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Diagnostics Reimagined: Production-Ready Fault Management with Apex.Grace

  • Writer: Apex.AI
    Apex.AI
  • Jul 9
  • 3 min read

In the world of automotive and autonomous systems, diagnostics is more than just troubleshooting—it's about enabling visibility, accountability, and maintainability across the entire vehicle lifecycle. From factory floor to field operation, a robust diagnostic stack ensures that systems stay safe and serviceable. 


Apex.Grace brings next-generation diagnostics to systems with a fully integrated stack built on ISO 14229 (UDS)—a cornerstone standard across the automotive industry. Whether you're managing faults in development, performing calibration at end-of-line, or enabling over-the-air service tools in production fleets, Apex.Grace provides a diagnostics architecture that scales. 


Diagnostic architecture that scales

Standards-Based, Transport-Agnostic 

Apex.Grace supports Unified Diagnostic Services (UDS) over both Ethernet and CAN, with built-in support for: 

  • DoIP (Diagnostics over IP) via ISO 13400 

  • DoCAN (Diagnostics over CAN) via ISO 15765-2 

This transport-agnostic approach makes Apex.Grace compatible with modern High-Performance Compute (HPC) architectures, legacy ECUs, and hybrid setups—ensuring seamless integration across diverse platforms. 

 

Built-In Fault Management with DTC Handling 

At the core of the Apex.Grace diagnostics system is a highly configurable Fault Management framework: 

  • Fault Monitors capture diagnostic events at the application level, applying debouncing logic to minimize false positives. 

  • Validated faults are passed to the Diagnostic Fault Manager (DFM), which maps them to Diagnostic Trouble Codes (DTCs) and stores them persistently using Apex.Grace’s Message Storage. 

  • DTCs include snapshot and extended data, such as timestamps, fault counters, and custom OEM metadata. 

This makes Apex.Grace is not just reactive, but intelligently traceable—ensuring that issues are detected, logged, and contextualized for reliable field service and regulatory reporting. 

 

UDS Stack: Secure, Scalable, and Configurable 

Apex.Grace implements a full UDS stack, centered on two key components: 

  • The UDS Server, which manages session control, security access, and permission enforcement across UDS services (e.g., ReadDataByIdentifier, RoutineControl, SecurityAccess). 

  • The UDS Gateway bridges communications between diagnostic tools and the server, routing requests over CAN or Ethernet, depending on the system topology. 

Whether you’re simulating a diagnostic session or routing live queries between testers and ECUs, the UDS stack ensures timing, access control, and protocol compliance are all in place. 

 

DoIP and Ethernet-Ready 

With the growing demand for centralized computing and Ethernet-based diagnostics, DoIP support in Apex.Grace is critical: 

  • Handles discovery via UDP and diagnostic communication via TCP 

  • Supports multiple simultaneous connections 

  • Fully configurable through Apex.Grace’s typed Settings system 

This means diagnostic tools can query systems over the network just as they would over traditional CAN, without compromising on standard compliance or message integrity. 

 

DoCAN for Embedded and Legacy Integration 

For systems still reliant on the Controller Area Network (CAN), Apex.Grace delivers a modern abstraction of ISO 15765-2: 

  • Manages message segmentation, flow control, and timing behavior 

  • Translates UDS-over-CAN messages into standard ROS 2 communication 

  • Supports multiple concurrent CAN channels and customizable identifier mapping 

This allows developers to maintain compatibility with existing tooling while transitioning to a modern, DDS-based ROS 2 architecture. 

 

Why It Matters 

In automotive, aerospace, and advanced robotics, the ability to diagnose and respond to faults is non-negotiable. With Apex.Grace, diagnostics becomes a first-class citizen of your system architecture—deeply integrated, standards-compliant, and designed for real-world operations. 

From test bench to fleet deployment, Apex.Grace empowers engineering teams to: 

  • Reduce downtime with reliable, validated fault reporting 

  • Maintain compliance with industry standards like ISO 14229, 13400, and 15765 

  • Simplify service and diagnostics integration—whether over CAN or Ethernet 

  • Extend diagnostics into over-the-air workflows and remote maintenance 

 

Apex.Grace turns diagnostics into a development accelerator and a safety enabler. Because when systems fail, the real value is in knowing how, when, and why. 

 

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