diff options
Diffstat (limited to 'low-can-binding/diagnostic')
| -rw-r--r-- | low-can-binding/diagnostic/active-diagnostic-request.cpp | 194 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/active-diagnostic-request.hpp | 122 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-manager.cpp | 618 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-manager.hpp | 99 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-message.cpp | 108 | ||||
| -rw-r--r-- | low-can-binding/diagnostic/diagnostic-message.hpp | 79 |
6 files changed, 0 insertions, 1220 deletions
diff --git a/low-can-binding/diagnostic/active-diagnostic-request.cpp b/low-can-binding/diagnostic/active-diagnostic-request.cpp deleted file mode 100644 index 7ddf1d5..0000000 --- a/low-can-binding/diagnostic/active-diagnostic-request.cpp +++ /dev/null @@ -1,194 +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 <map> -#include <fnmatch.h> - -#include "active-diagnostic-request.hpp" - -#include "../configuration.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_; - in_flight_ = adr.in_flight_; - frequency_clock_ = adr.frequency_clock_; - timeout_clock_ = adr.timeout_clock_; - } - - 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}, - in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()} -{} - -active_diagnostic_request_t::active_diagnostic_request_t(const std::string& 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}, recurring_{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)} -{} - -uint32_t active_diagnostic_request_t::get_id() const -{ - return id_; -} - -const std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev() const -{ - return can_bus_t::get_can_device(bus_); -} - -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_; -} - -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)); -} - -void active_diagnostic_request_t::set_in_flight(bool val) -{ - in_flight_ = val; -} - -/// -/// @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 Check is the request should be sent or not -/// -/// @return true if the request is not running or recurring nor completed, -/// or it's recurring, its clock elapsed -/// so it's time to send another one. -bool active_diagnostic_request_t::should_send() -{ - return !in_flight_ && ( (!recurring_ && !request_completed()) || - (recurring_ && frequency_clock_.elapsed(true)) ); -} - -/// @brief check if the timeout clock has elapsed -/// -/// @return true if elapsed, so it is a timeout, else false. -bool active_diagnostic_request_t::timed_out() -{ - // 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() -{ - return response_received() || - (timed_out() && diagnostic_request_sent(handle_)); -} diff --git a/low-can-binding/diagnostic/active-diagnostic-request.hpp b/low-can-binding/diagnostic/active-diagnostic-request.hpp deleted file mode 100644 index 247eeb1..0000000 --- a/low-can-binding/diagnostic/active-diagnostic-request.hpp +++ /dev/null @@ -1,122 +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. - */ - -#pragma once - -#include <string> -#include <vector> - -#include "uds/uds.h" -#include "uds/uds_types.h" -#include "../utils/timer.hpp" -#include "../can/can-bus-dev.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). - bool in_flight_; ///< in_flight_ - True if the request has been sent and we are waiting for a response. - 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. -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, DiagnosticRequest* request, - const std::string& name, bool wait_for_multiple_responses, - const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback, float frequencyHz); - - uint32_t get_id() const; - const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() 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; - 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); - - static bool is_diagnostic_signal(const std::string& name); - - bool should_send(); - - bool timed_out(); - bool response_received() const; - bool request_completed(); -}; diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp deleted file mode 100644 index e3a78d0..0000000 --- a/low-can-binding/diagnostic/diagnostic-manager.cpp +++ /dev/null @@ -1,618 +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 "diagnostic-manager.hpp" - -#include "../utils/openxc-utils.hpp" -#include "../configuration.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_ = configuration_t::instance().get_diagnostic_bus(); - - init_diagnostic_shims(); - reset(); - - initialized_ = true; - DEBUG(binder_interface, "initialize: 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(binder_interface, "init_diagnostic_shims: Shims initialized"); -} - -/// @brief Force cleanup all active requests. -void diagnostic_manager_t::reset() -{ - DEBUG(binder_interface, "Clearing existing diagnostic requests"); - cleanup_active_requests(true); -} - -/// @brief send function use by diagnostic library. Only one bus used for now -/// so diagnostic request is sent using the default diagnostic bus not matter of -/// which is specified in the diagnostic message definition. -/// -/// @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) -{ - std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_); - if(can_bus_dev != nullptr) - return can_bus_dev->shims_send(arbitration_id, data, size); - ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str()); - 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(binder_interface, "shims_logger: %s", buffer); -} - -/// @brief The type signature for a... OpenXC TODO: not used yet. -void diagnostic_manager_t::shims_timer() -{} - -std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev() -{ - return can_bus_t::get_can_device(bus_); -} - -/// @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 TODO: implement cancel_request if needed... Don't know. -void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* 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()); - }*/ -} - -/// @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((force || (entry != nullptr && 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(force && entry->get_recurring()) - { - find_and_erase(entry, recurring_requests_); - cancel_request(entry); - DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string); - } - else - { - DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string); - find_and_erase(entry, non_recurring_requests_); - cancel_request(entry); - } - } -} - -/// @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(const DiagnosticRequest* request) -{ - for (auto& entry : recurring_requests_) - { - if(entry != nullptr) - { - if(diagnostic_request_equals(&entry->get_handle()->request, request)) - { - return entry; - break; - } - } - } - return nullptr; -} - -/// @brief Add and send a new one-time diagnostic request. -/// -/// 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, -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; - - 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, 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_.c_str(), request_string); - - non_recurring_requests_.push_back(entry); - } - else - { - WARNING(binder_interface, "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); - added = false; - } - return added; -} - -bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz) -{ - if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) { - DEBUG(binder_interface, "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 -/// addRecurringRequest with the same key, it will return an error. -/// -/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the -/// response. If the request is to the functional broadcast ID (0x7df) filters -/// are added for all functional addresses (0x7e8 to 0x7f0). -/// -/// Example: -/// -/// // Creating a functional broadcast, mode 1 request for PID 2. -/// DiagnosticRequest request = { -/// arbitration_id: 0x7df, -/// mode: 1, -/// has_pid: true, -/// pid: 2 -/// }; -/// -/// // Add a recurring request, to be sent at 1Hz, and published with the -/// // name "my_pid_request" -/// addRecurringRequest(&getConfiguration()->diagnosticsManager, -/// canBus, -/// &request, -/// "my_pid_request", -/// false, -/// NULL, -/// NULL, -/// 1); -/// -/// @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, -/// -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(find_recurring_request(request) == nullptr) - { - if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS) - { - sd_event_source *source; - // TODO: implement Acceptance Filter - //if(updateRequiredAcceptanceFilters(bus, request)) { - active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name, - wait_for_multiple_responses, decoder, callback, frequencyHz); - entry->set_handle(shims_, request); - - //start_diagnostic_request(&shims_, entry->get_handle()); - //char request_string[128] = {0}; - //diagnostic_request_to_string(&entry->get_handle()->request, request_string, - // sizeof(request_string)); - - uint64_t usec; - sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec); - if(recurring_requests_.size() > 0) - { - DEBUG(binder_interface, "add_recurring_request: Added 100ms to usec to stagger sending requests"); - usec += 100000; - } - - DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d", - frequencyHz, - bus_.c_str(), - usec, - sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon))); - - if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source, - CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0) - { - ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop"); - added = false; - } - recurring_requests_.push_back(entry); - } - else - { - WARNING(binder_interface, "add_recurring_request: 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); - added = false; - } - } - else - { - DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key"); - added = false; - } - return added; -} - -/// @brief Returns true if there are two active requests running for the same arbitration ID. -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 -/// and if there aren't more than 8 requests in flight at the same time. -bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const -{ - int total_in_flight = 0; - for ( auto entry : non_recurring_requests_) - { - if(conflicting(request, entry)) - return false; - if(entry->get_in_flight()) - total_in_flight++; - } - - for ( auto entry : recurring_requests_) - { - if(conflicting(request, entry)) - return false; - if(entry->get_in_flight()) - total_in_flight++; - } - - if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS) - return false; - return true; -} - -int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr) -{ - usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period()); - DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec); - if(sd_event_source_set_time(s, usec) >= 0) - if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0) - return 0; - sd_event_source_unref(s); - return -1; -} - -/// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending -/// on the diagnostic message frequency. -/// -/// This should be called from systemd binder event loop and the event is created on add_recurring_request -/// -/// @param[in] s - Systemd event source pointer used to reschedule the new iteration. -/// @param[in] usec - previous call timestamp in microseconds. -/// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list. -/// -/// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs -/// event will be disabled. -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.find_recurring_request(request); - - dm.cleanup_active_requests(false); - if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() && - dm.clear_to_send(adr)) - { - adr->get_frequency_clock().tick(); - start_diagnostic_request(&dm.shims_, adr->get_handle()); - if(adr->get_handle()->completed && !adr->get_handle()->success) - { - ERROR(binder_interface, "send_request: Fatal error sending diagnostic request"); - sd_event_source_unref(s); - return -1; - } - - adr->get_timeout_clock().tick(); - adr->set_in_flight(true); - } - - if(adr != nullptr && adr->get_recurring()) - { - return dm.reschedule_request(s, usec, adr); - } - - sd_event_source_unref(s); - NOTICE(binder_interface, "send_request: Request doesn't exist anymore. Canceling.'"); - return -2; -} - -/// @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 && 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 not success but completed then the pid isn't supported - if(!response.success) - { - std::vector<diagnostic_message_t*> found_signals; - configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals ); - found_signals.front()->set_supported(false); - cleanup_request(adr, true); - NOTICE(binder_interface, "relay_diagnostic_response: 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); - } - - 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 -/// 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/low-can-binding/diagnostic/diagnostic-manager.hpp b/low-can-binding/diagnostic/diagnostic-manager.hpp deleted file mode 100644 index 3edb2b1..0000000 --- a/low-can-binding/diagnostic/diagnostic-manager.hpp +++ /dev/null @@ -1,99 +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. - */ - -#pragma once - -#include <systemd/sd-event.h> -#include <map> -#include <vector> - -#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 { -protected: - 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(); - -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<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/ - std::vector<active_diagnostic_request_t*> 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(); -public: - diagnostic_manager_t(); - - bool initialize(); - - std::shared_ptr<can_bus_dev_t> get_can_bus_dev(); - DiagnosticShims& get_shims(); - - 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); - active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request); - - 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 validate_optional_request_attributes(float frequencyHz); - bool add_recurring_request(DiagnosticRequest* request, const char* name, - bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder, - const DiagnosticResponseCallback callback, float frequencyHz); - - // 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; - int reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr); - 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); - 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/low-can-binding/diagnostic/diagnostic-message.cpp b/low-can-binding/diagnostic/diagnostic-message.cpp deleted file mode 100644 index 6f61557..0000000 --- a/low-can-binding/diagnostic/diagnostic-message.cpp +++ /dev/null @@ -1,108 +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 <map> - -#include "diagnostic-message.hpp" - -#include "../configuration.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) - : 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; -} - -/// -/// @brief Build a DiagnosticRequest struct to be passed -/// to diagnostic manager instance. -/// -const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() -{ - 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/low-can-binding/diagnostic/diagnostic-message.hpp b/low-can-binding/diagnostic/diagnostic-message.hpp deleted file mode 100644 index 064904d..0000000 --- a/low-can-binding/diagnostic/diagnostic-message.hpp +++ /dev/null @@ -1,79 +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. - */ - -#pragma once - -#include <vector> -#include <string> - -#include "uds/uds.h" -#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 -}; - -/// -/// @brief - A representation of an OBD-II PID. -/// -class diagnostic_message_t { - private: - 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); - - const DiagnosticRequest build_diagnostic_request(); - - bool is_obd2_response(const can_message_t& can_message); - bool is_obd2_request(const DiagnosticRequest *request); -}; |