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Commit 977e2eed authored by chrisweir's avatar chrisweir Committed by Automerger Merge Worker
Browse files

DO NOT MERGE Add support for EFF/RTR to canhalsend am: 62bbf3dc

Change-Id: Ib80865f3c3236c7d569ede783338c7182cf43a58
parents e4363814 62bbf3dc
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+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