X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;ds=sidebyside;f=low-can-binding%2Fdiagnostic%2Fdiagnostic-manager.cpp;h=8533503f6d1755b7beab1ab9332748e1495e20d4;hb=e2af4a871c6a8bcab4733193948833aed9c5ceb8;hp=e3a78d0f69f431246b78ddb6ac0a3404f87806e7;hpb=a58d40b5ae336a54408201963b065ee049b43acd;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp index e3a78d0f..8533503f 100644 --- a/low-can-binding/diagnostic/diagnostic-manager.cpp +++ b/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -17,11 +17,13 @@ #include #include +#include #include "diagnostic-manager.hpp" #include "../utils/openxc-utils.hpp" -#include "../configuration.hpp" +#include "../utils/signals.hpp" +#include "../binding/application.hpp" #define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10 #define MAX_SIMULTANEOUS_DIAG_REQUESTS 50 @@ -39,18 +41,18 @@ diagnostic_manager_t::diagnostic_manager_t() /// 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 +/// this will initialize DiagnosticShims and cancel all active requests /// if there are any. bool diagnostic_manager_t::initialize() { // Mandatory to set the bus before intialize shims. - bus_ = configuration_t::instance().get_diagnostic_bus(); + bus_ = application_t::instance().get_diagnostic_bus(); init_diagnostic_shims(); reset(); initialized_ = true; - DEBUG(binder_interface, "initialize: Diagnostic Manager initialized"); + AFB_DEBUG("Diagnostic Manager initialized"); return initialized_; } @@ -60,32 +62,58 @@ bool diagnostic_manager_t::initialize() void diagnostic_manager_t::init_diagnostic_shims() { shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); - DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized"); + AFB_DEBUG("Shims initialized"); } /// @brief Force cleanup all active requests. void diagnostic_manager_t::reset() { - DEBUG(binder_interface, "Clearing existing diagnostic requests"); + AFB_DEBUG("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. +/// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type. +/// That socket will send cyclic messages configured from a diagnostic request. /// /// @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. +/// @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 = 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()); + diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager(); + active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests(); + utils::socketcan_bcm_t& tx_socket = current_adr->get_socket(); + + // Make sure that socket has been opened. + if(! tx_socket) + tx_socket.open( + dm.get_bus_device_name()); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + + struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period(); + + bcm_msg.msg_head.opcode = TX_SETUP; + bcm_msg.msg_head.can_id = arbitration_id; + bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + bcm_msg.msg_head.nframes = 1; + cfd.can_dlc = size; + ::memcpy(cfd.data, data, size); + + bcm_msg.frames = cfd; + + tx_socket << bcm_msg; + if(tx_socket) + return true; return false; } @@ -104,16 +132,28 @@ void diagnostic_manager_t::shims_logger(const char* format, ...) char buffer[256]; vsnprintf(buffer, 256, format, args); - DEBUG(binder_interface, "shims_logger: %s", buffer); + AFB_DEBUG("%s", buffer); + va_end(args); } /// @brief The type signature for a... OpenXC TODO: not used yet. void diagnostic_manager_t::shims_timer() {} -std::shared_ptr diagnostic_manager_t::get_can_bus_dev() +const std::string diagnostic_manager_t::get_bus_name() const +{ + return bus_; +} + +const std::string diagnostic_manager_t::get_bus_device_name() const { - return can_bus_t::get_can_device(bus_); + return application_t::instance().get_can_bus_manager() + .get_can_device_name(bus_); +} + +active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const +{ + return recurring_requests_.back(); } /// @brief Return diagnostic manager shims member. @@ -136,54 +176,38 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, st requests_list.erase(i); } -// @brief TODO: implement cancel_request if needed... Don't know. +/// @brief Free memory allocated on active_diagnostic_request_t object and close the socket. void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* 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()); - }*/ + entry->get_socket().close(); + delete entry; + entry = nullptr; } /// @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 +/// 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 != nullptr && entry->get_in_flight() && entry->request_completed()))) + if(entry != nullptr && (force || entry->response_received())) { - entry->set_in_flight(false); - char request_string[128] = {0}; diagnostic_request_to_string(&entry->get_handle()->request, request_string, sizeof(request_string)); if(force && entry->get_recurring()) { - find_and_erase(entry, recurring_requests_); cancel_request(entry); - DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string); + find_and_erase(entry, recurring_requests_); + AFB_DEBUG("Cancelling completed, recurring request: %s", request_string); } - else + else if (!entry->get_recurring()) { - DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string); - find_and_erase(entry, non_recurring_requests_); + AFB_DEBUG("Cancelling completed, non-recurring request: %s", request_string); cancel_request(entry); + find_and_erase(entry, non_recurring_requests_); } } } @@ -195,12 +219,16 @@ void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, b void diagnostic_manager_t::cleanup_active_requests(bool force) { for(auto& entry : non_recurring_requests_) + { if (entry != nullptr) cleanup_request(entry, force); + } for(auto& entry : recurring_requests_) + { if (entry != nullptr) cleanup_request(entry, force); + } } /// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if @@ -208,23 +236,20 @@ void diagnostic_manager_t::cleanup_active_requests(bool force) /// /// @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) +active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(DiagnosticRequest& request) { for (auto& entry : recurring_requests_) { if(entry != nullptr) { - if(diagnostic_request_equals(&entry->get_handle()->request, request)) - { - return entry; - break; - } + if(diagnostic_request_equals(&entry->get_handle()->request, &request)) + {return entry;} } } return nullptr; } -/// @brief Add and send a new one-time diagnostic request. +/// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME /// /// 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. @@ -250,19 +275,19 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const /// @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, +active_diagnostic_request_t* 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 = nullptr; if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) { // TODO: implement Acceptance Filter // if(updateRequiredAcceptanceFilters(bus, request)) { - active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name, + active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name, wait_for_multiple_responses, decoder, callback, 0); entry->set_handle(shims_, request); @@ -270,25 +295,31 @@ bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::st 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", + // Erase any existing request not already cleaned. + cleanup_request(entry, true); + AFB_DEBUG("Added one-time diagnostic request on bus %s: %s", 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(), MAX_SIMULTANEOUS_DIAG_REQUESTS); + AFB_WARNING("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; } - return added; + return entry; } +/// @brief Validate frequency asked don't get higher than the maximum of a classical +/// CAN bus OBD2 request. +/// +/// @param[in] frequencyHz - frequency asked for sending diagnostic requests. +/// +/// @return True if frequency is below the Maximum false if not. bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) { if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) { - DEBUG(binder_interface, "Requested recurring diagnostic frequency %lf is higher than maximum of %d", + AFB_DEBUG("Requested recurring diagnostic frequency %lf is higher than maximum of %d", frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ); return false; } @@ -299,32 +330,7 @@ bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyH /// /// 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); +/// add_recurring_request with the same key, it will return an error. /// /// @param[in] request - The parameters for the request. /// @param[in] name - An optional human readable name this response, to be used when @@ -347,158 +353,37 @@ bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyH /// @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, +active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz) { + active_diagnostic_request_t* entry = nullptr; + if(!validate_optional_request_attributes(frequencyHz)) - return false; + return entry; cleanup_active_requests(false); - bool added = true; - if(find_recurring_request(request) == nullptr) + if(find_recurring_request(*request) == nullptr) { if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) { - sd_event_source *source; - // TODO: implement Acceptance Filter - //if(updateRequiredAcceptanceFilters(bus, request)) { - active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name, + entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name, wait_for_multiple_responses, decoder, callback, frequencyHz); - entry->set_handle(shims_, request); - - //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_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_BOOTTIME, 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); + + entry->set_handle(shims_, request); + start_diagnostic_request(&shims_, entry->get_handle()); } else { - WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); + AFB_WARNING("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, "add_recurring_request: Can't add request, one already exists with same key"); - added = false; - } - return added; -} - -/// @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 && - 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 -/// 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. -/// -/// 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); - - 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) - { - 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 != nullptr && adr->get_recurring()) - { - return dm.reschedule_request(s, usec, adr); - } - - sd_event_source_unref(s); - NOTICE(binder_interface, "send_request: Request doesn't exist anymore. Canceling.'"); - return -2; + { AFB_DEBUG("Can't add request, one already exists with same key");} + return entry; } /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return. @@ -516,15 +401,17 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_dia value = adr->get_decoder()(&response, value); } - if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0) + if((response.success && 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))); + message.has_diagnostic_response = true; + message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response; } else { - // If no name, send full details of response but still include 'value' + // If no name, only 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. @@ -534,11 +421,11 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_dia // If not success but completed then the pid isn't supported if(!response.success) { - std::vector found_signals; - configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals ); - found_signals.front()->set_supported(false); + struct utils::signals_found found_signals; + found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name())); + found_signals.diagnostic_messages.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); + AFB_NOTICE("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."))); } @@ -547,11 +434,13 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_dia adr->get_callback()(adr, &response, value); } + // Reset the completed flag handle to make sure that it will be reprocessed the next time. + adr->get_handle()->success = false; return message; } /// @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 +/// 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 @@ -569,7 +458,8 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagn else if(!response.completed && response.multi_frame) { // Reset the timeout clock while completing the multi-frame receive - entry->get_timeout_clock().tick(); + entry->get_timeout_clock().tick( + entry->get_timeout_clock().get_time_function()()); } return build_VehicleMessage(); @@ -604,7 +494,7 @@ openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_messag } /// @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 +/// 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.