#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
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_);
- return can_bus_dev->shims_send(arbitration_id, data, size);
+ 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
/// @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())) && entry != nullptr)
+ if((force || (entry != nullptr && 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())
+ if(force && entry->get_recurring())
{
find_and_erase(entry, recurring_requests_);
- if(force)
- cancel_request(entry);
+ cancel_request(entry);
DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
}
else
find_and_erase(entry, non_recurring_requests_);
DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
- bus_, request_string);
+ bus_.c_str(), request_string);
non_recurring_requests_.push_back(entry);
}
else
{
- WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size());
+ WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
added = false;
}
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",
+ DEBUG(binder_interface, "Requested recurring diagnostic frequency %lf is higher than maximum of %d",
frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
return false;
}
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);
+ //start_diagnostic_request(&shims_, entry->get_handle());
+ //char request_string[128] = {0};
+ //diagnostic_request_to_string(&entry->get_handle()->request, request_string,
+ // sizeof(request_string));
uint64_t usec;
- sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_MONOTONIC, &usec);
+ sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec);
+ if(recurring_requests_.size() > 0)
+ {
+ DEBUG(binder_interface, "add_recurring_request: Added 100ms to usec to stagger sending requests");
+ usec += 100000;
+ }
+
+ DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d",
+ frequencyHz,
+ bus_.c_str(),
+ usec,
+ sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)));
+
if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
- CLOCK_MONOTONIC, usec, TIMERFD_ACCURACY, send_request, request) < 0)
+ CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0)
{
ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
added = false;
}
-/// @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)(adr->get_frequency_clock().frequency_to_period());
+ 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.
///
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())
+ dm.cleanup_active_requests(false);
+ 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");
- sd_event_source_unref(s);
- return -1;
+ 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) >= 0)
- if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
- return 0;
- sd_event_source_unref(s);
- return -1;
- }
+ if(adr != nullptr && 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");
+ NOTICE(binder_interface, "send_request: Request doesn't exist anymore. Canceling.'");
return -2;
}
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)
Code Review / apps / agl-service-can-low-level.git / blobdiff