src/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 "uds/uds.h"
  24 #include "../utils/openxc-utils.hpp"
  25 #include "../configuration.hpp"
  26
  27 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
  28 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
  29 #define MAX_REQUEST_ENTRIES 50
  30 #define TIMERFD_ACCURACY 0
  31 #define MICRO 1000000
  32
  33 diagnostic_manager_t::diagnostic_manager_t()
  34         : request_list_entries_(MAX_REQUEST_ENTRIES, new active_diagnostic_request_t()), initialized_{false}
  35 {}
  36
  37 bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
  38 {
  39         // Mandatory to set the bus before intiliaze shims.
  40         bus_ = cbd;
  41
  42         init_diagnostic_shims();
  43         reset();
  44
  45         initialized_ = true;
  46         DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
  47         return initialized_;
  48 }
  49
  50 /**
  51  * @brief initialize shims used by UDS lib and set initialized_ to true.
  52  *  It is needed before used the diagnostic manager fully because shims are
  53  *  required by most member functions.
  54  */
  55 void diagnostic_manager_t::init_diagnostic_shims()
  56 {
  57         shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
  58         DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
  59 }
  60
  61 void diagnostic_manager_t::reset()
  62 {
  63         if(initialized_)
  64         {
  65                 DEBUG(binder_interface, "Clearing existing diagnostic requests");
  66                 cleanup_active_requests(true);
  67         }
  68
  69         for(uint8_t i = 0; i < MAX_REQUEST_ENTRIES; i++)
  70         {
  71                 free_request_entries_.push_back(request_list_entries_.back());
  72                 request_list_entries_.pop_back();
  73         }
  74 }
  75
  76
  77 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
  78 {
  79         auto i = std::find(requests_list.begin(), requests_list.end(), entry);
  80         if ( i != requests_list.end())
  81                 requests_list.erase(i);
  82 }
  83
  84 /// Move the entry to the free list and decrement the lock count for any
  85 /// CAN filters it used.
  86 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
  87 {
  88         free_request_entries_.push_back(entry);
  89         /* TODO: implement acceptance filters.
  90         if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
  91                 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
  92                                 filter < OBD2_FUNCTIONAL_RESPONSE_START +
  93                                         OBD2_FUNCTIONAL_RESPONSE_COUNT;
  94                                 filter++) {
  95                         removeAcceptanceFilter(entry.bus_, filter,
  96                                         CanMessageFormat::STANDARD, getCanBuses(),
  97                                         getCanBusCount());
  98                 }
  99         } else {
 100                 removeAcceptanceFilter(entry.bus_,
 101                                 entry.arbitration_id_ +
 102                                         DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
 103                                 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
 104         }*/
 105 }
 106
 107 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
 108 {
 109         if(force || (entry->get_in_flight() && entry->request_completed()))
 110         {
 111                 entry->set_in_flight(false);
 112
 113                 char request_string[128] = {0};
 114                 diagnostic_request_to_string(&entry->get_handle()->request,
 115                         request_string, sizeof(request_string));
 116                 if(entry->get_recurring())
 117                 {
 118                         find_and_erase(entry, recurring_requests_);
 119                         if(force)
 120                                 cancel_request(entry);
 121                         else
 122                         {
 123                                 DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
 124                                 recurring_requests_.push_back(entry);
 125                         }
 126                 }
 127                 else
 128                 {
 129                         DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
 130                         find_and_erase(entry, non_recurring_requests_);
 131                         cancel_request(entry);
 132                 }
 133         }
 134 }
 135
 136 /// @brief Clean up the request list, move as many to the free list as possible
 137 void diagnostic_manager_t::cleanup_active_requests(bool force)
 138 {
 139         for(auto& entry : non_recurring_requests_)
 140                 cleanup_request(entry, force);
 141
 142         for(auto& entry : recurring_requests_)
 143                 cleanup_request(entry, force);
 144 }
 145
 146 /// @brief Note that this pops it off of whichver list it was on and returns it, so make
 147 /// sure to add it to some other list or it'll be lost.
 148 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 149 {
 150         for (auto& entry : recurring_requests_)
 151         {
 152                 active_diagnostic_request_t* candidate = entry;
 153                 if(diagnostic_request_equals(&candidate->get_handle()->request, request))
 154                 {
 155                         find_and_erase(entry, recurring_requests_);
 156                         return entry;
 157                         break;
 158                 }
 159         }
 160         return nullptr;
 161 }
 162
 163 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 164 {
 165         return bus_;
 166 }
 167
 168 active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
 169 {
 170         if (free_request_entries_.empty())
 171                 return nullptr;
 172
 173         active_diagnostic_request_t* adr = free_request_entries_.back();
 174         free_request_entries_.pop_back();
 175         return adr;
 176 }
 177
 178 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 179         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 180         const DiagnosticResponseCallback callback)
 181 {
 182         cleanup_active_requests(false);
 183
 184         bool added = true;
 185         active_diagnostic_request_t* entry = get_free_entry();
 186
 187         if (entry != nullptr)
 188         {
 189                 // TODO: implement Acceptance Filter
 190                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 191                         entry = new active_diagnostic_request_t(bus_, request, name,
 192                                         wait_for_multiple_responses, decoder, callback, 0);
 193                         entry->set_handle(shims_, request);
 194
 195                         char request_string[128] = {0};
 196                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 197                                         sizeof(request_string));
 198
 199                         find_and_erase(entry, non_recurring_requests_);
 200                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 201                                         bus_->get_device_name(), request_string);
 202
 203                         non_recurring_requests_.push_back(entry);
 204         }
 205         else
 206         {
 207                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 208                 added = false;
 209         }
 210         return added;
 211 }
 212
 213 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 214 {
 215         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 216                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
 217                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 218                 return false;
 219         }
 220         return true;
 221 }
 222
 223 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 224                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 225                 const DiagnosticResponseCallback callback, float frequencyHz)
 226 {
 227         if(!validate_optional_request_attributes(frequencyHz))
 228                 return false;
 229
 230         cleanup_active_requests(false);
 231
 232         bool added = true;
 233         if(find_recurring_request(request) == nullptr)
 234         {
 235                 active_diagnostic_request_t* entry = get_free_entry();
 236
 237                 if(entry != nullptr)
 238                 {
 239                         sd_event_source *source;
 240                         // TODO: implement Acceptance Filter
 241                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 242                                 entry = new active_diagnostic_request_t(bus_, request, name,
 243                                                 wait_for_multiple_responses, decoder, callback, frequencyHz);
 244                                 entry->set_handle(shims_, request);
 245
 246                                 char request_string[128] = {0};
 247                                 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 248                                                 sizeof(request_string));
 249
 250                                 find_and_erase(entry, recurring_requests_);
 251                                 DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %s: %s",
 252                                                 frequencyHz, bus_->get_device_name().c_str(), request_string);
 253
 254                                 uint64_t usec;
 255                                 usec = sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec) + (uint64_t)(frequency_clock_t::frequency_to_period(frequencyHz)*MICRO);
 256                                 if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
 257                                                 CLOCK_MONOTONIC, usec, TIMERFD_ACCURACY, send_request, request) >= 0)
 258                                         recurring_requests_.push_back(entry);
 259                                 else
 260                                 {
 261                                         ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
 262                                         free_request_entries_.push_back(entry);
 263                                         added = false;
 264                                 }
 265                 }
 266                 else
 267                 {
 268                         WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 269                         free_request_entries_.push_back(entry);
 270                         added = false;
 271                 }
 272         }
 273         else
 274         {
 275                 DEBUG(binder_interface, "Can't add request, one already exists with same key");
 276                 added = false;
 277         }
 278         return added;
 279 }
 280
 281 bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const
 282 {
 283         if(cm.get_id() == adr.get_id() + DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET)
 284                 return true;
 285         DEBUG(binder_interface, "Doesn't find an active diagnostic request that matches.");
 286         return false;
 287 }
 288
 289 active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message)
 290 {
 291         for (auto& entry : non_recurring_requests_)
 292         {
 293                 if(is_diagnostic_response(*entry, can_message))
 294                         return entry;
 295         }
 296
 297         for (auto& entry : recurring_requests_)
 298         {
 299                 if(is_diagnostic_response(*entry, can_message))
 300                         return entry;
 301         }
 302         return nullptr;
 303 }
 304
 305 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
 306 {
 307         openxc_VehicleMessage message;
 308         float value = (float)diagnostic_payload_to_integer(&response);
 309         if(adr->get_decoder() != nullptr)
 310         {
 311                 value = adr->get_decoder()(&response, value);
 312         }
 313
 314         if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
 315         {
 316                 // If name, include 'value' instead of payload, and leave of response
 317                 // details.
 318                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 319         }
 320         else
 321         {
 322                 // If no name, send full details of response but still include 'value'
 323                 // instead of 'payload' if they provided a decoder. The one case you
 324                 // can't get is the full detailed response with 'value'. We could add
 325                 // another parameter for that but it's onerous to carry that around.
 326                 message = build_VehicleMessage(adr, response, value);
 327         }
 328
 329         if(adr->get_callback() != nullptr)
 330         {
 331                 adr->get_callback()(adr, &response, value);
 332         }
 333
 334         return message;
 335 }
 336
 337 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 338 {
 339         return (candidate->get_in_flight() && candidate != request &&
 340                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 341                         candidate->get_id() == request->get_id());
 342 }
 343
 344
 345 /// @brief Returns true if there are no other active requests to the same arbitration ID.
 346 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 347 {
 348         for ( auto entry : non_recurring_requests_)
 349         {
 350                 if(conflicting(request, entry))
 351                         return false;
 352         }
 353
 354         for ( auto entry : recurring_requests_)
 355         {
 356                 if(conflicting(request, entry))
 357                         return false;
 358         }
 359         return true;
 360 }
 361
 362 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 363 {
 364         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 365         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 366         active_diagnostic_request_t* adr = dm.find_recurring_request(request);
 367
 368 //      if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 369 //              dm.clear_to_send(adr))
 370         if(adr != nullptr && adr->get_can_bus_dev() == dm.bus_)
 371         {
 372                 adr->get_frequency_clock().tick();
 373                 start_diagnostic_request(&dm.shims_, adr->get_handle());
 374                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 375                 {
 376                         DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
 377                         return 0;
 378                 }
 379                 adr->get_timeout_clock().tick();
 380                 adr->set_in_flight(true);
 381
 382                 usec = usec + (uint64_t)(frequency_clock_t::frequency_to_period(adr->get_frequency_clock().get_frequency())*MICRO);
 383                 DEBUG(binder_interface, "send_request: usec: %d", usec);
 384                 if(sd_event_source_set_time(s, usec) >= 0)
 385                         if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
 386                         {
 387                                 dm.recurring_requests_.push_back(adr);
 388                                 return 1;
 389                         }
 390         }
 391         dm.recurring_requests_.push_back(adr);
 392         ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
 393         return -1;
 394 }
 395
 396 DiagnosticShims& diagnostic_manager_t::get_shims()
 397 {
 398         return shims_;
 399 }
 400
 401 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 402 {
 403         std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
 404         return can_bus_dev->shims_send(arbitration_id, data, size);
 405 }
 406
 407 void diagnostic_manager_t::shims_logger(const char* m, ...)
 408 {
 409         DEBUG(binder_interface, "%s", m);
 410 }
 411
 412 void diagnostic_manager_t::shims_timer()
 413 {}
 414