CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  *
   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
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  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.
  16  */
  17
  18 #pragma once
  19
  20 #include <systemd/sd-event.h>
  21 #include <map>
  22 #include <vector>
  23
  24 #include "../utils/socketcan-bcm.hpp"
  25 #include "uds/uds.h"
  26 #include "openxc.pb.h"
  27 #include "../can/can-bus.hpp"
  28 #include "active-diagnostic-request.hpp"
  29
  30 ///  Each CAN bus needs its own set of shim functions, so this should
  31 /// match the maximum CAN controller count.
  32 ///
  33 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
  34 #define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
  35
  36 class active_diagnostic_request_t;
  37
  38 ///
  39 /// @brief The core structure for running the diagnostics module by the binding.
  40 ///
  41 /// This stores details about the active requests and shims required to connect
  42 /// the diagnostics library to the CAN device.
  43 ///
  44 class diagnostic_manager_t {
  45 protected:
  46         static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
  47         static void shims_logger(const char* m, ...);
  48         static void shims_timer();
  49
  50 private:
  51         DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics
  52                                                          * library (uds-c) into the VI's CAN peripheral.*/
  53         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
  54                                                 * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
  55         std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
  56         std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
  57                                                                                                                                            * response is received for a non-recurring request or it times out, it is removed*/
  58         bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
  59         utils::socketcan_bcm_t socket_; ///< rx_socket_ - a BCM socket with 8 RX_SETUP jobs for the 8 CAN ID on which ECU could respond.
  60
  61         void init_diagnostic_shims();
  62         void reset();
  63         int add_rx_filter(uint32_t can_id);
  64 public:
  65         diagnostic_manager_t();
  66
  67         bool initialize();
  68
  69         std::string get_can_bus();
  70         active_diagnostic_request_t* get_last_recurring_requests() const;
  71         DiagnosticShims& get_shims();
  72
  73         void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
  74         void cancel_request(active_diagnostic_request_t* entry);
  75         void cleanup_request(active_diagnostic_request_t* entry, bool force);
  76         void cleanup_active_requests(bool force);
  77         active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
  78
  79         void checkSupportedPids(const active_diagnostic_request_t& request,
  80                 const DiagnosticResponse& response, float parsedPayload);
  81
  82         // Subscription parts
  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);
  90
  91         // Sendig requests part
  92         bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
  93         bool clear_to_send(active_diagnostic_request_t* request) const;
  94         int reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr);
  95         static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
  96
  97         // Decoding part
  98         openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response);
  99         openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
 100         openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
 101         bool is_diagnostic_response(const can_message_t& cm);
 102 };