#include "uds/uds.h"
#include "uds/uds_types.h"
-#include "can/can-bus.hpp"
-#include "can/can-message.hpp"
+#include "../can/can-bus-dev.hpp"
+#include "../can/can-message.hpp"
-#include "low-can-binding.hpp"
+#include "../low-can-binding.hpp"
class active_diagnostic_request_t;
-class can_bus_dev_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.
* @brief An active diagnostic request, either recurring or one-time.
*/
class active_diagnostic_request_t {
- private:
- can_bus_dev_t* bus_; /*!< can_bus_dev_t* bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
- uint32_t id_; /*!< The arbitration ID (aka message ID) for the request.*/
- DiagnosticRequestHandle* handle_; /*!< DiagnosticRequestHandle* 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_; /*!< std::string 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 waitForMultipleResponses_; /*!< bool waitForMultipleResponses_ - 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 inFlight_; /*!< inFlight - True if the request has been sent and we are waiting for a response.*/
- FrequencyClock frequencyClock_; /*!< FrequencyClock frequencyClock_ - A FrequencyClock struct to control the send rate for a
- * recurring request. If the request is not reecurring, this attribute is not used.*/
- FrequencyClock timeoutClock_; /*!< FrequencyClock timeoutClock_ - A FrequencyClock struct to monitor how long it's been since
- * this request was sent.*/
- public:
+private:
+ 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.*/
+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(can_bus_dev_t* bus, DiagnosticRequest* request,
+ const std::string& name, bool wait_for_multiple_responses,
+ const DiagnosticResponseDecoder decoder,
+ const DiagnosticResponseCallback callback, float frequencyHz);
+
+ can_bus_dev_t* get_can_bus_dev();
+ DiagnosticRequestHandle* get_handle();
+ bool get_recurring() const;
+ bool get_in_flight() const;
+
+ void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
+ void set_in_flight(bool val);
+
+ bool timed_out();
+ bool response_received() const;
+ bool request_completed();
};
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