| /* |
| * 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/hidl/manager/1.2/IServiceManager.h> |
| |
| #include <iostream> |
| #include <string> |
| |
| namespace android { |
| namespace hardware { |
| namespace automotive { |
| namespace can { |
| |
| 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 << 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; |
| } |
| |
| // 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 cansend(const std::string& busname, V1_0::CanMessageId msgid, |
| std::vector<uint8_t> payload) { |
| 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; |
| return -1; |
| } |
| return 0; |
| } |
| |
| static std::optional<std::tuple<V1_0::CanMessageId, std::vector<uint8_t>>> parseCanMessage( |
| const std::string& msg) { |
| const auto hashpos = msg.find("#"); |
| if (hashpos == std::string::npos) return std::nullopt; |
| |
| const std::string msgidStr = msg.substr(0, hashpos); |
| const std::string payloadStr = msg.substr(hashpos + 1); |
| |
| size_t idx = 0; |
| V1_0::CanMessageId msgid = std::stoi(msgidStr, &idx, 16); |
| if (msgidStr[idx] != '\0') return std::nullopt; |
| |
| std::vector<uint8_t> payload; |
| if (payloadStr.size() % 2 != 0) return std::nullopt; |
| for (size_t i = 0; i < payloadStr.size(); i += 2) { |
| std::string byteStr(payloadStr, i, 2); |
| payload.emplace_back(std::stoi(byteStr, &idx, 16)); |
| if (byteStr[idx] != '\0') return std::nullopt; |
| } |
| |
| return {{msgid, payload}}; |
| } |
| |
| static int main(int argc, char* argv[]) { |
| base::SetDefaultTag("CanHalSend"); |
| base::SetMinimumLogSeverity(android::base::VERBOSE); |
| |
| if (argc == 0) { |
| usage(); |
| return 0; |
| } |
| |
| if (argc != 2) { |
| std::cerr << "Invalid number of arguments" << std::endl; |
| usage(); |
| return -1; |
| } |
| |
| std::string busname(argv[0]); |
| const auto canmsg = parseCanMessage(argv[1]); |
| if (!canmsg) { |
| std::cerr << "Failed to parse CAN message argument" << std::endl; |
| return -1; |
| } |
| const auto [msgid, payload] = *canmsg; |
| |
| return cansend(busname, msgid, payload); |
| } |
| |
| } // 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); |
| } |