diff options
Diffstat (limited to 'CAN-binder')
4 files changed, 125 insertions, 100 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 index 2a939ed8..4018b6be 100644 --- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp +++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp @@ -146,6 +146,11 @@ frequency_clock_t& active_diagnostic_request_t::get_timeout_clock() return timeout_clock_; } +utils::socketcan_bcm_t& active_diagnostic_request_t::get_socket() +{ + return socket_; +} + void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request) { handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr)); diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp index 247eeb17..e8c5dbf7 100644 --- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp +++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp @@ -20,6 +20,7 @@ #include <string> #include <vector> +#include "../utils/socketcan-bcm.hpp" #include "uds/uds.h" #include "uds/uds_types.h" #include "../utils/timer.hpp" @@ -85,6 +86,7 @@ private: ///< 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. + utils::socketcan_bcm_t socket_; ///< tx_socket_ - A BCM socket setup to send cyclic message to CAN ID 7DF. public: bool operator==(const active_diagnostic_request_t& b); active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr); @@ -108,6 +110,7 @@ public: bool get_in_flight() const; frequency_clock_t& get_frequency_clock(); frequency_clock_t& get_timeout_clock(); + utils::socketcan_bcm_t& get_socket(); void set_handle(DiagnosticShims& shims, DiagnosticRequest* request); void set_in_flight(bool val); diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp index 75cc5514..a52bd8fd 100644 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp @@ -17,6 +17,7 @@ #include <systemd/sd-event.h> #include <algorithm> +#include <string.h> #include "diagnostic-manager.hpp" @@ -55,6 +56,21 @@ bool diagnostic_manager_t::initialize() return initialized_; } +void diagnostic_manager_t::read_socket() +{ + can_message_t msg; + can_bus_t& cbm = configuration_t::instance().get_can_bus_manager(); + socket_ >> msg; + std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); + { cbm.push_new_can_message(msg); } + cbm.get_new_can_message_cv().notify_one(); +} + +utils::socketcan_bcm_t& diagnostic_manager_t::get_socket() +{ + return socket_; +} + /// @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. @@ -71,6 +87,51 @@ void diagnostic_manager_t::reset() cleanup_active_requests(true); } +/// @brief Adds 8 RX_SETUP jobs to the BCM rx_socket_ then diagnotic manager +/// listens on CAN ID range 7E8 - 7EF affected to the OBD2 communications. +/// +/// @return -1 or negative value on error, 0 if ok. +int diagnostic_manager_t::add_rx_filter(uint32_t can_id) +{ + // Make sure that socket has been opened. + if(! socket_) + socket_.open(bus_); + + struct utils::simple_bcm_msg bcm_msg; + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + + const struct timeval freq = recurring_requests_.back()->get_timeout_clock().get_timeval_from_period(); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.flags = SETTIMER|RX_FILTER_ID; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + + // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job + if(can_id != OBD2_FUNCTIONAL_RESPONSE_START) + { + bcm_msg.msg_head.can_id = can_id; + + socket_ << bcm_msg; + if(! socket_) + return -1; + } + else + { + for(uint8_t i = 0; i < 8; i++) + { + can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; + bcm_msg.msg_head.can_id = can_id; + + socket_ << bcm_msg; + if(! socket_) + return -1; + } + } + + return 0; +} + /// @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. @@ -83,10 +144,36 @@ void diagnostic_manager_t::reset() /// @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()); + diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager(); + active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests(); + utils::socketcan_bcm_t& tx_socket = current_adr->get_socket(); + + // Make sure that socket has been opened. + if(! tx_socket) + tx_socket.open( + dm.get_can_bus()); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + + struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period(); + + bcm_msg.msg_head.opcode = TX_SETUP; + bcm_msg.msg_head.can_id = arbitration_id; + bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID; + bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec; + bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec; + bcm_msg.msg_head.nframes = 1; + ::memcpy(cfd.data, data, size); + + bcm_msg.frames = cfd; + + tx_socket << bcm_msg; + if(tx_socket) + return true; return false; } @@ -113,8 +200,9 @@ void diagnostic_manager_t::shims_timer() {} std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev() +active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const { - return can_bus_t::get_can_device(bus_); + return recurring_requests_.back(); } /// @brief Return diagnostic manager shims member. @@ -251,13 +339,13 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const /// @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, +active_diagnostic_request_t* 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 = nullptr; if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) { @@ -281,9 +369,8 @@ bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::st { 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; + return entry; } bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) @@ -348,63 +435,42 @@ bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyH /// @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, +active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz) { + active_diagnostic_request_t* entry = nullptr; + if(!validate_optional_request_attributes(frequencyHz)) - return false; + return entry; 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); + + entry->set_handle(shims_, request); + if(add_rx_filter(OBD2_FUNCTIONAL_BROADCAST_ID) < 0) + { recurring_requests_.pop_back(); } + else + { start_diagnostic_request(&shims_, entry->get_handle()); } } 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; + { DEBUG(binder_interface, "%s: Can't add request, one already exists with same key", __FUNCTION__);} + return entry; } /// @brief Returns true if there are two active requests running for the same arbitration ID. @@ -442,61 +508,6 @@ bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) c 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 @@ -543,6 +554,8 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_dia adr->get_callback()(adr, &response, value); } + // Reset the completed flag handle to make sure that it will be reprocessed the next time. + adr->get_handle()->completed = false; return message; } diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp index a160c9c8..65ff0cb5 100644 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp +++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp @@ -21,6 +21,7 @@ #include <map> #include <vector> +#include "../utils/socketcan-bcm.hpp" #include "uds/uds.h" #include "openxc.pb.h" #include "../can/can-bus.hpp" @@ -55,15 +56,18 @@ private: 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*/ + utils::socketcan_bcm_t socket_; ///< rx_socket_ - a BCM socket with 8 RX_SETUP jobs for the 8 CAN ID on which ECU could respond. void init_diagnostic_shims(); void reset(); + int add_rx_filter(uint32_t can_id); public: diagnostic_manager_t(); bool initialize(); - std::shared_ptr<can_bus_dev_t> get_can_bus_dev(); + std::string get_can_bus(); + active_diagnostic_request_t* get_last_recurring_requests() const; DiagnosticShims& get_shims(); void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list); @@ -76,11 +80,11 @@ public: const DiagnosticResponse& response, float parsedPayload); // Subscription parts - bool add_request(DiagnosticRequest* request, const std::string name, + active_diagnostic_request_t* 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, + active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name, bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz); |