#pragma once
+#include <string>
#include <vector>
#include "uds/uds.h"
#include "uds/uds_types.h"
+#include "../utils/timer.hpp"
#include "../can/can-bus-dev.hpp"
-#include "../can/can-message.hpp"
-
-#include "../low-can-binding.hpp"
class active_diagnostic_request_t;
class diagnostic_manager_t;
-/* Public: The signature for an optional function that can apply the neccessary
- * formula to translate the binary payload into meaningful data.
- *
- * response - the received DiagnosticResponse (the data is in response.payload,
- * a byte array). This is most often used when the byte order is
- * signiticant, i.e. with many OBD-II PID formulas.
- * parsed_payload - the entire payload of the response parsed as an int.
- */
+/// @brief The signature for an optional function that can apply the neccessary
+/// formula to translate the binary payload into meaningful data.
+///
+/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
+/// a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas.
+/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
+///
+/// @return float value after decoding.
+///
typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
float parsed_payload);
-/* Public: The signature for an optional function to handle a new diagnostic
- * response.
- *
- * manager - The DiagnosticsManager providing this response.
- * request - The original diagnostic request.
- * response - The response object that was just received.
- * parsed_payload - The payload of the response, parsed as a float.
- */
+/// @brief: The signature for an optional function to handle a new diagnostic
+/// response.
+///
+/// @param[in] request - The original diagnostic request.
+/// @param[in] response - The response object that was just received.
+/// @param[in] parsed_payload - The payload of the response, parsed as a float.
+///
typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request,
const DiagnosticResponse* response, float parsed_payload);
-/**
- * @brief An active diagnostic request, either recurring or one-time.
- */
+///
+/// @brief An active diagnostic request, either recurring or one-time.
+///
+/// Will host a diagnostic_message_t class members to describe an on going
+/// diagnostic request on the CAN bus. Diagnostic message will be converted to
+/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
+/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
+/// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
+/// an active_diagnostic_request_t object before sending it.
+///
class active_diagnostic_request_t {
private:
- std::shared_ptr<can_bus_dev_t> bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
- uint32_t id_; /*!< id_ - The arbitration ID (aka message ID) for the request.*/
- DiagnosticRequestHandle* handle_; /*!< handle_ - A handle for the request to keep track of it between
- * sending the frames of the request and receiving all frames of the response.*/
- std::string name_; /*!< name_ - An optional human readable name this response, to be used when publishing received
- * responses. If the name is NULL, the published output will use the raw OBD-II response format.*/
- DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
- * to this request. If the decoder is NULL, the output will include the raw payload
- * instead of a parsed value.*/
- DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
- * response is received for this request.*/
- bool recurring_; /*!< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
- * The frequencyClock attribute controls how often a recurrin request is made.*/
- bool wait_for_multiple_responses_; /*!< wait_for_multiple_responses_ - False by default, when any response is received for a request
- * it will be removed from the active list. If true, the request will remain active until the timeout
- * clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).*/
- bool in_flight_; /*!< in_flight_ - True if the request has been sent and we are waiting for a response.*/
- frequency_clock_t frequency_clock_; /*!< frequency_clock_ - A frequency_clock_t object to control the send rate for a
- * recurring request. If the request is not reecurring, this attribute is not used.*/
- frequency_clock_t timeout_clock_; /*!< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
- * this request was sent.*/
+ std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on
+ uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request.
+ DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between
+ ///< sending the frames of the request and receiving all frames of the response.
+ std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
+ ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format.
+ static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting
+ ///< incoming CAN messages.
+ DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
+ ///< to this request. If the decoder is NULL, the output will include the raw payload
+ ///< instead of a parsed value.
+ DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
+ ///< response is received for this request.
+ bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
+ ///< The frequencyClock attribute controls how often a recurrin request is made.
+ bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request
+ ///< it will be removed from the active list. If true, the request will remain active until the timeout
+ ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).
+ bool in_flight_; ///< in_flight_ - True if the request has been sent and we are waiting for a response.
+ frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
+ ///< recurring request. If the request is not reecurring, this attribute is not used.
+ frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
+ ///< this request was sent.
public:
bool operator==(const active_diagnostic_request_t& b);
active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
+
active_diagnostic_request_t();
active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
- //active_diagnostic_request_t(const active_diagnostic_request_t&) = default;
- active_diagnostic_request_t(std::shared_ptr<can_bus_dev_t> bus, DiagnosticRequest* request,
+ active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
const std::string& name, bool wait_for_multiple_responses,
const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
-
- std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
+
+ uint32_t get_id() const;
+ const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
DiagnosticRequestHandle* get_handle();
+ uint16_t get_pid() const;
+ const std::string get_name() const;
+ static std::string& get_prefix();
+ DiagnosticResponseDecoder& get_decoder();
+ DiagnosticResponseCallback& get_callback();
bool get_recurring() const;
bool get_in_flight() const;
-
+ frequency_clock_t& get_frequency_clock();
+ frequency_clock_t& get_timeout_clock();
+
void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
void set_in_flight(bool val);
+ static bool is_diagnostic_signal(const std::string& name);
+
+ bool should_send();
+
bool timed_out();
bool response_received() const;
bool request_completed();
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