/* * 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 create_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(); const std::string get_bus_name() const; const std::string get_bus_device_name() const; active_diagnostic_request_t* get_last_recurring_requests() const; DiagnosticShims& get_shims(); bool socket_close(); 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); };