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 TIMERFD_ACCURACY 0
  30 #define MICRO 1000000
  31
  32 diagnostic_manager_t::diagnostic_manager_t()
  33         : initialized_{false}
  34 {}
  35
  36 bool diagnostic_manager_t::initialize()
  37 {
  38         // Mandatory to set the bus before intiliaze shims.
  39         bus_ = configuration_t::instance().get_diagnostic_bus();
  40
  41         init_diagnostic_shims();
  42         reset();
  43
  44         initialized_ = true;
  45         DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
  46         return initialized_;
  47 }
  48
  49 /**
  50  * @brief initialize shims used by UDS lib and set initialized_ to true.
  51  *  It is needed before used the diagnostic manager fully because shims are
  52  *  required by most member functions.
  53  */
  54 void diagnostic_manager_t::init_diagnostic_shims()
  55 {
  56         shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
  57         DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
  58 }
  59
  60 void diagnostic_manager_t::reset()
  61 {
  62         if(initialized_)
  63         {
  64                 DEBUG(binder_interface, "Clearing existing diagnostic requests");
  65                 cleanup_active_requests(true);
  66         }
  67 }
  68
  69
  70 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
  71 {
  72         auto i = std::find(requests_list.begin(), requests_list.end(), entry);
  73         if ( i != requests_list.end())
  74                 requests_list.erase(i);
  75 }
  76
  77 /// Move the entry to the free list and decrement the lock count for any
  78 /// CAN filters it used.
  79 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
  80 {
  81
  82         /* TODO: implement acceptance filters.
  83         if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
  84                 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
  85                                 filter < OBD2_FUNCTIONAL_RESPONSE_START +
  86                                         OBD2_FUNCTIONAL_RESPONSE_COUNT;
  87                                 filter++) {
  88                         removeAcceptanceFilter(entry.bus_, filter,
  89                                         CanMessageFormat::STANDARD, getCanBuses(),
  90                                         getCanBusCount());
  91                 }
  92         } else {
  93                 removeAcceptanceFilter(entry.bus_,
  94                                 entry.arbitration_id_ +
  95                                         DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
  96                                 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
  97         }*/
  98 }
  99
 100 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
 101 {
 102         if(force || (entry->get_in_flight() && entry->request_completed()))
 103         {
 104                 entry->set_in_flight(false);
 105
 106                 char request_string[128] = {0};
 107                 diagnostic_request_to_string(&entry->get_handle()->request,
 108                         request_string, sizeof(request_string));
 109                 if(entry->get_recurring())
 110                 {
 111                         find_and_erase(entry, recurring_requests_);
 112                         if(force)
 113                                 cancel_request(entry);
 114                 }
 115                 else
 116                 {
 117                         DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
 118                         find_and_erase(entry, non_recurring_requests_);
 119                         cancel_request(entry);
 120                 }
 121         }
 122 }
 123
 124 /// @brief Clean up the request list
 125 void diagnostic_manager_t::cleanup_active_requests(bool force)
 126 {
 127         for(auto& entry : non_recurring_requests_)
 128                 if (entry != nullptr)
 129                         cleanup_request(entry, force);
 130
 131         for(auto& entry : recurring_requests_)
 132                 if (entry != nullptr)
 133                         cleanup_request(entry, force);
 134 }
 135
 136 /// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
 137 /// not found.
 138 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 139 {
 140         for (auto& entry : recurring_requests_)
 141         {
 142                 if(entry != nullptr)
 143                 {
 144                         if(diagnostic_request_equals(&entry->get_handle()->request, request))
 145                         {
 146                                 return entry;
 147                                 break;
 148                         }
 149                 }
 150         }
 151         return nullptr;
 152 }
 153
 154 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 155 {
 156         return can_bus_t::get_can_device(bus_);
 157 }
 158
 159 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 160         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 161         const DiagnosticResponseCallback callback)
 162 {
 163         cleanup_active_requests(false);
 164
 165         bool added = true;
 166
 167         if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 168         {
 169                 // TODO: implement Acceptance Filter
 170                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 171                         active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
 172                                         wait_for_multiple_responses, decoder, callback, 0);
 173                         entry->set_handle(shims_, request);
 174
 175                         char request_string[128] = {0};
 176                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 177                                         sizeof(request_string));
 178
 179                         find_and_erase(entry, non_recurring_requests_);
 180                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 181                                         bus_, request_string);
 182
 183                         non_recurring_requests_.push_back(entry);
 184         }
 185         else
 186         {
 187                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size());
 188                 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 189                 added = false;
 190         }
 191         return added;
 192 }
 193
 194 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 195 {
 196         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 197                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
 198                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 199                 return false;
 200         }
 201         return true;
 202 }
 203
 204 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 205                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 206                 const DiagnosticResponseCallback callback, float frequencyHz)
 207 {
 208         if(!validate_optional_request_attributes(frequencyHz))
 209                 return false;
 210
 211         cleanup_active_requests(false);
 212
 213         bool added = true;
 214         if(find_recurring_request(request) == nullptr)
 215         {
 216                 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 217                 {
 218                         sd_event_source *source;
 219                         // TODO: implement Acceptance Filter
 220                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 221                         active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
 222                                         wait_for_multiple_responses, decoder, callback, frequencyHz);
 223                         entry->set_handle(shims_, request);
 224
 225                         char request_string[128] = {0};
 226                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 227                                         sizeof(request_string));
 228
 229                         DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
 230                                         frequencyHz, bus_.c_str(), request_string);
 231
 232                         uint64_t usec;
 233                         sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
 234                         if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
 235                                         CLOCK_MONOTONIC, usec, TIMERFD_ACCURACY, send_request, request) < 0)
 236                         {
 237                                 ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
 238                                 added = false;
 239                         }
 240                         recurring_requests_.push_back(entry);
 241                 }
 242                 else
 243                 {
 244                         WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
 245                         recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 246                         added = false;
 247                 }
 248         }
 249         else
 250         {
 251                 DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
 252                 added = false;
 253         }
 254         return added;
 255 }
 256
 257
 258 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
 259 {
 260         openxc_VehicleMessage message;
 261         float value = (float)diagnostic_payload_to_integer(&response);
 262         if(adr->get_decoder() != nullptr)
 263         {
 264                 value = adr->get_decoder()(&response, value);
 265         }
 266
 267         if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
 268         {
 269                 // If name, include 'value' instead of payload, and leave of response
 270                 // details.
 271                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 272         }
 273         else
 274         {
 275                 // If no name, send full details of response but still include 'value'
 276                 // instead of 'payload' if they provided a decoder. The one case you
 277                 // can't get is the full detailed response with 'value'. We could add
 278                 // another parameter for that but it's onerous to carry that around.
 279                 message = build_VehicleMessage(adr, response, value);
 280         }
 281
 282         if(adr->get_callback() != nullptr)
 283         {
 284                 adr->get_callback()(adr, &response, value);
 285         }
 286
 287         return message;
 288 }
 289
 290 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 291 {
 292         return (candidate->get_in_flight() && candidate != request &&
 293                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 294                         candidate->get_id() == request->get_id());
 295 }
 296
 297
 298 /// @brief Returns true if there are no other active requests to the same arbitration ID.
 299 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 300 {
 301         for ( auto entry : non_recurring_requests_)
 302         {
 303                 if(conflicting(request, entry))
 304                         return false;
 305         }
 306
 307         for ( auto entry : recurring_requests_)
 308         {
 309                 if(conflicting(request, entry))
 310                         return false;
 311         }
 312         return true;
 313 }
 314
 315 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 316 {
 317         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 318         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 319         active_diagnostic_request_t* adr = dm.find_recurring_request(request);
 320
 321 //      if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 322 //              dm.clear_to_send(adr))
 323         if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev())
 324         {
 325                 adr->get_frequency_clock().tick();
 326                 start_diagnostic_request(&dm.shims_, adr->get_handle());
 327                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 328                 {
 329                         DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
 330                         return 0;
 331                 }
 332                 adr->get_timeout_clock().tick();
 333                 adr->set_in_flight(true);
 334
 335                 if(adr->get_recurring())
 336                 {
 337                         usec = usec + (uint64_t)(frequency_clock_t::frequency_to_period(adr->get_frequency_clock().get_frequency())*MICRO);
 338                         DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
 339                         if(sd_event_source_set_time(s, usec+1000000) >= 0)
 340                                 if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
 341                                         return 1;
 342                 }
 343         }
 344         sd_event_source_unref(s);
 345         ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
 346         return -1;
 347 }
 348
 349
 350 /// @brief Tell if the CAN message received is a diagnostic response.
 351 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
 352 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
 353 ///
 354 /// @param[in] cm - CAN message received from the socket.
 355 ///
 356 /// @return True if the active diagnostic request match the response.
 357 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
 358 {
 359         if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
 360                         return true;
 361         return false;
 362 }
 363
 364 DiagnosticShims& diagnostic_manager_t::get_shims()
 365 {
 366         return shims_;
 367 }
 368
 369 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 370 {
 371         std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
 372         return can_bus_dev->shims_send(arbitration_id, data, size);
 373 }
 374
 375 void diagnostic_manager_t::shims_logger(const char* format, ...)
 376 {
 377         va_list args;
 378         va_start(args, format);
 379
 380         char buffer[256];
 381         vsnprintf(buffer, 256, format, args);
 382
 383         DEBUG(binder_interface, "shims_logger: %s", buffer);
 384 }
 385
 386 void diagnostic_manager_t::shims_timer()
 387 {}