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-rw-r--r--low-can-binding/diagnostic/active-diagnostic-request.cpp182
-rw-r--r--low-can-binding/diagnostic/active-diagnostic-request.hpp117
-rw-r--r--low-can-binding/diagnostic/diagnostic-manager.cpp508
-rw-r--r--low-can-binding/diagnostic/diagnostic-manager.hpp91
-rw-r--r--low-can-binding/diagnostic/diagnostic-message.cpp113
-rw-r--r--low-can-binding/diagnostic/diagnostic-message.hpp82
6 files changed, 1093 insertions, 0 deletions
diff --git a/low-can-binding/diagnostic/active-diagnostic-request.cpp b/low-can-binding/diagnostic/active-diagnostic-request.cpp
new file mode 100644
index 00000000..f503e0a5
--- /dev/null
+++ b/low-can-binding/diagnostic/active-diagnostic-request.cpp
@@ -0,0 +1,182 @@
+/*
+ * 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 "../binding/application.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_;
+ frequency_clock_ = adr.frequency_clock_;
+ timeout_clock_ = adr.timeout_clock_;
+ socket_ = adr.socket_;
+ }
+
+ 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},
+ frequency_clock_{frequency_clock_t()},
+ timeout_clock_{frequency_clock_t()},
+ socket_{}
+{}
+
+active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, uint32_t id,
+ const std::string& name,
+ bool wait_for_multiple_responses,
+ const DiagnosticResponseDecoder decoder,
+ const DiagnosticResponseCallback callback,
+ float frequencyHz)
+ : bus_{bus},
+ id_{id},
+ handle_{nullptr},
+ name_{name},
+ decoder_{decoder},
+ callback_{callback},
+ recurring_{frequencyHz ? true : false},
+ wait_for_multiple_responses_{wait_for_multiple_responses},
+ frequency_clock_{frequency_clock_t(frequencyHz)},
+ timeout_clock_{frequency_clock_t(10)},
+ socket_{}
+{}
+
+active_diagnostic_request_t::~active_diagnostic_request_t()
+{
+ socket_.close();
+ delete handle_;
+ handle_ = nullptr;
+}
+
+uint32_t active_diagnostic_request_t::get_id() const
+{
+ return id_;
+}
+
+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_;
+}
+
+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_;
+}
+
+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));
+}
+
+///
+/// @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 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 && handle_->success;
+}
diff --git a/low-can-binding/diagnostic/active-diagnostic-request.hpp b/low-can-binding/diagnostic/active-diagnostic-request.hpp
new file mode 100644
index 00000000..d263a2d2
--- /dev/null
+++ b/low-can-binding/diagnostic/active-diagnostic-request.hpp
@@ -0,0 +1,117 @@
+/*
+ * 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 "../utils/socketcan-bcm.hpp"
+#include "uds/uds.h"
+#include "uds/uds_types.h"
+#include "../utils/timer.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).
+ 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.
+ utils::socketcan_bcm_t socket_; ///< 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);
+
+ active_diagnostic_request_t();
+ active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
+ active_diagnostic_request_t(const std::string& bus, uint32_t id,
+ const std::string& name, bool wait_for_multiple_responses,
+ const DiagnosticResponseDecoder decoder,
+ const DiagnosticResponseCallback callback, float frequencyHz);
+ ~active_diagnostic_request_t();
+
+ uint32_t get_id() 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;
+ 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);
+
+ static bool is_diagnostic_signal(const std::string& name);
+
+ bool response_received() const;
+};
diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp
new file mode 100644
index 00000000..61aa699d
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -0,0 +1,508 @@
+/*
+ * 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 <string.h>
+
+#include "diagnostic-manager.hpp"
+
+#include "../utils/openxc-utils.hpp"
+#include "../utils/signals.hpp"
+#include "../binding/application.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_ = application_t::instance().get_diagnostic_bus();
+
+ init_diagnostic_shims();
+ reset();
+
+ initialized_ = true;
+ DEBUG("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("Shims initialized");
+}
+
+/// @brief Force cleanup all active requests.
+void diagnostic_manager_t::reset()
+{
+ DEBUG("Clearing existing diagnostic requests");
+ cleanup_active_requests(true);
+}
+
+/// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type.
+/// That socket will send cyclic messages configured from a diagnostic request.
+///
+/// @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)
+{
+ diagnostic_manager_t& dm = application_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_bus_device_name());
+
+ 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;
+ cfd.can_dlc = size;
+ ::memcpy(cfd.data, data, size);
+
+ bcm_msg.frames = cfd;
+
+ tx_socket << bcm_msg;
+ if(tx_socket)
+ return true;
+ 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("%s", buffer);
+ va_end(args);
+}
+
+/// @brief The type signature for a... OpenXC TODO: not used yet.
+void diagnostic_manager_t::shims_timer()
+{}
+
+const std::string diagnostic_manager_t::get_bus_name() const
+{
+ return bus_;
+}
+
+const std::string diagnostic_manager_t::get_bus_device_name() const
+{
+ return application_t::instance().get_can_bus_manager()
+ .get_can_device_name(bus_);
+}
+
+active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
+{
+ return recurring_requests_.back();
+}
+
+/// @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 Free memory allocated on active_diagnostic_request_t object and close the socket.
+void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
+{
+ entry->get_socket().close();
+ delete entry;
+ entry = nullptr;
+}
+
+/// @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(entry != nullptr && (force || entry->response_received()))
+ {
+ char request_string[128] = {0};
+ diagnostic_request_to_string(&entry->get_handle()->request,
+ request_string, sizeof(request_string));
+ if(force && entry->get_recurring())
+ {
+ cancel_request(entry);
+ find_and_erase(entry, recurring_requests_);
+ DEBUG("Cancelling completed, recurring request: %s", request_string);
+ }
+ else if (!entry->get_recurring())
+ {
+ DEBUG("Cancelling completed, non-recurring request: %s", request_string);
+ cancel_request(entry);
+ find_and_erase(entry, non_recurring_requests_);
+ }
+ }
+}
+
+/// @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(DiagnosticRequest& request)
+{
+ for (auto& entry : recurring_requests_)
+ {
+ if(entry != nullptr)
+ {
+ if(diagnostic_request_equals(&entry->get_handle()->request, &request))
+ {return entry;}
+ }
+ }
+ return nullptr;
+}
+
+/// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME
+///
+/// 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,
+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);
+
+ active_diagnostic_request_t* entry = nullptr;
+
+ 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->arbitration_id, 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));
+
+ // Erase any existing request not already cleaned.
+ cleanup_request(entry, true);
+ DEBUG("Added one-time diagnostic request on bus %s: %s",
+ bus_.c_str(), request_string);
+
+ non_recurring_requests_.push_back(entry);
+ }
+ else
+ {
+ WARNING("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);
+ }
+ return entry;
+}
+
+/// @brief Validate frequency asked don't get higher than the maximum of a classical
+/// CAN bus OBD2 request.
+///
+/// @param[in] frequencyHz - frequency asked for sending diagnostic requests.
+///
+/// @return True if frequency is below the Maximum false if not.
+bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
+{
+ if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
+ DEBUG("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
+/// add_recurring_request with the same key, it will return an error.
+///
+/// @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,
+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 entry;
+
+ cleanup_active_requests(false);
+
+ if(find_recurring_request(*request) == nullptr)
+ {
+ if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
+ {
+ entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
+ wait_for_multiple_responses, decoder, callback, frequencyHz);
+ recurring_requests_.push_back(entry);
+
+ entry->set_handle(shims_, request);
+ start_diagnostic_request(&shims_, entry->get_handle());
+ }
+ else
+ {
+ WARNING("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);
+ }
+ }
+ else
+ { DEBUG("Can't add request, one already exists with same key");}
+ return entry;
+}
+
+/// @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 && 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)));
+ message.has_diagnostic_response = true;
+ message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
+ }
+ else
+ {
+ // If no name, only 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("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);
+ }
+
+ // Reset the completed flag handle to make sure that it will be reprocessed the next time.
+ adr->get_handle()->success = false;
+ 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(
+ entry->get_timeout_clock().get_time_function()());
+ }
+
+ 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/low-can-binding/diagnostic/diagnostic-manager.hpp b/low-can-binding/diagnostic/diagnostic-manager.hpp
new file mode 100644
index 00000000..05a67c81
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-manager.hpp
@@ -0,0 +1,91 @@
+/*
+ * 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 "../utils/socketcan-bcm.hpp"
+#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 {
+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();
+
+ 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();
+public:
+ diagnostic_manager_t();
+
+ bool initialize();
+
+ const std::string get_bus_name() const;
+ const std::string get_bus_device_name() const;
+ 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);
+ 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(DiagnosticRequest& request);
+
+ // Subscription parts
+ 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);
+ active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name,
+ bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
+ const DiagnosticResponseCallback callback, float frequencyHz);
+
+ // 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/low-can-binding/diagnostic/diagnostic-message.cpp b/low-can-binding/diagnostic/diagnostic-message.cpp
new file mode 100644
index 00000000..69ca4e34
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-message.cpp
@@ -0,0 +1,113 @@
+/*
+ * 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 "../binding/application.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)
+ : parent_{nullptr}, 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;
+}
+
+void diagnostic_message_t::set_parent(can_message_set_t* parent)
+{
+ parent_ = parent;
+}
+
+///
+/// @brief Build a DiagnosticRequest struct to be passed
+/// to diagnostic manager instance.
+///
+ const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() const
+{
+ 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/low-can-binding/diagnostic/diagnostic-message.hpp b/low-can-binding/diagnostic/diagnostic-message.hpp
new file mode 100644
index 00000000..99c48110
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-message.hpp
@@ -0,0 +1,82 @@
+/*
+ * 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-set.hpp"
+#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
+};
+
+class can_message_set_t;
+
+/// @brief - A representation of an OBD-II PID.
+class diagnostic_message_t
+{
+ private:
+ can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this diagnostic message */
+ 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);
+ void set_parent(can_message_set_t* parent);
+ const DiagnosticRequest build_diagnostic_request() const;
+
+ bool is_obd2_response(const can_message_t& can_message);
+ bool is_obd2_request(const DiagnosticRequest *request);
+};