/* * 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 "uds/uds_types.h" #include "can/can-bus.hpp" #include "can/can-message.hpp" #include "low-can-binding.hpp" class active_diagnostic_request_t; class can_bus_dev_t; /* Public: The signature for an optional function that can apply the neccessary * formula to translate the binary payload into meaningful data. * * 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. * parsed_payload - the entire payload of the response parsed as an int. */ typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response, float parsed_payload); /* Public: The signature for an optional function to handle a new diagnostic * response. * * manager - The DiagnosticsManager providing this response. * request - The original diagnostic request. * response - The response object that was just received. * 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. */ class active_diagnostic_request_t { private: can_bus_dev_t* bus_; /*!< can_bus_dev_t* bus_ - The CAN bus this request should be made on, or is currently in flight-on*/ uint32_t id_; /*!< The arbitration ID (aka message ID) for the request.*/ DiagnosticRequestHandle* handle_; /*!< DiagnosticRequestHandle* 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_; /*!< std::string name_ - An optional human readable name this response, to be used when publishing received * responses. If the name is NULL, the published output will use the raw OBD-II response format.*/ 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 waitForMultipleResponses_; /*!< bool waitForMultipleResponses_ - 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).*/ bool inFlight_; /*!< inFlight - True if the request has been sent and we are waiting for a response.*/ FrequencyClock frequencyClock_; /*!< FrequencyClock frequencyClock_ - A FrequencyClock struct to control the send rate for a * recurring request. If the request is not reecurring, this attribute is not used.*/ FrequencyClock timeoutClock_; /*!< FrequencyClock timeoutClock_ - A FrequencyClock struct to monitor how long it's been since * this request was sent.*/ public: };