From 32e25cbca210a359b09768537b6f443fe90a3070 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Tue, 20 Jun 2017 10:24:05 +0000 Subject: Separation Generator to a dedicated repo Change-Id: Id94831651c3266861435272a6e36c7884bef2c45 Signed-off-by: Romain Forlot --- .../diagnostic/active-diagnostic-request.cpp | 182 -------- .../diagnostic/active-diagnostic-request.hpp | 117 ----- .../diagnostic/diagnostic-manager.cpp | 508 --------------------- .../diagnostic/diagnostic-manager.hpp | 91 ---- .../diagnostic/diagnostic-message.cpp | 113 ----- .../diagnostic/diagnostic-message.hpp | 82 ---- 6 files changed, 1093 deletions(-) delete mode 100644 CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp delete mode 100644 CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp delete mode 100644 CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp delete mode 100644 CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp delete mode 100644 CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp delete mode 100644 CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp (limited to 'CAN-binder/low-can-binding/diagnostic') diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp deleted file mode 100644 index f503e0a5..00000000 --- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp +++ /dev/null @@ -1,182 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" - * - * 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 -#include - -#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/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp deleted file mode 100644 index d263a2d2..00000000 --- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp +++ /dev/null @@ -1,117 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" - * - * 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 -#include - -#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/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp deleted file mode 100644 index 61aa699d..00000000 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp +++ /dev/null @@ -1,508 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" - * - * 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 -#include -#include - -#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& 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/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp deleted file mode 100644 index 05a67c81..00000000 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp +++ /dev/null @@ -1,91 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" - * - * 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 -#include -#include - -#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 recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/ - std::vector 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& 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/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp deleted file mode 100644 index 69ca4e34..00000000 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp +++ /dev/null @@ -1,113 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" - * - * 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 - -#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/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp deleted file mode 100644 index 99c48110..00000000 --- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp +++ /dev/null @@ -1,82 +0,0 @@ -/* - * Copyright (C) 2015, 2016 "IoT.bzh" - * Author "Romain Forlot" - * - * 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 -#include - -#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); -}; -- cgit 1.2.3-korg