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Diffstat (limited to 'CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp | 614 |
1 files changed, 614 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp new file mode 100644 index 00000000..ec6ec587 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -0,0 +1,614 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" <romain.forlot@iot.bzh> + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include <systemd/sd-event.h> +#include <algorithm> + +#include "diagnostic-manager.hpp" + +#include "../utils/openxc-utils.hpp" +#include "../utils/signals.hpp" +#include "../configuration.hpp" + +#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10 +#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50 +// There are only 8 slots of in flight diagnostic requests +#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8 +#define TIMERFD_ACCURACY 0 +#define MICRO 1000000 + +diagnostic_manager_t::diagnostic_manager_t() + : 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. +/// +/// this will initialize DiagnosticShims and cancel all active requests +/// if there are any. +bool diagnostic_manager_t::initialize() +{ + // Mandatory to set the bus before intialize shims. + bus_ = configuration_t::instance().get_diagnostic_bus(); + + init_diagnostic_shims(); + reset(); + + initialized_ = true; + DEBUG(binder_interface, "%s: Diagnostic Manager initialized", __FUNCTION__); + 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. +void diagnostic_manager_t::init_diagnostic_shims() +{ + shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); + DEBUG(binder_interface, "%s: Shims initialized", __FUNCTION__); +} + +/// @brief Force cleanup all active requests. +void diagnostic_manager_t::reset() +{ + DEBUG(binder_interface, "%s: Clearing existing diagnostic requests", __FUNCTION__); + 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_); + if(can_bus_dev != nullptr) + return can_bus_dev->shims_send(arbitration_id, data, size); + ERROR(binder_interface, "%s: Can not retrieve diagnostic bus: %s", __FUNCTION__, configuration_t::instance().get_diagnostic_manager().bus_.c_str()); + return false; +} + +/// @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, "%s: %s", __FUNCTION__, 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); + if ( i != requests_list.end()) + requests_list.erase(i); +} + +// @brief TODO: implement cancel_request if needed... Don't know. +void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* 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()); + }*/ +} + +/// @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 != nullptr && 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(force && entry->get_recurring()) + { + find_and_erase(entry, recurring_requests_); + cancel_request(entry); + DEBUG(binder_interface, "%s: Cancelling completed, recurring request: %s", __FUNCTION__, request_string); + } + else + { + DEBUG(binder_interface, "%s: Cancelling completed, non-recurring request: %s", __FUNCTION__, request_string); + find_and_erase(entry, non_recurring_requests_); + cancel_request(entry); + } + } +} + +/// @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_) + if (entry != nullptr) + cleanup_request(entry, force); + + for(auto& entry : recurring_requests_) + if (entry != nullptr) + cleanup_request(entry, force); +} + +/// @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_) + { + if(entry != nullptr) + { + if(diagnostic_request_equals(&entry->get_handle()->request, request)) + { + return entry; + break; + } + } + } + return nullptr; +} + +/// @brief Add and send a new one-time diagnostic request. +/// +/// 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] wait_for_multiple_responses - 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) +{ + cleanup_active_requests(false); + + bool added = true; + + 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); + + 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, "%s: Added one-time diagnostic request on bus %s: %s", __FUNCTION__, + bus_.c_str(), request_string); + + non_recurring_requests_.push_back(entry); + } + else + { + WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); + non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); + added = false; + } + return added; +} + +bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) +{ + if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) { + DEBUG(binder_interface, "%s: Requested recurring diagnostic frequency %lf is higher than maximum of %d", __FUNCTION__, + frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ); + return false; + } + 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] wait_for_multiple_responses - 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) +{ + if(!validate_optional_request_attributes(frequencyHz)) + return false; + + cleanup_active_requests(false); + + bool added = true; + if(find_recurring_request(request) == nullptr) + { + 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); + + uint64_t usec; + sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec); + if(recurring_requests_.size() > 0) + { + DEBUG(binder_interface, "%s: Added 100ms to usec to stagger sending requests", __FUNCTION__); + usec += 100000; + } + + DEBUG(binder_interface, "%s: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d", __FUNCTION__, + frequencyHz, + bus_.c_str(), + usec, + sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon))); + + if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source, + CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0) + { + ERROR(binder_interface, "%s: Request fails to be schedule through event loop", __FUNCTION__); + added = false; + } + recurring_requests_.push_back(entry); + } + else + { + WARNING(binder_interface, "%s: There isn't enough request entry. Vector exhausted %d/%d", __FUNCTION__, (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS); + recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS); + added = false; + } + } + else + { + DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__); + added = false; + } + 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 && + 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 +/// and if there aren't more than 8 requests in flight at the same time. +bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const +{ + int total_in_flight = 0; + for ( auto entry : non_recurring_requests_) + { + if(conflicting(request, entry)) + return false; + if(entry->get_in_flight()) + total_in_flight++; + } + + for ( auto entry : recurring_requests_) + { + if(conflicting(request, entry)) + return false; + if(entry->get_in_flight()) + total_in_flight++; + } + + if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS) + return false; + return true; +} + +int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr) +{ + usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period()); + DEBUG(binder_interface, "%s: Event loop state: %d. usec: %ld", __FUNCTION__, sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec); + if(sd_event_source_set_time(s, usec) >= 0) + if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0) + return 0; + sd_event_source_unref(s); + return -1; +} + +/// @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(); + DiagnosticRequest* request = (DiagnosticRequest*)userdata; + active_diagnostic_request_t* adr = dm.find_recurring_request(request); + + dm.cleanup_active_requests(false); + if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() && + dm.clear_to_send(adr)) + { + adr->get_frequency_clock().tick(); + start_diagnostic_request(&dm.shims_, adr->get_handle()); + if(adr->get_handle()->completed && !adr->get_handle()->success) + { + ERROR(binder_interface, "%s: Fatal error sending diagnostic request", __FUNCTION__); + sd_event_source_unref(s); + return -1; + } + + adr->get_timeout_clock().tick(); + adr->set_in_flight(true); + } + + if(adr != nullptr && adr->get_recurring()) + { + return dm.reschedule_request(s, usec, adr); + } + + sd_event_source_unref(s); + NOTICE(binder_interface, "%s: Request doesn't exist anymore. Canceling.'", __FUNCTION__); + return -2; +} + +/// @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(); + 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 not success but completed then the pid isn't supported + if(!response.success) + { + struct utils::signals_found found_signals; + found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name())); + found_signals.diagnostic_messages.front()->set_supported(false); + cleanup_request(adr, true); + NOTICE(binder_interface, "%s: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", __FUNCTION__, response.negative_response_code); + message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle."))); + } + + if(adr->get_callback() != nullptr) + { + adr->get_callback()(adr, &response, value); + } + + return message; +} + +/// @brief Will take the CAN message and pass it to the receive functions that will process +/// diagnostic handle for each active diagnostic request then depending on the result we will +/// return pass the diagnostic response to decode it. +/// +/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle +/// @param[in] cm - A raw CAN message. +/// +/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found. +openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm) +{ + DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length()); + if(response.completed && entry->get_handle()->completed) + { + if(entry->get_handle()->success) + return relay_diagnostic_response(entry, response); + } + else if(!response.completed && response.multi_frame) + { + // Reset the timeout clock while completing the multi-frame receive + entry->get_timeout_clock().tick(); + } + + return build_VehicleMessage(); +} + +/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle +/// member that will understand the CAN message using diagnostic_receive_can_frame function +/// from UDS-C library. Then decode it with an ad-hoc method. +/// +/// @param[in] cm - Raw CAN message received +/// +/// @return VehicleMessage with decoded value. +openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm) +{ + openxc_VehicleMessage vehicle_message = build_VehicleMessage(); + + for ( auto entry : non_recurring_requests_) + { + vehicle_message = relay_diagnostic_handle(entry, cm); + if (is_valid(vehicle_message)) + return vehicle_message; + } + + for ( auto entry : recurring_requests_) + { + vehicle_message = relay_diagnostic_handle(entry, cm); + if (is_valid(vehicle_message)) + return vehicle_message; + } + + return vehicle_message; +} + +/// @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; +} |