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
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
|
/*
* 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 <string>
#include <vector>
#include "../utils/socketcan-bcm.hpp"
#include "uds/uds.h"
#include "uds/uds_types.h"
#include "../utils/timer.hpp"
class active_diagnostic_request_t;
class diagnostic_manager_t;
/// @brief The signature for an optional function that can apply the neccessary
/// formula to translate the binary payload into meaningful data.
///
/// @param[in] 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.
/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
///
/// @return float value after decoding.
///
typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
float parsed_payload);
/// @brief: The signature for an optional function to handle a new diagnostic
/// response.
///
/// @param[in] request - The original diagnostic request.
/// @param[in] response - The response object that was just received.
/// @param[in] 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.
///
/// Will host a diagnostic_message_t class members to describe an on going
/// diagnostic request on the CAN bus. Diagnostic message will be converted to
/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
/// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
/// an active_diagnostic_request_t object before sending it.
///
class active_diagnostic_request_t {
private:
std::string 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.
std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting
///< incoming CAN messages.
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 recurring request is made.
bool permanent_; ///< bool permanent_ - If true, this a permanent recurring request and will remain as active indefinitely (can't be cancelled).
bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - 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).
frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
///< recurring request. If the request is not reecurring, this attribute is not used.
frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
///< this request was sent.
utils::socketcan_bcm_t socket_; ///< socket_ - A BCM socket setup to send cyclic message to CAN ID 7DF.
public:
active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
active_diagnostic_request_t(const std::string& bus, uint32_t id,
const std::string& name, bool wait_for_multiple_responses,
const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz, bool permanent);
~active_diagnostic_request_t();
uint32_t get_id() const;
DiagnosticRequestHandle* get_handle();
uint16_t get_pid() const;
const std::string get_name() const;
static std::string& get_prefix();
DiagnosticResponseDecoder& get_decoder();
DiagnosticResponseCallback& get_callback();
bool get_recurring() const;
bool get_permanent() const;
frequency_clock_t& get_frequency_clock();
frequency_clock_t& get_timeout_clock();
utils::socketcan_bcm_t& get_socket();
void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
static bool is_diagnostic_signal(const std::string& name);
bool response_received() const;
};
|
