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()
40 diagnostic_manager_t::~diagnostic_manager_t()
42 for(auto r: recurring_requests_)
46 for(auto r: non_recurring_requests_)
52 /// @brief Diagnostic manager is not initialized at launch but after
53 /// the initialization of CAN bus devices. For the moment, it is only possible
54 /// to have 1 diagnostic bus which are the first bus declared in the JSON
55 /// description file. Configuration instance will return it.
57 /// this will initialize DiagnosticShims and cancel all active requests
59 bool diagnostic_manager_t::initialize(std::string diagnostic_bus)
61 if (! diagnostic_bus.empty())
63 bus_ = diagnostic_bus;
64 init_diagnostic_shims();
67 AFB_DEBUG("Diagnostic Manager initialized");
71 AFB_ERROR("Diagnostic Manager missing its bus name in the config");
75 bool diagnostic_manager_t::is_initialized() const
80 /// @brief initialize shims used by UDS lib and set initialized_ to true.
81 /// It is needed before used the diagnostic manager fully because shims are
82 /// required by most member functions.
83 void diagnostic_manager_t::init_diagnostic_shims()
85 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
86 AFB_DEBUG("Shims initialized");
89 /// @brief Force cleanup all active requests.
90 void diagnostic_manager_t::reset()
92 AFB_DEBUG("Clearing existing diagnostic requests");
93 cleanup_active_requests(true);
96 /// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type.
97 /// That socket will send cyclic messages configured from a diagnostic request.
99 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
100 /// is 0x7DF by example.
101 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
102 /// @param[in] size - The size of the data payload, in bytes.
104 /// @return true if the CAN message was sent successfully.
105 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
107 diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager();
108 active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
109 utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
111 // Make sure that socket has been opened.
113 tx_socket.open(dm.get_bus_device_name());
115 struct bcm_msg bcm_msg;
118 struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
120 bcm_msg.msg_head.opcode = TX_SETUP;
121 bcm_msg.msg_head.can_id = arbitration_id;
122 bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
123 bcm_msg.msg_head.count = 0;
124 bcm_msg.msg_head.ival1.tv_sec = 0;
125 bcm_msg.msg_head.ival1.tv_usec = 0;
126 bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
127 bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
128 bcm_msg.msg_head.nframes = 1;
131 ::memset(cf.data, 0, sizeof(cf.data));
132 ::memcpy(cf.data, data, size);
134 bcm_msg.frames[0] = cf;
137 can_message_t msg = can_message_t();
139 msg.set_bcm_msg(bcm_msg);
141 tx_socket.write_message(msg);
147 /// @brief The type signature for an optional logging function, if the user
148 /// wishes to provide one. It should print, store or otherwise display the
151 /// message - A format string to log using the given parameters.
152 /// ... (vargs) - the parameters for the format string.
154 void diagnostic_manager_t::shims_logger(const char* format, ...)
157 va_start(args, format);
160 vsnprintf(buffer, 256, format, args);
162 AFB_DEBUG("%s", buffer);
166 const std::string diagnostic_manager_t::get_bus_name() const
171 const std::string diagnostic_manager_t::get_bus_device_name() const
173 return application_t::instance().get_can_bus_manager()
174 .get_can_device_name(bus_);
177 active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
179 return recurring_requests_.back();
182 /// @brief Return diagnostic manager shims member.
183 DiagnosticShims& diagnostic_manager_t::get_shims()
188 /// @brief Search for a specific active diagnostic request in the provided requests list
189 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
190 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
191 /// contained in the vector but no event if connected to, so we will decode uneeded request.
193 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
194 /// @param[in] requests_list - a vector where to make the search and cleaning.
195 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
197 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
198 if ( i != requests_list.end())
199 requests_list.erase(i);
202 /// @brief Free memory allocated on active_diagnostic_request_t object and close the socket.
203 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
205 entry->get_socket().close();
210 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
211 /// impossible to get that state for a recurring request without waiting for that, you can
212 /// force the cleaning operation.
214 /// @param[in] entry - the request to clean
215 /// @param[in] force - Force the cleaning or not ?
216 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
218 if(entry != nullptr && (force || entry->response_received()))
220 char request_string[128] = {0};
221 diagnostic_request_to_string(&entry->get_handle()->request,
222 request_string, sizeof(request_string));
223 if(force && entry->get_recurring())
225 cancel_request(entry);
226 find_and_erase(entry, recurring_requests_);
227 AFB_DEBUG("Cancelling completed, recurring request: %s", request_string);
229 else if (!entry->get_recurring())
231 AFB_DEBUG("Cancelling completed, non-recurring request: %s", request_string);
232 cancel_request(entry);
233 find_and_erase(entry, non_recurring_requests_);
238 /// @brief Clean up all requests lists, recurring and not recurring.
240 /// @param[in] force - Force the cleaning or not ? If true, that will do
241 /// the same effect as a call to reset().
242 void diagnostic_manager_t::cleanup_active_requests(bool force)
244 for(auto& entry : non_recurring_requests_)
246 if (entry != nullptr)
247 cleanup_request(entry, force);
250 for(auto& entry : recurring_requests_)
252 if (entry != nullptr)
253 cleanup_request(entry, force);
257 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
260 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
261 /// holded by the DiagnosticHandle member.
262 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(DiagnosticRequest& request)
264 for (auto& entry : recurring_requests_)
268 if(diagnostic_request_equals(&entry->get_handle()->request, &request))
275 /// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME
277 /// A one-time (aka non-recurring) request can existing in parallel with a
278 /// recurring request for the same PID or mode, that's not a problem.
280 /// For an example, see the docs for addRecurringRequest. This function is very
281 /// similar but leaves out the frequencyHz parameter.
283 /// @param[in] request - The parameters for the request.
284 /// @param[in] name - Human readable name this response, to be used when
285 /// publishing received responses.
286 /// @param[in] wait_for_multiple_responses - If false, When any response is received
287 /// for this request it will be removed from the active list. If true, the
288 /// request will remain active until the timeout clock expires, to allow it
289 /// to receive multiple response. Functional broadcast requests will always
290 /// waint for the timeout, regardless of this parameter.
291 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
292 /// responses to this request. If the decoder is NULL, the output will
293 /// include the raw payload instead of a parsed value.
294 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
295 /// response is received for this request.
297 /// @return true if the request was added successfully. Returns false if there
298 /// wasn't a free active request entry.
299 active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string& name,
300 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
301 const DiagnosticResponseCallback callback)
303 cleanup_active_requests(false);
305 active_diagnostic_request_t* entry = nullptr;
307 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
309 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
310 wait_for_multiple_responses, decoder, callback, 0, false);
311 entry->set_handle(shims_, request);
313 char request_string[128] = {0};
314 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
315 sizeof(request_string));
317 // Erase any existing request not already cleaned.
318 cleanup_request(entry, true);
319 AFB_DEBUG("Added one-time diagnostic request on bus %s: %s",
320 bus_.c_str(), request_string);
322 non_recurring_requests_.push_back(entry);
326 AFB_WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
327 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
332 /// @brief Validate frequency asked don't get higher than the maximum of a classical
333 /// CAN bus OBD2 request.
335 /// @param[in] frequencyHz - frequency asked for sending diagnostic requests.
337 /// @return True if frequency is below the Maximum false if not.
338 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
340 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
341 AFB_DEBUG("Requested recurring diagnostic frequency %lf is higher than maximum of %d",
342 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
348 /// @brief Add and send a new recurring diagnostic request.
350 /// At most one recurring request can be active for the same arbitration ID, mode
351 /// and (if set) PID on the same bus at one time. If you try and call
352 /// add_recurring_request with the same key, it will return an error.
354 /// @param[in] request - The parameters for the request.
355 /// @param[in] name - An optional human readable name this response, to be used when
356 /// publishing received responses. If the name is NULL, the published output
357 /// will use the raw OBD-II response format.
358 /// @param[in] wait_for_multiple_responses - If false, When any response is received
359 /// for this request it will be removed from the active list. If true, the
360 /// request will remain active until the timeout clock expires, to allow it
361 /// to receive multiple response. Functional broadcast requests will always
362 /// waint for the timeout, regardless of this parameter.
363 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
364 /// responses to this request. If the decoder is NULL, the output will
365 /// include the raw payload instead of a parsed value.
366 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
367 /// response is received for this request.
368 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
369 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
370 /// function return false.
372 /// @return true if the request was added successfully. Returns false if there
373 /// was too much already running requests, or if the frequency was too high.
374 active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
375 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
376 const DiagnosticResponseCallback callback, float frequencyHz, bool permanent)
378 active_diagnostic_request_t* entry = nullptr;
380 if(!validate_optional_request_attributes(frequencyHz))
383 cleanup_active_requests(false);
385 if(find_recurring_request(*request) == nullptr)
387 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
389 entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
390 wait_for_multiple_responses, decoder, callback, frequencyHz, permanent);
391 recurring_requests_.push_back(entry);
393 entry->set_handle(shims_, request);
394 start_diagnostic_request(&shims_, entry->get_handle());
398 AFB_WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
399 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
403 AFB_DEBUG("Can't add request, one already exists with same key");
407 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
409 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
410 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
412 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
413 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response, const uint64_t timestamp)
415 openxc_VehicleMessage message = build_VehicleMessage();
416 float value = (float)diagnostic_payload_to_integer(&response);
418 struct utils::signals_found found_signals;
419 found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField((double) adr->get_pid()));
421 if(adr->get_decoder() != nullptr)
422 value = adr->get_decoder()(&response, value);
424 if((response.success && adr->get_name().size()) > 0)
426 // If name, include 'value' instead of payload, and leave of response
428 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
429 message.has_diagnostic_response = true;
430 message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
434 // If no name, only send full details of response but still include 'value'
435 // instead of 'payload' if they provided a decoder. The one case you
436 // can't get is the full detailed response with 'value'. We could add
437 // another parameter for that but it's onerous to carry that around.
438 message = build_VehicleMessage(adr, response, value);
441 // If not success but completed then the pid isn't supported
442 if(!response.success)
444 found_signals.diagnostic_messages.front()->set_supported(false);
445 cleanup_request(adr, true);
446 AFB_NOTICE("PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
447 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
450 if(adr->get_callback() != nullptr)
451 adr->get_callback()(adr, &response, value);
453 // Reset the completed flag handle to make sure that it will be reprocessed the next time.
454 adr->get_handle()->success = false;
456 // Save value and timestamp of diagnostic message
457 if(!found_signals.diagnostic_messages.empty())
459 // Then, for each diag_message found
460 for(const auto& diag_mess: found_signals.diagnostic_messages)
462 // Save value and timestamp for this message
463 diag_mess->set_received(true);
464 diag_mess->set_last_value(value);
465 diag_mess->set_timestamp(timestamp);
472 /// @brief Will take the CAN message and pass it to the receive functions that will process
473 /// diagnostic handle for each active diagnostic request then depending on the result we will
474 /// return pass the diagnostic response to decode it.
476 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
477 /// @param[in] cm - A raw CAN message.
479 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
480 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, std::shared_ptr<message_t> m)
482 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), m->get_id(), m->get_data(), (uint8_t)m->get_length());
483 if(response.completed && entry->get_handle()->completed)
485 if(entry->get_handle()->success)
486 return relay_diagnostic_response(entry, response, m->get_timestamp());
488 else if(!response.completed && response.multi_frame)
490 // Reset the timeout clock while completing the multi-frame receive
491 entry->get_timeout_clock().tick(
492 entry->get_timeout_clock().get_time_function()());
495 return build_VehicleMessage();
498 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
499 /// member that will understand the CAN message using diagnostic_receive_can_frame function
500 /// from UDS-C library. Then decode it with an ad-hoc method.
502 /// @param[in] cm - Raw CAN message received
504 /// @return VehicleMessage with decoded value.
505 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(std::shared_ptr<message_t> m)
507 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
509 for ( auto entry : non_recurring_requests_)
511 vehicle_message = relay_diagnostic_handle(entry, m);
512 if (is_valid(vehicle_message))
513 return vehicle_message;
516 for ( auto entry : recurring_requests_)
518 vehicle_message = relay_diagnostic_handle(entry, m);
519 if (is_valid(vehicle_message))
520 return vehicle_message;
523 return vehicle_message;
526 /// @brief Tell if the CAN message received is a diagnostic response.
527 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
528 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
530 /// @param[in] cm - CAN message received from the socket.
532 /// @return True if the active diagnostic request match the response.
533 bool diagnostic_manager_t::is_diagnostic_response(std::shared_ptr<message_t> m)
535 if(m->get_id() & CAN_SFF_MASK || m->get_id() & CAN_EFF_MASK)
537 if (m->get_id() >= 0x7e8 && m->get_id() <= 0x7ef)