diff options
Diffstat (limited to 'CAN-binder/low-can-binding/diagnostic')
6 files changed, 1220 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp new file mode 100644 index 00000000..7ddf1d51 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp @@ -0,0 +1,194 @@ +/* + * 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 <map> +#include <fnmatch.h> + +#include "active-diagnostic-request.hpp" + +#include "../configuration.hpp" + +#define ERROR_PID 0xFF + +std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages"; + +bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b) +{ + return (bus_ == b.bus_ && id_ == b.id_ && handle_ == b.handle_); +} + +active_diagnostic_request_t& active_diagnostic_request_t::operator=(const active_diagnostic_request_t& adr) +{ + if (this != &adr) + { + bus_ = adr.bus_; + id_ = adr.id_; + handle_ = adr.handle_; + name_ = adr.name_; + decoder_ = adr.decoder_; + callback_ = adr.callback_; + recurring_ = adr.recurring_; + wait_for_multiple_responses_ = adr.wait_for_multiple_responses_; + in_flight_ = adr.in_flight_; + frequency_clock_ = adr.frequency_clock_; + timeout_clock_ = adr.timeout_clock_; + } + + return *this; +} + +active_diagnostic_request_t::active_diagnostic_request_t() + : bus_{nullptr}, id_{0}, handle_{nullptr}, name_{""}, + decoder_{nullptr}, callback_{nullptr}, recurring_{false}, wait_for_multiple_responses_{false}, + in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()} +{} + +active_diagnostic_request_t::active_diagnostic_request_t(const std::string& 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}, recurring_{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)} +{} + +uint32_t active_diagnostic_request_t::get_id() const +{ + return id_; +} + +const std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev() const +{ + return can_bus_t::get_can_device(bus_); +} + +uint16_t active_diagnostic_request_t::get_pid() const +{ + if (handle_->request.has_pid) + return handle_->request.pid; + return ERROR_PID; +} + +DiagnosticRequestHandle* active_diagnostic_request_t::get_handle() +{ + return handle_; +} + +const std::string active_diagnostic_request_t::get_name() const +{ + return name_; +} + +std::string& active_diagnostic_request_t::get_prefix() +{ + return active_diagnostic_request_t::prefix_; +} + +DiagnosticResponseDecoder& active_diagnostic_request_t::get_decoder() +{ + return decoder_; +} + +DiagnosticResponseCallback& active_diagnostic_request_t::get_callback() +{ + return callback_; +} + +bool active_diagnostic_request_t::get_recurring() const +{ + return recurring_; +} + +bool active_diagnostic_request_t::get_in_flight() const +{ + return in_flight_; +} + +frequency_clock_t& active_diagnostic_request_t::get_frequency_clock() +{ + return frequency_clock_; +} + +frequency_clock_t& active_diagnostic_request_t::get_timeout_clock() +{ + return timeout_clock_; +} + +void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request) +{ + handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr)); +} + +void active_diagnostic_request_t::set_in_flight(bool val) +{ + in_flight_ = val; +} + +/// +/// @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_ + "*"; + if(::fnmatch(p.c_str(), name.c_str(), FNM_CASEFOLD) == 0) + return true; + return false; +} + +/// @brief Check is the request should be sent or not +/// +/// @return true if the request is not running or recurring nor completed, +/// or it's recurring, its clock elapsed +/// so it's time to send another one. +bool active_diagnostic_request_t::should_send() +{ + return !in_flight_ && ( (!recurring_ && !request_completed()) || + (recurring_ && 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 + 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() +{ + return response_received() || + (timed_out() && diagnostic_request_sent(handle_)); +} diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp new file mode 100644 index 00000000..247eeb17 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp @@ -0,0 +1,122 @@ +/* + * 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. + */ + +#pragma once + +#include <string> +#include <vector> + +#include "uds/uds.h" +#include "uds/uds_types.h" +#include "../utils/timer.hpp" +#include "../can/can-bus-dev.hpp" + +class active_diagnostic_request_t; +class diagnostic_manager_t; + +/// @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); + +/// @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. +/// +/// 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_ - 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); + + active_diagnostic_request_t(); + active_diagnostic_request_t(active_diagnostic_request_t&&) = default; + active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request, + 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(); + uint16_t get_pid() const; + const std::string get_name() const; + static std::string& get_prefix(); + DiagnosticResponseDecoder& get_decoder(); + DiagnosticResponseCallback& get_callback(); + bool get_recurring() const; + 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); + + static bool is_diagnostic_signal(const std::string& name); + + bool should_send(); + + bool timed_out(); + bool response_received() const; + bool request_completed(); +}; 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..e3a78d0f --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -0,0 +1,618 @@ +/* + * 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 "../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, "initialize: Diagnostic Manager initialized"); + 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, "init_diagnostic_shims: Shims initialized"); +} + +/// @brief Force cleanup all active requests. +void diagnostic_manager_t::reset() +{ + 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_); + if(can_bus_dev != nullptr) + return can_bus_dev->shims_send(arbitration_id, data, size); + ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", 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, "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); + 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, "cleanup_request: Cancelling completed, recurring request: %s", request_string); + } + else + { + 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 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, "Added one-time diagnostic request on bus %s: %s", + bus_.c_str(), request_string); + + non_recurring_requests_.push_back(entry); + } + else + { + WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (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, "Requested recurring diagnostic frequency %lf is higher than maximum of %d", + 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); + + //start_diagnostic_request(&shims_, entry->get_handle()); + //char request_string[128] = {0}; + //diagnostic_request_to_string(&entry->get_handle()->request, request_string, + // sizeof(request_string)); + + 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, "add_recurring_request: Added 100ms to usec to stagger sending requests"); + usec += 100000; + } + + DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d", + 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, "add_recurring_request: Request fails to be schedule through event loop"); + added = false; + } + recurring_requests_.push_back(entry); + } + else + { + 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, "add_recurring_request: Can't add request, one already exists with same key"); + 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, "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) >= 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, "send_request: Fatal error sending diagnostic request"); + 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, "send_request: Request doesn't exist anymore. Canceling.'"); + 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) + { + std::vector<diagnostic_message_t*> found_signals; + configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals ); + found_signals.front()->set_supported(false); + cleanup_request(adr, true); + NOTICE(binder_interface, "relay_diagnostic_response: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", 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; +} diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp new file mode 100644 index 00000000..3edb2b12 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp @@ -0,0 +1,99 @@ +/* + * 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. + */ + +#pragma once + +#include <systemd/sd-event.h> +#include <map> +#include <vector> + +#include "uds/uds.h" +#include "openxc.pb.h" +#include "../can/can-bus.hpp" +#include "active-diagnostic-request.hpp" + +/// 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() +#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8 + +class active_diagnostic_request_t; + +/// +/// @brief The core structure for running the diagnostics module by the binding. +/// +/// This stores details about the active requests and shims required to connect +/// the diagnostics library to the CAN device. +/// +class diagnostic_manager_t { +protected: + static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size); + static void shims_logger(const char* m, ...); + static void shims_timer(); + +private: + DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics + * library (uds-c) into the VI's CAN peripheral.*/ + std::string 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. Default to the first bus CAN at initialization.*/ + std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/ + std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a + * response is received for a non-recurring request or it times out, it is removed*/ + bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/ + + void init_diagnostic_shims(); + void reset(); +public: + diagnostic_manager_t(); + + bool initialize(); + + std::shared_ptr<can_bus_dev_t> get_can_bus_dev(); + DiagnosticShims& get_shims(); + + 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); + active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request); + + void checkSupportedPids(const active_diagnostic_request_t& request, + const DiagnosticResponse& response, float parsedPayload); + + // Subscription parts + 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); + + // Sendig requests part + bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const; + bool clear_to_send(active_diagnostic_request_t* request) const; + int reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr); + static int send_request(sd_event_source *s, uint64_t usec, void *userdata); + + // Decoding part + openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response); + openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm); + openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm); + bool is_diagnostic_response(const can_message_t& cm); + +}; diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp new file mode 100644 index 00000000..6f615574 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp @@ -0,0 +1,108 @@ +/* + * 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 <map> + +#include "diagnostic-message.hpp" + +#include "../configuration.hpp" +#include "../utils/signals.hpp" + +const char *UNIT_NAMES[10] = { + "POURCENT", + "DEGREES_CELSIUS", + "KPA", + "RPM", + "GRAMS_SEC", + "SECONDS", + "KM", + "KM_H", + "PA", + "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} +{} + +uint32_t diagnostic_message_t::get_pid() +{ + return (uint32_t)pid_; +} + +const std::string& diagnostic_message_t::get_generic_name() const +{ + return generic_name_; +} + +const std::string diagnostic_message_t::get_name() const +{ + return active_diagnostic_request_t::get_prefix() + "." + generic_name_; +} + +float diagnostic_message_t::get_frequency() const +{ + return frequency_; +} + +DiagnosticResponseDecoder diagnostic_message_t::get_decoder() const +{ + return decoder_; +} +DiagnosticResponseCallback diagnostic_message_t::get_callback() const +{ + return callback_; +} + +bool diagnostic_message_t::get_supported() const +{ + return supported_; +} + +void diagnostic_message_t::set_supported(bool value) +{ + supported_ = value; +} + +/// +/// @brief Build a DiagnosticRequest struct to be passed +/// to diagnostic manager instance. +/// +const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() +{ + return {/*arbitration_id: */OBD2_FUNCTIONAL_BROADCAST_ID, + /*mode: */0x1, + /*has_pid: */true, + /*pid: */pid_, + /*pid_length: */0, + /*payload[]: */{0}, + /*payload_length: */0, + /*no_frame_padding: */false, + /*DiagnosticRequestType: */DiagnosticRequestType::DIAGNOSTIC_REQUEST_TYPE_PID }; +} + +/// +/// @brief Check if a request is an OBD-II PID request. +/// +/// @return true if the request is a mode 1 request and it has a 1 byte PID. +/// +bool diagnostic_message_t::is_obd2_request(const DiagnosticRequest* request) +{ + return request->mode == 0x1 && request->has_pid && request->pid < 0xff; +} diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp new file mode 100644 index 00000000..064904d2 --- /dev/null +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp @@ -0,0 +1,79 @@ +/* + * 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. + */ + +#pragma once + +#include <vector> +#include <string> + +#include "uds/uds.h" +#include "../can/can-message.hpp" +#include "active-diagnostic-request.hpp" + +enum UNIT { + POURCENT, + DEGREES_CELSIUS, + KPA, + RPM, + GRAMS_SEC, + SECONDS, + KM, + KM_H, + PA, + NM, + INVALID +}; + +/// +/// @brief - A representation of an OBD-II PID. +/// +class diagnostic_message_t { + private: + uint8_t pid_; /*!< pid_ - The 1 byte PID.*/ + std::string generic_name_; /*!< generic_name_ - A human readable name to use for this PID when published.*/ + int min_; /*!< min_ - Minimum value that can take this pid */ + int max_; /*!< max_ - Maximum value that can take this pid */ + enum UNIT unit_; /*!< unit_ : Which unit system is used by that pid. See enum UNIT above.*/ + float frequency_; /*!< frequency_ - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/ + 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 supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/ + + public: + const char* generic_name = generic_name_.c_str(); + 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); + + uint32_t get_pid(); + const std::string& get_generic_name() const; + const std::string get_name() const; + float get_frequency() const; + DiagnosticResponseDecoder get_decoder() const; + DiagnosticResponseCallback get_callback() const; + bool get_supported() const; + + void set_supported(bool value); + + const DiagnosticRequest build_diagnostic_request(); + + bool is_obd2_response(const can_message_t& can_message); + bool is_obd2_request(const DiagnosticRequest *request); +}; |