- protected:
- void shims_logger(const char* m);
- void shims_timer();
-
- private:
- DiagnosticShims shims_; /*!< shims_ - An array of shim functions for each CAN bus that plug the diagnostics
- * library (uds-c) into the VI's CAN peripheral.*/
- can_bus_dev_t* bus_; /*!< bus_ - A reference to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
- * explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
- std::queue<active_diagnostic_request_t> recurringRequests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
- * a response is received for a recurring request or it times out, it is
- * popped from the queue and pushed onto the back. */
- std::vector<active_diagnostic_request_t> nonrecurringRequests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
- * response is received for a non-recurring request or it times out, it is
- * removed from this list and placed back in the free list.*/
- std::vector<active_diagnostic_request_t> freeRequestEntries_; /*!< freeRequestEntries - A list of all available slots for active diagnostic
- * requests. This free list is backed by statically allocated entries in
- * the requestListEntries attribute.*/
- std::vector<active_diagnostic_request_t> requestListEntries_[50]; /*!< requestListEntries - Static allocation for all active diagnostic requests.*/
-
- bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
-
- public:
- diagnostic_manager_t(can_bus_dev_t& bus);
- void init_diagnostic_shims();
-
- void checkSupportedPids(const active_diagnostic_request_t& request,
+protected:
+ static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
+ static void shims_logger(const char* m, ...);
+ static void shims_timer();
+
+private:
+ DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics
+ * library (uds-c) into the VI's CAN peripheral.*/
+ 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
+ * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
+ std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
+ std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
+ * response is received for a non-recurring request or it times out, it is removed*/
+ bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
+
+ void init_diagnostic_shims();
+ void reset();
+public:
+ diagnostic_manager_t();
+
+ bool initialize();
+
+ std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
+ DiagnosticShims& get_shims();
+
+ void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
+ void cancel_request(active_diagnostic_request_t* entry);
+ void cleanup_request(active_diagnostic_request_t* entry, bool force);
+ void cleanup_active_requests(bool force);
+ active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
+
+ void checkSupportedPids(const active_diagnostic_request_t& request,