diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/can/can-bus.cpp | 10 | ||||
| -rw-r--r-- | src/can/can-bus.hpp | 6 | ||||
| -rw-r--r-- | src/diagnostic/active-diagnostic-request.cpp | 4 | ||||
| -rw-r--r-- | src/diagnostic/active-diagnostic-request.hpp | 6 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.cpp | 61 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.hpp | 11 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 6 |
7 files changed, 58 insertions, 46 deletions
diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index 7a18ce8f..8edf5bac 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -186,13 +186,13 @@ int can_bus_t::init_can_dev() for(const auto& device : devices_name) { - can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device, i); - if (can_devices_m_[device]->open() == 0) + can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i)); + if (can_devices_[i]->open() == 0) { i++; DEBUG(binder_interface, "Start reading thread"); NOTICE(binder_interface, "%s device opened and reading", device.c_str()); - can_devices_m_[device]->start_reading(*this); + can_devices_[i]->start_reading(*this); } else ERROR(binder_interface, "Can't open device %s", device.c_str()); @@ -349,8 +349,8 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) * * @return map can_bus_dev_m_ map */ -std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices() +const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const { - return can_devices_m_; + return can_devices_; } diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp index 17e60d24..d4d6d74c 100644 --- a/src/can/can-bus.hpp +++ b/src/can/can-bus.hpp @@ -65,9 +65,9 @@ private: std::condition_variable new_decoded_can_message_; /// < condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ std::mutex decoded_can_message_mutex_; /// < mutex protecting the vehicle_message_q_ queue. - std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed + std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed - std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function + std::vector<std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function public: can_bus_t(int conf_file); @@ -87,6 +87,6 @@ public: openxc_VehicleMessage next_vehicle_message(); void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); - std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices(); + const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_devices() const; }; diff --git a/src/diagnostic/active-diagnostic-request.cpp b/src/diagnostic/active-diagnostic-request.cpp index baa11844..505d816e 100644 --- a/src/diagnostic/active-diagnostic-request.cpp +++ b/src/diagnostic/active-diagnostic-request.cpp @@ -48,7 +48,7 @@ active_diagnostic_request_t::active_diagnostic_request_t() in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()} {} -active_diagnostic_request_t::active_diagnostic_request_t(can_bus_dev_t* bus, DiagnosticRequest* request, +active_diagnostic_request_t::active_diagnostic_request_t(std::shared_ptr<can_bus_dev_t> bus, DiagnosticRequest* request, const std::string& name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz) @@ -57,7 +57,7 @@ active_diagnostic_request_t::active_diagnostic_request_t(can_bus_dev_t* bus, Dia in_flight_{false}, frequency_clock_{frequency_clock_t(frequencyHz)}, timeout_clock_{frequency_clock_t(10)} {} -can_bus_dev_t* active_diagnostic_request_t::get_can_bus_dev() +std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev() { return bus_; } diff --git a/src/diagnostic/active-diagnostic-request.hpp b/src/diagnostic/active-diagnostic-request.hpp index a9abc13d..88d40084 100644 --- a/src/diagnostic/active-diagnostic-request.hpp +++ b/src/diagnostic/active-diagnostic-request.hpp @@ -56,7 +56,7 @@ typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* re */ class active_diagnostic_request_t { private: - can_bus_dev_t* bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/ + std::shared_ptr<can_bus_dev_t> 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.*/ @@ -83,12 +83,12 @@ public: active_diagnostic_request_t(); active_diagnostic_request_t(active_diagnostic_request_t&&) = default; //active_diagnostic_request_t(const active_diagnostic_request_t&) = default; - active_diagnostic_request_t(can_bus_dev_t* bus, DiagnosticRequest* request, + active_diagnostic_request_t(std::shared_ptr<can_bus_dev_t> bus, DiagnosticRequest* request, const std::string& name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz); - can_bus_dev_t* get_can_bus_dev(); + std::shared_ptr<can_bus_dev_t> get_can_bus_dev(); DiagnosticRequestHandle* get_handle(); bool get_recurring() const; bool get_in_flight() const; diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp index 92ce33b0..5103bf10 100644 --- a/src/diagnostic/diagnostic-manager.cpp +++ b/src/diagnostic/diagnostic-manager.cpp @@ -28,16 +28,45 @@ diagnostic_manager_t::diagnostic_manager_t() : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false} +{} + +bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd) { + // Mandatory to set the bus before intiliaze shims. + bus_ = cbd; + + init_diagnostic_shims(); reset(); + + initialized_ = true; + DEBUG(binder_interface, "initialize: Diagnostic Manager initialized"); + return initialized_; } -diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus) - : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false} +/** + * @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() { - reset(); + shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); + DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized"); +} + +void diagnostic_manager_t::reset() +{ + if(initialized_) + { + DEBUG(binder_interface, "Clearing existing diagnostic requests"); + cleanup_active_requests(true); + } + + for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++) + free_request_entries_.push_back(request_list_entries_[i]); } + 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); @@ -126,19 +155,7 @@ bool diagnostic_manager_t::lookup_recurring_request(const DiagnosticRequest* req return false; } -void diagnostic_manager_t::reset() -{ - if(initialized_) - { - DEBUG(binder_interface, "Clearing existing diagnostic requests"); - cleanup_active_requests(true); - } - - for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++) - free_request_entries_.push_back(request_list_entries_[i]); -} - -can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev() +std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev() { return bus_; } @@ -246,7 +263,7 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) { - can_bus_dev_t *can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev(); + std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev(); return can_bus_dev->shims_send(arbitration_id, data, size); } @@ -258,13 +275,3 @@ void diagnostic_manager_t::shims_logger(const char* 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() -{ - shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); - initialized_ = true; -} diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp index 8602db86..39aae321 100644 --- a/src/diagnostic/diagnostic-manager.hpp +++ b/src/diagnostic/diagnostic-manager.hpp @@ -49,7 +49,7 @@ protected: 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 pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not + std::shared_ptr<can_bus_dev_t> 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. If NULL, all requests require an explicit bus.*/ std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When * a response is received for a recurring request or it times out, it is @@ -64,14 +64,16 @@ private: 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(); public: diagnostic_manager_t(); - diagnostic_manager_t(can_bus_dev_t& bus); - void init_diagnostic_shims(); + bool initialize(std::shared_ptr<can_bus_dev_t> cbd); - can_bus_dev_t* get_can_bus_dev(); + std::shared_ptr<can_bus_dev_t> get_can_bus_dev(); active_diagnostic_request_t* get_free_entry(); + 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); @@ -81,7 +83,6 @@ public: bool validate_optional_request_attributes(float frequencyHz); - void reset(); void checkSupportedPids(const active_diagnostic_request_t& request, const DiagnosticResponse& response, float parsedPayload); diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index a2b54567..394d906a 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -223,13 +223,17 @@ extern "C" { can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager(); - /* Open CAN socket */ + /// Initialize CAN socket if(can_bus_manager.init_can_dev() == 0) { can_bus_manager.start_threads(); return 0; } + /// Initialize Diagnostic manager that will handle obd2 requests + diagnostic_manager_t& diag_manager = configuration_t::instance().get_diagnostic_manager(); + diag_manager.initialize(can_bus_manager.get_can_devices().front()); + ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe"); return 1; } |