diff options
Diffstat (limited to 'src/diagnostic/diagnostic-manager.cpp')
| -rw-r--r-- | src/diagnostic/diagnostic-manager.cpp | 238 |
1 files changed, 189 insertions, 49 deletions
diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp index 2c0a4d92..7ff86449 100644 --- a/src/diagnostic/diagnostic-manager.cpp +++ b/src/diagnostic/diagnostic-manager.cpp @@ -33,9 +33,16 @@ 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. +/// +/// @desc this will initialize DiagnosticShims and cancel all active requests +/// if there are any. bool diagnostic_manager_t::initialize() { - // Mandatory to set the bus before intiliaze shims. + // Mandatory to set the bus before intialize shims. bus_ = configuration_t::instance().get_diagnostic_bus(); init_diagnostic_shims(); @@ -46,27 +53,78 @@ bool diagnostic_manager_t::initialize() 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. - */ +/// @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() { - if(initialized_) - { - DEBUG(binder_interface, "Clearing existing diagnostic requests"); - cleanup_active_requests(true); - } + 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_); + return can_bus_dev->shims_send(arbitration_id, data, size); +} +/// @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); @@ -74,8 +132,7 @@ void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, st requests_list.erase(i); } -/// Move the entry to the free list and decrement the lock count for any -/// CAN filters it used. +// @brief TODO: implement cancel_request if needed... Don't know. void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry) { @@ -97,6 +154,12 @@ void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry) }*/ } +/// @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->get_in_flight() && entry->request_completed())) @@ -122,7 +185,10 @@ void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, b } } -/// @brief Clean up the request list +/// @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_) @@ -134,8 +200,11 @@ void diagnostic_manager_t::cleanup_active_requests(bool force) cleanup_request(entry, force); } -/// @brief Will return the active_diagnostic_request_t pointer of found request or nullptr if +/// @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_) @@ -152,11 +221,32 @@ active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const return nullptr; } -std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev() -{ - return can_bus_t::get_can_device(bus_); -} - +/// @brief Add and send a new one-time diagnostic request. +/// +/// @desc 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] waitForMultipleResponses - 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) @@ -202,6 +292,59 @@ bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyH 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] waitForMultipleResponses - 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) @@ -255,7 +398,7 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con 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 && @@ -281,6 +424,17 @@ bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) c return true; } +/// @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(); @@ -296,7 +450,8 @@ int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void * if(adr->get_handle()->completed && !adr->get_handle()->success) { DEBUG(binder_interface, "send_request: Fatal error sending diagnostic request"); - return 0; + sd_event_source_unref(s); + return -1; } adr->get_timeout_clock().tick(); adr->set_in_flight(true); @@ -307,14 +462,24 @@ int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void * 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+1000000) >= 0) if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0) - return 1; + { + sd_event_source_unref(s); + return -2; + } + return 1; } } sd_event_source_unref(s); ERROR(binder_interface, "send_request: Something goes wrong when submitting a new request to the CAN bus"); - return -1; + return -3; } +/// @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(); @@ -423,28 +588,3 @@ bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm) return true; return false; } - -DiagnosticShims& diagnostic_manager_t::get_shims() -{ - return shims_; -} - -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_); - return can_bus_dev->shims_send(arbitration_id, data, size); -} - -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); -} - -void diagnostic_manager_t::shims_timer() -{} |