/*
* Copyright (C) 2015 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.
*/
#define LOG_TAG "vehicle-hal-tool"
#include <inttypes.h>
#include <stdlib.h>
#include <string.h>
#include <hardware/hardware.h>
#include <hardware/vehicle.h>
#include <cutils/log.h>
void usage() {
printf("Usage: "
"./vehicle-hal-tool [-l] [-m -p -t [-v]]\n"
"-l - List properties\n"
"-m - Mode (cannot be used with -l). Accepted strings: get, set or sub.\n"
"-p - Property (only used with -m)\n"
"-t - Type (only used with -m)\n"
"-w - Wait time in seconds (only used with -m set to sub)\n"
"-v - Value to which vehicle_prop_value is set\n"
"Depending on the type pass the value:\n"
"Int: pass a quoted integer\n"
"Float: pass a quoted float\n"
"Int array: pass a quoted space delimited int array, eg: \"1 2 3 4\" for\n:"
"setting int32_array's all 4 elements (see VEHICLE_VALUE_TYPE_INT32_VEC4\n"
"String: pass a normal string\n\n"
"The configurations to use the tool are as follows:\n"
"List Properties\n"
"---------------\n"
"./vehicle-hal-tool -l \n"
"Lists the various properties defined in HAL implementation. Use this to check if "
"the HAL implementation is correctly set up and exposing the capabilities correctly.\n"
"Get Properties\n"
"---------------\n"
"./vehicle-hal-tool -m get -p <prop> -t <type> [-v <vehicle_prop_value>]\n"
"Example: ./vehicle-hal-tool -m get -p 1028 -t 3 # VEHICLE_PROPERTY_DRIVING_STATUS\n"
"./vehicle-hal-tool -m get -p 257 -t 1 # VEHICLE_PROPERTY_INFO_MAKE\n"
"./vehicle-hal-tool -m get -p 2049 -t 19 -v \"3 0 0 0\"\n"
" # VEHICLE_PROPERTY_RADIO_PRESET\n"
"with preset value set to 3.\n\n"
"Set properties\n"
"--------------\n"
"./vehicle-hal-tool -m set -p 10 -t 1 -v random_property\n"
"Set properties may not be applicable to most properties\n\n"
"Subscribe properties\n"
"--------------------\n"
"Subscribes to be notified about a property change (depending on whether\n"
"it is a on change property or a continuous property) for seconds provided\n"
"as -w paramter.\n"
"./vehicle-hal-tool -m sub -p 1028 -w 10\n"
);
}
void list_all_properties(vehicle_hw_device_t *device) {
int num_configs = -1;
const vehicle_prop_config_t *configs = device->list_properties(device, &num_configs);
if (num_configs < 0) {
printf("List configs error. %d", num_configs);
exit(1);
}
printf("Listing configs\n--------------------\n");
int i = 0;
for (i = 0; i < num_configs; i++) {
const vehicle_prop_config_t *config_temp = configs + i;
printf("Property ID: %d\n"
"Property config_flags: %d\n"
"Property change mode: %d\n"
"Property min sample rate: %f\n"
"Property max sample rate: %f\n",
config_temp->prop, config_temp->config_flags, config_temp->change_mode,
config_temp->min_sample_rate, config_temp->max_sample_rate);
}
}
static void print_property(const vehicle_prop_value_t *data) {
switch (data->value_type) {
case VEHICLE_VALUE_TYPE_STRING:
printf("Value type: STRING\n Size: %d\n", data->value.str_value.len);
// This implementation only supports ASCII.
char *ascii_out = (char *) malloc((data->value.str_value.len + 1) * sizeof(char));
memcpy(ascii_out, data->value.str_value.data, data->value.str_value.len);
ascii_out[data->value.str_value.len] = '\0';
printf("Value Type: STRING %s\n", ascii_out);
free(ascii_out);
break;
case VEHICLE_VALUE_TYPE_BYTES:
printf("Value type: BYTES\n Size: %d", data->value.bytes_value.len);
for (int i = 0; i < data->value.bytes_value.len; i++) {
if ((i % 16) == 0) {
printf("\n %04X: ", i);
}
printf("%02X ", data->value.bytes_value.data[i]);
}
printf("\n");
break;
case VEHICLE_VALUE_TYPE_BOOLEAN:
printf("Value type: BOOLEAN\nValue: %d\n", data->value.boolean_value);
break;
case VEHICLE_VALUE_TYPE_ZONED_BOOLEAN:
printf("Value type: ZONED_BOOLEAN\nZone: %d\n", data->zone);
printf("Value: %d\n", data->value.boolean_value);
break;
case VEHICLE_VALUE_TYPE_INT64:
printf("Value type: INT64\nValue: %" PRId64 "\n", data->value.int64_value);
break;
case VEHICLE_VALUE_TYPE_FLOAT:
printf("Value type: FLOAT\nValue: %f\n", data->value.float_value);
break;
case VEHICLE_VALUE_TYPE_FLOAT_VEC2:
printf("Value type: FLOAT_VEC2\nValue[0]: %f ", data->value.float_array[0]);
printf("Value[1]: %f\n", data->value.float_array[1]);
break;
case VEHICLE_VALUE_TYPE_FLOAT_VEC3:
printf("Value type: FLOAT_VEC3\nValue[0]: %f ", data->value.float_array[0]);
printf("Value[1]: %f ", data->value.float_array[1]);
printf("Value[2]: %f\n", data->value.float_array[2]);
break;
case VEHICLE_VALUE_TYPE_FLOAT_VEC4:
printf("Value type: FLOAT_VEC4\nValue[0]: %f ", data->value.float_array[0]);
printf("Value[1]: %f ", data->value.float_array[1]);
printf("Value[2]: %f ", data->value.float_array[2]);
printf("Value[3]: %f\n", data->value.float_array[3]);
break;
case VEHICLE_VALUE_TYPE_INT32:
printf("Value type: INT32\nValue: %d\n", data->value.int32_value);
break;
case VEHICLE_VALUE_TYPE_INT32_VEC2:
printf("Value type: INT32_VEC2\nValue[0]: %d ", data->value.int32_array[0]);
printf("Value[1]: %d\n", data->value.int32_array[1]);
break;
case VEHICLE_VALUE_TYPE_INT32_VEC3:
printf("Value type: INT32_VEC3\nValue[0]: %d ", data->value.int32_array[0]);
printf("Value[1]: %d ", data->value.int32_array[1]);
printf("Value[2]: %d\n", data->value.int32_array[2]);
break;
case VEHICLE_VALUE_TYPE_INT32_VEC4:
printf("Value type: INT32_VEC4\nValue[0]: %d ", data->value.int32_array[0]);
printf("Value[1]: %d ", data->value.int32_array[1]);
printf("Value[2]: %d ", data->value.int32_array[2]);
printf("Value[3]: %d\n", data->value.int32_array[3]);
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT:
printf("Value type: ZONED_FLOAT\nZone: %d ", data->zone);
printf("Value: %f\n", data->value.float_value);
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT_VEC2:
printf("Value type: ZONED_FLOAT_VEC2\nZone: %d ", data->zone);
printf("Value[0]: %f", data->value.float_array[0]);
printf("Value[1]: %f\n", data->value.float_array[1]);
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT_VEC3:
printf("Value type: ZONED_FLOAT_VEC3\nZone: %d ", data->zone);
printf("Value[0]: %f ", data->value.float_array[0]);
printf("Value[1]: %f ", data->value.float_array[1]);
printf("Value[2]: %f\n", data->value.float_array[2]);
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT_VEC4:
printf("Value type: ZONED_FLOAT_VEC4\nZone: %d ", data->zone);
printf("Value[0]: %f ", data->value.float_array[0]);
printf("Value[1]: %f ", data->value.float_array[1]);
printf("Value[2]: %f ", data->value.float_array[2]);
printf("Value[3]: %f\n", data->value.float_array[3]);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32:
printf("Value type: ZONED_INT32\nZone: %d ", data->zone);
printf("Value: %d\n", data->value.int32_value);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32_VEC2:
printf("Value type: ZONED_INT32_VEC2\nZone: %d ", data->zone);
printf("Value[0]: %d ", data->value.int32_array[0]);
printf("Value[1]: %d\n", data->value.int32_array[1]);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32_VEC3:
printf("Value type: ZONED_INT32_VEC3\nZone: %d ", data->zone);
printf("Value[0]: %d ", data->value.int32_array[0]);
printf("Value[1]: %d ", data->value.int32_array[1]);
printf("Value[2]: %d\n", data->value.int32_array[2]);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32_VEC4:
printf("Value type: ZONED_INT32_VEC4\nZone: %d ", data->zone);
printf("Value[0]: %d ", data->value.int32_array[0]);
printf("Value[1]: %d ", data->value.int32_array[1]);
printf("Value[2]: %d ", data->value.int32_array[2]);
printf("Value[3]: %d\n", data->value.int32_array[3]);
break;
default:
printf("Value type not yet handled: %d.\n", data->value_type);
}
}
void get_property(
vehicle_hw_device_t *device, int32_t property, int32_t type, char *value_string) {
vehicle_prop_value_t *data = (vehicle_prop_value_t *) malloc (sizeof(vehicle_prop_value_t));
// Parse the string according to type.
if (value_string != NULL && strlen(value_string) > 0) {
switch (type) {
case VEHICLE_VALUE_TYPE_INT32:
sscanf(value_string, "%d", &(data->value.int32_value));
break;
case VEHICLE_VALUE_TYPE_INT32_VEC4:
{
int32_t vec[4];
sscanf(value_string, "%d %d %d %d", &vec[0], &vec[1], &vec[2], &vec[3]);
memcpy(data->value.int32_array, vec, sizeof(vec));
break;
}
default:
printf("%s Setting value type not supported: %d\n", __func__, type);
exit(1);
}
}
data->prop = property;
int ret_code = device->get(device, data);
if (ret_code != 0) {
printf("Cannot get property: %d\n", ret_code);
exit(1);
}
// We simply convert the data into the type mentioned by the result of the
// get call.
printf("Get output\n------------\n");
print_property(data);
free(data);
}
void set_property(vehicle_hw_device_t *device,
int32_t property,
int32_t type,
char *data) {
vehicle_prop_value_t vehicle_data;
vehicle_data.prop = property;
vehicle_data.value_type = type;
int32_t zone = 0;
float value = 0.0;
switch (type) {
case VEHICLE_VALUE_TYPE_STRING:
// TODO: Make the code generic to UTF8 characters.
vehicle_data.value.str_value.len = strlen(data);
vehicle_data.value.str_value.data =
(uint8_t *) malloc (strlen(data) * sizeof(uint8_t));
memcpy(vehicle_data.value.str_value.data, data, strlen(data) + 1);
break;
case VEHICLE_VALUE_TYPE_BYTES: {
int len = strlen(data);
int numBytes = (len + 1) / 3;
uint8_t *buf = calloc(numBytes, sizeof(uint8_t));
char *byte = strtok(data, " ");
for (int i = 0; byte != NULL && i < numBytes; i++) {
buf[i] = strtol(data, NULL, 16);
byte = strtok(NULL, " ");
}
vehicle_data.value.bytes_value.len = numBytes;
vehicle_data.value.bytes_value.data = buf;
}
break;
case VEHICLE_VALUE_TYPE_BOOLEAN:
vehicle_data.value.boolean_value = atoi(data);
break;
case VEHICLE_VALUE_TYPE_ZONED_BOOLEAN:
sscanf(data, "%d %d", &vehicle_data.zone,
&vehicle_data.value.boolean_value);
break;
case VEHICLE_VALUE_TYPE_INT64:
vehicle_data.value.int64_value = atoi(data);
break;
case VEHICLE_VALUE_TYPE_FLOAT:
vehicle_data.value.float_value = atof(data);
break;
case VEHICLE_VALUE_TYPE_FLOAT_VEC2:
sscanf(data, "%f %f", &vehicle_data.value.float_array[0],
&vehicle_data.value.float_array[1]);
break;
case VEHICLE_VALUE_TYPE_FLOAT_VEC3:
sscanf(data, "%f %f %f", &vehicle_data.value.float_array[0],
&vehicle_data.value.float_array[1],
&vehicle_data.value.float_array[2]);
break;
case VEHICLE_VALUE_TYPE_FLOAT_VEC4:
sscanf(data, "%f %f %f %f", &vehicle_data.value.float_array[0],
&vehicle_data.value.float_array[1],
&vehicle_data.value.float_array[2],
&vehicle_data.value.float_array[3]);
break;
case VEHICLE_VALUE_TYPE_INT32:
vehicle_data.value.int32_value = atoi(data);
break;
case VEHICLE_VALUE_TYPE_INT32_VEC2:
sscanf(data, "%d %d", &vehicle_data.value.int32_array[0],
&vehicle_data.value.int32_array[1]);
break;
case VEHICLE_VALUE_TYPE_INT32_VEC3:
sscanf(data, "%d %d %d", &vehicle_data.value.int32_array[0],
&vehicle_data.value.int32_array[1],
&vehicle_data.value.int32_array[2]);
break;
case VEHICLE_VALUE_TYPE_INT32_VEC4:
sscanf(data, "%d %d %d %d", &vehicle_data.value.int32_array[0],
&vehicle_data.value.int32_array[1],
&vehicle_data.value.int32_array[2],
&vehicle_data.value.int32_array[3]);
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT:
sscanf(data, "%d %f", &zone, &value);
vehicle_data.zone = zone;
vehicle_data.value.float_value = value;
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT_VEC2:
sscanf(data, "%d %f %f", &vehicle_data.zone,
&vehicle_data.value.float_array[0],
&vehicle_data.value.float_array[1]);
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT_VEC3:
sscanf(data, "%d %f %f %f", &vehicle_data.zone,
&vehicle_data.value.float_array[0],
&vehicle_data.value.float_array[1],
&vehicle_data.value.float_array[2]);
break;
case VEHICLE_VALUE_TYPE_ZONED_FLOAT_VEC4:
sscanf(data, "%d %f %f %f %f", &vehicle_data.zone,
&vehicle_data.value.float_array[0],
&vehicle_data.value.float_array[1],
&vehicle_data.value.float_array[2],
&vehicle_data.value.float_array[3]);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32:
sscanf(data, "%d %d", &vehicle_data.zone,
&vehicle_data.value.int32_value);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32_VEC2:
sscanf(data, "%d %d %d", &vehicle_data.zone,
&vehicle_data.value.int32_array[0],
&vehicle_data.value.int32_array[1]);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32_VEC3:
sscanf(data, "%d %d %d %d", &vehicle_data.zone,
&vehicle_data.value.int32_array[0],
&vehicle_data.value.int32_array[1],
&vehicle_data.value.int32_array[2]);
break;
case VEHICLE_VALUE_TYPE_ZONED_INT32_VEC4:
sscanf(data, "%d %d %d %d %d", &vehicle_data.zone,
&vehicle_data.value.int32_array[0],
&vehicle_data.value.int32_array[1],
&vehicle_data.value.int32_array[2],
&vehicle_data.value.int32_array[3]);
break;
default:
printf("set_property: Value type not yet handled: %d\n", type);
exit(1);
}
printf("Setting Property id: %d\n", vehicle_data.prop);
print_property(&vehicle_data);
int ret_code = device->set(device, &vehicle_data);
if (ret_code != 0) {
printf("Cannot set property: %d\n", ret_code);
exit(1);
}
}
int vehicle_event_callback(const vehicle_prop_value_t *event_data) {
// Print what we got.
printf("Got some value from callback property: %d\n", event_data->prop);
printf("Timestamp: %" PRId64 "\n", event_data->timestamp);
print_property(event_data);
return 0;
}
int vehicle_error_callback(int32_t error_code, int32_t property, int32_t operation) {
// Print what we got.
printf("Error code obtained: %d\n", error_code);
return 0;
}
void subscribe_to_property(
vehicle_hw_device_t *device,
int32_t prop,
float sample_rate,
uint32_t wait_in_seconds) {
// Init the device with a callback.
int ret_code = device->subscribe(device, prop, 0, 0);
if (ret_code != 0) {
printf("Could not subscribe: %d\n", ret_code);
exit(1);
}
// Callbacks will happen on one of the threads created by the HAL hence we
// can simply sleep here and see the output.
sleep(wait_in_seconds);
// Unsubscribe and uninit.
ret_code = device->unsubscribe(device, prop);
if (ret_code != 0) {
printf("Error unsubscribing the HAL, still continuining to uninit HAL ...");
}
}
int main(int argc, char* argv[]) {
// Open the vehicle module and just ask for the list of properties.
const hw_module_t *hw_module = NULL;
int ret_code = hw_get_module(VEHICLE_HARDWARE_MODULE_ID, &hw_module);
if (ret_code != 0) {
printf("Cannot open the hw module. Does the HAL exist? %d\n", ret_code);
return -1;
}
vehicle_module_t *vehicle_module = (vehicle_module_t *)(hw_module);
hw_device_t *device = NULL;
ret_code = vehicle_module->common.methods->open(hw_module, NULL, &device);
if (!device) {
printf("Cannot open the hw device: %d\n", ret_code);
return -1;
}
vehicle_hw_device_t *vehicle_device = (vehicle_hw_device_t *) (device);
printf("HAL Loaded!\n");
vehicle_device->init(vehicle_device, vehicle_event_callback, vehicle_error_callback);
// If this is a list properties command - we check for -l command.
int list_properties = 0;
// Type of the property (see #defines in vehicle.h).
int property = -1;
// Type of the value of the property (see enum vehicle_value_type).
int type = -1;
// Whether the mode is "get" or "set".
char mode[100] = "";
// Actual value as a string representation (supports only PODs for now).
// TODO: Support structures and complex types in the tool.
char value[100] = "";
// Wait time for the subscribe type of calls.
// We keep a default in case the user does not specify one.
int wait_time_in_sec = 10;
// Sample rate for subscribe type of calls.
// Default value is 0 for onchange type of properties.
int sample_rate = 0;
// Int array string which represents the vehicle_value_t in array of
// numbers. See vehicle_prop_value_t.value.int32_array.
char int_array_string[1000]; int_array_string[0] = '\0';
int opt;
while ((opt = getopt(argc, argv, "lm:p:t:v:w:s:")) != -1) {
switch (opt) {
case 'l':
list_properties = 1;
break;
case 'm':
strcpy(mode, optarg);
break;
case 'p':
property = atoi(optarg);
break;
case 't':
type = atoi(optarg);
break;
case 'v':
strcpy(value, optarg);
break;
case 'w':
wait_time_in_sec = atoi(optarg);
break;
case 's':
sample_rate = atoi(optarg);
break;
}
}
// We should have atleast one of list properties or mode (for get or set).
if (!list_properties &&
!(!strcmp(mode, "get") || !strcmp(mode, "set") || !strcmp(mode, "sub"))) {
usage();
exit(1);
}
if (list_properties) {
printf("Listing properties...\n");
list_all_properties(vehicle_device);
} else if (!strcmp(mode, "get")) {
printf("Getting property ...\n");
if (property == -1) {
printf("Use -p to pass a valid Property.\n");
usage();
exit(1);
}
int32_t int_array_list[4];
int count = -1;
if (strlen(int_array_string) > 0) {
count = sscanf(int_array_string, "%d%d%d%d",
&int_array_list[0], &int_array_list[1], &int_array_list[2], &int_array_list[3]);
}
get_property(vehicle_device, property, type, value);
} else if (!strcmp(mode, "set")) {
printf("Setting property ...\n");
if (property == -1 || type == -1) {
printf("Use -p to pass a valid Property and -t to pass a valid Type.\n");
usage();
exit(1);
}
set_property(vehicle_device, property, type, value);
} else if (!strcmp(mode, "sub")) {
printf("Subscribing property ...\n");
if (property == -1 || wait_time_in_sec <= 0) {
printf("Use -p to pass a valid property and -w to pass a valid wait time(s)\n");
usage();
exit(1);
}
subscribe_to_property(vehicle_device, property, sample_rate, wait_time_in_sec);
}
ret_code = vehicle_device->release(vehicle_device);
if (ret_code != 0) {
printf("Error uniniting HAL, exiting anyways.");
}
return 0;
}