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 AFB_DEBUG("Diagnostic Manager initialized");
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 AFB_DEBUG("Shims initialized");
68 /// @brief Force cleanup all active requests.
69 void diagnostic_manager_t::reset()
71 AFB_DEBUG("Clearing existing diagnostic requests");
72 cleanup_active_requests(true);
75 /// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type.
76 /// That socket will send cyclic messages configured from a diagnostic request.
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 diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager();
87 active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
88 utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
90 // Make sure that socket has been opened.
93 dm.get_bus_device_name());
95 struct utils::simple_bcm_msg bcm_msg;
98 memset(&cfd, 0, sizeof(cfd));
99 memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
101 struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
103 bcm_msg.msg_head.opcode = TX_SETUP;
104 bcm_msg.msg_head.can_id = arbitration_id;
105 bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
106 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
107 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
108 bcm_msg.msg_head.nframes = 1;
110 ::memcpy(cfd.data, data, size);
112 bcm_msg.frames = cfd;
114 tx_socket << bcm_msg;
120 /// @brief The type signature for an optional logging function, if the user
121 /// wishes to provide one. It should print, store or otherwise display the
124 /// message - A format string to log using the given parameters.
125 /// ... (vargs) - the parameters for the format string.
127 void diagnostic_manager_t::shims_logger(const char* format, ...)
130 va_start(args, format);
133 vsnprintf(buffer, 256, format, args);
135 AFB_DEBUG("%s", buffer);
139 /// @brief The type signature for a... OpenXC TODO: not used yet.
140 void diagnostic_manager_t::shims_timer()
143 const std::string diagnostic_manager_t::get_bus_name() const
148 const std::string diagnostic_manager_t::get_bus_device_name() const
150 return application_t::instance().get_can_bus_manager()
151 .get_can_device_name(bus_);
154 active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
156 return recurring_requests_.back();
159 /// @brief Return diagnostic manager shims member.
160 DiagnosticShims& diagnostic_manager_t::get_shims()
165 /// @brief Search for a specific active diagnostic request in the provided requests list
166 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
167 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
168 /// contained in the vector but no event if connected to, so we will decode uneeded request.
170 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
171 /// @param[in] requests_list - a vector where to make the search and cleaning.
172 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
174 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
175 if ( i != requests_list.end())
176 requests_list.erase(i);
179 /// @brief Free memory allocated on active_diagnostic_request_t object and close the socket.
180 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
182 entry->get_socket().close();
187 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
188 /// impossible to get that state for a recurring request without waiting for that, you can
189 /// force the cleaning operation.
191 /// @param[in] entry - the request to clean
192 /// @param[in] force - Force the cleaning or not ?
193 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
195 if(entry != nullptr && (force || entry->response_received()))
197 char request_string[128] = {0};
198 diagnostic_request_to_string(&entry->get_handle()->request,
199 request_string, sizeof(request_string));
200 if(force && entry->get_recurring())
202 cancel_request(entry);
203 find_and_erase(entry, recurring_requests_);
204 AFB_DEBUG("Cancelling completed, recurring request: %s", request_string);
206 else if (!entry->get_recurring())
208 AFB_DEBUG("Cancelling completed, non-recurring request: %s", request_string);
209 cancel_request(entry);
210 find_and_erase(entry, non_recurring_requests_);
215 /// @brief Clean up all requests lists, recurring and not recurring.
217 /// @param[in] force - Force the cleaning or not ? If true, that will do
218 /// the same effect as a call to reset().
219 void diagnostic_manager_t::cleanup_active_requests(bool force)
221 for(auto& entry : non_recurring_requests_)
223 if (entry != nullptr)
224 cleanup_request(entry, force);
227 for(auto& entry : recurring_requests_)
229 if (entry != nullptr)
230 cleanup_request(entry, force);
234 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
237 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
238 /// holded by the DiagnosticHandle member.
239 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(DiagnosticRequest& request)
241 for (auto& entry : recurring_requests_)
245 if(diagnostic_request_equals(&entry->get_handle()->request, &request))
252 /// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME
254 /// A one-time (aka non-recurring) request can existing in parallel with a
255 /// recurring request for the same PID or mode, that's not a problem.
257 /// For an example, see the docs for addRecurringRequest. This function is very
258 /// similar but leaves out the frequencyHz parameter.
260 /// @param[in] request - The parameters for the request.
261 /// @param[in] name - Human readable name this response, to be used when
262 /// publishing received responses. TODO: If the name is NULL, the published output
263 /// will use the raw OBD-II response format.
264 /// @param[in] wait_for_multiple_responses - If false, When any response is received
265 /// for this request it will be removed from the active list. If true, the
266 /// request will remain active until the timeout clock expires, to allow it
267 /// to receive multiple response. Functional broadcast requests will always
268 /// waint for the timeout, regardless of this parameter.
269 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
270 /// responses to this request. If the decoder is NULL, the output will
271 /// include the raw payload instead of a parsed value.
272 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
273 /// response is received for this request.
275 /// @return true if the request was added successfully. Returns false if there
276 /// wasn't a free active request entry, if the frequency was too high or if the
277 /// CAN acceptance filters could not be configured,
278 active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string& name,
279 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
280 const DiagnosticResponseCallback callback)
282 cleanup_active_requests(false);
284 active_diagnostic_request_t* entry = nullptr;
286 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
288 // TODO: implement Acceptance Filter
289 // if(updateRequiredAcceptanceFilters(bus, request)) {
290 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
291 wait_for_multiple_responses, decoder, callback, 0);
292 entry->set_handle(shims_, request);
294 char request_string[128] = {0};
295 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
296 sizeof(request_string));
298 // Erase any existing request not already cleaned.
299 cleanup_request(entry, true);
300 AFB_DEBUG("Added one-time diagnostic request on bus %s: %s",
301 bus_.c_str(), request_string);
303 non_recurring_requests_.push_back(entry);
307 AFB_WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
308 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
313 /// @brief Validate frequency asked don't get higher than the maximum of a classical
314 /// CAN bus OBD2 request.
316 /// @param[in] frequencyHz - frequency asked for sending diagnostic requests.
318 /// @return True if frequency is below the Maximum false if not.
319 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
321 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
322 AFB_DEBUG("Requested recurring diagnostic frequency %lf is higher than maximum of %d",
323 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
329 /// @brief Add and send a new recurring diagnostic request.
331 /// At most one recurring request can be active for the same arbitration ID, mode
332 /// and (if set) PID on the same bus at one time. If you try and call
333 /// add_recurring_request with the same key, it will return an error.
335 /// @param[in] request - The parameters for the request.
336 /// @param[in] name - An optional human readable name this response, to be used when
337 /// publishing received responses. If the name is NULL, the published output
338 /// will use the raw OBD-II response format.
339 /// @param[in] wait_for_multiple_responses - If false, When any response is received
340 /// for this request it will be removed from the active list. If true, the
341 /// request will remain active until the timeout clock expires, to allow it
342 /// to receive multiple response. Functional broadcast requests will always
343 /// waint for the timeout, regardless of this parameter.
344 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
345 /// responses to this request. If the decoder is NULL, the output will
346 /// include the raw payload instead of a parsed value.
347 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
348 /// response is received for this request.
349 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
350 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
351 /// function return false.
353 /// @return true if the request was added successfully. Returns false if there
354 /// was too much already running requests, if the frequency was too high TODO:or if the
355 /// CAN acceptance filters could not be configured,
356 active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
357 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
358 const DiagnosticResponseCallback callback, float frequencyHz)
360 active_diagnostic_request_t* entry = nullptr;
362 if(!validate_optional_request_attributes(frequencyHz))
365 cleanup_active_requests(false);
367 if(find_recurring_request(*request) == nullptr)
369 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
371 entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
372 wait_for_multiple_responses, decoder, callback, frequencyHz);
373 recurring_requests_.push_back(entry);
375 entry->set_handle(shims_, request);
376 start_diagnostic_request(&shims_, entry->get_handle());
380 AFB_WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
381 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
385 { AFB_DEBUG("Can't add request, one already exists with same key");}
389 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
391 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
392 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
394 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
395 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
397 openxc_VehicleMessage message = build_VehicleMessage();
398 float value = (float)diagnostic_payload_to_integer(&response);
399 if(adr->get_decoder() != nullptr)
401 value = adr->get_decoder()(&response, value);
404 if((response.success && adr->get_name().size()) > 0)
406 // If name, include 'value' instead of payload, and leave of response
408 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
409 message.has_diagnostic_response = true;
410 message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
414 // If no name, only send full details of response but still include 'value'
415 // instead of 'payload' if they provided a decoder. The one case you
416 // can't get is the full detailed response with 'value'. We could add
417 // another parameter for that but it's onerous to carry that around.
418 message = build_VehicleMessage(adr, response, value);
421 // If not success but completed then the pid isn't supported
422 if(!response.success)
424 struct utils::signals_found found_signals;
425 found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
426 found_signals.diagnostic_messages.front()->set_supported(false);
427 cleanup_request(adr, true);
428 AFB_NOTICE("PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
429 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
432 if(adr->get_callback() != nullptr)
434 adr->get_callback()(adr, &response, value);
437 // Reset the completed flag handle to make sure that it will be reprocessed the next time.
438 adr->get_handle()->success = false;
442 /// @brief Will take the CAN message and pass it to the receive functions that will process
443 /// diagnostic handle for each active diagnostic request then depending on the result we will
444 /// return pass the diagnostic response to decode it.
446 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
447 /// @param[in] cm - A raw CAN message.
449 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
450 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
452 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
453 if(response.completed && entry->get_handle()->completed)
455 if(entry->get_handle()->success)
456 return relay_diagnostic_response(entry, response);
458 else if(!response.completed && response.multi_frame)
460 // Reset the timeout clock while completing the multi-frame receive
461 entry->get_timeout_clock().tick(
462 entry->get_timeout_clock().get_time_function()());
465 return build_VehicleMessage();
468 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
469 /// member that will understand the CAN message using diagnostic_receive_can_frame function
470 /// from UDS-C library. Then decode it with an ad-hoc method.
472 /// @param[in] cm - Raw CAN message received
474 /// @return VehicleMessage with decoded value.
475 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
477 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
479 for ( auto entry : non_recurring_requests_)
481 vehicle_message = relay_diagnostic_handle(entry, cm);
482 if (is_valid(vehicle_message))
483 return vehicle_message;
486 for ( auto entry : recurring_requests_)
488 vehicle_message = relay_diagnostic_handle(entry, cm);
489 if (is_valid(vehicle_message))
490 return vehicle_message;
493 return vehicle_message;
496 /// @brief Tell if the CAN message received is a diagnostic response.
497 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
498 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
500 /// @param[in] cm - CAN message received from the socket.
502 /// @return True if the active diagnostic request match the response.
503 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
505 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)