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>
21 #include "diagnostic-manager.hpp"
23 #include "../utils/openxc-utils.hpp"
24 #include "../utils/signals.hpp"
25 #include "../configuration.hpp"
27 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
28 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
29 // There are only 8 slots of in flight diagnostic requests
30 #define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
31 #define TIMERFD_ACCURACY 0
34 diagnostic_manager_t::diagnostic_manager_t()
38 /// @brief Diagnostic manager isn't initialized at launch but after
39 /// CAN bus devices initialization. For the moment, it is only possible
40 /// to have 1 diagnostic bus which are the first bus declared in the JSON
41 /// description file. Configuration instance will return it.
43 /// this will initialize DiagnosticShims and cancel all active requests
45 bool diagnostic_manager_t::initialize()
47 // Mandatory to set the bus before intialize shims.
48 bus_ = configuration_t::instance().get_diagnostic_bus();
50 init_diagnostic_shims();
54 DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__);
58 /// @brief initialize shims used by UDS lib and set initialized_ to true.
59 /// It is needed before used the diagnostic manager fully because shims are
60 /// required by most member functions.
61 void diagnostic_manager_t::init_diagnostic_shims()
63 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
64 DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__);
67 /// @brief Force cleanup all active requests.
68 void diagnostic_manager_t::reset()
70 DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__);
71 cleanup_active_requests(true);
74 /// @brief send function use by diagnostic library. Only one bus used for now
75 /// so diagnostic request is sent using the default diagnostic bus not matter of
76 /// which is specified in the diagnostic message definition.
78 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
79 /// is 0x7DF by example.
80 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
81 /// @param[in] size - The size of the data payload, in bytes.
83 /// @return true if the CAN message was sent successfully.
84 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
86 std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
87 if(can_bus_dev != nullptr)
88 return can_bus_dev->shims_send(arbitration_id, data, size);
89 ERROR(binder_interface, "%s: Can not retrieve diagnostic bus: %s", __FUNCTION__, configuration_t::instance().get_diagnostic_manager().bus_.c_str());
93 /// @brief The type signature for an optional logging function, if the user
94 /// wishes to provide one. It should print, store or otherwise display the
97 /// message - A format string to log using the given parameters.
98 /// ... (vargs) - the parameters for the format string.
100 void diagnostic_manager_t::shims_logger(const char* format, ...)
103 va_start(args, format);
106 vsnprintf(buffer, 256, format, args);
108 DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer);
111 /// @brief The type signature for a... OpenXC TODO: not used yet.
112 void diagnostic_manager_t::shims_timer()
115 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
117 return can_bus_t::get_can_device(bus_);
120 /// @brief Return diagnostic manager shims member.
121 DiagnosticShims& diagnostic_manager_t::get_shims()
126 /// @brief Search for a specific active diagnostic request in the provided requests list
127 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
128 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
129 /// contained in the vector but no event if connected to, so we will decode uneeded request.
131 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
132 /// @param[in] requests_list - a vector where to make the search and cleaning.
133 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
135 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
136 if ( i != requests_list.end())
137 requests_list.erase(i);
140 // @brief TODO: implement cancel_request if needed... Don't know.
141 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
144 /* TODO: implement acceptance filters.
145 if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
146 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
147 filter < OBD2_FUNCTIONAL_RESPONSE_START +
148 OBD2_FUNCTIONAL_RESPONSE_COUNT;
150 removeAcceptanceFilter(entry.bus_, filter,
151 CanMessageFormat::STANDARD, getCanBuses(),
155 removeAcceptanceFilter(entry.bus_,
156 entry.arbitration_id_ +
157 DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
158 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
162 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
163 /// impossible to get that state for a recurring request without waiting for that, you can
164 /// force the cleaning operation.
166 /// @param[in] entry - the request to clean
167 /// @param[in] force - Force the cleaning or not ?
168 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
170 if((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed())))
172 entry->set_in_flight(false);
174 char request_string[128] = {0};
175 diagnostic_request_to_string(&entry->get_handle()->request,
176 request_string, sizeof(request_string));
177 if(force && entry->get_recurring())
179 find_and_erase(entry, recurring_requests_);
180 cancel_request(entry);
181 DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string);
185 DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string);
186 find_and_erase(entry, non_recurring_requests_);
187 cancel_request(entry);
192 /// @brief Clean up all requests lists, recurring and not recurring.
194 /// @param[in] force - Force the cleaning or not ? If true, that will do
195 /// the same effect as a call to reset().
196 void diagnostic_manager_t::cleanup_active_requests(bool force)
198 for(auto& entry : non_recurring_requests_)
199 if (entry != nullptr)
200 cleanup_request(entry, force);
202 for(auto& entry : recurring_requests_)
203 if (entry != nullptr)
204 cleanup_request(entry, force);
207 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
210 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
211 /// holded by the DiagnosticHandle member.
212 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
214 for (auto& entry : recurring_requests_)
218 if(diagnostic_request_equals(&entry->get_handle()->request, request))
228 /// @brief Add and send a new one-time diagnostic request.
230 /// A one-time (aka non-recurring) request can existing in parallel with a
231 /// recurring request for the same PID or mode, that's not a problem.
233 /// For an example, see the docs for addRecurringRequest. This function is very
234 /// similar but leaves out the frequencyHz parameter.
236 /// @param[in] request - The parameters for the request.
237 /// @param[in] name - Human readable name this response, to be used when
238 /// publishing received responses. TODO: If the name is NULL, the published output
239 /// will use the raw OBD-II response format.
240 /// @param[in] wait_for_multiple_responses - If false, When any response is received
241 /// for this request it will be removed from the active list. If true, the
242 /// request will remain active until the timeout clock expires, to allow it
243 /// to receive multiple response. Functional broadcast requests will always
244 /// waint for the timeout, regardless of this parameter.
245 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
246 /// responses to this request. If the decoder is NULL, the output will
247 /// include the raw payload instead of a parsed value.
248 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
249 /// response is received for this request.
251 /// @return true if the request was added successfully. Returns false if there
252 /// wasn't a free active request entry, if the frequency was too high or if the
253 /// CAN acceptance filters could not be configured,
254 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
255 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
256 const DiagnosticResponseCallback callback)
258 cleanup_active_requests(false);
262 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
264 // TODO: implement Acceptance Filter
265 // if(updateRequiredAcceptanceFilters(bus, request)) {
266 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
267 wait_for_multiple_responses, decoder, callback, 0);
268 entry->set_handle(shims_, request);
270 char request_string[128] = {0};
271 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
272 sizeof(request_string));
274 find_and_erase(entry, non_recurring_requests_);
275 DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__,
276 bus_.c_str(), request_string);
278 non_recurring_requests_.push_back(entry);
282 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
283 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
289 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
291 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
292 DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__,
293 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
299 /// @brief Add and send a new recurring diagnostic request.
301 /// At most one recurring request can be active for the same arbitration ID, mode
302 /// and (if set) PID on the same bus at one time. If you try and call
303 /// addRecurringRequest with the same key, it will return an error.
305 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
306 /// response. If the request is to the functional broadcast ID (0x7df) filters
307 /// are added for all functional addresses (0x7e8 to 0x7f0).
311 /// // Creating a functional broadcast, mode 1 request for PID 2.
312 /// DiagnosticRequest request = {
313 /// arbitration_id: 0x7df,
319 /// // Add a recurring request, to be sent at 1Hz, and published with the
320 /// // name "my_pid_request"
321 /// addRecurringRequest(&getConfiguration()->diagnosticsManager,
324 /// "my_pid_request",
330 /// @param[in] request - The parameters for the request.
331 /// @param[in] name - An optional human readable name this response, to be used when
332 /// publishing received responses. If the name is NULL, the published output
333 /// will use the raw OBD-II response format.
334 /// @param[in] wait_for_multiple_responses - If false, When any response is received
335 /// for this request it will be removed from the active list. If true, the
336 /// request will remain active until the timeout clock expires, to allow it
337 /// to receive multiple response. Functional broadcast requests will always
338 /// waint for the timeout, regardless of this parameter.
339 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
340 /// responses to this request. If the decoder is NULL, the output will
341 /// include the raw payload instead of a parsed value.
342 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
343 /// response is received for this request.
344 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
345 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
346 /// function return false.
348 /// @return true if the request was added successfully. Returns false if there
349 /// was too much already running requests, if the frequency was too high TODO:or if the
350 /// CAN acceptance filters could not be configured,
352 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
353 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
354 const DiagnosticResponseCallback callback, float frequencyHz)
356 if(!validate_optional_request_attributes(frequencyHz))
359 cleanup_active_requests(false);
362 if(find_recurring_request(request) == nullptr)
364 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
366 sd_event_source *source;
367 // TODO: implement Acceptance Filter
368 //if(updateRequiredAcceptanceFilters(bus, request)) {
369 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
370 wait_for_multiple_responses, decoder, callback, frequencyHz);
371 entry->set_handle(shims_, request);
374 sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec);
375 if(recurring_requests_.size() > 0)
377 DEBUG(binder_interface, "%s: Added 100ms to usec to stagger sending requests", __FUNCTION__);
381 DEBUG(binder_interface, "%s: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d", __FUNCTION__,
385 sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)));
387 if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
388 CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0)
390 ERROR(binder_interface, "%s: Request fails to be schedule through event loop", __FUNCTION__);
393 recurring_requests_.push_back(entry);
397 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
398 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
404 DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);
410 /// @brief Returns true if there are two active requests running for the same arbitration ID.
411 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
413 return (candidate->get_in_flight() && candidate != request &&
414 candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
415 candidate->get_id() == request->get_id());
419 /// @brief Returns true if there are no other active requests to the same arbitration ID
420 /// and if there aren't more than 8 requests in flight at the same time.
421 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
423 int total_in_flight = 0;
424 for ( auto entry : non_recurring_requests_)
426 if(conflicting(request, entry))
428 if(entry->get_in_flight())
432 for ( auto entry : recurring_requests_)
434 if(conflicting(request, entry))
436 if(entry->get_in_flight())
440 if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
445 int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr)
447 usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period());
448 DEBUG(binder_interface, "%s: Event loop state: %d. usec: %ld", __FUNCTION__, sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
449 if(sd_event_source_set_time(s, usec) >= 0)
450 if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
452 sd_event_source_unref(s);
456 /// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
457 /// on the diagnostic message frequency.
459 /// This should be called from systemd binder event loop and the event is created on add_recurring_request
461 /// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
462 /// @param[in] usec - previous call timestamp in microseconds.
463 /// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
465 /// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
466 /// event will be disabled.
467 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
469 diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
470 DiagnosticRequest* request = (DiagnosticRequest*)userdata;
471 active_diagnostic_request_t* adr = dm.find_recurring_request(request);
473 dm.cleanup_active_requests(false);
474 if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
475 dm.clear_to_send(adr))
477 adr->get_frequency_clock().tick();
478 start_diagnostic_request(&dm.shims_, adr->get_handle());
479 if(adr->get_handle()->completed && !adr->get_handle()->success)
481 ERROR(binder_interface, "%s: Fatal error sending diagnostic request", __FUNCTION__);
482 sd_event_source_unref(s);
486 adr->get_timeout_clock().tick();
487 adr->set_in_flight(true);
490 if(adr != nullptr && adr->get_recurring())
492 return dm.reschedule_request(s, usec, adr);
495 sd_event_source_unref(s);
496 NOTICE(binder_interface, "%s: Request doesn't exist anymore. Canceling.'", __FUNCTION__);
500 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
502 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
503 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
505 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
506 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
508 openxc_VehicleMessage message = build_VehicleMessage();
509 float value = (float)diagnostic_payload_to_integer(&response);
510 if(adr->get_decoder() != nullptr)
512 value = adr->get_decoder()(&response, value);
515 if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
517 // If name, include 'value' instead of payload, and leave of response
519 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
523 // If no name, send full details of response but still include 'value'
524 // instead of 'payload' if they provided a decoder. The one case you
525 // can't get is the full detailed response with 'value'. We could add
526 // another parameter for that but it's onerous to carry that around.
527 message = build_VehicleMessage(adr, response, value);
530 // If not success but completed then the pid isn't supported
531 if(!response.success)
533 struct utils::signals_found found_signals;
534 found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
535 found_signals.diagnostic_messages.front()->set_supported(false);
536 cleanup_request(adr, true);
537 NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code);
538 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
541 if(adr->get_callback() != nullptr)
543 adr->get_callback()(adr, &response, value);
549 /// @brief Will take the CAN message and pass it to the receive functions that will process
550 /// diagnostic handle for each active diagnostic request then depending on the result we will
551 /// return pass the diagnostic response to decode it.
553 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
554 /// @param[in] cm - A raw CAN message.
556 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
557 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
559 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
560 if(response.completed && entry->get_handle()->completed)
562 if(entry->get_handle()->success)
563 return relay_diagnostic_response(entry, response);
565 else if(!response.completed && response.multi_frame)
567 // Reset the timeout clock while completing the multi-frame receive
568 entry->get_timeout_clock().tick();
571 return build_VehicleMessage();
574 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
575 /// member that will understand the CAN message using diagnostic_receive_can_frame function
576 /// from UDS-C library. Then decode it with an ad-hoc method.
578 /// @param[in] cm - Raw CAN message received
580 /// @return VehicleMessage with decoded value.
581 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
583 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
585 for ( auto entry : non_recurring_requests_)
587 vehicle_message = relay_diagnostic_handle(entry, cm);
588 if (is_valid(vehicle_message))
589 return vehicle_message;
592 for ( auto entry : recurring_requests_)
594 vehicle_message = relay_diagnostic_handle(entry, cm);
595 if (is_valid(vehicle_message))
596 return vehicle_message;
599 return vehicle_message;
602 /// @brief Tell if the CAN message received is a diagnostic response.
603 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
604 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
606 /// @param[in] cm - CAN message received from the socket.
608 /// @return True if the active diagnostic request match the response.
609 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
611 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)