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);
114 DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
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);
125 /// @brief Clean up the request list
126 void diagnostic_manager_t::cleanup_active_requests(bool force)
128 for(auto& entry : non_recurring_requests_)
129 if (entry != nullptr)
130 cleanup_request(entry, force);
132 for(auto& entry : recurring_requests_)
133 if (entry != nullptr)
134 cleanup_request(entry, force);
137 /// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
139 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
141 for (auto& entry : recurring_requests_)
145 if(diagnostic_request_equals(&entry->get_handle()->request, request))
155 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
157 return can_bus_t::get_can_device(bus_);
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)
164 cleanup_active_requests(false);
168 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
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);
176 char request_string[128] = {0};
177 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
178 sizeof(request_string));
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);
184 non_recurring_requests_.push_back(entry);
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);
195 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
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);
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)
209 if(!validate_optional_request_attributes(frequencyHz))
212 cleanup_active_requests(false);
215 if(find_recurring_request(request) == nullptr)
217 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
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);
226 char request_string[128] = {0};
227 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
228 sizeof(request_string));
230 DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
231 frequencyHz, bus_.c_str(), request_string);
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)
238 ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
241 recurring_requests_.push_back(entry);
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);
252 DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
259 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
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());
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
270 for ( auto entry : non_recurring_requests_)
272 if(conflicting(request, entry))
276 for ( auto entry : recurring_requests_)
278 if(conflicting(request, entry))
284 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
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);
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())
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)
298 DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
301 adr->get_timeout_clock().tick();
302 adr->set_in_flight(true);
304 if(adr->get_recurring())
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)
313 sd_event_source_unref(s);
314 ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
318 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
320 openxc_VehicleMessage message = build_VehicleMessage();
321 float value = (float)diagnostic_payload_to_integer(&response);
322 if(adr->get_decoder() != nullptr)
324 value = adr->get_decoder()(&response, value);
327 if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
329 // If name, include 'value' instead of payload, and leave of response
331 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
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);
342 if(adr->get_callback() != nullptr)
344 adr->get_callback()(adr, &response, value);
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.
354 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
355 /// @param[in] cm - A raw CAN message.
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)
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)
363 if(entry->get_handle()->success)
364 return relay_diagnostic_response(entry, response);
366 else if(!response.completed && response.multi_frame)
368 // Reset the timeout clock while completing the multi-frame receive
369 entry->get_timeout_clock().tick();
372 return build_VehicleMessage();
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.
379 /// @param[in] cm - Raw CAN message received
381 /// @return VehicleMessage with decoded value.
382 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
384 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
386 for ( auto entry : non_recurring_requests_)
388 vehicle_message = relay_diagnostic_handle(entry, cm);
389 if (is_valid(vehicle_message))
390 return vehicle_message;
393 for ( auto entry : recurring_requests_)
395 vehicle_message = relay_diagnostic_handle(entry, cm);
396 if (is_valid(vehicle_message))
397 return vehicle_message;
400 return vehicle_message;
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.
407 /// @param[in] cm - CAN message received from the socket.
409 /// @return True if the active diagnostic request match the response.
410 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
412 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
417 DiagnosticShims& diagnostic_manager_t::get_shims()
422 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
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);
428 void diagnostic_manager_t::shims_logger(const char* format, ...)
431 va_start(args, format);
434 vsnprintf(buffer, 256, format, args);
436 DEBUG(binder_interface, "shims_logger: %s", buffer);
439 void diagnostic_manager_t::shims_timer()