X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fdiagnostic%2Fdiagnostic-manager.cpp;h=31eed0e2423716c7c7f623ba34fd0fcce4508cdd;hb=53cd923a034162273fea2f4fb045b28686f51df5;hp=2be9a0584c7fb70dad6eed282b41c27f9c542807;hpb=9099177556d598676e4d6322ae49d22bb2f0c59e;p=apps%2Flow-level-can-service.git diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp index 2be9a05..31eed0e 100644 --- a/src/diagnostic/diagnostic-manager.cpp +++ b/src/diagnostic/diagnostic-manager.cpp @@ -15,38 +15,37 @@ * limitations under the License. */ -#include "obd2/diagnostic-manager.hpp" +#include +#include +#include "diagnostic-manager.hpp" + +#include "uds/uds.h" +#include "../utils/openxc-utils.hpp" #include "../configuration.hpp" -#include "../low-can-binding.hpp" -#define MAX_REQUEST_ENTRIES 50 -diagnostic_manager_t::diagnostic_manager_t() - : request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t()) -{} +#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10 +#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50 +#define TIMERFD_ACCURACY 0 +#define MICRO 1000000 -diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus) - : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t()) +diagnostic_manager_t::diagnostic_manager_t() + : initialized_{false} {} -bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) +bool diagnostic_manager_t::initialize() { - can_bus_dev_t *can_bus_dev = config->get_diagnostic_manager().get_can_bus_dev(); - return can_bus_dev->shims_send(arbitration_id, data, size); -} + // Mandatory to set the bus before intiliaze shims. + bus_ = configuration_t::instance().get_diagnostic_bus(); -void diagnostic_manager_t::shims_logger(const char* m, ...) -{ - DEBUG(binder_interface, "%s", m); -} - -void diagnostic_manager_t::shims_timer() -{} + init_diagnostic_shims(); + reset(); -can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev() -{ - return bus_; + initialized_ = true; + DEBUG(binder_interface, "initialize: Diagnostic Manager initialized"); + 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 @@ -54,6 +53,335 @@ can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev() */ void diagnostic_manager_t::init_diagnostic_shims() { - DiagnosticShims shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); - initialized_ = true; -} \ No newline at end of file + shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); + DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized"); +} + +void diagnostic_manager_t::reset() +{ + if(initialized_) + { + DEBUG(binder_interface, "Clearing existing diagnostic requests"); + cleanup_active_requests(true); + } +} + + +void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector& requests_list) +{ + auto i = std::find(requests_list.begin(), requests_list.end(), entry); + if ( i != requests_list.end()) + requests_list.erase(i); +} + +/// Move the entry to the free list and decrement the lock count for any +/// CAN filters it used. +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()); + }*/ +} + +void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force) +{ + if(force || (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()) + { + find_and_erase(entry, recurring_requests_); + if(force) + cancel_request(entry); + } + else + { + 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 +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 of found request or nullptr if +/// not found. +active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request) +{ + for (auto& entry : recurring_requests_) + { + if(entry != nullptr) + { + if(diagnostic_request_equals(&entry->get_handle()->request, request)) + { + return entry; + break; + } + } + } + return nullptr; +} + +std::shared_ptr diagnostic_manager_t::get_can_bus_dev() +{ + return can_bus_t::get_can_device(bus_); +} + +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; + + 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, + wait_for_multiple_responses, decoder, callback, 0); + 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, non_recurring_requests_); + DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s", + bus_, 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()); + non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); + added = false; + } + return added; +} + +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", + frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ); + return false; + } + return true; +} + +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) +{ + if(!validate_optional_request_attributes(frequencyHz)) + return false; + + 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, + 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, "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, "add_recurring_request: Can't add request, one already exists with same key"); + added = false; + } + 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; +} + +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 +{ + for ( auto entry : non_recurring_requests_) + { + if(conflicting(request, entry)) + return false; + } + + for ( auto entry : recurring_requests_) + { + if(conflicting(request, entry)) + return false; + } + return true; +} + +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()) + { + 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; + } + 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; + } + } + sd_event_source_unref(s); + ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus"); + return -1; +} + + +/// @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; +} + +DiagnosticShims& diagnostic_manager_t::get_shims() +{ + return shims_; +} + +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_); + return can_bus_dev->shims_send(arbitration_id, data, size); +} + +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); +} + +void diagnostic_manager_t::shims_timer() +{}