1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146

#![deny(
    missing_docs,
    missing_debug_implementations,
    missing_copy_implementations,
    trivial_numeric_casts,
    //unstable_features,
    //unused_imports,
    unused_import_braces,
    unused_qualifications,
    clippy::uninlined_format_args
)]

//! A crate which provides the most common ECU diagnostic protocols used by modern ECUs in vehicles,
//! as well as common hardware APIs for accessing and using diagnostic adapters
//!
//! ## ECU Diagnostic protocol support
//!
//! This crate provides the 3 most widely used diagnostic protocols used by modern ECUs from 2000 onwards
//!
//! ### On-board diagnostics (OBD2)
//! ISO9141 - OBD2 is a legal requirement on all vehicles produced from 2002, allowing for
//! reading of sensor data, reading and clearing standard DTCs, and reading basic vehicle information.
//! OBD2 is designed to be safe and simple, and does not write data to the ECU.
//!
//!
//! ### Keyword protocol 2000 (KWP2000)
//! ISO14230 - KWP2000 is a advanced diagnostic protocol utilized by many vehicle manufacturers from 2000-2006 (Superseded by UDS).
//! Unlike OBD2, KWP2000 allows for much more complex operations, which could potentially cause damage to a vehicle if used incorrectly.  
//! A few examples of features allowed by KWP2000 are
//! * ECU flashing
//! * Clearing and reading of permanent DTCs
//! * Manipulation of ECU communication parameters
//! * Low level manipulation of ECU's EEPROM or RAM
//! * Gateway access in vehicles which have them
//!
//! The specification implemented in this crate is v2.2, dated 05-08-2002.
//!
//!
//! ### Unified diagnostic services (UDS)
//! ISO14429 - UDS is an advanced diagnostic protocol utilized by almost all vehicle manufacturers from 2006 onwards. Like KWP2000,
//! this protocol allows for reading/writing directly to the ECU, and should therefore be used with caution.
//!
//! The specification implemented in this crate is the second edition, dated 01-12-2006.
//!
//! ## Hardware support (VCIs)
//!
//! This crate provides support for the following VCI adapters and hardware protocols, as well as a convenient interface
//! for making your own adapter API for customized hardware
//!
//! ### SocketCAN (Linux only)
//! This crate provides support for socketCAN compatible adapters, for utilizing both ISO-TP and regular CAN communication
//!
//! ### SAE J2534-2
//!
//! SAE J2534 (AKA Passthru) is a VCI adapter protocol which allows a VCI to communicate with a vehicle using multiple various
//! different network types, including CAN, ISO-TP, J1850, ISO9141 and SCI.
//!
//! NOTE: Although the J2534 API is officially only for Windows, it will also compile for UNIX and OSX operating
//! systems, due to the unofficial porting of the API in the [Macchina-J2534 project](https://github.com/rnd-ash/Macchina-J2534)
//!

use std::sync::Arc;

use channel::ChannelError;
use hardware::HardwareError;

pub mod channel;
pub mod dtc;
pub mod dynamic_diag;
pub mod hardware;
pub mod kwp2000;
pub mod obd2;
pub mod uds;

pub use automotive_diag::ByteWrapper::*;

/// Diagnostic server result
pub type DiagServerResult<T> = Result<T, DiagError>;

#[derive(Clone, Debug, thiserror::Error)]
/// Diagnostic server error
pub enum DiagError {
    /// The Diagnostic server does not support the request
    #[error("Diagnostic server does not support the request")]
    NotSupported,
    /// Diagnostic error code from the ECU itself
    #[error("ECU Negative response. Error 0x{:02X?}, definition: {:?}", code, def)]
    ECUError {
        /// Raw Negative response code from ECU
        code: u8,
        /// Negative response code definition according to protocol
        def: Option<String>,
    },
    /// Response empty
    #[error("ECU did not respond to the request")]
    EmptyResponse,
    /// ECU Responded but send a message that wasn't a reply for the sent message
    #[error("ECU response is out of order")]
    WrongMessage,
    /// Diagnostic server terminated!?
    #[error("Diagnostic server was terminated before the request")]
    ServerNotRunning,
    /// ECU Responded with a message, but the length was incorrect
    #[error("ECU response size was not the correct length")]
    InvalidResponseLength,
    /// A parameter given to the function is invalid. Check the function's documentation
    /// for more information
    #[error("Diagnostic function parameter invalid")]
    ParameterInvalid,
    /// Error with underlying communication channel
    #[error("Diagnostic server hardware channel error")]
    ChannelError(#[from] #[source] ChannelError),
    /// Device hardware error
    #[error("Diagnostic server hardware error")]
    HardwareError(#[from] #[source] Arc<HardwareError>),
    /// Feauture is not iumplemented yet
    #[error("Diagnostic server feature is unimplemented: '{0}'")]
    NotImplemented(String),
    /// Mismatched PID response ID
    #[error("Requested Ident 0x{:04X?}, but received ident 0x{:04X?}", want, received)]
    MismatchedIdentResponse {
        /// Requested PID
        want: u16,
        /// Received PID from ECU
        received: u16
    }
}

/// Converts a single byte into a BCD string
pub fn bcd_decode(input: u8) -> String {
    format!("{}{}", (input & 0xF0) >> 4, input & 0x0F)
}

/// Converts a slice to a BCD string
pub fn bcd_decode_slice(input: &[u8], sep: Option<&str>) -> String {
    let mut res = String::new();
    for (pos, x) in input.iter().enumerate() {
        res.push_str(bcd_decode(*x).as_str());
        if let Some(separator) = sep {
            if pos != input.len() - 1 {
                res.push_str(separator)
            }
        }
    }
    res
}