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 "../configuration.hpp"
  24
  25 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
  26 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
  27 #define MAX_REQUEST_ENTRIES 50
  28
  29 diagnostic_manager_t::diagnostic_manager_t()
  30         : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
  31 {}
  32
  33 bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
  34 {
  35         // Mandatory to set the bus before intiliaze shims.
  36         bus_ = cbd;
  37
  38         init_diagnostic_shims();
  39         reset();
  40
  41         initialized_ = true;
  42         DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
  43         return initialized_;
  44 }
  45
  46 /**
  47  * @brief initialize shims used by UDS lib and set initialized_ to true.
  48  *  It is needed before used the diagnostic manager fully because shims are
  49  *  required by most member functions.
  50  */
  51 void diagnostic_manager_t::init_diagnostic_shims()
  52 {
  53         shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
  54         DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
  55 }
  56
  57 void diagnostic_manager_t::reset()
  58 {
  59         if(initialized_)
  60         {
  61                 DEBUG(binder_interface, "Clearing existing diagnostic requests");
  62                 cleanup_active_requests(true);
  63         }
  64
  65         for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++)
  66                 free_request_entries_.push_back(request_list_entries_[i]);
  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         free_request_entries_.push_back(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;
  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                         else
 115                         {
 116                                 DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
 117                                 recurring_requests_.push_back(entry);
 118                         }
 119                 }
 120                 else
 121                 {
 122                         DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
 123                         find_and_erase(entry, non_recurring_requests_);
 124                         cancel_request(entry);
 125                 }
 126         }
 127 }
 128
 129 /// @brief Clean up the request list, move as many to the free list as possible
 130 void diagnostic_manager_t::cleanup_active_requests(bool force)
 131 {
 132         for(auto& entry : non_recurring_requests_)
 133                 cleanup_request(entry, force);
 134
 135         for(auto& entry : recurring_requests_)
 136                 cleanup_request(entry, force);
 137 }
 138
 139 /// @brief Note that this pops it off of whichver list it was on and returns it, so make
 140 /// sure to add it to some other list or it'll be lost.
 141 bool diagnostic_manager_t::lookup_recurring_request(const DiagnosticRequest* request)
 142 {
 143         active_diagnostic_request_t existingEntry;
 144         for (auto& entry : recurring_requests_)
 145         {
 146                 active_diagnostic_request_t* candidate = entry;
 147                 if(candidate->get_can_bus_dev()->get_device_name() == bus_->get_device_name() &&
 148                         diagnostic_request_equals(&candidate->get_handle()->request, request))
 149                 {
 150                         find_and_erase(entry, recurring_requests_);
 151                         return true;
 152                         break;
 153                 }
 154         }
 155         return false;
 156 }
 157
 158 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 159 {
 160         return bus_;
 161 }
 162
 163 active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
 164 {
 165         if (request_list_entries_.empty())
 166                 return nullptr;
 167
 168         active_diagnostic_request_t* adr = request_list_entries_.back();
 169         request_list_entries_.pop_back();
 170         return adr;
 171 }
 172
 173 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 174         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 175         const DiagnosticResponseCallback callback)
 176 {
 177         cleanup_active_requests(false);
 178
 179         bool added = true;
 180         active_diagnostic_request_t* entry = get_free_entry();
 181
 182         if (entry != nullptr)
 183         {
 184                 // TODO: implement Acceptance Filter
 185                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 186                         entry = new active_diagnostic_request_t(bus_, request, name,
 187                                         wait_for_multiple_responses, decoder, callback, 0);
 188                         entry->set_handle(shims_, request);
 189
 190                         char request_string[128] = {0};
 191                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 192                                         sizeof(request_string));
 193
 194                         find_and_erase(entry, non_recurring_requests_);
 195                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 196                                         bus_->get_device_name(), request_string);
 197
 198                         non_recurring_requests_.push_back(entry);
 199         }
 200         else
 201         {
 202                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 203                 added = false;
 204         }
 205         return added;
 206 }
 207
 208 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 209 {
 210         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 211                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
 212                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 213                 return false;
 214         }
 215         return true;
 216 }
 217
 218 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 219                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 220                 const DiagnosticResponseCallback callback, float frequencyHz)
 221 {
 222         if(!validate_optional_request_attributes(frequencyHz))
 223                 return false;
 224
 225         cleanup_active_requests(false);
 226
 227         bool added = true;
 228         if(lookup_recurring_request(request))
 229         {
 230                 active_diagnostic_request_t* entry = get_free_entry();
 231
 232                 if(entry != nullptr)
 233                 {
 234                         // TODO: implement Acceptance Filter
 235                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 236                                 entry = new active_diagnostic_request_t(bus_, request, name,
 237                                                 wait_for_multiple_responses, decoder, callback, frequencyHz);
 238                                 entry->set_handle(shims_, request);
 239
 240                                 char request_string[128] = {0};
 241                                 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 242                                                 sizeof(request_string));
 243
 244                                 find_and_erase(entry, recurring_requests_);
 245                                 DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %d: %s",
 246                                                 frequencyHz, bus_->get_device_name(), request_string);
 247
 248                                 recurring_requests_.push_back(entry);
 249                 }
 250                 else
 251                 {
 252                         WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 253                         added = false;
 254                 }
 255         }
 256         else
 257         {
 258                 DEBUG(binder_interface, "Can't add request, one already exists with same key");
 259                 added = false;
 260         }
 261         return added;
 262 }
 263
 264 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 265 {
 266         return (candidate->get_in_flight() && candidate != request &&
 267                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 268                         candidate->get_id() == request->get_id());
 269 }
 270
 271
 272 /// @brief Returns true if there are no other active requests to the same arbitration ID.
 273 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 274 {
 275         for ( auto entry : non_recurring_requests_)
 276         {
 277                 if(conflicting(request, entry))
 278                         return false;
 279         }
 280
 281         for ( auto entry : recurring_requests_)
 282         {
 283                 if(conflicting(request, entry))
 284                         return false;
 285         }
 286         return true;
 287 }
 288
 289 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 290 {
 291         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 292         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 293         active_diagnostic_request_t* adr = dm.lookup_recurring_request(request);
 294
 295         if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 296                 dm.clear_to_send(adr))
 297         {
 298                 DEBUG(binder_interface, "Got active_diagnostic_request from recurring_requests_ queue.");
 299                 adr->get_frequency_clock().tick();
 300                 start_diagnostic_request(&dm.get_shims(), adr->get_handle());
 301                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 302                 {
 303                         DEBUG(binder_interface, "Fatal error sending diagnostic request");
 304                         return 0;
 305                 }
 306                 adr->get_timeout_clock().tick();
 307                 adr->set_in_flight(true);
 308                 return 1;
 309         }
 310         return -1;
 311 }
 312
 313 DiagnosticShims& diagnostic_manager_t::get_shims()
 314 {
 315         return shims_;
 316 }
 317
 318 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 319 {
 320         std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
 321         return can_bus_dev->shims_send(arbitration_id, data, size);
 322 }
 323
 324 void diagnostic_manager_t::shims_logger(const char* m, ...)
 325 {
 326         DEBUG(binder_interface, "%s", m);
 327 }
 328
 329 void diagnostic_manager_t::shims_timer()
 330 {}
 331