X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fdiagnostic%2Fdiagnostic-manager.cpp;h=f9dc9607151d06832e49b883b80b0846d24f683f;hb=a1a554bd3dc19580c9b80dc6e4beb6bed4711e53;hp=e3a78d0f69f431246b78ddb6ac0a3404f87806e7;hpb=49fe0eec8f17698fc5f86d0abe01777af1fb2b23;p=apps%2Fagl-service-can-low-level.git diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp index e3a78d0f..f9dc9607 100644 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp +++ b/CAN-binder/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 @@ -31,7 +33,7 @@ #define MICRO 1000000 diagnostic_manager_t::diagnostic_manager_t() - : initialized_{false} + : initialized_{false}, event_source_{nullptr} {} /// @brief Diagnostic manager isn't initialized at launch but after @@ -44,32 +46,84 @@ diagnostic_manager_t::diagnostic_manager_t() 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(); + event_source_ = nullptr; reset(); initialized_ = true; - DEBUG(binder_interface, "initialize: Diagnostic Manager initialized"); + DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__); return initialized_; } +utils::socketcan_bcm_t& diagnostic_manager_t::get_socket() +{ + return socket_; +} + /// @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"); + DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__); } /// @brief Force cleanup all active requests. void diagnostic_manager_t::reset() { - DEBUG(binder_interface, "Clearing existing diagnostic requests"); + DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__); cleanup_active_requests(true); } +/// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager +/// listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications. +/// +/// @return -1 or negative value on error, 0 if ok. +int diagnostic_manager_t::create_rx_filter(uint32_t can_id, float frequency) +{ + // Make sure that socket has been opened. + if(! socket_) + socket_.open(get_bus_device_name()); + + struct utils::simple_bcm_msg bcm_msg; + memset(&bcm_msg, 0, sizeof(bcm_msg)); + + const struct timeval freq = (frequency == recurring_requests_.back()->get_frequency_clock().get_frequency() ) ? + recurring_requests_.back()->get_frequency_clock().get_timeval_from_period() : frequency_clock_t(frequency).get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + + // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job + if(can_id != OBD2_FUNCTIONAL_BROADCAST_ID) + { + bcm_msg.msg_head.can_id = can_id; + + socket_ << bcm_msg; + if(! socket_) + return -1; + } + else + { + for(uint8_t i = 0; i < 8; i++) + { + can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; + bcm_msg.msg_head.can_id = can_id; + + socket_ << bcm_msg; + if(! socket_) + return -1; + } + } + + return 0; +} + /// @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. @@ -82,10 +136,37 @@ void diagnostic_manager_t::reset() /// @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 +185,28 @@ void diagnostic_manager_t::shims_logger(const char* format, ...) char buffer[256]; vsnprintf(buffer, 256, format, args); - DEBUG(binder_interface, "shims_logger: %s", buffer); + DEBUG(binder_interface, "%s: %s", __FUNCTION__, 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 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 can_bus_t::get_can_device(bus_); + return recurring_requests_.back(); } /// @brief Return diagnostic manager shims member. @@ -122,6 +215,16 @@ DiagnosticShims& diagnostic_manager_t::get_shims() return shims_; } +bool diagnostic_manager_t::socket_close() +{ + if(non_recurring_requests_.empty() && recurring_requests_.empty()) + { + socket_.close(); + return true; + } + return false; +} + /// @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 @@ -139,23 +242,9 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, st // @brief TODO: implement cancel_request if needed... Don't know. 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 @@ -166,25 +255,24 @@ void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry) /// @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((force || (entry != nullptr && 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_); + DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, 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_); + DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string); cancel_request(entry); + find_and_erase(entry, non_recurring_requests_); } + socket_close(); } } @@ -195,12 +283,16 @@ 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 @@ -215,10 +307,7 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const if(entry != nullptr) { if(diagnostic_request_equals(&entry->get_handle()->request, request)) - { - return entry; - break; - } + {return entry;} } } return nullptr; @@ -250,13 +339,13 @@ 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) { @@ -270,25 +359,25 @@ 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); + DEBUG(binder_interface, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__, 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); + WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); - added = false; } - return added; + return entry; } 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", + DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__, frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ); return false; } @@ -347,158 +436,59 @@ 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(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, 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))); + recurring_requests_.push_back(entry); - if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source, - CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0) + entry->set_handle(shims_, request); + if(create_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID, frequencyHz) < 0) { - ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop"); - added = false; + recurring_requests_.pop_back(); + delete entry; + entry = nullptr; } - recurring_requests_.push_back(entry); + else + { + start_diagnostic_request(&shims_, entry->get_handle()); + if(event_source_ == nullptr && sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), + &event_source_, + socket_.socket(), + EPOLLIN, + read_message, + nullptr) < 0) + { + cleanup_request(entry, true); + WARNING(binder_interface, "%s: signal: %s isn't supported. Canceling operation.", __FUNCTION__, entry->get_name().c_str()); + return entry; + } + } } 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); + WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (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; + { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);} + return entry; } /// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return. @@ -516,7 +506,7 @@ 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. @@ -534,11 +524,11 @@ 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); + NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code); message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle."))); } @@ -547,6 +537,8 @@ 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; } @@ -569,7 +561,8 @@ 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();