* 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 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)
{
+ // Mandatory to set the bus before intiliaze shims.
+ bus_ = cbd;
+
+ init_diagnostic_shims();
reset();
+
+ initialized_ = true;
+ DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
+ return initialized_;
}
-diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus)
- : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+/**
+ * @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()
{
- reset();
+ shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
+ DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
}
+void diagnostic_manager_t::reset()
+{
+ if(initialized_)
+ {
+ 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();
+ }
+}
+
+
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);
/// @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;
}
-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()
+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 (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);
+
+ if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
+ CLOCK_MONOTONIC, (uint64_t)frequencyHz*MICRO, 0,send_request, request) >= 0)
+ {
+ if(sd_event_source_set_enabled(source, SD_EVENT_ON) >= 0)
+ recurring_requests_.push_back(entry);
+ else
+ {
+ ERROR(binder_interface, "add_reccurring_request: Request has not been enabled, it will occurs only one time");
+ free_request_entries_.push_back(entry);
+ added = false;
+ }
+ }
+ 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 &&
+ 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.
+bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
+{
+ for ( auto entry : non_recurring_requests_)
+ {
+ if(conflicting(request, entry))
+ return false;
+ }
+
+ for ( auto entry : recurring_requests_)
+ {
+ if(conflicting(request, entry))
+ return false;
+ }
+ 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))
+ {
+ 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;
+}
+
+DiagnosticShims& diagnostic_manager_t::get_shims()
+{
+ return shims_;
+}
+
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 = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
+ std::shared_ptr<can_bus_dev_t> can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
return can_bus_dev->shims_send(arbitration_id, data, size);
}
void diagnostic_manager_t::shims_timer()
{}
-/**
- * @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);
- initialized_ = true;
-}
Code Review / apps / low-level-can-service.git / blobdiff