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>
21 #include "diagnostic-manager.hpp"
24 #include "../utils/openxc-utils.hpp"
25 #include "../configuration.hpp"
27 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
28 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
29 #define TIMERFD_ACCURACY 0
32 diagnostic_manager_t::diagnostic_manager_t()
36 bool diagnostic_manager_t::initialize()
38 // Mandatory to set the bus before intiliaze shims.
39 bus_ = configuration_t::instance().get_diagnostic_bus();
41 init_diagnostic_shims();
45 DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
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.
54 void diagnostic_manager_t::init_diagnostic_shims()
56 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
57 DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
60 void diagnostic_manager_t::reset()
64 DEBUG(binder_interface, "Clearing existing diagnostic requests");
65 cleanup_active_requests(true);
70 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
72 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
73 if ( i != requests_list.end())
74 requests_list.erase(i);
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)
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;
88 removeAcceptanceFilter(entry.bus_, filter,
89 CanMessageFormat::STANDARD, getCanBuses(),
93 removeAcceptanceFilter(entry.bus_,
94 entry.arbitration_id_ +
95 DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
96 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
100 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
102 if(force || (entry->get_in_flight() && entry->request_completed()))
104 entry->set_in_flight(false);
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())
111 find_and_erase(entry, recurring_requests_);
113 cancel_request(entry);
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);
124 /// @brief Clean up the request list
125 void diagnostic_manager_t::cleanup_active_requests(bool force)
127 for(auto& entry : non_recurring_requests_)
128 if (entry != nullptr)
129 cleanup_request(entry, force);
131 for(auto& entry : recurring_requests_)
132 if (entry != nullptr)
133 cleanup_request(entry, force);
136 /// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
138 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
140 for (auto& entry : recurring_requests_)
144 if(diagnostic_request_equals(&entry->get_handle()->request, request))
154 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
156 return can_bus_t::get_can_device(bus_);
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)
163 cleanup_active_requests(false);
167 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
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);
175 char request_string[128] = {0};
176 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
177 sizeof(request_string));
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);
183 non_recurring_requests_.push_back(entry);
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);
194 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
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);
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)
208 if(!validate_optional_request_attributes(frequencyHz))
211 cleanup_active_requests(false);
214 if(find_recurring_request(request) == nullptr)
216 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
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);
225 char request_string[128] = {0};
226 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
227 sizeof(request_string));
229 DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
230 frequencyHz, bus_.c_str(), request_string);
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)
237 ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
240 recurring_requests_.push_back(entry);
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);
251 DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
258 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
260 openxc_VehicleMessage message;
261 float value = (float)diagnostic_payload_to_integer(&response);
262 if(adr->get_decoder() != nullptr)
264 value = adr->get_decoder()(&response, value);
267 if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
269 // If name, include 'value' instead of payload, and leave of response
271 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
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);
282 if(adr->get_callback() != nullptr)
284 adr->get_callback()(adr, &response, value);
290 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
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());
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
301 for ( auto entry : non_recurring_requests_)
303 if(conflicting(request, entry))
307 for ( auto entry : recurring_requests_)
309 if(conflicting(request, entry))
315 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
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);
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())
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)
329 DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
332 adr->get_timeout_clock().tick();
333 adr->set_in_flight(true);
335 if(adr->get_recurring())
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)
344 sd_event_source_unref(s);
345 ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
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.
354 /// @param[in] cm - CAN message received from the socket.
356 /// @return True if the active diagnostic request match the response.
357 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
359 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
364 DiagnosticShims& diagnostic_manager_t::get_shims()
369 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
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);
375 void diagnostic_manager_t::shims_logger(const char* format, ...)
378 va_start(args, format);
381 vsnprintf(buffer, 256, format, args);
383 DEBUG(binder_interface, "shims_logger: %s", buffer);
386 void diagnostic_manager_t::shims_timer()