#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
+// There are only 8 slots of in flight diagnostic requests
+#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
+#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)
+/// @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.
- bus_ = cbd;
+ // Mandatory to set the bus before intialize shims.
+ bus_ = configuration_t::instance().get_diagnostic_bus();
init_diagnostic_shims();
reset();
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);
+}
- 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 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)
{
- 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;
}*/
}
+/// @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);
- 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 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);
+ 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 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_)
{
- 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;
-}
-
+/// @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)
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;
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)
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);
-
- 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;
- }
+ 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));
+
+ DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s: %s",
+ frequencyHz, bus_.c_str(), request_string);
+
+ 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());
- free_request_entries_.push_back(entry);
+ 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
+/// @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
{
- 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
+/// 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
{
- for (auto& entry : non_recurring_requests_)
+ int total_in_flight = 0;
+ for ( auto entry : non_recurring_requests_)
{
- if(is_diagnostic_response(*entry, can_message))
- return entry;
+ if(conflicting(request, entry))
+ return false;
+ if(entry->get_in_flight())
+ total_in_flight++;
}
- 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;
+ if(entry->get_in_flight())
+ total_in_flight++;
}
- return nullptr;
+
+ 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;
}
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const
+/// @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)
{
- openxc_VehicleMessage message;
+ 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))
+ {
+ adr->get_frequency_clock().tick();
+ start_diagnostic_request(&dm.shims_, adr->get_handle());
+ if(adr->get_handle()->completed && !adr->get_handle()->success)
+ {
+ 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())
+ {
+ 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 -2;
+}
+
+/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
+///
+/// @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 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)
+{
+ 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);
+ 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::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
+/// @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)
{
- for ( auto entry : non_recurring_requests_)
+ 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(conflicting(request, entry))
- return false;
+ if(entry->get_handle()->success)
+ return relay_diagnostic_response(entry, response);
}
-
- for ( auto entry : recurring_requests_)
+ else if(!response.completed && response.multi_frame)
{
- if(conflicting(request, entry))
- return false;
+ // Reset the timeout clock while completing the multi-frame receive
+ entry->get_timeout_clock().tick();
}
- return true;
+
+ return build_VehicleMessage();
}
-int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
+/// @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)
{
- diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
- DiagnosticRequest* request = (DiagnosticRequest*)userdata;
- active_diagnostic_request_t* adr = dm.find_recurring_request(request);
+ openxc_VehicleMessage vehicle_message = build_VehicleMessage();
- if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
- dm.clear_to_send(adr))
+ for ( auto entry : non_recurring_requests_)
{
- 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;
+ vehicle_message = relay_diagnostic_handle(entry, cm);
+ if (is_valid(vehicle_message))
+ return vehicle_message;
}
- return -1;
-}
-DiagnosticShims& diagnostic_manager_t::get_shims()
-{
- return shims_;
-}
+ for ( auto entry : recurring_requests_)
+ {
+ vehicle_message = relay_diagnostic_handle(entry, cm);
+ if (is_valid(vehicle_message))
+ return vehicle_message;
+ }
-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);
+ return vehicle_message;
}
-void diagnostic_manager_t::shims_logger(const char* m, ...)
+/// @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)
{
- DEBUG(binder_interface, "%s", m);
+ if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
+ return true;
+ return false;
}
-
-void diagnostic_manager_t::shims_timer()
-{}
-
Code Review / apps / agl-service-can-low-level.git / blobdiff