#pragma once
+#include <systemd/sd-event.h>
#include <queue>
#include <vector>
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 pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
+ std::shared_ptr<can_bus_dev_t> 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. If NULL, all requests require an explicit bus.*/
std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
* a response is received for a recurring request or it times out, it is
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();
- diagnostic_manager_t(can_bus_dev_t& bus);
- void init_diagnostic_shims();
+ bool initialize(std::shared_ptr<can_bus_dev_t> cbd);
- can_bus_dev_t* get_can_bus_dev();
+ std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
active_diagnostic_request_t* get_free_entry();
+ 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);
- bool lookup_recurring_request(const DiagnosticRequest* request);
-
+ active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
bool validate_optional_request_attributes(float frequencyHz);
- void reset();
void checkSupportedPids(const active_diagnostic_request_t& request,
const DiagnosticResponse& response, float parsedPayload);
bool add_recurring_request(DiagnosticRequest* request, const char* name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
+
+ bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
+ bool clear_to_send(active_diagnostic_request_t* request) const;
+ static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
};