# OpenXC Message Format Specification

Version: v0.4-dev

This specification is a part of the [OpenXC platform][OpenXC].

An OpenXC vehicle interface sends generic vehicle data over one or more output
interfaces (e.g. USB or Bluetooth) as JSON or Protocol Buffers (protobuf).

## Binary (Protocol Buffers)

The Protocol Buffer format is specified in the file `openxc.proto`. Those are
published using the standard length-delimited method (any protobuf library
should support this).

## JSON

This document describes the JSON format and includes a high level description of
each type and field. Each JSON message published by a VI is delimited with a
`\0 ` character.

### Extra Values

Any of the following JSON objects may optionally include an `extras`
field. The value may be any valid JSON object or array. The client libraries
will do their best to parse this information into a generic format and pass it
to your application. For example:

    {"name": "steering_wheel_angle", "value": 45,
        "extras": {
            "calibrated": false
        }
    }

### Single Valued

There may not be a 1:1 relationship between input and output signals - i.e. raw
engine timing CAN signals may be summarized in an "engine performance" metric on
the abstract side of the interface.

The expected format of a single valued message is:

    {"name": "steering_wheel_angle", "value": 45}

### Evented

The expected format of an event message is:

    {"name": "button_event", "value": "up", "event": "pressed"}

This format is good for something like a button event, where there are two
discrete pieces of information in the measurement.

### Raw CAN Message format

The format for a raw CAN message:

    {"bus": 1, "id": 1234, "data": "0x12345678"}

**bus** - the numerical identifier of the CAN bus where this message originated,
  most likely 1 or 2 (for a vehicle interface with 2 CAN controllers).

**id** - the CAN message ID

**data** - up to 8 bytes of data from the CAN message's payload, represented as
  a hexidecimal number in a string. Many JSON parser cannot handle 64-bit
  integers, which is why we are not using a numerical data type. Each byte in
  the string *must* be represented with 2 characters, e.g. `0x1` is `0x01` - the
  complete string must have an even number of characters.

### Diagnostic Messages

#### Requests

A request to add or update a diagnostic request is sent to a vehicle interface
with this command format:

    { "command": "diagnostic_request",
      "request": {
          "bus": 1,
          "id": 1234,
          "mode": 1,
          "pid": 5,
          "payload": "0x1234",
          "multiple_responses": false,
          "frequency": 1,
          "name": "my_pid"
        }
      }
    }

**bus** - the numerical identifier of the CAN bus where this request should be
    sent, most likely 1 or 2 (for a vehicle interface with 2 CAN controllers).

**id** - the CAN arbitration ID for the request.

**mode** - the OBD-II mode of the request - 1 through 15 (1 through 9 are the
    standardized modes).

**pid** - (optional) the PID for the request, if applicable.

**payload** - (optional) up to 7 bytes of data for the request's payload
    represented as a hexidecimal number in a string. Many JSON parser cannot
    handle 64-bit integers, which is why we are not using a numerical data type.
    Each byte in the string *must* be represented with 2 characters, e.g. `0x1`
    is `0x01` - the complete string must have an even number of characters.

**name** - (optional, defaults to nothing) A human readable, string name for
  this request. If provided, the response will have a `name` field (much like a
  normal translated message) with this value in place of `bus`, `id`, `mode` and
  `pid`.

**multiple_responses** - (optional, false by default) if true, request will stay
  active for a full 100ms, even after receiving a diagnostic response message.
  This is useful for requests to the functional broadcast arbitration ID
  (`0x7df`) when you need to get responses from multiple modules. It's possible
  to set this to `true` for non-broadcast requests, but in practice you won't
  see any additional responses after the first and it will just take up memory
  in the VI for longer.

**frequency** - (optional, defaults to 0) The frequency in Hz to send this
    request. To send a single non-recurring request, set this to 0 or leave it
    out.

**decoded_type** - (optional, defaults to "obd2" if the request is a recognized
OBD-II mode 1 request, otherwise "none") If specified, the valid values are
`"none"` and `"obd2"`. If `obd2`, the payload will be decoded according to the
OBD-II specification and returned in the `value` field. Set this to `none` to
manually override the OBD-II decoding feature for a known PID.

A diagnostic request's `bus`, `id`, `mode` and `pid` (or lack of a `pid`)
combine to create a unique key to identify a recurring request. This means that
you cannot simultaneosly have recurring requests at 2Hz and 5Hz for the same PID
from the same ID.

If you send a new `diagnostic_request` command with a `bus + id + mode + pid`
key matching an existing recurring request, it will update it with whatever
other parameters you've provided (e.g. it will change the frequency if you
specify one).

To cancel a recurring request, send a `diagnostic_request` command with the
matching request information (i.e. the `bus`, `id`, `mode` and `pid`) but a
frequency of 0.

Non-recurring requests may have the same `bus+id+mode(+pid)` key as a recurring
request, and they will co-exist without issue. As soon as a non-recurring
request is either completed or times out, it is removed from the active list.

If you're just requesting a PID, you can use this minimal field set for the
`request` object:

    {"bus": 1, "id": 1234, "mode": 1, "pid": 5}

#### Responses

The response to a successful request:

    {"bus": 1,
      "id": 1234,
      "mode": 1,
      "pid": 5,
      "success": true,
      "payload": "0x1234",
      "value": 4660}

and to an unsuccessful request, with the `negative_response_code` and no `pid`
echo:

    {"bus": 1,
      "id": 1234,
      "mode": 1,
      "success": false,
      "negative_response_code": 17}

**bus** - the numerical identifier of the CAN bus where this response was
    received.

**id** - the CAN arbitration ID for this response.

**mode** - the OBD-II mode of the original diagnostic request.

**pid** - (optional) the PID for the request, if applicable.

**success** -  true if the response received was a positive response. If this
  field is false, the remote node returned an error and the
  `negative_response_code` field should be populated.

**negative_response_code** - (optional)  If requested node returned an error,
    `success` will be `false` and this field will contain the negative response
    code (NRC).

Finally, the `payload` and `value` fields are mutually exclusive:

**payload** - (optional) up to 7 bytes of data returned in the response,
    represented as a hexadecimal number in a string. Many JSON parser cannot
    handle 64-bit integers, which is why we are not using a numerical data type.

**value** - (optional) if the response had a payload, this may be the
    payload interpreted as an integer.

The response to a simple PID request would look like this:

    {"success": true, "bus": 1, "id": 1234, "mode": 1, "pid": 5, "payload": "0x2"}

### Commands

#### Version Query

The `version` command triggers the VI to inject a firmware version identifier
response into the outgoing data stream.

**Request**

    { "command": "version"}

**Response**

    { "command_response": "version", "message": "v6.0-dev (default)"}

#### Device ID Query

The `device_id` command triggers the VI to inject a unique device ID (e.g. the
MAC address of an included Bluetooth module) into into the outgoing data stream.

**Request**

    { "command": "device_id"}

**Response**

    { "command_response": "device_id", "message": "0012345678"}

### Trace File Format

An OpenXC vehicle trace file is a plaintext file that contains JSON objects,
separated by newlines (which may be either `\r\n` or `\n`, depending on the
platform the trace file was recorded).

The first line may be a metadata object, although this is optional:

```
{"metadata": {
    "version": "v3.0",
    "vehicle_interface_id": "7ABF",
    "vehicle": {
        "make": "Ford",
        "model": "Mustang",
        "trim": "V6 Premium",
        "year": 2013
    },
    "description": "highway drive to work",
    "driver_name": "TJ Giuli",
    "vehicle_id": "17N1039247929"
}
```

The following lines are OpenXC messages with a `timestamp` field added, e.g.:

    {"timestamp": 1385133351.285525, "name": "steering_wheel_angle", "value": 45}

The timestamp is in [UNIX time](http://en.wikipedia.org/wiki/Unix_time)
(i.e. seconds since the UNIX epoch, 00:00:00 UTC, 1/1/1970).

## Official Signals

These signal names are a part of the OpenXC specification, although some
manufacturers may support custom message names.

* steering_wheel_angle
    * numerical, -600 to +600 degrees
    * 10Hz
* torque_at_transmission
    * numerical, -500 to 1500 Nm
    * 10Hz
* engine_speed
    * numerical, 0 to 16382 RPM
    * 10Hz
* vehicle_speed
    * numerical, 0 to 655 km/h (this will be positive even if going in reverse
      as it's not a velocity, although you can use the gear status to figure out
      direction)
    * 10Hz
* accelerator_pedal_position
    * percentage
    * 10Hz
* parking_brake_status
    * boolean, (true == brake engaged)
    * 1Hz, but sent immediately on change
* brake_pedal_status
    * boolean (True == pedal pressed)
    * 1Hz, but sent immediately on change
* transmission_gear_position
    * states: first, second, third, fourth, fifth, sixth, seventh, eighth,
      ninth, tenth, reverse, neutral
    * 1Hz, but sent immediately on change
* gear_lever_position
    * states: neutral, park, reverse, drive, sport, low, first, second, third,
      fourth, fifth, sixth, seventh, eighth, ninth, tenth
    * 1Hz, but sent immediately on change
* odometer
    * Numerical, km
        0 to 16777214.000 km, with about .2m resolution
    * 10Hz
* ignition_status
    * states: off, accessory, run, start
    * 1Hz, but sent immediately on change
* fuel_level
    * percentage
    * 2Hz
* fuel_consumed_since_restart
    * numerical, 0 - 4294967295.0 L (this goes to 0 every time the vehicle
      restarts, like a trip meter)
    * 10Hz
* door_status
    * Value is State: driver, passenger, rear_left, rear_right.
    * Event is boolean: true == ajar
    * 1Hz, but sent immediately on change
* headlamp_status
    * boolean, true is on
    * 1Hz, but sent immediately on change
* high_beam_status
    * boolean, true is on
    * 1Hz, but sent immediately on change
* windshield_wiper_status
    * boolean, true is on
    * 1Hz, but sent immediately on change
* latitude
    * numerical, -89.0 to 89.0 degrees with standard GPS accuracy
    * 1Hz
* longitude
    * numerical, -179.0 to 179.0 degrees with standard GPS accuracy
    * 1Hz

### Signals from Diagnostics Messages

This set of signals is often retreived from OBD-II requests. The units can be
found in the [OBD-II standard](http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).

* engine_load
* engine_coolant_temperature
* barometric_pressure
* commanded_throttle_position
* throttle_position
* fuel_level
* intake_air_temperature
* intake_manifold_pressure
* running_time
* fuel_pressure
* mass_airflow
* accelerator_pedal_position
* ethanol_fuel_percentage
* engine_oil_temperature
* engine_torque

License
=======

Copyright (c) 2012-2014 Ford Motor Company

Licensed under the BSD license.

[OpenXC]: http://openxcplatform.com