13 files changed, 73 insertions, 42 deletions

diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp
index 69f08c5..7c6ae42 100644
--- a/src/can/can-bus.cpp
+++ b/src/can/can-bus.cpp
@@ -50,6 +50,8 @@ can_bus_t::can_bus_t(int conf_file)
 {
 }
 
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
+
 /**
  * @brief Will make the decoding operation on a classic CAN message. It will not
  * handle CAN commands nor diagnostic messages that have their own method to get
@@ -254,7 +256,7 @@ void can_bus_t::stop_threads()
 int can_bus_t::init_can_dev()
 {
 	std::vector<std::string> devices_name;
-	int i;
+	int i = 0;
 	size_t t;
 
 	devices_name = read_conf();
@@ -262,20 +264,19 @@ int can_bus_t::init_can_dev()
 	if (! devices_name.empty())
 	{
 		t = devices_name.size();
-		i=0;
 
 		for(const auto& device : devices_name)
 		{
-			can_devices_.push_back(std::make_shared<can_bus_dev_t>(device, i));
-			if (can_devices_[i]->open() == 0)
+			can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
+			if (can_bus_t::can_devices_[device]->open() == 0)
 			{
 				DEBUG(binder_interface, "Start reading thread");
 				NOTICE(binder_interface, "%s device opened and reading", device.c_str());
-				can_devices_[i]->start_reading(*this);
+				can_bus_t::can_devices_[device]->start_reading(*this);
+				i++;
 			}
 			else
 				ERROR(binder_interface, "Can't open device %s", device.c_str());
-			i++;
 		}
 
 		NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
@@ -421,7 +422,20 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 *
 * @return map can_bus_dev_m_ map
 */
-const std::vector<std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
+const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
+{
+	return can_bus_t::can_devices_;
+}
+
+/**
+* @brief Return the shared pointer on the can_bus_dev_t initialized 
+* with device_name "bus"
+*
+* @param[in] bus - CAN bus device name to retrieve.
+*
+* @return A shared pointer on an object can_bus_dev_t
+*/
+std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
 {
-	return can_devices_;
+	return can_bus_t::can_devices_[bus];
 }
diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp
index 97b683d..a51dfb1 100644
--- a/src/can/can-bus.hpp
+++ b/src/can/can-bus.hpp
@@ -68,7 +68,7 @@ private:
 	std::mutex decoded_can_message_mutex_;  /// < mutex protecting the vehicle_message_q_ queue.
 	std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed
 
-	std::vector<std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+	static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
 
 public:
 	can_bus_t(int conf_file);
@@ -91,5 +91,6 @@ public:
 	openxc_VehicleMessage next_vehicle_message();
 	void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
 
-	const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
+	const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
+	static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
 };
diff --git a/src/can/can-message-definition.cpp b/src/can/can-message-definition.cpp
index 8272457..7aca19e 100644
--- a/src/can/can-message-definition.cpp
+++ b/src/can/can-message-definition.cpp
@@ -17,11 +17,15 @@
 
 #include "can-message-definition.hpp"
 
-can_message_definition_t::can_message_definition_t(uint8_t bus)
+can_message_definition_t::can_message_definition_t(const std::string bus)
 	: bus_{bus}, last_value_(CAN_MESSAGE_SIZE)
 {}
 
-can_message_definition_t::can_message_definition_t(uint8_t bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed)
+can_message_definition_t::can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed)
+: bus_{bus}, id_{id}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_(CAN_MESSAGE_SIZE)
+{}
+
+can_message_definition_t::can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed)
 	: bus_{bus}, id_{id}, format_{format}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_(CAN_MESSAGE_SIZE)
 {}
 
diff --git a/src/can/can-message-definition.hpp b/src/can/can-message-definition.hpp
index 1c7199e..921b58a 100644
--- a/src/can/can-message-definition.hpp
+++ b/src/can/can-message-definition.hpp
@@ -35,7 +35,7 @@
 class can_message_definition_t
 {
 private:
-	uint8_t bus_; /*!< bus_ - Address of CAN bus device. */
+	std::string bus_; /*!< bus_ - Address of CAN bus device. */
 	uint32_t id_; /*!< id_ - The ID of the message.*/
 	can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
 	frequency_clock_t frequency_clock_; /*!<  clock_ - an optional frequency clock to control the output of this
@@ -48,8 +48,9 @@ private:
  										  *	needs to compare an incoming CAN message with the previous frame.*/
 	
 public:
-	can_message_definition_t(uint8_t bus);
-	can_message_definition_t(uint8_t bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
+	can_message_definition_t(const std::string bus);
+	can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
+	can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
 
 	uint32_t get_id() const;
 };
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
index cc4adb4..6b40d91 100644
--- a/src/can/can-message.cpp
+++ b/src/can/can-message.cpp
@@ -170,7 +170,7 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
 		format = can_message_format_t::EXTENDED;
 	else
 		format = can_message_format_t::STANDARD;
-
+		
 	switch(format)
 	{
 		case can_message_format_t::STANDARD:
diff --git a/src/configuration-generated.cpp b/src/configuration-generated.cpp
index be3bc36..fd2e330 100644
--- a/src/configuration-generated.cpp
+++ b/src/configuration-generated.cpp
@@ -41,8 +41,8 @@ std::vector<can_message_set_t> CAN_MESSAGE_SET =
 
 std::vector<std::vector<can_message_definition_t>> CAN_MESSAGES_DEFINITION = {
 	{
-		can_message_definition_t(0, 0x620, can_message_format_t::STANDARD, frequency_clock_t(), false),
-		can_message_definition_t(0, 0x442, can_message_format_t::STANDARD, frequency_clock_t(), false),
+		can_message_definition_t("vcan0", 0x620, can_message_format_t::STANDARD, frequency_clock_t(), false),
+		can_message_definition_t("vcan0", 0x442, can_message_format_t::STANDARD, frequency_clock_t(), false),
 	},
 };
 
@@ -59,4 +59,9 @@ std::vector<std::vector<can_signal_t>> SIGNALS = {
 
 configuration_t::configuration_t()
 	: can_message_set_{CAN_MESSAGE_SET}, can_message_definition_{CAN_MESSAGES_DEFINITION}, can_signals_{SIGNALS}, obd2_signals_{OBD2_PIDS}
-{}
\ No newline at end of file
+{}
+
+const std::string configuration_t::get_diagnostic_bus() const
+{
+	return "vcan0";
+}
\ No newline at end of file
diff --git a/src/configuration.cpp b/src/configuration.cpp
index e6114cb..ec12d8f 100644
--- a/src/configuration.cpp
+++ b/src/configuration.cpp
@@ -42,7 +42,7 @@ can_bus_t& configuration_t::get_can_bus_manager()
 	return can_bus_manager_;
 }
 
-const std::vector<std::shared_ptr<can_bus_dev_t>>& configuration_t::get_can_bus_devices()
+const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& configuration_t::get_can_bus_devices()
 {
 	return can_bus_manager_.get_can_devices();
 }
diff --git a/src/configuration.hpp b/src/configuration.hpp
index 214b3e7..224672e 100644
--- a/src/configuration.hpp
+++ b/src/configuration.hpp
@@ -61,7 +61,9 @@ class configuration_t
 
 		can_bus_t& get_can_bus_manager();
 
-		const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
+		const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
+
+		const std::string get_diagnostic_bus() const;
 
 		diagnostic_manager_t& get_diagnostic_manager() ;
 
diff --git a/src/diagnostic/active-diagnostic-request.cpp b/src/diagnostic/active-diagnostic-request.cpp
index 9d0f6aa..fcdbc97 100644
--- a/src/diagnostic/active-diagnostic-request.cpp
+++ b/src/diagnostic/active-diagnostic-request.cpp
@@ -16,9 +16,12 @@
  */
 
 #include <fnmatch.h>
+#include <map>
 
 #include "active-diagnostic-request.hpp"
 
+#include "../configuration.hpp"
+
 std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
 
 bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
@@ -52,9 +55,8 @@ active_diagnostic_request_t::active_diagnostic_request_t()
 	  in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()}
 {}
 
-active_diagnostic_request_t::active_diagnostic_request_t(std::shared_ptr<can_bus_dev_t> bus, DiagnosticRequest* request,
-		const std::string& name, bool wait_for_multiple_responses,
-		const DiagnosticResponseDecoder decoder,
+active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
+		const std::string& name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz)
 	: bus_{bus}, id_{request->arbitration_id}, handle_{nullptr}, name_{name},
 	  decoder_{decoder}, callback_{callback}, recurring_{frequencyHz ? true : false}, wait_for_multiple_responses_{wait_for_multiple_responses},
@@ -66,9 +68,9 @@ uint32_t active_diagnostic_request_t::get_id() const
 	return id_;
 }
 
-std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev()
+const std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev() const
 {
-	return bus_;
+	return can_bus_t::get_can_device(bus_);
 }
 
 DiagnosticRequestHandle* active_diagnostic_request_t::get_handle()
diff --git a/src/diagnostic/active-diagnostic-request.hpp b/src/diagnostic/active-diagnostic-request.hpp
index f18282f..b40ae08 100644
--- a/src/diagnostic/active-diagnostic-request.hpp
+++ b/src/diagnostic/active-diagnostic-request.hpp
@@ -56,7 +56,7 @@ typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* re
  */
 class active_diagnostic_request_t {
 private:
-	std::shared_ptr<can_bus_dev_t> bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
+	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.*/
@@ -82,15 +82,16 @@ private:
 public:
 	bool operator==(const active_diagnostic_request_t& b);
 	active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
+
 	active_diagnostic_request_t();
 	active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
-	active_diagnostic_request_t(std::shared_ptr<can_bus_dev_t> bus, DiagnosticRequest* request,
+	active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
 		const std::string& name, bool wait_for_multiple_responses,
 		const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz);
 	
 	uint32_t get_id() const;
-	std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
+	const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
 	DiagnosticRequestHandle* get_handle();
 	const std::string get_name() const;
 	static std::string& get_prefix();
diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp
index 21a599d..1477b2b 100644
--- a/src/diagnostic/diagnostic-manager.cpp
+++ b/src/diagnostic/diagnostic-manager.cpp
@@ -33,10 +33,10 @@ diagnostic_manager_t::diagnostic_manager_t()
 	: initialized_{false}
 {}
 
-bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
+bool diagnostic_manager_t::initialize()
 {
 	// Mandatory to set the bus before intiliaze shims.
-	bus_ = cbd;
+	bus_ = configuration_t::instance().get_diagnostic_bus();
 
 	init_diagnostic_shims();
 	reset();
@@ -153,7 +153,7 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const
 
 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 {
-	return bus_;
+	return can_bus_t::get_can_device(bus_);
 }
 
 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
@@ -178,7 +178,7 @@ bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::st
 
 			find_and_erase(entry, non_recurring_requests_);
 			DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
-					bus_->get_device_name(), request_string);
+					bus_, request_string);
 
 			non_recurring_requests_.push_back(entry);
 	}
@@ -227,7 +227,7 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con
 					sizeof(request_string));
 
 			DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
-					frequencyHz, bus_->get_device_name().c_str(), request_string);
+					frequencyHz, bus_.c_str(), request_string);
 
 			uint64_t usec;
 			sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
@@ -343,7 +343,7 @@ int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *
 
 //	if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 //		dm.clear_to_send(adr))
-	if(adr != nullptr && adr->get_can_bus_dev() == dm.bus_)
+	if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev())
 	{
 		adr->get_frequency_clock().tick();
 		start_diagnostic_request(&dm.shims_, adr->get_handle());
@@ -376,7 +376,7 @@ DiagnosticShims& diagnostic_manager_t::get_shims()
 
 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 {
-	std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
+	std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
 	return can_bus_dev->shims_send(arbitration_id, data, size);
 }
 
diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp
index 71662ba..ff055d5 100644
--- a/src/diagnostic/diagnostic-manager.hpp
+++ b/src/diagnostic/diagnostic-manager.hpp
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <systemd/sd-event.h>
+#include <map>
 #include <vector>
 
 #include "uds/uds.h"
@@ -49,10 +50,10 @@ protected:
 	static void shims_timer();
 
 private:
-	DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
-							 * library (uds-c) into the VI's CAN peripheral.*/
-	std::shared_ptr<can_bus_dev_t> 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. If NULL, all requests require an explicit bus.*/
+	DiagnosticShims shims_; /*!< shims_ - A map of 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*/
@@ -63,7 +64,7 @@ private:
 public:
 	diagnostic_manager_t();
 
-	bool initialize(std::shared_ptr<can_bus_dev_t> cbd);
+	bool initialize();
 
 	std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
 	DiagnosticShims& get_shims();
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index f60790f..074e95c 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -246,7 +246,7 @@ extern "C"
 		/// Initialize Diagnostic manager that will handle obd2 requests.
 		/// We pass by default the first CAN bus device to its Initialization.
 		/// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
-		if(configuration_t::instance().get_diagnostic_manager().initialize(can_bus_manager.get_can_devices().front()))
+		if(configuration_t::instance().get_diagnostic_manager().initialize())
 			return 0;
 
 		ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");