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"
23 #include "../utils/openxc-utils.hpp"
24 #include "../configuration.hpp"
26 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
27 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
28 #define TIMERFD_ACCURACY 0
31 diagnostic_manager_t::diagnostic_manager_t()
35 /// @brief Diagnostic manager isn't initialized at launch but after
36 /// CAN bus devices initialization. For the moment, it is only possible
37 /// to have 1 diagnostic bus which are the first bus declared in the JSON
38 /// description file. Configuration instance will return it.
40 /// this will initialize DiagnosticShims and cancel all active requests
42 bool diagnostic_manager_t::initialize()
44 // Mandatory to set the bus before intialize shims.
45 bus_ = configuration_t::instance().get_diagnostic_bus();
47 init_diagnostic_shims();
51 DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
55 /// @brief initialize shims used by UDS lib and set initialized_ to true.
56 /// It is needed before used the diagnostic manager fully because shims are
57 /// required by most member functions.
58 void diagnostic_manager_t::init_diagnostic_shims()
60 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
61 DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
64 /// @brief Force cleanup all active requests.
65 void diagnostic_manager_t::reset()
67 DEBUG(binder_interface, "Clearing existing diagnostic requests");
68 cleanup_active_requests(true);
71 /// @brief send function use by diagnostic library. Only one bus used for now
72 /// so diagnostic request is sent using the default diagnostic bus not matter of
73 /// which is specified in the diagnostic message definition.
75 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
76 /// is 0x7DF by example.
77 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
78 /// @param[in] size - The size of the data payload, in bytes.
80 /// @return true if the CAN message was sent successfully.
81 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
83 std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
84 return can_bus_dev->shims_send(arbitration_id, data, size);
87 /// @brief The type signature for an optional logging function, if the user
88 /// wishes to provide one. It should print, store or otherwise display the
91 /// message - A format string to log using the given parameters.
92 /// ... (vargs) - the parameters for the format string.
94 void diagnostic_manager_t::shims_logger(const char* format, ...)
97 va_start(args, format);
100 vsnprintf(buffer, 256, format, args);
102 DEBUG(binder_interface, "shims_logger: %s", buffer);
105 /// @brief The type signature for a... OpenXC TODO: not used yet.
106 void diagnostic_manager_t::shims_timer()
109 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
111 return can_bus_t::get_can_device(bus_);
114 /// @brief Return diagnostic manager shims member.
115 DiagnosticShims& diagnostic_manager_t::get_shims()
120 /// @brief Search for a specific active diagnostic request in the provided requests list
121 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
122 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
123 /// contained in the vector but no event if connected to, so we will decode uneeded request.
125 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
126 /// @param[in] requests_list - a vector where to make the search and cleaning.
127 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
129 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
130 if ( i != requests_list.end())
131 requests_list.erase(i);
134 // @brief TODO: implement cancel_request if needed... Don't know.
135 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
138 /* TODO: implement acceptance filters.
139 if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
140 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
141 filter < OBD2_FUNCTIONAL_RESPONSE_START +
142 OBD2_FUNCTIONAL_RESPONSE_COUNT;
144 removeAcceptanceFilter(entry.bus_, filter,
145 CanMessageFormat::STANDARD, getCanBuses(),
149 removeAcceptanceFilter(entry.bus_,
150 entry.arbitration_id_ +
151 DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
152 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
156 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
157 /// impossible to get that state for a recurring request without waiting for that, you can
158 /// force the cleaning operation.
160 /// @param[in] entry - the request to clean
161 /// @param[in] force - Force the cleaning or not ?
162 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
164 if((force || (entry->get_in_flight() && entry->request_completed())) && entry != nullptr)
166 entry->set_in_flight(false);
168 char request_string[128] = {0};
169 diagnostic_request_to_string(&entry->get_handle()->request,
170 request_string, sizeof(request_string));
171 if(entry->get_recurring())
173 find_and_erase(entry, recurring_requests_);
175 cancel_request(entry);
176 DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
180 DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
181 find_and_erase(entry, non_recurring_requests_);
182 cancel_request(entry);
187 /// @brief Clean up all requests lists, recurring and not recurring.
189 /// @param[in] force - Force the cleaning or not ? If true, that will do
190 /// the same effect as a call to reset().
191 void diagnostic_manager_t::cleanup_active_requests(bool force)
193 for(auto& entry : non_recurring_requests_)
194 if (entry != nullptr)
195 cleanup_request(entry, force);
197 for(auto& entry : recurring_requests_)
198 if (entry != nullptr)
199 cleanup_request(entry, force);
202 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
205 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
206 /// holded by the DiagnosticHandle member.
207 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
209 for (auto& entry : recurring_requests_)
213 if(diagnostic_request_equals(&entry->get_handle()->request, request))
223 /// @brief Add and send a new one-time diagnostic request.
225 /// A one-time (aka non-recurring) request can existing in parallel with a
226 /// recurring request for the same PID or mode, that's not a problem.
228 /// For an example, see the docs for addRecurringRequest. This function is very
229 /// similar but leaves out the frequencyHz parameter.
231 /// @param[in] request - The parameters for the request.
232 /// @param[in] name - Human readable name this response, to be used when
233 /// publishing received responses. TODO: If the name is NULL, the published output
234 /// will use the raw OBD-II response format.
235 /// @param[in] wait_for_multiple_responses - If false, When any response is received
236 /// for this request it will be removed from the active list. If true, the
237 /// request will remain active until the timeout clock expires, to allow it
238 /// to receive multiple response. Functional broadcast requests will always
239 /// waint for the timeout, regardless of this parameter.
240 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
241 /// responses to this request. If the decoder is NULL, the output will
242 /// include the raw payload instead of a parsed value.
243 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
244 /// response is received for this request.
246 /// @return true if the request was added successfully. Returns false if there
247 /// wasn't a free active request entry, if the frequency was too high or if the
248 /// CAN acceptance filters could not be configured,
249 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
250 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
251 const DiagnosticResponseCallback callback)
253 cleanup_active_requests(false);
257 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
259 // TODO: implement Acceptance Filter
260 // if(updateRequiredAcceptanceFilters(bus, request)) {
261 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
262 wait_for_multiple_responses, decoder, callback, 0);
263 entry->set_handle(shims_, request);
265 char request_string[128] = {0};
266 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
267 sizeof(request_string));
269 find_and_erase(entry, non_recurring_requests_);
270 DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
271 bus_, request_string);
273 non_recurring_requests_.push_back(entry);
277 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size());
278 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
284 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
286 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
287 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
288 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
294 /// @brief Add and send a new recurring diagnostic request.
296 /// At most one recurring request can be active for the same arbitration ID, mode
297 /// and (if set) PID on the same bus at one time. If you try and call
298 /// addRecurringRequest with the same key, it will return an error.
300 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
301 /// response. If the request is to the functional broadcast ID (0x7df) filters
302 /// are added for all functional addresses (0x7e8 to 0x7f0).
306 /// // Creating a functional broadcast, mode 1 request for PID 2.
307 /// DiagnosticRequest request = {
308 /// arbitration_id: 0x7df,
314 /// // Add a recurring request, to be sent at 1Hz, and published with the
315 /// // name "my_pid_request"
316 /// addRecurringRequest(&getConfiguration()->diagnosticsManager,
319 /// "my_pid_request",
325 /// @param[in] request - The parameters for the request.
326 /// @param[in] name - An optional human readable name this response, to be used when
327 /// publishing received responses. If the name is NULL, the published output
328 /// will use the raw OBD-II response format.
329 /// @param[in] wait_for_multiple_responses - If false, When any response is received
330 /// for this request it will be removed from the active list. If true, the
331 /// request will remain active until the timeout clock expires, to allow it
332 /// to receive multiple response. Functional broadcast requests will always
333 /// waint for the timeout, regardless of this parameter.
334 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
335 /// responses to this request. If the decoder is NULL, the output will
336 /// include the raw payload instead of a parsed value.
337 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
338 /// response is received for this request.
339 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
340 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
341 /// function return false.
343 /// @return true if the request was added successfully. Returns false if there
344 /// was too much already running requests, if the frequency was too high TODO:or if the
345 /// CAN acceptance filters could not be configured,
347 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
348 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
349 const DiagnosticResponseCallback callback, float frequencyHz)
351 if(!validate_optional_request_attributes(frequencyHz))
354 cleanup_active_requests(false);
357 if(find_recurring_request(request) == nullptr)
359 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
361 sd_event_source *source;
362 // TODO: implement Acceptance Filter
363 //if(updateRequiredAcceptanceFilters(bus, request)) {
364 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
365 wait_for_multiple_responses, decoder, callback, frequencyHz);
366 entry->set_handle(shims_, request);
368 char request_string[128] = {0};
369 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
370 sizeof(request_string));
372 DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
373 frequencyHz, bus_.c_str(), request_string);
376 sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
377 if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
378 CLOCK_MONOTONIC, usec, TIMERFD_ACCURACY, send_request, request) < 0)
380 ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
383 recurring_requests_.push_back(entry);
387 WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
388 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
394 DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
400 /// @brief Returns true if there are two active requests running for the same arbitration ID.
401 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
403 return (candidate->get_in_flight() && candidate != request &&
404 candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
405 candidate->get_id() == request->get_id());
409 /// @brief Returns true if there are no other active requests to the same arbitration ID.
410 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
412 for ( auto entry : non_recurring_requests_)
414 if(conflicting(request, entry))
418 for ( auto entry : recurring_requests_)
420 if(conflicting(request, entry))
426 /// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
427 /// on the diagnostic message frequency.
429 /// This should be called from systemd binder event loop and the event is created on add_recurring_request
431 /// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
432 /// @param[in] usec - previous call timestamp in microseconds.
433 /// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
435 /// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
436 /// event will be disabled.
437 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
439 diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
440 DiagnosticRequest* request = (DiagnosticRequest*)userdata;
441 active_diagnostic_request_t* adr = dm.find_recurring_request(request);
443 // if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
444 // dm.clear_to_send(adr))
445 if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev())
447 adr->get_frequency_clock().tick();
448 start_diagnostic_request(&dm.shims_, adr->get_handle());
449 if(adr->get_handle()->completed && !adr->get_handle()->success)
451 DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
452 sd_event_source_unref(s);
455 adr->get_timeout_clock().tick();
456 adr->set_in_flight(true);
458 if(adr->get_recurring())
460 usec = usec + (uint64_t)(frequency_clock_t::frequency_to_period(adr->get_frequency_clock().get_frequency())*MICRO);
461 DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
462 if(sd_event_source_set_time(s, usec) >= 0)
463 if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
465 sd_event_source_unref(s);
469 sd_event_source_unref(s);
470 ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
474 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
476 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
477 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
479 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
480 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
482 openxc_VehicleMessage message = build_VehicleMessage();
483 float value = (float)diagnostic_payload_to_integer(&response);
484 if(adr->get_decoder() != nullptr)
486 value = adr->get_decoder()(&response, value);
489 if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
491 // If name, include 'value' instead of payload, and leave of response
493 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
497 // If no name, send full details of response but still include 'value'
498 // instead of 'payload' if they provided a decoder. The one case you
499 // can't get is the full detailed response with 'value'. We could add
500 // another parameter for that but it's onerous to carry that around.
501 message = build_VehicleMessage(adr, response, value);
504 // If not success but completed then the pid isn't supported
505 if(!response.success)
507 std::vector<diagnostic_message_t*> found_signals;
508 configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals );
509 found_signals.front()->set_supported(false);
510 cleanup_request(adr, true);
511 NOTICE(binder_interface, "relay_diagnostic_response: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
514 if(adr->get_callback() != nullptr)
516 adr->get_callback()(adr, &response, value);
522 /// @brief Will take the CAN message and pass it to the receive functions that will process
523 /// diagnostic handle for each active diagnostic request then depending on the result we will
524 /// return pass the diagnostic response to decode it.
526 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
527 /// @param[in] cm - A raw CAN message.
529 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
530 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
532 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
533 if(response.completed && entry->get_handle()->completed)
535 if(entry->get_handle()->success)
536 return relay_diagnostic_response(entry, response);
538 else if(!response.completed && response.multi_frame)
540 // Reset the timeout clock while completing the multi-frame receive
541 entry->get_timeout_clock().tick();
544 return build_VehicleMessage();
547 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
548 /// member that will understand the CAN message using diagnostic_receive_can_frame function
549 /// from UDS-C library. Then decode it with an ad-hoc method.
551 /// @param[in] cm - Raw CAN message received
553 /// @return VehicleMessage with decoded value.
554 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
556 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
558 for ( auto entry : non_recurring_requests_)
560 vehicle_message = relay_diagnostic_handle(entry, cm);
561 if (is_valid(vehicle_message))
562 return vehicle_message;
565 for ( auto entry : recurring_requests_)
567 vehicle_message = relay_diagnostic_handle(entry, cm);
568 if (is_valid(vehicle_message))
569 return vehicle_message;
572 return vehicle_message;
575 /// @brief Tell if the CAN message received is a diagnostic response.
576 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
577 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
579 /// @param[in] cm - CAN message received from the socket.
581 /// @return True if the active diagnostic request match the response.
582 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
584 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)