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/application.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_ = application_t::instance().get_diagnostic_bus();
51 init_diagnostic_shims();
55 DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__);
59 /// @brief initialize shims used by UDS lib and set initialized_ to true.
60 /// It is needed before used the diagnostic manager fully because shims are
61 /// required by most member functions.
62 void diagnostic_manager_t::init_diagnostic_shims()
64 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
65 DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__);
68 /// @brief Force cleanup all active requests.
69 void diagnostic_manager_t::reset()
71 DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__);
72 cleanup_active_requests(true);
75 /// @brief send function use by diagnostic library. Only one bus used for now
76 /// so diagnostic request is sent using the default diagnostic bus not matter of
77 /// which is specified in the diagnostic message definition.
79 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
80 /// is 0x7DF by example.
81 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
82 /// @param[in] size - The size of the data payload, in bytes.
84 /// @return true if the CAN message was sent successfully.
85 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
87 diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager();
88 active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
89 utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
91 // Make sure that socket has been opened.
94 dm.get_bus_device_name());
96 struct utils::simple_bcm_msg bcm_msg;
99 memset(&cfd, 0, sizeof(cfd));
100 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
102 struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
104 bcm_msg.msg_head.opcode = TX_SETUP;
105 bcm_msg.msg_head.can_id = arbitration_id;
106 bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
107 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
108 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
109 bcm_msg.msg_head.nframes = 1;
111 ::memcpy(cfd.data, data, size);
113 bcm_msg.frames = cfd;
115 tx_socket << bcm_msg;
121 /// @brief The type signature for an optional logging function, if the user
122 /// wishes to provide one. It should print, store or otherwise display the
125 /// message - A format string to log using the given parameters.
126 /// ... (vargs) - the parameters for the format string.
128 void diagnostic_manager_t::shims_logger(const char* format, ...)
131 va_start(args, format);
134 vsnprintf(buffer, 256, format, args);
136 DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer);
140 /// @brief The type signature for a... OpenXC TODO: not used yet.
141 void diagnostic_manager_t::shims_timer()
144 const std::string diagnostic_manager_t::get_bus_name() const
149 const std::string diagnostic_manager_t::get_bus_device_name() const
151 return application_t::instance().get_can_bus_manager()
152 .get_can_device_name(bus_);
155 active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
157 return recurring_requests_.back();
160 /// @brief Return diagnostic manager shims member.
161 DiagnosticShims& diagnostic_manager_t::get_shims()
166 bool diagnostic_manager_t::is_active_requests_running()
168 if(non_recurring_requests_.empty() && recurring_requests_.empty())
175 /// @brief Search for a specific active diagnostic request in the provided requests list
176 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
177 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
178 /// contained in the vector but no event if connected to, so we will decode uneeded request.
180 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
181 /// @param[in] requests_list - a vector where to make the search and cleaning.
182 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
184 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
185 if ( i != requests_list.end())
186 requests_list.erase(i);
189 // @brief TODO: implement cancel_request if needed... Don't know.
190 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
192 entry->get_socket().close();
197 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
198 /// impossible to get that state for a recurring request without waiting for that, you can
199 /// force the cleaning operation.
201 /// @param[in] entry - the request to clean
202 /// @param[in] force - Force the cleaning or not ?
203 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
205 if((force || (entry != nullptr && entry->response_received())))
207 char request_string[128] = {0};
208 diagnostic_request_to_string(&entry->get_handle()->request,
209 request_string, sizeof(request_string));
210 if(force && entry->get_recurring())
212 cancel_request(entry);
213 find_and_erase(entry, recurring_requests_);
214 DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string);
216 else if (!entry->get_recurring())
218 DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string);
219 cancel_request(entry);
220 find_and_erase(entry, non_recurring_requests_);
225 /// @brief Clean up all requests lists, recurring and not recurring.
227 /// @param[in] force - Force the cleaning or not ? If true, that will do
228 /// the same effect as a call to reset().
229 void diagnostic_manager_t::cleanup_active_requests(bool force)
231 for(auto& entry : non_recurring_requests_)
233 if (entry != nullptr)
234 cleanup_request(entry, force);
237 for(auto& entry : recurring_requests_)
239 if (entry != nullptr)
240 cleanup_request(entry, force);
244 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
247 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
248 /// holded by the DiagnosticHandle member.
249 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
251 for (auto& entry : recurring_requests_)
255 if(diagnostic_request_equals(&entry->get_handle()->request, request))
262 /// @brief Add and send a new one-time diagnostic request.
264 /// A one-time (aka non-recurring) request can existing in parallel with a
265 /// recurring request for the same PID or mode, that's not a problem.
267 /// For an example, see the docs for addRecurringRequest. This function is very
268 /// similar but leaves out the frequencyHz parameter.
270 /// @param[in] request - The parameters for the request.
271 /// @param[in] name - Human readable name this response, to be used when
272 /// publishing received responses. TODO: If the name is NULL, the published output
273 /// will use the raw OBD-II response format.
274 /// @param[in] wait_for_multiple_responses - If false, When any response is received
275 /// for this request it will be removed from the active list. If true, the
276 /// request will remain active until the timeout clock expires, to allow it
277 /// to receive multiple response. Functional broadcast requests will always
278 /// waint for the timeout, regardless of this parameter.
279 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
280 /// responses to this request. If the decoder is NULL, the output will
281 /// include the raw payload instead of a parsed value.
282 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
283 /// response is received for this request.
285 /// @return true if the request was added successfully. Returns false if there
286 /// wasn't a free active request entry, if the frequency was too high or if the
287 /// CAN acceptance filters could not be configured,
288 active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string& name,
289 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
290 const DiagnosticResponseCallback callback)
292 cleanup_active_requests(false);
294 active_diagnostic_request_t* entry = nullptr;
296 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
298 // TODO: implement Acceptance Filter
299 // if(updateRequiredAcceptanceFilters(bus, request)) {
300 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
301 wait_for_multiple_responses, decoder, callback, 0);
302 entry->set_handle(shims_, request);
304 char request_string[128] = {0};
305 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
306 sizeof(request_string));
308 // Erase any existing request not already cleaned.
309 cleanup_request(entry, true);
310 DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__,
311 bus_.c_str(), request_string);
313 non_recurring_requests_.push_back(entry);
317 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
318 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
323 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
325 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
326 DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__,
327 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
333 /// @brief Add and send a new recurring diagnostic request.
335 /// At most one recurring request can be active for the same arbitration ID, mode
336 /// and (if set) PID on the same bus at one time. If you try and call
337 /// addRecurringRequest with the same key, it will return an error.
339 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
340 /// response. If the request is to the functional broadcast ID (0x7df) filters
341 /// are added for all functional addresses (0x7e8 to 0x7f0).
345 /// // Creating a functional broadcast, mode 1 request for PID 2.
346 /// DiagnosticRequest request = {
347 /// arbitration_id: 0x7df,
353 /// // Add a recurring request, to be sent at 1Hz, and published with the
354 /// // name "my_pid_request"
355 /// addRecurringRequest(&getConfiguration()->diagnosticsManager,
358 /// "my_pid_request",
364 /// @param[in] request - The parameters for the request.
365 /// @param[in] name - An optional human readable name this response, to be used when
366 /// publishing received responses. If the name is NULL, the published output
367 /// will use the raw OBD-II response format.
368 /// @param[in] wait_for_multiple_responses - If false, When any response is received
369 /// for this request it will be removed from the active list. If true, the
370 /// request will remain active until the timeout clock expires, to allow it
371 /// to receive multiple response. Functional broadcast requests will always
372 /// waint for the timeout, regardless of this parameter.
373 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
374 /// responses to this request. If the decoder is NULL, the output will
375 /// include the raw payload instead of a parsed value.
376 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
377 /// response is received for this request.
378 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
379 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
380 /// function return false.
382 /// @return true if the request was added successfully. Returns false if there
383 /// was too much already running requests, if the frequency was too high TODO:or if the
384 /// CAN acceptance filters could not be configured,
385 active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
386 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
387 const DiagnosticResponseCallback callback, float frequencyHz)
389 active_diagnostic_request_t* entry = nullptr;
391 if(!validate_optional_request_attributes(frequencyHz))
394 cleanup_active_requests(false);
396 if(find_recurring_request(request) == nullptr)
398 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
400 entry = new active_diagnostic_request_t(bus_, request, name,
401 wait_for_multiple_responses, decoder, callback, frequencyHz);
402 recurring_requests_.push_back(entry);
404 entry->set_handle(shims_, request);
405 start_diagnostic_request(&shims_, entry->get_handle());
409 WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
410 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
414 { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);}
418 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
420 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
421 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
423 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
424 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
426 openxc_VehicleMessage message = build_VehicleMessage();
427 float value = (float)diagnostic_payload_to_integer(&response);
428 if(adr->get_decoder() != nullptr)
430 value = adr->get_decoder()(&response, value);
433 if((response.success && adr->get_name().size()) > 0)
435 // If name, include 'value' instead of payload, and leave of response
437 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
438 message.has_diagnostic_response = true;
439 message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
443 // If no name, only send full details of response but still include 'value'
444 // instead of 'payload' if they provided a decoder. The one case you
445 // can't get is the full detailed response with 'value'. We could add
446 // another parameter for that but it's onerous to carry that around.
447 message = build_VehicleMessage(adr, response, value);
450 // If not success but completed then the pid isn't supported
451 if(!response.success)
453 struct utils::signals_found found_signals;
454 found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
455 found_signals.diagnostic_messages.front()->set_supported(false);
456 cleanup_request(adr, true);
457 NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code);
458 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
461 if(adr->get_callback() != nullptr)
463 adr->get_callback()(adr, &response, value);
466 // Reset the completed flag handle to make sure that it will be reprocessed the next time.
467 adr->get_handle()->success = false;
471 /// @brief Will take the CAN message and pass it to the receive functions that will process
472 /// diagnostic handle for each active diagnostic request then depending on the result we will
473 /// return pass the diagnostic response to decode it.
475 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
476 /// @param[in] cm - A raw CAN message.
478 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
479 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
481 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
482 if(response.completed && entry->get_handle()->completed)
484 if(entry->get_handle()->success)
485 return relay_diagnostic_response(entry, response);
487 else if(!response.completed && response.multi_frame)
489 // Reset the timeout clock while completing the multi-frame receive
490 entry->get_timeout_clock().tick(
491 entry->get_timeout_clock().get_time_function()());
494 return build_VehicleMessage();
497 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
498 /// member that will understand the CAN message using diagnostic_receive_can_frame function
499 /// from UDS-C library. Then decode it with an ad-hoc method.
501 /// @param[in] cm - Raw CAN message received
503 /// @return VehicleMessage with decoded value.
504 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
506 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
508 for ( auto entry : non_recurring_requests_)
510 vehicle_message = relay_diagnostic_handle(entry, cm);
511 if (is_valid(vehicle_message))
512 return vehicle_message;
515 for ( auto entry : recurring_requests_)
517 vehicle_message = relay_diagnostic_handle(entry, cm);
518 if (is_valid(vehicle_message))
519 return vehicle_message;
522 return vehicle_message;
525 /// @brief Tell if the CAN message received is a diagnostic response.
526 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
527 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
529 /// @param[in] cm - CAN message received from the socket.
531 /// @return True if the active diagnostic request match the response.
532 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
534 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)