4 files changed, 313 insertions, 40 deletions

diff --git a/src/diagnostic/active-diagnostic-request.cpp b/src/diagnostic/active-diagnostic-request.cpp
index 251fddb..430e4f6 100644
--- a/src/diagnostic/active-diagnostic-request.cpp
+++ b/src/diagnostic/active-diagnostic-request.cpp
@@ -17,35 +17,88 @@
 
 #include "active-diagnostic-request.hpp"
 
+bool& operator==(const active_diagnostic_request_t& adr) const
+{
+	return (bus_ == adr.bus_ && id_ == adr.id_ && handle_ == adr.handle_) ? true : false;
+}
+
+active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr)
+	: can_bus_dev_{adr.can_bus_dev_}, id_{adr.id_}, handle_{adr.handle_}, name_{adr.name_},
+	  decoder_{adr.decoder_}, callback_{adr.callback_}, reccuring_{adr.reccuring_}, wait_for_multiple_responses_{adr.wait_for_multiple_responses_},
+	  in_flight_{adr.in_flight_}, frequency_clock_{adr.frequency_clock_}, timeout_clock_{adr.timeout_clock_}
+{}
+
 active_diagnostic_request_t::active_diagnostic_request_t()
-	: can_bus_dev_{nullptr}, uint32_t id_{0}, DiagnosticRequestHandle{nullptr}, name_{""},
+	: can_bus_dev_{nullptr}, id_{0}, handle_{nullptr}, name_{""},
 	  decoder_{nullptr}, callback_{nullptr}, reccuring_{false}, wait_for_multiple_responses_{false},
 	  in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()}
 {}
 
-void updateDiagnosticRequestEntry(CanBus* bus, DiagnosticRequest* request,
-		const char* name, bool waitForMultipleResponses,
+active_diagnostic_request_t(can_bus_dev_t* 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}, reccuring_{frequencyHz ? true : false}, wait_for_multiple_responses_{wait_for_multiple_responses},
+	  in_flight_{false}, frequency_clock_{frequency_clock_t(frequencyHz)}, timeout_clock_{frequency_clock_t(10)}
 {
-	entry->bus = bus;
-	entry->arbitration_id = request->arbitration_id;
 	entry->handle = generate_diagnostic_request(
-			&manager->shims[bus->address - 1], request, NULL);
-	if(name != NULL) {
-		strncpy(entry->name, name, MAX_GENERIC_NAME_LENGTH);
-	} else {
-		entry->name[0] = '\0';
-	}
-	entry->waitForMultipleResponses = waitForMultipleResponses;
-
-	entry->decoder = decoder;
-	entry->callback = callback;
-	entry->recurring = frequencyHz != 0;
-	entry->frequencyClock = {0};
-	entry->frequencyClock.frequency = entry->recurring ? frequencyHz : 0;
-	// time out after 100ms
-	entry->timeoutClock = {0};
-	entry->timeoutClock.frequency = 10;
-	entry->inFlight = false;
-	}
\ No newline at end of file
+	&manager->shims[bus->address - 1], request, NULL);
+}
+
+can_bus_dev_t* active_diagnostic_request_t::get_can_bus_dev()
+{
+	return can_bus_dev_;
+}
+
+DiagnosticRequestHandle& active_diagnostic_request_t::get_handle()
+{
+	return handle_;
+}
+
+bool active_diagnostic_request_t::get_recurring() const
+{
+	return recurring_;
+}
+
+bool active_diagnostic_request_t::get_in_flight() const
+{
+	return in_flight_;
+}
+
+void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest& request)
+{
+	handle_ = generate_diagnostic_request(shims_, request, nullptr)
+}
+
+void active_diagnostic_request_t::set_in_flight(bool val)
+{
+	in_flight_ = val;
+}
+
+bool active_diagnostic_request_t::timed_out() const
+{
+	// don't use staggered start with the timeout clock
+	return timeout_clock_.elapsed(false);
+}
+
+/// @brief Returns true if a sufficient response has been received for a
+/// diagnostic request.
+///
+/// This is true when at least one response has been received and the request is
+/// configured to not wait for multiple responses. Functional broadcast requests
+/// may often wish to wait the full 100ms for modules to respond.
+bool active_diagnostic_request_t::response_received() const
+{
+	return !wait_for_multiple_responses_ &&
+				handle_.completed;
+}
+
+/// @brief Returns true if the request has timed out waiting for a response,
+/// or a sufficient number of responses has been received.
+///
+bool active_diagnostic_request_t::request_completed() const
+{
+	return response_received() || 
+		(timed_out() && diagnostic_request_sent(handle_));
+}
\ No newline at end of file
diff --git a/src/diagnostic/active-diagnostic-request.hpp b/src/diagnostic/active-diagnostic-request.hpp
index f1128c5..1e996c0 100644
--- a/src/diagnostic/active-diagnostic-request.hpp
+++ b/src/diagnostic/active-diagnostic-request.hpp
@@ -79,9 +79,25 @@ private:
 	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:
+	bool& operator==(const active_diagnostic_request_t& adr) const;
+	active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
 	active_diagnostic_request_t();
-
-	void updateDiagnosticRequestEntry(diagnostic_manager_t* manager, 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&&) = default;
+	active_diagnostic_request_t(const active_diagnostic_request_t&) = default;
+	active_diagnostic_request_t(can_bus_dev_t* bus, DiagnosticRequest* request,
+		const std::string& name, bool waitForMultipleResponses,
+		const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz);
+	
+	can_bus_dev_t* get_can_bus_dev();
+	DiagnosticRequestHandle& get_handle();
+	bool get_recurring() const;
+	bool get_in_flight() const;
+
+	void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
+	void set_in_flight(bool val);
+
+	bool timed_out() const;
+	bool response_received() const;
+	bool request_completed() const;
 };
diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp
index 547b087..0b59809 100644
--- a/src/diagnostic/diagnostic-manager.cpp
+++ b/src/diagnostic/diagnostic-manager.cpp
@@ -22,17 +22,215 @@
 #include "uds/uds.h"
 #include "../configuration.hpp"
 
+#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
+#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
 #define MAX_REQUEST_ENTRIES 50
 
 diagnostic_manager_t::diagnostic_manager_t()
-	: request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t())
-{}
+	: request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+{
+	reset();
+}
 
 diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus)
-	: bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t())
-{}
+	: bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+{
+	reset();
+}
+
+void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t& entry, std::vector<active_diagnostic_request_t>& requests_list)
+{
+	auto i = std::find(requests_list.begin(), requests_list.end(), entry);
+	if ( i != requests_list.end())
+		requests_list.erase(i);
+}
+
+/// Move the entry to the free list and decrement the lock count for any
+/// CAN filters it used.
+void diagnostic_manager_t::cancel_request(active_diagnostic_request_t& entry)
+{
+	free_request_entries_.push_back(entry);
+	/* TODO: implement acceptance filters.
+	if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
+		for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
+				filter < OBD2_FUNCTIONAL_RESPONSE_START +
+					OBD2_FUNCTIONAL_RESPONSE_COUNT;
+				filter++) {
+			removeAcceptanceFilter(entry.bus_, filter,
+					CanMessageFormat::STANDARD, getCanBuses(),
+					getCanBusCount());
+		}
+	} else {
+		removeAcceptanceFilter(entry.bus_,
+				entry.arbitration_id_ +
+					DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
+				CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
+	}*/
+}
+
+void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t& entry, bool force)
+{
+	if(force || (entry.get_in_flight() && entry.request_completed()))
+	{
+		entry.set_in_flight(false);
+
+		char request_string[128] = {0};
+		diagnostic_request_to_string(&entry.get_handle().request,
+			request_string, sizeof(request_string));
+		if(entry.get_recurring())
+		{
+			find_and_erase(entry, recurring_requests_);
+			if(force)
+				cancel_request(entry);
+			else
+			{
+				DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
+				recurring_requests_.push_back(entry);
+			}
+		}
+		else
+		{
+			DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
+			find_and_erase(entry, non_recurring_requests_);
+			cancel_request(entry);
+		}
+	}
+}
+
+/// @brief Clean up the request list, move as many to the free list as possible
+void diagnostic_manager_t::cleanup_active_requests(bool force)
+{
+	for(auto& entry : non_recurring_requests_)
+		cleanup_request(entry, force);
+
+	for(auto& entry : recurring_requests_)
+		cleanup_request(entry, force);
+}
+
+/// @brief Note that this pops it off of whichver list it was on and returns it, so make
+/// sure to add it to some other list or it'll be lost.
+bool diagnostic_manager_t::lookup_recurring_request(const DiagnosticRequest* request)
+{
+	active_diagnostic_request_t existingEntry;
+	for (auto& entry : recurring_requests_)
+	{
+		active_diagnostic_request_t& candidate = entry;
+		if(candidate.get_can_bus_dev()->get_device_name() == bus_->get_device_name() &&
+			diagnostic_request_equals(&candidate.get_handle().request, request))
+		{
+			find_and_erase(entry, recurring_requests_);
+			//existingEntry = entry;
+			return true;
+			break;
+		}
+	}
+	return false;
+}
+
+void diagnostic_manager_t::reset()
+{
+	if(initialized_)
+	{
+		DEBUG(binder_interface, "Clearing existing diagnostic requests");
+		cleanup_active_requests(true);
+	}
+
+	for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++)
+		free_request_entries_.push_back(request_list_entries_[i]);
+}
+
+can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev()
+{
+	return bus_;
+}
+
+active_diagnostic_request_t& diagnostic_manager_t::get_free_entry()
+{
+	//FIXME: Test against empty vector
+	//if (request_list_entries_.empty())
+	//	return;
+
+	active_diagnostic_request_t& adr = request_list_entries_.back();
+	request_list_entries_.pop_back();
+	return adr;
+}
+
+bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
+	bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
+	const DiagnosticResponseCallback callback)
+{
+	cleanup_active_requests(false);
+
+	bool added = true;
+	active_diagnostic_request_t& entry = get_free_entry();
+
+	// TODO: implement Acceptance Filter
+	//	if(updateRequiredAcceptanceFilters(bus, request)) {
+		entry = active_diagnostic_request_t(bus_, request, name,
+				wait_for_multiple_responses, decoder, callback, 0);
+		entry.set_handle(shims_, request);
+
+		char request_string[128] = {0};
+		diagnostic_request_to_string(&entry.get_handle().request, request_string,
+				sizeof(request_string));
+
+		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);
+
+		non_recurring_requests_.push_back(entry);
+
+	return added;
+}
 
-bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
+{
+	if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
+		DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
+			frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
+		return false;
+	}
+	return true;
+}
+
+bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
+		bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz)
+{
+	if(!validate_optional_request_attributes(frequencyHz))
+		return false;
+
+	cleanup_active_requests(false);
+
+	bool added = true;
+	if(lookup_recurring_request(request))
+	{
+		active_diagnostic_request_t& entry = get_free_entry();
+		// TODO: implement Acceptance Filter
+		//if(updateRequiredAcceptanceFilters(bus, request)) {
+			entry = active_diagnostic_request_t(bus_, request, name,
+					wait_for_multiple_responses, decoder, callback, frequencyHz);
+			entry.set_handle(shims_, request);
+
+			char request_string[128] = {0};
+			diagnostic_request_to_string(&entry.get_handle().request, request_string,
+					sizeof(request_string));
+
+			find_and_erase(entry, recurring_requests_);
+			DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %d: %s",
+					frequencyHz, bus_->get_device_name(), request_string);
+
+			recurring_requests_.push_back(entry);
+	}
+	else
+	{
+		DEBUG(binder_interface, "Can't add request, one already exists with same key");
+		added = false;
+	}
+	return added;
+}
+
+bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 {
 	can_bus_dev_t *can_bus_dev = config->get_diagnostic_manager().get_can_bus_dev();
 	return can_bus_dev->shims_send(arbitration_id, data, size);
@@ -46,10 +244,6 @@ void diagnostic_manager_t::shims_logger(const char* m, ...)
 void diagnostic_manager_t::shims_timer()
 {}
 
-can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev()
-{
-	return bus_;
-}
 /**
  * @brief initialize shims used by UDS lib and set initialized_ to true.
  *  It is needed before used the diagnostic manager fully because shims are
@@ -57,6 +251,6 @@ can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev()
  */
 void diagnostic_manager_t::init_diagnostic_shims()
 {
-	DiagnosticShims shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
+	shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
 	initialized_ = true;
 }
\ No newline at end of file
diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp
index 2b804a4..e4221de 100644
--- a/src/diagnostic/diagnostic-manager.hpp
+++ b/src/diagnostic/diagnostic-manager.hpp
@@ -32,6 +32,7 @@
  */
 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
 
+
 /**
  * @brief The core structure for running the diagnostics module on the VI.
  *
@@ -49,7 +50,7 @@ private:
 							 * library (uds-c) into the VI's CAN peripheral.*/
 	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.*/
-	std::queue<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
+	std::vector<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
 																  * a response is received for a recurring request or it times out, it is
 																  * popped from the queue and pushed onto the back. */
 	std::vector<active_diagnostic_request_t> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
@@ -69,9 +70,20 @@ public:
 	void init_diagnostic_shims();
 
 	can_bus_dev_t* get_can_bus_dev();
+	active_diagnostic_request_t& get_free_entry();
+
+	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);
+	bool lookup_recurring_request(const DiagnosticRequest* request);
+
+
+	bool validate_optional_request_attributes(float frequencyHz);
+	void reset();
 
 	void checkSupportedPids(const active_diagnostic_request_t& request,
-	const DiagnosticResponse& response, float parsedPayload);
+		const DiagnosticResponse& response, float parsedPayload);
 
 	bool add_request(DiagnosticRequest* request, const std::string name,
 		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
@@ -80,6 +92,4 @@ public:
 	bool add_recurring_request(DiagnosticRequest* request, const char* name,
 		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz);
-
-	void reset();
 };