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 "uds/uds_types.h"
24 #include "../can/can-bus-dev.hpp"
25 #include "../can/can-message.hpp"
27 #include "../low-can-binding.hpp"
29 class active_diagnostic_request_t;
30 class diagnostic_manager_t;
32 /* Public: The signature for an optional function that can apply the neccessary
33 * formula to translate the binary payload into meaningful data.
35 * response - the received DiagnosticResponse (the data is in response.payload,
36 * a byte array). This is most often used when the byte order is
37 * signiticant, i.e. with many OBD-II PID formulas.
38 * parsed_payload - the entire payload of the response parsed as an int.
40 typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
41 float parsed_payload);
43 /* Public: The signature for an optional function to handle a new diagnostic
46 * manager - The DiagnosticsManager providing this response.
47 * request - The original diagnostic request.
48 * response - The response object that was just received.
49 * 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 class active_diagnostic_request_t {
59 can_bus_dev_t* bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
60 uint32_t id_; /*!< id_ - The arbitration ID (aka message ID) for the request.*/
61 DiagnosticRequestHandle* handle_; /*!< handle_ - A handle for the request to keep track of it between
62 * sending the frames of the request and receiving all frames of the response.*/
63 std::string name_; /*!< name_ - An optional human readable name this response, to be used when publishing received
64 * responses. If the name is NULL, the published output will use the raw OBD-II response format.*/
65 DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
66 * to this request. If the decoder is NULL, the output will include the raw payload
67 * instead of a parsed value.*/
68 DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
69 * response is received for this request.*/
70 bool recurring_; /*!< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
71 * The frequencyClock attribute controls how often a recurrin request is made.*/
72 bool wait_for_multiple_responses_; /*!< wait_for_multiple_responses_ - False by default, when any response is received for a request
73 * it will be removed from the active list. If true, the request will remain active until the timeout
74 * clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).*/
75 bool in_flight_; /*!< in_flight_ - True if the request has been sent and we are waiting for a response.*/
76 frequency_clock_t frequency_clock_; /*!< frequency_clock_ - A frequency_clock_t object to control the send rate for a
77 * recurring request. If the request is not reecurring, this attribute is not used.*/
78 frequency_clock_t timeout_clock_; /*!< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
79 * this request was sent.*/
81 bool operator==(const active_diagnostic_request_t& b);
82 active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
83 active_diagnostic_request_t();
84 active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
85 active_diagnostic_request_t(const active_diagnostic_request_t&) = default;
86 active_diagnostic_request_t(can_bus_dev_t* bus, DiagnosticRequest* request,
87 const std::string& name, bool wait_for_multiple_responses,
88 const DiagnosticResponseDecoder decoder,
89 const DiagnosticResponseCallback callback, float frequencyHz);
91 can_bus_dev_t* get_can_bus_dev();
92 DiagnosticRequestHandle* get_handle();
93 bool get_recurring() const;
94 bool get_in_flight() const;
96 void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
97 void set_in_flight(bool val);
100 bool response_received() const;
101 bool request_completed();