* limitations under the License.
*/
+#include <systemd/sd-event.h>
#include <algorithm>
#include "diagnostic-manager.hpp"
#include "uds/uds.h"
+#include "../utils/openxc-utils.hpp"
#include "../configuration.hpp"
#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
#define MAX_REQUEST_ENTRIES 50
+#define TIMERFD_ACCURACY 0
+#define MICRO 1000000
diagnostic_manager_t::diagnostic_manager_t()
- : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+ : request_list_entries_(MAX_REQUEST_ENTRIES, new active_diagnostic_request_t()), initialized_{false}
{}
bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
cleanup_active_requests(true);
}
- for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++)
- free_request_entries_.push_back(request_list_entries_[i]);
+ for(uint8_t i = 0; i < MAX_REQUEST_ENTRIES; i++)
+ {
+ free_request_entries_.push_back(request_list_entries_.back());
+ request_list_entries_.pop_back();
+ }
}
/// @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* diagnostic_manager_t::find_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))
+ if(diagnostic_request_equals(&candidate->get_handle()->request, request))
{
find_and_erase(entry, recurring_requests_);
- return true;
+ return entry;
break;
}
}
- return false;
+ return nullptr;
}
std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
{
- if (request_list_entries_.empty())
+ if (free_request_entries_.empty())
return nullptr;
- active_diagnostic_request_t* adr = request_list_entries_.back();
- request_list_entries_.pop_back();
+ active_diagnostic_request_t* adr = free_request_entries_.back();
+ free_request_entries_.pop_back();
return adr;
}
cleanup_active_requests(false);
bool added = true;
- if(lookup_recurring_request(request))
+ if(find_recurring_request(request) == nullptr)
{
active_diagnostic_request_t* entry = get_free_entry();
if(entry != nullptr)
{
+ sd_event_source *source;
// TODO: implement Acceptance Filter
//if(updateRequiredAcceptanceFilters(bus, request)) {
entry = new active_diagnostic_request_t(bus_, request, name,
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);
+ DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %s: %s",
+ frequencyHz, bus_->get_device_name().c_str(), request_string);
+
+ uint64_t usec;
+ usec = sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec) + (uint64_t)(frequency_clock_t::frequency_to_period(frequencyHz)*MICRO);
+ if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
+ CLOCK_MONOTONIC, usec, TIMERFD_ACCURACY, send_request, request) >= 0)
+ recurring_requests_.push_back(entry);
+ else
+ {
+ ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
+ free_request_entries_.push_back(entry);
+ added = false;
+ }
}
else
{
WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
+ free_request_entries_.push_back(entry);
added = false;
}
}
return added;
}
+bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const
+{
+ if(cm.get_id() == adr.get_id() + DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET)
+ return true;
+ DEBUG(binder_interface, "Doesn't find an active diagnostic request that matches.");
+ return false;
+}
+
+active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message)
+{
+ for (auto& entry : non_recurring_requests_)
+ {
+ if(is_diagnostic_response(*entry, can_message))
+ return entry;
+ }
+
+ for (auto& entry : recurring_requests_)
+ {
+ if(is_diagnostic_response(*entry, can_message))
+ return entry;
+ }
+ return nullptr;
+}
+
+openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
+{
+ openxc_VehicleMessage message;
+ 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(adr->get_callback() != nullptr)
+ {
+ adr->get_callback()(adr, &response, value);
+ }
+
+ return message;
+}
+
bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
{
return (candidate->get_in_flight() && candidate != request &&
{
diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
DiagnosticRequest* request = (DiagnosticRequest*)userdata;
- active_diagnostic_request_t* adr = dm.lookup_recurring_request(request);
+ active_diagnostic_request_t* adr = dm.find_recurring_request(request);
- if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
- dm.clear_to_send(adr))
+// if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
+// dm.clear_to_send(adr))
+ if(adr != nullptr && adr->get_can_bus_dev() == dm.bus_)
{
- DEBUG(binder_interface, "Got active_diagnostic_request from recurring_requests_ queue.");
adr->get_frequency_clock().tick();
- start_diagnostic_request(&dm.get_shims(), adr->get_handle());
+ start_diagnostic_request(&dm.shims_, adr->get_handle());
if(adr->get_handle()->completed && !adr->get_handle()->success)
{
- DEBUG(binder_interface, "Fatal error sending diagnostic request");
+ DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
return 0;
}
adr->get_timeout_clock().tick();
adr->set_in_flight(true);
- return 1;
+
+ usec = usec + (uint64_t)(frequency_clock_t::frequency_to_period(adr->get_frequency_clock().get_frequency())*MICRO);
+ DEBUG(binder_interface, "send_request: usec: %d", usec);
+ if(sd_event_source_set_time(s, usec) >= 0)
+ if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
+ {
+ dm.recurring_requests_.push_back(adr);
+ return 1;
+ }
}
+ dm.recurring_requests_.push_back(adr);
+ ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
return -1;
}
Code Review / apps / agl-service-can-low-level.git / blobdiff