X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fdiagnostic%2Fdiagnostic-manager.hpp;h=c66e21a5f091ea200c5f0c1f580245b9b8518516;hb=20336cf43a6b312cd03f76dbe68333db18122bd6;hp=8aa9240c6f3cb426df4d2622e58c45fb69cb742c;hpb=fe846f6698710163af5f2658cc90151259b09d0d;p=apps%2Fagl-service-can-low-level.git diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp index 8aa9240c..c66e21a5 100644 --- a/src/diagnostic/diagnostic-manager.hpp +++ b/src/diagnostic/diagnostic-manager.hpp @@ -17,61 +17,82 @@ #pragma once +#include +#include #include #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 +/* 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. + * @brief The core structure for running the diagnostics module by the binding. * * @desc This stores details about the active requests and shims required to connect - * the diagnostics library to the VI's CAN peripheral. + * the diagnostics library to the CAN device. */ class diagnostic_manager_t { - protected: - void shims_logger(const char* m); - 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 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 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 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 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, +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_ - 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 recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/ + std::vector 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 get_can_bus_dev(); + DiagnosticShims& get_shims(); + + void find_and_erase(active_diagnostic_request_t* entry, std::vector& 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; + 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); };