CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  *
   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
   8  *
   9  *       http://www.apache.org/licenses/LICENSE-2.0
  10  *
  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.
  16  */
  17
  18 #include <systemd/sd-event.h>
  19 #include <algorithm>
  20 #include <string.h>
  21
  22 #include "diagnostic-manager.hpp"
  23
  24 #include "../utils/openxc-utils.hpp"
  25 #include "../utils/signals.hpp"
  26 #include "../binding/application.hpp"
  27
  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
  33 #define MICRO 1000000
  34
  35 diagnostic_manager_t::diagnostic_manager_t()
  36         : initialized_{false}, event_source_{nullptr}
  37 {}
  38
  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.
  43 ///
  44 /// this will initialize DiagnosticShims and cancel all active requests
  45 ///  if there are any.
  46 bool diagnostic_manager_t::initialize()
  47 {
  48         // Mandatory to set the bus before intialize shims.
  49         bus_ = application_t::instance().get_diagnostic_bus();
  50
  51         init_diagnostic_shims();
  52         event_source_ = nullptr;
  53         reset();
  54
  55         initialized_ = true;
  56         DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__);
  57         return initialized_;
  58 }
  59
  60 utils::socketcan_bcm_t& diagnostic_manager_t::get_socket()
  61 {
  62         return socket_;
  63 }
  64
  65 /// @brief initialize shims used by UDS lib and set initialized_ to true.
  66 ///  It is needed before used the diagnostic manager fully because shims are
  67 ///  required by most member functions.
  68 void diagnostic_manager_t::init_diagnostic_shims()
  69 {
  70         shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
  71         DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__);
  72 }
  73
  74 /// @brief Force cleanup all active requests.
  75 void diagnostic_manager_t::reset()
  76 {
  77         DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__);
  78         cleanup_active_requests(true);
  79 }
  80
  81 /// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager
  82 ///  listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications.
  83 ///
  84 /// @return -1 or negative value on error, 0 if ok.
  85 int diagnostic_manager_t::create_rx_filter(uint32_t can_id, float frequency)
  86 {
  87         // Make sure that socket has been opened.
  88         if(! socket_)
  89                 socket_.open(get_bus_device_name());
  90
  91         struct utils::simple_bcm_msg bcm_msg;
  92         memset(&bcm_msg, 0, sizeof(bcm_msg));
  93
  94         const struct timeval freq =  (frequency == recurring_requests_.back()->get_frequency_clock().get_frequency() ) ?
  95                 recurring_requests_.back()->get_frequency_clock().get_timeval_from_period() : frequency_clock_t(frequency).get_timeval_from_period();
  96
  97         bcm_msg.msg_head.opcode  = RX_SETUP;
  98         bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID;
  99         bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
 100         bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
 101
 102         // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
 103         if(can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 104         {
 105                 bcm_msg.msg_head.can_id  = can_id;
 106
 107                 socket_ << bcm_msg;
 108                         if(! socket_)
 109                                 return -1;
 110         }
 111         else
 112         {
 113                 for(uint8_t i = 0; i < 8; i++)
 114                 {
 115                         can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
 116                         bcm_msg.msg_head.can_id  = can_id;
 117
 118                         socket_ << bcm_msg;
 119                         if(! socket_)
 120                                 return -1;
 121                 }
 122         }
 123
 124         return 0;
 125 }
 126
 127 /// @brief send function use by diagnostic library. Only one bus used for now
 128 ///  so diagnostic request is sent using the default diagnostic bus not matter of
 129 ///  which is specified in the diagnostic message definition.
 130 ///
 131 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
 132 ///  is 0x7DF by example.
 133 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
 134 /// @param[in] size - The size of the data payload, in bytes.
 135 ///
 136 /// @return true if the CAN message was sent successfully.
 137 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 138 {
 139         diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager();
 140         active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
 141         utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
 142
 143         // Make sure that socket has been opened.
 144         if(! tx_socket)
 145                 tx_socket.open(
 146                         dm.get_bus_device_name());
 147
 148         struct utils::simple_bcm_msg bcm_msg;
 149         struct can_frame cfd;
 150
 151         memset(&cfd, 0, sizeof(cfd));
 152         memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
 153
 154         struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
 155
 156         bcm_msg.msg_head.opcode  = TX_SETUP;
 157         bcm_msg.msg_head.can_id  = arbitration_id;
 158         bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
 159         bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
 160         bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
 161         bcm_msg.msg_head.nframes = 1;
 162         cfd.can_dlc = size;
 163         ::memcpy(cfd.data, data, size);
 164
 165         bcm_msg.frames = cfd;
 166
 167         tx_socket << bcm_msg;
 168         if(tx_socket)
 169                 return true;
 170         return false;
 171 }
 172
 173 /// @brief The type signature for an optional logging function, if the user
 174 /// wishes to provide one. It should print, store or otherwise display the
 175 /// message.
 176 ///
 177 /// message - A format string to log using the given parameters.
 178 /// ... (vargs) - the parameters for the format string.
 179 ///
 180 void diagnostic_manager_t::shims_logger(const char* format, ...)
 181 {
 182         va_list args;
 183         va_start(args, format);
 184
 185         char buffer[256];
 186         vsnprintf(buffer, 256, format, args);
 187
 188         DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer);
 189         va_end(args);
 190 }
 191
 192 /// @brief The type signature for a... OpenXC TODO: not used yet.
 193 void diagnostic_manager_t::shims_timer()
 194 {}
 195
 196 const std::string diagnostic_manager_t::get_bus_name() const
 197 {
 198         return bus_;
 199 }
 200
 201 const std::string diagnostic_manager_t::get_bus_device_name() const
 202 {
 203         return application_t::instance().get_can_bus_manager()
 204                 .get_can_device_name(bus_);
 205 }
 206
 207 active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
 208 {
 209         return recurring_requests_.back();
 210 }
 211
 212 /// @brief Return diagnostic manager shims member.
 213 DiagnosticShims& diagnostic_manager_t::get_shims()
 214 {
 215         return shims_;
 216 }
 217
 218 bool diagnostic_manager_t::socket_close()
 219 {
 220         if(non_recurring_requests_.empty() && recurring_requests_.empty())
 221         {
 222                 socket_.close();
 223                 return true;
 224         }
 225         return false;
 226 }
 227
 228 /// @brief Search for a specific active diagnostic request in the provided requests list
 229 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
 230 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
 231 /// contained in the vector but no event if connected to, so we will decode uneeded request.
 232 ///
 233 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
 234 /// @param[in] requests_list - a vector where to make the search and cleaning.
 235 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
 236 {
 237         auto i = std::find(requests_list.begin(), requests_list.end(), entry);
 238         if ( i != requests_list.end())
 239                 requests_list.erase(i);
 240 }
 241
 242 // @brief TODO: implement cancel_request if needed... Don't know.
 243 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
 244 {
 245         entry->get_socket().close();
 246         delete entry;
 247         entry = nullptr;
 248 }
 249
 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.
 253 ///
 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)
 257 {
 258         if((force || (entry != nullptr && entry->response_received())))
 259         {
 260                 char request_string[128] = {0};
 261                 diagnostic_request_to_string(&entry->get_handle()->request,
 262                         request_string, sizeof(request_string));
 263                 if(force && entry->get_recurring())
 264                 {
 265                         cancel_request(entry);
 266                         find_and_erase(entry, recurring_requests_);
 267                         DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string);
 268                 }
 269                 else if (!entry->get_recurring())
 270                 {
 271                         DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string);
 272                         cancel_request(entry);
 273                         find_and_erase(entry, non_recurring_requests_);
 274                 }
 275                 socket_close();
 276         }
 277 }
 278
 279 /// @brief Clean up all requests lists, recurring and not recurring.
 280 ///
 281 /// @param[in] force - Force the cleaning or not ? If true, that will do
 282 /// the same effect as a call to reset().
 283 void diagnostic_manager_t::cleanup_active_requests(bool force)
 284 {
 285         for(auto& entry : non_recurring_requests_)
 286         {
 287                 if (entry != nullptr)
 288                         cleanup_request(entry, force);
 289         }
 290
 291         for(auto& entry : recurring_requests_)
 292          {
 293                 if (entry != nullptr)
 294                         cleanup_request(entry, force);
 295          }
 296 }
 297
 298 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
 299 /// not found.
 300 ///
 301 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
 302 ///  holded by the DiagnosticHandle member.
 303 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 304 {
 305         for (auto& entry : recurring_requests_)
 306         {
 307                 if(entry != nullptr)
 308                 {
 309                         if(diagnostic_request_equals(&entry->get_handle()->request, request))
 310                                 {return entry;}
 311                 }
 312         }
 313         return nullptr;
 314 }
 315
 316 /// @brief Add and send a new one-time diagnostic request.
 317 ///
 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.
 320 ///
 321 /// For an example, see the docs for addRecurringRequest. This function is very
 322 /// similar but leaves out the frequencyHz parameter.
 323 ///
 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.
 338 ///
 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)
 345 {
 346         cleanup_active_requests(false);
 347
 348         active_diagnostic_request_t* entry = nullptr;
 349
 350         if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 351         {
 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);
 357
 358                         char request_string[128] = {0};
 359                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 360                                         sizeof(request_string));
 361
 362                         // Erase any existing request not already cleaned.
 363                         cleanup_request(entry, true);
 364                         DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__,
 365                                         bus_.c_str(), request_string);
 366
 367                         non_recurring_requests_.push_back(entry);
 368         }
 369         else
 370         {
 371                 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
 372                 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 373         }
 374         return entry;
 375 }
 376
 377 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 378 {
 379         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 380                 DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__,
 381                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 382                 return false;
 383         }
 384         return true;
 385 }
 386
 387 /// @brief Add and send a new recurring diagnostic request.
 388 ///
 389 /// At most one recurring request can be active for the same arbitration ID, mode
 390 /// and (if set) PID on the same bus at one time. If you try and call
 391 /// addRecurringRequest with the same key, it will return an error.
 392 ///
 393 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
 394 /// response. If the request is to the functional broadcast ID (0x7df) filters
 395 /// are added for all functional addresses (0x7e8 to 0x7f0).
 396 ///
 397 /// Example:
 398 ///
 399 ///     // Creating a functional broadcast, mode 1 request for PID 2.
 400 ///     DiagnosticRequest request = {
 401 ///         arbitration_id: 0x7df,
 402 ///         mode: 1,
 403 ///         has_pid: true,
 404 ///         pid: 2
 405 ///     };
 406 ///
 407 ///     // Add a recurring request, to be sent at 1Hz, and published with the
 408 ///     // name "my_pid_request"
 409 ///     addRecurringRequest(&getConfiguration()->diagnosticsManager,
 410 ///          canBus,
 411 ///          &request,
 412 ///          "my_pid_request",
 413 ///          false,
 414 ///          NULL,
 415 ///          NULL,
 416 ///          1);
 417 ///
 418 /// @param[in] request - The parameters for the request.
 419 /// @param[in] name - An optional human readable name this response, to be used when
 420 ///      publishing received responses. If the name is NULL, the published output
 421 ///      will use the raw OBD-II response format.
 422 /// @param[in] wait_for_multiple_responses - If false, When any response is received
 423 ///      for this request it will be removed from the active list. If true, the
 424 ///      request will remain active until the timeout clock expires, to allow it
 425 ///      to receive multiple response. Functional broadcast requests will always
 426 ///      waint for the timeout, regardless of this parameter.
 427 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
 428 ///      responses to this request. If the decoder is NULL, the output will
 429 ///      include the raw payload instead of a parsed value.
 430 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
 431 ///      response is received for this request.
 432 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
 433 ///      MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
 434 ///      function return false.
 435 ///
 436 /// @return true if the request was added successfully. Returns false if there
 437 /// was too much already running requests, if the frequency was too high TODO:or if the
 438 /// CAN acceptance filters could not be configured,
 439 active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 440                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 441                 const DiagnosticResponseCallback callback, float frequencyHz)
 442 {
 443         active_diagnostic_request_t* entry = nullptr;
 444
 445         if(!validate_optional_request_attributes(frequencyHz))
 446                 return entry;
 447
 448         cleanup_active_requests(false);
 449
 450         if(find_recurring_request(request) == nullptr)
 451         {
 452                 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 453                 {
 454                         // TODO: implement Acceptance Filter
 455                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 456                         entry = new active_diagnostic_request_t(bus_, request, name,
 457                                         wait_for_multiple_responses, decoder, callback, frequencyHz);
 458                         recurring_requests_.push_back(entry);
 459
 460                         entry->set_handle(shims_, request);
 461                         if(create_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID, frequencyHz) < 0)
 462                         {
 463                                 recurring_requests_.pop_back();
 464                                 delete entry;
 465                                 entry = nullptr;
 466                         }
 467                         else
 468                                 {
 469                                         start_diagnostic_request(&shims_, entry->get_handle());
 470                                         if(event_source_ == nullptr && sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon),
 471                                                 &event_source_,
 472                                                 socket_.socket(),
 473                                                 EPOLLIN,
 474                                                 read_message,
 475                                                 nullptr) < 0)
 476                                         {
 477                                                 cleanup_request(entry, true);
 478                                                 WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, entry->get_name().c_str());
 479                                                 return entry;
 480                                         }
 481                                 }
 482                 }
 483                 else
 484                 {
 485                         WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
 486                         recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 487                 }
 488         }
 489         else
 490                 { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);}
 491         return entry;
 492 }
 493
 494 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
 495 ///
 496 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
 497 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
 498 ///
 499 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
 500 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
 501 {
 502         openxc_VehicleMessage message = build_VehicleMessage();
 503         float value = (float)diagnostic_payload_to_integer(&response);
 504         if(adr->get_decoder() != nullptr)
 505         {
 506                 value = adr->get_decoder()(&response, value);
 507         }
 508
 509         if((response.success && adr->get_name().size()) > 0)
 510         {
 511                 // If name, include 'value' instead of payload, and leave of response
 512                 // details.
 513                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 514         }
 515         else
 516         {
 517                 // If no name, send full details of response but still include 'value'
 518                 // instead of 'payload' if they provided a decoder. The one case you
 519                 // can't get is the full detailed response with 'value'. We could add
 520                 // another parameter for that but it's onerous to carry that around.
 521                 message = build_VehicleMessage(adr, response, value);
 522         }
 523
 524         // If not success but completed then the pid isn't supported
 525         if(!response.success)
 526         {
 527                 struct utils::signals_found found_signals;
 528                 found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
 529                 found_signals.diagnostic_messages.front()->set_supported(false);
 530                 cleanup_request(adr, true);
 531                 NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code);
 532                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
 533         }
 534
 535         if(adr->get_callback() != nullptr)
 536         {
 537                 adr->get_callback()(adr, &response, value);
 538         }
 539
 540         // Reset the completed flag handle to make sure that it will be reprocessed the next time.
 541         adr->get_handle()->success = false;
 542         return message;
 543 }
 544
 545 /// @brief Will take the CAN message and pass it to the receive functions that will process
 546 /// diagnostic handle for each active diagnostic request then depending on the result we will
 547 /// return pass the diagnostic response to decode it.
 548 ///
 549 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
 550 /// @param[in] cm - A raw CAN message.
 551 ///
 552 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
 553 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
 554 {
 555         DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
 556         if(response.completed && entry->get_handle()->completed)
 557         {
 558                 if(entry->get_handle()->success)
 559                         return relay_diagnostic_response(entry, response);
 560         }
 561         else if(!response.completed && response.multi_frame)
 562         {
 563                 // Reset the timeout clock while completing the multi-frame receive
 564                 entry->get_timeout_clock().tick(
 565                         entry->get_timeout_clock().get_time_function()());
 566         }
 567
 568         return build_VehicleMessage();
 569 }
 570
 571 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
 572 /// member that will understand the CAN message using diagnostic_receive_can_frame function
 573 /// from UDS-C library. Then decode it with an ad-hoc method.
 574 ///
 575 /// @param[in] cm - Raw CAN message received
 576 ///
 577 /// @return VehicleMessage with decoded value.
 578 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
 579 {
 580         openxc_VehicleMessage vehicle_message = build_VehicleMessage();
 581
 582         for ( auto entry : non_recurring_requests_)
 583         {
 584                 vehicle_message = relay_diagnostic_handle(entry, cm);
 585                 if (is_valid(vehicle_message))
 586                         return vehicle_message;
 587         }
 588
 589         for ( auto entry : recurring_requests_)
 590         {
 591                 vehicle_message = relay_diagnostic_handle(entry, cm);
 592                 if (is_valid(vehicle_message))
 593                         return vehicle_message;
 594         }
 595
 596         return vehicle_message;
 597 }
 598
 599 /// @brief Tell if the CAN message received is a diagnostic response.
 600 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
 601 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
 602 ///
 603 /// @param[in] cm - CAN message received from the socket.
 604 ///
 605 /// @return True if the active diagnostic request match the response.
 606 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
 607 {
 608         if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
 609                         return true;
 610         return false;
 611 }