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
  21 #include "diagnostic-manager.hpp"
  22
  23 #include "../utils/openxc-utils.hpp"
  24 #include "../configuration.hpp"
  25
  26 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
  27 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
  28 // There are only 8 slots of in flight diagnostic requests
  29 #define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
  30 #define TIMERFD_ACCURACY 0
  31 #define MICRO 1000000
  32
  33 diagnostic_manager_t::diagnostic_manager_t()
  34         : initialized_{false}
  35 {}
  36
  37 /// @brief Diagnostic manager isn't initialized at launch but after
  38 ///  CAN bus devices initialization. For the moment, it is only possible
  39 ///  to have 1 diagnostic bus which are the first bus declared in the JSON
  40 ///  description file. Configuration instance will return it.
  41 ///
  42 /// this will initialize DiagnosticShims and cancel all active requests
  43 ///  if there are any.
  44 bool diagnostic_manager_t::initialize()
  45 {
  46         // Mandatory to set the bus before intialize shims.
  47         bus_ = configuration_t::instance().get_diagnostic_bus();
  48
  49         init_diagnostic_shims();
  50         reset();
  51
  52         initialized_ = true;
  53         DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
  54         return initialized_;
  55 }
  56
  57 /// @brief initialize shims used by UDS lib and set initialized_ to true.
  58 ///  It is needed before used the diagnostic manager fully because shims are
  59 ///  required by most member functions.
  60 void diagnostic_manager_t::init_diagnostic_shims()
  61 {
  62         shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
  63         DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
  64 }
  65
  66 /// @brief Force cleanup all active requests.
  67 void diagnostic_manager_t::reset()
  68 {
  69         DEBUG(binder_interface, "Clearing existing diagnostic requests");
  70         cleanup_active_requests(true);
  71 }
  72
  73 /// @brief send function use by diagnostic library. Only one bus used for now
  74 ///  so diagnostic request is sent using the default diagnostic bus not matter of
  75 ///  which is specified in the diagnostic message definition.
  76 ///
  77 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
  78 ///  is 0x7DF by example.
  79 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
  80 /// @param[in] size - The size of the data payload, in bytes.
  81 ///
  82 /// @return true if the CAN message was sent successfully.
  83 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
  84 {
  85         std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
  86         if(can_bus_dev != nullptr)
  87                 return can_bus_dev->shims_send(arbitration_id, data, size);
  88         ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str());
  89         return false;
  90 }
  91
  92 /// @brief The type signature for an optional logging function, if the user
  93 /// wishes to provide one. It should print, store or otherwise display the
  94 /// message.
  95 ///
  96 /// message - A format string to log using the given parameters.
  97 /// ... (vargs) - the parameters for the format string.
  98 ///
  99 void diagnostic_manager_t::shims_logger(const char* format, ...)
 100 {
 101         va_list args;
 102         va_start(args, format);
 103
 104         char buffer[256];
 105         vsnprintf(buffer, 256, format, args);
 106
 107         DEBUG(binder_interface, "shims_logger: %s", buffer);
 108 }
 109
 110 /// @brief The type signature for a... OpenXC TODO: not used yet.
 111 void diagnostic_manager_t::shims_timer()
 112 {}
 113
 114 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 115 {
 116         return can_bus_t::get_can_device(bus_);
 117 }
 118
 119 /// @brief Return diagnostic manager shims member.
 120 DiagnosticShims& diagnostic_manager_t::get_shims()
 121 {
 122         return shims_;
 123 }
 124
 125 /// @brief Search for a specific active diagnostic request in the provided requests list
 126 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
 127 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
 128 /// contained in the vector but no event if connected to, so we will decode uneeded request.
 129 ///
 130 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
 131 /// @param[in] requests_list - a vector where to make the search and cleaning.
 132 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
 133 {
 134         auto i = std::find(requests_list.begin(), requests_list.end(), entry);
 135         if ( i != requests_list.end())
 136                 requests_list.erase(i);
 137 }
 138
 139 // @brief TODO: implement cancel_request if needed... Don't know.
 140 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
 141 {
 142
 143         /* TODO: implement acceptance filters.
 144         if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
 145                 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
 146                                 filter < OBD2_FUNCTIONAL_RESPONSE_START +
 147                                         OBD2_FUNCTIONAL_RESPONSE_COUNT;
 148                                 filter++) {
 149                         removeAcceptanceFilter(entry.bus_, filter,
 150                                         CanMessageFormat::STANDARD, getCanBuses(),
 151                                         getCanBusCount());
 152                 }
 153         } else {
 154                 removeAcceptanceFilter(entry.bus_,
 155                                 entry.arbitration_id_ +
 156                                         DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
 157                                 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
 158         }*/
 159 }
 160
 161 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
 162 /// impossible to get that state for a recurring request without waiting for that, you can
 163 /// force the cleaning operation.
 164 ///
 165 /// @param[in] entry - the request to clean
 166 /// @param[in] force - Force the cleaning or not ?
 167 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
 168 {
 169         if((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed())))
 170         {
 171                 entry->set_in_flight(false);
 172
 173                 char request_string[128] = {0};
 174                 diagnostic_request_to_string(&entry->get_handle()->request,
 175                         request_string, sizeof(request_string));
 176                 if(force && entry->get_recurring())
 177                 {
 178                         find_and_erase(entry, recurring_requests_);
 179                         cancel_request(entry);
 180                         DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
 181                 }
 182                 else
 183                 {
 184                         DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
 185                         find_and_erase(entry, non_recurring_requests_);
 186                         cancel_request(entry);
 187                 }
 188         }
 189 }
 190
 191 /// @brief Clean up all requests lists, recurring and not recurring.
 192 ///
 193 /// @param[in] force - Force the cleaning or not ? If true, that will do
 194 /// the same effect as a call to reset().
 195 void diagnostic_manager_t::cleanup_active_requests(bool force)
 196 {
 197         for(auto& entry : non_recurring_requests_)
 198                 if (entry != nullptr)
 199                         cleanup_request(entry, force);
 200
 201         for(auto& entry : recurring_requests_)
 202                 if (entry != nullptr)
 203                         cleanup_request(entry, force);
 204 }
 205
 206 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
 207 /// not found.
 208 ///
 209 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
 210 ///  holded by the DiagnosticHandle member.
 211 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 212 {
 213         for (auto& entry : recurring_requests_)
 214         {
 215                 if(entry != nullptr)
 216                 {
 217                         if(diagnostic_request_equals(&entry->get_handle()->request, request))
 218                         {
 219                                 return entry;
 220                                 break;
 221                         }
 222                 }
 223         }
 224         return nullptr;
 225 }
 226
 227 /// @brief Add and send a new one-time diagnostic request.
 228 ///
 229 /// A one-time (aka non-recurring) request can existing in parallel with a
 230 /// recurring request for the same PID or mode, that's not a problem.
 231 ///
 232 /// For an example, see the docs for addRecurringRequest. This function is very
 233 /// similar but leaves out the frequencyHz parameter.
 234 ///
 235 /// @param[in] request - The parameters for the request.
 236 /// @param[in] name - Human readable name this response, to be used when
 237 ///      publishing received responses. TODO: If the name is NULL, the published output
 238 ///      will use the raw OBD-II response format.
 239 /// @param[in] wait_for_multiple_responses - If false, When any response is received
 240 ///      for this request it will be removed from the active list. If true, the
 241 ///      request will remain active until the timeout clock expires, to allow it
 242 ///      to receive multiple response. Functional broadcast requests will always
 243 ///      waint for the timeout, regardless of this parameter.
 244 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
 245 ///      responses to this request. If the decoder is NULL, the output will
 246 ///      include the raw payload instead of a parsed value.
 247 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
 248 ///      response is received for this request.
 249 ///
 250 /// @return true if the request was added successfully. Returns false if there
 251 /// wasn't a free active request entry, if the frequency was too high or if the
 252 /// CAN acceptance filters could not be configured,
 253 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 254         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 255         const DiagnosticResponseCallback callback)
 256 {
 257         cleanup_active_requests(false);
 258
 259         bool added = true;
 260
 261         if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 262         {
 263                 // TODO: implement Acceptance Filter
 264                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 265                         active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
 266                                         wait_for_multiple_responses, decoder, callback, 0);
 267                         entry->set_handle(shims_, request);
 268
 269                         char request_string[128] = {0};
 270                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 271                                         sizeof(request_string));
 272
 273                         find_and_erase(entry, non_recurring_requests_);
 274                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 275                                         bus_.c_str(), request_string);
 276
 277                         non_recurring_requests_.push_back(entry);
 278         }
 279         else
 280         {
 281                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
 282                 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 283                 added = false;
 284         }
 285         return added;
 286 }
 287
 288 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 289 {
 290         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 291                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %lf is higher than maximum of %d",
 292                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 293                 return false;
 294         }
 295         return true;
 296 }
 297
 298 /// @brief Add and send a new recurring diagnostic request.
 299 ///
 300 /// At most one recurring request can be active for the same arbitration ID, mode
 301 /// and (if set) PID on the same bus at one time. If you try and call
 302 /// addRecurringRequest with the same key, it will return an error.
 303 ///
 304 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
 305 /// response. If the request is to the functional broadcast ID (0x7df) filters
 306 /// are added for all functional addresses (0x7e8 to 0x7f0).
 307 ///
 308 /// Example:
 309 ///
 310 ///     // Creating a functional broadcast, mode 1 request for PID 2.
 311 ///     DiagnosticRequest request = {
 312 ///         arbitration_id: 0x7df,
 313 ///         mode: 1,
 314 ///         has_pid: true,
 315 ///         pid: 2
 316 ///     };
 317 ///
 318 ///     // Add a recurring request, to be sent at 1Hz, and published with the
 319 ///     // name "my_pid_request"
 320 ///     addRecurringRequest(&getConfiguration()->diagnosticsManager,
 321 ///          canBus,
 322 ///          &request,
 323 ///          "my_pid_request",
 324 ///          false,
 325 ///          NULL,
 326 ///          NULL,
 327 ///          1);
 328 ///
 329 /// @param[in] request - The parameters for the request.
 330 /// @param[in] name - An optional human readable name this response, to be used when
 331 ///      publishing received responses. If the name is NULL, the published output
 332 ///      will use the raw OBD-II response format.
 333 /// @param[in] wait_for_multiple_responses - If false, When any response is received
 334 ///      for this request it will be removed from the active list. If true, the
 335 ///      request will remain active until the timeout clock expires, to allow it
 336 ///      to receive multiple response. Functional broadcast requests will always
 337 ///      waint for the timeout, regardless of this parameter.
 338 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
 339 ///      responses to this request. If the decoder is NULL, the output will
 340 ///      include the raw payload instead of a parsed value.
 341 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
 342 ///      response is received for this request.
 343 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
 344 ///      MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
 345 ///      function return false.
 346 ///
 347 /// @return true if the request was added successfully. Returns false if there
 348 /// was too much already running requests, if the frequency was too high TODO:or if the
 349 /// CAN acceptance filters could not be configured,
 350 ///
 351 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 352                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 353                 const DiagnosticResponseCallback callback, float frequencyHz)
 354 {
 355         if(!validate_optional_request_attributes(frequencyHz))
 356                 return false;
 357
 358         cleanup_active_requests(false);
 359
 360         bool added = true;
 361         if(find_recurring_request(request) == nullptr)
 362         {
 363                 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 364                 {
 365                         sd_event_source *source;
 366                         // TODO: implement Acceptance Filter
 367                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 368                         active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
 369                                         wait_for_multiple_responses, decoder, callback, frequencyHz);
 370                         entry->set_handle(shims_, request);
 371
 372                         //start_diagnostic_request(&shims_, entry->get_handle());
 373                         //char request_string[128] = {0};
 374                         //diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 375                         //              sizeof(request_string));
 376
 377                         uint64_t usec;
 378                         sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec);
 379                         if(recurring_requests_.size() > 0)
 380                         {
 381                                 DEBUG(binder_interface, "add_recurring_request: Added 100ms to usec to stagger sending requests");
 382                                 usec += 100000;
 383                         }
 384
 385                         DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d",
 386                                         frequencyHz,
 387                                         bus_.c_str(),
 388                                         usec,
 389                                         sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)));
 390
 391                         if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
 392                                         CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0)
 393                         {
 394                                 ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
 395                                 added = false;
 396                         }
 397                         recurring_requests_.push_back(entry);
 398                 }
 399                 else
 400                 {
 401                         WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
 402                         recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 403                         added = false;
 404                 }
 405         }
 406         else
 407         {
 408                 DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
 409                 added = false;
 410         }
 411         return added;
 412 }
 413
 414 /// @brief Returns true if there are two active requests running for the same arbitration ID.
 415 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 416 {
 417         return (candidate->get_in_flight() && candidate != request &&
 418                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 419                         candidate->get_id() == request->get_id());
 420 }
 421
 422
 423 /// @brief Returns true if there are no other active requests to the same arbitration ID
 424 /// and if there aren't more than 8 requests in flight at the same time.
 425 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 426 {
 427         int total_in_flight = 0;
 428         for ( auto entry : non_recurring_requests_)
 429         {
 430                 if(conflicting(request, entry))
 431                         return false;
 432                 if(entry->get_in_flight())
 433                         total_in_flight++;
 434         }
 435
 436         for ( auto entry : recurring_requests_)
 437         {
 438                 if(conflicting(request, entry))
 439                         return false;
 440                 if(entry->get_in_flight())
 441                         total_in_flight++;
 442         }
 443
 444         if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
 445                 return false;
 446         return true;
 447 }
 448
 449 int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr)
 450 {
 451         usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period());
 452         DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
 453         if(sd_event_source_set_time(s, usec) >= 0)
 454                 if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
 455                         return 0;
 456         sd_event_source_unref(s);
 457         return -1;
 458 }
 459
 460 /// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
 461 /// on the diagnostic message frequency.
 462 ///
 463 /// This should be called from systemd binder event loop and the event is created on add_recurring_request
 464 ///
 465 /// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
 466 /// @param[in] usec - previous call timestamp in microseconds.
 467 /// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
 468 ///
 469 /// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
 470 /// event will be disabled.
 471 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 472 {
 473         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 474         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 475         active_diagnostic_request_t* adr = dm.find_recurring_request(request);
 476
 477         dm.cleanup_active_requests(false);
 478         if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 479                 dm.clear_to_send(adr))
 480         {
 481                 adr->get_frequency_clock().tick();
 482                 start_diagnostic_request(&dm.shims_, adr->get_handle());
 483                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 484                 {
 485                                 ERROR(binder_interface, "send_request: Fatal error sending diagnostic request");
 486                                 sd_event_source_unref(s);
 487                                 return -1;
 488                 }
 489
 490                 adr->get_timeout_clock().tick();
 491                 adr->set_in_flight(true);
 492         }
 493
 494         if(adr != nullptr && adr->get_recurring())
 495         {
 496                 return dm.reschedule_request(s, usec, adr);
 497         }
 498
 499         sd_event_source_unref(s);
 500         NOTICE(binder_interface, "send_request: Request doesn't exist anymore. Canceling.'");
 501         return -2;
 502 }
 503
 504 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
 505 ///
 506 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
 507 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
 508 ///
 509 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
 510 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
 511 {
 512         openxc_VehicleMessage message = build_VehicleMessage();
 513         float value = (float)diagnostic_payload_to_integer(&response);
 514         if(adr->get_decoder() != nullptr)
 515         {
 516                 value = adr->get_decoder()(&response, value);
 517         }
 518
 519         if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
 520         {
 521                 // If name, include 'value' instead of payload, and leave of response
 522                 // details.
 523                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 524         }
 525         else
 526         {
 527                 // If no name, send full details of response but still include 'value'
 528                 // instead of 'payload' if they provided a decoder. The one case you
 529                 // can't get is the full detailed response with 'value'. We could add
 530                 // another parameter for that but it's onerous to carry that around.
 531                 message = build_VehicleMessage(adr, response, value);
 532         }
 533
 534         // If not success but completed then the pid isn't supported
 535         if(!response.success)
 536         {
 537                 std::vector<diagnostic_message_t*> found_signals;
 538                 configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals );
 539                 found_signals.front()->set_supported(false);
 540                 cleanup_request(adr, true);
 541                 NOTICE(binder_interface, "relay_diagnostic_response: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
 542                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
 543         }
 544
 545         if(adr->get_callback() != nullptr)
 546         {
 547                 adr->get_callback()(adr, &response, value);
 548         }
 549
 550         return message;
 551 }
 552
 553 /// @brief Will take the CAN message and pass it to the receive functions that will process
 554 /// diagnostic handle for each active diagnostic request then depending on the result we will
 555 /// return pass the diagnostic response to decode it.
 556 ///
 557 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
 558 /// @param[in] cm - A raw CAN message.
 559 ///
 560 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
 561 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
 562 {
 563         DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
 564         if(response.completed && entry->get_handle()->completed)
 565         {
 566                 if(entry->get_handle()->success)
 567                         return relay_diagnostic_response(entry, response);
 568         }
 569         else if(!response.completed && response.multi_frame)
 570         {
 571                 // Reset the timeout clock while completing the multi-frame receive
 572                 entry->get_timeout_clock().tick();
 573         }
 574
 575         return build_VehicleMessage();
 576 }
 577
 578 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
 579 /// member that will understand the CAN message using diagnostic_receive_can_frame function
 580 /// from UDS-C library. Then decode it with an ad-hoc method.
 581 ///
 582 /// @param[in] cm - Raw CAN message received
 583 ///
 584 /// @return VehicleMessage with decoded value.
 585 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
 586 {
 587         openxc_VehicleMessage vehicle_message = build_VehicleMessage();
 588
 589         for ( auto entry : non_recurring_requests_)
 590         {
 591                 vehicle_message = relay_diagnostic_handle(entry, cm);
 592                 if (is_valid(vehicle_message))
 593                         return vehicle_message;
 594         }
 595
 596         for ( auto entry : recurring_requests_)
 597         {
 598                 vehicle_message = relay_diagnostic_handle(entry, cm);
 599                 if (is_valid(vehicle_message))
 600                         return vehicle_message;
 601         }
 602
 603         return vehicle_message;
 604 }
 605
 606 /// @brief Tell if the CAN message received is a diagnostic response.
 607 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
 608 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
 609 ///
 610 /// @param[in] cm - CAN message received from the socket.
 611 ///
 612 /// @return True if the active diagnostic request match the response.
 613 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
 614 {
 615         if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
 616                         return true;
 617         return false;
 618 }