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.
20 #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 MAX_REQUEST_ENTRIES 50
30 diagnostic_manager_t::diagnostic_manager_t()
31 : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
34 bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
36 // Mandatory to set the bus before intiliaze shims.
39 init_diagnostic_shims();
43 DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
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.
52 void diagnostic_manager_t::init_diagnostic_shims()
54 shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
55 DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
58 void diagnostic_manager_t::reset()
62 DEBUG(binder_interface, "Clearing existing diagnostic requests");
63 cleanup_active_requests(true);
66 for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++)
67 free_request_entries_.push_back(request_list_entries_[i]);
71 void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
73 auto i = std::find(requests_list.begin(), requests_list.end(), entry);
74 if ( i != requests_list.end())
75 requests_list.erase(i);
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)
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;
89 removeAcceptanceFilter(entry.bus_, filter,
90 CanMessageFormat::STANDARD, getCanBuses(),
94 removeAcceptanceFilter(entry.bus_,
95 entry.arbitration_id_ +
96 DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
97 CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
101 void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
103 if(force || (entry->get_in_flight() && entry->request_completed()))
105 entry->set_in_flight(false);
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())
112 find_and_erase(entry, recurring_requests_);
114 cancel_request(entry);
117 DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
118 recurring_requests_.push_back(entry);
123 DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
124 find_and_erase(entry, non_recurring_requests_);
125 cancel_request(entry);
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)
133 for(auto& entry : non_recurring_requests_)
134 cleanup_request(entry, force);
136 for(auto& entry : recurring_requests_)
137 cleanup_request(entry, force);
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)
144 for (auto& entry : recurring_requests_)
146 active_diagnostic_request_t* candidate = entry;
147 if(diagnostic_request_equals(&candidate->get_handle()->request, request))
149 find_and_erase(entry, recurring_requests_);
157 std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
162 active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
164 if (request_list_entries_.empty())
167 active_diagnostic_request_t* adr = request_list_entries_.back();
168 request_list_entries_.pop_back();
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)
176 cleanup_active_requests(false);
179 active_diagnostic_request_t* entry = get_free_entry();
181 if (entry != nullptr)
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);
189 char request_string[128] = {0};
190 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
191 sizeof(request_string));
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);
197 non_recurring_requests_.push_back(entry);
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());
207 bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
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);
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)
221 if(!validate_optional_request_attributes(frequencyHz))
224 cleanup_active_requests(false);
227 if(find_recurring_request(request) == nullptr)
229 active_diagnostic_request_t* entry = get_free_entry();
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);
239 char request_string[128] = {0};
240 diagnostic_request_to_string(&entry->get_handle()->request, request_string,
241 sizeof(request_string));
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);
247 recurring_requests_.push_back(entry);
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());
257 DEBUG(binder_interface, "Can't add request, one already exists with same key");
263 bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const
265 if(cm.get_id() == adr.get_id() + DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET)
267 DEBUG(binder_interface, "Doesn't find an active diagnostic request that matches.");
271 active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message)
273 for (auto& entry : non_recurring_requests_)
275 if(is_diagnostic_response(*entry, can_message))
279 for (auto& entry : recurring_requests_)
281 if(is_diagnostic_response(*entry, can_message))
287 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
289 openxc_VehicleMessage message;
290 float value = (float)diagnostic_payload_to_integer(&response);
291 if(adr->get_decoder() != nullptr)
293 value = adr->get_decoder()(&response, value);
296 if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
298 // If name, include 'value' instead of payload, and leave of response
300 message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
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);
311 if(adr->get_callback() != nullptr)
313 adr->get_callback()(adr, &response, value);
319 bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
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());
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
330 for ( auto entry : non_recurring_requests_)
332 if(conflicting(request, entry))
336 for ( auto entry : recurring_requests_)
338 if(conflicting(request, entry))
344 int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
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);
350 if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
351 dm.clear_to_send(adr))
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)
358 DEBUG(binder_interface, "Fatal error sending diagnostic request");
361 adr->get_timeout_clock().tick();
362 adr->set_in_flight(true);
368 DiagnosticShims& diagnostic_manager_t::get_shims()
373 bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
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);
379 void diagnostic_manager_t::shims_logger(const char* m, ...)
381 DEBUG(binder_interface, "%s", m);
384 void diagnostic_manager_t::shims_timer()