Make and use a single function to read incoming CAN messages

[apps/low-level-can-service.git] / CAN-binder / low-can-binding / diagnostic / diagnostic-manager.cpp

/*
 * Copyright (C) 2015, 2016 "IoT.bzh"
 * Author "Romain Forlot" <romain.forlot@iot.bzh>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *       http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include <systemd/sd-event.h>
#include <algorithm>
#include <string.h>

#include "diagnostic-manager.hpp"

#include "../utils/openxc-utils.hpp"
#include "../utils/signals.hpp"
#include "../binding/configuration.hpp"

#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
// There are only 8 slots of in flight diagnostic requests
#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
#define TIMERFD_ACCURACY 0
#define MICRO 1000000

diagnostic_manager_t::diagnostic_manager_t()
        : initialized_{false}
{}

/// @brief Diagnostic manager isn't initialized at launch but after
///  CAN bus devices initialization. For the moment, it is only possible
///  to have 1 diagnostic bus which are the first bus declared in the JSON
///  description file. Configuration instance will return it.
///
/// this will initialize DiagnosticShims and cancel all active requests 
///  if there are any.
bool diagnostic_manager_t::initialize()
{
        // Mandatory to set the bus before intialize shims.
        bus_ = configuration_t::instance().get_diagnostic_bus();

        init_diagnostic_shims();
        event_source_ = nullptr;
        reset();

        initialized_ = true;
        DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__);
        return initialized_;
}

utils::socketcan_bcm_t& diagnostic_manager_t::get_socket()
{
        return socket_;
}

/// @brief initialize shims used by UDS lib and set initialized_ to true.
///  It is needed before used the diagnostic manager fully because shims are
///  required by most member functions.
void diagnostic_manager_t::init_diagnostic_shims()
{
        shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
        DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__);
}

/// @brief Force cleanup all active requests.
void diagnostic_manager_t::reset()
{
        DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__);
        cleanup_active_requests(true);
}

/// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager
///  listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications.
///
/// @return -1 or negative value on error, 0 if ok.
int diagnostic_manager_t::add_rx_filter(uint32_t can_id)
{
        // Make sure that socket has been opened.
        if(! socket_)
                socket_.open(bus_);

        struct utils::simple_bcm_msg bcm_msg;
        memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));

        const struct timeval freq =  recurring_requests_.back()->get_timeout_clock().get_timeval_from_period();

        bcm_msg.msg_head.opcode  = RX_SETUP;
        bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID;
        bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
        bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;

        // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
        if(can_id != OBD2_FUNCTIONAL_BROADCAST_ID) 
        {
                bcm_msg.msg_head.can_id  = can_id;

                socket_ << bcm_msg;
                        if(! socket_)
                                return -1;
        }
        else
        {
                for(uint8_t i = 0; i < 8; i++)
                {
                        can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
                        bcm_msg.msg_head.can_id  = can_id;

                        socket_ << bcm_msg;
                        if(! socket_)
                                return -1;
                }
        }

        return 0;
}

/// @brief send function use by diagnostic library. Only one bus used for now
///  so diagnostic request is sent using the default diagnostic bus not matter of
///  which is specified in the diagnostic message definition.
///
/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
///  is 0x7DF by example.
/// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
/// @param[in] size - The size of the data payload, in bytes.
///
/// @return true if the CAN message was sent successfully. 
bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
{
        diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
        active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
        utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();

        // Make sure that socket has been opened.
        if(! tx_socket)
                tx_socket.open(
                        dm.get_can_bus());

        struct utils::simple_bcm_msg bcm_msg;
        struct can_frame cfd;

        memset(&cfd, 0, sizeof(cfd));
        memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));

        struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();

        bcm_msg.msg_head.opcode  = TX_SETUP;
        bcm_msg.msg_head.can_id  = arbitration_id;
        bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
        bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
        bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
        bcm_msg.msg_head.nframes = 1;
        cfd.can_dlc = size;
        ::memcpy(cfd.data, data, size);

        bcm_msg.frames = cfd;

        tx_socket << bcm_msg;
        if(tx_socket)
                return true;
        return false;
}

/// @brief The type signature for an optional logging function, if the user
/// wishes to provide one. It should print, store or otherwise display the
/// message.
///
/// message - A format string to log using the given parameters.
/// ... (vargs) - the parameters for the format string.
///
void diagnostic_manager_t::shims_logger(const char* format, ...)
{
        va_list args;
        va_start(args, format);

        char buffer[256];
        vsnprintf(buffer, 256, format, args);

        DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer);
}

/// @brief The type signature for a... OpenXC TODO: not used yet.
void diagnostic_manager_t::shims_timer()
{}

std::string diagnostic_manager_t::get_can_bus()
{
        return bus_;
}

active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
{
        return recurring_requests_.back();
}

/// @brief Return diagnostic manager shims member.
DiagnosticShims& diagnostic_manager_t::get_shims()
{
        return shims_;
}

/// @brief Search for a specific active diagnostic request in the provided requests list
/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
/// contained in the vector but no event if connected to, so we will decode uneeded request.
///
/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
/// @param[in] requests_list - a vector where to make the search and cleaning.
void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
{
        auto i = std::find(requests_list.begin(), requests_list.end(), entry);
        if ( i != requests_list.end())
                requests_list.erase(i);
}

// @brief TODO: implement cancel_request if needed... Don't know.
void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
{
        entry->get_socket().close();
}

/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
/// impossible to get that state for a recurring request without waiting for that, you can 
/// force the cleaning operation.
///
/// @param[in] entry - the request to clean
/// @param[in] force - Force the cleaning or not ?
void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
{
        if((force || (entry != nullptr && entry->response_received())))
        {
                char request_string[128] = {0};
                diagnostic_request_to_string(&entry->get_handle()->request,
                        request_string, sizeof(request_string));
                if(force && entry->get_recurring())
                {
                        find_and_erase(entry, recurring_requests_);
                        cancel_request(entry);
                        DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string);
                }
                else
                {
                        DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string);
                        find_and_erase(entry, non_recurring_requests_);
                        cancel_request(entry);
                }
        }
}

/// @brief Clean up all requests lists, recurring and not recurring.
///
/// @param[in] force - Force the cleaning or not ? If true, that will do
/// the same effect as a call to reset().
void diagnostic_manager_t::cleanup_active_requests(bool force)
{
        for(auto& entry : non_recurring_requests_)
                if (entry != nullptr)
                        cleanup_request(entry, force);

        for(auto& entry : recurring_requests_)
                if (entry != nullptr)
                        cleanup_request(entry, force);
}

/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
/// not found.
///
/// @param[in] request - Search key, method will go through recurring list to see if it find that request
///  holded by the DiagnosticHandle member.
active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
{
        for (auto& entry : recurring_requests_)
        {
                if(entry != nullptr)
                {
                        if(diagnostic_request_equals(&entry->get_handle()->request, request))
                        {
                                return entry;
                                break;
                        }
                }
        }
        return nullptr;
}

/// @brief Add and send a new one-time diagnostic request.
///
/// A one-time (aka non-recurring) request can existing in parallel with a
/// recurring request for the same PID or mode, that's not a problem.
///
/// For an example, see the docs for addRecurringRequest. This function is very
/// similar but leaves out the frequencyHz parameter.
///
/// @param[in] request - The parameters for the request.
/// @param[in] name - Human readable name this response, to be used when
///      publishing received responses. TODO: If the name is NULL, the published output
///      will use the raw OBD-II response format.
/// @param[in] wait_for_multiple_responses - If false, When any response is received
///      for this request it will be removed from the active list. If true, the
///      request will remain active until the timeout clock expires, to allow it
///      to receive multiple response. Functional broadcast requests will always
///      waint for the timeout, regardless of this parameter.
/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
///      responses to this request. If the decoder is NULL, the output will
///      include the raw payload instead of a parsed value.
/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
///      response is received for this request.
///
/// @return true if the request was added successfully. Returns false if there
/// wasn't a free active request entry, if the frequency was too high or if the
/// CAN acceptance filters could not be configured,
active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
        bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
        const DiagnosticResponseCallback callback)
{
        cleanup_active_requests(false);

        active_diagnostic_request_t* entry = nullptr;

        if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
        {
                // TODO: implement Acceptance Filter
                //      if(updateRequiredAcceptanceFilters(bus, request)) {
                        active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
                                        wait_for_multiple_responses, decoder, callback, 0);
                        entry->set_handle(shims_, request);

                        char request_string[128] = {0};
                        diagnostic_request_to_string(&entry->get_handle()->request, request_string,
                                        sizeof(request_string));

                        find_and_erase(entry, non_recurring_requests_);
                        DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__,
                                        bus_.c_str(), request_string);

                        non_recurring_requests_.push_back(entry);
        }
        else
        {
                WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
                non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
        }
        return entry;
}

bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
{
        if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
                DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__,
                        frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
                return false;
        }
        return true;
}

/// @brief Add and send a new recurring diagnostic request.
///
/// At most one recurring request can be active for the same arbitration ID, mode
/// and (if set) PID on the same bus at one time. If you try and call
/// addRecurringRequest with the same key, it will return an error.
///
/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
/// response. If the request is to the functional broadcast ID (0x7df) filters
/// are added for all functional addresses (0x7e8 to 0x7f0).
///
/// Example:
///
///     // Creating a functional broadcast, mode 1 request for PID 2.
///     DiagnosticRequest request = {
///         arbitration_id: 0x7df,
///         mode: 1,
///         has_pid: true,
///         pid: 2
///     };
///
///     // Add a recurring request, to be sent at 1Hz, and published with the
///     // name "my_pid_request"
///     addRecurringRequest(&getConfiguration()->diagnosticsManager,
///          canBus,
///          &request,
///          "my_pid_request",
///          false,
///          NULL,
///          NULL,
///          1);
///
/// @param[in] request - The parameters for the request.
/// @param[in] name - An optional human readable name this response, to be used when
///      publishing received responses. If the name is NULL, the published output
///      will use the raw OBD-II response format.
/// @param[in] wait_for_multiple_responses - If false, When any response is received
///      for this request it will be removed from the active list. If true, the
///      request will remain active until the timeout clock expires, to allow it
///      to receive multiple response. Functional broadcast requests will always
///      waint for the timeout, regardless of this parameter.
/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
///      responses to this request. If the decoder is NULL, the output will
///      include the raw payload instead of a parsed value.
/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
///      response is received for this request.
/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
///      MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
///      function return false.
///
/// @return true if the request was added successfully. Returns false if there
/// was too much already running requests, if the frequency was too high TODO:or if the
/// CAN acceptance filters could not be configured,
active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
                bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
                const DiagnosticResponseCallback callback, float frequencyHz)
{
        active_diagnostic_request_t* entry = nullptr;

        if(!validate_optional_request_attributes(frequencyHz))
                return entry;

        cleanup_active_requests(false);

        if(find_recurring_request(request) == nullptr)
        {
                if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
                {
                        // TODO: implement Acceptance Filter
                        //if(updateRequiredAcceptanceFilters(bus, request)) {
                        entry = new active_diagnostic_request_t(bus_, request, name,
                                        wait_for_multiple_responses, decoder, callback, frequencyHz);
                        recurring_requests_.push_back(entry);

                        entry->set_handle(shims_, request);
                        if(add_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID) < 0)
                                { recurring_requests_.pop_back(); }
                        else
                                {
                                        start_diagnostic_request(&shims_, entry->get_handle()); 
                                        if(event_source_ == nullptr && sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), 
                                                &event_source_,
                                                socket_.socket(),
                                                EPOLLIN,
                                                read_message,
                                                nullptr) < 0)
                                        {
                                                cleanup_request(entry, true);
                                                WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, entry->get_name().c_str());
                                                return entry;
                                        }
                                }
                }
                else
                {
                        WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
                        recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
                }
        }
        else
                { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);}
        return entry;
}

/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
///
/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
///
/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
{
        openxc_VehicleMessage message = build_VehicleMessage();
        float value = (float)diagnostic_payload_to_integer(&response);
        if(adr->get_decoder() != nullptr)
        {
                value = adr->get_decoder()(&response, value);
        }

        if((response.success && adr->get_name().size()) > 0)
        {
                // If name, include 'value' instead of payload, and leave of response
                // details.
                message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
        }
        else
        {
                // If no name, send full details of response but still include 'value'
                // instead of 'payload' if they provided a decoder. The one case you
                // can't get is the full detailed response with 'value'. We could add
                // another parameter for that but it's onerous to carry that around.
                message = build_VehicleMessage(adr, response, value);
        }

        // If not success but completed then the pid isn't supported
        if(!response.success)
        {
                struct utils::signals_found found_signals;
                found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
                found_signals.diagnostic_messages.front()->set_supported(false);
                cleanup_request(adr, true);
                NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code);
                message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
        }

        if(adr->get_callback() != nullptr)
        {
                adr->get_callback()(adr, &response, value);
        }

        // Reset the completed flag handle to make sure that it will be reprocessed the next time.
        adr->get_handle()->success = false;
        return message;
}

/// @brief Will take the CAN message and pass it to the receive functions that will process
/// diagnostic handle for each active diagnostic request then depending on the result we will 
/// return pass the diagnostic response to decode it.
///
/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
/// @param[in] cm - A raw CAN message.
///
/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
{
        DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
        if(response.completed && entry->get_handle()->completed)
        {
                if(entry->get_handle()->success)
                        return relay_diagnostic_response(entry, response);
        }
        else if(!response.completed && response.multi_frame)
        {
                // Reset the timeout clock while completing the multi-frame receive
                entry->get_timeout_clock().tick();
        }

        return build_VehicleMessage();
}

/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
/// member that will understand the CAN message using diagnostic_receive_can_frame function
/// from UDS-C library. Then decode it with an ad-hoc method.
///
/// @param[in] cm - Raw CAN message received
///
/// @return VehicleMessage with decoded value.
openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
{
        openxc_VehicleMessage vehicle_message = build_VehicleMessage();

        for ( auto entry : non_recurring_requests_)
        {
                vehicle_message = relay_diagnostic_handle(entry, cm);
                if (is_valid(vehicle_message))
                        return vehicle_message;
        }

        for ( auto entry : recurring_requests_)
        {
                vehicle_message = relay_diagnostic_handle(entry, cm);
                if (is_valid(vehicle_message))
                        return vehicle_message;
        }

        return vehicle_message;
}

/// @brief Tell if the CAN message received is a diagnostic response.
/// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond 
/// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
///
/// @param[in] cm - CAN message received from the socket.
///
/// @return True if the active diagnostic request match the response.
bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
{
        if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
                        return true;
        return false;
}