#include "active-diagnostic-request.hpp"
+bool& operator==(const active_diagnostic_request_t& adr) const
+{
+ return (bus_ == adr.bus_ && id_ == adr.id_ && handle_ == adr.handle_) ? true : false;
+}
+
+active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr)
+ : can_bus_dev_{adr.can_bus_dev_}, id_{adr.id_}, handle_{adr.handle_}, name_{adr.name_},
+ decoder_{adr.decoder_}, callback_{adr.callback_}, reccuring_{adr.reccuring_}, wait_for_multiple_responses_{adr.wait_for_multiple_responses_},
+ in_flight_{adr.in_flight_}, frequency_clock_{adr.frequency_clock_}, timeout_clock_{adr.timeout_clock_}
+{}
+
active_diagnostic_request_t::active_diagnostic_request_t()
- : can_bus_dev_{nullptr}, uint32_t id_{0}, DiagnosticRequestHandle{nullptr}, name_{""},
+ : can_bus_dev_{nullptr}, id_{0}, handle_{nullptr}, name_{""},
decoder_{nullptr}, callback_{nullptr}, reccuring_{false}, wait_for_multiple_responses_{false},
in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()}
{}
-void updateDiagnosticRequestEntry(CanBus* bus, DiagnosticRequest* request,
- const char* name, bool waitForMultipleResponses,
+active_diagnostic_request_t(can_bus_dev_t* bus, DiagnosticRequest* request,
+ const std::string& name, bool wait_for_multiple_responses,
const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz)
+ : bus_{bus}, id_{request->arbitration_id}, handle_{nullptr}, name_{name},
+ decoder_{decoder}, callback_{callback}, reccuring_{frequencyHz ? true : false}, wait_for_multiple_responses_{wait_for_multiple_responses},
+ in_flight_{false}, frequency_clock_{frequency_clock_t(frequencyHz)}, timeout_clock_{frequency_clock_t(10)}
{
- entry->bus = bus;
- entry->arbitration_id = request->arbitration_id;
entry->handle = generate_diagnostic_request(
- &manager->shims[bus->address - 1], request, NULL);
- if(name != NULL) {
- strncpy(entry->name, name, MAX_GENERIC_NAME_LENGTH);
- } else {
- entry->name[0] = '\0';
- }
- entry->waitForMultipleResponses = waitForMultipleResponses;
-
- entry->decoder = decoder;
- entry->callback = callback;
- entry->recurring = frequencyHz != 0;
- entry->frequencyClock = {0};
- entry->frequencyClock.frequency = entry->recurring ? frequencyHz : 0;
- // time out after 100ms
- entry->timeoutClock = {0};
- entry->timeoutClock.frequency = 10;
- entry->inFlight = false;
- }
\ No newline at end of file
+ &manager->shims[bus->address - 1], request, NULL);
+}
+
+can_bus_dev_t* active_diagnostic_request_t::get_can_bus_dev()
+{
+ return can_bus_dev_;
+}
+
+DiagnosticRequestHandle& active_diagnostic_request_t::get_handle()
+{
+ return handle_;
+}
+
+bool active_diagnostic_request_t::get_recurring() const
+{
+ return recurring_;
+}
+
+bool active_diagnostic_request_t::get_in_flight() const
+{
+ return in_flight_;
+}
+
+void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest& request)
+{
+ handle_ = generate_diagnostic_request(shims_, request, nullptr)
+}
+
+void active_diagnostic_request_t::set_in_flight(bool val)
+{
+ in_flight_ = val;
+}
+
+bool active_diagnostic_request_t::timed_out() const
+{
+ // don't use staggered start with the timeout clock
+ return timeout_clock_.elapsed(false);
+}
+
+/// @brief Returns true if a sufficient response has been received for a
+/// diagnostic request.
+///
+/// This is true when at least one response has been received and the request is
+/// configured to not wait for multiple responses. Functional broadcast requests
+/// may often wish to wait the full 100ms for modules to respond.
+bool active_diagnostic_request_t::response_received() const
+{
+ return !wait_for_multiple_responses_ &&
+ handle_.completed;
+}
+
+/// @brief Returns true if the request has timed out waiting for a response,
+/// or a sufficient number of responses has been received.
+///
+bool active_diagnostic_request_t::request_completed() const
+{
+ return response_received() ||
+ (timed_out() && diagnostic_request_sent(handle_));
+}
\ No newline at end of file
#include "uds/uds.h"
#include "../configuration.hpp"
+#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
+#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
#define MAX_REQUEST_ENTRIES 50
diagnostic_manager_t::diagnostic_manager_t()
- : request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t())
-{}
+ : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+{
+ reset();
+}
diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus)
- : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t())
-{}
+ : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false}
+{
+ reset();
+}
+
+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);
+ 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)
+{
+ 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;
+ 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, "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);
+ 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
+void diagnostic_manager_t::cleanup_active_requests(bool force)
+{
+ for(auto& entry : non_recurring_requests_)
+ cleanup_request(entry, force);
+
+ for(auto& entry : recurring_requests_)
+ 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)
+{
+ 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))
+ {
+ find_and_erase(entry, recurring_requests_);
+ //existingEntry = entry;
+ return true;
+ 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_;
+}
+
+active_diagnostic_request_t& diagnostic_manager_t::get_free_entry()
+{
+ //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;
+}
+
+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;
+ 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));
+
+ 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);
+
+ non_recurring_requests_.push_back(entry);
+
+ return added;
+}
-bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+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(lookup_recurring_request(request))
+ {
+ 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, frequencyHz);
+ 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, recurring_requests_);
+ DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %d: %s",
+ frequencyHz, bus_->get_device_name(), request_string);
+
+ recurring_requests_.push_back(entry);
+ }
+ else
+ {
+ DEBUG(binder_interface, "Can't add request, one already exists with same key");
+ added = false;
+ }
+ return added;
+}
+
+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();
return can_bus_dev->shims_send(arbitration_id, data, size);
void diagnostic_manager_t::shims_timer()
{}
-can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev()
-{
- return bus_;
-}
/**
* @brief initialize shims used by UDS lib and set initialized_ to true.
* It is needed before used the diagnostic manager fully because shims are
*/
void diagnostic_manager_t::init_diagnostic_shims()
{
- DiagnosticShims shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
+ shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
initialized_ = true;
}
\ No newline at end of file
*/
#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
+
/**
* @brief The core structure for running the diagnostics module on the VI.
*
* library (uds-c) into the VI's CAN peripheral.*/
can_bus_dev_t* bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
* explicitly spcified in the request. If NULL, all requests require an explicit bus.*/
- std::
queue<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
+ std::
vector<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When
* a response is received for a recurring request or it times out, it is
* popped from the queue and pushed onto the back. */
std::vector<active_diagnostic_request_t> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
void init_diagnostic_shims();
can_bus_dev_t* get_can_bus_dev();
+ active_diagnostic_request_t& get_free_entry();
+
+ void find_and_erase(active_diagnostic_request_t& entry, std::vector<active_diagnostic_request_t>& requests_list);
+ void cancel_request(active_diagnostic_request_t& entry);
+ void cleanup_request(active_diagnostic_request_t& entry, bool force);
+ void cleanup_active_requests(bool force);
+ bool lookup_recurring_request(const DiagnosticRequest* request);
+
+
+ bool validate_optional_request_attributes(float frequencyHz);
+ void reset();
void checkSupportedPids(const active_diagnostic_request_t& request,
- const DiagnosticResponse& response, float parsedPayload);
+ const DiagnosticResponse& response, float parsedPayload);
bool add_request(DiagnosticRequest* request, const std::string name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
bool add_recurring_request(DiagnosticRequest* request, const char* name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
-
- void reset();
};
Code Review / apps / agl-service-can-low-level.git / commitdiff