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Diffstat (limited to 'CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp')
| -rw-r--r-- | CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp | 116 |
1 files changed, 116 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp new file mode 100644 index 00000000..c295bed3 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp @@ -0,0 +1,116 @@ +/* + * 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, DiagnosticRequest* request, + const std::string& name, bool wait_for_multiple_responses, + const DiagnosticResponseDecoder decoder, + const DiagnosticResponseCallback callback, float frequencyHz); + + 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; +}; |