X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fdiagnostic%2Fdiagnostic-manager.cpp;h=6cf220c17664c9e242ba366750ade9a3498aa039;hb=ca722832efce48e92842b246eb5831c58e7a8d8e;hp=92ce33b07df009529d04e5a7adc0d62b894b7f76;hpb=7b131462d3b84f9fd5e87938c5f26d951d39a6cb;p=apps%2Flow-level-can-service.git diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp index 92ce33b..6cf220c 100644 --- a/src/diagnostic/diagnostic-manager.cpp +++ b/src/diagnostic/diagnostic-manager.cpp @@ -15,29 +15,58 @@ * 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(std::shared_ptr cbd) { + // Mandatory to set the bus before intiliaze shims. + bus_ = cbd; + + 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) { auto i = std::find(requests_list.begin(), requests_list.end(), entry); @@ -49,7 +78,7 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, st /// CAN filters it used. 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; @@ -82,77 +111,51 @@ void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, b 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_); - return true; - break; + if(diagnostic_request_equals(&entry->get_handle()->request, request)) + { + return entry; + break; + } } } - return false; + return nullptr; } -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() +std::shared_ptr diagnostic_manager_t::get_can_bus_dev() { return bus_; } -active_diagnostic_request_t* diagnostic_manager_t::get_free_entry() -{ - if (request_list_entries_.empty()) - return nullptr; - - active_diagnostic_request_t* adr = request_list_entries_.back(); - request_list_entries_.pop_back(); - return adr; -} - bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback) @@ -160,13 +163,12 @@ 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(); - if (entry != nullptr) + if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) { // TODO: implement Acceptance Filter // if(updateRequiredAcceptanceFilters(bus, request)) { - entry = new active_diagnostic_request_t(bus_, request, name, + 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); @@ -182,7 +184,8 @@ bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::st } else { - WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size()); + 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; @@ -208,45 +211,172 @@ 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(); - - if(entry != nullptr) + if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) { + sd_event_source *source; // TODO: implement Acceptance Filter //if(updateRequiredAcceptanceFilters(bus, request)) { - entry = new active_diagnostic_request_t(bus_, request, name, - wait_for_multiple_responses, decoder, callback, frequencyHz); - entry->set_handle(shims_, 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)); + char request_string[128] = {0}; + 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_->get_device_name().c_str(), request_string); - recurring_requests_.push_back(entry); + 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, "There isn't enough request entry. Vector exhausted %d/%d", (int)request_list_entries_.size(), (int)request_list_entries_.max_size()); + 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; } +bool diagnostic_manager_t::is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const +{ + if(cm.get_id() == adr.get_id() + DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET) + return true; + DEBUG(binder_interface, "Doesn't find an active diagnostic request that matches."); + return false; +} + +active_diagnostic_request_t* diagnostic_manager_t::is_diagnostic_response(const can_message_t& can_message) +{ + for (auto& entry : non_recurring_requests_) + { + if(is_diagnostic_response(*entry, can_message)) + return entry; + } + + for (auto& entry : recurring_requests_) + { + if(is_diagnostic_response(*entry, can_message)) + return entry; + } + return nullptr; +} + +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.bus_) + { + 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; +} + +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 = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev(); + std::shared_ptr can_bus_dev = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev(); return can_bus_dev->shims_send(arbitration_id, data, size); } @@ -258,13 +388,3 @@ void diagnostic_manager_t::shims_logger(const char* m, ...) 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; -}