+++ /dev/null
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <systemd/sd-event.h>
-#include <algorithm>
-
-#include "diagnostic-manager.hpp"
-
-#include "../utils/openxc-utils.hpp"
-#include "../configuration.hpp"
-
-#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
-#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
-// There are only 8 slots of in flight diagnostic requests
-#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
-#define TIMERFD_ACCURACY 0
-#define MICRO 1000000
-
-diagnostic_manager_t::diagnostic_manager_t()
- : initialized_{false}
-{}
-
-/// @brief Diagnostic manager isn't initialized at launch but after
-/// CAN bus devices initialization. For the moment, it is only possible
-/// to have 1 diagnostic bus which are the first bus declared in the JSON
-/// description file. Configuration instance will return it.
-///
-/// this will initialize DiagnosticShims and cancel all active requests
-/// if there are any.
-bool diagnostic_manager_t::initialize()
-{
- // Mandatory to set the bus before intialize shims.
- bus_ = configuration_t::instance().get_diagnostic_bus();
-
- init_diagnostic_shims();
- reset();
-
- initialized_ = true;
- DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
- return initialized_;
-}
-
-/// @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.
-void diagnostic_manager_t::init_diagnostic_shims()
-{
- shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
- DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
-}
-
-/// @brief Force cleanup all active requests.
-void diagnostic_manager_t::reset()
-{
- DEBUG(binder_interface, "Clearing existing diagnostic requests");
- cleanup_active_requests(true);
-}
-
-/// @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.
-///
-/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
-/// is 0x7DF by example.
-/// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
-/// @param[in] size - The size of the data payload, in bytes.
-///
-/// @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, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str());
- return false;
-}
-
-/// @brief The type signature for an optional logging function, if the user
-/// wishes to provide one. It should print, store or otherwise display the
-/// message.
-///
-/// message - A format string to log using the given parameters.
-/// ... (vargs) - the parameters for the format string.
-///
-void diagnostic_manager_t::shims_logger(const char* format, ...)
-{
- va_list args;
- va_start(args, format);
-
- char buffer[256];
- vsnprintf(buffer, 256, format, args);
-
- DEBUG(binder_interface, "shims_logger: %s", buffer);
-}
-
-/// @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()
-{
- return can_bus_t::get_can_device(bus_);
-}
-
-/// @brief Return diagnostic manager shims member.
-DiagnosticShims& diagnostic_manager_t::get_shims()
-{
- return shims_;
-}
-
-/// @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
-/// contained in the vector but no event if connected to, so we will decode uneeded request.
-///
-/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
-/// @param[in] requests_list - a vector where to make the search and cleaning.
-void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
-{
- auto i = std::find(requests_list.begin(), requests_list.end(), entry);
- if ( i != requests_list.end())
- requests_list.erase(i);
-}
-
-// @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());
- }*/
-}
-
-/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
-/// impossible to get that state for a recurring request without waiting for that, you can
-/// force the cleaning operation.
-///
-/// @param[in] entry - the request to clean
-/// @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())))
- {
- 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);
- DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
- }
- else
- {
- DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
- find_and_erase(entry, non_recurring_requests_);
- cancel_request(entry);
- }
- }
-}
-
-/// @brief Clean up all requests lists, recurring and not recurring.
-///
-/// @param[in] force - Force the cleaning or not ? If true, that will do
-/// the same effect as a call to reset().
-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
-/// not found.
-///
-/// @param[in] request - Search key, method will go through recurring list to see if it find that request
-/// holded by the DiagnosticHandle member.
-active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
-{
- for (auto& entry : recurring_requests_)
- {
- if(entry != nullptr)
- {
- if(diagnostic_request_equals(&entry->get_handle()->request, request))
- {
- return entry;
- break;
- }
- }
- }
- return nullptr;
-}
-
-/// @brief Add and send a new one-time diagnostic request.
-///
-/// A one-time (aka non-recurring) request can existing in parallel with a
-/// recurring request for the same PID or mode, that's not a problem.
-///
-/// For an example, see the docs for addRecurringRequest. This function is very
-/// similar but leaves out the frequencyHz parameter.
-///
-/// @param[in] request - The parameters for the request.
-/// @param[in] name - Human readable name this response, to be used when
-/// publishing received responses. TODO: If the name is NULL, the published output
-/// will use the raw OBD-II response format.
-/// @param[in] wait_for_multiple_responses - If false, When any response is received
-/// for this request it will be removed from the active list. If true, the
-/// request will remain active until the timeout clock expires, to allow it
-/// to receive multiple response. Functional broadcast requests will always
-/// waint for the timeout, regardless of this parameter.
-/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
-/// responses to this request. If the decoder is NULL, the output will
-/// include the raw payload instead of a parsed value.
-/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
-/// response is received for this request.
-///
-/// @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,
- bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback)
-{
- cleanup_active_requests(false);
-
- bool added = true;
-
- if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
- {
- // TODO: implement Acceptance Filter
- // if(updateRequiredAcceptanceFilters(bus, request)) {
- active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
- wait_for_multiple_responses, decoder, callback, 0);
- entry->set_handle(shims_, request);
-
- char request_string[128] = {0};
- diagnostic_request_to_string(&entry->get_handle()->request, request_string,
- sizeof(request_string));
-
- find_and_erase(entry, non_recurring_requests_);
- DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
- bus_.c_str(), request_string);
-
- non_recurring_requests_.push_back(entry);
- }
- else
- {
- WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
- non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- added = false;
- }
- return added;
-}
-
-bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
-{
- if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
- DEBUG(binder_interface, "Requested recurring diagnostic frequency %lf is higher than maximum of %d",
- frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
- return false;
- }
- return true;
-}
-
-/// @brief Add and send a new recurring diagnostic request.
-///
-/// At most one recurring request can be active for the same arbitration ID, mode
-/// and (if set) PID on the same bus at one time. If you try and call
-/// addRecurringRequest with the same key, it will return an error.
-///
-/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
-/// response. If the request is to the functional broadcast ID (0x7df) filters
-/// are added for all functional addresses (0x7e8 to 0x7f0).
-///
-/// Example:
-///
-/// // Creating a functional broadcast, mode 1 request for PID 2.
-/// DiagnosticRequest request = {
-/// arbitration_id: 0x7df,
-/// mode: 1,
-/// has_pid: true,
-/// pid: 2
-/// };
-///
-/// // Add a recurring request, to be sent at 1Hz, and published with the
-/// // name "my_pid_request"
-/// addRecurringRequest(&getConfiguration()->diagnosticsManager,
-/// canBus,
-/// &request,
-/// "my_pid_request",
-/// false,
-/// NULL,
-/// NULL,
-/// 1);
-///
-/// @param[in] request - The parameters for the request.
-/// @param[in] name - An optional human readable name this response, to be used when
-/// publishing received responses. If the name is NULL, the published output
-/// will use the raw OBD-II response format.
-/// @param[in] wait_for_multiple_responses - If false, When any response is received
-/// for this request it will be removed from the active list. If true, the
-/// request will remain active until the timeout clock expires, to allow it
-/// to receive multiple response. Functional broadcast requests will always
-/// waint for the timeout, regardless of this parameter.
-/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
-/// responses to this request. If the decoder is NULL, the output will
-/// include the raw payload instead of a parsed value.
-/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
-/// response is received for this request.
-/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
-/// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
-/// function return false.
-///
-/// @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,
- bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz)
-{
- if(!validate_optional_request_attributes(frequencyHz))
- return false;
-
- 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,
- wait_for_multiple_responses, decoder, callback, frequencyHz);
- entry->set_handle(shims_, request);
-
- //start_diagnostic_request(&shims_, entry->get_handle());
- //char request_string[128] = {0};
- //diagnostic_request_to_string(&entry->get_handle()->request, request_string,
- // sizeof(request_string));
-
- 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, "add_recurring_request: Added 100ms to usec to stagger sending requests");
- usec += 100000;
- }
-
- DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d",
- 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, "add_recurring_request: Request fails to be schedule through event loop");
- added = false;
- }
- recurring_requests_.push_back(entry);
- }
- else
- {
- WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
- recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- added = false;
- }
- }
- else
- {
- DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
- 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, "send_request: Event loop state: %d. usec: %ld", 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, "send_request: Fatal error sending diagnostic request");
- 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, "send_request: Request doesn't exist anymore. Canceling.'");
- return -2;
-}
-
-/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
-///
-/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
-/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
-///
-/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
-{
- openxc_VehicleMessage message = build_VehicleMessage();
- float value = (float)diagnostic_payload_to_integer(&response);
- if(adr->get_decoder() != nullptr)
- {
- value = adr->get_decoder()(&response, value);
- }
-
- if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
- {
- // If name, include 'value' instead of payload, and leave of response
- // details.
- message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
- }
- else
- {
- // If no name, send full details of response but still include 'value'
- // instead of 'payload' if they provided a decoder. The one case you
- // can't get is the full detailed response with 'value'. We could add
- // another parameter for that but it's onerous to carry that around.
- message = build_VehicleMessage(adr, response, value);
- }
-
- // If not success but completed then the pid isn't supported
- if(!response.success)
- {
- std::vector<diagnostic_message_t*> found_signals;
- configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals );
- found_signals.front()->set_supported(false);
- cleanup_request(adr, true);
- NOTICE(binder_interface, "relay_diagnostic_response: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
- message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
- }
-
- if(adr->get_callback() != nullptr)
- {
- adr->get_callback()(adr, &response, value);
- }
-
- return message;
-}
-
-/// @brief Will take the CAN message and pass it to the receive functions that will process
-/// diagnostic handle for each active diagnostic request then depending on the result we will
-/// return pass the diagnostic response to decode it.
-///
-/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
-/// @param[in] cm - A raw CAN message.
-///
-/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
-{
- DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
- if(response.completed && entry->get_handle()->completed)
- {
- if(entry->get_handle()->success)
- return relay_diagnostic_response(entry, response);
- }
- else if(!response.completed && response.multi_frame)
- {
- // Reset the timeout clock while completing the multi-frame receive
- entry->get_timeout_clock().tick();
- }
-
- return build_VehicleMessage();
-}
-
-/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
-/// member that will understand the CAN message using diagnostic_receive_can_frame function
-/// from UDS-C library. Then decode it with an ad-hoc method.
-///
-/// @param[in] cm - Raw CAN message received
-///
-/// @return VehicleMessage with decoded value.
-openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
-{
- openxc_VehicleMessage vehicle_message = build_VehicleMessage();
-
- for ( auto entry : non_recurring_requests_)
- {
- vehicle_message = relay_diagnostic_handle(entry, cm);
- if (is_valid(vehicle_message))
- return vehicle_message;
- }
-
- for ( auto entry : recurring_requests_)
- {
- vehicle_message = relay_diagnostic_handle(entry, cm);
- if (is_valid(vehicle_message))
- return vehicle_message;
- }
-
- return vehicle_message;
-}
-
-/// @brief Tell if the CAN message received is a diagnostic response.
-/// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
-/// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
-///
-/// @param[in] cm - CAN message received from the socket.
-///
-/// @return True if the active diagnostic request match the response.
-bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
-{
- if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
- return true;
- return false;
-}
Code Review / apps / low-level-can-service.git / blobdiff