Merge "Revert "Move libprotocan to hardware/interfaces/automotive domain""

//

// Copyright (C) 2020 The Android Open Source Project

//

// 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.

//

package {

    // See: http://go/android-license-faq

    // A large-scale-change added 'default_applicable_licenses' to import

    // all of the 'license_kinds' from "hardware_interfaces_license"

    // to get the below license kinds:

    //   SPDX-license-identifier-Apache-2.0

    default_applicable_licenses: ["hardware_interfaces_license"],

}

cc_library_static {

    name: "libprotocan",

    defaults: ["android.hardware.automotive.vehicle@2.0-protocan-defaults"],

    vendor: true,

    srcs: [

        "Checksum.cpp",

        "MessageCounter.cpp",

        "MessageDef.cpp",

        "MessageInjector.cpp",

        "Signal.cpp",

    ],

    export_include_dirs: ["include"],

    shared_libs: [

        "android.hardware.automotive.can@1.0",

    ],

}

/*

 * Copyright (C) 2020 The Android Open Source Project

 *

 * 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 <libprotocan/Checksum.h>

namespace android::hardware::automotive::protocan {

Checksum::Checksum(Signal signal, formula f) : mSignal(signal), mFormula(f) {}

void Checksum::update(can::V1_0::CanMessage& msg) const {

  mSignal.set(msg, 0);

  mSignal.set(msg, mFormula(msg) % (mSignal.maxValue + 1));

}

}  // namespace android::hardware::automotive::protocan

/*

 * Copyright (C) 2020 The Android Open Source Project

 *

 * 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 <libprotocan/MessageCounter.h>

#include <android-base/logging.h>

namespace android::hardware::automotive::protocan {

/** Whether to log counter state messages. */

static constexpr bool kSuperVerbose = false;

MessageCounter::MessageCounter(Signal signal) : upperBound(signal.maxValue + 1), mSignal(signal) {}

Signal::value MessageCounter::next() const {

  CHECK(mCurrent.has_value()) << "Counter not initialized. Did you call isReady?";

  return (*mCurrent + 1) % upperBound;

}

void MessageCounter::read(const can::V1_0::CanMessage& msg) {

    auto val = mSignal.get(msg);

    if (!mCurrent.has_value()) {

        LOG(VERBOSE) << "Got first counter val of " << val;

        mCurrent = val;

        return;

    }

    auto nextVal = next();

    if (nextVal == val) {

        if constexpr (kSuperVerbose) {

            LOG(VERBOSE) << "Got next counter val of " << nextVal;

        }

        mCurrent = nextVal;

    } else {

        LOG(DEBUG) << "Ignoring next counter val of " << val << ", waiting for " << nextVal;

    }

}

bool MessageCounter::isReady() const { return mCurrent.has_value(); }

void MessageCounter::increment(can::V1_0::CanMessage& msg) {

  auto newVal = next();

  mCurrent = newVal;

  mSignal.set(msg, newVal);

}

}  // namespace android::hardware::automotive::protocan

/*

 * Copyright (C) 2020 The Android Open Source Project

 *

 * 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 <libprotocan/MessageDef.h>

#include <android-base/logging.h>

namespace android::hardware::automotive::protocan {

using can::V1_0::CanMessage;

using can::V1_0::CanMessageId;

MessageDef::MessageDef(CanMessageId id, uint16_t len, std::map<std::string, Signal> signals,

                       std::optional<Signal> counter, std::optional<Checksum> checksum)

    : id(id), kLen(len), kSignals(std::move(signals)), kCounter(counter), kChecksum(checksum) {}

const Signal& MessageDef::operator[](const std::string& signalName) const {

  auto it = kSignals.find(signalName);

  CHECK(it != kSignals.end()) << "Signal " << signalName << " doesn't exist";

  return it->second;

}

CanMessage MessageDef::makeDefault() const {

  CanMessage msg = {};

  msg.id = id;

  msg.payload.resize(kLen);

  for (auto const& [name, signal] : kSignals) {

    signal.setDefault(msg);

  }

  return msg;

}

MessageCounter MessageDef::makeCounter() const {

  CHECK(kCounter.has_value()) << "Can't build a counter for message without such signal";

  return MessageCounter(*kCounter);

}

void MessageDef::updateChecksum(can::V1_0::CanMessage& msg) const {

  if (!kChecksum.has_value()) return;

  kChecksum->update(msg);

}

bool MessageDef::validate(const can::V1_0::CanMessage& msg) const {

    return msg.payload.size() >= kLen;

}

}  // namespace android::hardware::automotive::protocan

/*

 * Copyright (C) 2020 The Android Open Source Project

 *

 * 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 <libprotocan/MessageInjector.h>

#include <android-base/logging.h>

#include <thread>

namespace android::hardware::automotive::protocan {

/** Whether to log injected messages. */

static constexpr bool kSuperVerbose = true;

using namespace std::literals::chrono_literals;

using can::V1_0::CanMessage;

using can::V1_0::CanMessageId;

using can::V1_0::ICanBus;

using can::V1_0::Result;

MessageInjector::MessageInjector(MessageDef msgDef,

                                 std::optional<std::chrono::milliseconds> interMessageDelay)

    : kMsgDef(std::move(msgDef)),

      kInterMessageDelay(interMessageDelay),

      mCounter(msgDef.makeCounter()) {}

void MessageInjector::inject(const CanMessage& msg) { inject({msg}); }

void MessageInjector::inject(const std::initializer_list<can::V1_0::CanMessage> msgs) {

  std::lock_guard<std::mutex> lock(mMessagesGuard);

  for (const auto& msg : msgs) {

    if constexpr (kSuperVerbose) {

      LOG(VERBOSE) << "Message scheduled for injection: " << toString(msg);

    }

    mMessages.push(msg);

  }

}

void MessageInjector::processQueueLocked(can::V1_0::ICanBus& bus) {

  if (mMessages.empty() || !mCounter.isReady()) return;

  auto paddingMessagesCount = mCounter.upperBound - (mMessages.size() % mCounter.upperBound);

  auto padMessage = kMsgDef.makeDefault();

  for (unsigned i = 0; i < paddingMessagesCount; i++) {

    mMessages.push(padMessage);

  }

  while (!mMessages.empty()) {

    auto&& outMsg = mMessages.front();

    mCounter.increment(outMsg);

    kMsgDef.updateChecksum(outMsg);

    if constexpr (kSuperVerbose) {

      LOG(VERBOSE) << "Injecting message: " << toString(outMsg);

    }

    auto result = bus.send(outMsg);

    if (result != Result::OK) {

      LOG(ERROR) << "Message injection failed: " << toString(result);

    }

    mMessages.pop();

    // This would block onReceive, but the class is not supposed to be used in production anyway

    // (see MessageInjector docstring).

    if (kInterMessageDelay.has_value()) {

      std::this_thread::sleep_for(*kInterMessageDelay);

    }

  }

}

void MessageInjector::onReceive(ICanBus& bus, const CanMessage& msg) {

    if (!kMsgDef.validate(msg)) return;

    std::lock_guard<std::mutex> lock(mMessagesGuard);

    mCounter.read(msg);

    processQueueLocked(bus);

}

MessageInjectorManager::MessageInjectorManager(

    std::initializer_list<std::shared_ptr<MessageInjector>> injectors) {

  std::transform(injectors.begin(), injectors.end(), std::inserter(mInjectors, mInjectors.end()),

                 [](const std::shared_ptr<MessageInjector>& injector) {

                   return std::make_pair(injector->kMsgDef.id, std::move(injector));

                 });

}

void MessageInjectorManager::onReceive(sp<ICanBus> bus, const CanMessage& msg) {

  auto it = mInjectors.find(msg.id);

  if (it == mInjectors.end()) return;

  it->second->onReceive(*bus, msg);

}

}  // namespace android::hardware::automotive::protocan