2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
18 #include <systemd/sd-event.h>
22 #include "diagnostic-manager.hpp"
24 #include "../utils/openxc-utils.hpp"
25 #include "../utils/signals.hpp"
26 #include "../binding/configuration.hpp"
28 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
29 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
30 // There are only 8 slots of in flight diagnostic requests
31 #define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
32 #define TIMERFD_ACCURACY 0
35 diagnostic_manager_t::diagnostic_manager_t()
39 /// @brief Diagnostic manager isn't initialized at launch but after
40 /// CAN bus devices initialization. For the moment, it is only possible
41 /// to have 1 diagnostic bus which are the first bus declared in the JSON
42 /// description file. Configuration instance will return it.
44 /// this will initialize DiagnosticShims and cancel all active requests
46 bool diagnostic_manager_t::initialize()
48 // Mandatory to set the bus before intialize shims.
49 bus_ = configuration_t::instance().get_diagnostic_bus();
51 init_diagnostic_shims();
52 event_source_ = nullptr;
56 DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__);
60 void diagnostic_manager_t::read_socket()
63 can_bus_t& cbm = configuration_t::instance().get_can_bus_manager();
65 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
66 { cbm.push_new_can_message(msg); }
67 cbm.get_new_can_message_cv().notify_one();
70 utils::socketcan_bcm_t& diagnostic_manager_t::get_socket()
75 /// @brief initialize shims used by UDS lib and set initialized_ to true.
76 /// It is needed before used the diagnostic manager fully because shims are
77 /// required by most member functions.
78 void diagnostic_manager_t::init_diagnostic_shims()
80 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
81 DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__);
84 /// @brief Force cleanup all active requests.
85 void diagnostic_manager_t::reset()
87 DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__);
88 cleanup_active_requests(true);
91 /// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager
92 /// listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications.
94 /// @return -1 or negative value on error, 0 if ok.
95 int diagnostic_manager_t::add_rx_filter(uint32_t can_id)
97 // Make sure that socket has been opened.
101 struct utils::simple_bcm_msg bcm_msg;
102 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
104 const struct timeval freq = recurring_requests_.back()->get_timeout_clock().get_timeval_from_period();
106 bcm_msg.msg_head.opcode = RX_SETUP;
107 bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID;
108 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
109 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
111 // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
112 if(can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
114 bcm_msg.msg_head.can_id = can_id;
122 for(uint8_t i = 0; i < 8; i++)
124 can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
125 bcm_msg.msg_head.can_id = can_id;
136 /// @brief send function use by diagnostic library. Only one bus used for now
137 /// so diagnostic request is sent using the default diagnostic bus not matter of
138 /// which is specified in the diagnostic message definition.
140 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
141 /// is 0x7DF by example.
142 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
143 /// @param[in] size - The size of the data payload, in bytes.
145 /// @return true if the CAN message was sent successfully.
146 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
148 diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
149 active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
150 utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
152 // Make sure that socket has been opened.
157 struct utils::simple_bcm_msg bcm_msg;
158 struct can_frame cfd;
160 memset(&cfd, 0, sizeof(cfd));
161 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
163 struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
165 bcm_msg.msg_head.opcode = TX_SETUP;
166 bcm_msg.msg_head.can_id = arbitration_id;
167 bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
168 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
169 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
170 bcm_msg.msg_head.nframes = 1;
172 ::memcpy(cfd.data, data, size);
174 bcm_msg.frames = cfd;
176 tx_socket << bcm_msg;
182 /// @brief The type signature for an optional logging function, if the user
183 /// wishes to provide one. It should print, store or otherwise display the
186 /// message - A format string to log using the given parameters.
187 /// ... (vargs) - the parameters for the format string.
189 void diagnostic_manager_t::shims_logger(const char* format, ...)
192 va_start(args, format);
195 vsnprintf(buffer, 256, format, args);
197 DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer);
200 /// @brief The type signature for a... OpenXC TODO: not used yet.
201 void diagnostic_manager_t::shims_timer()
204 std::string diagnostic_manager_t::get_can_bus()
209 active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
211 return recurring_requests_.back();
214 /// @brief Return diagnostic manager shims member.
215 DiagnosticShims& diagnostic_manager_t::get_shims()
220 /// @brief Search for a specific active diagnostic request in the provided requests list
221 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
222 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
223 /// contained in the vector but no event if connected to, so we will decode uneeded request.
225 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
226 /// @param[in] requests_list - a vector where to make the search and cleaning.
227 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
229 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
230 if ( i != requests_list.end())
231 requests_list.erase(i);
234 // @brief TODO: implement cancel_request if needed... Don't know.
235 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
237 entry->get_socket().close();
240 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
241 /// impossible to get that state for a recurring request without waiting for that, you can
242 /// force the cleaning operation.
244 /// @param[in] entry - the request to clean
245 /// @param[in] force - Force the cleaning or not ?
246 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
248 if((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed())))
250 entry->set_in_flight(false);
252 char request_string[128] = {0};
253 diagnostic_request_to_string(&entry->get_handle()->request,
254 request_string, sizeof(request_string));
255 if(force && entry->get_recurring())
257 find_and_erase(entry, recurring_requests_);
258 cancel_request(entry);
259 DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string);
263 DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string);
264 find_and_erase(entry, non_recurring_requests_);
265 cancel_request(entry);
270 /// @brief Clean up all requests lists, recurring and not recurring.
272 /// @param[in] force - Force the cleaning or not ? If true, that will do
273 /// the same effect as a call to reset().
274 void diagnostic_manager_t::cleanup_active_requests(bool force)
276 for(auto& entry : non_recurring_requests_)
277 if (entry != nullptr)
278 cleanup_request(entry, force);
280 for(auto& entry : recurring_requests_)
281 if (entry != nullptr)
282 cleanup_request(entry, force);
285 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
288 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
289 /// holded by the DiagnosticHandle member.
290 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
292 for (auto& entry : recurring_requests_)
296 if(diagnostic_request_equals(&entry->get_handle()->request, request))
306 /// @brief Add and send a new one-time diagnostic request.
308 /// A one-time (aka non-recurring) request can existing in parallel with a
309 /// recurring request for the same PID or mode, that's not a problem.
311 /// For an example, see the docs for addRecurringRequest. This function is very
312 /// similar but leaves out the frequencyHz parameter.
314 /// @param[in] request - The parameters for the request.
315 /// @param[in] name - Human readable name this response, to be used when
316 /// publishing received responses. TODO: If the name is NULL, the published output
317 /// will use the raw OBD-II response format.
318 /// @param[in] wait_for_multiple_responses - If false, When any response is received
319 /// for this request it will be removed from the active list. If true, the
320 /// request will remain active until the timeout clock expires, to allow it
321 /// to receive multiple response. Functional broadcast requests will always
322 /// waint for the timeout, regardless of this parameter.
323 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
324 /// responses to this request. If the decoder is NULL, the output will
325 /// include the raw payload instead of a parsed value.
326 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
327 /// response is received for this request.
329 /// @return true if the request was added successfully. Returns false if there
330 /// wasn't a free active request entry, if the frequency was too high or if the
331 /// CAN acceptance filters could not be configured,
332 active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
333 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
334 const DiagnosticResponseCallback callback)
336 cleanup_active_requests(false);
338 active_diagnostic_request_t* entry = nullptr;
340 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
342 // TODO: implement Acceptance Filter
343 // if(updateRequiredAcceptanceFilters(bus, request)) {
344 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
345 wait_for_multiple_responses, decoder, callback, 0);
346 entry->set_handle(shims_, request);
348 char request_string[128] = {0};
349 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
350 sizeof(request_string));
352 find_and_erase(entry, non_recurring_requests_);
353 DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__,
354 bus_.c_str(), request_string);
356 non_recurring_requests_.push_back(entry);
360 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
361 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
366 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
368 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
369 DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__,
370 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
376 /// @brief Add and send a new recurring diagnostic request.
378 /// At most one recurring request can be active for the same arbitration ID, mode
379 /// and (if set) PID on the same bus at one time. If you try and call
380 /// addRecurringRequest with the same key, it will return an error.
382 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
383 /// response. If the request is to the functional broadcast ID (0x7df) filters
384 /// are added for all functional addresses (0x7e8 to 0x7f0).
388 /// // Creating a functional broadcast, mode 1 request for PID 2.
389 /// DiagnosticRequest request = {
390 /// arbitration_id: 0x7df,
396 /// // Add a recurring request, to be sent at 1Hz, and published with the
397 /// // name "my_pid_request"
398 /// addRecurringRequest(&getConfiguration()->diagnosticsManager,
401 /// "my_pid_request",
407 /// @param[in] request - The parameters for the request.
408 /// @param[in] name - An optional human readable name this response, to be used when
409 /// publishing received responses. If the name is NULL, the published output
410 /// will use the raw OBD-II response format.
411 /// @param[in] wait_for_multiple_responses - If false, When any response is received
412 /// for this request it will be removed from the active list. If true, the
413 /// request will remain active until the timeout clock expires, to allow it
414 /// to receive multiple response. Functional broadcast requests will always
415 /// waint for the timeout, regardless of this parameter.
416 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
417 /// responses to this request. If the decoder is NULL, the output will
418 /// include the raw payload instead of a parsed value.
419 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
420 /// response is received for this request.
421 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
422 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
423 /// function return false.
425 /// @return true if the request was added successfully. Returns false if there
426 /// was too much already running requests, if the frequency was too high TODO:or if the
427 /// CAN acceptance filters could not be configured,
428 active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
429 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
430 const DiagnosticResponseCallback callback, float frequencyHz)
432 active_diagnostic_request_t* entry = nullptr;
434 if(!validate_optional_request_attributes(frequencyHz))
437 cleanup_active_requests(false);
439 if(find_recurring_request(request) == nullptr)
441 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
443 // TODO: implement Acceptance Filter
444 //if(updateRequiredAcceptanceFilters(bus, request)) {
445 entry = new active_diagnostic_request_t(bus_, request, name,
446 wait_for_multiple_responses, decoder, callback, frequencyHz);
447 recurring_requests_.push_back(entry);
449 entry->set_handle(shims_, request);
450 if(add_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID) < 0)
451 { recurring_requests_.pop_back(); }
454 start_diagnostic_request(&shims_, entry->get_handle());
455 if(event_source_ == nullptr && sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon),
459 read_diagnostic_message,
462 cleanup_request(entry, true);
463 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, entry->get_name().c_str());
470 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
471 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
475 { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);}
479 /// @brief Returns true if there are two active requests running for the same arbitration ID.
480 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
482 return (candidate->get_in_flight() && candidate != request &&
483 candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
484 candidate->get_id() == request->get_id());
488 /// @brief Returns true if there are no other active requests to the same arbitration ID
489 /// and if there aren't more than 8 requests in flight at the same time.
490 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
492 int total_in_flight = 0;
493 for ( auto entry : non_recurring_requests_)
495 if(conflicting(request, entry))
497 if(entry->get_in_flight())
501 for ( auto entry : recurring_requests_)
503 if(conflicting(request, entry))
505 if(entry->get_in_flight())
509 if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
514 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
516 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
517 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
519 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
520 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
522 openxc_VehicleMessage message = build_VehicleMessage();
523 float value = (float)diagnostic_payload_to_integer(&response);
524 if(adr->get_decoder() != nullptr)
526 value = adr->get_decoder()(&response, value);
529 if((response.success && adr->get_name().size()) > 0)
531 // If name, include 'value' instead of payload, and leave of response
533 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
537 // If no name, send full details of response but still include 'value'
538 // instead of 'payload' if they provided a decoder. The one case you
539 // can't get is the full detailed response with 'value'. We could add
540 // another parameter for that but it's onerous to carry that around.
541 message = build_VehicleMessage(adr, response, value);
544 // If not success but completed then the pid isn't supported
545 if(!response.success)
547 struct utils::signals_found found_signals;
548 found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
549 found_signals.diagnostic_messages.front()->set_supported(false);
550 cleanup_request(adr, true);
551 NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code);
552 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
555 if(adr->get_callback() != nullptr)
557 adr->get_callback()(adr, &response, value);
560 // Reset the completed flag handle to make sure that it will be reprocessed the next time.
561 adr->get_handle()->success = false;
565 /// @brief Will take the CAN message and pass it to the receive functions that will process
566 /// diagnostic handle for each active diagnostic request then depending on the result we will
567 /// return pass the diagnostic response to decode it.
569 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
570 /// @param[in] cm - A raw CAN message.
572 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
573 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
575 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
576 if(response.completed && entry->get_handle()->completed)
578 if(entry->get_handle()->success)
579 return relay_diagnostic_response(entry, response);
581 else if(!response.completed && response.multi_frame)
583 // Reset the timeout clock while completing the multi-frame receive
584 entry->get_timeout_clock().tick();
587 return build_VehicleMessage();
590 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
591 /// member that will understand the CAN message using diagnostic_receive_can_frame function
592 /// from UDS-C library. Then decode it with an ad-hoc method.
594 /// @param[in] cm - Raw CAN message received
596 /// @return VehicleMessage with decoded value.
597 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
599 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
601 for ( auto entry : non_recurring_requests_)
603 vehicle_message = relay_diagnostic_handle(entry, cm);
604 if (is_valid(vehicle_message))
605 return vehicle_message;
608 for ( auto entry : recurring_requests_)
610 vehicle_message = relay_diagnostic_handle(entry, cm);
611 if (is_valid(vehicle_message))
612 return vehicle_message;
615 return vehicle_message;
618 /// @brief Tell if the CAN message received is a diagnostic response.
619 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
620 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
622 /// @param[in] cm - CAN message received from the socket.
624 /// @return True if the active diagnostic request match the response.
625 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
627 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)