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 MAX_REQUEST_ENTRIES 50
  30 #define MICRO 1000000
  31
  32 diagnostic_manager_t::diagnostic_manager_t()
  33         : request_list_entries_(MAX_REQUEST_ENTRIES, new active_diagnostic_request_t()), initialized_{false}
  34 {}
  35
  36 bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
  37 {
  38         // Mandatory to set the bus before intiliaze shims.
  39         bus_ = cbd;
  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         for(uint8_t i = 0; i < MAX_REQUEST_ENTRIES; i++)
  69         {
  70                 free_request_entries_.push_back(request_list_entries_.back());
  71                 request_list_entries_.pop_back();
  72         }
  73 }
  74
  75
  76 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
  77 {
  78         auto i = std::find(requests_list.begin(), requests_list.end(), entry);
  79         if ( i != requests_list.end())
  80                 requests_list.erase(i);
  81 }
  82
  83 /// Move the entry to the free list and decrement the lock count for any
  84 /// CAN filters it used.
  85 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
  86 {
  87         free_request_entries_.push_back(entry);
  88         /* TODO: implement acceptance filters.
  89         if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
  90                 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
  91                                 filter < OBD2_FUNCTIONAL_RESPONSE_START +
  92                                         OBD2_FUNCTIONAL_RESPONSE_COUNT;
  93                                 filter++) {
  94                         removeAcceptanceFilter(entry.bus_, filter,
  95                                         CanMessageFormat::STANDARD, getCanBuses(),
  96                                         getCanBusCount());
  97                 }
  98         } else {
  99                 removeAcceptanceFilter(entry.bus_,
 100                                 entry.arbitration_id_ +
 101                                         DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
 102                                 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
 103         }*/
 104 }
 105
 106 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
 107 {
 108         if(force || (entry->get_in_flight() && entry->request_completed()))
 109         {
 110                 entry->set_in_flight(false);
 111
 112                 char request_string[128] = {0};
 113                 diagnostic_request_to_string(&entry->get_handle()->request,
 114                         request_string, sizeof(request_string));
 115                 if(entry->get_recurring())
 116                 {
 117                         find_and_erase(entry, recurring_requests_);
 118                         if(force)
 119                                 cancel_request(entry);
 120                         else
 121                         {
 122                                 DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
 123                                 recurring_requests_.push_back(entry);
 124                         }
 125                 }
 126                 else
 127                 {
 128                         DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
 129                         find_and_erase(entry, non_recurring_requests_);
 130                         cancel_request(entry);
 131                 }
 132         }
 133 }
 134
 135 /// @brief Clean up the request list, move as many to the free list as possible
 136 void diagnostic_manager_t::cleanup_active_requests(bool force)
 137 {
 138         for(auto& entry : non_recurring_requests_)
 139                 cleanup_request(entry, force);
 140
 141         for(auto& entry : recurring_requests_)
 142                 cleanup_request(entry, force);
 143 }
 144
 145 /// @brief Note that this pops it off of whichver list it was on and returns it, so make
 146 /// sure to add it to some other list or it'll be lost.
 147 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
 148 {
 149         for (auto& entry : recurring_requests_)
 150         {
 151                 active_diagnostic_request_t* candidate = entry;
 152                 if(diagnostic_request_equals(&candidate->get_handle()->request, request))
 153                 {
 154                         find_and_erase(entry, recurring_requests_);
 155                         return entry;
 156                         break;
 157                 }
 158         }
 159         return nullptr;
 160 }
 161
 162 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
 163 {
 164         return bus_;
 165 }
 166
 167 active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
 168 {
 169         if (free_request_entries_.empty())
 170                 return nullptr;
 171
 172         active_diagnostic_request_t* adr = free_request_entries_.back();
 173         free_request_entries_.pop_back();
 174         return adr;
 175 }
 176
 177 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
 178         bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 179         const DiagnosticResponseCallback callback)
 180 {
 181         cleanup_active_requests(false);
 182
 183         bool added = true;
 184         active_diagnostic_request_t* entry = get_free_entry();
 185
 186         if (entry != nullptr)
 187         {
 188                 // TODO: implement Acceptance Filter
 189                 //      if(updateRequiredAcceptanceFilters(bus, request)) {
 190                         entry = new active_diagnostic_request_t(bus_, request, name,
 191                                         wait_for_multiple_responses, decoder, callback, 0);
 192                         entry->set_handle(shims_, request);
 193
 194                         char request_string[128] = {0};
 195                         diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 196                                         sizeof(request_string));
 197
 198                         find_and_erase(entry, non_recurring_requests_);
 199                         DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
 200                                         bus_->get_device_name(), request_string);
 201
 202                         non_recurring_requests_.push_back(entry);
 203         }
 204         else
 205         {
 206                 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 207                 added = false;
 208         }
 209         return added;
 210 }
 211
 212 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
 213 {
 214         if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
 215                 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
 216                         frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
 217                 return false;
 218         }
 219         return true;
 220 }
 221
 222 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
 223                 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
 224                 const DiagnosticResponseCallback callback, float frequencyHz)
 225 {
 226         if(!validate_optional_request_attributes(frequencyHz))
 227                 return false;
 228
 229         cleanup_active_requests(false);
 230
 231         bool added = true;
 232         if(find_recurring_request(request) == nullptr)
 233         {
 234                 active_diagnostic_request_t* entry = get_free_entry();
 235
 236                 if(entry != nullptr)
 237                 {
 238                         sd_event_source *source;
 239                         // TODO: implement Acceptance Filter
 240                         //if(updateRequiredAcceptanceFilters(bus, request)) {
 241                                 entry = new active_diagnostic_request_t(bus_, request, name,
 242                                                 wait_for_multiple_responses, decoder, callback, frequencyHz);
 243                                 entry->set_handle(shims_, request);
 244
 245                                 char request_string[128] = {0};
 246                                 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
 247                                                 sizeof(request_string));
 248
 249                                 find_and_erase(entry, recurring_requests_);
 250                                 DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %s: %s",
 251                                                 frequencyHz, bus_->get_device_name().c_str(), request_string);
 252
 253                                 if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
 254                                         CLOCK_MONOTONIC, (uint64_t)frequencyHz*MICRO, 0,send_request, request) >= 0)
 255                                 {
 256                                         if(sd_event_source_set_enabled(source, SD_EVENT_ON) >= 0)
 257                                                 recurring_requests_.push_back(entry);
 258                                         else
 259                                         {
 260                                                 ERROR(binder_interface, "add_reccurring_request: Request has not been enabled, it will occurs only one time");
 261                                                 free_request_entries_.push_back(entry);
 262                                                 added = false;
 263                                         }
 264                                 }
 265                                 else
 266                                 {
 267                                         ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
 268                                         free_request_entries_.push_back(entry);
 269                                         added = false;
 270                                 }
 271                 }
 272                 else
 273                 {
 274                         WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
 275                         free_request_entries_.push_back(entry);
 276                         added = false;
 277                 }
 278         }
 279         else
 280         {
 281                 DEBUG(binder_interface, "Can't add request, one already exists with same key");
 282                 added = false;
 283         }
 284         return added;
 285 }
 286
 287 bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const
 288 {
 289         if(cm.get_id() == adr.get_id() + DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET)
 290                 return true;
 291         DEBUG(binder_interface, "Doesn't find an active diagnostic request that matches.");
 292         return false;
 293 }
 294
 295 active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message)
 296 {
 297         for (auto& entry : non_recurring_requests_)
 298         {
 299                 if(is_diagnostic_response(*entry, can_message))
 300                         return entry;
 301         }
 302
 303         for (auto& entry : recurring_requests_)
 304         {
 305                 if(is_diagnostic_response(*entry, can_message))
 306                         return entry;
 307         }
 308         return nullptr;
 309 }
 310
 311 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
 312 {
 313         openxc_VehicleMessage message;
 314         float value = (float)diagnostic_payload_to_integer(&response);
 315         if(adr->get_decoder() != nullptr)
 316         {
 317                 value = adr->get_decoder()(&response, value);
 318         }
 319
 320         if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
 321         {
 322                 // If name, include 'value' instead of payload, and leave of response
 323                 // details.
 324                 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
 325         }
 326         else
 327         {
 328                 // If no name, send full details of response but still include 'value'
 329                 // instead of 'payload' if they provided a decoder. The one case you
 330                 // can't get is the full detailed response with 'value'. We could add
 331                 // another parameter for that but it's onerous to carry that around.
 332                 message = build_VehicleMessage(adr, response, value);
 333         }
 334
 335         if(adr->get_callback() != nullptr)
 336         {
 337                 adr->get_callback()(adr, &response, value);
 338         }
 339
 340         return message;
 341 }
 342
 343 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
 344 {
 345         return (candidate->get_in_flight() && candidate != request &&
 346                         candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
 347                         candidate->get_id() == request->get_id());
 348 }
 349
 350
 351 /// @brief Returns true if there are no other active requests to the same arbitration ID.
 352 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
 353 {
 354         for ( auto entry : non_recurring_requests_)
 355         {
 356                 if(conflicting(request, entry))
 357                         return false;
 358         }
 359
 360         for ( auto entry : recurring_requests_)
 361         {
 362                 if(conflicting(request, entry))
 363                         return false;
 364         }
 365         return true;
 366 }
 367
 368 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
 369 {
 370         diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
 371         DiagnosticRequest* request = (DiagnosticRequest*)userdata;
 372         active_diagnostic_request_t* adr = dm.find_recurring_request(request);
 373
 374         if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
 375                 dm.clear_to_send(adr))
 376         {
 377                 DEBUG(binder_interface, "Got active_diagnostic_request from recurring_requests_ queue.");
 378                 adr->get_frequency_clock().tick();
 379                 start_diagnostic_request(&dm.get_shims(), adr->get_handle());
 380                 if(adr->get_handle()->completed && !adr->get_handle()->success)
 381                 {
 382                         DEBUG(binder_interface, "Fatal error sending diagnostic request");
 383                         return 0;
 384                 }
 385                 adr->get_timeout_clock().tick();
 386                 adr->set_in_flight(true);
 387                 return 1;
 388         }
 389         return -1;
 390 }
 391
 392 DiagnosticShims& diagnostic_manager_t::get_shims()
 393 {
 394         return shims_;
 395 }
 396
 397 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 398 {
 399         std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
 400         return can_bus_dev->shims_send(arbitration_id, data, size);
 401 }
 402
 403 void diagnostic_manager_t::shims_logger(const char* m, ...)
 404 {
 405         DEBUG(binder_interface, "%s", m);
 406 }
 407
 408 void diagnostic_manager_t::shims_timer()
 409 {}
 410