HVAC_M7_CAN_UDS/CanUds.h

//
// Created by cfif on 20.01.2026.
//

#ifndef HVAC_M7_CANUDS_H
#define HVAC_M7_CANUDS_H

#include "CanSerialPortFrameTP.h"
#include "DeviceStorage.h"
#include "DiagnosticTask.h"

#define CAN_US_QUEUE_SIZE 3

#define MAX_ATTEMPTS_DEFAULT     3
#define BLOCK_TIME_DEFAULT       60000

#define LEN_DEBUG_UDS_BUFF 128

// Время (логарифмическая шкала)
// │
// ├── StMin (0.1-127 мс)           ← Между КАДРАМИ
// │    │
// ├── N_As, N_Bs (до 1000 мс)      ← Транспортные таймауты
// │    │
// ├── P2Server (до 50 мс)          ← Между СООБЩЕНИЯМИ (UDS)
// │    │
// ├── P2*Server (до 5000 мс)       ← Ожидание при ResponsePending
// │    │
// └── S3_Server (до 5000 мс)       ← ТАЙМЕР ВСЕЙ СЕССИИ

typedef enum {
    UDS_DiagnosticSessionControl = 0x10,
    UDS_ReadDTCInformation = 0x19,
    UDS_ClearDiagnosticInformation = 0x14,
    UDS_TesterPresent = 0x3E,
    UDS_ReadDataByIdentifier = 0x22,
    UDS_WriteDataByIdentifier = 0x2E,
    UDS_RoutineControl = 0x31,
    UDS_ECUResetService = 0x11,
    UDS_InputOutputControlByIdentifier = 0x2F,
    UDS_SecurityAccess = 0x27,
    UDS_Communication_Control = 0x28
} eUdsServices;

typedef enum {
    UDS_error_incorrectMessageLengthOrInvalidFormat = 0x13,
    UDS_error_responseTooLong = 0x14,
    UDS_error_requestOutOfRange = 0x31,
    UDS_error_securityAccessDenied = 0x33,
    UDS_error_invalidKey= 0x35,
    UDS_error_sub_functionNotSupported = 0x12,
    UDS_error_conditionsNotCorrect = 0x22,
    UDS_error_requestSequenceError = 0x24,
    UDS_error_exceededNumberOfAttempts = 0x36,
    UDS_error_requiredTimeDelayNotExpired = 0x37
} eUdsResponseError;


typedef enum {
    UDS_session_defaultSession = 0x1,
    UDS_session_programmingSession = 0x2,
    UDS_session_extendedDiagnosticSession = 0x3
} eUdsSession;

typedef enum {
    UDS_io_returnControlToECU = 0x0,
    UDS_io_shortTermAdjustment = 0x3
} eUdsIO;

typedef enum {
    UDS_dtc_reportNumberOfDTCByStatusMask = 0x1,
    UDS_dtc_reportDTCByStatusMask = 0x2
} eUdsDtc;

typedef enum {
    UDS_reset_hardReset = 0x1,
    UDS_reset_softReset = 0x3
} eUdsReset;

typedef enum {
    UDS_sub_enableRxAndTx = 0x0,
    UDS_sub_enableRxAndDisableTx = 0x1
} eUdsCommunicationControl;

typedef enum {
    UDS_sub_requestSeed = 0x1,
    UDS_sub_sendKey = 0x2
} eUdsSecurityAccess;

typedef enum {
    UDS_routine_StartRoutine = 1,
    UDS_routine_StopRoutine = 2,
    UDS_routine_RequestRoutineResults = 3
} eUdsRoutineControlType;

typedef enum {
    UDS_routine_VIN_learn = 0x1300,
    UDS_routine_Deflector_learn = 0xCF00,
    UDS_routine_Compare_Checksum = 0x0202,
    UDS_routine_Check_Programming_Preconditions = 00203,
    UDS_routine_Erase_Memory = 0xFF00,
    UDS_routine_Check_Programming_Dependancies = 0xFF01
} eUdsRoutineModes;

typedef enum {
    UDS_routine_RoutineStartStopSuccess = 0,
    UDS_routine_RoutineStartStopFailure = 0xff
} eUdsRoutineStartStopRoutineResult;

typedef enum {
    UDS_routine_RoutineStop = 0,
    UDS_routine_RoutineRun = 1,
    UDS_routine_RoutineFinishError = 2,
    UDS_routine_RoutineFinishSuccess = 3
} eUdsRequestRoutineResult;

typedef struct {
    eUdsServices service;
    uint8_t sub_function;
    uint8_t *data;
} tUdsServiceCommand;

typedef struct {
    tCanSerialPortFrameTp canSerialPortFrameTp;
    tLoggerInterface *logger;
    tSerialPortFrameIO *CanIO;
    tDeviceStorage *deviceStorage;
    tDiagnostic *Diagnostic;
    tCanTP_Ext_data canTP_Ext_data;

    osMessageQueueId_t queue;

    tCanTP_data data;
    uint8_t dataResponse[1024];

    uint8_t filterIdCount;
    uint32_t filterReqId[16];
    uint32_t filterRespId[16];
    uint8_t filterDirReq[16];

    char hexString[LEN_DEBUG_UDS_BUFF];

    eUdsSession currentSession;

    struct {
        bool requestSequenceRequestSeed;
        bool stateSecurityAccess;
        uint32_t counter_max_attempts_default;
        uint32_t time_counter_max_attempts_default;
    } SA;

    tStaticThreadBlock(512) T_can_Uds;
} tCanUds;

typedef uint16_t (*uds_func_ptr)(tCanUds *env);

typedef struct {
    uds_func_ptr func;
    char *desc;
} eUds_com;

void CanUds_Init(
        tCanUds *env,
        tDiagnostic *Diagnostic,
        tSerialPortFrameIO *CanIO,
        tDeviceStorage *deviceStorage,
        tLoggerInterface *logger);

void CanSerialPortCanUds_Start(tCanUds *env);

#endif //HVAC_M7_CANUDS_H