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 class active_diagnostic_request_t;
  36
  37 /**
  38  * @brief The core structure for running the diagnostics module on the VI.
  39  *
  40  * @desc This stores details about the active requests and shims required to connect
  41  * the diagnostics library to the VI's CAN peripheral.
  42  */
  43 class diagnostic_manager_t {
  44 protected:
  45         static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
  46         static void shims_logger(const char* m, ...);
  47         static void shims_timer();
  48
  49 private:
  50         DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
  51                                                          * library (uds-c) into the VI's CAN peripheral.*/
  52         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
  53                                                   * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
  54         std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
  55                                                                                                                                   * a response is received for a recurring request or it times out, it is
  56                                                                                                                                   * popped from the queue and pushed onto the back. */
  57         std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
  58                                                                                                                                            * response is received for a non-recurring request or it times out, it is
  59                                                                                                                                            * removed from this list and placed back in the free list.*/
  60         std::vector<active_diagnostic_request_t*> free_request_entries_; /*!< freeRequestEntries - A list of all available slots for active diagnostic
  61                                                                                                                                          * requests. This free list is backed by statically allocated entries in
  62                                                                                                                                          * the requestListEntries attribute.*/
  63         std::vector<active_diagnostic_request_t*> request_list_entries_; /*!< requestListEntries - Static allocation for all active diagnostic requests.*/
  64
  65         bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
  66
  67         void init_diagnostic_shims();
  68         void reset();
  69 public:
  70         diagnostic_manager_t();
  71
  72         bool initialize(std::shared_ptr<can_bus_dev_t> cbd);
  73
  74         std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
  75         active_diagnostic_request_t* get_free_entry();
  76         DiagnosticShims& get_shims();
  77
  78         void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
  79         void cancel_request(active_diagnostic_request_t* entry);
  80         void cleanup_request(active_diagnostic_request_t* entry, bool force);
  81         void cleanup_active_requests(bool force);
  82         bool lookup_recurring_request(const DiagnosticRequest* request);
  83
  84
  85         bool validate_optional_request_attributes(float frequencyHz);
  86
  87         void checkSupportedPids(const active_diagnostic_request_t& request,
  88                 const DiagnosticResponse& response, float parsedPayload);
  89
  90         bool add_request(DiagnosticRequest* request, const std::string name,
  91                 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
  92                 const DiagnosticResponseCallback callback);
  93
  94         bool add_recurring_request(DiagnosticRequest* request, const char* name,
  95                 bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
  96                 const DiagnosticResponseCallback callback, float frequencyHz);
  97 };