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Commit 37e69d77 authored by Enrico Granata's avatar Enrico Granata
Browse files

Post-O. Finalize Vehicle HAL support for OBD2 diagnostics. 

Add OBD2_DTC_INFO property to VHAL. This property returns a list of timestamps for which freeze frames are available to be read.
Make OBD2_FREEZE_FRAME indexed on timestamp, such that one has to pass a timestamp to retrieve the freeze frame at that timestamp.
Add OBD2_DTC_CLEAR to delete some or all of the freeze frames stored.

Test: build
Change-Id: I30344ffd6e7527f076b3382c32f5507973c9985b
parent f53dfca3

automotive/vehicle/2.0/default/impl/DefaultConfig.h

+12 −0
Original line number Diff line number Diff line
@@ -174,6 +174,18 @@ const VehiclePropConfig kVehicleProperties[] = { 
        .access = VehiclePropertyAccess::READ,

        .changeMode = VehiclePropertyChangeMode::ON_CHANGE,

        .configArray = {0,0}

    },



    {

        .prop = toInt(VehicleProperty::OBD2_FREEZE_FRAME_INFO),

        .access = VehiclePropertyAccess::READ,

        .changeMode = VehiclePropertyChangeMode::ON_CHANGE

    },



    {

        .prop = toInt(VehicleProperty::OBD2_FREEZE_FRAME_CLEAR),

        .access = VehiclePropertyAccess::WRITE,

        .changeMode = VehiclePropertyChangeMode::ON_CHANGE

    }

};

automotive/vehicle/2.0/default/impl/DefaultVehicleHal.cpp

+159 −61
Original line number Diff line number Diff line
@@ -181,87 +181,113 @@ VehiclePropValue* DefaultVehicleHal::getVehiclePropValueLocked(int32_t propId, i 
    return nullptr;

}



void DefaultVehicleHal::initObd2LiveFrame(VehiclePropConfig& obd2LiveFramePropConfig) {

    mObd2SensorStore.reset(new Obd2SensorStore(

        obd2LiveFramePropConfig.configArray[0],

        obd2LiveFramePropConfig.configArray[1]));

    // precalculate OBD2 sensor values

    mObd2SensorStore->setIntegerSensor(

static std::unique_ptr<Obd2SensorStore> fillDefaultObd2Frame(

        size_t numVendorIntegerSensors,

        size_t numVendorFloatSensors) {

    std::unique_ptr<Obd2SensorStore> sensorStore(new Obd2SensorStore(

            numVendorIntegerSensors, numVendorFloatSensors));



    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::FUEL_SYSTEM_STATUS,

        toInt(FuelSystemStatus::CLOSED_LOOP));

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::MALFUNCTION_INDICATOR_LIGHT_ON, 0);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::IGNITION_MONITORS_SUPPORTED,

        toInt(IgnitionMonitorKind::SPARK));

    mObd2SensorStore->setIntegerSensor(Obd2IntegerSensorIndex::IGNITION_SPECIFIC_MONITORS,

    sensorStore->setIntegerSensor(Obd2IntegerSensorIndex::IGNITION_SPECIFIC_MONITORS,

        CommonIgnitionMonitors::COMPONENTS_AVAILABLE |

        CommonIgnitionMonitors::MISFIRE_AVAILABLE |

        SparkIgnitionMonitors::AC_REFRIGERANT_AVAILABLE |

        SparkIgnitionMonitors::EVAPORATIVE_SYSTEM_AVAILABLE);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::INTAKE_AIR_TEMPERATURE, 35);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::COMMANDED_SECONDARY_AIR_STATUS,

        toInt(SecondaryAirStatus::FROM_OUTSIDE_OR_OFF));

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::NUM_OXYGEN_SENSORS_PRESENT, 1);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::RUNTIME_SINCE_ENGINE_START, 500);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::DISTANCE_TRAVELED_WITH_MALFUNCTION_INDICATOR_LIGHT_ON, 0);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::WARMUPS_SINCE_CODES_CLEARED, 51);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::DISTANCE_TRAVELED_SINCE_CODES_CLEARED, 365);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::ABSOLUTE_BAROMETRIC_PRESSURE, 30);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::CONTROL_MODULE_VOLTAGE, 12);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::AMBIENT_AIR_TEMPERATURE, 18);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::MAX_FUEL_AIR_EQUIVALENCE_RATIO, 1);

    mObd2SensorStore->setIntegerSensor(

    sensorStore->setIntegerSensor(

        Obd2IntegerSensorIndex::FUEL_TYPE, toInt(FuelType::GASOLINE));

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::CALCULATED_ENGINE_LOAD, 0.153);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::SHORT_TERM_FUEL_TRIM_BANK1, -0.16);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::LONG_TERM_FUEL_TRIM_BANK1, -0.16);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::SHORT_TERM_FUEL_TRIM_BANK2, -0.16);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::LONG_TERM_FUEL_TRIM_BANK2, -0.16);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::INTAKE_MANIFOLD_ABSOLUTE_PRESSURE, 7.5);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::ENGINE_RPM, 1250.);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::VEHICLE_SPEED, 40.);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::TIMING_ADVANCE, 2.5);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::THROTTLE_POSITION, 19.75);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::OXYGEN_SENSOR1_VOLTAGE, 0.265);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::FUEL_TANK_LEVEL_INPUT, 0.824);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::EVAPORATION_SYSTEM_VAPOR_PRESSURE, -0.373);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::CATALYST_TEMPERATURE_BANK1_SENSOR1, 190.);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::RELATIVE_THROTTLE_POSITION, 3.);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::ABSOLUTE_THROTTLE_POSITION_B, 0.306);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::ACCELERATOR_PEDAL_POSITION_D, 0.188);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::ACCELERATOR_PEDAL_POSITION_E, 0.094);

    mObd2SensorStore->setFloatSensor(

    sensorStore->setFloatSensor(

        Obd2FloatSensorIndex::COMMANDED_THROTTLE_ACTUATOR, 0.024);



    return sensorStore;

}



void DefaultVehicleHal::initObd2LiveFrame(VehiclePropConfig& propConfig) {

    auto sensorStore = fillDefaultObd2Frame(propConfig.configArray[0],

            propConfig.configArray[1]);

    mLiveObd2Frame = createVehiclePropValue(VehiclePropertyType::COMPLEX, 0);

    sensorStore->fillPropValue(mLiveObd2Frame.get(), "");

}



void DefaultVehicleHal::initObd2FreezeFrame(VehiclePropConfig& propConfig) {

    auto sensorStore = fillDefaultObd2Frame(propConfig.configArray[0],

            propConfig.configArray[1]);



    mFreezeObd2Frames.push_back(

            createVehiclePropValue(VehiclePropertyType::COMPLEX,0));

    mFreezeObd2Frames.push_back(

            createVehiclePropValue(VehiclePropertyType::COMPLEX,0));

    mFreezeObd2Frames.push_back(

            createVehiclePropValue(VehiclePropertyType::COMPLEX,0));



    sensorStore->fillPropValue(mFreezeObd2Frames[0].get(), "P0070");

    sensorStore->fillPropValue(mFreezeObd2Frames[1].get(), "P0102");

    sensorStore->fillPropValue(mFreezeObd2Frames[2].get(), "P0123");

}



void DefaultVehicleHal::parseRxProtoBuf(std::vector<uint8_t>& msg) {
@@ -598,11 +624,15 @@ VehicleHal::VehiclePropValuePtr DefaultVehicleHal::get( 
    switch (propId) {

    case toInt(VehicleProperty::OBD2_LIVE_FRAME):

        v = pool.obtainComplex();

        status = fillObd2LiveFrame(&v);

        status = fillObd2LiveFrame(v.get());

        break;

    case toInt(VehicleProperty::OBD2_FREEZE_FRAME):

        v = pool.obtainComplex();

        status = fillObd2FreezeFrame(&v);

        status = fillObd2FreezeFrame(requestedPropValue, v.get());

        break;

    case toInt(VehicleProperty::OBD2_FREEZE_FRAME_INFO):

        v = pool.obtainComplex();

        status = fillObd2DtcInfo(v.get());

        break;

    default:

        {
@@ -627,8 +657,14 @@ VehicleHal::VehiclePropValuePtr DefaultVehicleHal::get( 
}



StatusCode DefaultVehicleHal::set(const VehiclePropValue& propValue) {

    StatusCode status = updateProperty(propValue);



    auto propId = propValue.prop;

    StatusCode status;

    switch (propId) {

        case toInt(VehicleProperty::OBD2_FREEZE_FRAME_CLEAR):

            status = clearObd2FreezeFrames(propValue);

            break;

        default:

            status = updateProperty(propValue);

            if (status == StatusCode::OK) {

                // Send property update to emulator

                emulator::EmulatorMessage msg;
@@ -638,6 +674,8 @@ StatusCode DefaultVehicleHal::set(const VehiclePropValue& propValue) { 
                msg.set_msg_type(emulator::SET_PROPERTY_ASYNC);

                txMsg(msg);

            }

            break;

    }



    return status;

}
@@ -680,6 +718,9 @@ void DefaultVehicleHal::onCreate() { 
            case toInt(VehicleProperty::OBD2_LIVE_FRAME):

                initObd2LiveFrame(cfg);

                break;

            case toInt(VehicleProperty::OBD2_FREEZE_FRAME):

                initObd2FreezeFrame(cfg);

                break;

            default:

                // Need to handle each complex property separately

                break;
@@ -721,22 +762,79 @@ void DefaultVehicleHal::onCreate() { 
    mThread = std::thread(&DefaultVehicleHal::rxThread, this);

}



StatusCode DefaultVehicleHal::fillObd2LiveFrame(VehiclePropValuePtr* v) {

    (*v)->value.int32Values = mObd2SensorStore->getIntegerSensors();

    (*v)->value.floatValues = mObd2SensorStore->getFloatSensors();

    (*v)->value.bytes = mObd2SensorStore->getSensorsBitmask();

StatusCode DefaultVehicleHal::fillObd2LiveFrame(VehiclePropValue* v) {

    v->prop = toInt(VehicleProperty::OBD2_LIVE_FRAME);

    v->value.int32Values = mLiveObd2Frame->value.int32Values;

    v->value.floatValues = mLiveObd2Frame->value.floatValues;

    v->value.bytes = mLiveObd2Frame->value.bytes;

    return StatusCode::OK;

}



template<typename Iterable>

typename Iterable::const_iterator findPropValueAtTimestamp(

        const Iterable& frames,

        int64_t timestamp) {

    return std::find_if(frames.begin(),

            frames.end(),

            [timestamp] (const std::unique_ptr<VehiclePropValue>&

                         propValue) -> bool {

                             return propValue->timestamp == timestamp;

            });

}



StatusCode DefaultVehicleHal::fillObd2FreezeFrame(

        const VehiclePropValue& requestedPropValue, VehiclePropValue* v) {

    if (requestedPropValue.value.int64Values.size() != 1) {

        ALOGE("asked for OBD2_FREEZE_FRAME without valid timestamp");

        return StatusCode::INVALID_ARG;

    }

    auto timestamp = requestedPropValue.value.int64Values[0];

    auto freezeFrameIter = findPropValueAtTimestamp(mFreezeObd2Frames,

            timestamp);

    if(mFreezeObd2Frames.end() == freezeFrameIter) {

        ALOGE("asked for OBD2_FREEZE_FRAME at invalid timestamp");

        return StatusCode::INVALID_ARG;

    }

    const std::unique_ptr<VehiclePropValue>& freezeFrame = *freezeFrameIter;

    v->prop = toInt(VehicleProperty::OBD2_FREEZE_FRAME);

    v->value.int32Values = freezeFrame->value.int32Values;

    v->value.floatValues = freezeFrame->value.floatValues;

    v->value.bytes = freezeFrame->value.bytes;

    v->value.stringValue = freezeFrame->value.stringValue;

    v->timestamp = freezeFrame->timestamp;

    return StatusCode::OK;

}



StatusCode DefaultVehicleHal::clearObd2FreezeFrames(

    const VehiclePropValue& propValue) {

    if (propValue.value.int64Values.size() == 0) {

        mFreezeObd2Frames.clear();

        return StatusCode::OK;

    } else {

        for(int64_t timestamp: propValue.value.int64Values) {

            auto freezeFrameIter = findPropValueAtTimestamp(mFreezeObd2Frames,

                    timestamp);

            if(mFreezeObd2Frames.end() == freezeFrameIter) {

                ALOGE("asked for OBD2_FREEZE_FRAME at invalid timestamp");

                return StatusCode::INVALID_ARG;

            }

            mFreezeObd2Frames.erase(freezeFrameIter);

        }

    }

    return StatusCode::OK;

}



StatusCode DefaultVehicleHal::fillObd2FreezeFrame(VehiclePropValuePtr* v) {

    (*v)->value.int32Values = mObd2SensorStore->getIntegerSensors();

    (*v)->value.floatValues = mObd2SensorStore->getFloatSensors();

    (*v)->value.bytes = mObd2SensorStore->getSensorsBitmask();

    (*v)->value.stringValue = "P0010";

StatusCode DefaultVehicleHal::fillObd2DtcInfo(VehiclePropValue* v) {

    std::vector<int64_t> timestamps;

    for(const auto& freezeFrame: mFreezeObd2Frames) {

        timestamps.push_back(freezeFrame->timestamp);

    }

    v->value.int64Values = timestamps;

    return StatusCode::OK;

}







}  // impl



}  // namespace V2_0

automotive/vehicle/2.0/default/impl/DefaultVehicleHal.h

+9 −4
Original line number Diff line number Diff line
@@ -85,7 +85,8 @@ private: 
    void doGetPropertyAll(emulator::EmulatorMessage& rxMsg, emulator::EmulatorMessage& respMsg);

    void doSetProperty(emulator::EmulatorMessage& rxMsg, emulator::EmulatorMessage& respMsg);

    VehiclePropValue* getVehiclePropValueLocked(int32_t propId, int32_t areaId);

    void initObd2LiveFrame(VehiclePropConfig& obd2LiveFramePropConfig);

    void initObd2LiveFrame(VehiclePropConfig& propConfig);

    void initObd2FreezeFrame(VehiclePropConfig& propConfig);

    void parseRxProtoBuf(std::vector<uint8_t>& msg);

    void populateProtoVehicleConfig(emulator::VehiclePropConfig* protoCfg,

                                    const VehiclePropConfig& cfg);
@@ -96,14 +97,18 @@ private: 
    void rxThread(void);

    void txMsg(emulator::EmulatorMessage& txMsg);

    StatusCode updateProperty(const VehiclePropValue& propValue);

    StatusCode fillObd2LiveFrame(VehiclePropValuePtr* v);

    StatusCode fillObd2FreezeFrame(VehiclePropValuePtr* v);

    StatusCode fillObd2LiveFrame(VehiclePropValue* v);

    StatusCode fillObd2FreezeFrame(const VehiclePropValue& requestedPropValue,

            VehiclePropValue* v);

    StatusCode fillObd2DtcInfo(VehiclePropValue *v);

    StatusCode clearObd2FreezeFrames(const VehiclePropValue& propValue);

private:

    // TODO:  Use a hashtable to support indexing props

    std::vector<std::unique_ptr<VehiclePropValue>> mProps;

    std::atomic<int> mCurSocket;

    std::atomic<int> mExit;

    std::unique_ptr<Obd2SensorStore> mObd2SensorStore{nullptr};

    std::unique_ptr<VehiclePropValue> mLiveObd2Frame {nullptr};

    std::vector<std::unique_ptr<VehiclePropValue>> mFreezeObd2Frames;

    std::mutex mPropsMutex;

    int mSocket;

    std::mutex mTxMutex;

automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.cpp

+11 −0
Original line number Diff line number Diff line
@@ -16,6 +16,7 @@ 


#include "Obd2SensorStore.h"



#include <utils/SystemClock.h>

#include <vehicle_hal_manager/VehicleUtils.h>



namespace android {
@@ -98,6 +99,16 @@ const std::vector<uint8_t>& Obd2SensorStore::getSensorsBitmask() const { 
    return mSensorsBitmask.getBitmask();

}



void Obd2SensorStore::fillPropValue(VehiclePropValue *propValue,

                                    std::string dtc) const {

    propValue->timestamp = elapsedRealtimeNano();

    propValue->value.int32Values = getIntegerSensors();

    propValue->value.floatValues = getFloatSensors();

    propValue->value.bytes = getSensorsBitmask();

    propValue->value.stringValue = dtc;

}







}  // namespace V2_0

}  // namespace vehicle

automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.h

+4 −0
Original line number Diff line number Diff line
@@ -54,6 +54,10 @@ public: 
    // Returns a vector that contains a bitmask for all stored sensors.

    const std::vector<uint8_t>& getSensorsBitmask() const;



    // Given a stringValue, fill in a VehiclePropValue

    void fillPropValue(VehiclePropValue *propValue,

            std::string dtc) const;



private:

    class BitmaskInVector {

    public: