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Diffstat (limited to 'CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp')
| -rw-r--r-- | CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp | 94 |
1 files changed, 94 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp new file mode 100644 index 00000000..894cf630 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp @@ -0,0 +1,94 @@ +/* + * 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*/ + utils::socketcan_bcm_t socket_; ///< socket_ - a BCM socket with 8 RX_SETUP jobs for the 8 CAN ID on which ECU could respond. + struct sd_event_source* event_source_; + + void init_diagnostic_shims(); + void reset(); + int add_rx_filter(uint32_t can_id); + + 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(); + + utils::socketcan_bcm_t& get_socket(); + std::string get_can_bus(); + 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(const 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); +}; |