Add support for error, RTR, and EFF frames
Error frames, remote transmission request, and extended format frames
require some changes to the way that we set up our sockets.
Bug: 142655821
Bug: 144774939
Test: manual
Change-Id: I06212cb852d480c1c7093e8c509ca8aa9f85f81f
diff --git a/automotive/can/1.0/default/CanBus.cpp b/automotive/can/1.0/default/CanBus.cpp
index 42d2e3c..86df5dc 100644
--- a/automotive/can/1.0/default/CanBus.cpp
+++ b/automotive/can/1.0/default/CanBus.cpp
@@ -22,6 +22,8 @@
#include <libnetdevice/can.h>
#include <libnetdevice/libnetdevice.h>
#include <linux/can.h>
+#include <linux/can/error.h>
+#include <linux/can/raw.h>
namespace android {
namespace hardware {
@@ -220,6 +222,21 @@
}
/**
+ * Helper function to determine if a flag meets the requirements of a
+ * FilterFlag. See definition of FilterFlag in types.hal
+ *
+ * \param filterFlag FilterFlag object to match flag against
+ * \param flag bool object from CanMessage object
+ */
+static bool satisfiesFilterFlag(FilterFlag filterFlag, bool flag) {
+ // TODO(b/144458917) add testing for this to VTS tests
+ if (filterFlag == FilterFlag::DONT_CARE) return true;
+ if (filterFlag == FilterFlag::REQUIRE) return flag;
+ if (filterFlag == FilterFlag::EXCLUDE) return !flag;
+ return false;
+}
+
+/**
* Match the filter set against message id.
*
* For details on the filters syntax, please see CanMessageFilter at
@@ -229,13 +246,16 @@
* \param id Message id to filter
* \return true if the message id matches the filter, false otherwise
*/
-static bool match(const hidl_vec<CanMessageFilter>& filter, CanMessageId id) {
+static bool match(const hidl_vec<CanMessageFilter>& filter, CanMessageId id, bool isExtendedId,
+ bool isRtr) {
if (filter.size() == 0) return true;
bool anyNonInvertedPresent = false;
bool anyNonInvertedSatisfied = false;
for (auto& rule : filter) {
- const bool satisfied = ((id & rule.mask) == rule.id) == !rule.inverted;
+ const bool satisfied = ((id & rule.mask) == rule.id) == !rule.inverted &&
+ satisfiesFilterFlag(rule.rtr, isRtr) &&
+ satisfiesFilterFlag(rule.extendedFormat, isExtendedId);
if (rule.inverted) {
// Any inverted (blacklist) rule not being satisfied invalidates the whole filter set.
if (!satisfied) return false;
@@ -247,11 +267,54 @@
return !anyNonInvertedPresent || anyNonInvertedSatisfied;
}
+void CanBus::notifyErrorListeners(ErrorEvent err, bool isFatal) {
+ std::lock_guard<std::mutex> lck(mErrListenersGuard);
+ for (auto& listener : mErrListeners) {
+ if (!listener->onError(err, isFatal).isOk()) {
+ LOG(WARNING) << "Failed to notify listener about error";
+ }
+ }
+}
+
+static ErrorEvent parseErrorFrame(const struct canfd_frame& frame) {
+ // decode error frame (to a degree)
+ if ((frame.can_id & (CAN_ERR_BUSERROR | CAN_ERR_BUSOFF)) != 0) {
+ return ErrorEvent::BUS_ERROR;
+ }
+ if ((frame.data[1] & CAN_ERR_CRTL_TX_OVERFLOW) != 0) {
+ return ErrorEvent::TX_OVERFLOW;
+ }
+ if ((frame.data[1] & CAN_ERR_CRTL_RX_OVERFLOW) != 0) {
+ return ErrorEvent::RX_OVERFLOW;
+ }
+ if ((frame.data[2] & CAN_ERR_PROT_OVERLOAD) != 0) {
+ return ErrorEvent::BUS_OVERLOAD;
+ }
+ if ((frame.can_id & CAN_ERR_PROT) != 0) {
+ return ErrorEvent::MALFORMED_INPUT;
+ }
+ if ((frame.can_id & (CAN_ERR_CRTL | CAN_ERR_TRX | CAN_ERR_RESTARTED)) != 0) {
+ // "controller restarted" constitutes a HARDWARE_ERROR imo
+ return ErrorEvent::HARDWARE_ERROR;
+ }
+ return ErrorEvent::UNKNOWN_ERROR;
+}
+
void CanBus::onRead(const struct canfd_frame& frame, std::chrono::nanoseconds timestamp) {
+ if ((frame.can_id & CAN_ERR_FLAG) != 0) {
+ // error bit is set
+ LOG(WARNING) << "CAN Error frame received";
+ // TODO(b/144458917) consider providing different values for isFatal, depending on error
+ notifyErrorListeners(parseErrorFrame(frame), false);
+ return;
+ }
+
CanMessage message = {};
- message.id = frame.can_id;
+ message.id = frame.can_id & CAN_EFF_MASK; // mask out eff/rtr/err flags
message.payload = hidl_vec<uint8_t>(frame.data, frame.data + frame.len);
message.timestamp = timestamp.count();
+ message.isExtendedId = (frame.can_id & CAN_EFF_FLAG) != 0;
+ message.remoteTransmissionRequest = (frame.can_id & CAN_RTR_FLAG) != 0;
if (UNLIKELY(kSuperVerbose)) {
LOG(VERBOSE) << "Got message " << toString(message);
@@ -259,7 +322,9 @@
std::lock_guard<std::mutex> lck(mMsgListenersGuard);
for (auto& listener : mMsgListeners) {
- if (!match(listener.filter, message.id)) continue;
+ if (!match(listener.filter, message.id, message.remoteTransmissionRequest,
+ message.isExtendedId))
+ continue;
if (!listener.callback->onReceive(message).isOk() && !listener.failedOnce) {
listener.failedOnce = true;
LOG(WARNING) << "Failed to notify listener about message";
@@ -274,15 +339,7 @@
mDownAfterUse = false;
eventType = ErrorEvent::INTERFACE_DOWN;
}
-
- {
- std::lock_guard<std::mutex> lck(mErrListenersGuard);
- for (auto& listener : mErrListeners) {
- if (!listener->onError(eventType, true).isOk()) {
- LOG(WARNING) << "Failed to notify listener about error";
- }
- }
- }
+ notifyErrorListeners(eventType, true);
const auto errcb = mErrCb;
if (errcb != nullptr) errcb();
diff --git a/automotive/can/1.0/default/CanBus.h b/automotive/can/1.0/default/CanBus.h
index 365e90c..da3fc5a 100644
--- a/automotive/can/1.0/default/CanBus.h
+++ b/automotive/can/1.0/default/CanBus.h
@@ -89,6 +89,8 @@
void clearMsgListeners();
void clearErrListeners();
+ void notifyErrorListeners(ErrorEvent err, bool isFatal);
+
void onRead(const struct canfd_frame& frame, std::chrono::nanoseconds timestamp);
void onError(int errnoVal);
diff --git a/automotive/can/1.0/default/libnetdevice/can.cpp b/automotive/can/1.0/default/libnetdevice/can.cpp
index 87617dd..6452d9b 100644
--- a/automotive/can/1.0/default/libnetdevice/can.cpp
+++ b/automotive/can/1.0/default/libnetdevice/can.cpp
@@ -24,12 +24,16 @@
#include <android-base/unique_fd.h>
#include <linux/can.h>
+#include <linux/can/error.h>
#include <linux/can/netlink.h>
+#include <linux/can/raw.h>
namespace android {
namespace netdevice {
namespace can {
+static constexpr can_err_mask_t kErrMask = CAN_ERR_MASK;
+
base::unique_fd socket(const std::string& ifname) {
struct sockaddr_can addr = {};
addr.can_family = AF_CAN;
@@ -45,6 +49,11 @@
return {};
}
+ if (setsockopt(sock.get(), SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &kErrMask, sizeof(kErrMask)) < 0) {
+ LOG(ERROR) << "Can't receive error frames, CAN setsockpt failed: " << strerror(errno);
+ return {};
+ }
+
if (0 != fcntl(sock.get(), F_SETFL, O_RDWR | O_NONBLOCK)) {
LOG(ERROR) << "Couldn't put CAN socket in non-blocking mode";
return {};
diff --git a/automotive/can/1.0/tools/canhaldump.cpp b/automotive/can/1.0/tools/canhaldump.cpp
index 99fd14a..55b2a34 100644
--- a/automotive/can/1.0/tools/canhaldump.cpp
+++ b/automotive/can/1.0/tools/canhaldump.cpp
@@ -20,6 +20,7 @@
#include <android/hidl/manager/1.2/IServiceManager.h>
#include <hidl-utils/hidl-utils.h>
+#include <linux/can.h>
#include <chrono>
#include <iomanip>
#include <iostream>
@@ -42,12 +43,14 @@
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)
+ int msgIdWidth = 3;
+ if (message.isExtendedId) msgIdWidth = 8;
+ std::cout << " " << name << " " << std::hex << std::uppercase << std::setw(msgIdWidth)
<< std::setfill('0') << message.id << std::setw(0);
+ std::cout << " [" << message.payload.size() << "] ";
if (message.remoteTransmissionRequest) {
- std::cout << " RTR";
+ std::cout << "remote request";
} else {
- std::cout << " [" << message.payload.size() << "] ";
for (const auto byte : message.payload) {
std::cout << " " << std::setfill('0') << std::setw(2) << unsigned(byte);
}
diff --git a/automotive/can/1.0/types.hal b/automotive/can/1.0/types.hal
index 6f690f7..f09c940 100644
--- a/automotive/can/1.0/types.hal
+++ b/automotive/can/1.0/types.hal
@@ -58,6 +58,15 @@
* If this flag is set, payload must be empty.
*/
bool remoteTransmissionRequest;
+
+ /**
+ * Flag indicating if the message has an extended ID.
+ *
+ * Extended ID's are 29 bits long, as opposed to the standard 11 bit ID.
+ * It can not simply be inferred from the length of the ID itself, as the
+ * message ID 0x00000123 != message ID 0x123.
+ */
+ bool isExtendedId;
};
/**
@@ -70,11 +79,30 @@
* one) and all inverted filters must match. In other words:
* - a single matching non-inverted filter makes the whole set matching;
* - a single non-matching inverted filter makes the whole set non-matching.
+ *
+ * Additional less common options for filtering include:
+ * rtr - Remote Transmission Request; another ECU requests DLC bytes of data on this message ID
+ * extendedFormat - 29 bit message ID is used instead of 11 bits
*/
struct CanMessageFilter {
CanMessageId id;
uint32_t mask;
bool inverted;
+ FilterFlag rtr;
+ FilterFlag extendedFormat;
+};
+
+
+/**
+ * Types of filter that can be applied to a CanMessageFilter
+ */
+enum FilterFlag : uint8_t {
+ /** Default, FilterFlag doesn't effect what messages filtered */
+ DONT_CARE = 0,
+ /** This FilterFlag MUST be present in received messages to pass though the filter */
+ REQUIRE,
+ /** This FilterFlag must NOT be present in received messages to pass though the filter */
+ EXCLUDE,
};
enum Result : uint8_t {
diff --git a/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp b/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
index 1a05716..250caf2 100644
--- a/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
+++ b/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
@@ -123,9 +123,9 @@
TEST_F(CanBusHalTest, ListenSomeFilter) {
hidl_vec<CanMessageFilter> filters = {
- {0x123, 0x1FF, false},
- {0x001, 0x00F, true},
- {0x200, 0x100, false},
+ {0x123, 0x1FF, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+ {0x001, 0x00F, true, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+ {0x200, 0x100, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
};
const auto [result, closeHandle] = listen(filters, new CanMessageListener());
diff --git a/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp b/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
index 225984d..695b9fb 100644
--- a/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
+++ b/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
@@ -244,14 +244,14 @@
auto bus2 = makeBus();
hidl_vec<CanMessageFilter> filterPositive = {
- {0x101, 0x100, false},
- {0x010, 0x0F0, false},
+ {0x101, 0x100, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+ {0x010, 0x0F0, false, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
};
auto listenerPositive = bus2.listen(filterPositive);
hidl_vec<CanMessageFilter> filterNegative = {
- {0x123, 0x0FF, true},
- {0x004, 0x00F, true},
+ {0x123, 0x0FF, true, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
+ {0x004, 0x00F, true, FilterFlag::DONT_CARE, FilterFlag::DONT_CARE},
};
auto listenerNegative = bus2.listen(filterNegative);