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"
23 #include "../utils/openxc-utils.hpp"
24 #include "../configuration.hpp"
26 #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
27 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
28 #define TIMERFD_ACCURACY 0
31 diagnostic_manager_t::diagnostic_manager_t()
35 /// @brief Diagnostic manager isn't initialized at launch but after
36 /// CAN bus devices initialization. For the moment, it is only possible
37 /// to have 1 diagnostic bus which are the first bus declared in the JSON
38 /// description file. Configuration instance will return it.
40 /// this will initialize DiagnosticShims and cancel all active requests
42 bool diagnostic_manager_t::initialize()
44 // Mandatory to set the bus before intialize shims.
45 bus_ = configuration_t::instance().get_diagnostic_bus();
47 init_diagnostic_shims();
51 DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
55 /// @brief initialize shims used by UDS lib and set initialized_ to true.
56 /// It is needed before used the diagnostic manager fully because shims are
57 /// required by most member functions.
58 void diagnostic_manager_t::init_diagnostic_shims()
60 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
61 DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
64 /// @brief Force cleanup all active requests.
65 void diagnostic_manager_t::reset()
67 DEBUG(binder_interface, "Clearing existing diagnostic requests");
68 cleanup_active_requests(true);
71 /// @brief send function use by diagnostic library. Only one bus used for now
72 /// so diagnostic request is sent using the default diagnostic bus not matter of
73 /// which is specified in the diagnostic message definition.
75 /// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
76 /// is 0x7DF by example.
77 /// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
78 /// @param[in] size - The size of the data payload, in bytes.
80 /// @return true if the CAN message was sent successfully.
81 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
83 std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
84 if(can_bus_dev != nullptr)
85 return can_bus_dev->shims_send(arbitration_id, data, size);
86 ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str());
90 /// @brief The type signature for an optional logging function, if the user
91 /// wishes to provide one. It should print, store or otherwise display the
94 /// message - A format string to log using the given parameters.
95 /// ... (vargs) - the parameters for the format string.
97 void diagnostic_manager_t::shims_logger(const char* format, ...)
100 va_start(args, format);
103 vsnprintf(buffer, 256, format, args);
105 DEBUG(binder_interface, "shims_logger: %s", buffer);
108 /// @brief The type signature for a... OpenXC TODO: not used yet.
109 void diagnostic_manager_t::shims_timer()
112 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
114 return can_bus_t::get_can_device(bus_);
117 /// @brief Return diagnostic manager shims member.
118 DiagnosticShims& diagnostic_manager_t::get_shims()
123 /// @brief Search for a specific active diagnostic request in the provided requests list
124 /// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
125 /// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
126 /// contained in the vector but no event if connected to, so we will decode uneeded request.
128 /// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
129 /// @param[in] requests_list - a vector where to make the search and cleaning.
130 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
132 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
133 if ( i != requests_list.end())
134 requests_list.erase(i);
137 // @brief TODO: implement cancel_request if needed... Don't know.
138 void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
141 /* TODO: implement acceptance filters.
142 if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
143 for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
144 filter < OBD2_FUNCTIONAL_RESPONSE_START +
145 OBD2_FUNCTIONAL_RESPONSE_COUNT;
147 removeAcceptanceFilter(entry.bus_, filter,
148 CanMessageFormat::STANDARD, getCanBuses(),
152 removeAcceptanceFilter(entry.bus_,
153 entry.arbitration_id_ +
154 DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
155 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
159 /// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
160 /// impossible to get that state for a recurring request without waiting for that, you can
161 /// force the cleaning operation.
163 /// @param[in] entry - the request to clean
164 /// @param[in] force - Force the cleaning or not ?
165 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
167 if((force || (entry->get_in_flight() && entry->request_completed())) && entry != nullptr)
169 entry->set_in_flight(false);
171 char request_string[128] = {0};
172 diagnostic_request_to_string(&entry->get_handle()->request,
173 request_string, sizeof(request_string));
174 if(entry->get_recurring())
176 find_and_erase(entry, recurring_requests_);
178 cancel_request(entry);
179 DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
183 DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
184 find_and_erase(entry, non_recurring_requests_);
185 cancel_request(entry);
190 /// @brief Clean up all requests lists, recurring and not recurring.
192 /// @param[in] force - Force the cleaning or not ? If true, that will do
193 /// the same effect as a call to reset().
194 void diagnostic_manager_t::cleanup_active_requests(bool force)
196 for(auto& entry : non_recurring_requests_)
197 if (entry != nullptr)
198 cleanup_request(entry, force);
200 for(auto& entry : recurring_requests_)
201 if (entry != nullptr)
202 cleanup_request(entry, force);
205 /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
208 /// @param[in] request - Search key, method will go through recurring list to see if it find that request
209 /// holded by the DiagnosticHandle member.
210 active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
212 for (auto& entry : recurring_requests_)
216 if(diagnostic_request_equals(&entry->get_handle()->request, request))
226 /// @brief Add and send a new one-time diagnostic request.
228 /// A one-time (aka non-recurring) request can existing in parallel with a
229 /// recurring request for the same PID or mode, that's not a problem.
231 /// For an example, see the docs for addRecurringRequest. This function is very
232 /// similar but leaves out the frequencyHz parameter.
234 /// @param[in] request - The parameters for the request.
235 /// @param[in] name - Human readable name this response, to be used when
236 /// publishing received responses. TODO: If the name is NULL, the published output
237 /// will use the raw OBD-II response format.
238 /// @param[in] wait_for_multiple_responses - If false, When any response is received
239 /// for this request it will be removed from the active list. If true, the
240 /// request will remain active until the timeout clock expires, to allow it
241 /// to receive multiple response. Functional broadcast requests will always
242 /// waint for the timeout, regardless of this parameter.
243 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
244 /// responses to this request. If the decoder is NULL, the output will
245 /// include the raw payload instead of a parsed value.
246 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
247 /// response is received for this request.
249 /// @return true if the request was added successfully. Returns false if there
250 /// wasn't a free active request entry, if the frequency was too high or if the
251 /// CAN acceptance filters could not be configured,
252 bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
253 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
254 const DiagnosticResponseCallback callback)
256 cleanup_active_requests(false);
260 if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
262 // TODO: implement Acceptance Filter
263 // if(updateRequiredAcceptanceFilters(bus, request)) {
264 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
265 wait_for_multiple_responses, decoder, callback, 0);
266 entry->set_handle(shims_, request);
268 char request_string[128] = {0};
269 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
270 sizeof(request_string));
272 find_and_erase(entry, non_recurring_requests_);
273 DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
274 bus_, request_string);
276 non_recurring_requests_.push_back(entry);
280 WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size());
281 non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
287 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
289 if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
290 DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d",
291 frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
297 /// @brief Add and send a new recurring diagnostic request.
299 /// At most one recurring request can be active for the same arbitration ID, mode
300 /// and (if set) PID on the same bus at one time. If you try and call
301 /// addRecurringRequest with the same key, it will return an error.
303 /// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
304 /// response. If the request is to the functional broadcast ID (0x7df) filters
305 /// are added for all functional addresses (0x7e8 to 0x7f0).
309 /// // Creating a functional broadcast, mode 1 request for PID 2.
310 /// DiagnosticRequest request = {
311 /// arbitration_id: 0x7df,
317 /// // Add a recurring request, to be sent at 1Hz, and published with the
318 /// // name "my_pid_request"
319 /// addRecurringRequest(&getConfiguration()->diagnosticsManager,
322 /// "my_pid_request",
328 /// @param[in] request - The parameters for the request.
329 /// @param[in] name - An optional human readable name this response, to be used when
330 /// publishing received responses. If the name is NULL, the published output
331 /// will use the raw OBD-II response format.
332 /// @param[in] wait_for_multiple_responses - If false, When any response is received
333 /// for this request it will be removed from the active list. If true, the
334 /// request will remain active until the timeout clock expires, to allow it
335 /// to receive multiple response. Functional broadcast requests will always
336 /// waint for the timeout, regardless of this parameter.
337 /// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
338 /// responses to this request. If the decoder is NULL, the output will
339 /// include the raw payload instead of a parsed value.
340 /// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
341 /// response is received for this request.
342 /// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
343 /// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
344 /// function return false.
346 /// @return true if the request was added successfully. Returns false if there
347 /// was too much already running requests, if the frequency was too high TODO:or if the
348 /// CAN acceptance filters could not be configured,
350 bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
351 bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
352 const DiagnosticResponseCallback callback, float frequencyHz)
354 if(!validate_optional_request_attributes(frequencyHz))
357 cleanup_active_requests(false);
360 if(find_recurring_request(request) == nullptr)
362 if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
364 sd_event_source *source;
365 // TODO: implement Acceptance Filter
366 //if(updateRequiredAcceptanceFilters(bus, request)) {
367 active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
368 wait_for_multiple_responses, decoder, callback, frequencyHz);
369 entry->set_handle(shims_, request);
371 char request_string[128] = {0};
372 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
373 sizeof(request_string));
375 DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
376 frequencyHz, bus_.c_str(), request_string);
379 sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
380 if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
381 CLOCK_MONOTONIC, usec, TIMERFD_ACCURACY, send_request, request) < 0)
383 ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
386 recurring_requests_.push_back(entry);
390 WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
391 recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
397 DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
403 /// @brief Returns true if there are two active requests running for the same arbitration ID.
404 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
406 return (candidate->get_in_flight() && candidate != request &&
407 candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
408 candidate->get_id() == request->get_id());
412 /// @brief Returns true if there are no other active requests to the same arbitration ID.
413 bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
415 for ( auto entry : non_recurring_requests_)
417 if(conflicting(request, entry))
421 for ( auto entry : recurring_requests_)
423 if(conflicting(request, entry))
429 /// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
430 /// on the diagnostic message frequency.
432 /// This should be called from systemd binder event loop and the event is created on add_recurring_request
434 /// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
435 /// @param[in] usec - previous call timestamp in microseconds.
436 /// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
438 /// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
439 /// event will be disabled.
440 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
442 diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
443 DiagnosticRequest* request = (DiagnosticRequest*)userdata;
444 active_diagnostic_request_t* adr = dm.find_recurring_request(request);
446 // if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
447 // dm.clear_to_send(adr))
448 if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev())
450 adr->get_frequency_clock().tick();
451 start_diagnostic_request(&dm.shims_, adr->get_handle());
452 if(adr->get_handle()->completed)
454 if(!adr->get_handle()->success)
456 ERROR(binder_interface, "send_request: Fatal error sending diagnostic request");
457 sd_event_source_unref(s);
462 WARNING(binder_interface, "send_request: There was a problem sending your request using bus %s.", adr->get_can_bus_dev()->get_device_name().c_str());
464 adr->get_timeout_clock().tick();
465 adr->set_in_flight(true);
467 if(adr->get_recurring())
469 usec = usec + (uint64_t)(frequency_clock_t::frequency_to_period(adr->get_frequency_clock().get_frequency())*MICRO);
470 DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
471 if(sd_event_source_set_time(s, usec) >= 0)
472 if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
474 sd_event_source_unref(s);
478 sd_event_source_unref(s);
479 ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
483 /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
485 /// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
486 /// @param[in] response - The response to decode from which the Vehicle message will be built and returned
488 /// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
489 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
491 openxc_VehicleMessage message = build_VehicleMessage();
492 float value = (float)diagnostic_payload_to_integer(&response);
493 if(adr->get_decoder() != nullptr)
495 value = adr->get_decoder()(&response, value);
498 if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
500 // If name, include 'value' instead of payload, and leave of response
502 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
506 // If no name, send full details of response but still include 'value'
507 // instead of 'payload' if they provided a decoder. The one case you
508 // can't get is the full detailed response with 'value'. We could add
509 // another parameter for that but it's onerous to carry that around.
510 message = build_VehicleMessage(adr, response, value);
513 // If not success but completed then the pid isn't supported
514 if(!response.success)
516 std::vector<diagnostic_message_t*> found_signals;
517 configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals );
518 found_signals.front()->set_supported(false);
519 cleanup_request(adr, true);
520 NOTICE(binder_interface, "relay_diagnostic_response: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
523 if(adr->get_callback() != nullptr)
525 adr->get_callback()(adr, &response, value);
531 /// @brief Will take the CAN message and pass it to the receive functions that will process
532 /// diagnostic handle for each active diagnostic request then depending on the result we will
533 /// return pass the diagnostic response to decode it.
535 /// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
536 /// @param[in] cm - A raw CAN message.
538 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
539 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
541 DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
542 if(response.completed && entry->get_handle()->completed)
544 if(entry->get_handle()->success)
545 return relay_diagnostic_response(entry, response);
547 else if(!response.completed && response.multi_frame)
549 // Reset the timeout clock while completing the multi-frame receive
550 entry->get_timeout_clock().tick();
553 return build_VehicleMessage();
556 /// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
557 /// member that will understand the CAN message using diagnostic_receive_can_frame function
558 /// from UDS-C library. Then decode it with an ad-hoc method.
560 /// @param[in] cm - Raw CAN message received
562 /// @return VehicleMessage with decoded value.
563 openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
565 openxc_VehicleMessage vehicle_message = build_VehicleMessage();
567 for ( auto entry : non_recurring_requests_)
569 vehicle_message = relay_diagnostic_handle(entry, cm);
570 if (is_valid(vehicle_message))
571 return vehicle_message;
574 for ( auto entry : recurring_requests_)
576 vehicle_message = relay_diagnostic_handle(entry, cm);
577 if (is_valid(vehicle_message))
578 return vehicle_message;
581 return vehicle_message;
584 /// @brief Tell if the CAN message received is a diagnostic response.
585 /// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
586 /// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
588 /// @param[in] cm - CAN message received from the socket.
590 /// @return True if the active diagnostic request match the response.
591 bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
593 if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)