* limitations under the License.
*/
-#include "obd2/diagnostic-manager.hpp"
+#include <systemd/sd-event.h>
+#include <algorithm>
-#include "low-can-binding.hpp"
+#include "diagnostic-manager.hpp"
-diagnostic_manager_t::diagnostic_manager_t()
-{}
+#include "uds/uds.h"
+#include "../utils/openxc-utils.hpp"
+#include "../configuration.hpp"
-diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus)
- : bus_(&bus)
+#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, new active_diagnostic_request_t()), initialized_{false}
{}
-void diagnostic_manager_t::shims_logger(const char* m, ...)
+bool diagnostic_manager_t::initialize(std::shared_ptr<can_bus_dev_t> cbd)
{
- DEBUG(binder_interface, "%s", m);
-}
+ // Mandatory to set the bus before intiliaze shims.
+ bus_ = cbd;
-void diagnostic_manager_t::shims_timer()
-{}
+ 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.
*/
void diagnostic_manager_t::init_diagnostic_shims()
{
- DiagnosticShims shims_ = diagnostic_init_shims(shims_logger, bus_.send_can_message, NULL);
- initialized_ = true;
-}
\ No newline at end of file
+ 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);
+ 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.
+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))
+ {
+ find_and_erase(entry, recurring_requests_);
+ 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;
+}
+
+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();
+
+ if (entry != nullptr)
+ {
+ // TODO: implement Acceptance Filter
+ // if(updateRequiredAcceptanceFilters(bus, request)) {
+ 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_->get_device_name(), 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());
+ 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 %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(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,
+ 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 %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;
+ }
+ }
+ else
+ {
+ DEBUG(binder_interface, "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
+{
+ 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)
+{
+ 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_logger(const char* m, ...)
+{
+ DEBUG(binder_interface, "%s", m);
+}
+
+void diagnostic_manager_t::shims_timer()
+{}
+
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