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.
20 #include <systemd/sd-event.h>
24 #include "../utils/socketcan-bcm.hpp"
26 #include "openxc.pb.h"
27 #include "../can/can-bus.hpp"
28 #include "active-diagnostic-request.hpp"
30 /// Each CAN bus needs its own set of shim functions, so this should
31 /// match the maximum CAN controller count.
33 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
34 #define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
36 class active_diagnostic_request_t;
39 /// @brief The core structure for running the diagnostics module by the binding.
41 /// This stores details about the active requests and shims required to connect
42 /// the diagnostics library to the CAN device.
44 class diagnostic_manager_t {
46 DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics
47 * library (uds-c) into the VI's CAN peripheral.*/
48 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
49 * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
50 std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
51 std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
52 * response is received for a non-recurring request or it times out, it is removed*/
53 bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
54 utils::socketcan_bcm_t socket_; ///< socket_ - a BCM socket with 8 RX_SETUP jobs for the 8 CAN ID on which ECU could respond.
55 struct sd_event_source* event_source_;
57 void init_diagnostic_shims();
59 int add_rx_filter(uint32_t can_id);
61 static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
62 static void shims_logger(const char* m, ...);
63 static void shims_timer();
65 diagnostic_manager_t();
69 utils::socketcan_bcm_t& get_socket();
70 const std::string get_bus_name() const;
71 const std::string get_bus_device_name() const;
72 active_diagnostic_request_t* get_last_recurring_requests() const;
73 DiagnosticShims& get_shims();
76 void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
77 void cancel_request(active_diagnostic_request_t* entry);
78 void cleanup_request(active_diagnostic_request_t* entry, bool force);
79 void cleanup_active_requests(bool force);
80 active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
83 active_diagnostic_request_t* add_request(DiagnosticRequest* request, const std::string& name,
84 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
85 const DiagnosticResponseCallback callback);
86 bool validate_optional_request_attributes(float frequencyHz);
87 active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name,
88 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
89 const DiagnosticResponseCallback callback, float frequencyHz);
92 openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response);
93 openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
94 openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
95 bool is_diagnostic_response(const can_message_t& cm);