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 <algorithm>
  19
  20 #include "diagnostic-manager.hpp"
  21
  22 #include "uds/uds.h"
  23 #include "../utils/openxc-utils.hpp"
  24 #include "../configuration.hpp"
  25
  26 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
  27 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
  28 #define MAX_REQUEST_ENTRIES 50
  29
  30 diagnostic_manager_t::diagnostic_manager_t()
  31         : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
  32 {}
  33
  34 bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
  35 {
  36         // Mandatory to set the bus before intiliaze shims.
  37         bus_ = cbd;
  38
  39         init_diagnostic_shims();
  40         reset();
  41
  42         initialized_ = true;
  43         DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
  44         return initialized_;
  45 }
  46
  47 /**
  48  * @brief initialize shims used by UDS lib and set initialized_ to true.
  49  *  It is needed before used the diagnostic manager fully because shims are
  50  *  required by most member functions.
  51  */
  52 void diagnostic_manager_t::init_diagnostic_shims()
  53 {
  54         shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
  55         DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
  56 }
  57
  58 void diagnostic_manager_t::reset()
  59 {
  60         if(initialized_)
  61         {
  62                 DEBUG(binder_interface, "Clearing existing diagnostic requests");
  63                 cleanup_active_requests(true);
  64         }
  65
  66         for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++)
  67                 free_request_entries_.push_back(request_list_entries_[i]);
  68 }
  69
  70
  71 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
  72 {
  73         auto i = std::find(requests_list.begin(), requests_list.end(), entry);
  74         if ( i != requests_list.end())
  75                 requests_list.erase(i);
  76 }
  77
  78 /// Move the entry to the free list and decrement the lock count for any
  79 /// CAN filters it used.
  80 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
  81 {
  82         free_request_entries_.push_back(entry);
  83         /* TODO: implement acceptance filters.
  84         if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
  85                 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
  86                                 filter < OBD2_FUNCTIONAL_RESPONSE_START +
  87                                         OBD2_FUNCTIONAL_RESPONSE_COUNT;
  88                                 filter++) {
  89                         removeAcceptanceFilter(entry.bus_, filter,
  90                                         CanMessageFormat::STANDARD, getCanBuses(),
  91                                         getCanBusCount());
  92                 }
  93         } else {
  94                 removeAcceptanceFilter(entry.bus_,
  95                                 entry.arbitration_id_ +
  96                                         DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
  97                                 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
  98         }*/
  99 }
 100
 101 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
 102 {
 103         if(force || (entry->get_in_flight() && entry->request_completed()))
 104         {
 105                 entry->set_in_flight(false);
 106
 107                 char request_string[128] = {0};
 108                 diagnostic_request_to_string(&entry->get_handle()->request,
 109                         request_string, sizeof(request_string));
 110                 if(entry->get_recurring())
 111                 {
 112                         find_and_erase(entry, recurring_requests_);
 113                         if(force)
 114                                 cancel_request(entry);
 115                         else
 116                         {
 117                                 DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
 118                                 recurring_requests_.push_back(entry);
 119                         }
 120                 }
 121                 else
 122                 {
 123                         DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
 124                         find_and_erase(entry, non_recurring_requests_);
 125                         cancel_request(entry);
 126                 }
 127         }
 128 }
 129
 130 /// @brief Clean up the request list, move as many to the free list as possible
 131 void diagnostic_manager_t::cleanup_active_requests(bool force)
 132 {
 133         for(auto& entry : non_recurring_requests_)
 134                 cleanup_request(entry, force);
 135
 136         for(auto& entry : recurring_requests_)
 137                 cleanup_request(entry, force);
 138 }
 139
 140 /// @brief Note that this pops it off of whichver list it was on and returns it, so make
 141 /// sure to add it to some other list or it'll be lost.
 142 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 143 {
 144         for (auto& entry : recurring_requests_)
 145         {
 146                 active_diagnostic_request_t* candidate = entry;
 147                 if(diagnostic_request_equals(&candidate->get_handle()->request, request))
 148                 {
 149                         find_and_erase(entry, recurring_requests_);
 150                         return entry;
 151                         break;
 152                 }
 153         }
 154         return nullptr;
 155 }
 156
 157 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 158 {
 159         return bus_;
 160 }
 161
 162 active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
 163 {
 164         if (request_list_entries_.empty())
 165                 return nullptr;
 166
 167         active_diagnostic_request_t* adr = request_list_entries_.back();
 168         request_list_entries_.pop_back();
 169         return adr;
 170 }
 171
 172 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 173         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 174         const DiagnosticResponseCallback callback)
 175 {
 176         cleanup_active_requests(false);
 177
 178         bool added = true;
 179         active_diagnostic_request_t* entry = get_free_entry();
 180
 181         if (entry != nullptr)
 182         {
 183                 // TODO: implement Acceptance Filter
 184                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 185                         entry = new active_diagnostic_request_t(bus_, request, name,
 186                                         wait_for_multiple_responses, decoder, callback, 0);
 187                         entry->set_handle(shims_, request);
 188
 189                         char request_string[128] = {0};
 190                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 191                                         sizeof(request_string));
 192
 193                         find_and_erase(entry, non_recurring_requests_);
 194                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 195                                         bus_->get_device_name(), request_string);
 196
 197                         non_recurring_requests_.push_back(entry);
 198         }
 199         else
 200         {
 201                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 202                 added = false;
 203         }
 204         return added;
 205 }
 206
 207 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 208 {
 209         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 210                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
 211                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 212                 return false;
 213         }
 214         return true;
 215 }
 216
 217 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 218                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 219                 const DiagnosticResponseCallback callback, float frequencyHz)
 220 {
 221         if(!validate_optional_request_attributes(frequencyHz))
 222                 return false;
 223
 224         cleanup_active_requests(false);
 225
 226         bool added = true;
 227         if(find_recurring_request(request) == nullptr)
 228         {
 229                 active_diagnostic_request_t* entry = get_free_entry();
 230
 231                 if(entry != nullptr)
 232                 {
 233                         // TODO: implement Acceptance Filter
 234                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 235                                 entry = new active_diagnostic_request_t(bus_, request, name,
 236                                                 wait_for_multiple_responses, decoder, callback, frequencyHz);
 237                                 entry->set_handle(shims_, request);
 238
 239                                 char request_string[128] = {0};
 240                                 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 241                                                 sizeof(request_string));
 242
 243                                 find_and_erase(entry, recurring_requests_);
 244                                 DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %d: %s",
 245                                                 frequencyHz, bus_->get_device_name(), request_string);
 246
 247                                 recurring_requests_.push_back(entry);
 248                 }
 249                 else
 250                 {
 251                         WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 252                         added = false;
 253                 }
 254         }
 255         else
 256         {
 257                 DEBUG(binder_interface, "Can't add request, one already exists with same key");
 258                 added = false;
 259         }
 260         return added;
 261 }
 262
 263 bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const
 264 {
 265         if(cm.get_id() == adr.get_id() + DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET)
 266                 return true;
 267         DEBUG(binder_interface, "Doesn't find an active diagnostic request that matches.");
 268         return false;
 269 }
 270
 271 active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message)
 272 {
 273         for (auto& entry : non_recurring_requests_)
 274         {
 275                 if(is_diagnostic_response(*entry, can_message))
 276                         return entry;
 277         }
 278
 279         for (auto& entry : recurring_requests_)
 280         {
 281                 if(is_diagnostic_response(*entry, can_message))
 282                         return entry;
 283         }
 284         return nullptr;
 285 }
 286
 287 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
 288 {
 289         openxc_VehicleMessage message;
 290         float value = (float)diagnostic_payload_to_integer(&response);
 291         if(adr->get_decoder() != nullptr)
 292         {
 293                 value = adr->get_decoder()(&response, value);
 294         }
 295
 296         if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
 297         {
 298                 // If name, include 'value' instead of payload, and leave of response
 299                 // details.
 300                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 301         }
 302         else
 303         {
 304                 // If no name, send full details of response but still include 'value'
 305                 // instead of 'payload' if they provided a decoder. The one case you
 306                 // can't get is the full detailed response with 'value'. We could add
 307                 // another parameter for that but it's onerous to carry that around.
 308                 message = build_VehicleMessage(adr, response, value);
 309         }
 310
 311         if(adr->get_callback() != nullptr)
 312         {
 313                 adr->get_callback()(adr, &response, value);
 314         }
 315
 316         return message;
 317 }
 318
 319 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 320 {
 321         return (candidate->get_in_flight() && candidate != request &&
 322                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 323                         candidate->get_id() == request->get_id());
 324 }
 325
 326
 327 /// @brief Returns true if there are no other active requests to the same arbitration ID.
 328 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 329 {
 330         for ( auto entry : non_recurring_requests_)
 331         {
 332                 if(conflicting(request, entry))
 333                         return false;
 334         }
 335
 336         for ( auto entry : recurring_requests_)
 337         {
 338                 if(conflicting(request, entry))
 339                         return false;
 340         }
 341         return true;
 342 }
 343
 344 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 345 {
 346         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 347         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 348         active_diagnostic_request_t* adr = dm.find_recurring_request(request);
 349
 350         if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 351                 dm.clear_to_send(adr))
 352         {
 353                 DEBUG(binder_interface, "Got active_diagnostic_request from recurring_requests_ queue.");
 354                 adr->get_frequency_clock().tick();
 355                 start_diagnostic_request(&dm.get_shims(), adr->get_handle());
 356                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 357                 {
 358                         DEBUG(binder_interface, "Fatal error sending diagnostic request");
 359                         return 0;
 360                 }
 361                 adr->get_timeout_clock().tick();
 362                 adr->set_in_flight(true);
 363                 return 1;
 364         }
 365         return -1;
 366 }
 367
 368 DiagnosticShims& diagnostic_manager_t::get_shims()
 369 {
 370         return shims_;
 371 }
 372
 373 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 374 {
 375         std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
 376         return can_bus_dev->shims_send(arbitration_id, data, size);
 377 }
 378
 379 void diagnostic_manager_t::shims_logger(const char* m, ...)
 380 {
 381         DEBUG(binder_interface, "%s", m);
 382 }
 383
 384 void diagnostic_manager_t::shims_timer()
 385 {}
 386