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-rw-r--r--src/configuration.cpp13
-rw-r--r--src/diagnostic/active-diagnostic-request.cpp22
-rw-r--r--src/diagnostic/active-diagnostic-request.hpp5
-rw-r--r--src/diagnostic/diagnostic-manager.cpp54
-rw-r--r--src/diagnostic/diagnostic-manager.hpp5
-rw-r--r--src/diagnostic/diagnostic-message.cpp5
-rw-r--r--src/diagnostic/diagnostic-message.hpp3
-rw-r--r--src/low-can-binding.cpp59
-rw-r--r--src/utils/timer.cpp7
-rw-r--r--src/utils/timer.hpp2
10 files changed, 167 insertions, 8 deletions
diff --git a/src/configuration.cpp b/src/configuration.cpp
index e56dc1c..85840f8 100644
--- a/src/configuration.cpp
+++ b/src/configuration.cpp
@@ -89,14 +89,19 @@ std::vector<can_signal_t>& configuration_t::get_can_signals()
return can_signals_[active_message_set_];
}
-const std::vector<can_message_definition_t>& configuration_t::get_can_message_definition()
+std::vector<obd2_signal_t>& configuration_t::get_obd2_signals()
{
- return can_message_definition_[active_message_set_];
+ return obd2_signals_[active_message_set_];
}
-std::vector<obd2_signal_t>& configuration_t::get_obd2_signals()
+const std::vector<std::string>& configuration_t::get_signals_prefix() const
{
- return obd2_signals_[active_message_set_];
+ return signals_prefix_;
+}
+
+const std::vector<can_message_definition_t>& configuration_t::get_can_message_definition()
+{
+ return can_message_definition_[active_message_set_];
}
uint32_t configuration_t::get_signal_id(obd2_signal_t& sig) const
diff --git a/src/diagnostic/active-diagnostic-request.cpp b/src/diagnostic/active-diagnostic-request.cpp
index 505d816..7a43a0d 100644
--- a/src/diagnostic/active-diagnostic-request.cpp
+++ b/src/diagnostic/active-diagnostic-request.cpp
@@ -57,6 +57,11 @@ active_diagnostic_request_t::active_diagnostic_request_t(std::shared_ptr<can_bus
in_flight_{false}, frequency_clock_{frequency_clock_t(frequencyHz)}, timeout_clock_{frequency_clock_t(10)}
{}
+uint32_t active_diagnostic_request_t::get_id() const
+{
+ return id_;
+}
+
std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev()
{
return bus_;
@@ -77,6 +82,16 @@ bool active_diagnostic_request_t::get_in_flight() const
return in_flight_;
}
+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_;
+}
+
void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request)
{
handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr));
@@ -87,6 +102,13 @@ void active_diagnostic_request_t::set_in_flight(bool val)
in_flight_ = val;
}
+bool active_diagnostic_request_t::should_send()
+{
+ return !get_in_flight() && (
+ (!get_recurring() && !request_completed()) ||
+ (get_recurring() && get_frequency_clock().elapsed(true)));
+}
+
bool active_diagnostic_request_t::timed_out()
{
// don't use staggered start with the timeout clock
diff --git a/src/diagnostic/active-diagnostic-request.hpp b/src/diagnostic/active-diagnostic-request.hpp
index 88d4008..fb87c83 100644
--- a/src/diagnostic/active-diagnostic-request.hpp
+++ b/src/diagnostic/active-diagnostic-request.hpp
@@ -88,14 +88,19 @@ public:
const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
+ uint32_t get_id() const;
std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
DiagnosticRequestHandle* get_handle();
bool get_recurring() const;
bool get_in_flight() const;
+ frequency_clock_t& get_frequency_clock();
+ frequency_clock_t& get_timeout_clock();
void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
void set_in_flight(bool val);
+ bool should_send();
+
bool timed_out();
bool response_received() const;
bool request_completed();
diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp
index 5103bf1..6e8a68c 100644
--- a/src/diagnostic/diagnostic-manager.cpp
+++ b/src/diagnostic/diagnostic-manager.cpp
@@ -261,6 +261,60 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con
return added;
}
+bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
+{
+ return (candidate->get_in_flight() && candidate != request &&
+ candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
+ candidate->get_id() == request->get_id());
+}
+
+
+/// @brief Returns true if there are no other active requests to the same arbitration ID.
+bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
+{
+ for ( auto entry : non_recurring_requests_)
+ {
+ if(conflicting(request, entry))
+ return false;
+ }
+
+ for ( auto entry : recurring_requests_)
+ {
+ if(conflicting(request, entry))
+ return false;
+ }
+ return true;
+}
+
+int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
+{
+ diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
+ DiagnosticRequest* request = (DiagnosticRequest*)userdata;
+ active_diagnostic_request_t* adr = dm.lookup_recurring_request(request);
+
+ if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
+ dm.clear_to_send(adr))
+ {
+ DEBUG(binder_interface, "Got active_diagnostic_request from recurring_requests_ queue.");
+ adr->get_frequency_clock().tick();
+ start_diagnostic_request(&dm.get_shims(), adr->get_handle());
+ if(adr->get_handle()->completed && !adr->get_handle()->success)
+ {
+ DEBUG(binder_interface, "Fatal error sending diagnostic request");
+ return 0;
+ }
+ adr->get_timeout_clock().tick();
+ adr->set_in_flight(true);
+ return 1;
+ }
+ return -1;
+}
+
+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 = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev();
diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp
index 39aae32..aa98c0b 100644
--- a/src/diagnostic/diagnostic-manager.hpp
+++ b/src/diagnostic/diagnostic-manager.hpp
@@ -17,6 +17,7 @@
#pragma once
+#include <systemd/sd-event.h>
#include <queue>
#include <vector>
@@ -94,4 +95,8 @@ public:
bool add_recurring_request(DiagnosticRequest* request, const char* name,
bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
const DiagnosticResponseCallback callback, float frequencyHz);
+
+ bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
+ bool clear_to_send(active_diagnostic_request_t* request) const;
+ static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
};
diff --git a/src/diagnostic/diagnostic-message.cpp b/src/diagnostic/diagnostic-message.cpp
index 62e97b8..cb4e691 100644
--- a/src/diagnostic/diagnostic-message.cpp
+++ b/src/diagnostic/diagnostic-message.cpp
@@ -58,6 +58,11 @@ const std::string& obd2_signal_t::get_prefix() const
return prefix_;
}
+int obd2_signal_t::get_frequency() const
+{
+ return frequency_;
+}
+
void obd2_signal_t::set_prefix(std::string val)
{
prefix_ = val;
diff --git a/src/diagnostic/diagnostic-message.hpp b/src/diagnostic/diagnostic-message.hpp
index 8301917..02c6a9f 100644
--- a/src/diagnostic/diagnostic-message.hpp
+++ b/src/diagnostic/diagnostic-message.hpp
@@ -62,6 +62,7 @@ class obd2_signal_t {
const std::string& get_generic_name() const;
const std::string get_name() const;
const std::string& get_prefix() const;
+ int get_frequency() const;
void set_prefix(std::string val);
@@ -71,5 +72,5 @@ class obd2_signal_t {
bool is_obd2_request(DiagnosticRequest *request);
bool is_obd2_signal(const char *name);
- float decode_obd2_response(const DiagnosticResponse* response, float parsedPayload);
+ static float decode_obd2_response(const DiagnosticResponse* response, float parsedPayload);
}; \ No newline at end of file
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index 52e893d..7baf147 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -72,6 +72,44 @@ static int create_event_handle(const std::string& sig_name, std::map<std::string
return 1;
}
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig, DiagnosticRequest* diag_req, int frequency)
+{
+ int ret;
+ sd_event_source *source;
+
+ std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+ std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+ if (s.find(sig) != s.end() && !afb_event_is_valid(s[sig]))
+ {
+ if(!subscribe)
+ {
+ NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed.");
+ ret = -1;
+ }
+ else
+ {
+ /* Event it isn't valid anymore, recreate it */
+ sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source, CLOCK_MONOTONIC, frequency, 0,
+ configuration_t::instance().get_diagnostic_manager().send_request, diag_req);
+ ret = create_event_handle(sig, s);
+ }
+ }
+ else
+ {
+ /* Event doesn't exist , so let's create it */
+ struct afb_event empty_event = {nullptr, nullptr};
+ subscribed_signals[sig] = empty_event;
+ ret = create_event_handle(sig, s);
+ }
+
+ /* Check whether or not the event handler has been correctly created and
+ * make the subscription/unsubscription operation is so.
+ */
+ if (ret <= 0)
+ return ret;
+ return make_subscription_unsubscription(request, sig, s, subscribe);
+}
+
static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
{
int ret;
@@ -125,10 +163,25 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe,
const std::string& can_prefix = configuration_t::instance().get_can_signals().front().get_prefix();
const std::string& obd2_prefix = configuration_t::instance().get_obd2_signals().front().get_prefix();
- for(auto& sig : signals)
+ for(const std::string& sig : signals)
{
- //if (sig.find_first_of())
- int ret = subscribe_unsubscribe_signal(request, subscribe, sig);
+ int ret;
+ if (sig.find_first_of(can_prefix.c_str(), 0, can_prefix.size()))
+ ret = subscribe_unsubscribe_signal(request, subscribe, sig);
+ else if (sig.find_first_of(obd2_prefix.c_str(), 0, obd2_prefix.size()))
+ {
+ std::vector<obd2_signal_t*> found;
+ configuration_t::instance().find_obd2_signals(build_DynamicField(sig), found);
+ int frequency = found.front()->get_frequency();
+ DiagnosticRequest* diag_req = new DiagnosticRequest(found.front()->build_diagnostic_request());
+ configuration_t::instance().get_diagnostic_manager().add_recurring_request(
+ diag_req, sig.c_str(), false, obd2_signal_t::decode_obd2_response, nullptr, (float)frequency);
+ //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, obd2_signal_t::decode_obd2_response, obd2_signal_t::check_ignition_status, frequency);
+ ret = subscribe_unsubscribe_signal(request, subscribe, sig, diag_req,frequency);
+ }
+ else
+ ret = -1;
+
if(ret <= 0)
return ret;
rets++;
diff --git a/src/utils/timer.cpp b/src/utils/timer.cpp
index 966178b..1461ac4 100644
--- a/src/utils/timer.cpp
+++ b/src/utils/timer.cpp
@@ -71,3 +71,10 @@ bool frequency_clock_t::elapsed(bool stagger)
return frequency_ == 0 || elapsed_time >= period;
}
+
+/// @brief Force the clock to tick, regardless of it its time has actually
+/// elapsed.
+void frequency_clock_t::tick()
+{
+ last_tick_ = get_time_function()();
+} \ No newline at end of file
diff --git a/src/utils/timer.hpp b/src/utils/timer.hpp
index 8037b85..ce6336e 100644
--- a/src/utils/timer.hpp
+++ b/src/utils/timer.hpp
@@ -56,4 +56,6 @@ public:
bool started();
time_function_t get_time_function();
bool elapsed(bool stagger);
+
+ void tick();
}; \ No newline at end of file