src/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 <queue>
  21 #include <vector>
  22
  23 #include "uds/uds.h"
  24 #include "../can/can-bus-dev.hpp"
  25 #include "../can/can-message.hpp"
  26 #include "active-diagnostic-request.hpp"
  27
  28 #include "../low-can-binding.hpp"
  29
  30 /* Private: 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
  35 /**
  36  * @brief The core structure for running the diagnostics module on the VI.
  37  *
  38  * @desc This stores details about the active requests and shims required to connect
  39  * the diagnostics library to the VI's CAN peripheral.
  40  */
  41 class diagnostic_manager_t {
  42 protected:
  43         static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
  44         static void shims_logger(const char* m, ...);
  45         static void shims_timer();
  46
  47 private:
  48         DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
  49                                                          * library (uds-c) into the VI's CAN peripheral.*/
  50         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
  51                                                   * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
  52         std::queue<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
  53                                                                                                                                   * a response is received for a recurring request or it times out, it is
  54                                                                                                                                   * popped from the queue and pushed onto the back. */
  55         std::vector<active_diagnostic_request_t> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
  56                                                                                                                                            * response is received for a non-recurring request or it times out, it is
  57                                                                                                                                            * removed from this list and placed back in the free list.*/
  58         std::vector<active_diagnostic_request_t> free_request_entries_; /*!< freeRequestEntries - A list of all available slots for active diagnostic
  59                                                                                                                                          * requests. This free list is backed by statically allocated entries in
  60                                                                                                                                          * the requestListEntries attribute.*/
  61         std::vector<active_diagnostic_request_t> request_list_entries_; /*!< requestListEntries - Static allocation for all active diagnostic requests.*/
  62
  63         bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
  64
  65 public:
  66         diagnostic_manager_t();
  67         diagnostic_manager_t(can_bus_dev_t& bus);
  68
  69         void init_diagnostic_shims();
  70
  71         can_bus_dev_t* get_can_bus_dev();
  72
  73         void checkSupportedPids(const active_diagnostic_request_t& request,
  74         const DiagnosticResponse& response, float parsedPayload);
  75
  76         bool add_request(DiagnosticRequest* request, const std::string name,
  77                 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
  78                 const DiagnosticResponseCallback callback);
  79
  80         bool add_recurring_request(DiagnosticRequest* request, const char* name,
  81                 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
  82                 const DiagnosticResponseCallback callback, float frequencyHz);
  83
  84         void reset();
  85 };