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
|
/*
* 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_; /*!< 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_ - 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 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).*/
bool in_flight_; /*!< in_flight_ - True if the request has been sent and we are waiting for a response.*/
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.*/
public:
active_diagnostic_request_t();
void updateDiagnosticRequestEntry(DiagnosticsManager* manager, CanBus* bus, DiagnosticRequest* request,
const char* name, bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
};
|
