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 "can/can-bus-dev.hpp"
24 #include "can/can-message.hpp"
25 #include "obd2/active-diagnostic-request.hpp"
27 #include "low-can-binding.hpp"
29 /* Private: Each CAN bus needs its own set of shim functions, so this should
30 * match the maximum CAN controller count.
32 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
35 * @brief The core structure for running the diagnostics module on the VI.
37 * @desc This stores details about the active requests and shims required to connect
38 * the diagnostics library to the VI's CAN peripheral.
40 class diagnostic_manager_t {
42 static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
43 static void shims_logger(const char* m, ...);
44 static void shims_timer();
47 DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
48 * library (uds-c) into the VI's CAN peripheral.*/
49 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
50 * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
51 std::queue<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
52 * a response is received for a recurring request or it times out, it is
53 * popped from the queue and pushed onto the back. */
54 std::vector<active_diagnostic_request_t> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
55 * response is received for a non-recurring request or it times out, it is
56 * removed from this list and placed back in the free list.*/
57 std::vector<active_diagnostic_request_t> free_request_entries_; /*!< freeRequestEntries - A list of all available slots for active diagnostic
58 * requests. This free list is backed by statically allocated entries in
59 * the requestListEntries attribute.*/
60 std::vector<active_diagnostic_request_t> request_list_entries_ /*!< requestListEntries - Static allocation for all active diagnostic requests.*/
62 bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
65 diagnostic_manager_t();
66 diagnostic_manager_t(can_bus_dev_t& bus);
68 void init_diagnostic_shims();
70 can_bus_dev_t* get_can_bus_dev();
72 void checkSupportedPids(const active_diagnostic_request_t& request,
73 const DiagnosticResponse& response, float parsedPayload);
75 bool addRecurringRequest(DiagnosticRequest* request, const char* name,
76 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
77 const DiagnosticResponseCallback callback, float frequencyHz);
81 void add_request(int pid);