Merge "CAN Configurator Service" into rvc-dev (33277cdc) · Commits · e / os / android_hardware_interfaces

automotive/can/1.0/tools/Android.bp

+9 −0

Original line number	Diff line number	Diff line
		@@ -27,6 +27,9 @@ cc_binary {
		header_libs: [
		"android.hardware.automotive.can@hidl-utils-lib",
		],
		static_libs: [
		"android.hardware.automotive.can@libcanhaltools",
		],
		}

		cc_binary {
		@@ -42,6 +45,9 @@ cc_binary {
		header_libs: [
		"android.hardware.automotive.can@hidl-utils-lib",
		],
		static_libs: [
		"android.hardware.automotive.can@libcanhaltools",
		],
		}

		cc_binary {
		@@ -54,4 +60,7 @@ cc_binary {
		"android.hardware.automotive.can@1.0",
		"libhidlbase",
		],
		static_libs: [
		"android.hardware.automotive.can@libcanhaltools",
		],
		}

automotive/can/1.0/tools/canhalctrl.cpp

+4 −20

Original line number	Diff line number	Diff line
		@@ -18,6 +18,7 @@
		#include <android/hardware/automotive/can/1.0/ICanController.h>
		#include <android/hidl/manager/1.2/IServiceManager.h>
		#include <hidl-utils/hidl-utils.h>
		#include <libcanhaltools/libcanhaltools.h>

		#include <iostream>
		#include <string>
		@@ -41,34 +42,17 @@ static void usage() {
		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 bitrate) {
		bool anySupported = false;
		for (auto&& service : getControlServices()) {
		for (auto&& service : libcanhaltools::getControlServices()) {
		auto ctrl = ICanController::getService(service);
		if (ctrl == nullptr) {
		std::cerr << "Couldn't open ICanController/" << service;
		continue;
		}

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

		ICanController::BusConfig config = {};
		@@ -111,7 +95,7 @@ static int up(const std::string& busName, ICanController::InterfaceType type,
		}

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

automotive/can/1.0/tools/configurator/Android.bp

0 → 100644

+34 −0

Original line number	Diff line number	Diff line
		//
		// 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.
		//

		cc_binary {
		name: "canhalconfigurator",
		init_rc: ["canhalconfigurator.rc"],
		defaults: ["android.hardware.automotive.can@defaults"],
		srcs: [
		"canhalconfigurator.cpp",
		"canprototools.cpp",
		],
		shared_libs: [
		"android.hardware.automotive.can@1.0",
		"libhidlbase",
		"libprotobuf-cpp-full",
		],
		static_libs: [
		"android.hardware.automotive.can@1.x-config-format",
		"android.hardware.automotive.can@libcanhaltools",
		],
		}

automotive/can/1.0/tools/configurator/canhalconfigurator.cpp

0 → 100644

+103 −0

Original line number	Diff line number	Diff line
		/*
		* 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 "canbus_config.pb.h"
		#include "canprototools.h"

		#include <android-base/logging.h>
		#include <android/hardware/automotive/can/1.0/ICanController.h>
		#include <libcanhaltools/libcanhaltools.h>

		#include <chrono>
		#include <thread>

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

		using ICanController = V1_0::ICanController;

		/**
		* Takes output from parsed protobuf config and uses it to configure the CAN HAL.
		*
		* \param pb_cfg is an instance of the autogenerated protobuf object for our configuration.
		* \return boolean status, true on success, false on failure.
		*/
		static bool processPbCfg(const config::CanBusConfig& pb_cfg) {
		for (auto const& bus : pb_cfg.buses()) {
		if (bus.name().empty()) {
		LOG(ERROR) << "Invalid config: Bus config must have a valid name field";
		return false;
		}

		LOG(INFO) << "Configure " << bus.name();
		auto bus_cfg = config::fromPbBus(bus);
		if (!bus_cfg.has_value()) {
		return false;
		}

		// TODO(149405589): remove this sleep and associated includes.
		std::this_thread::sleep_for(std::chrono::seconds(1));
		if (libcanhaltools::configureIface(*bus_cfg) != ICanController::Result::OK) {
		LOG(ERROR) << "No controller supports " << bus.name() << std::endl;
		// TODO(149405589): add retry logic in case a bus fails to come up.
		continue;
		}
		LOG(INFO) << bus.name() << " has been successfully configured!";
		}
		return true;
		}

		/**
		* This kicks off the CAN HAL configuration process. This starts the following:
		* 1. Reading the config file
		* 2. Setting up CAN buses
		* 3. Handling services
		* \param filepath is a string specifying the absolute path of the config file
		* \return boolean status, true on success, false on failure
		*/
		static bool configuratorStart(const std::string& filepath) {
		base::SetDefaultTag("CanConfigurator");

		auto pb_cfg = config::parseConfigFile(filepath);
		if (!pb_cfg.has_value()) {
		return false;
		}

		// process the rest of the config file data and configure the CAN buses.
		if (!processPbCfg(*pb_cfg)) {
		return false;
		}
		LOG(INFO) << "CAN HAL has been configured!";
		return true;
		}

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

		int main(int argc, char* argv[]) {
		std::string config_filepath = "/etc/canbus_config.pb";

		// allow for CLI specification of a config file.
		if (argc == 2) {
		config_filepath = argv[1];
		} else if (argc > 2) {
		std::cerr << "usage: " << argv[0] << " [optional config filepath]";
		return 1;
		}

		if (!::android::hardware::automotive::can::configuratorStart(config_filepath)) {
		return 1;
		}
		return 0;
		}

automotive/can/1.0/tools/configurator/canhalconfigurator.rc

0 → 100644

+3 −0

Original line number	Diff line number	Diff line
		service canhalconfigurator /system/bin/canhalconfigurator
		class core
		oneshot