* limitations under the License.
*/
-#include "obd2/diagnostic-manager.hpp"
+#include <algorithm>
-#include "low-can-binding.hpp"
+#include "diagnostic-manager.hpp"
+
+#include "uds/uds.h"
+#include "../configuration.hpp"
+
+#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
+#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
+#define MAX_REQUEST_ENTRIES 50
+
+diagnostic_manager_t::diagnostic_manager_t()
+ : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+{
+ reset();
+}
diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus)
- : bus_(bus)
-{}
+ : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+{
+ reset();
+}
+
+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);
+}
+
+/// Move the entry to the free list and decrement the lock count for any
+/// CAN filters it used.
+void diagnostic_manager_t::cancel_request(active_diagnostic_request_t& entry)
+{
+ free_request_entries_.push_back(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());
+ }*/
+}
+
+void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t& entry, bool force)
+{
+ if(force || (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(entry.get_recurring())
+ {
+ find_and_erase(entry, recurring_requests_);
+ if(force)
+ cancel_request(entry);
+ else
+ {
+ DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string);
+ recurring_requests_.push_back(entry);
+ }
+ }
+ else
+ {
+ DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
+ find_and_erase(entry, non_recurring_requests_);
+ cancel_request(entry);
+ }
+ }
+}
+
+/// @brief Clean up the request list, move as many to the free list as possible
+void diagnostic_manager_t::cleanup_active_requests(bool force)
+{
+ for(auto& entry : non_recurring_requests_)
+ cleanup_request(entry, force);
+
+ for(auto& entry : recurring_requests_)
+ cleanup_request(entry, force);
+}
+
+/// @brief Note that this pops it off of whichver list it was on and returns it, so make
+/// sure to add it to some other list or it'll be lost.
+bool diagnostic_manager_t::lookup_recurring_request(const DiagnosticRequest* request)
+{
+ active_diagnostic_request_t existingEntry;
+ for (auto& entry : recurring_requests_)
+ {
+ active_diagnostic_request_t& candidate = entry;
+ if(candidate.get_can_bus_dev()->get_device_name() == bus_->get_device_name() &&
+ diagnostic_request_equals(&candidate.get_handle().request, request))
+ {
+ find_and_erase(entry, recurring_requests_);
+ //existingEntry = entry;
+ return true;
+ break;
+ }
+ }
+ return false;
+}
+
+void diagnostic_manager_t::reset()
+{
+ if(initialized_)
+ {
+ DEBUG(binder_interface, "Clearing existing diagnostic requests");
+ cleanup_active_requests(true);
+ }
+
+ for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++)
+ free_request_entries_.push_back(request_list_entries_[i]);
+}
+
+can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev()
+{
+ return bus_;
+}
+
+active_diagnostic_request_t& diagnostic_manager_t::get_free_entry()
+{
+ //FIXME: Test against empty vector
+ //if (request_list_entries_.empty())
+ // return;
+
+ active_diagnostic_request_t& adr = request_list_entries_.back();
+ request_list_entries_.pop_back();
+ return adr;
+}
+
+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;
+ active_diagnostic_request_t& entry = get_free_entry();
+
+ // TODO: implement Acceptance Filter
+ // if(updateRequiredAcceptanceFilters(bus, request)) {
+ entry = 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_->get_device_name(), request_string);
+
+ non_recurring_requests_.push_back(entry);
+
+ 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 %d is higher than maximum of %d",
+ frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
+ return false;
+ }
+ return true;
+}
+
+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(lookup_recurring_request(request))
+ {
+ active_diagnostic_request_t& entry = get_free_entry();
+ // TODO: implement Acceptance Filter
+ //if(updateRequiredAcceptanceFilters(bus, request)) {
+ entry = active_diagnostic_request_t(bus_, request, name,
+ wait_for_multiple_responses, decoder, callback, frequencyHz);
+ 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, recurring_requests_);
+ DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %d: %s",
+ frequencyHz, bus_->get_device_name(), request_string);
+
+ recurring_requests_.push_back(entry);
+ }
+ else
+ {
+ DEBUG(binder_interface, "Can't add request, one already exists with same key");
+ added = false;
+ }
+ return added;
+}
+
+bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+{
+ can_bus_dev_t *can_bus_dev = config->get_diagnostic_manager().get_can_bus_dev();
+ return can_bus_dev->shims_send(arbitration_id, data, size);
+}
void diagnostic_manager_t::shims_logger(const char* m, ...)
{
*/
void diagnostic_manager_t::init_diagnostic_shims()
{
- DiagnosticShims shims_ = diagnostic_init_shims(shims_logger, bus_.send_can_message, NULL);
+ shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
initialized_ = true;
}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff