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 <systemd/sd-event.h>
  21 #include <map>
  22 #include <vector>
  23
  24 #include "uds/uds.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"
  29
  30 #include "../low-can-binding.hpp"
  31
  32 /* Private: Each CAN bus needs its own set of shim functions, so this should
  33  * match the maximum CAN controller count.
  34  */
  35 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
  36 #define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
  37
  38 class active_diagnostic_request_t;
  39
  40 /**
  41  * @brief The core structure for running the diagnostics module on the VI.
  42  *
  43  * @desc This stores details about the active requests and shims required to connect
  44  * the diagnostics library to the VI's CAN peripheral.
  45  */
  46 class diagnostic_manager_t {
  47 protected:
  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();
  51
  52 private:
  53         DiagnosticShims shims_; /*!< shims_ - A map of shim functions for each CAN bus that plug the diagnostics
  54                                                                                                         * library (uds-c) into the VI's CAN peripheral.*/
  55         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
  56                                                   * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
  57         std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
  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 removed*/
  60         bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
  61
  62         void init_diagnostic_shims();
  63         void reset();
  64 public:
  65         diagnostic_manager_t();
  66
  67         bool initialize();
  68
  69         std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
  70         DiagnosticShims& get_shims();
  71
  72         void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
  73         void cancel_request(active_diagnostic_request_t* entry);
  74         void cleanup_request(active_diagnostic_request_t* entry, bool force);
  75         void cleanup_active_requests(bool force);
  76         active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
  77
  78         bool validate_optional_request_attributes(float frequencyHz);
  79
  80         void checkSupportedPids(const active_diagnostic_request_t& request,
  81                 const DiagnosticResponse& response, float parsedPayload);
  82
  83         // Subscription parts
  84         bool add_request(DiagnosticRequest* request, const std::string name,
  85                 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
  86                 const DiagnosticResponseCallback callback);
  87         bool add_recurring_request(DiagnosticRequest* request, const char* name,
  88                 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
  89                 const DiagnosticResponseCallback callback, float frequencyHz);
  90
  91         // Sendig requests part
  92         bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
  93         bool clear_to_send(active_diagnostic_request_t* request) const;
  94         static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
  95
  96         // Decoding part
  97         openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const;
  98         openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
  99         openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
 100         bool is_diagnostic_response(const can_message_t& cm);
 101
 102 };