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();
55 DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__);
59 void diagnostic_manager_t::read_socket()
62 can_bus_t& cbm = configuration_t::instance().get_can_bus_manager();
64 std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
65 { cbm.push_new_can_message(msg); }
66 cbm.get_new_can_message_cv().notify_one();
69 utils::socketcan_bcm_t& diagnostic_manager_t::get_socket()
74 /// @brief initialize shims used by UDS lib and set initialized_ to true.
75 /// It is needed before used the diagnostic manager fully because shims are
76 /// required by most member functions.
77 void diagnostic_manager_t::init_diagnostic_shims()
79 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
80 DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__);
83 /// @brief Force cleanup all active requests.
84 void diagnostic_manager_t::reset()
86 DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__);
87 cleanup_active_requests(true);
90 /// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager
91 /// listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications.
93 /// @return -1 or negative value on error, 0 if ok.
94 int diagnostic_manager_t::add_rx_filter(uint32_t can_id)
96 // Make sure that socket has been opened.
100 struct utils::simple_bcm_msg bcm_msg;
101 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
103 const struct timeval freq = recurring_requests_.back()->get_timeout_clock().get_timeval_from_period();
105 bcm_msg.msg_head.opcode = RX_SETUP;
106 bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID;
107 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
108 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
110 // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
111 if(can_id != OBD2_FUNCTIONAL_RESPONSE_START)
113 bcm_msg.msg_head.can_id = can_id;
121 for(uint8_t i = 0; i < 8; i++)
123 can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
124 bcm_msg.msg_head.can_id = can_id;
135 /// @brief send function use by diagnostic library. Only one bus used for now
136 /// so diagnostic request is sent using the default diagnostic bus not matter of
137 /// which is specified in the diagnostic message definition.
139 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
140 /// is 0x7DF by example.
141 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
142 /// @param[in] size - The size of the data payload, in bytes.
144 /// @return true if the CAN message was sent successfully.
145 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
147 diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
148 active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
149 utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
151 // Make sure that socket has been opened.
156 struct utils::simple_bcm_msg bcm_msg;
157 struct can_frame cfd;
159 memset(&cfd, 0, sizeof(cfd));
160 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
162 struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
164 bcm_msg.msg_head.opcode = TX_SETUP;
165 bcm_msg.msg_head.can_id = arbitration_id;
166 bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
167 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
168 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
169 bcm_msg.msg_head.nframes = 1;
170 ::memcpy(cfd.data, data, size);
172 bcm_msg.frames = cfd;
174 tx_socket << bcm_msg;
180 /// @brief The type signature for an optional logging function, if the user
181 /// wishes to provide one. It should print, store or otherwise display the
184 /// message - A format string to log using the given parameters.
185 /// ... (vargs) - the parameters for the format string.
187 void diagnostic_manager_t::shims_logger(const char* format, ...)
190 va_start(args, format);
193 vsnprintf(buffer, 256, format, args);
195 DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer);
198 /// @brief The type signature for a... OpenXC TODO: not used yet.
199 void diagnostic_manager_t::shims_timer()
202 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
203 active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
205 return recurring_requests_.back();
208 /// @brief Return diagnostic manager shims member.
209 DiagnosticShims& diagnostic_manager_t::get_shims()
214 /// @brief Search for a specific active diagnostic request in the provided requests list
215 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
216 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
217 /// contained in the vector but no event if connected to, so we will decode uneeded request.
219 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
220 /// @param[in] requests_list - a vector where to make the search and cleaning.
221 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
223 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
224 if ( i != requests_list.end())
225 requests_list.erase(i);
228 // @brief TODO: implement cancel_request if needed... Don't know.
229 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
232 /* TODO: implement acceptance filters.
233 if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
234 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
235 filter < OBD2_FUNCTIONAL_RESPONSE_START +
236 OBD2_FUNCTIONAL_RESPONSE_COUNT;
238 removeAcceptanceFilter(entry.bus_, filter,
239 CanMessageFormat::STANDARD, getCanBuses(),
243 removeAcceptanceFilter(entry.bus_,
244 entry.arbitration_id_ +
245 DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
246 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
250 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
251 /// impossible to get that state for a recurring request without waiting for that, you can
252 /// force the cleaning operation.
254 /// @param[in] entry - the request to clean
255 /// @param[in] force - Force the cleaning or not ?
256 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
258 if((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed())))
260 entry->set_in_flight(false);
262 char request_string[128] = {0};
263 diagnostic_request_to_string(&entry->get_handle()->request,
264 request_string, sizeof(request_string));
265 if(force && entry->get_recurring())
267 find_and_erase(entry, recurring_requests_);
268 cancel_request(entry);
269 DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string);
273 DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string);
274 find_and_erase(entry, non_recurring_requests_);
275 cancel_request(entry);
280 /// @brief Clean up all requests lists, recurring and not recurring.
282 /// @param[in] force - Force the cleaning or not ? If true, that will do
283 /// the same effect as a call to reset().
284 void diagnostic_manager_t::cleanup_active_requests(bool force)
286 for(auto& entry : non_recurring_requests_)
287 if (entry != nullptr)
288 cleanup_request(entry, force);
290 for(auto& entry : recurring_requests_)
291 if (entry != nullptr)
292 cleanup_request(entry, force);
295 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
298 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
299 /// holded by the DiagnosticHandle member.
300 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
302 for (auto& entry : recurring_requests_)
306 if(diagnostic_request_equals(&entry->get_handle()->request, request))
316 /// @brief Add and send a new one-time diagnostic request.
318 /// A one-time (aka non-recurring) request can existing in parallel with a
319 /// recurring request for the same PID or mode, that's not a problem.
321 /// For an example, see the docs for addRecurringRequest. This function is very
322 /// similar but leaves out the frequencyHz parameter.
324 /// @param[in] request - The parameters for the request.
325 /// @param[in] name - Human readable name this response, to be used when
326 /// publishing received responses. TODO: If the name is NULL, the published output
327 /// will use the raw OBD-II response format.
328 /// @param[in] wait_for_multiple_responses - If false, When any response is received
329 /// for this request it will be removed from the active list. If true, the
330 /// request will remain active until the timeout clock expires, to allow it
331 /// to receive multiple response. Functional broadcast requests will always
332 /// waint for the timeout, regardless of this parameter.
333 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
334 /// responses to this request. If the decoder is NULL, the output will
335 /// include the raw payload instead of a parsed value.
336 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
337 /// response is received for this request.
339 /// @return true if the request was added successfully. Returns false if there
340 /// wasn't a free active request entry, if the frequency was too high or if the
341 /// CAN acceptance filters could not be configured,
342 active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
343 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
344 const DiagnosticResponseCallback callback)
346 cleanup_active_requests(false);
348 active_diagnostic_request_t* entry = nullptr;
350 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
352 // TODO: implement Acceptance Filter
353 // if(updateRequiredAcceptanceFilters(bus, request)) {
354 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
355 wait_for_multiple_responses, decoder, callback, 0);
356 entry->set_handle(shims_, request);
358 char request_string[128] = {0};
359 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
360 sizeof(request_string));
362 find_and_erase(entry, non_recurring_requests_);
363 DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__,
364 bus_.c_str(), request_string);
366 non_recurring_requests_.push_back(entry);
370 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
371 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
376 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
378 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
379 DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__,
380 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
386 /// @brief Add and send a new recurring diagnostic request.
388 /// At most one recurring request can be active for the same arbitration ID, mode
389 /// and (if set) PID on the same bus at one time. If you try and call
390 /// addRecurringRequest with the same key, it will return an error.
392 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
393 /// response. If the request is to the functional broadcast ID (0x7df) filters
394 /// are added for all functional addresses (0x7e8 to 0x7f0).
398 /// // Creating a functional broadcast, mode 1 request for PID 2.
399 /// DiagnosticRequest request = {
400 /// arbitration_id: 0x7df,
406 /// // Add a recurring request, to be sent at 1Hz, and published with the
407 /// // name "my_pid_request"
408 /// addRecurringRequest(&getConfiguration()->diagnosticsManager,
411 /// "my_pid_request",
417 /// @param[in] request - The parameters for the request.
418 /// @param[in] name - An optional human readable name this response, to be used when
419 /// publishing received responses. If the name is NULL, the published output
420 /// will use the raw OBD-II response format.
421 /// @param[in] wait_for_multiple_responses - If false, When any response is received
422 /// for this request it will be removed from the active list. If true, the
423 /// request will remain active until the timeout clock expires, to allow it
424 /// to receive multiple response. Functional broadcast requests will always
425 /// waint for the timeout, regardless of this parameter.
426 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
427 /// responses to this request. If the decoder is NULL, the output will
428 /// include the raw payload instead of a parsed value.
429 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
430 /// response is received for this request.
431 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
432 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
433 /// function return false.
435 /// @return true if the request was added successfully. Returns false if there
436 /// was too much already running requests, if the frequency was too high TODO:or if the
437 /// CAN acceptance filters could not be configured,
438 active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
439 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
440 const DiagnosticResponseCallback callback, float frequencyHz)
442 active_diagnostic_request_t* entry = nullptr;
444 if(!validate_optional_request_attributes(frequencyHz))
447 cleanup_active_requests(false);
449 if(find_recurring_request(request) == nullptr)
451 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
453 // TODO: implement Acceptance Filter
454 //if(updateRequiredAcceptanceFilters(bus, request)) {
455 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
456 wait_for_multiple_responses, decoder, callback, frequencyHz);
457 recurring_requests_.push_back(entry);
459 entry->set_handle(shims_, request);
460 if(add_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID) < 0)
461 { recurring_requests_.pop_back(); }
463 { start_diagnostic_request(&shims_, entry->get_handle()); }
467 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
468 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
472 { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);}
476 /// @brief Returns true if there are two active requests running for the same arbitration ID.
477 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
479 return (candidate->get_in_flight() && candidate != request &&
480 candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
481 candidate->get_id() == request->get_id());
485 /// @brief Returns true if there are no other active requests to the same arbitration ID
486 /// and if there aren't more than 8 requests in flight at the same time.
487 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
489 int total_in_flight = 0;
490 for ( auto entry : non_recurring_requests_)
492 if(conflicting(request, entry))
494 if(entry->get_in_flight())
498 for ( auto entry : recurring_requests_)
500 if(conflicting(request, entry))
502 if(entry->get_in_flight())
506 if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
511 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
513 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
514 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
516 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
517 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
519 openxc_VehicleMessage message = build_VehicleMessage();
520 float value = (float)diagnostic_payload_to_integer(&response);
521 if(adr->get_decoder() != nullptr)
523 value = adr->get_decoder()(&response, value);
526 if((response.success && adr->get_name().size()) > 0)
528 // If name, include 'value' instead of payload, and leave of response
530 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
534 // If no name, send full details of response but still include 'value'
535 // instead of 'payload' if they provided a decoder. The one case you
536 // can't get is the full detailed response with 'value'. We could add
537 // another parameter for that but it's onerous to carry that around.
538 message = build_VehicleMessage(adr, response, value);
541 // If not success but completed then the pid isn't supported
542 if(!response.success)
544 struct utils::signals_found found_signals;
545 found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
546 found_signals.diagnostic_messages.front()->set_supported(false);
547 cleanup_request(adr, true);
548 NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code);
549 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
552 if(adr->get_callback() != nullptr)
554 adr->get_callback()(adr, &response, value);
557 // Reset the completed flag handle to make sure that it will be reprocessed the next time.
558 adr->get_handle()->completed = false;
562 /// @brief Will take the CAN message and pass it to the receive functions that will process
563 /// diagnostic handle for each active diagnostic request then depending on the result we will
564 /// return pass the diagnostic response to decode it.
566 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
567 /// @param[in] cm - A raw CAN message.
569 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
570 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
572 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
573 if(response.completed && entry->get_handle()->completed)
575 if(entry->get_handle()->success)
576 return relay_diagnostic_response(entry, response);
578 else if(!response.completed && response.multi_frame)
580 // Reset the timeout clock while completing the multi-frame receive
581 entry->get_timeout_clock().tick();
584 return build_VehicleMessage();
587 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
588 /// member that will understand the CAN message using diagnostic_receive_can_frame function
589 /// from UDS-C library. Then decode it with an ad-hoc method.
591 /// @param[in] cm - Raw CAN message received
593 /// @return VehicleMessage with decoded value.
594 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
596 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
598 for ( auto entry : non_recurring_requests_)
600 vehicle_message = relay_diagnostic_handle(entry, cm);
601 if (is_valid(vehicle_message))
602 return vehicle_message;
605 for ( auto entry : recurring_requests_)
607 vehicle_message = relay_diagnostic_handle(entry, cm);
608 if (is_valid(vehicle_message))
609 return vehicle_message;
612 return vehicle_message;
615 /// @brief Tell if the CAN message received is a diagnostic response.
616 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
617 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
619 /// @param[in] cm - CAN message received from the socket.
621 /// @return True if the active diagnostic request match the response.
622 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
624 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)