1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
|
/*
* 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*/
void init_diagnostic_shims();
void reset();
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();
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 is_active_requests_running();
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(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);
};
|
