Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[DP] Refactor away from diagnosticProtocolList #281

Merged
merged 7 commits into from
Jul 2, 2023
Merged

[DP] Refactor away from diagnosticProtocolList #281

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
fc121d0
[TP]: Fix multiple BAM Tx sessions could be created simultaneously
ad3154 Jun 28, 2023
c025dfb
[Core]: Fix a crash associated to a CF eviction log message
ad3154 Jun 28, 2023
bbe3867
[DP] Refactor away from diagnosticProtocolList
GwnDaan Jun 23, 2023
aeb26c8
[DP] Apply reference-to-const and const functions where possible
GwnDaan Jun 23, 2023
0c269c9
[DP]: Diagnostic Protocol tests and various enhancements
ad3154 Jun 29, 2023
125671d
[DP]: Add DM22, DM11, DM3 tests
ad3154 Jun 30, 2023
cdbbd25
[DP]: Fix DM13 command bit shift, additional tests
ad3154 Jul 2, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
115 changes: 65 additions & 50 deletions examples/diagnostic_protocol/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@

#include <atomic>
#include <csignal>
#include <future>
#include <iostream>
#include <iterator>
#include <memory>
Expand Down Expand Up @@ -66,69 +67,83 @@ int main()

auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);

// Wait to make sure address claiming is done. The time is arbitrary.
//! @todo Check this instead of asuming it is done
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// Make sure address claiming is done before we continue
auto addressClaimedFuture = std::async(std::launch::async, [&TestInternalECU]() {
while (!TestInternalECU->get_address_valid())
std::this_thread::sleep_for(std::chrono::milliseconds(100));
});
if (addressClaimedFuture.wait_for(std::chrono::seconds(5)) == std::future_status::timeout)
{
std::cout << "Address claiming failed. Please make sure that your internal control function can claim a valid address." << std::endl;
return -3;
}

isobus::DiagnosticProtocol::assign_diagnostic_protocol_to_internal_control_function(TestInternalECU);
isobus::DiagnosticProtocol diagnosticProtocol(TestInternalECU);
diagnosticProtocol.initialize();

isobus::DiagnosticProtocol *diagnosticProtocol = isobus::DiagnosticProtocol::get_diagnostic_protocol_by_internal_control_function(TestInternalECU);
// Important: we need to update the diagnostic protocol using the hardware interface periodic update event,
// otherwise the diagnostic protocol will not be able to update its internal state.
auto listenerHandle = isobus::CANHardwareInterface::get_periodic_update_event_dispatcher().add_listener([&diagnosticProtocol]() {
diagnosticProtocol.update();
});

// Make a few test DTCs
isobus::DiagnosticProtocol::DiagnosticTroubleCode testDTC1(1234, isobus::DiagnosticProtocol::FailureModeIdentifier::ConditionExists, isobus::DiagnosticProtocol::LampStatus::None);
isobus::DiagnosticProtocol::DiagnosticTroubleCode testDTC2(567, isobus::DiagnosticProtocol::FailureModeIdentifier::DataErratic, isobus::DiagnosticProtocol::LampStatus::AmberWarningLampSlowFlash);
isobus::DiagnosticProtocol::DiagnosticTroubleCode testDTC3(8910, isobus::DiagnosticProtocol::FailureModeIdentifier::BadIntellegentDevice, isobus::DiagnosticProtocol::LampStatus::RedStopLampSolid);

if (nullptr != diagnosticProtocol)
{
// Set a product identification string (in case someone requests it)
diagnosticProtocol->set_product_identification_code("1234567890ABC");
diagnosticProtocol->set_product_identification_brand("Open-Agriculture");
diagnosticProtocol->set_product_identification_model("AgIsoStack++ CAN Stack DP Example");

// Set a software ID string (This is what tells other ECUs what version your software is)
diagnosticProtocol->set_software_id_field(0, "Diagnostic Protocol Example 1.0.0");
diagnosticProtocol->set_software_id_field(1, "Another version string x.x.x.x");

// Set an ECU ID (This is what tells other ECUs more details about your specific physical ECU)
diagnosticProtocol->set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::HardwareID, "Hardware ID");
diagnosticProtocol->set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::Location, "The Aether");
diagnosticProtocol->set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::ManufacturerName, "None");
diagnosticProtocol->set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::PartNumber, "1234");
diagnosticProtocol->set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::SerialNumber, "1");

// Let's say that our ECU has the capability of a universal terminal working set (as an example) and
// contains weak internal bus termination.
// This info gets reported to any ECU on the bus that requests our capabilities through the
// control function functionalities message.
diagnosticProtocol->ControlFunctionFunctionalitiesMessageInterface.set_functionality_is_supported(isobus::ControlFunctionFunctionalities::Functionalities::MinimumControlFunction, 1, true);
diagnosticProtocol->ControlFunctionFunctionalitiesMessageInterface.set_minimum_control_function_option_state(isobus::ControlFunctionFunctionalities::MinimumControlFunctionOptions::Type1ECUInternalWeakTermination, true);
diagnosticProtocol->ControlFunctionFunctionalitiesMessageInterface.set_functionality_is_supported(isobus::ControlFunctionFunctionalities::Functionalities::UniversalTerminalWorkingSet, 1, true);

// Set the DTCs active. This should put them in the DM1 message
diagnosticProtocol->set_diagnostic_trouble_code_active(testDTC1, true);
diagnosticProtocol->set_diagnostic_trouble_code_active(testDTC2, true);
diagnosticProtocol->set_diagnostic_trouble_code_active(testDTC3, true);

std::this_thread::sleep_for(std::chrono::milliseconds(5000)); // Send the DM1 for a while

// Set the DTCs inactive. This should put them in the DM2 message
diagnosticProtocol->set_diagnostic_trouble_code_active(testDTC1, false);
diagnosticProtocol->set_diagnostic_trouble_code_active(testDTC2, false);
diagnosticProtocol->set_diagnostic_trouble_code_active(testDTC3, false);

std::this_thread::sleep_for(std::chrono::milliseconds(5000)); // Send the DM2 for a while

diagnosticProtocol->clear_inactive_diagnostic_trouble_codes(); // All messages should now be clear!
}
isobus::DiagnosticProtocol::DiagnosticTroubleCode testDTC3(8910, isobus::DiagnosticProtocol::FailureModeIdentifier::BadIntelligentDevice, isobus::DiagnosticProtocol::LampStatus::RedStopLampSolid);

// Set a product identification string (in case someone requests it)
diagnosticProtocol.set_product_identification_code("1234567890ABC");
diagnosticProtocol.set_product_identification_brand("Open-Agriculture");
diagnosticProtocol.set_product_identification_model("AgIsoStack++ CAN Stack DP Example");

// Set a software ID string (This is what tells other ECUs what version your software is)
diagnosticProtocol.set_software_id_field(0, "Diagnostic Protocol Example 1.0.0");
diagnosticProtocol.set_software_id_field(1, "Another version string x.x.x.x");

// Set an ECU ID (This is what tells other ECUs more details about your specific physical ECU)
diagnosticProtocol.set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::HardwareID, "Hardware ID");
diagnosticProtocol.set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::Location, "The Aether");
diagnosticProtocol.set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::ManufacturerName, "None");
diagnosticProtocol.set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::PartNumber, "1234");
diagnosticProtocol.set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::SerialNumber, "1");
diagnosticProtocol.set_ecu_id_field(isobus::DiagnosticProtocol::ECUIdentificationFields::Type, "AgISOStack");

// Let's say that our ECU has the capability of a universal terminal working set (as an example) and
// contains weak internal bus termination.
// This info gets reported to any ECU on the bus that requests our capabilities through the
// control function functionalities message.
diagnosticProtocol.ControlFunctionFunctionalitiesMessageInterface.set_functionality_is_supported(isobus::ControlFunctionFunctionalities::Functionalities::MinimumControlFunction, 1, true);
diagnosticProtocol.ControlFunctionFunctionalitiesMessageInterface.set_minimum_control_function_option_state(isobus::ControlFunctionFunctionalities::MinimumControlFunctionOptions::Type1ECUInternalWeakTermination, true);
diagnosticProtocol.ControlFunctionFunctionalitiesMessageInterface.set_functionality_is_supported(isobus::ControlFunctionFunctionalities::Functionalities::UniversalTerminalWorkingSet, 1, true);

std::cout << "Diagnostic Protocol initialized." << std::endl;
// Set the DTCs active. This should put them in the DM1 message
diagnosticProtocol.set_diagnostic_trouble_code_active(testDTC1, true);
diagnosticProtocol.set_diagnostic_trouble_code_active(testDTC2, true);
diagnosticProtocol.set_diagnostic_trouble_code_active(testDTC3, true);

std::cout << "Diagnostic Trouble Codes set active. (DM1)" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(5000)); // Send the DM1 for a while

// Set the DTCs inactive. This should put them in the DM2 message
diagnosticProtocol.set_diagnostic_trouble_code_active(testDTC1, false);
diagnosticProtocol.set_diagnostic_trouble_code_active(testDTC2, false);
diagnosticProtocol.set_diagnostic_trouble_code_active(testDTC3, false);

std::cout << "Diagnostic Trouble Codes set inactive. (DM2)" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(5000)); // Send the DM2 for a while

diagnosticProtocol.clear_inactive_diagnostic_trouble_codes(); // All messages should now be clear!
std::cout << "Diagnostic Trouble Codes cleared." << std::endl;

while (running)
{
// CAN stack runs in other threads. Do nothing forever.
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}

diagnosticProtocol.terminate();
isobus::CANHardwareInterface::stop();
isobus::DiagnosticProtocol::deassign_all_diagnostic_protocol_to_internal_control_functions();
return 0;
}
1 change: 1 addition & 0 deletions isobus/include/isobus/isobus/can_control_function.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ namespace isobus
/// @param[in] NAMEValue The NAME of the control function
/// @param[in] addressValue The current address of the control function
/// @param[in] CANPort The CAN channel index that the control function communicates on
/// @param[in] type The 'Type' of control function to create
ControlFunction(NAME NAMEValue, std::uint8_t addressValue, std::uint8_t CANPort, Type type = Type::External);

friend class CANNetworkManager;
Expand Down
Loading