diff options
| -rw-r--r-- | src/can/can-bus.cpp | 39 | ||||
| -rw-r--r-- | src/can/can-bus.hpp | 2 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.cpp | 116 | ||||
| -rw-r--r-- | src/diagnostic/diagnostic-manager.hpp | 12 |
4 files changed, 102 insertions, 67 deletions
diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp index 18417f9..c08d1e8 100644 --- a/src/can/can-bus.cpp +++ b/src/can/can-bus.cpp @@ -115,41 +115,21 @@ int can_bus_t::process_can_signals(can_message_t& can_message) * * @return How many signals has been decoded. */ -int can_bus_t::process_diagnostic_signals(active_diagnostic_request_t* entry, const can_message_t& can_message) +int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) { int processed_signals = 0; - openxc_VehicleMessage vehicle_message; - - diagnostic_manager_t& manager = configuration_t::instance().get_diagnostic_manager(); 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(entry->get_name()) != s.end() && afb_event_is_valid(s[entry->get_name()])) + openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); + if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && + (s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name]))) { - if(manager.get_can_bus_dev() == entry->get_can_bus_dev() && entry->get_in_flight()) - { - DiagnosticResponse response = diagnostic_receive_can_frame( - // TODO: openXC todo task: eek, is bus address and array index this tightly coupled? - &manager.get_shims(), - entry->get_handle(), can_message.get_id(), can_message.get_data(), can_message.get_length()); - if(response.completed && entry->get_handle()->completed) - { - if(entry->get_handle()->success) - { - vehicle_message = manager.relay_diagnostic_response(entry, response); - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - new_decoded_can_message_.notify_one(); - processed_signals++; - } - else - DEBUG(binder_interface, "process_diagnostic_signals: Fatal error sending or receiving diagnostic request"); - } - else if(!response.completed && response.multi_frame) - // Reset the timeout clock while completing the multi-frame receive - entry->get_timeout_clock().tick(); - } + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + new_decoded_can_message_.notify_one(); + processed_signals++; } return processed_signals; @@ -180,8 +160,7 @@ void can_bus_t::can_decode_message() can_message = next_can_message(); if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - if(adr != nullptr) - process_diagnostic_signals(adr, can_message); + process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message); else process_can_signals(can_message); } diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp index a51dfb1..bedc05e 100644 --- a/src/can/can-bus.hpp +++ b/src/can/can-bus.hpp @@ -81,7 +81,7 @@ public: void stop_threads(); int process_can_signals(can_message_t& can_message); - int process_diagnostic_signals(active_diagnostic_request_t* adr, const can_message_t& can_message); + int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); can_message_t next_can_message(); void push_new_can_message(const can_message_t& can_msg); diff --git a/src/diagnostic/diagnostic-manager.cpp b/src/diagnostic/diagnostic-manager.cpp index 31eed0e..31fbf0b 100644 --- a/src/diagnostic/diagnostic-manager.cpp +++ b/src/diagnostic/diagnostic-manager.cpp @@ -255,38 +255,6 @@ bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, con } -openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const -{ - openxc_VehicleMessage message; - float value = (float)diagnostic_payload_to_integer(&response); - if(adr->get_decoder() != nullptr) - { - value = adr->get_decoder()(&response, value); - } - - if((response.success && strnlen(adr->get_name().c_str(), 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))); - } - else - { - // If no name, 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(adr->get_callback() != nullptr) - { - adr->get_callback()(adr, &response, value); - } - - return message; -} - bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const { return (candidate->get_in_flight() && candidate != request && @@ -346,6 +314,90 @@ int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void * return -1; } +openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const +{ + 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 && strnlen(adr->get_name().c_str(), 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))); + } + else + { + // If no name, 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(adr->get_callback() != nullptr) + { + adr->get_callback()(adr, &response, value); + } + + 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(); + } + + 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 diff --git a/src/diagnostic/diagnostic-manager.hpp b/src/diagnostic/diagnostic-manager.hpp index 1db8363..5a4278d 100644 --- a/src/diagnostic/diagnostic-manager.hpp +++ b/src/diagnostic/diagnostic-manager.hpp @@ -80,19 +80,23 @@ public: void checkSupportedPids(const active_diagnostic_request_t& request, const DiagnosticResponse& response, float parsedPayload); + // Subscription parts bool add_request(DiagnosticRequest* request, const std::string name, bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback); - bool add_recurring_request(DiagnosticRequest* request, const char* name, bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, const DiagnosticResponseCallback callback, float frequencyHz); - - - openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const; + // Sendig requests part 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); + + // Decoding part + openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response) const; + 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); + }; |