* limitations under the License.
*/
+#include <systemd/sd-event.h>
#include <algorithm>
#include "diagnostic-manager.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, new active_diagnostic_request_t()), initialized_{false}
+ : initialized_{false}
{}
-bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
+bool diagnostic_manager_t::initialize()
{
// Mandatory to set the bus before intiliaze shims.
- bus_ = cbd;
+ bus_ = configuration_t::instance().get_diagnostic_bus();
init_diagnostic_shims();
reset();
DEBUG(binder_interface, "Clearing existing diagnostic requests");
cleanup_active_requests(true);
}
-
- for(uint8_t i = 0; i < MAX_REQUEST_ENTRIES; i++)
- {
- free_request_entries_.push_back(request_list_entries_.back());
- request_list_entries_.pop_back();
- }
}
/// 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;
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);
- }
+ DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
}
else
{
- DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string);
+ 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 the request list, move as many to the free list as possible
+/// @brief Clean up the request list
void diagnostic_manager_t::cleanup_active_requests(bool force)
{
for(auto& entry : non_recurring_requests_)
- cleanup_request(entry, force);
+ if (entry != nullptr)
+ cleanup_request(entry, force);
for(auto& entry : recurring_requests_)
- cleanup_request(entry, force);
+ if (entry != nullptr)
+ 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.
+/// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
+/// not found.
active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
{
for (auto& entry : recurring_requests_)
{
- active_diagnostic_request_t* candidate = entry;
- if(diagnostic_request_equals(&candidate->get_handle()->request, request))
+ if(entry != nullptr)
{
- find_and_erase(entry, recurring_requests_);
- return entry;
- break;
+ if(diagnostic_request_equals(&entry->get_handle()->request, request))
+ {
+ return entry;
+ break;
+ }
}
}
return nullptr;
std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
{
- return bus_;
-}
-
-active_diagnostic_request_t* diagnostic_manager_t::get_free_entry()
-{
- if (free_request_entries_.empty())
- return nullptr;
-
- active_diagnostic_request_t* adr = free_request_entries_.back();
- free_request_entries_.pop_back();
- return adr;
+ return can_bus_t::get_can_device(bus_);
}
bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
cleanup_active_requests(false);
bool added = true;
- active_diagnostic_request_t* entry = get_free_entry();
- if (entry != nullptr)
+ if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
{
// TODO: implement Acceptance Filter
// if(updateRequiredAcceptanceFilters(bus, request)) {
- entry = new active_diagnostic_request_t(bus_, request, name,
+ 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);
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);
+ bus_, request_string);
non_recurring_requests_.push_back(entry);
}
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());
+ WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size());
+ non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
added = false;
}
return added;
bool added = true;
if(find_recurring_request(request) == nullptr)
{
- active_diagnostic_request_t* entry = get_free_entry();
-
- if(entry != nullptr)
+ if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
{
+ sd_event_source *source;
// TODO: implement Acceptance Filter
//if(updateRequiredAcceptanceFilters(bus, request)) {
- entry = new active_diagnostic_request_t(bus_, request, name,
- wait_for_multiple_responses, decoder, callback, frequencyHz);
- entry->set_handle(shims_, 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);
- char request_string[128] = {0};
- diagnostic_request_to_string(&entry->get_handle()->request, request_string,
- sizeof(request_string));
+ 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 %s: %s",
- frequencyHz, bus_->get_device_name().c_str(), request_string);
+ DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
+ frequencyHz, bus_.c_str(), request_string);
- recurring_requests_.push_back(entry);
+ uint64_t usec;
+ sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
+ if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
+ CLOCK_MONOTONIC, 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, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size());
+ 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, "Can't add request, one already exists with same key");
+ DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
added = false;
}
return added;
}
-bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const
+
+bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) 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;
+ return (candidate->get_in_flight() && candidate != request &&
+ candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
+ candidate->get_id() == request->get_id());
}
-active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message)
+
+/// @brief Returns true if there are no other active requests to the same arbitration ID.
+bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
{
- for (auto& entry : non_recurring_requests_)
+ for ( auto entry : non_recurring_requests_)
{
- if(is_diagnostic_response(*entry, can_message))
- return entry;
+ if(conflicting(request, entry))
+ return false;
}
- for (auto& entry : recurring_requests_)
+ for ( auto entry : recurring_requests_)
{
- if(is_diagnostic_response(*entry, can_message))
- return entry;
+ if(conflicting(request, entry))
+ return false;
}
- return nullptr;
+ return true;
+}
+
+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);
+
+// 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->get_frequency_clock().tick();
+ start_diagnostic_request(&dm.shims_, adr->get_handle());
+ if(adr->get_handle()->completed && !adr->get_handle()->success)
+ {
+ DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
+ return 0;
+ }
+ adr->get_timeout_clock().tick();
+ adr->set_in_flight(true);
+
+ if(adr->get_recurring())
+ {
+ usec = usec + (uint64_t)(frequency_clock_t::frequency_to_period(adr->get_frequency_clock().get_frequency())*MICRO);
+ 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+1000000) >= 0)
+ if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
+ return 1;
+ }
+ }
+ sd_event_source_unref(s);
+ ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
+ return -1;
}
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
+openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
{
- openxc_VehicleMessage message;
+ openxc_VehicleMessage message = build_VehicleMessage();
float value = (float)diagnostic_payload_to_integer(&response);
if(adr->get_decoder() != nullptr)
{
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);
+ }
+
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
+/// @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)
{
- return (candidate->get_in_flight() && candidate != request &&
- candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
- candidate->get_id() == request->get_id());
-}
+ 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 Returns true if there are no other active requests to the same arbitration ID.
-bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
+/// @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_)
{
- if(conflicting(request, entry))
- return false;
+ vehicle_message = relay_diagnostic_handle(entry, cm);
+ if (is_valid(vehicle_message))
+ return vehicle_message;
}
for ( auto entry : recurring_requests_)
{
- if(conflicting(request, entry))
- return false;
+ vehicle_message = relay_diagnostic_handle(entry, cm);
+ if (is_valid(vehicle_message))
+ return vehicle_message;
}
- return true;
+
+ return vehicle_message;
}
-int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
+/// @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)
{
- diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
- DiagnosticRequest* request = (DiagnosticRequest*)userdata;
- 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))
- {
- 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());
- if(adr->get_handle()->completed && !adr->get_handle()->success)
- {
- DEBUG(binder_interface, "Fatal error sending diagnostic request");
- return 0;
- }
- adr->get_timeout_clock().tick();
- adr->set_in_flight(true);
- return 1;
- }
- return -1;
+ if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
+ return true;
+ return false;
}
DiagnosticShims& diagnostic_manager_t::get_shims()
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 = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
+ std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
return can_bus_dev->shims_send(arbitration_id, data, size);
}
-void diagnostic_manager_t::shims_logger(const char* m, ...)
+void diagnostic_manager_t::shims_logger(const char* format, ...)
{
- DEBUG(binder_interface, "%s", m);
+ va_list args;
+ va_start(args, format);
+
+ char buffer[256];
+ vsnprintf(buffer, 256, format, args);
+
+ DEBUG(binder_interface, "shims_logger: %s", buffer);
}
void diagnostic_manager_t::shims_timer()
{}
-
Code Review / apps / agl-service-can-low-level.git / blobdiff