#include <map>
#include <vector>
+#include "../utils/socketcan-bcm.hpp"
#include "uds/uds.h"
#include "openxc.pb.h"
#include "../can/can-bus.hpp"
/// the diagnostics library to the CAN device.
///
class diagnostic_manager_t {
-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::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*/
+ utils::socketcan_bcm_t socket_; ///< socket_ - a BCM socket with 8 RX_SETUP jobs for the 8 CAN ID on which ECU could respond.
+ struct sd_event_source* event_source_;
void init_diagnostic_shims();
void reset();
+ int add_rx_filter(uint32_t can_id);
+
+ 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();
public:
diagnostic_manager_t();
bool initialize();
- std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
+ void read_socket();
+ utils::socketcan_bcm_t& get_socket();
+ std::string get_can_bus();
+ active_diagnostic_request_t* get_last_recurring_requests() const;
DiagnosticShims& get_shims();
void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
const DiagnosticResponse& response, float parsedPayload);
// Subscription parts
- bool add_request(DiagnosticRequest* request, const std::string name,
+ active_diagnostic_request_t* add_request(DiagnosticRequest* request, const std::string name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback);
bool validate_optional_request_attributes(float frequencyHz);
- bool add_recurring_request(DiagnosticRequest* request, const char* name,
+ active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
bool is_diagnostic_response(const can_message_t& cm);
-
};