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Commit 30bd3dce authored by chrisweir's avatar chrisweir
Browse files

Add support for EFF/RTR to canhalsend 

Adding support for extended format frames and remote transmission
request frames to canhalsend.

Bug: 149404884
Test: Manual
Change-Id: I330b9d24c34918b38612ddc1745f019e11bfd474
parent c9e13d39

automotive/can/1.0/tools/canhalsend.cpp

+37 −15
Original line number Diff line number Diff line
@@ -15,6 +15,8 @@ 
 */



#include <android-base/logging.h>

#include <android-base/parseint.h>

#include <android-base/strings.h>

#include <android/hardware/automotive/can/1.0/ICanBus.h>

#include <android/hidl/manager/1.2/IServiceManager.h>
@@ -27,13 +29,13 @@ using ICanBus = V1_0::ICanBus; 
using Result = V1_0::Result;



static void usage() {

    std::cerr << "cansend - simple command line tool to send raw CAN frames" << std::endl;

    std::cerr << "canhalsend - simple command line tool to send raw CAN frames" << std::endl;

    std::cerr << std::endl << "usage:" << std::endl << std::endl;

    std::cerr << "canhalsend <bus name> <can id>#<data>" << std::endl;

    std::cerr << "where:" << std::endl;

    std::cerr << " bus name - name under which ICanBus is be published" << std::endl;

    std::cerr << " can id - such as 1a5" << std::endl;

    std::cerr << " data - such as deadbeef or 010203" << std::endl;

    std::cerr << " bus name - name under which ICanBus is published" << std::endl;

    std::cerr << " can id - such as 1a5 or 1fab5982" << std::endl;

    std::cerr << " data - such as deadbeef, 010203, or R for a remote frame" << std::endl;

}



// TODO(b/135918744): extract to a new library
@@ -53,18 +55,13 @@ static sp<ICanBus> tryOpen(const std::string& busname) { 
    return ICanBus::castFrom(ret);

}



static int cansend(const std::string& busname, V1_0::CanMessageId msgid,

                   std::vector<uint8_t> payload) {

static int cansend(const std::string& busname, const V1_0::CanMessage& msg) {

    auto bus = tryOpen(busname);

    if (bus == nullptr) {

        std::cerr << "Bus " << busname << " is not available" << std::endl;

        return -1;

    }



    V1_0::CanMessage msg = {};

    msg.id = msgid;

    msg.payload = payload;



    const auto result = bus->send(msg);

    if (result != Result::OK) {

        std::cerr << "Send call failed: " << toString(result) << std::endl;
@@ -73,8 +70,7 @@ static int cansend(const std::string& busname, V1_0::CanMessageId msgid, 
    return 0;

}



static std::optional<std::tuple<V1_0::CanMessageId, std::vector<uint8_t>>> parseCanMessage(

        const std::string& msg) {

static std::optional<V1_0::CanMessage> parseCanMessage(const std::string& msg) {

    const auto hashpos = msg.find("#");

    if (hashpos == std::string::npos) return std::nullopt;
@@ -85,6 +81,32 @@ static std::optional<std::tuple<V1_0::CanMessageId, std::vector<uint8_t>>> parse 
    V1_0::CanMessageId msgid = std::stoi(msgidStr, &idx, 16);

    if (msgidStr[idx] != '\0') return std::nullopt;



    V1_0::CanMessage canmsg = {};

    canmsg.id = msgid;

    if (msgid > 0x7FF) {

        canmsg.isExtendedId = true;

    }



    if (android::base::StartsWith(payloadStr, "R")) {

        canmsg.remoteTransmissionRequest = true;



        /* The CAN bus HAL doesn't define a data length code (DLC) field, since it is inferrred

         * from the payload size. RTR messages indicate to the receiver how many bytes they are

         * expecting to receive back via the DLC sent with the RTR frame. */

        if (payloadStr.size() <= 1) return canmsg;



        unsigned int dlc = 0;



        /* The maximum DLC for CAN-FD is 64 bytes and CAN 2.0 is 8 bytes. Limit the size of the DLC

         * to something memory safe and let the HAL determine if the DLC is valid. */

        if (!android::base::ParseUint(payloadStr.substr(1), &dlc, 10000u)) {

            std::cerr << "Invalid DLC for RTR frame!" << std::endl;

            return std::nullopt;

        }

        canmsg.payload.resize(dlc);

        return canmsg;

    }



    std::vector<uint8_t> payload;

    if (payloadStr.size() % 2 != 0) return std::nullopt;

    for (size_t i = 0; i < payloadStr.size(); i += 2) {
@@ -92,8 +114,9 @@ static std::optional<std::tuple<V1_0::CanMessageId, std::vector<uint8_t>>> parse 
        payload.emplace_back(std::stoi(byteStr, &idx, 16));

        if (byteStr[idx] != '\0') return std::nullopt;

    }

    canmsg.payload = payload;



    return {{msgid, payload}};

    return canmsg;

}



static int main(int argc, char* argv[]) {
@@ -117,9 +140,8 @@ static int main(int argc, char* argv[]) { 
        std::cerr << "Failed to parse CAN message argument" << std::endl;

        return -1;

    }

    const auto [msgid, payload] = *canmsg;



    return cansend(busname, msgid, payload);

    return cansend(busname, *canmsg);

}



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