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/*
* 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-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>
#include <iostream>
#include <string>
namespace android::hardware::automotive::can {
using ICanBus = V1_0::ICanBus;
using Result = V1_0::Result;
static void usage() {
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 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
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, const V1_0::CanMessage& msg) {
auto bus = tryOpen(busname);
if (bus == nullptr) {
std::cerr << "Bus " << busname << " is not available" << std::endl;
return -1;
}
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<V1_0::CanMessage> 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);
V1_0::CanMessageId msgid;
// "0x" must be prepended to msgidStr, since ParseUint doesn't accept a base argument.
if (!android::base::ParseUint("0x" + msgidStr, &msgid)) 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) {
std::string byteStr(payloadStr, i, 2);
uint8_t byteBuf;
if (!android::base::ParseUint("0x" + byteStr, &byteBuf)) return std::nullopt;
payload.emplace_back(byteBuf);
}
canmsg.payload = payload;
return canmsg;
}
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;
}
return cansend(busname, *canmsg);
}
} // namespace android::hardware::automotive::can
int main(int argc, char* argv[]) {
if (argc < 1) return -1;
return ::android::hardware::automotive::can::main(--argc, ++argv);
}
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