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Diffstat (limited to 'CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp | 508 |
1 files changed, 0 insertions, 508 deletions
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 61aa699..0000000 --- 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" <romain.forlot@iot.bzh> - * - * 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 <systemd/sd-event.h> -#include <algorithm> -#include <string.h> - -#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<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); -} - -/// @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; -} |