diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/diagnostic/active-diagnostic-request.cpp | 99 | ||||
| -rw-r--r-- | src/diagnostic/active-diagnostic-request.hpp | 22 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.cpp | 214 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.hpp | 18 |
4 files changed, 313 insertions, 40 deletions
diff --git a/src/diagnostic/active-diagnostic-request.cpp b/src/diagnostic/active-diagnostic-request.cpp index 251fddbb..430e4f68 100644 --- a/src/diagnostic/active-diagnostic-request.cpp +++ b/src/diagnostic/active-diagnostic-request.cpp @@ -17,35 +17,88 @@ #include "active-diagnostic-request.hpp" +bool& operator==(const active_diagnostic_request_t& adr) const +{ + return (bus_ == adr.bus_ && id_ == adr.id_ && handle_ == adr.handle_) ? true : false; +} + +active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr) + : can_bus_dev_{adr.can_bus_dev_}, id_{adr.id_}, handle_{adr.handle_}, name_{adr.name_}, + decoder_{adr.decoder_}, callback_{adr.callback_}, reccuring_{adr.reccuring_}, wait_for_multiple_responses_{adr.wait_for_multiple_responses_}, + in_flight_{adr.in_flight_}, frequency_clock_{adr.frequency_clock_}, timeout_clock_{adr.timeout_clock_} +{} + active_diagnostic_request_t::active_diagnostic_request_t() - : can_bus_dev_{nullptr}, uint32_t id_{0}, DiagnosticRequestHandle{nullptr}, name_{""}, + : can_bus_dev_{nullptr}, id_{0}, handle_{nullptr}, name_{""}, decoder_{nullptr}, callback_{nullptr}, reccuring_{false}, wait_for_multiple_responses_{false}, in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()} {} -void updateDiagnosticRequestEntry(CanBus* bus, DiagnosticRequest* request, - const char* name, bool waitForMultipleResponses, +active_diagnostic_request_t(can_bus_dev_t* 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}, reccuring_{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)} { - entry->bus = bus; - entry->arbitration_id = request->arbitration_id; entry->handle = generate_diagnostic_request( - &manager->shims[bus->address - 1], request, NULL); - if(name != NULL) { - strncpy(entry->name, name, MAX_GENERIC_NAME_LENGTH); - } else { - entry->name[0] = '\0'; - } - entry->waitForMultipleResponses = waitForMultipleResponses; - - entry->decoder = decoder; - entry->callback = callback; - entry->recurring = frequencyHz != 0; - entry->frequencyClock = {0}; - entry->frequencyClock.frequency = entry->recurring ? frequencyHz : 0; - // time out after 100ms - entry->timeoutClock = {0}; - entry->timeoutClock.frequency = 10; - entry->inFlight = false; - }
\ No newline at end of file + &manager->shims[bus->address - 1], request, NULL); +} + +can_bus_dev_t* active_diagnostic_request_t::get_can_bus_dev() +{ + return can_bus_dev_; +} + +DiagnosticRequestHandle& active_diagnostic_request_t::get_handle() +{ + return handle_; +} + +bool active_diagnostic_request_t::get_recurring() const +{ + return recurring_; +} + +bool active_diagnostic_request_t::get_in_flight() const +{ + return in_flight_; +} + +void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest& request) +{ + handle_ = generate_diagnostic_request(shims_, request, nullptr) +} + +void active_diagnostic_request_t::set_in_flight(bool val) +{ + in_flight_ = val; +} + +bool active_diagnostic_request_t::timed_out() const +{ + // 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() const +{ + return response_received() || + (timed_out() && diagnostic_request_sent(handle_)); +}
\ No newline at end of file diff --git a/src/diagnostic/active-diagnostic-request.hpp b/src/diagnostic/active-diagnostic-request.hpp index f1128c5e..1e996c03 100644 --- a/src/diagnostic/active-diagnostic-request.hpp +++ b/src/diagnostic/active-diagnostic-request.hpp @@ -79,9 +79,25 @@ private: 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& adr) const; + active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr); active_diagnostic_request_t(); - - void updateDiagnosticRequestEntry(diagnostic_manager_t* manager, can_bus_dev_t* bus, DiagnosticRequest* request, - const std::string name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder, + active_diagnostic_request_t(active_diagnostic_request_t&&) = default; + active_diagnostic_request_t(const active_diagnostic_request_t&) = default; + active_diagnostic_request_t(can_bus_dev_t* bus, DiagnosticRequest* request, + const std::string& name, bool waitForMultipleResponses, + const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz); + + can_bus_dev_t* get_can_bus_dev(); + DiagnosticRequestHandle& get_handle(); + bool get_recurring() const; + bool get_in_flight() const; + + void set_handle(DiagnosticShims& shims, DiagnosticRequest* request); + void set_in_flight(bool val); + + bool timed_out() const; + bool response_received() const; + bool request_completed() const; }; diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp index 547b087e..0b59809e 100644 --- a/src/diagnostic/diagnostic-manager.cpp +++ b/src/diagnostic/diagnostic-manager.cpp @@ -22,17 +22,215 @@ #include "uds/uds.h" #include "../configuration.hpp" +#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10 +#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50 #define MAX_REQUEST_ENTRIES 50 diagnostic_manager_t::diagnostic_manager_t() - : request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t()) -{} + : request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false} +{ + reset(); +} diagnostic_manager_t::diagnostic_manager_t(can_bus_dev_t& bus) - : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES, active_diagnostic_request_t()) -{} + : bus_(&bus), request_list_entries_(MAX_REQUEST_ENTRIES), initialized_{false} +{ + reset(); +} + +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); +} + +/// Move the entry to the free list and decrement the lock count for any +/// CAN filters it used. +void diagnostic_manager_t::cancel_request(active_diagnostic_request_t& entry) +{ + free_request_entries_.push_back(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()); + }*/ +} + +void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t& entry, bool force) +{ + if(force || (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(entry.get_recurring()) + { + find_and_erase(entry, recurring_requests_); + if(force) + cancel_request(entry); + else + { + DEBUG(binder_interface, "Moving completed recurring request to the back of the queue: %s", request_string); + recurring_requests_.push_back(entry); + } + } + else + { + DEBUG(binder_interface, "Cancelling completed, non-recurring request: %s", request_string); + find_and_erase(entry, non_recurring_requests_); + cancel_request(entry); + } + } +} + +/// @brief Clean up the request list, move as many to the free list as possible +void diagnostic_manager_t::cleanup_active_requests(bool force) +{ + for(auto& entry : non_recurring_requests_) + cleanup_request(entry, force); + + for(auto& entry : recurring_requests_) + cleanup_request(entry, force); +} + +/// @brief Note that this pops it off of whichver list it was on and returns it, so make +/// sure to add it to some other list or it'll be lost. +bool diagnostic_manager_t::lookup_recurring_request(const DiagnosticRequest* request) +{ + active_diagnostic_request_t existingEntry; + for (auto& entry : recurring_requests_) + { + active_diagnostic_request_t& candidate = entry; + if(candidate.get_can_bus_dev()->get_device_name() == bus_->get_device_name() && + diagnostic_request_equals(&candidate.get_handle().request, request)) + { + find_and_erase(entry, recurring_requests_); + //existingEntry = entry; + return true; + break; + } + } + return false; +} + +void diagnostic_manager_t::reset() +{ + if(initialized_) + { + DEBUG(binder_interface, "Clearing existing diagnostic requests"); + cleanup_active_requests(true); + } + + for(int i = 0; i < MAX_SIMULTANEOUS_DIAG_REQUESTS; i++) + free_request_entries_.push_back(request_list_entries_[i]); +} + +can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev() +{ + return bus_; +} + +active_diagnostic_request_t& diagnostic_manager_t::get_free_entry() +{ + //FIXME: Test against empty vector + //if (request_list_entries_.empty()) + // return; + + active_diagnostic_request_t& adr = request_list_entries_.back(); + request_list_entries_.pop_back(); + return adr; +} + +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; + active_diagnostic_request_t& entry = get_free_entry(); + + // TODO: implement Acceptance Filter + // if(updateRequiredAcceptanceFilters(bus, request)) { + entry = 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_->get_device_name(), request_string); + + non_recurring_requests_.push_back(entry); + + return added; +} -bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) +bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) +{ + if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) { + DEBUG(binder_interface, "Requested recurring diagnostic frequency %d is higher than maximum of %d", + frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ); + return false; + } + return true; +} + +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(lookup_recurring_request(request)) + { + active_diagnostic_request_t& entry = get_free_entry(); + // TODO: implement Acceptance Filter + //if(updateRequiredAcceptanceFilters(bus, request)) { + entry = active_diagnostic_request_t(bus_, request, name, + wait_for_multiple_responses, decoder, callback, frequencyHz); + 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, recurring_requests_); + DEBUG(binder_interface, "Added recurring diagnostic request (freq: %f) on bus %d: %s", + frequencyHz, bus_->get_device_name(), request_string); + + recurring_requests_.push_back(entry); + } + else + { + DEBUG(binder_interface, "Can't add request, one already exists with same key"); + added = false; + } + return added; +} + +bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) { can_bus_dev_t *can_bus_dev = config->get_diagnostic_manager().get_can_bus_dev(); return can_bus_dev->shims_send(arbitration_id, data, size); @@ -46,10 +244,6 @@ void diagnostic_manager_t::shims_logger(const char* m, ...) void diagnostic_manager_t::shims_timer() {} -can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev() -{ - return bus_; -} /** * @brief initialize shims used by UDS lib and set initialized_ to true. * It is needed before used the diagnostic manager fully because shims are @@ -57,6 +251,6 @@ can_bus_dev_t* diagnostic_manager_t::get_can_bus_dev() */ void diagnostic_manager_t::init_diagnostic_shims() { - DiagnosticShims shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); + shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL); initialized_ = true; }
\ No newline at end of file diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp index 2b804a47..e4221dec 100644 --- a/src/diagnostic/diagnostic-manager.hpp +++ b/src/diagnostic/diagnostic-manager.hpp @@ -32,6 +32,7 @@ */ #define MAX_SHIM_COUNT can_bus_t.get_can_devices().size() + /** * @brief The core structure for running the diagnostics module on the VI. * @@ -49,7 +50,7 @@ private: * library (uds-c) into the VI's CAN peripheral.*/ can_bus_dev_t* 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. If NULL, all requests require an explicit bus.*/ - std::queue<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When + std::vector<active_diagnostic_request_t> recurring_requests_; /*!< recurringRequests - A queue of active, recurring diagnostic requests. When * a response is received for a recurring request or it times out, it is * popped from the queue and pushed onto the back. */ std::vector<active_diagnostic_request_t> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a @@ -69,9 +70,20 @@ public: void init_diagnostic_shims(); can_bus_dev_t* get_can_bus_dev(); + active_diagnostic_request_t& get_free_entry(); + + 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); + bool lookup_recurring_request(const DiagnosticRequest* request); + + + bool validate_optional_request_attributes(float frequencyHz); + void reset(); void checkSupportedPids(const active_diagnostic_request_t& request, - const DiagnosticResponse& response, float parsedPayload); + const DiagnosticResponse& response, float parsedPayload); bool add_request(DiagnosticRequest* request, const std::string name, bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, @@ -80,6 +92,4 @@ public: bool add_recurring_request(DiagnosticRequest* request, const char* name, bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz); - - void reset(); }; |