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 requires its own set of shim functions, so this should
31 /// match the maximum CAN controller count.
33 #define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
36 /// @brief The binding structure for running the diagnostics module of the binding.
38 /// This stores details about the active requests and shims required to connect
39 /// the diagnostics library to the CAN device.
41 class diagnostic_manager_t {
43 DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics
44 * library (uds-c) into the VI's CAN peripheral.*/
45 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
46 * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
47 std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
48 std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
49 * response is received for a non-recurring request or it times out, it is removed*/
50 bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
52 void init_diagnostic_shims();
55 static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
56 static void shims_logger(const char* m, ...);
59 diagnostic_manager_t();
60 ~diagnostic_manager_t();
62 bool initialize(std::string diagnostic_bus);
63 bool is_initialized() const;
65 const std::string get_bus_name() const;
66 const std::string get_bus_device_name() const;
67 active_diagnostic_request_t* get_last_recurring_requests() const;
68 DiagnosticShims& get_shims();
70 void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
71 void cancel_request(active_diagnostic_request_t* entry);
72 void cleanup_request(active_diagnostic_request_t* entry, bool force);
73 void cleanup_active_requests(bool force);
74 active_diagnostic_request_t* find_recurring_request(DiagnosticRequest& request);
77 /*active_diagnostic_request_t* add_request(DiagnosticRequest* request, const std::string& name,
78 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
79 const DiagnosticResponseCallback callback);*/
80 bool validate_optional_request_attributes(float frequencyHz);
81 active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name,
82 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
83 const DiagnosticResponseCallback callback, float frequencyHz, bool permanent);
86 openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response, const uint64_t timestamp);
87 openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, std::shared_ptr<message_t> m);
88 openxc_VehicleMessage find_and_decode_adr(std::shared_ptr<message_t> m);
89 bool is_diagnostic_response(std::shared_ptr<message_t> m);