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 "../can/can-bus-dev.hpp"
26 #include "../can/can-message.hpp"
27 #include "active-diagnostic-request.hpp"
29 #include "../low-can-binding.hpp"
31 /* Private: Each CAN bus needs its own set of shim functions, so this should
32 * match the maximum CAN controller count.
34 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
36 class active_diagnostic_request_t;
39 * @brief The core structure for running the diagnostics module on the VI.
41 * @desc This stores details about the active requests and shims required to connect
42 * the diagnostics library to the VI's CAN peripheral.
44 class diagnostic_manager_t {
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();
51 DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
52 * library (uds-c) into the VI's CAN peripheral.*/
53 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
54 * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
55 std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
56 * a response is received for a recurring request or it times out, it is
57 * popped from the queue and pushed onto the back. */
58 std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
59 * response is received for a non-recurring request or it times out, it is
60 * removed from this list and placed back in the free list.*/
61 std::vector<active_diagnostic_request_t*> free_request_entries_; /*!< freeRequestEntries - A list of all available slots for active diagnostic
62 * requests. This free list is backed by statically allocated entries in
63 * the requestListEntries attribute.*/
64 std::vector<active_diagnostic_request_t*> request_list_entries_; /*!< requestListEntries - Static allocation for all active diagnostic requests.*/
66 bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
68 void init_diagnostic_shims();
71 diagnostic_manager_t();
73 bool initialize(std::shared_ptr<can_bus_dev_t> cbd);
75 std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
76 active_diagnostic_request_t* get_free_entry();
77 DiagnosticShims& get_shims();
79 void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
80 void cancel_request(active_diagnostic_request_t* entry);
81 void cleanup_request(active_diagnostic_request_t* entry, bool force);
82 void cleanup_active_requests(bool force);
83 active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
85 bool validate_optional_request_attributes(float frequencyHz);
87 void checkSupportedPids(const active_diagnostic_request_t& request,
88 const DiagnosticResponse& response, float parsedPayload);
90 bool add_request(DiagnosticRequest* request, const std::string name,
91 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
92 const DiagnosticResponseCallback callback);
94 bool add_recurring_request(DiagnosticRequest* request, const char* name,
95 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
96 const DiagnosticResponseCallback callback, float frequencyHz);
98 bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
99 bool clear_to_send(active_diagnostic_request_t* request) const;
100 static int send_request(sd_event_source *s, uint64_t usec, void *userdata);