2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
23 #include "../utils/socketcan-bcm.hpp"
25 #include "uds/uds_types.h"
26 #include "../utils/timer.hpp"
27 #include "../can/can-bus-dev.hpp"
29 class active_diagnostic_request_t;
30 class diagnostic_manager_t;
32 /// @brief The signature for an optional function that can apply the neccessary
33 /// formula to translate the binary payload into meaningful data.
35 /// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
36 /// a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas.
37 /// @param[in] parsed_payload - the entire payload of the response parsed as an int.
39 /// @return float value after decoding.
41 typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
42 float parsed_payload);
44 /// @brief: The signature for an optional function to handle a new diagnostic
47 /// @param[in] request - The original diagnostic request.
48 /// @param[in] response - The response object that was just received.
49 /// @param[in] parsed_payload - The payload of the response, parsed as a float.
51 typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request,
52 const DiagnosticResponse* response, float parsed_payload);
55 /// @brief An active diagnostic request, either recurring or one-time.
57 /// Will host a diagnostic_message_t class members to describe an on going
58 /// diagnostic request on the CAN bus. Diagnostic message will be converted to
59 /// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
60 /// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
61 /// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
62 /// an active_diagnostic_request_t object before sending it.
64 class active_diagnostic_request_t {
66 std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on
67 uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request.
68 DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between
69 ///< sending the frames of the request and receiving all frames of the response.
70 std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
71 ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format.
72 static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting
73 ///< incoming CAN messages.
74 DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
75 ///< to this request. If the decoder is NULL, the output will include the raw payload
76 ///< instead of a parsed value.
77 DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
78 ///< response is received for this request.
79 bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
80 ///< The frequencyClock attribute controls how often a recurrin request is made.
81 bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request
82 ///< it will be removed from the active list. If true, the request will remain active until the timeout
83 ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).
84 bool in_flight_; ///< in_flight_ - True if the request has been sent and we are waiting for a response.
85 frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
86 ///< recurring request. If the request is not reecurring, this attribute is not used.
87 frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
88 ///< this request was sent.
89 utils::socketcan_bcm_t socket_; ///< tx_socket_ - A BCM socket setup to send cyclic message to CAN ID 7DF.
91 bool operator==(const active_diagnostic_request_t& b);
92 active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
94 active_diagnostic_request_t();
95 active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
96 active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
97 const std::string& name, bool wait_for_multiple_responses,
98 const DiagnosticResponseDecoder decoder,
99 const DiagnosticResponseCallback callback, float frequencyHz);
101 uint32_t get_id() const;
102 const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
103 DiagnosticRequestHandle* get_handle();
104 uint16_t get_pid() const;
105 const std::string get_name() const;
106 static std::string& get_prefix();
107 DiagnosticResponseDecoder& get_decoder();
108 DiagnosticResponseCallback& get_callback();
109 bool get_recurring() const;
110 bool get_in_flight() const;
111 frequency_clock_t& get_frequency_clock();
112 frequency_clock_t& get_timeout_clock();
113 utils::socketcan_bcm_t& get_socket();
115 void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
116 void set_in_flight(bool val);
118 static bool is_diagnostic_signal(const std::string& name);
123 bool response_received() const;
124 bool request_completed();