wbh.h

#include <stdint.h>
#include <unistd.h>

#ifdef __cplusplus
extern "C" {
#endif

/** Error codes */
enum {
  ERR_SYNTAX = 1, /**< "?" */
  ERR_DATA,	  /**< "DATA ERROR" */
  ERR_TIMEOUT,	  /**< timeout while waiting for response from interface */
  ERR_SERIAL,	  /**< serial port I/O error */
  ERR_INVAL,	  /**< invalid parameter */
};

/** Protocol version */
typedef enum {
  PROT_KW1281 = 1, /**< KW1281 */
  PROT_KW2000,     /**< KW2000 (aka KW2089) */
} wbh_protocol_t;

/** WBH interface state */
typedef struct {
  int fd;		/**< serial device file descriptor */
  char *name;	/**< serial device file name */
} wbh_interface_t;

/** Baud rates */
typedef enum {
  BAUD_AUTO = 0,
  BAUD_1200,
  BAUD_2400,
  BAUD_4800,
  BAUD_9600,
  BAUD_10400,
} wbh_baudrate_t;

/** WBH diagnostic device state */
typedef struct {
  uint8_t id;			/**< device ID */
  wbh_interface_t *iface;
  wbh_protocol_t protocol;	/**< protocol ID (KW1281 or KW2000) */
  wbh_baudrate_t baudrate;
  const char *specs;		/**< raw specification data as sent by
                                     the device on connect */
} wbh_device_t;

/** read analog value pin 0..5
    @param iface WBH interface handle
    @param pin pin number
    @return analog value or negative error code
 */
int wbh_get_analog(wbh_interface_t *iface, uint8_t pin);

/** read block delay time
    @param iface WBH interface handle
    @return block delay time in ms or negative error code
 */
int wbh_get_bdt(wbh_interface_t *iface);
/** set block delay time
    @param iface WBH interface handle
    @param bdt block delay time (ms)
    @return zero or negative error code
 */
int wbh_set_bdt(wbh_interface_t *iface, uint8_t bdt);

/** read inter-byte time
    @param iface WBH interface handle
    @return inter-byte delay in ms or negative error code
 */
int wbh_get_ibt(wbh_interface_t *iface);
/** set inter-byte time
    @param iface WBH interface handle
    @param ibt inter-byte delay time (ms)
    @return zero or negative error code
 */
int wbh_set_ibt(wbh_interface_t *iface, uint8_t ibt);

/** initialize WBH interface
    @param tty serial device name
    @return WBH interface handle or NULL on error
 */
wbh_interface_t *wbh_init(const char *tty);
/** shut down WBH interface
    @param iface WBH interface handle
    @return zero or negative error code
 */
int wbh_shutdown(wbh_interface_t* iface);

/** connect to diagnostic device
    @param iface WBH interface handle
    @param device device ID
    @return WBH device handle or NULL on error
 */
wbh_device_t *wbh_connect(wbh_interface_t *iface, uint8_t device);
/** disconnect from diagnostic device
    @param dev WBH device handle
    @return zero or negative error code
 */
int wbh_disconnect(wbh_device_t *dev);

/** force a specific baud rate for diagnostic device connection
    @param iface WBH interface handle
    @param baudrate baud rate
    @return zero or negative error code
 */
int wbh_force_baud_rate(wbh_interface_t *iface, wbh_baudrate_t baudrate);

/** reset interface
    @param iface WBH interface handle
    @return zero or negative error code
 */
int wbh_reset(wbh_interface_t *iface);

/** send a custom command to the diagnostic device
    @param dev diagnostic device handle
    @param cmd command string
    @param data response buffer
    @param data_size size of response buffer
    @param timeout time to wait for data
    @return bytes read or negative error code
 */
int wbh_send_command(wbh_device_t *dev, char *cmd, char *data,
                     size_t data_size, int timeout);

/** retrieve a human-readable description of the last error
    @return error string
 */
const char *wbh_get_error(void);

/** diagnostic trouble code (DTC) structure */
typedef struct {
  uint16_t error_code;	/**< error code */
  uint8_t status_code;	/**< status code (cause of error) */
} wbh_dtc_t;

/** retrieve diagnostic error code (DTC) list
    @param dev diagnostic device handle
    @return pointer to wbh_error_code array, NULL on error
 */
wbh_dtc_t *wbh_get_dtc(wbh_device_t *dev);

/** free DTC array
    @param dtc pointer to DTC array
 */
void wbh_free_dtc(wbh_dtc_t *dtc);

/** scan for devices
    Scans for active devices by trying to connect to them one by one.
    @param iface WBH interface handle
    @param start first device ID to scan
    @param end last device ID to scan
    @return zero-terminated array of active device IDs
 */
uint8_t *wbh_scan_devices(wbh_interface_t *iface, uint8_t start, uint8_t end);

/** free scanned devices array
    @param devices pointer to device array
 */
void wbh_free_devices(uint8_t *devices);

/** run actuator diagnosis ("Stellglieddiagnose")
    @param dev diagnostic device handle
    @return tested component code, 0 if no more components, or negative error code
 */
int wbh_actuator_diagnosis(wbh_device_t *dev);

/** units that measurements can have */
typedef enum {
  UNIT_ENDOFLIST = 0,	/**< indicates the end of the measurements list */
  UNIT_RPM,
  UNIT_PERCENT,
  UNIT_DEG,
  UNIT_CELSIUS,
  UNIT_VOLT,
  UNIT_KMH,
  UNIT_OHM,
  UNIT_MILLIMETER,
  UNIT_BAR,
  UNIT_MILLISECOND,
  UNIT_MILLIBAR,
  UNIT_AMPERE,
  UNIT_DEG_KW,
  UNIT_KW,
  UNIT_LITER,
  UNIT_LITERS_PER_HOUR,
  UNIT_KM,
  UNIT_MILLIGRAMS_PER_HOUR,
  UNIT_AMPERE_HOUR,
  UNIT_TIME,			/**< hours, minutes, have to be read from raw array */
  UNIT_NM,
  UNIT_SECOND,
  UNIT_METERS_PER_SECOND_SQUARED,
  UNIT_CHARS,
  UNIT_GS,
  UNIT_DEG_PER_SECOND,
  UNIT_BITFIELD,
  UNIT_NONE,
  UNIT_UNKNOWN,
} wbh_unit_t;

const char *wbh_unit_name(wbh_unit_t unit);

typedef struct {
  float value;		/**< measurement value (float) */
  wbh_unit_t unit;	/**< measurement unit */
  uint8_t raw[3];	/**< raw data used to calculate the value */
} wbh_measurement_t;

wbh_measurement_t *wbh_read_measurements(wbh_device_t *dev, uint8_t group);

#ifdef __cplusplus
}
#endif