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>
25 #include "openxc.pb.h"
26 #include "../can/can-bus-dev.hpp"
27 #include "../can/can-message.hpp"
28 #include "active-diagnostic-request.hpp"
30 #include "../low-can-binding.hpp"
32 /* Private: Each CAN bus needs its own set of shim functions, so this should
33 * match the maximum CAN controller count.
35 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
36 #define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
38 class active_diagnostic_request_t;
41 * @brief The core structure for running the diagnostics module on the VI.
43 * @desc This stores details about the active requests and shims required to connect
44 * the diagnostics library to the VI's CAN peripheral.
46 class diagnostic_manager_t {
48 static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
49 static void shims_logger(const char* m, ...);
50 static void shims_timer();
53 DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
54 * library (uds-c) into the VI's CAN peripheral.*/
55 std::shared_ptr<can_bus_dev_t> bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
56 * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
57 std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
58 * a response is received for a recurring request or it times out, it is
59 * popped from the queue and pushed onto the back. */
60 std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
61 * response is received for a non-recurring request or it times out, it is
62 * removed from this list and placed back in the free list.*/
63 std::vector<active_diagnostic_request_t*> free_request_entries_; /*!< freeRequestEntries - A list of all available slots for active diagnostic
64 * requests. This free list is backed by statically allocated entries in
65 * the requestListEntries attribute.*/
66 std::vector<active_diagnostic_request_t*> request_list_entries_; /*!< requestListEntries - Static allocation for all active diagnostic requests.*/
68 bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
70 void init_diagnostic_shims();
73 diagnostic_manager_t();
75 bool initialize(std::shared_ptr<can_bus_dev_t> cbd);
77 std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
78 active_diagnostic_request_t* get_free_entry();
79 DiagnosticShims& get_shims();
81 void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
82 void cancel_request(active_diagnostic_request_t* entry);
83 void cleanup_request(active_diagnostic_request_t* entry, bool force);
84 void cleanup_active_requests(bool force);
85 active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
87 bool validate_optional_request_attributes(float frequencyHz);
89 void checkSupportedPids(const active_diagnostic_request_t& request,
90 const DiagnosticResponse& response, float parsedPayload);
92 bool add_request(DiagnosticRequest* request, const std::string name,
93 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
94 const DiagnosticResponseCallback callback);
96 bool add_recurring_request(DiagnosticRequest* request, const char* name,
97 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
98 const DiagnosticResponseCallback callback, float frequencyHz);
100 bool is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const;
101 active_diagnostic_request_t* is_diagnostic_response(const can_message_t& can_message);
103 openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const;
105 bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
106 bool clear_to_send(active_diagnostic_request_t* request) const;
107 static int send_request(sd_event_source *s, uint64_t usec, void *userdata);