X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fdiagnostic%2Fdiagnostic-manager.hpp;h=5a4278dce6c1088fda12553e07404eb3c0513234;hb=7175a87b640b9920e666bce53f46002ac19d4c21;hp=aab233b87605b670ae1bcb144c3a047d9bf15f41;hpb=62d76aeac93109b75539eb600d05d814f477fa19;p=apps%2Flow-level-can-service.git

diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp
index aab233b..5a4278d 100644
--- a/src/diagnostic/diagnostic-manager.hpp
+++ b/src/diagnostic/diagnostic-manager.hpp
@@ -17,19 +17,25 @@
 
 #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-dev.hpp"
+#include "../can/can-message.hpp"
+#include "active-diagnostic-request.hpp"
 
-#include "low-can-binding.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.
  */
 #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
+#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
+
+class active_diagnostic_request_t;
 
 /**
  * @brief The core structure for running the diagnostics module on the VI.
@@ -39,41 +45,58 @@
  */
 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_ - 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
-							* 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.*/
-
+	DiagnosticShims shims_; /*!< shims_ - A map of 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();
-	diagnostic_manager_t(can_bus_dev_t& bus);
 
-	void init_diagnostic_shims();
+	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);
+
+	bool validate_optional_request_attributes(float frequencyHz);
 
 	void checkSupportedPids(const active_diagnostic_request_t& request,
-	const DiagnosticResponse& response, float parsedPayload);
+		const DiagnosticResponse& response, float parsedPayload);
 
-	bool addRecurringRequest(DiagnosticRequest* request, const char* name,
+	// Subscription parts
+	bool add_request(DiagnosticRequest* request, const std::string name,
+		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback);
+	bool add_recurring_request(DiagnosticRequest* request, const char* name,
 		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
 		const DiagnosticResponseCallback callback, float frequencyHz);
 
-	void reset();
+	// 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;
+	static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
+
+	// Decoding part
+	openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const;
+	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);
 };