X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fdiagnostic%2Fdiagnostic-manager.cpp;h=31eed0e2423716c7c7f623ba34fd0fcce4508cdd;hb=53cd923a034162273fea2f4fb045b28686f51df5;hp=b4de5543ea27c397105e91bcb4a7b0f35256b03a;hpb=a0b229d33eb8bf076bc40f9a31dbd3a689a335e1;p=apps%2Flow-level-can-service.git diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp index b4de554..31eed0e 100644 --- a/src/diagnostic/diagnostic-manager.cpp +++ b/src/diagnostic/diagnostic-manager.cpp @@ -15,30 +15,59 @@ * limitations under the License. */ +#include #include #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 +#define TIMERFD_ACCURACY 0 +#define MICRO 1000000 diagnostic_manager_t::diagnostic_manager_t() - : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false} + : initialized_{false} +{} + +bool diagnostic_manager_t::initialize() { + // Mandatory to set the bus before intiliaze shims. + bus_ = configuration_t::instance().get_diagnostic_bus(); + + init_diagnostic_shims(); reset(); + + initialized_ = true; + DEBUG(binder_interface, "initialize: Diagnostic Manager initialized"); + return initialized_; } -diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus) - : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false} +/** + * @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() { - reset(); + 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) + +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()) @@ -47,9 +76,9 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t& entry, st /// 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) +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; @@ -68,91 +97,63 @@ void diagnostic_manager_t::cancel_request(active_diagnostic_request_t& entry) }*/ } -void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t& entry, bool force) +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.set_in_flight(false); + entry->set_in_flight(false); char request_string[128] = {0}; - diagnostic_request_to_string(&entry.get_handle()->request, + diagnostic_request_to_string(&entry->get_handle()->request, request_string, sizeof(request_string)); - if(entry.get_recurring()) + if(entry->get_recurring()) { 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); - } } 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 the request list 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. -bool diagnostic_manager_t::lookup_recurring_request(const DiagnosticRequest* request) +/// @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) { - active_diagnostic_request_t existingEntry; for (auto& entry : recurring_requests_) { - active_diagnostic_request_t& candidate = entry; - if(candidate.get_can_bus_dev()->get_device_name() == bus_->get_device_name() && - diagnostic_request_equals(&candidate.get_handle()->request, request)) + if(entry != nullptr) { - find_and_erase(entry, recurring_requests_); - //existingEntry = entry; - return true; - break; + if(diagnostic_request_equals(&entry->get_handle()->request, request)) + { + return entry; + break; + } } } - return false; -} - -void diagnostic_manager_t::reset() -{ - if(initialized_) - { - DEBUG(binder_interface, "Clearing existing diagnostic requests"); - cleanup_active_requests(true); - } - - for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++) - free_request_entries_.push_back(request_list_entries_[i]); -} - -can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev() -{ - return bus_; + return nullptr; } -active_diagnostic_request_t& diagnostic_manager_t::get_free_entry() +std::shared_ptr diagnostic_manager_t::get_can_bus_dev() { - //FIXME: Test against empty vector - //if (request_list_entries_.empty()) - // return; - - active_diagnostic_request_t& adr = request_list_entries_.back(); - request_list_entries_.pop_back(); - return adr; + return can_bus_t::get_can_device(bus_); } bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name, @@ -162,24 +163,31 @@ bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::st cleanup_active_requests(false); bool added = true; - active_diagnostic_request_t& entry = get_free_entry(); - - // TODO: implement Acceptance Filter - // if(updateRequiredAcceptanceFilters(bus, request)) { - entry = 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)); + 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); - 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); + char request_string[128] = {0}; + diagnostic_request_to_string(&entry->get_handle()->request, request_string, + sizeof(request_string)); - non_recurring_requests_.push_back(entry); + 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; } @@ -203,54 +211,177 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con cleanup_active_requests(false); bool added = true; - if(lookup_recurring_request(request)) + if(find_recurring_request(request) == nullptr) { - active_diagnostic_request_t& entry = get_free_entry(); - // TODO: implement Acceptance Filter - //if(updateRequiredAcceptanceFilters(bus, request)) { - entry = active_diagnostic_request_t(bus_, request, name, + 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); + entry->set_handle(shims_, request); char request_string[128] = {0}; - diagnostic_request_to_string(&entry.get_handle()->request, request_string, + 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 %d: %s", - frequencyHz, bus_->get_device_name(), 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, "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; } + +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) { - can_bus_dev_t *can_bus_dev = config->get_diagnostic_manager().get_can_bus_dev(); + 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* m, ...) +void diagnostic_manager_t::shims_logger(const char* format, ...) { - DEBUG(binder_interface, "%s", m); + 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() {} - -/** - * @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); - initialized_ = true; -}