Made some cleaning about unused things or obsolete.
Review existing comments, adding missing comments.
Reformat some long long constructor.
Change-Id: Ibae247d1295a7a85b49d0ecee473022755d42b8b
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
: message_set_id_{message_set_id}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE}
{}
-can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed)
- : message_set_id_{message_set_id}, bus_{bus}, id_{id}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}
+can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
+ const std::string bus,
+ uint32_t id,
+ frequency_clock_t frequency_clock,
+ bool force_send_changed)
+ : message_set_id_{message_set_id},
+ bus_{bus},
+ id_{id},
+ frequency_clock_{frequency_clock},
+ force_send_changed_{force_send_changed},
+ last_value_{CAN_MESSAGE_SIZE}
{}
-can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed)
- : message_set_id_{message_set_id}, bus_{bus}, id_{id}, format_{format}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}
+can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
+ const std::string bus,
+ uint32_t id,
+ can_message_format_t format,
+ frequency_clock_t frequency_clock,
+ bool force_send_changed)
+ : message_set_id_{message_set_id},
+ bus_{bus},
+ id_{id},
+ format_{format},
+ frequency_clock_{frequency_clock},
+ force_send_changed_{force_send_changed},
+ last_value_{CAN_MESSAGE_SIZE}
{}
uint32_t can_message_definition_t::get_id() const
: maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
{}
-can_message_t::can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag, uint8_t flags, std::vector<uint8_t> data)
- : maxdlen_{maxdlen}, id_{id}, length_{length}, format_{format}, rtr_flag_{rtr_flag}, flags_{flags}, data_{data}
+can_message_t::can_message_t(uint8_t maxdlen,
+ uint32_t id,
+ uint8_t length,
+ can_message_format_t format,
+ bool rtr_flag,
+ uint8_t flags,
+ std::vector<uint8_t> data)
+ : maxdlen_{maxdlen},
+ id_{id},
+ length_{length},
+ format_{format},
+ rtr_flag_{rtr_flag},
+ flags_{flags},
+ data_{data}
{}
/**
{
}
-
+const std::string configuration_t::get_diagnostic_bus() const
+{
+ return "vcan0";
+}
#include "utils/signals.hpp"
-// Dumb signals and message implementation. To get compile.
-/*std::vector<can_message_set_t> CAN_MESSAGE_SET;
-
-std::vector<std::vector<can_message_definition_t>> CAN_MESSAGES_DEFINITION;
-
-std::vector<std::vector<can_signal_t>> SIGNALS;*/
-
+/// @brief Return singleton instance of configuration object.
configuration_t& configuration_t::instance()
{
static configuration_t config;
return config;
}
-configuration_t& configuration_t::get_configuration()
-{
- return *this;
-}
-
can_bus_t& configuration_t::get_can_bus_manager()
{
return can_bus_manager_;
return diagnostic_messages_[active_message_set_];
}
-const std::vector<std::string>& configuration_t::get_signals_prefix() const
-{
- return signals_prefix_;
-}
-
const std::vector<can_message_definition_t>& configuration_t::get_can_message_definition()
{
return can_message_definition_[active_message_set_];
active_message_set_ = id;
}
-/**
- * @fn std::vector<std::string> find_can_signals(const openxc_DynamicField &key)
- * @brief return signals name found searching through CAN_signals and OBD2 pid
- *
- * @param[in] key - can contain numeric or string value in order to search against
- * can signals or obd2 signals name.
- *
- * @return Vector of signals name found.
- */
+/// @brief return diagnostic messages name found searching through diagnostic messages list.
+///
+/// @param[in] key - can contain numeric or string value in order to search against
+/// can signals or obd2 signals name.
+/// @param[out] found_signals - Vector of signals name found.
+///
void configuration_t::find_diagnostic_messages(const openxc_DynamicField &key, std::vector<diagnostic_message_t*>& found_signals)
{
switch(key.type)
DEBUG(binder_interface, "find_diagnostic_messages: Found %d signal(s)", (int)found_signals.size());
}
-/**
- * @fn void find_can_signals(const openxc_DynamicField& key, std::vector<can_signal_t*>& found_signals)
- * @brief return signals name found searching through CAN_signals and OBD2 pid
- *
- * @param[in] key - can contain numeric or string value in order to search against
- * can signals or obd2 signals name.
- * @param[out] found_signals - provided vector to fill with ponter to signals matched.
- *
- */
+/// @brief return signals name found searching through CAN signals list.
+///
+/// @param[in] key - can contain numeric or string value in order to search against
+/// can signals or obd2 signals name.
+/// @param[out] found_signals - provided vector to fill with pointer to matched signals.
+///
void configuration_t::find_can_signals(const openxc_DynamicField& key, std::vector<can_signal_t*>& found_signals)
{
switch(key.type)
break;
}
DEBUG(binder_interface, "find_can_signals: Found %d signal(s)", (int)found_signals.size());
-}
\ No newline at end of file
+}
class configuration_t
{
private:
- can_bus_t can_bus_manager_ = can_bus_t(afb_daemon_rootdir_open_locale(binder_interface->daemon, "etc/can_buses.json", O_RDONLY, NULL));
- diagnostic_manager_t diagnostic_manager_;
- uint8_t active_message_set_ = 0;
- std::vector<std::string> signals_prefix_;
+ can_bus_t can_bus_manager_ = can_bus_t(
+ afb_daemon_rootdir_open_locale(
+ binder_interface->daemon, "etc/can_buses.json", O_RDONLY, NULL)); ///< instanciate the CAN bus
+ ///< This will read the configuration file and initialize all CAN devices specified in it.
+ diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication.
+ uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0.
std::vector<can_message_set_t> can_message_set_;
std::vector<std::vector<can_message_definition_t>> can_message_definition_;
std::vector<std::vector<can_signal_t>> can_signals_;
std::vector<std::vector<diagnostic_message_t>> diagnostic_messages_;
- /// Private constructor with implementation generated by the AGL generator.
- configuration_t();
+ configuration_t(); ///< Private constructor with implementation generated by the AGL generator.
public:
static configuration_t& instance();
- configuration_t& get_configuration() ;
-
can_bus_t& get_can_bus_manager();
const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
*/
};
-// TEMP Function to access OBD2_PIDS vector
-std::vector<diagnostic_message_t> get_predefined_obd2();
#define ERROR_PID 0xFF
+// @brief
std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
in_flight_ = val;
}
-/**
-* @brief Check if requested signal name is an obd2 pid
-*
-* @return true if name began with obd2 else false.
-*/
+///
+/// @brief Check if requested signal name is a diagnostic message. If the name
+/// begin with the diagnostic message prefix then true else false.
+///
+/// @param[in] name - A signal name.
+///
+/// @return true if name began with the diagnostic message prefix else false.
+///
bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name)
{
const std::string p = active_diagnostic_request_t::prefix_ + "*";
return false;
}
+/// @brief Check is the request should be sent or not
+///
+/// @return true if the request isn't already running and not
+/// recurring nor completed, or it is recurring its clock elapsed so it's
+/// time to send another one.
bool active_diagnostic_request_t::should_send()
{
return !get_in_flight() && (
(get_recurring() && get_frequency_clock().elapsed(true)));
}
+/// @brief check if the timeout clock has elapsed
+///
+/// @return true if elapsed, so it is a timeout, else false.
bool active_diagnostic_request_t::timed_out()
{
// don't use staggered start with the timeout clock
class active_diagnostic_request_t;
class diagnostic_manager_t;
-/* Public: The signature for an optional function that can apply the neccessary
- * formula to translate the binary payload into meaningful data.
- *
- * response - the received DiagnosticResponse (the data is in response.payload,
- * a byte array). This is most often used when the byte order is
- * signiticant, i.e. with many OBD-II PID formulas.
- * parsed_payload - the entire payload of the response parsed as an int.
- */
+/// @brief The signature for an optional function that can apply the neccessary
+/// formula to translate the binary payload into meaningful data.
+///
+/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
+/// a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas.
+/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
+///
+/// @return float value after decoding.
+///
typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
float parsed_payload);
-/* Public: The signature for an optional function to handle a new diagnostic
- * response.
- *
- * manager - The DiagnosticsManager providing this response.
- * request - The original diagnostic request.
- * response - The response object that was just received.
- * parsed_payload - The payload of the response, parsed as a float.
- */
+/// @brief: The signature for an optional function to handle a new diagnostic
+/// response.
+///
+/// @param[in] request - The original diagnostic request.
+/// @param[in] response - The response object that was just received.
+/// @param[in] parsed_payload - The payload of the response, parsed as a float.
+///
typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request,
const DiagnosticResponse* response, float parsed_payload);
-/**
- * @brief An active diagnostic request, either recurring or one-time.
- */
+///
+/// @brief An active diagnostic request, either recurring or one-time.
+///
+/// @desc Will host a diagnostic_message_t class members to describe an on going
+/// diagnostic request on the CAN bus. Diagnostic message will be converted to
+/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
+/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
+/// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
+/// an active_diagnostic_request_t object before sending it.
+///
class active_diagnostic_request_t {
private:
- std::string bus_; /*!< bus_ - The CAN bus this request should be made on, or is currently in flight-on*/
- uint32_t id_; /*!< id_ - The arbitration ID (aka message ID) for the request.*/
- DiagnosticRequestHandle* handle_; /*!< handle_ - A handle for the request to keep track of it between
- * sending the frames of the request and receiving all frames of the response.*/
- std::string name_; /*!< name_ - An optional human readable name this response, to be used when publishing received
- * responses. If the name is NULL, the published output will use the raw OBD-II response format.*/
- static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
- * which make easier to sort message when the come in.*/
- DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
- * to this request. If the decoder is NULL, the output will include the raw payload
- * instead of a parsed value.*/
- DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
- * response is received for this request.*/
- bool recurring_; /*!< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
- * The frequencyClock attribute controls how often a recurrin request is made.*/
- bool wait_for_multiple_responses_; /*!< wait_for_multiple_responses_ - False by default, when any response is received for a request
- * it will be removed from the active list. If true, the request will remain active until the timeout
- * clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).*/
- bool in_flight_; /*!< in_flight_ - True if the request has been sent and we are waiting for a response.*/
- frequency_clock_t frequency_clock_; /*!< frequency_clock_ - A frequency_clock_t object to control the send rate for a
- * recurring request. If the request is not reecurring, this attribute is not used.*/
- frequency_clock_t timeout_clock_; /*!< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
- * this request was sent.*/
+ std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on
+ uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request.
+ DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between
+ ///< sending the frames of the request and receiving all frames of the response.
+ std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
+ ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format.
+ static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting
+ ///< incoming CAN messages.
+ DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
+ ///< to this request. If the decoder is NULL, the output will include the raw payload
+ ///< instead of a parsed value.
+ DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
+ ///< response is received for this request.
+ bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
+ ///< The frequencyClock attribute controls how often a recurrin request is made.
+ bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request
+ ///< it will be removed from the active list. If true, the request will remain active until the timeout
+ ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).
+ bool in_flight_; ///< in_flight_ - True if the request has been sent and we are waiting for a response.
+ frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
+ ///< recurring request. If the request is not reecurring, this attribute is not used.
+ frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
+ ///< this request was sent.
public:
bool operator==(const active_diagnostic_request_t& b);
active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
const std::string& name, bool wait_for_multiple_responses,
const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
-
+
uint32_t get_id() const;
const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
DiagnosticRequestHandle* get_handle();
bool get_in_flight() const;
frequency_clock_t& get_frequency_clock();
frequency_clock_t& get_timeout_clock();
-
+
void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
void set_in_flight(bool val);
: initialized_{false}
{}
+/// @brief Diagnostic manager isn't initialized at launch but after
+/// CAN bus devices initialization. For the moment, it is only possible
+/// to have 1 diagnostic bus which are the first bus declared in the JSON
+/// description file. Configuration instance will return it.
+///
+/// @desc this will initialize DiagnosticShims and cancel all active requests
+/// if there are any.
bool diagnostic_manager_t::initialize()
{
- // Mandatory to set the bus before intiliaze shims.
+ // Mandatory to set the bus before intialize shims.
bus_ = configuration_t::instance().get_diagnostic_bus();
init_diagnostic_shims();
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
- * required by most member functions.
- */
+/// @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");
}
+/// @brief Force cleanup all active requests.
void diagnostic_manager_t::reset()
{
- if(initialized_)
- {
- DEBUG(binder_interface, "Clearing existing diagnostic requests");
- cleanup_active_requests(true);
- }
+ DEBUG(binder_interface, "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.
+///
+/// @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.
+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_t> 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);
+}
+/// @brief The type signature for an optional logging function, if the user
+/// wishes to provide one. It should print, store or otherwise display the
+/// message.
+///
+/// message - A format string to log using the given parameters.
+/// ... (vargs) - the parameters for the format string.
+///
+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);
+}
+
+/// @brief The type signature for a... OpenXC TODO: not used yet.
+void diagnostic_manager_t::shims_timer()
+{}
+
+std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
+{
+ return can_bus_t::get_can_device(bus_);
+}
+
+/// @brief Return diagnostic manager shims member.
+DiagnosticShims& diagnostic_manager_t::get_shims()
+{
+ return shims_;
+}
+
+/// @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
+/// contained in the vector but no event if connected to, so we will decode uneeded request.
+///
+/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
+/// @param[in] requests_list - a vector where to make the search and cleaning.
void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
{
auto i = std::find(requests_list.begin(), requests_list.end(), entry);
requests_list.erase(i);
}
-/// Move the entry to the free list and decrement the lock count for any
-/// CAN filters it used.
+// @brief TODO: implement cancel_request if needed... Don't know.
void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
{
}*/
}
+/// @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
+/// 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->get_in_flight() && entry->request_completed()))
}
}
-/// @brief Clean up the request list
+/// @brief Clean up all requests lists, recurring and not recurring.
+///
+/// @param[in] force - Force the cleaning or not ? If true, that will do
+/// the same effect as a call to reset().
void diagnostic_manager_t::cleanup_active_requests(bool force)
{
for(auto& entry : non_recurring_requests_)
cleanup_request(entry, force);
}
-/// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if
+/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
/// not found.
+///
+/// @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)
{
for (auto& entry : recurring_requests_)
return nullptr;
}
-std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
-{
- return can_bus_t::get_can_device(bus_);
-}
-
+/// @brief Add and send a new one-time diagnostic request.
+///
+/// @desc 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.
+///
+/// For an example, see the docs for addRecurringRequest. This function is very
+/// similar but leaves out the frequencyHz parameter.
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - Human readable name this response, to be used when
+/// publishing received responses. TODO: If the name is NULL, the published output
+/// will use the raw OBD-II response format.
+/// @param[in] waitForMultipleResponses - If false, When any response is received
+/// for this request it will be removed from the active list. If true, the
+/// request will remain active until the timeout clock expires, to allow it
+/// to receive multiple response. Functional broadcast requests will always
+/// waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+/// responses to this request. If the decoder is NULL, the output will
+/// include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+/// response is received for this request.
+///
+/// @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,
bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback)
return true;
}
+/// @brief Add and send a new recurring diagnostic request.
+///
+/// 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);
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - An optional human readable name this response, to be used when
+/// publishing received responses. If the name is NULL, the published output
+/// will use the raw OBD-II response format.
+/// @param[in] waitForMultipleResponses - If false, When any response is received
+/// for this request it will be removed from the active list. If true, the
+/// request will remain active until the timeout clock expires, to allow it
+/// to receive multiple response. Functional broadcast requests will always
+/// waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+/// responses to this request. If the decoder is NULL, the output will
+/// include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+/// response is received for this request.
+/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
+/// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
+/// function return false.
+///
+/// @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,
bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz)
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 &&
return true;
}
+/// @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();
if(adr->get_handle()->completed && !adr->get_handle()->success)
{
DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request");
- return 0;
+ sd_event_source_unref(s);
+ return -1;
}
adr->get_timeout_clock().tick();
adr->set_in_flight(true);
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);
+ return -2;
+ }
+ 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;
+ return -3;
}
+/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
+///
+/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
+/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
+///
+/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
{
openxc_VehicleMessage message = build_VehicleMessage();
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_t> 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()
-{}
#include "../low-can-binding.hpp"
-/* Private: Each CAN bus needs its own set of shim functions, so this should
+/* Each CAN bus needs its own set of shim functions, so this should
* match the maximum CAN controller count.
*/
#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
class active_diagnostic_request_t;
/**
- * @brief The core structure for running the diagnostics module on the VI.
+ * @brief The core structure for running the diagnostics module by the binding.
*
* @desc This stores details about the active requests and shims required to connect
- * the diagnostics library to the VI's CAN peripheral.
+ * the diagnostics library to the CAN device.
*/
class diagnostic_manager_t {
protected:
void cleanup_active_requests(bool force);
active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
- bool validate_optional_request_attributes(float frequencyHz);
-
void checkSupportedPids(const active_diagnostic_request_t& request,
const DiagnosticResponse& response, float parsedPayload);
bool add_request(DiagnosticRequest* request, const std::string name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback);
+ bool validate_optional_request_attributes(float frequencyHz);
bool add_recurring_request(DiagnosticRequest* request, const char* name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
"NM"
};
-diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min, const int max, enum UNIT unit, float frequency,
- DiagnosticResponseDecoder decoder, DiagnosticResponseCallback callback, bool supported)
- : pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit}, frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported}
+diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min,
+ const int max, enum UNIT unit, float frequency, DiagnosticResponseDecoder decoder,
+ DiagnosticResponseCallback callback, bool supported)
+ : pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit},
+ frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported}
{}
uint32_t diagnostic_message_t::get_pid()
* instead of a parsed value.*/
DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
* response is received for this request.*/
-
+
bool supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/
public:
}
/*else
{
- // Event it isn't valid annymore, recreate it
+ // Event it isn't valid annymore, recreate it
ret = create_event_handle(sig, s);
}*/
}
std::vector<diagnostic_message_t*> found;
configuration_t::instance().find_diagnostic_messages(build_DynamicField(sig), found);
DiagnosticRequest* diag_req = new DiagnosticRequest(found.front()->build_diagnostic_request());
-
+
// If the requested diagnostic message isn't supported by the car then unssubcribe.
// no matter what we want, worse case will be a fail unsubscription but at least we don't
// poll a PID for nothing.
Code Review / apps / low-level-can-service.git / commitdiff