#pragma once
+#include <systemd/sd-event.h>
+#include <map>
#include <vector>
#include "uds/uds.h"
-#include "can/can-bus.hpp"
-#include "can/can-message.hpp"
-#include "obd2/active-diagnostic-request.hpp"
+#include "openxc.pb.h"
+#include "../can/can-bus.hpp"
+#include "active-diagnostic-request.hpp"
-#include "low-can-binding.hpp"
-
-/* Private: Each CAN bus needs its own set of shim functions, so this should
- * match the maximum CAN controller count.
- */
+/// Each CAN bus needs its own set of shim functions, so this should
+/// match the maximum CAN controller count.
+///
#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
+#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
-/**
- * @brief The core structure for running the diagnostics module on the VI.
- *
- * @desc This stores details about the active requests and shims required to connect
- * the diagnostics library to the VI's CAN peripheral.
- */
+class active_diagnostic_request_t;
+
+///
+/// @brief The core structure for running the diagnostics module by the binding.
+///
+/// This stores details about the active requests and shims required to connect
+/// the diagnostics library to the CAN device.
+///
class diagnostic_manager_t {
- protected:
+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_ - 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,
+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,
const DiagnosticResponse& response, float parsedPayload);
- bool addRecurringRequest(DiagnosticRequest* request, const char* name,
- bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz);
+ // Subscription parts
+ bool 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,
+ bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
+ const DiagnosticResponseCallback callback, float frequencyHz);
+
+ // Sendig requests part
+ bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
+ bool clear_to_send(active_diagnostic_request_t* request) const;
+ int reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr);
+ static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
- void reset();
+ // Decoding part
+ openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response);
+ 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);
- void add_request(int pid);
};