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isobus_diagnostic_protocol.cpp
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//================================================================================================
/// @file isobus_diagnostic_protocol.cpp
///
/// @brief A protocol that handles the ISO 11783-12 Diagnostic Protocol and some J1939 DMs.
/// @details This protocol manages many of the messages defined in ISO 11783-12
/// and a subset of the messages defined in SAE J1939-73.
/// The ISO-11783 definition of some of these is based on the J1939 definition with some tweaks.
/// You can select if you want the protocol to behave like J1939 by calling set_j1939_mode.
/// One of the messages this protocol supports is the DM1 message.
/// The DM1 is sent via BAM, which has some implications to your application,
/// as only 1 BAM can be active at a time. This message
/// is sent at 1 Hz. In ISOBUS mode, unlike in J1939, the message is discontinued when no DTCs are active to
/// minimize bus load. Also, ISO-11783 does not utilize or support lamp status.
/// Other messages this protocol supports include: DM2, DM3, DM11, DM13, DM22, software ID, and Product ID.
///
/// @note DM13 has two primary functions. It may be used as a command, from either a tool or an
/// ECU, directed to a single controller or to all controllers to request the receiving
/// controller(s) to stop or start broadcast messages. Additionally, it may be used by an ECU
/// to inform other nodes that the sender is about to suspend its normal broadcast due to
/// commands other than a SAE J1939 DM13 command received on that same network segment.
/// The broadcast messages stopped, started, or suspended may be on networks other than SAE J1939.
/// This is not a message to ignore all communications. It is a message to minimize network traffic.
///
/// @attention It is recognized that some network messages may be required to continue even during
/// the "stop broadcast" condition. You MUST handle this in your application, as the stack cannot
/// decide what messages are required without context. In other words, you must opt-in to make
/// your application layer messages adhere to DM13 requests by explicitly calling the functions
/// on this protocol (using get_diagnostic_protocol_by_internal_control_function)
/// to check if you should send it.
///
/// @author Adrian Del Grosso
///
/// @copyright 2022 The Open-Agriculture Developers
//================================================================================================
#include "isobus_diagnostic_protocol.hpp"
#include "can_general_parameter_group_numbers.hpp"
#include "can_network_manager.hpp"
#include "can_parameter_group_number_request_protocol.hpp"
#include "can_stack_logger.hpp"
#include "system_timing.hpp"
#include <algorithm>
namespace isobus
{
DiagnosticProtocol::DiagnosticTroubleCode::DiagnosticTroubleCode(std::uint32_t spn, FailureModeIdentifier failureMode, LampStatus lamp) :
suspectParameterNumber(spn),
failureModeIdentifier(failureMode),
lampState(lamp)
{
}
bool DiagnosticProtocol::DiagnosticTroubleCode::operator==(const DiagnosticTroubleCode &obj) const
{
return ((suspectParameterNumber == obj.suspectParameterNumber) &&
(failureModeIdentifier == obj.failureModeIdentifier) &&
(lampState == obj.lampState));
}
std::uint8_t DiagnosticProtocol::DiagnosticTroubleCode::get_occurrence_count() const
{
return occurrenceCount;
}
std::uint32_t DiagnosticProtocol::DiagnosticTroubleCode::get_suspect_parameter_number() const
{
return suspectParameterNumber;
}
DiagnosticProtocol::FailureModeIdentifier DiagnosticProtocol::DiagnosticTroubleCode::get_failure_mode_identifier() const
{
return failureModeIdentifier;
}
DiagnosticProtocol::DiagnosticProtocol(std::shared_ptr<InternalControlFunction> internalControlFunction, NetworkType networkType) :
ControlFunctionFunctionalitiesMessageInterface(internalControlFunction),
myControlFunction(internalControlFunction),
networkType(networkType),
txFlags(static_cast<std::uint32_t>(TransmitFlags::NumberOfFlags), process_flags, this)
{
ecuIdentificationFields.resize(static_cast<std::size_t>(ECUIdentificationFields::NumberOfFields));
for (auto &ecuIDField : ecuIdentificationFields)
{
ecuIDField = "*";
}
}
DiagnosticProtocol::~DiagnosticProtocol()
{
terminate();
}
bool DiagnosticProtocol::initialize()
{
bool retVal = false;
if (!initialized)
{
initialized = true;
CANNetworkManager::CANNetwork.add_protocol_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage22), process_message, this);
CANNetworkManager::CANNetwork.add_protocol_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage13), process_message, this);
CANNetworkManager::CANNetwork.add_global_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage13), process_message, this);
addressViolationEventHandle = CANNetworkManager::CANNetwork.get_address_violation_event_dispatcher().add_listener([this](std::shared_ptr<InternalControlFunction> affectedCF) { this->on_address_violation(affectedCF); });
if (auto requestProtocol = myControlFunction->get_pgn_request_protocol().lock())
{
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage1), process_parameter_group_number_request, this);
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage2), process_parameter_group_number_request, this);
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage3), process_parameter_group_number_request, this);
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage11), process_parameter_group_number_request, this);
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProductIdentification), process_parameter_group_number_request, this);
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticProtocolIdentification), process_parameter_group_number_request, this);
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::SoftwareIdentification), process_parameter_group_number_request, this);
requestProtocol->register_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ECUIdentificationInformation), process_parameter_group_number_request, this);
}
retVal = true;
}
else
{
LOG_WARNING("[DP] DiagnosticProtocol's initialize() called when already initialized");
}
return retVal;
}
bool DiagnosticProtocol::get_initialized() const
{
return initialized;
}
void DiagnosticProtocol::terminate()
{
if (initialized)
{
initialized = false;
if (auto requestProtocol = myControlFunction->get_pgn_request_protocol().lock())
{
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage1), process_parameter_group_number_request, this);
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage2), process_parameter_group_number_request, this);
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage3), process_parameter_group_number_request, this);
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage11), process_parameter_group_number_request, this);
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProductIdentification), process_parameter_group_number_request, this);
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticProtocolIdentification), process_parameter_group_number_request, this);
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::SoftwareIdentification), process_parameter_group_number_request, this);
requestProtocol->remove_pgn_request_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ECUIdentificationInformation), process_parameter_group_number_request, this);
}
CANNetworkManager::CANNetwork.remove_protocol_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage22), process_message, this);
CANNetworkManager::CANNetwork.remove_protocol_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage13), process_message, this);
CANNetworkManager::CANNetwork.remove_global_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage13), process_message, this);
CANNetworkManager::CANNetwork.get_address_violation_event_dispatcher().remove_listener(addressViolationEventHandle);
}
}
void DiagnosticProtocol::update()
{
if (0 != customDM13SuspensionTime)
{
if (SystemTiming::time_expired_ms(lastDM13ReceivedTimestamp, customDM13SuspensionTime))
{
broadcastState = true;
customDM13SuspensionTime = 0;
}
}
else if (SystemTiming::time_expired_ms(lastDM13ReceivedTimestamp, DM13_TIMEOUT_MS))
{
broadcastState = true;
}
if (broadcastState)
{
if (j1939Mode)
{
if (SystemTiming::time_expired_ms(lastDM1SentTimestamp, DM_MAX_FREQUENCY_MS))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::DM1));
lastDM1SentTimestamp = SystemTiming::get_timestamp_ms();
}
}
else
{
if ((0 != activeDTCList.size()) &&
(SystemTiming::time_expired_ms(lastDM1SentTimestamp, DM_MAX_FREQUENCY_MS)))
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::DM1));
lastDM1SentTimestamp = SystemTiming::get_timestamp_ms();
}
}
}
txFlags.process_all_flags();
ControlFunctionFunctionalitiesMessageInterface.update();
}
void DiagnosticProtocol::set_j1939_mode(bool value)
{
j1939Mode = value;
}
bool DiagnosticProtocol::get_j1939_mode() const
{
return j1939Mode;
}
void DiagnosticProtocol::clear_active_diagnostic_trouble_codes()
{
inactiveDTCList.insert(std::end(inactiveDTCList), std::begin(activeDTCList), std::end(activeDTCList));
activeDTCList.clear();
if (broadcastState)
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::DM1));
}
}
void DiagnosticProtocol::clear_inactive_diagnostic_trouble_codes()
{
inactiveDTCList.clear();
}
void DiagnosticProtocol::clear_software_id_fields()
{
softwareIdentificationFields.clear();
}
void DiagnosticProtocol::set_ecu_id_field(ECUIdentificationFields field, const std::string &value)
{
if (field <= ECUIdentificationFields::NumberOfFields)
{
ecuIdentificationFields[static_cast<std::size_t>(field)] = value + "*";
}
}
bool DiagnosticProtocol::set_diagnostic_trouble_code_active(const DiagnosticTroubleCode &dtc, bool active)
{
bool retVal = false;
if (active)
{
// First check to see if it's already active
auto activeLocation = std::find(activeDTCList.begin(), activeDTCList.end(), dtc);
if (activeDTCList.end() == activeLocation)
{
// Not already active. This is valid
retVal = true;
auto inactiveLocation = std::find(inactiveDTCList.begin(), inactiveDTCList.end(), dtc);
if (inactiveDTCList.end() != inactiveLocation)
{
inactiveLocation->occurrenceCount++;
activeDTCList.push_back(*inactiveLocation);
inactiveDTCList.erase(inactiveLocation);
}
else
{
activeDTCList.push_back(dtc);
activeDTCList[activeDTCList.size() - 1].occurrenceCount = 1;
if ((SystemTiming::get_time_elapsed_ms(lastDM1SentTimestamp) > DM_MAX_FREQUENCY_MS) &&
broadcastState)
{
txFlags.set_flag(static_cast<std::uint32_t>(TransmitFlags::DM1));
lastDM1SentTimestamp = SystemTiming::get_timestamp_ms();
}
}
}
else
{
// Already active!
retVal = false;
}
}
else
{
/// First check to see if it's already in the inactive list
auto inactiveLocation = std::find(inactiveDTCList.begin(), inactiveDTCList.end(), dtc);
if (inactiveDTCList.end() == inactiveLocation)
{
retVal = true;
auto activeLocation = std::find(activeDTCList.begin(), activeDTCList.end(), dtc);
if (activeDTCList.end() != activeLocation)
{
inactiveDTCList.push_back(*activeLocation);
activeDTCList.erase(activeLocation);
}
}
else
{
// Already inactive!
retVal = false;
}
}
return retVal;
}
bool DiagnosticProtocol::get_diagnostic_trouble_code_active(const DiagnosticTroubleCode &dtc)
{
auto activeLocation = std::find(activeDTCList.begin(), activeDTCList.end(), dtc);
bool retVal = false;
if (activeDTCList.end() != activeLocation)
{
retVal = true;
}
return retVal;
}
bool DiagnosticProtocol::set_product_identification_code(const std::string &value)
{
bool retVal = false;
if (value.size() < PRODUCT_IDENTIFICATION_MAX_STRING_LENGTH)
{
productIdentificationCode = value;
retVal = true;
}
return retVal;
}
bool DiagnosticProtocol::set_product_identification_brand(const std::string &value)
{
bool retVal = false;
if (value.size() < PRODUCT_IDENTIFICATION_MAX_STRING_LENGTH)
{
productIdentificationBrand = value;
retVal = true;
}
return retVal;
}
bool DiagnosticProtocol::set_product_identification_model(const std::string &value)
{
bool retVal = false;
if (value.size() < PRODUCT_IDENTIFICATION_MAX_STRING_LENGTH)
{
productIdentificationModel = value;
retVal = true;
}
return retVal;
}
void DiagnosticProtocol::set_software_id_field(std::uint32_t index, const std::string &value)
{
if (index >= softwareIdentificationFields.size())
{
softwareIdentificationFields.resize(index + 1);
}
else if (("" == value) && (index == softwareIdentificationFields.size()))
{
softwareIdentificationFields.pop_back();
}
softwareIdentificationFields[index] = value;
}
bool DiagnosticProtocol::suspend_broadcasts(std::uint16_t suspendTime_seconds)
{
broadcastState = false;
lastDM13ReceivedTimestamp = SystemTiming::get_timestamp_ms();
if (customDM13SuspensionTime < MAX_DM13_CUSTOM_SUSPEND_TIME_MS)
{
customDM13SuspensionTime = suspendTime_seconds;
}
return send_dm13_announce_suspension(suspendTime_seconds);
}
bool DiagnosticProtocol::get_broadcast_state() const
{
return broadcastState;
}
std::uint8_t DiagnosticProtocol::convert_flash_state_to_byte(FlashState flash) const
{
std::uint8_t retVal = 0;
switch (flash)
{
case FlashState::Slow:
{
retVal = 0x00;
}
break;
case FlashState::Fast:
{
retVal = 0x01;
}
break;
default:
{
retVal = 0x03;
}
break;
}
return retVal;
}
void DiagnosticProtocol::get_active_list_lamp_state_and_flash_state(Lamps targetLamp, FlashState &flash, bool &lampOn) const
{
flash = FlashState::Solid;
lampOn = false;
for (auto &dtc : activeDTCList)
{
switch (targetLamp)
{
case Lamps::AmberWarningLamp:
{
if (dtc.lampState == LampStatus::AmberWarningLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::AmberWarningLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::AmberWarningLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
case Lamps::MalfunctionIndicatorLamp:
{
if (dtc.lampState == LampStatus::MalfunctionIndicatorLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::MalfunctionIndicatorLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::MalfunctionIndicatorLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
case Lamps::ProtectLamp:
{
if (dtc.lampState == LampStatus::EngineProtectLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::EngineProtectLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::EngineProtectLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
case Lamps::RedStopLamp:
{
if (dtc.lampState == LampStatus::RedStopLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::RedStopLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::RedStopLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
default:
break;
}
}
}
void DiagnosticProtocol::get_inactive_list_lamp_state_and_flash_state(Lamps targetLamp, FlashState &flash, bool &lampOn) const
{
flash = FlashState::Solid;
lampOn = false;
for (auto &dtc : inactiveDTCList)
{
switch (targetLamp)
{
case Lamps::AmberWarningLamp:
{
if (dtc.lampState == LampStatus::AmberWarningLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::AmberWarningLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::AmberWarningLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
case Lamps::MalfunctionIndicatorLamp:
{
if (dtc.lampState == LampStatus::MalfunctionIndicatorLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::MalfunctionIndicatorLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::MalfunctionIndicatorLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
case Lamps::ProtectLamp:
{
if (dtc.lampState == LampStatus::EngineProtectLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::EngineProtectLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::EngineProtectLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
case Lamps::RedStopLamp:
{
if (dtc.lampState == LampStatus::RedStopLampSolid)
{
lampOn = true;
}
else if (dtc.lampState == LampStatus::RedStopLampSlowFlash)
{
lampOn = true;
if (flash != FlashState::Fast)
{
flash = FlashState::Slow;
}
}
else if (dtc.lampState == LampStatus::RedStopLampFastFlash)
{
lampOn = true;
flash = FlashState::Fast;
}
}
break;
default:
break;
}
}
}
void DiagnosticProtocol::on_address_violation(std::shared_ptr<InternalControlFunction> affectedControlFunction)
{
if ((nullptr != affectedControlFunction) &&
(!get_j1939_mode()) &&
(BROADCAST_CAN_ADDRESS != affectedControlFunction->get_address()) &&
(NULL_CAN_ADDRESS != affectedControlFunction->get_address()))
{
constexpr std::uint32_t ADDRESS_VIOLATION_SPN_BASE = 2000; // Defined in ISO 11783-5 section 4.4.4.3
set_diagnostic_trouble_code_active(DiagnosticTroubleCode(ADDRESS_VIOLATION_SPN_BASE + affectedControlFunction->get_address(),
FailureModeIdentifier::ConditionExists,
LampStatus::None),
true);
}
}
bool DiagnosticProtocol::send_diagnostic_message_1() const
{
bool retVal = false;
if (nullptr != myControlFunction)
{
std::uint16_t payloadSize = static_cast<std::uint16_t>(activeDTCList.size() * DM_PAYLOAD_BYTES_PER_DTC) + 2; // 2 Bytes (0 and 1) are reserved
if (payloadSize <= MAX_PAYLOAD_SIZE_BYTES)
{
std::vector<std::uint8_t> buffer;
buffer.resize(payloadSize < CAN_DATA_LENGTH ? CAN_DATA_LENGTH : payloadSize);
if (get_j1939_mode())
{
bool tempLampState = false;
FlashState tempLampFlashState = FlashState::Solid;
get_active_list_lamp_state_and_flash_state(Lamps::ProtectLamp, tempLampFlashState, tempLampState);
/// Encode Protect state and flash
buffer[0] = tempLampState;
buffer[1] = convert_flash_state_to_byte(tempLampFlashState);
get_active_list_lamp_state_and_flash_state(Lamps::AmberWarningLamp, tempLampFlashState, tempLampState);
/// Encode amber warning lamp state and flash
buffer[0] |= (static_cast<std::uint8_t>(tempLampState) << 2);
buffer[1] |= (convert_flash_state_to_byte(tempLampFlashState) << 2);
get_active_list_lamp_state_and_flash_state(Lamps::RedStopLamp, tempLampFlashState, tempLampState);
/// Encode red stop lamp state and flash
buffer[0] |= (static_cast<std::uint8_t>(tempLampState) << 4);
buffer[1] |= (convert_flash_state_to_byte(tempLampFlashState) << 4);
get_active_list_lamp_state_and_flash_state(Lamps::MalfunctionIndicatorLamp, tempLampFlashState, tempLampState);
/// Encode malfunction indicator lamp state and flash
buffer[0] |= (static_cast<std::uint8_t>(tempLampState) << 6);
buffer[1] |= (convert_flash_state_to_byte(tempLampFlashState) << 6);
}
else
{
// ISO 11783 does not use lamp state or lamp flash bytes
buffer[0] = 0xFF;
buffer[1] = 0xFF;
}
if (activeDTCList.empty())
{
buffer[2] = 0x00;
buffer[3] = 0x00;
buffer[4] = 0x00;
buffer[5] = 0x00;
buffer[6] = 0xFF;
buffer[7] = 0xFF;
retVal = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage1),
buffer.data(),
CAN_DATA_LENGTH,
myControlFunction);
}
else
{
for (std::size_t i = 0; i < activeDTCList.size(); i++)
{
buffer[2 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = static_cast<std::uint8_t>(activeDTCList[i].suspectParameterNumber & 0xFF);
buffer[3 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = static_cast<std::uint8_t>((activeDTCList[i].suspectParameterNumber >> 8) & 0xFF);
buffer[4 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = (static_cast<std::uint8_t>(((activeDTCList[i].suspectParameterNumber >> 16) & 0xFF) << 5) | (static_cast<std::uint8_t>(activeDTCList[i].failureModeIdentifier) & 0x1F));
buffer[5 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = (activeDTCList[i].occurrenceCount & 0x7F);
}
if (payloadSize < CAN_DATA_LENGTH)
{
buffer[6] = 0xFF;
buffer[7] = 0xFF;
payloadSize = CAN_DATA_LENGTH;
}
retVal = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage1),
buffer.data(),
payloadSize,
myControlFunction);
}
}
}
return retVal;
}
bool DiagnosticProtocol::send_diagnostic_message_2() const
{
bool retVal = false;
if (nullptr != myControlFunction)
{
std::uint16_t payloadSize = static_cast<std::uint8_t>(inactiveDTCList.size() * DM_PAYLOAD_BYTES_PER_DTC) + 2; // 2 Bytes (0 and 1) are reserved or used for lamp + flash
if (payloadSize <= MAX_PAYLOAD_SIZE_BYTES)
{
std::vector<std::uint8_t> buffer;
buffer.resize(payloadSize < CAN_DATA_LENGTH ? CAN_DATA_LENGTH : payloadSize);
if (get_j1939_mode())
{
bool tempLampState = false;
FlashState tempLampFlashState = FlashState::Solid;
get_inactive_list_lamp_state_and_flash_state(Lamps::ProtectLamp, tempLampFlashState, tempLampState);
/// Encode Protect state and flash
buffer[0] = tempLampState;
buffer[1] = convert_flash_state_to_byte(tempLampFlashState);
get_inactive_list_lamp_state_and_flash_state(Lamps::AmberWarningLamp, tempLampFlashState, tempLampState);
/// Encode amber warning lamp state and flash
buffer[0] |= (static_cast<std::uint8_t>(tempLampState) << 2);
buffer[1] |= (convert_flash_state_to_byte(tempLampFlashState) << 2);
get_inactive_list_lamp_state_and_flash_state(Lamps::RedStopLamp, tempLampFlashState, tempLampState);
/// Encode red stop lamp state and flash
buffer[0] |= (static_cast<std::uint8_t>(tempLampState) << 4);
buffer[1] |= (convert_flash_state_to_byte(tempLampFlashState) << 4);
get_inactive_list_lamp_state_and_flash_state(Lamps::MalfunctionIndicatorLamp, tempLampFlashState, tempLampState);
/// Encode malfunction indicator lamp state and flash
buffer[0] |= (static_cast<std::uint8_t>(tempLampState) << 6);
buffer[1] |= (convert_flash_state_to_byte(tempLampFlashState) << 6);
}
else
{
// ISO 11783 does not use lamp state or lamp flash bytes
buffer[0] = 0xFF;
buffer[1] = 0xFF;
}
if (inactiveDTCList.empty())
{
buffer[2] = 0x00;
buffer[3] = 0x00;
buffer[4] = 0x00;
buffer[5] = 0x00;
buffer[6] = 0xFF;
buffer[7] = 0xFF;
retVal = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage2),
buffer.data(),
CAN_DATA_LENGTH,
myControlFunction);
}
else
{
for (std::size_t i = 0; i < inactiveDTCList.size(); i++)
{
buffer[2 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = static_cast<std::uint8_t>(inactiveDTCList[i].suspectParameterNumber & 0xFF);
buffer[3 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = static_cast<std::uint8_t>((inactiveDTCList[i].suspectParameterNumber >> 8) & 0xFF);
buffer[4 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = (static_cast<std::uint8_t>(((inactiveDTCList[i].suspectParameterNumber >> 16) & 0xFF) << 5) | (static_cast<std::uint8_t>(inactiveDTCList[i].failureModeIdentifier) & 0x1F));
buffer[5 + (DM_PAYLOAD_BYTES_PER_DTC * i)] = (inactiveDTCList[i].occurrenceCount & 0x7F);
}
if (payloadSize < CAN_DATA_LENGTH)
{
buffer[6] = 0xFF;
buffer[7] = 0xFF;
payloadSize = CAN_DATA_LENGTH;
}
retVal = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage2),
buffer.data(),
payloadSize,
myControlFunction);
}
}
}
return retVal;
}
bool DiagnosticProtocol::send_diagnostic_protocol_identification() const
{
bool retVal = false;
if (nullptr != myControlFunction)
{
/// Bit 1 = J1939-73, Bit 2 = ISO 14230, Bit 3 = ISO 15765-3, else Reserved
constexpr std::uint8_t SUPPORTED_DIAGNOSTIC_PROTOCOLS_BITFIELD = 0x01;
std::array<std::uint8_t, CAN_DATA_LENGTH> buffer;
buffer.fill(0xFF); // Reserved bytes
buffer[0] = SUPPORTED_DIAGNOSTIC_PROTOCOLS_BITFIELD;
retVal = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticProtocolIdentification),
buffer.data(),
CAN_DATA_LENGTH,
myControlFunction);
}
return retVal;
}
bool DiagnosticProtocol::send_dm13_announce_suspension(std::uint16_t suspendTime_seconds) const
{
const std::array<std::uint8_t, CAN_DATA_LENGTH> buffer = {
0xFF,
0xFF,
0xFF,
0xFF,
static_cast<std::uint8_t>(suspendTime_seconds & 0xFF),
static_cast<std::uint8_t>(suspendTime_seconds >> 8),
0xFF,
0xFF
};
return CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage13),
buffer.data(),
static_cast<std::uint32_t>(buffer.size()),
myControlFunction);
}
bool DiagnosticProtocol::send_ecu_identification() const
{
std::string ecuIdString = "";
const std::size_t maxComponent = get_j1939_mode() ? static_cast<std::size_t>(ECUIdentificationFields::HardwareID) : static_cast<std::size_t>(ECUIdentificationFields::NumberOfFields);
for (std::size_t i = 0; i < maxComponent; i++)
{
ecuIdString.append(ecuIdentificationFields.at(i));
}
std::vector<std::uint8_t> buffer(ecuIdString.begin(), ecuIdString.end());
return CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ECUIdentificationInformation),
buffer.data(),
static_cast<std::uint32_t>(buffer.size()),
myControlFunction);
}
bool DiagnosticProtocol::send_product_identification() const
{
std::string productIdString = productIdentificationCode + "*" + productIdentificationBrand + "*" + productIdentificationModel + "*";
std::vector<std::uint8_t> buffer(productIdString.begin(), productIdString.end());
return CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProductIdentification),
buffer.data(),
static_cast<std::uint32_t>(buffer.size()),
myControlFunction);
}
bool DiagnosticProtocol::send_software_identification() const
{
bool retVal = false;
if (!softwareIdentificationFields.empty())
{
std::string softIDString = "";
std::for_each(softwareIdentificationFields.begin(),
softwareIdentificationFields.end(),
[&softIDString](const std::string &field) {
softIDString.append(field);
softIDString.append("*");
});
std::vector<std::uint8_t> buffer(softIDString.begin(), softIDString.end());
retVal = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::SoftwareIdentification),
buffer.data(),
static_cast<std::uint32_t>(buffer.size()),
myControlFunction);
}
return retVal;
}
bool DiagnosticProtocol::process_all_dm22_responses()
{
bool retVal = false;
if (!dm22ResponseQueue.empty())
{
std::size_t numberOfMessage = dm22ResponseQueue.size();
for (std::size_t i = 0; i < numberOfMessage; i++)
{
std::array<std::uint8_t, CAN_DATA_LENGTH> buffer;
DM22Data currentMessageData = dm22ResponseQueue.back();
if (currentMessageData.nack)
{
if (currentMessageData.clearActive)
{
buffer[0] = static_cast<std::uint8_t>(DM22ControlByte::NegativeAcknowledgeOfActiveDTCClear);
buffer[1] = currentMessageData.nackIndicator;
}
else
{
buffer[0] = static_cast<std::uint8_t>(DM22ControlByte::NegativeAcknowledgeOfPreviouslyActiveDTCClear);
buffer[1] = currentMessageData.nackIndicator;
}
}
else
{
if (currentMessageData.clearActive)
{
buffer[0] = static_cast<std::uint8_t>(DM22ControlByte::PositiveAcknowledgeOfActiveDTCClear);
buffer[1] = 0xFF;
}
else
{
buffer[0] = static_cast<std::uint8_t>(DM22ControlByte::PositiveAcknowledgeOfPreviouslyActiveDTCClear);
buffer[1] = 0xFF;
}
}
buffer[2] = 0xFF;
buffer[3] = 0xFF;
buffer[4] = 0xFF;
buffer[5] = static_cast<std::uint8_t>(currentMessageData.suspectParameterNumber & 0xFF);
buffer[6] = static_cast<std::uint8_t>((currentMessageData.suspectParameterNumber >> 8) & 0xFF);
buffer[7] = static_cast<std::uint8_t>(((currentMessageData.suspectParameterNumber >> 16) << 5) & 0xE0);
buffer[7] |= (currentMessageData.failureModeIdentifier & 0x1F);
retVal = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage22),
buffer.data(),
static_cast<std::uint32_t>(buffer.size()),
myControlFunction,
currentMessageData.destination);
if (retVal)
{
dm22ResponseQueue.pop_back();
}
}
}
return retVal;
}
void DiagnosticProtocol::process_message(const CANMessage &message)
{
if (((nullptr == message.get_destination_control_function()) &&
(BROADCAST_CAN_ADDRESS == message.get_identifier().get_destination_address())) ||
(message.get_destination_control_function() == myControlFunction))
{
switch (message.get_identifier().get_parameter_group_number())
{
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage13):
{
if (parse_j1939_network_states(message))
{
lastDM13ReceivedTimestamp = SystemTiming::get_timestamp_ms();
}
}
break;
case static_cast<std::uint32_t>(CANLibParameterGroupNumber::DiagnosticMessage22):
{
if (CAN_DATA_LENGTH == message.get_data_length())
{
const auto &messageData = message.get_data();
DM22Data tempDM22Data;
bool wasDTCCleared = false;
tempDM22Data.suspectParameterNumber = messageData.at(5);
tempDM22Data.suspectParameterNumber |= (messageData.at(6) << 8);
tempDM22Data.suspectParameterNumber |= (((messageData.at(7) & 0xE0) >> 5) << 16);
tempDM22Data.failureModeIdentifier = (messageData.at(7) & 0x1F);
tempDM22Data.destination = message.get_source_control_function();
tempDM22Data.nackIndicator = 0;
tempDM22Data.clearActive = false;
switch (messageData.at(0))
{
case static_cast<std::uint8_t>(DM22ControlByte::RequestToClearActiveDTC):
{
tempDM22Data.clearActive = true;
for (auto dtc = activeDTCList.begin(); dtc != activeDTCList.end(); dtc++)
{
if ((tempDM22Data.suspectParameterNumber == dtc->suspectParameterNumber) &&
(tempDM22Data.failureModeIdentifier == static_cast<std::uint8_t>(dtc->failureModeIdentifier)))
{
inactiveDTCList.push_back(*dtc);
activeDTCList.erase(dtc);