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, new active_diagnostic_request_t()), 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(uint8_t i = 0; i < MAX_REQUEST_ENTRIES; i++)
  67         {
  68                 free_request_entries_.push_back(request_list_entries_.back());
  69                 request_list_entries_.pop_back();
  70         }
  71 }
  72
  73
  74 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
  75 {
  76         auto i = std::find(requests_list.begin(), requests_list.end(), entry);
  77         if ( i != requests_list.end())
  78                 requests_list.erase(i);
  79 }
  80
  81 /// Move the entry to the free list and decrement the lock count for any
  82 /// CAN filters it used.
  83 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
  84 {
  85         free_request_entries_.push_back(entry);
  86         /* TODO: implement acceptance filters.
  87         if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
  88                 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
  89                                 filter < OBD2_FUNCTIONAL_RESPONSE_START +
  90                                         OBD2_FUNCTIONAL_RESPONSE_COUNT;
  91                                 filter++) {
  92                         removeAcceptanceFilter(entry.bus_, filter,
  93                                         CanMessageFormat::STANDARD, getCanBuses(),
  94                                         getCanBusCount());
  95                 }
  96         } else {
  97                 removeAcceptanceFilter(entry.bus_,
  98                                 entry.arbitration_id_ +
  99                                         DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
 100                                 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
 101         }*/
 102 }
 103
 104 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
 105 {
 106         if(force || (entry->get_in_flight() && entry->request_completed()))
 107         {
 108                 entry->set_in_flight(false);
 109
 110                 char request_string[128] = {0};
 111                 diagnostic_request_to_string(&entry->get_handle()->request,
 112                         request_string, sizeof(request_string));
 113                 if(entry->get_recurring())
 114                 {
 115                         find_and_erase(entry, recurring_requests_);
 116                         if(force)
 117                                 cancel_request(entry);
 118                         else
 119                         {
 120                                 DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
 121                                 recurring_requests_.push_back(entry);
 122                         }
 123                 }
 124                 else
 125                 {
 126                         DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
 127                         find_and_erase(entry, non_recurring_requests_);
 128                         cancel_request(entry);
 129                 }
 130         }
 131 }
 132
 133 /// @brief Clean up the request list, move as many to the free list as possible
 134 void diagnostic_manager_t::cleanup_active_requests(bool force)
 135 {
 136         for(auto& entry : non_recurring_requests_)
 137                 cleanup_request(entry, force);
 138
 139         for(auto& entry : recurring_requests_)
 140                 cleanup_request(entry, force);
 141 }
 142
 143 /// @brief Note that this pops it off of whichver list it was on and returns it, so make
 144 /// sure to add it to some other list or it'll be lost.
 145 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 146 {
 147         for (auto& entry : recurring_requests_)
 148         {
 149                 active_diagnostic_request_t* candidate = entry;
 150                 if(diagnostic_request_equals(&candidate->get_handle()->request, request))
 151                 {
 152                         find_and_erase(entry, recurring_requests_);
 153                         return entry;
 154                         break;
 155                 }
 156         }
 157         return nullptr;
 158 }
 159
 160 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 161 {
 162         return bus_;
 163 }
 164
 165 active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
 166 {
 167         if (free_request_entries_.empty())
 168                 return nullptr;
 169
 170         active_diagnostic_request_t* adr = free_request_entries_.back();
 171         free_request_entries_.pop_back();
 172         return adr;
 173 }
 174
 175 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 176         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 177         const DiagnosticResponseCallback callback)
 178 {
 179         cleanup_active_requests(false);
 180
 181         bool added = true;
 182         active_diagnostic_request_t* entry = get_free_entry();
 183
 184         if (entry != nullptr)
 185         {
 186                 // TODO: implement Acceptance Filter
 187                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 188                         entry = new active_diagnostic_request_t(bus_, request, name,
 189                                         wait_for_multiple_responses, decoder, callback, 0);
 190                         entry->set_handle(shims_, request);
 191
 192                         char request_string[128] = {0};
 193                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 194                                         sizeof(request_string));
 195
 196                         find_and_erase(entry, non_recurring_requests_);
 197                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 198                                         bus_->get_device_name(), request_string);
 199
 200                         non_recurring_requests_.push_back(entry);
 201         }
 202         else
 203         {
 204                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 205                 added = false;
 206         }
 207         return added;
 208 }
 209
 210 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 211 {
 212         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 213                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
 214                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 215                 return false;
 216         }
 217         return true;
 218 }
 219
 220 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 221                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 222                 const DiagnosticResponseCallback callback, float frequencyHz)
 223 {
 224         if(!validate_optional_request_attributes(frequencyHz))
 225                 return false;
 226
 227         cleanup_active_requests(false);
 228
 229         bool added = true;
 230         if(find_recurring_request(request) == nullptr)
 231         {
 232                 active_diagnostic_request_t* entry = get_free_entry();
 233
 234                 if(entry != nullptr)
 235                 {
 236                         // TODO: implement Acceptance Filter
 237                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 238                                 entry = new active_diagnostic_request_t(bus_, request, name,
 239                                                 wait_for_multiple_responses, decoder, callback, frequencyHz);
 240                                 entry->set_handle(shims_, request);
 241
 242                                 char request_string[128] = {0};
 243                                 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 244                                                 sizeof(request_string));
 245
 246                                 find_and_erase(entry, recurring_requests_);
 247                                 DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %s: %s",
 248                                                 frequencyHz, bus_->get_device_name().c_str(), request_string);
 249
 250                                 recurring_requests_.push_back(entry);
 251                 }
 252                 else
 253                 {
 254                         WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 255                         added = false;
 256                 }
 257         }
 258         else
 259         {
 260                 DEBUG(binder_interface, "Can't add request, one already exists with same key");
 261                 added = false;
 262         }
 263         return added;
 264 }
 265
 266 bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const
 267 {
 268         if(cm.get_id() == adr.get_id() + DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET)
 269                 return true;
 270         DEBUG(binder_interface, "Doesn't find an active diagnostic request that matches.");
 271         return false;
 272 }
 273
 274 active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message)
 275 {
 276         for (auto& entry : non_recurring_requests_)
 277         {
 278                 if(is_diagnostic_response(*entry, can_message))
 279                         return entry;
 280         }
 281
 282         for (auto& entry : recurring_requests_)
 283         {
 284                 if(is_diagnostic_response(*entry, can_message))
 285                         return entry;
 286         }
 287         return nullptr;
 288 }
 289
 290 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
 291 {
 292         openxc_VehicleMessage message;
 293         float value = (float)diagnostic_payload_to_integer(&response);
 294         if(adr->get_decoder() != nullptr)
 295         {
 296                 value = adr->get_decoder()(&response, value);
 297         }
 298
 299         if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
 300         {
 301                 // If name, include 'value' instead of payload, and leave of response
 302                 // details.
 303                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 304         }
 305         else
 306         {
 307                 // If no name, send full details of response but still include 'value'
 308                 // instead of 'payload' if they provided a decoder. The one case you
 309                 // can't get is the full detailed response with 'value'. We could add
 310                 // another parameter for that but it's onerous to carry that around.
 311                 message = build_VehicleMessage(adr, response, value);
 312         }
 313
 314         if(adr->get_callback() != nullptr)
 315         {
 316                 adr->get_callback()(adr, &response, value);
 317         }
 318
 319         return message;
 320 }
 321
 322 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 323 {
 324         return (candidate->get_in_flight() && candidate != request &&
 325                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 326                         candidate->get_id() == request->get_id());
 327 }
 328
 329
 330 /// @brief Returns true if there are no other active requests to the same arbitration ID.
 331 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 332 {
 333         for ( auto entry : non_recurring_requests_)
 334         {
 335                 if(conflicting(request, entry))
 336                         return false;
 337         }
 338
 339         for ( auto entry : recurring_requests_)
 340         {
 341                 if(conflicting(request, entry))
 342                         return false;
 343         }
 344         return true;
 345 }
 346
 347 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 348 {
 349         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 350         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 351         active_diagnostic_request_t* adr = dm.find_recurring_request(request);
 352
 353         if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 354                 dm.clear_to_send(adr))
 355         {
 356                 DEBUG(binder_interface, "Got active_diagnostic_request from recurring_requests_ queue.");
 357                 adr->get_frequency_clock().tick();
 358                 start_diagnostic_request(&dm.get_shims(), adr->get_handle());
 359                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 360                 {
 361                         DEBUG(binder_interface, "Fatal error sending diagnostic request");
 362                         return 0;
 363                 }
 364                 adr->get_timeout_clock().tick();
 365                 adr->set_in_flight(true);
 366                 return 1;
 367         }
 368         return -1;
 369 }
 370
 371 DiagnosticShims& diagnostic_manager_t::get_shims()
 372 {
 373         return shims_;
 374 }
 375
 376 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 377 {
 378         std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
 379         return can_bus_dev->shims_send(arbitration_id, data, size);
 380 }
 381
 382 void diagnostic_manager_t::shims_logger(const char* m, ...)
 383 {
 384         DEBUG(binder_interface, "%s", m);
 385 }
 386
 387 void diagnostic_manager_t::shims_timer()
 388 {}
 389