t(const std::string& dev_name) + : device_name_{dev_name}, can_socket_{-1}, diagnostic_manager_{diagnostic_manager_t(*this)} +{} /** * @brief Open the can socket and returning it diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp index 0fa13b22..3f85b4eb 100644 --- a/src/can/can-bus.hpp +++ b/src/can/can-bus.hpp @@ -27,6 +27,8 @@ #include "utils/timer.hpp" #include "can/can-signals.hpp" #include "can/can-message.hpp" +#include "obd2/diagnostic-manager.hpp" + #include "low-can-binding.hpp" // TODO actual max is 32 but dropped to 24 for memory considerations @@ -37,6 +39,7 @@ #define CAN_ACTIVE_TIMEOUT_S 30 class can_bus_dev_t; +class diagnostic_manager_t; /** * @class can_bus_t @@ -105,10 +108,12 @@ class can_bus_dev_t { int can_socket_; /*!< socket handler for the can device */ bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */ struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */ - + + diagnostic_manager_t diagnostic_manager_; /*!< diagnostic_manager_t diagnostic_manager_ - A diagnostic_manager_t object instance + * that will handle diagnostic obd2 protocol requests and responses.*/ + std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ bool is_running_; /*!< boolean telling whether or not reading is running or not */ - void can_reader(can_bus_t& can_bus); public: @@ -116,7 +121,6 @@ class can_bus_dev_t { int open(); int close(); - void start_reading(can_bus_t& can_bus); diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp new file mode 100644 index 00000000..501c05a5 --- /dev/null +++ b/src/diagnostic/diagnostic-manager.cpp @@ -0,0 +1,43 @@ +/* + * 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 "obd2/diagnostic-manager.hpp" + +#include "low-can-binding.hpp" + +diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus) + : bus_(bus) +{} + +void diagnostic_manager_t::shims_logger(const char* m) +{ + DEBUG(binder_interface, "%s", m); +} + +void diagnostic_manager_t::shims_timer() +{} + +/** + * @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() +{ + DiagnosticShims shims_ = diagnostic_init_shims(shims_logger, bus_.send_can_message, NULL); + initialized_ = true; +}
\ No newline at end of file diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp new file mode 100644 index 00000000..8aa9240c --- /dev/null +++ b/src/diagnostic/diagnostic-manager.hpp @@ -0,0 +1,77 @@ +/* + * 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 "uds/uds.h" +#include "can/can-bus.hpp" +#include "can/can-message.hpp" +#include "obd2/active-diagnostic-request.hpp" + +#include "low-can-binding.hpp" + +/* Private: 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() + +/** + * @brief The core structure for running the diagnostics module on the VI. + * + * @desc This stores details about the active requests and shims required to connect + * the diagnostics library to the VI's CAN peripheral. + */ +class diagnostic_manager_t { + protected: + void shims_logger(const char* m); + void shims_timer(); + + private: + DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics + * library (uds-c) into the VI's CAN peripheral.*/ + can_bus_dev_t* bus_; /*!< bus_ - A reference to the CAN bus that should be used for all standard OBD-II requests, if the bus is not + * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/ + std::queue<active_diagnostic_request_t> recurringRequests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When + * a response is received for a recurring request or it times out, it is + * popped from the queue and pushed onto the back. */ + std::vector<active_diagnostic_request_t> nonrecurringRequests_; /*!< 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 from this list and placed back in the free list.*/ + std::vector<active_diagnostic_request_t> freeRequestEntries_; /*!< freeRequestEntries - A list of all available slots for active diagnostic + * requests. This free list is backed by statically allocated entries in + * the requestListEntries attribute.*/ + std::vector<active_diagnostic_request_t> requestListEntries_[50]; /*!< requestListEntries - Static allocation for all active diagnostic requests.*/ + + bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/ + + public: + diagnostic_manager_t(can_bus_dev_t& bus); + void init_diagnostic_shims(); + + void checkSupportedPids(const active_diagnostic_request_t& request, + const DiagnosticResponse& response, float parsedPayload); + + bool addRecurringRequest(DiagnosticRequest* request, const char* name, + bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback, float frequencyHz); + + void reset(); + + void add_request(int pid); +}; diff --git a/src/diagnostic/diagnostic-message.cpp b/src/diagnostic/diagnostic-message.cpp index 71b0f7d7..707b314f 100644 --- a/src/diagnostic/diagnostic-message.cpp +++ b/src/diagnostic/diagnostic-message.cpp @@ -105,22 +105,9 @@ void obd2_signals_t::find_obd2_signals(const openxc_DynamicField &key, std::vect DEBUG(binder_interface, "Found %d signal(s)", (int)found_signals.size()); } -uint32_t get_signal_id(const obd2_signals_t& sig) -{ - return (uint32_t)sig.pid; -} - -void shims_logger(const char* m, const struct afb_binding_interface *interface) -{ - DEBUG(interface, "%s", m); -} - -void shims_timer() -{ -} - bool obd2_signals_t::is_obd2_response(can_message_t can_message) { + /* if(can_message.get_id() >= 0x7E8 && can_message.get_id() <= 0x7EF) { openxc_VehicleMessage message = {0}; |