Implement CAN bus HAL tools
These tools are for manual interaction with CAN bus HAL instances.
Meant primarily for testing/debugging, not useful in user builds.
Bug: 135918744
Test: adb shell <tool name>
Change-Id: I1dfbe94c0006f69954806c395cd888f3bf2a4249
diff --git a/automotive/can/1.0/hidl-utils/Android.bp b/automotive/can/1.0/hidl-utils/Android.bp
new file mode 100644
index 0000000..bc8ff13
--- /dev/null
+++ b/automotive/can/1.0/hidl-utils/Android.bp
@@ -0,0 +1,20 @@
+//
+// 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"],
+}
diff --git a/automotive/can/1.0/hidl-utils/include/hidl-utils/hidl-utils.h b/automotive/can/1.0/hidl-utils/include/hidl-utils/hidl-utils.h
new file mode 100644
index 0000000..039f971
--- /dev/null
+++ b/automotive/can/1.0/hidl-utils/include/hidl-utils/hidl-utils.h
@@ -0,0 +1,67 @@
+/*
+ * 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
diff --git a/automotive/can/1.0/tools/Android.bp b/automotive/can/1.0/tools/Android.bp
new file mode 100644
index 0000000..8c26985
--- /dev/null
+++ b/automotive/can/1.0/tools/Android.bp
@@ -0,0 +1,60 @@
+//
+// 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",
+ ],
+}
diff --git a/automotive/can/1.0/tools/canhalctrl.cpp b/automotive/can/1.0/tools/canhalctrl.cpp
new file mode 100644
index 0000000..fa1048d
--- /dev/null
+++ b/automotive/can/1.0/tools/canhalctrl.cpp
@@ -0,0 +1,181 @@
+/*
+ * 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);
+}
diff --git a/automotive/can/1.0/tools/canhaldump.cpp b/automotive/can/1.0/tools/canhaldump.cpp
new file mode 100644
index 0000000..5713d17
--- /dev/null
+++ b/automotive/can/1.0/tools/canhaldump.cpp
@@ -0,0 +1,136 @@
+/*
+ * 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);
+}
diff --git a/automotive/can/1.0/tools/canhalsend.cpp b/automotive/can/1.0/tools/canhalsend.cpp
new file mode 100644
index 0000000..29330c9
--- /dev/null
+++ b/automotive/can/1.0/tools/canhalsend.cpp
@@ -0,0 +1,136 @@
+/*
+ * 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);
+}