#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
+// There are only 8 slots of in flight diagnostic requests
+#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
#define TIMERFD_ACCURACY 0
#define MICRO 1000000
: initialized_{false}
{}
+/// @brief Diagnostic manager isn't initialized at launch but after
+/// CAN bus devices initialization. For the moment, it is only possible
+/// to have 1 diagnostic bus which are the first bus declared in the JSON
+/// description file. Configuration instance will return it.
+///
+/// this will initialize DiagnosticShims and cancel all active requests
+/// if there are any.
bool diagnostic_manager_t::initialize()
{
- // Mandatory to set the bus before intiliaze shims.
+ // Mandatory to set the bus before intialize shims.
bus_ = configuration_t::instance().get_diagnostic_bus();
init_diagnostic_shims();
return initialized_;
}
-/**
- * @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.
- */
+/// @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);
DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
}
+/// @brief Force cleanup all active requests.
void diagnostic_manager_t::reset()
{
- if(initialized_)
- {
- DEBUG(binder_interface, "Clearing existing diagnostic requests");
- cleanup_active_requests(true);
- }
+ DEBUG(binder_interface, "Clearing existing diagnostic requests");
+ cleanup_active_requests(true);
+}
+
+/// @brief send function use by diagnostic library. Only one bus used for now
+/// so diagnostic request is sent using the default diagnostic bus not matter of
+/// which is specified in the diagnostic message definition.
+///
+/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
+/// is 0x7DF by example.
+/// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
+/// @param[in] size - The size of the data payload, in bytes.
+///
+/// @return true if the CAN message was sent successfully.
+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 = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
+ if(can_bus_dev != nullptr)
+ return can_bus_dev->shims_send(arbitration_id, data, size);
+ ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str());
+ return false;
+}
+
+/// @brief The type signature for an optional logging function, if the user
+/// wishes to provide one. It should print, store or otherwise display the
+/// message.
+///
+/// message - A format string to log using the given parameters.
+/// ... (vargs) - the parameters for the format string.
+///
+void diagnostic_manager_t::shims_logger(const char* format, ...)
+{
+ va_list args;
+ va_start(args, format);
+
+ char buffer[256];
+ vsnprintf(buffer, 256, format, args);
+
+ DEBUG(binder_interface, "shims_logger: %s", buffer);
+}
+
+/// @brief The type signature for a... OpenXC TODO: not used yet.
+void diagnostic_manager_t::shims_timer()
+{}
+
+std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
+{
+ return can_bus_t::get_can_device(bus_);
}
+/// @brief Return diagnostic manager shims member.
+DiagnosticShims& diagnostic_manager_t::get_shims()
+{
+ return shims_;
+}
+/// @brief Search for a specific active diagnostic request in the provided requests list
+/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
+/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
+/// contained in the vector but no event if connected to, so we will decode uneeded request.
+///
+/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
+/// @param[in] requests_list - a vector where to make the search and cleaning.
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);
requests_list.erase(i);
}
-/// Move the entry to the free list and decrement the lock count for any
-/// CAN filters it used.
+// @brief TODO: implement cancel_request if needed... Don't know.
void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
{
}*/
}
+/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
+/// impossible to get that state for a recurring request without waiting for that, you can
+/// force the cleaning operation.
+///
+/// @param[in] entry - the request to clean
+/// @param[in] force - Force the cleaning or not ?
void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
{
- if(force || (entry->get_in_flight() && entry->request_completed()))
+ if((force || (entry->get_in_flight() && entry->request_completed())) && entry != nullptr)
{
entry->set_in_flight(false);
find_and_erase(entry, recurring_requests_);
if(force)
cancel_request(entry);
+ DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
}
else
{
}
}
-/// @brief Clean up the request list
+/// @brief Clean up all requests lists, recurring and not recurring.
+///
+/// @param[in] force - Force the cleaning or not ? If true, that will do
+/// the same effect as a call to reset().
void diagnostic_manager_t::cleanup_active_requests(bool force)
{
for(auto& entry : non_recurring_requests_)
cleanup_request(entry, force);
}
-/// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
+/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
/// not found.
+///
+/// @param[in] request - Search key, method will go through recurring list to see if it find that request
+/// holded by the DiagnosticHandle member.
active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
{
for (auto& entry : recurring_requests_)
return nullptr;
}
-std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
-{
- return can_bus_t::get_can_device(bus_);
-}
-
+/// @brief Add and send a new one-time diagnostic request.
+///
+/// A one-time (aka non-recurring) request can existing in parallel with a
+/// recurring request for the same PID or mode, that's not a problem.
+///
+/// For an example, see the docs for addRecurringRequest. This function is very
+/// similar but leaves out the frequencyHz parameter.
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - Human readable name this response, to be used when
+/// publishing received responses. TODO: If the name is NULL, the published output
+/// will use the raw OBD-II response format.
+/// @param[in] wait_for_multiple_responses - If false, When any response is received
+/// for this request it will be removed from the active list. If true, the
+/// request will remain active until the timeout clock expires, to allow it
+/// to receive multiple response. Functional broadcast requests will always
+/// waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+/// responses to this request. If the decoder is NULL, the output will
+/// include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+/// response is received for this request.
+///
+/// @return true if the request was added successfully. Returns false if there
+/// wasn't a free active request entry, if the frequency was too high or if the
+/// CAN acceptance filters could not be configured,
bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback)
return true;
}
+/// @brief Add and send a new recurring diagnostic request.
+///
+/// At most one recurring request can be active for the same arbitration ID, mode
+/// and (if set) PID on the same bus at one time. If you try and call
+/// addRecurringRequest with the same key, it will return an error.
+///
+/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
+/// response. If the request is to the functional broadcast ID (0x7df) filters
+/// are added for all functional addresses (0x7e8 to 0x7f0).
+///
+/// Example:
+///
+/// // Creating a functional broadcast, mode 1 request for PID 2.
+/// DiagnosticRequest request = {
+/// arbitration_id: 0x7df,
+/// mode: 1,
+/// has_pid: true,
+/// pid: 2
+/// };
+///
+/// // Add a recurring request, to be sent at 1Hz, and published with the
+/// // name "my_pid_request"
+/// addRecurringRequest(&getConfiguration()->diagnosticsManager,
+/// canBus,
+/// &request,
+/// "my_pid_request",
+/// false,
+/// NULL,
+/// NULL,
+/// 1);
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - An optional human readable name this response, to be used when
+/// publishing received responses. If the name is NULL, the published output
+/// will use the raw OBD-II response format.
+/// @param[in] wait_for_multiple_responses - If false, When any response is received
+/// for this request it will be removed from the active list. If true, the
+/// request will remain active until the timeout clock expires, to allow it
+/// to receive multiple response. Functional broadcast requests will always
+/// waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+/// responses to this request. If the decoder is NULL, the output will
+/// include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+/// response is received for this request.
+/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
+/// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
+/// function return false.
+///
+/// @return true if the request was added successfully. Returns false if there
+/// was too much already running requests, if the frequency was too high TODO:or if the
+/// CAN acceptance filters could not be configured,
+///
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)
return added;
}
-
-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;
-}
-
+/// @brief Returns true if there are two active requests running for the same arbitration ID.
bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
{
return (candidate->get_in_flight() && candidate != request &&
}
-/// @brief Returns true if there are no other active requests to the same arbitration ID.
+/// @brief Returns true if there are no other active requests to the same arbitration ID
+/// and if there aren't more than 8 requests in flight at the same time.
bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
{
+ int total_in_flight = 0;
for ( auto entry : non_recurring_requests_)
{
if(conflicting(request, entry))
return false;
+ if(entry->get_in_flight())
+ total_in_flight++;
}
for ( auto entry : recurring_requests_)
{
if(conflicting(request, entry))
return false;
+ if(entry->get_in_flight())
+ total_in_flight++;
}
+
+ if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
+ return false;
return true;
}
+int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr)
+{
+ 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) >= 0)
+ if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
+ return 0;
+ sd_event_source_unref(s);
+ return -1;
+}
+
+/// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
+/// on the diagnostic message frequency.
+///
+/// This should be called from systemd binder event loop and the event is created on add_recurring_request
+///
+/// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
+/// @param[in] usec - previous call timestamp in microseconds.
+/// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
+///
+/// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
+/// event will be disabled.
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())
+ if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
+ dm.clear_to_send(adr))
{
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;
+ ERROR(binder_interface, "send_request: Fatal error sending diagnostic request");
+ sd_event_source_unref(s);
+ return -1;
}
+
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;
- }
+ if(adr->get_recurring())
+ {
+ return dm.reschedule_request(s, usec, adr);
}
+
sd_event_source_unref(s);
ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus");
- return -1;
+ return -2;
}
-
-/// @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.
+/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
///
-/// @param[in] cm - CAN message received from the socket.
+/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
+/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
///
-/// @return True if the active diagnostic request match the response.
-bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
+/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
+openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
{
- if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
- return true;
- return false;
-}
+ openxc_VehicleMessage message = build_VehicleMessage();
+ float value = (float)diagnostic_payload_to_integer(&response);
+ if(adr->get_decoder() != nullptr)
+ {
+ value = adr->get_decoder()(&response, value);
+ }
-DiagnosticShims& diagnostic_manager_t::get_shims()
-{
- return shims_;
+ 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 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);
+ message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
+ }
+
+ if(adr->get_callback() != nullptr)
+ {
+ adr->get_callback()(adr, &response, value);
+ }
+
+ return message;
}
-bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+/// @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)
{
- 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);
+ 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();
}
-void diagnostic_manager_t::shims_logger(const char* format, ...)
+/// @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)
{
- va_list args;
- va_start(args, format);
+ openxc_VehicleMessage vehicle_message = build_VehicleMessage();
- char buffer[256];
- vsnprintf(buffer, 256, format, args);
+ for ( auto entry : non_recurring_requests_)
+ {
+ vehicle_message = relay_diagnostic_handle(entry, cm);
+ if (is_valid(vehicle_message))
+ return vehicle_message;
+ }
- DEBUG(binder_interface, "shims_logger: %s", buffer);
+ for ( auto entry : recurring_requests_)
+ {
+ vehicle_message = relay_diagnostic_handle(entry, cm);
+ if (is_valid(vehicle_message))
+ return vehicle_message;
+ }
+
+ return vehicle_message;
}
-void diagnostic_manager_t::shims_timer()
-{}
+/// @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)
+{
+ if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
+ return true;
+ return false;
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff