Implement CAN bus HAL tools (1b2c6efe) · Commits · e / os / android_hardware_interfaces

automotive/can/1.0/hidl-utils/Android.bp

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		//
		// Copyright (C) 2019 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.
		//

		cc_library_headers {
		name: "android.hardware.automotive.can@hidl-utils-lib",
		export_include_dirs: ["include"],
		}

automotive/can/1.0/hidl-utils/include/hidl-utils/hidl-utils.h

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		/*
		* Copyright (C) 2019 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.
		*/

		#pragma once

		namespace android {
		namespace hardware {
		namespace automotive {
		namespace hidl_utils {

		/**
		* Helper functor to fetch results from multi-return HIDL calls.
		* It's meant to be used in place of _hidl_cb callbacks.
		*
		* Please note extracting these return variables outside of the callback scope requires making
		* a copy of each return variable. This may be costly for frequently called HIDL methods with
		* non-negligible return object size. Please be cautious about performance when using this.
		*
		* Example usage:
		* Result result;
		* sp<ISomeInterface> iface;
		* hidlObject->someMethod(arg1, arg2, hidl_utils::fill(&result, &iface)).assertOk();
		* // use result and iface
		*/
		template <typename... T>
		struct fill : public std::function<void(const T&...)> {
		/**
		* Create _hidl_cb functor that copies the call arguments to specified pointers.
		*
		* \param args... Targets to copy the call arguments to
		*/
		fill(T*... args) : mTargets(args...) {}

		void operator()(const T&... args) { copy<0, T...>(args...); }

		private:
		std::tuple<T*...> mTargets;

		template <int Pos, typename First>
		inline void copy(const First& first) {
		*std::get<Pos>(mTargets) = first;
		}

		template <int Pos, typename First, typename... Rest>
		inline void copy(const First& first, const Rest&... rest) {
		*std::get<Pos>(mTargets) = first;
		copy<Pos + 1, Rest...>(rest...);
		}
		};

		} // namespace hidl_utils
		} // namespace automotive
		} // namespace hardware
		} // namespace android

automotive/can/1.0/tools/Android.bp

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		//
		// Copyright (C) 2019 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.
		//

		cc_binary {
		name: "canhalctrl",
		defaults: ["android.hardware.automotive.can@defaults"],
		srcs: [
		"canhalctrl.cpp",
		],
		shared_libs: [
		"android.hardware.automotive.can@1.0",
		"libhidlbase",
		"libhidltransport",
		],
		header_libs: [
		"android.hardware.automotive.can@hidl-utils-lib",
		],
		}

		cc_binary {
		name: "canhaldump",
		defaults: ["android.hardware.automotive.can@defaults"],
		srcs: [
		"canhaldump.cpp",
		],
		shared_libs: [
		"android.hardware.automotive.can@1.0",
		"libhidlbase",
		"libhidltransport",
		],
		header_libs: [
		"android.hardware.automotive.can@hidl-utils-lib",
		],
		}

		cc_binary {
		name: "canhalsend",
		defaults: ["android.hardware.automotive.can@defaults"],
		srcs: [
		"canhalsend.cpp",
		],
		shared_libs: [
		"android.hardware.automotive.can@1.0",
		"libhidlbase",
		"libhidltransport",
		],
		}

automotive/can/1.0/tools/canhalctrl.cpp

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		/*
		* Copyright (C) 2019 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 <android-base/logging.h>
		#include <android/hardware/automotive/can/1.0/ICanController.h>
		#include <android/hidl/manager/1.2/IServiceManager.h>
		#include <hidl-utils/hidl-utils.h>

		#include <iostream>
		#include <string>

		namespace android {
		namespace hardware {
		namespace automotive {
		namespace can {

		using ICanController = V1_0::ICanController;

		static void usage() {
		std::cerr << "CAN bus HAL Control tool" << std::endl;
		std::cerr << std::endl << "usage:" << std::endl << std::endl;
		std::cerr << "canhalctrl up <bus name> <type> <interface> [baudrate]" << std::endl;
		std::cerr << "where:" << std::endl;
		std::cerr << " bus name - name under which ICanBus will be published" << std::endl;
		std::cerr << " type - one of: virtual, socketcan, slcan, indexed" << std::endl;
		std::cerr << " interface - hardware identifier (like can0, vcan0, /dev/ttyUSB0)" << std::endl;
		std::cerr << " baudrate - such as 100000, 125000, 250000, 500000" << std::endl;
		std::cerr << std::endl;
		std::cerr << "canhalctrl down <bus name>" << std::endl;
		std::cerr << "where:" << std::endl;
		std::cerr << " bus name - name under which ICanBus will be published" << std::endl;
		}

		static hidl_vec<hidl_string> getControlServices() {
		auto manager = hidl::manager::V1_2::IServiceManager::getService();
		hidl_vec<hidl_string> services;
		manager->listManifestByInterface(ICanController::descriptor, hidl_utils::fill(&services));
		if (services.size() == 0) {
		std::cerr << "No ICanController services registered (missing privileges?)" << std::endl;
		exit(-1);
		}
		return services;
		}

		static bool isSupported(sp<ICanController> ctrl, ICanController::InterfaceType iftype) {
		hidl_vec<ICanController::InterfaceType> supported;
		if (!ctrl->getSupportedInterfaceTypes(hidl_utils::fill(&supported)).isOk()) return false;
		return supported.contains(iftype);
		}

		static int up(const std::string& busName, ICanController::InterfaceType type,
		const std::string& interface, uint32_t baudrate) {
		bool anySupported = false;
		for (auto&& service : getControlServices()) {
		auto ctrl = ICanController::getService(service);
		if (ctrl == nullptr) {
		std::cerr << "Couldn't open ICanController/" << service;
		continue;
		}

		if (!isSupported(ctrl, type)) continue;
		anySupported = true;

		ICanController::BusConfiguration config = {};
		config.name = busName;
		config.iftype = type;
		config.baudrate = baudrate;

		if (type == ICanController::InterfaceType::INDEXED) {
		config.interfaceId.index(std::stol(interface));
		} else {
		config.interfaceId.address(interface);
		}

		const auto upresult = ctrl->upInterface(config);
		if (upresult == ICanController::Result::OK) return 0;
		std::cerr << "Failed to bring interface up: " << toString(upresult) << std::endl;
		// Let's continue the loop to try other controllers.
		}

		if (!anySupported) {
		std::cerr << "No controller supports " << toString(type) << std::endl;
		}
		return -1;
		}

		static int down(const std::string& busName) {
		for (auto&& service : getControlServices()) {
		auto ctrl = ICanController::getService(service);
		if (ctrl == nullptr) continue;

		if (ctrl->downInterface(busName)) return 0;
		}

		std::cerr << "Failed to bring interface " << busName << " down (maybe it's down already?)"
		<< std::endl;
		return -1;
		}

		static std::optional<ICanController::InterfaceType> parseInterfaceType(const std::string& str) {
		if (str == "virtual") return ICanController::InterfaceType::VIRTUAL;
		if (str == "socketcan") return ICanController::InterfaceType::SOCKETCAN;
		if (str == "slcan") return ICanController::InterfaceType::SLCAN;
		if (str == "indexed") return ICanController::InterfaceType::INDEXED;
		return std::nullopt;
		}

		static int main(int argc, char* argv[]) {
		base::SetDefaultTag("CanHalControl");
		base::SetMinimumLogSeverity(android::base::VERBOSE);

		if (argc == 0) {
		usage();
		return 0;
		}

		std::string cmd(argv[0]);
		argv++;
		argc--;

		if (cmd == "up") {
		if (argc < 3 \|\| argc > 4) {
		std::cerr << "Invalid number of arguments to up command: " << argc << std::endl;
		usage();
		return -1;
		}

		const std::string busName(argv[0]);
		const std::string typeStr(argv[1]);
		const std::string interface(argv[2]);

		const auto type = parseInterfaceType(typeStr);
		if (!type) {
		std::cerr << "Invalid interface type: " << typeStr << std::endl;
		usage();
		return -1;
		}

		long long baudrate = 0;
		if (argc == 4) {
		baudrate = std::stoll(argv[3]);
		}

		return up(busName, *type, interface, baudrate);
		} else if (cmd == "down") {
		if (argc != 1) {
		std::cerr << "Invalid number of arguments to down command: " << argc << std::endl;
		usage();
		return -1;
		}

		return down(argv[0]);
		} else {
		std::cerr << "Invalid command: " << cmd << std::endl;
		usage();
		return -1;
		}
		}

		} // namespace can
		} // namespace automotive
		} // namespace hardware
		} // namespace android

		int main(int argc, char* argv[]) {
		if (argc < 1) return -1;
		return ::android::hardware::automotive::can::main(--argc, ++argv);
		}

automotive/can/1.0/tools/canhaldump.cpp

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		/*
		* Copyright (C) 2019 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 <android-base/logging.h>
		#include <android/hardware/automotive/can/1.0/ICanBus.h>
		#include <android/hardware/automotive/can/1.0/ICanMessageListener.h>
		#include <android/hidl/manager/1.2/IServiceManager.h>
		#include <hidl-utils/hidl-utils.h>

		#include <chrono>
		#include <iomanip>
		#include <iostream>
		#include <string>
		#include <thread>

		namespace android {
		namespace hardware {
		namespace automotive {
		namespace can {

		using namespace std::chrono_literals;

		using ICanBus = V1_0::ICanBus;
		using Result = V1_0::Result;

		struct CanMessageListener : public V1_0::ICanMessageListener {
		const std::string name;

		CanMessageListener(std::string name) : name(name) {}

		virtual Return<void> onReceive(const V1_0::CanMessage& message) {
		std::cout << " " << name << " " << std::hex << std::uppercase << std::setw(3)
		<< std::setfill('0') << message.id << std::setw(0);
		if (message.remoteTransmissionRequest) {
		std::cout << " RTR";
		} else {
		std::cout << " [" << message.payload.size() << "] ";
		for (const auto byte : message.payload) {
		std::cout << " " << unsigned(byte);
		}
		}
		std::cout << std::nouppercase << std::dec << std::endl;
		return {};
		}

		virtual Return<void> onError(V1_0::ErrorEvent error) {
		std::cout << " " << name << " " << toString(error) << std::endl;
		return {};
		}
		};

		static void usage() {
		std::cerr << "canhaldump - dump CAN bus traffic" << std::endl;
		std::cerr << std::endl << "usage:" << std::endl << std::endl;
		std::cerr << "canhaldump <bus name>" << std::endl;
		std::cerr << "where:" << std::endl;
		std::cerr << " bus name - name under which ICanBus is be published" << std::endl;
		}

		// TODO(b/135918744): extract to a new library
		static sp<ICanBus> tryOpen(const std::string& busname) {
		auto bus = ICanBus::tryGetService(busname);
		if (bus != nullptr) return bus;

		/* Fallback for interfaces not registered in manifest. For testing purposes only,
		* one should not depend on this in production deployment. */
		auto manager = hidl::manager::V1_2::IServiceManager::getService();
		auto ret = manager->get(ICanBus::descriptor, busname).withDefault(nullptr);
		if (ret == nullptr) return nullptr;

		std::cerr << "WARNING: bus " << busname << " is not registered in device manifest, "
		<< "trying to fetch it directly..." << std::endl;

		return ICanBus::castFrom(ret);
		}

		static int candump(const std::string& busname) {
		auto bus = tryOpen(busname);
		if (bus == nullptr) {
		std::cerr << "Bus " << busname << " is not available" << std::endl;
		return -1;
		}

		Result result;
		sp<V1_0::ICloseHandle> chnd;
		// TODO(b/135918744): extract to library
		bus->listen({}, new CanMessageListener(busname), hidl_utils::fill(&result, &chnd)).assertOk();

		if (result != Result::OK) {
		std::cerr << "Listen call failed: " << toString(result) << std::endl;
		return -1;
		}

		while (true) std::this_thread::sleep_for(1h);
		}

		static int main(int argc, char* argv[]) {
		base::SetDefaultTag("CanHalDump");
		base::SetMinimumLogSeverity(android::base::VERBOSE);

		if (argc == 0) {
		usage();
		return 0;
		}

		if (argc != 1) {
		std::cerr << "Invalid number of arguments" << std::endl;
		usage();
		return -1;
		}

		return candump(argv[0]);
		}

		} // namespace can
		} // namespace automotive
		} // namespace hardware
		} // namespace android

		int main(int argc, char* argv[]) {
		if (argc < 1) return -1;
		return ::android::hardware::automotive::can::main(--argc, ++argv);
		}