return device_name_;
}
+uint32_t can_bus_dev_t::get_address() const
+{
+ return address_;
+}
+
/// @brief Open the can socket and returning it
/// @return -1 if something wrong.
int can_bus_dev_t::open()
can_bus_dev_t(const std::string& dev_name, int32_t address);
std::string get_device_name() const;
+ uint32_t get_address() const;
int open();
int close();
}
+int can_bus_t::process_can_signals(can_message_t& can_message)
+{
+ int processed_signals = 0;
+ std::vector <can_signal_t*> signals;
+ openxc_DynamicField search_key, decoded_message;
+ openxc_VehicleMessage vehicle_message;
+
+ /* First we have to found which can_signal_t it is */
+ search_key = build_DynamicField((double)can_message.get_id());
+ signals.clear();
+ configuration_t::instance().find_can_signals(search_key, signals);
+
+ /* Decoding the message ! Don't kill the messenger ! */
+ for(auto& sig : signals)
+ {
+ std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+ std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+
+ /* DEBUG message to make easier debugger STL containers...
+ DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
+ DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
+ DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
+ DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
+ if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
+ {
+ decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
+
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
+ vehicle_message = build_VehicleMessage(s_message);
+
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(vehicle_message);
+ new_decoded_can_message_.notify_one();
+ processed_signals++;
+ }
+ }
+
+ DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
+ return processed_signals;
+}
+
+int can_bus_t::process_diagnostic_signals(active_diagnostic_request_t* entry, const can_message_t& can_message)
+{
+ int processed_signals = 0;
+ openxc_VehicleMessage vehicle_message;
+
+ diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager();
+
+ std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+ std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+
+ if( s.find(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()]))
+ {
+ if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight())
+ {
+ DiagnosticResponse response = diagnostic_receive_can_frame(
+ // TODO: openXC todo task: eek, is bus address and array index this tightly coupled?
+ &manager.get_shims(),
+ entry->get_handle(), can_message.get_id(), can_message.get_data(), can_message.get_length());
+ if(response.completed && entry->get_handle()->completed)
+ {
+ if(entry->get_handle()->success)
+ {
+ vehicle_message = manager.relay_diagnostic_response(entry, response);
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(vehicle_message);
+ new_decoded_can_message_.notify_one();
+ processed_signals++;
+ }
+ else
+ DEBUG(binder_interface, "Fatal error sending or receiving diagnostic request");
+ }
+ else if(!response.completed && response.multi_frame)
+ // Reset the timeout clock while completing the multi-frame receive
+ entry->get_timeout_clock().tick();
+ }
+ }
+
+ return processed_signals;
+}
+
/**
* @brief thread to decoding raw CAN messages.
*
* subscription has been made. Can message will be decoded using translateSignal that will pass it to the
* corresponding decoding function if there is one assigned for that signal. If not, it will be the default
* noopDecoder function that will operate on it.
+*
+* Depending on the nature of message, if id match a diagnostic request corresponding id for a response
+* then decoding a diagnostic message else use classic CAN signals decoding functions.
+*
+* TODO: make diagnostic messages parsing optionnal.
*/
void can_bus_t::can_decode_message()
{
can_message_t can_message;
- std::vector <can_signal_t*> signals;
- openxc_VehicleMessage vehicle_message;
- openxc_DynamicField search_key, decoded_message;
while(is_decoding_)
{
new_can_message_cv_.wait(can_message_lock);
can_message = next_can_message();
- /* First we have to found which can_signal_t it is */
- search_key = build_DynamicField((double)can_message.get_id());
- signals.clear();
- configuration_t::instance().find_can_signals(search_key, signals);
-
- /* Decoding the message ! Don't kill the messenger ! */
- for(auto& sig : signals)
- {
- std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
- std::map<std::string, struct afb_event>& s = get_subscribed_signals();
-
- /* DEBUG message to make easier debugger STL containers...
- DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
- DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
- DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
- DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
- if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
- {
- decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
-
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_generic_name(), decoded_message);
- vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
-
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(vehicle_message);
- new_decoded_can_message_.notify_one();
- }
- }
+ active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message);
+ if(adr != nullptr)
+ process_diagnostic_signals(adr, can_message);
+ else
+ process_can_signals(can_message);
}
}
#include "can-signals.hpp"
#include "can-message.hpp"
#include "can-bus-dev.hpp"
+#include "../obd2/active-diagnostic-request.hpp"
#include "../low-can-binding.hpp"
void start_threads();
void stop_threads();
+ int process_can_signals(can_message_t& can_message);
+ int process_diagnostic_signals(active_diagnostic_request_t* adr, const can_message_t& can_message);
+
can_message_t next_can_message();
void push_new_can_message(const can_message_t& can_msg);
std::mutex& get_can_message_mutex();
#include "diagnostic-manager.hpp"
#include "uds/uds.h"
+#include "../utils/openxc-utils.hpp"
#include "../configuration.hpp"
#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
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 &&
#include <vector>
#include "uds/uds.h"
+#include "openxc.pb.h"
#include "../can/can-bus-dev.hpp"
#include "../can/can-message.hpp"
#include "active-diagnostic-request.hpp"
* match the maximum CAN controller count.
*/
#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
+#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
class active_diagnostic_request_t;
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
+ bool is_diagnostic_response(const active_diagnostic_request_t& adr, const can_message_t& cm) const;
+ active_diagnostic_request_t* is_diagnostic_response(const can_message_t& can_message);
+
+ openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const;
+
bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
bool clear_to_send(active_diagnostic_request_t* request) const;
static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
#include "openxc-utils.hpp"
-openxc_VehicleMessage build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type type, const openxc_SimpleMessage& message)
+#include "../configuration.hpp"
+
+openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value)
{
- struct timeb t_msec;
- long long int timestamp_msec;
-
- openxc_VehicleMessage v;
-
- if(!::ftime(&t_msec))
+ openxc_VehicleMessage message;
+
+ message.has_type = true;
+ message.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_DIAGNOSTIC;
+ message.has_diagnostic_response = true;
+ message.diagnostic_response.has_bus = true;
+ message.diagnostic_response.bus = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev()->get_address();
+ message.diagnostic_response.has_message_id = true;
+
+ if(request->get_id() != OBD2_FUNCTIONAL_BROADCAST_ID)
+ {
+ message.diagnostic_response.message_id = response.arbitration_id
+ - DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET;
+ }
+ else
{
- timestamp_msec = ((long long int) t_msec.time) * 1000ll +
- (long long int) t_msec.millitm;
+ // must preserve responding arb ID for responses to functional broadcast
+ // requests, as they are the actual module address and not just arb ID +
+ // 8.
+ message.diagnostic_response.message_id = response.arbitration_id;
+ }
- v.has_type = true;
- v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
- v.has_simple_message = true;
- v.simple_message = message;
- v.has_timestamp = true;
- v.timestamp = timestamp_msec;
+ message.diagnostic_response.has_mode = true;
+ message.diagnostic_response.mode = response.mode;
+ message.diagnostic_response.has_pid = response.has_pid;
+ if(message.diagnostic_response.has_pid)
+ message.diagnostic_response.pid = response.pid;
+ message.diagnostic_response.has_success = true;
+ message.diagnostic_response.success = response.success;
+ message.diagnostic_response.has_negative_response_code = !response.success;
+ message.diagnostic_response.negative_response_code =
+ response.negative_response_code;
- return v;
+ if(response.payload_length > 0)
+ {
+ if(request->get_decoder() != nullptr)
+ {
+ message.diagnostic_response.has_value = true;
+ message.diagnostic_response.value = parsed_value;
+ }
+ else
+ {
+ message.diagnostic_response.has_payload = true;
+ ::memcpy(message.diagnostic_response.payload.bytes, response.payload,
+ response.payload_length);
+ message.diagnostic_response.payload.size = response.payload_length;
+ }
}
+ return message;
+}
+
+openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message)
+{
+ openxc_VehicleMessage v;
+
v.has_type = true,
v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
v.has_simple_message = true;
v.simple_message = message;
+ v.has_timestamp = true;
+ v.timestamp = system_time_ms();
return v;
}
#include <sys/timeb.h>
#include "openxc.pb.h"
+#include "../obd2/active-diagnostic-request.hpp"
/**
- * @fn openxc_VehicleMessage build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type type, const openxc_SimpleMessage& message);
- *
* @brief Build a specific VehicleMessage containing a SimpleMessage.
*
- * @param[in] type - The type of message to build
* @param[in] message - simple message to include into openxc_VehicleMessage
*
* @return a vehicle message including simple message that will be convert into
* a JSON object before being pushed to the subscribers
*/
-openxc_VehicleMessage build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type type, const openxc_SimpleMessage& message);
+openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value);
+openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message);
/**
* @fn openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value);
Code Review / apps / low-level-can-service.git / commitdiff