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                         DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
 115                 }
 116                 else
 117                 {
 118                         DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
 119                         find_and_erase(entry, non_recurring_requests_);
 120                         cancel_request(entry);
 121                 }
 122         }
 123 }
 124
 125 /// @brief Clean up the request list
 126 void diagnostic_manager_t::cleanup_active_requests(bool force)
 127 {
 128         for(auto& entry : non_recurring_requests_)
 129                 if (entry != nullptr)
 130                         cleanup_request(entry, force);
 131
 132         for(auto& entry : recurring_requests_)
 133                 if (entry != nullptr)
 134                         cleanup_request(entry, force);
 135 }
 136
 137 /// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
 138 /// not found.
 139 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 140 {
 141         for (auto& entry : recurring_requests_)
 142         {
 143                 if(entry != nullptr)
 144                 {
 145                         if(diagnostic_request_equals(&entry->get_handle()->request, request))
 146                         {
 147                                 return entry;
 148                                 break;
 149                         }
 150                 }
 151         }
 152         return nullptr;
 153 }
 154
 155 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 156 {
 157         return can_bus_t::get_can_device(bus_);
 158 }
 159
 160 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 161         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 162         const DiagnosticResponseCallback callback)
 163 {
 164         cleanup_active_requests(false);
 165
 166         bool added = true;
 167
 168         if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 169         {
 170                 // TODO: implement Acceptance Filter
 171                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 172                         active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
 173                                         wait_for_multiple_responses, decoder, callback, 0);
 174                         entry->set_handle(shims_, request);
 175
 176                         char request_string[128] = {0};
 177                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 178                                         sizeof(request_string));
 179
 180                         find_and_erase(entry, non_recurring_requests_);
 181                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 182                                         bus_, request_string);
 183
 184                         non_recurring_requests_.push_back(entry);
 185         }
 186         else
 187         {
 188                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size());
 189                 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 190                 added = false;
 191         }
 192         return added;
 193 }
 194
 195 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 196 {
 197         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 198                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
 199                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 200                 return false;
 201         }
 202         return true;
 203 }
 204
 205 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 206                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 207                 const DiagnosticResponseCallback callback, float frequencyHz)
 208 {
 209         if(!validate_optional_request_attributes(frequencyHz))
 210                 return false;
 211
 212         cleanup_active_requests(false);
 213
 214         bool added = true;
 215         if(find_recurring_request(request) == nullptr)
 216         {
 217                 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
 218                 {
 219                         sd_event_source *source;
 220                         // TODO: implement Acceptance Filter
 221                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 222                         active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
 223                                         wait_for_multiple_responses, decoder, callback, frequencyHz);
 224                         entry->set_handle(shims_, request);
 225
 226                         char request_string[128] = {0};
 227                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 228                                         sizeof(request_string));
 229
 230                         DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
 231                                         frequencyHz, bus_.c_str(), request_string);
 232
 233                         uint64_t usec;
 234                         sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
 235                         if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
 236                                         CLOCK_MONOTONIC, usec, TIMERFD_ACCURACY, send_request, request) < 0)
 237                         {
 238                                 ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
 239                                 added = false;
 240                         }
 241                         recurring_requests_.push_back(entry);
 242                 }
 243                 else
 244                 {
 245                         WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
 246                         recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
 247                         added = false;
 248                 }
 249         }
 250         else
 251         {
 252                 DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
 253                 added = false;
 254         }
 255         return added;
 256 }
 257
 258
 259 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 260 {
 261         return (candidate->get_in_flight() && candidate != request &&
 262                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 263                         candidate->get_id() == request->get_id());
 264 }
 265
 266
 267 /// @brief Returns true if there are no other active requests to the same arbitration ID.
 268 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 269 {
 270         for ( auto entry : non_recurring_requests_)
 271         {
 272                 if(conflicting(request, entry))
 273                         return false;
 274         }
 275
 276         for ( auto entry : recurring_requests_)
 277         {
 278                 if(conflicting(request, entry))
 279                         return false;
 280         }
 281         return true;
 282 }
 283
 284 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 285 {
 286         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 287         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 288         active_diagnostic_request_t* adr = dm.find_recurring_request(request);
 289
 290 //      if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 291 //              dm.clear_to_send(adr))
 292         if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev())
 293         {
 294                 adr->get_frequency_clock().tick();
 295                 start_diagnostic_request(&dm.shims_, adr->get_handle());
 296                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 297                 {
 298                         DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
 299                         return 0;
 300                 }
 301                 adr->get_timeout_clock().tick();
 302                 adr->set_in_flight(true);
 303
 304                 if(adr->get_recurring())
 305                 {
 306                         usec = usec + (uint64_t)(frequency_clock_t::frequency_to_period(adr->get_frequency_clock().get_frequency())*MICRO);
 307                         DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
 308                         if(sd_event_source_set_time(s, usec+1000000) >= 0)
 309                                 if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
 310                                         return 1;
 311                 }
 312         }
 313         sd_event_source_unref(s);
 314         ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
 315         return -1;
 316 }
 317
 318 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
 319 {
 320         openxc_VehicleMessage message = build_VehicleMessage();
 321         float value = (float)diagnostic_payload_to_integer(&response);
 322         if(adr->get_decoder() != nullptr)
 323         {
 324                 value = adr->get_decoder()(&response, value);
 325         }
 326
 327         if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
 328         {
 329                 // If name, include 'value' instead of payload, and leave of response
 330                 // details.
 331                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 332         }
 333         else
 334         {
 335                 // If no name, send full details of response but still include 'value'
 336                 // instead of 'payload' if they provided a decoder. The one case you
 337                 // can't get is the full detailed response with 'value'. We could add
 338                 // another parameter for that but it's onerous to carry that around.
 339                 message = build_VehicleMessage(adr, response, value);
 340         }
 341
 342         if(adr->get_callback() != nullptr)
 343         {
 344                 adr->get_callback()(adr, &response, value);
 345         }
 346
 347         return message;
 348 }
 349
 350 /// @brief Will take the CAN message and pass it to the receive functions that will process
 351 /// diagnostic handle for each active diagnostic request then depending on the result we will
 352 /// return pass the diagnostic response to decode it.
 353 ///
 354 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
 355 /// @param[in] cm - A raw CAN message.
 356 ///
 357 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
 358 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
 359 {
 360         DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
 361         if(response.completed && entry->get_handle()->completed)
 362         {
 363                 if(entry->get_handle()->success)
 364                         return relay_diagnostic_response(entry, response);
 365         }
 366         else if(!response.completed && response.multi_frame)
 367         {
 368                 // Reset the timeout clock while completing the multi-frame receive
 369                 entry->get_timeout_clock().tick();
 370         }
 371
 372         return build_VehicleMessage();
 373 }
 374
 375 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
 376 /// member that will understand the CAN message using diagnostic_receive_can_frame function
 377 /// from UDS-C library. Then decode it with an ad-hoc method.
 378 ///
 379 /// @param[in] cm - Raw CAN message received
 380 ///
 381 /// @return VehicleMessage with decoded value.
 382 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
 383 {
 384         openxc_VehicleMessage vehicle_message = build_VehicleMessage();
 385
 386         for ( auto entry : non_recurring_requests_)
 387         {
 388                 vehicle_message = relay_diagnostic_handle(entry, cm);
 389                 if (is_valid(vehicle_message))
 390                         return vehicle_message;
 391         }
 392
 393         for ( auto entry : recurring_requests_)
 394         {
 395                 vehicle_message = relay_diagnostic_handle(entry, cm);
 396                 if (is_valid(vehicle_message))
 397                         return vehicle_message;
 398         }
 399
 400         return vehicle_message;
 401 }
 402
 403 /// @brief Tell if the CAN message received is a diagnostic response.
 404 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
 405 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
 406 ///
 407 /// @param[in] cm - CAN message received from the socket.
 408 ///
 409 /// @return True if the active diagnostic request match the response.
 410 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
 411 {
 412         if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
 413                         return true;
 414         return false;
 415 }
 416
 417 DiagnosticShims& diagnostic_manager_t::get_shims()
 418 {
 419         return shims_;
 420 }
 421
 422 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 423 {
 424         std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
 425         return can_bus_dev->shims_send(arbitration_id, data, size);
 426 }
 427
 428 void diagnostic_manager_t::shims_logger(const char* format, ...)
 429 {
 430         va_list args;
 431         va_start(args, format);
 432
 433         char buffer[256];
 434         vsnprintf(buffer, 256, format, args);
 435
 436         DEBUG(binder_interface, "shims_logger: %s", buffer);
 437 }
 438
 439 void diagnostic_manager_t::shims_timer()
 440 {}