#include <systemd/sd-event.h>
#include <algorithm>
+#include <string.h>
#include "diagnostic-manager.hpp"
#define MICRO 1000000
diagnostic_manager_t::diagnostic_manager_t()
- : initialized_{false}
+ : initialized_{false}, event_source_{nullptr}
{}
/// @brief Diagnostic manager isn't initialized at launch but after
bus_ = configuration_t::instance().get_diagnostic_bus();
init_diagnostic_shims();
+ event_source_ = nullptr;
reset();
initialized_ = true;
return initialized_;
}
+utils::socketcan_bcm_t& diagnostic_manager_t::get_socket()
+{
+ return socket_;
+}
+
/// @brief initialize shims used by UDS lib and set initialized_ to true.
/// It is needed before used the diagnostic manager fully because shims are
/// required by most member functions.
cleanup_active_requests(true);
}
+/// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager
+/// listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications.
+///
+/// @return -1 or negative value on error, 0 if ok.
+int diagnostic_manager_t::add_rx_filter(uint32_t can_id)
+{
+ // Make sure that socket has been opened.
+ if(! socket_)
+ socket_.open(get_bus_device_name());
+
+ struct utils::simple_bcm_msg bcm_msg;
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+
+ const struct timeval freq = recurring_requests_.back()->get_timeout_clock().get_timeval_from_period();
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID;
+ bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
+ bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
+
+ // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
+ if(can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
+ {
+ bcm_msg.msg_head.can_id = can_id;
+
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+ }
+ else
+ {
+ for(uint8_t i = 0; i < 8; i++)
+ {
+ can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
+ bcm_msg.msg_head.can_id = can_id;
+
+ socket_ << bcm_msg;
+ if(! socket_)
+ return -1;
+ }
+ }
+
+ return 0;
+}
+
/// @brief send function use by diagnostic library. Only one bus used for now
/// so diagnostic request is sent using the default diagnostic bus not matter of
/// which is specified in the diagnostic message definition.
/// @return true if the CAN message was sent successfully.
bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
{
- std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
- if(can_bus_dev != nullptr)
- return can_bus_dev->shims_send(arbitration_id, data, size);
- ERROR(binder_interface, "%s: Can not retrieve diagnostic bus: %s", __FUNCTION__, configuration_t::instance().get_diagnostic_manager().bus_.c_str());
+ diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
+ active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
+ utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
+
+ // Make sure that socket has been opened.
+ if(! tx_socket)
+ tx_socket.open(
+ dm.get_bus_device_name());
+
+ struct utils::simple_bcm_msg bcm_msg;
+ struct can_frame cfd;
+
+ memset(&cfd, 0, sizeof(cfd));
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+
+ struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
+
+ bcm_msg.msg_head.opcode = TX_SETUP;
+ bcm_msg.msg_head.can_id = arbitration_id;
+ bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
+ bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
+ bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
+ bcm_msg.msg_head.nframes = 1;
+ cfd.can_dlc = size;
+ ::memcpy(cfd.data, data, size);
+
+ bcm_msg.frames = cfd;
+
+ tx_socket << bcm_msg;
+ if(tx_socket)
+ return true;
return false;
}
vsnprintf(buffer, 256, format, args);
DEBUG(binder_interface, "%s: %s", __FUNCTION__, buffer);
+ va_end(args);
}
/// @brief The type signature for a... OpenXC TODO: not used yet.
void diagnostic_manager_t::shims_timer()
{}
-std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
+const std::string diagnostic_manager_t::get_bus_name() const
{
- return can_bus_t::get_can_device(bus_);
+ return bus_;
+}
+
+const std::string diagnostic_manager_t::get_bus_device_name() const
+{
+ return configuration_t::instance().get_can_bus_manager()
+ .get_can_device_name(bus_);
+}
+
+active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
+{
+ return recurring_requests_.back();
}
/// @brief Return diagnostic manager shims member.
return shims_;
}
+bool diagnostic_manager_t::socket_close()
+{
+ if(non_recurring_requests_.empty() && recurring_requests_.empty())
+ {
+ socket_.close();
+ return true;
+ }
+ return false;
+}
+
/// @brief Search for a specific active diagnostic request in the provided requests list
/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
// @brief TODO: implement cancel_request if needed... Don't know.
void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
{
-
- /* TODO: implement acceptance filters.
- if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
- for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
- filter < OBD2_FUNCTIONAL_RESPONSE_START +
- OBD2_FUNCTIONAL_RESPONSE_COUNT;
- filter++) {
- removeAcceptanceFilter(entry.bus_, filter,
- CanMessageFormat::STANDARD, getCanBuses(),
- getCanBusCount());
- }
- } else {
- removeAcceptanceFilter(entry.bus_,
- entry.arbitration_id_ +
- DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
- CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
- }*/
+ entry->get_socket().close();
+ delete entry;
+ entry = nullptr;
}
/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
/// @param[in] force - Force the cleaning or not ?
void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
{
- if((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed())))
+ if((force || (entry != nullptr && entry->response_received())))
{
- entry->set_in_flight(false);
-
char request_string[128] = {0};
diagnostic_request_to_string(&entry->get_handle()->request,
request_string, sizeof(request_string));
if(force && entry->get_recurring())
{
- find_and_erase(entry, recurring_requests_);
cancel_request(entry);
+ find_and_erase(entry, recurring_requests_);
DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string);
}
- else
+ else if (!entry->get_recurring())
{
DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string);
- find_and_erase(entry, non_recurring_requests_);
cancel_request(entry);
+ find_and_erase(entry, non_recurring_requests_);
}
+ socket_close();
}
}
void diagnostic_manager_t::cleanup_active_requests(bool force)
{
for(auto& entry : non_recurring_requests_)
+ {
if (entry != nullptr)
cleanup_request(entry, force);
+ }
for(auto& entry : recurring_requests_)
+ {
if (entry != nullptr)
cleanup_request(entry, force);
+ }
+
}
/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
if(entry != nullptr)
{
if(diagnostic_request_equals(&entry->get_handle()->request, request))
- {
- return entry;
- break;
- }
+ {return entry;}
}
}
return nullptr;
/// @return true if the request was added successfully. Returns false if there
/// wasn't a free active request entry, if the frequency was too high or if the
/// CAN acceptance filters could not be configured,
-bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
+active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string& name,
bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback)
{
cleanup_active_requests(false);
- bool added = true;
+ active_diagnostic_request_t* entry = nullptr;
if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
{
{
WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- added = false;
}
- return added;
+ return entry;
}
bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
/// @return true if the request was added successfully. Returns false if there
/// was too much already running requests, if the frequency was too high TODO:or if the
/// CAN acceptance filters could not be configured,
-///
-bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
+active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz)
{
+ active_diagnostic_request_t* entry = nullptr;
+
if(!validate_optional_request_attributes(frequencyHz))
- return false;
+ return entry;
cleanup_active_requests(false);
- bool added = true;
if(find_recurring_request(request) == nullptr)
{
if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
{
- sd_event_source *source;
// TODO: implement Acceptance Filter
//if(updateRequiredAcceptanceFilters(bus, request)) {
- active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
+ entry = new active_diagnostic_request_t(bus_, request, name,
wait_for_multiple_responses, decoder, callback, frequencyHz);
- entry->set_handle(shims_, request);
-
- uint64_t usec;
- sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec);
- if(recurring_requests_.size() > 0)
- {
- DEBUG(binder_interface, "%s: Added 100ms to usec to stagger sending requests", __FUNCTION__);
- usec += 100000;
- }
-
- DEBUG(binder_interface, "%s: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d", __FUNCTION__,
- frequencyHz,
- bus_.c_str(),
- usec,
- sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)));
-
- if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
- CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0)
- {
- ERROR(binder_interface, "%s: Request fails to be schedule through event loop", __FUNCTION__);
- added = false;
- }
recurring_requests_.push_back(entry);
+
+ entry->set_handle(shims_, request);
+ if(add_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID) < 0)
+ { recurring_requests_.pop_back(); }
+ else
+ {
+ start_diagnostic_request(&shims_, entry->get_handle());
+ if(event_source_ == nullptr && sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon),
+ &event_source_,
+ socket_.socket(),
+ EPOLLIN,
+ read_message,
+ nullptr) < 0)
+ {
+ cleanup_request(entry, true);
+ WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, entry->get_name().c_str());
+ return entry;
+ }
+ }
}
else
{
WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- added = false;
}
}
else
- {
- DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);
- added = false;
- }
- return added;
-}
-
-/// @brief Returns true if there are two active requests running for the same arbitration ID.
-bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
-{
- return (candidate->get_in_flight() && candidate != request &&
- candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
- candidate->get_id() == request->get_id());
-}
-
-
-/// @brief Returns true if there are no other active requests to the same arbitration ID
-/// and if there aren't more than 8 requests in flight at the same time.
-bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
-{
- int total_in_flight = 0;
- for ( auto entry : non_recurring_requests_)
- {
- if(conflicting(request, entry))
- return false;
- if(entry->get_in_flight())
- total_in_flight++;
- }
-
- for ( auto entry : recurring_requests_)
- {
- if(conflicting(request, entry))
- return false;
- if(entry->get_in_flight())
- total_in_flight++;
- }
-
- if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
- return false;
- return true;
-}
-
-int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr)
-{
- usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period());
- DEBUG(binder_interface, "%s: Event loop state: %d. usec: %ld", __FUNCTION__, sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
- if(sd_event_source_set_time(s, usec) >= 0)
- if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
- return 0;
- sd_event_source_unref(s);
- return -1;
-}
-
-/// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
-/// on the diagnostic message frequency.
-///
-/// This should be called from systemd binder event loop and the event is created on add_recurring_request
-///
-/// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
-/// @param[in] usec - previous call timestamp in microseconds.
-/// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
-///
-/// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
-/// event will be disabled.
-int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
-{
- diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
- DiagnosticRequest* request = (DiagnosticRequest*)userdata;
- active_diagnostic_request_t* adr = dm.find_recurring_request(request);
-
- dm.cleanup_active_requests(false);
- if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
- dm.clear_to_send(adr))
- {
- adr->get_frequency_clock().tick();
- start_diagnostic_request(&dm.shims_, adr->get_handle());
- if(adr->get_handle()->completed && !adr->get_handle()->success)
- {
- ERROR(binder_interface, "%s: Fatal error sending diagnostic request", __FUNCTION__);
- sd_event_source_unref(s);
- return -1;
- }
-
- adr->get_timeout_clock().tick();
- adr->set_in_flight(true);
- }
-
- if(adr != nullptr && adr->get_recurring())
- {
- return dm.reschedule_request(s, usec, adr);
- }
-
- sd_event_source_unref(s);
- NOTICE(binder_interface, "%s: Request doesn't exist anymore. Canceling.'", __FUNCTION__);
- return -2;
+ { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);}
+ return entry;
}
/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
value = adr->get_decoder()(&response, value);
}
- if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
+ if((response.success && adr->get_name().size()) > 0)
{
// If name, include 'value' instead of payload, and leave of response
// details.
adr->get_callback()(adr, &response, value);
}
+ // Reset the completed flag handle to make sure that it will be reprocessed the next time.
+ adr->get_handle()->success = false;
return message;
}
else if(!response.completed && response.multi_frame)
{
// Reset the timeout clock while completing the multi-frame receive
- entry->get_timeout_clock().tick();
+ entry->get_timeout_clock().tick(
+ entry->get_timeout_clock().get_time_function()());
}
return build_VehicleMessage();
Code Review / apps / low-level-can-service.git / blobdiff