270 lines
10 KiB
Python
270 lines
10 KiB
Python
#!/usr/bin/env python
|
|
# -*- coding: utf-8 -*-
|
|
#
|
|
# Copyright 2016 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.
|
|
#
|
|
|
|
"""
|
|
This module provides a vhal class which sends and receives messages to the vehicle HAL module
|
|
on an Android Auto device. It uses port forwarding via ADB to communicate with the Android
|
|
device.
|
|
|
|
Example Usage:
|
|
|
|
import vhal_consts_2_0 as c
|
|
from vhal_emulator import Vhal
|
|
|
|
# Create an instance of vhal class. Need to pass the vhal_types constants.
|
|
v = Vhal(c.vhal_types_2_0)
|
|
|
|
# Get the property config (if desired)
|
|
v.getConfig(c.VEHICLEPROPERTY_HVAC_TEMPERATURE_SET)
|
|
|
|
# Get the response message to getConfig()
|
|
reply = v.rxMsg()
|
|
print(reply)
|
|
|
|
# Set left temperature to 70 degrees
|
|
v.setProperty(c.VEHICLEPROPERTY_HVAC_TEMPERATURE_SET, c.VEHICLEAREAZONE_ROW_1_LEFT, 70)
|
|
|
|
# Get the response message to setProperty()
|
|
reply = v.rxMsg()
|
|
print(reply)
|
|
|
|
# Get the left temperature value
|
|
v.getProperty(c.VEHICLEPROPERTY_HVAC_TEMPERATURE_SET, c.VEHICLEAREAZONE_ROW_1_LEFT)
|
|
|
|
# Get the response message to getProperty()
|
|
reply = v.rxMsg()
|
|
print(reply)
|
|
|
|
NOTE: The rxMsg() is a blocking call, so it may be desirable to set up a separate RX thread
|
|
to handle any asynchronous messages coming from the device.
|
|
|
|
Example for creating RX thread (assumes vhal has already been instantiated):
|
|
|
|
from threading import Thread
|
|
|
|
# Define a simple thread that receives messages from a vhal object (v) and prints them
|
|
def rxThread(v):
|
|
while(1):
|
|
print(v.rxMsg())
|
|
|
|
rx = Thread(target=rxThread, args=(v,))
|
|
rx.start()
|
|
|
|
Protocol Buffer:
|
|
This module relies on VehicleHalProto_pb2.py being in sync with the protobuf in the VHAL.
|
|
If the VehicleHalProto.proto file has changed, re-generate the python version using:
|
|
|
|
protoc -I=<proto_dir> --python_out=<out_dir> <proto_dir>/VehicleHalProto.proto
|
|
"""
|
|
|
|
from __future__ import print_function
|
|
|
|
# Suppress .pyc files
|
|
import sys
|
|
sys.dont_write_bytecode = True
|
|
|
|
import socket
|
|
import struct
|
|
import subprocess
|
|
|
|
# Generate the protobuf file from hardware/interfaces/automotive/vehicle/2.0/default/impl/vhal_v2_0
|
|
# It is recommended to use the protoc provided in: prebuilts/tools/common/m2/repository/com/google/protobuf/protoc/3.0.0
|
|
# or a later version, in order to provide Python 3 compatibility
|
|
# protoc -I=proto --python_out=proto proto/VehicleHalProto.proto
|
|
import VehicleHalProto_pb2
|
|
|
|
# If container is a dictionary, retrieve the value for key item;
|
|
# Otherwise, get the attribute named item out of container
|
|
def getByAttributeOrKey(container, item, default=None):
|
|
if isinstance(container, dict):
|
|
try:
|
|
return container[item]
|
|
except KeyError as e:
|
|
return default
|
|
try:
|
|
return getattr(container, item)
|
|
except AttributeError as e:
|
|
return default
|
|
|
|
class Vhal:
|
|
"""
|
|
Dictionary of prop_id to value_type. Used by setProperty() to properly format data.
|
|
"""
|
|
_propToType = {}
|
|
|
|
### Private Functions
|
|
def _txCmd(self, cmd):
|
|
"""
|
|
Transmits a protobuf to Android Auto device. Should not be called externally.
|
|
"""
|
|
# Serialize the protobuf into a string
|
|
msgStr = cmd.SerializeToString()
|
|
msgLen = len(msgStr)
|
|
# Convert the message length into int32 byte array
|
|
msgHdr = struct.pack('!I', msgLen)
|
|
# Send the message length first
|
|
self.sock.sendall(msgHdr)
|
|
# Then send the protobuf
|
|
self.sock.sendall(msgStr)
|
|
|
|
### Public Functions
|
|
def printHex(self, data):
|
|
"""
|
|
For debugging, print the protobuf message string in hex.
|
|
"""
|
|
print("len = ", len(data), "str = ", ":".join("{:02x}".format(ord(d)) for d in data))
|
|
|
|
def openSocket(self, device=None):
|
|
"""
|
|
Connects to an Android Auto device running a Vehicle HAL with simulator.
|
|
"""
|
|
# Hard-coded socket port needs to match the one in DefaultVehicleHal
|
|
remotePortNumber = 33452
|
|
extraArgs = '' if device is None else '-s %s' % device
|
|
adbCmd = 'adb %s forward tcp:0 tcp:%d' % (extraArgs, remotePortNumber)
|
|
adbResp = subprocess.check_output(adbCmd, shell=True)[0:-1]
|
|
localPortNumber = int(adbResp)
|
|
print('Connecting local port %s to remote port %s on %s' % (
|
|
localPortNumber, remotePortNumber,
|
|
'default device' if device is None else 'device %s' % device))
|
|
# Open the socket and connect
|
|
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
|
self.sock.connect(('localhost', localPortNumber))
|
|
|
|
def rxMsg(self):
|
|
"""
|
|
Receive a message over the socket. This function blocks if a message is not available.
|
|
May want to wrap this function inside of an rx thread to also collect asynchronous
|
|
messages generated by the device.
|
|
"""
|
|
# Receive the message length (int32) first
|
|
b = self.sock.recv(4)
|
|
if (len(b) == 4):
|
|
msgLen, = struct.unpack('!I', b)
|
|
if (msgLen > 0):
|
|
# Receive the actual message
|
|
b = self.sock.recv(msgLen)
|
|
if (len(b) == msgLen):
|
|
# Unpack the protobuf
|
|
msg = VehicleHalProto_pb2.EmulatorMessage()
|
|
msg.ParseFromString(b)
|
|
return msg
|
|
else:
|
|
print("Ignored message fragment")
|
|
|
|
def getConfig(self, prop):
|
|
"""
|
|
Sends a getConfig message for the specified property.
|
|
"""
|
|
cmd = VehicleHalProto_pb2.EmulatorMessage()
|
|
cmd.msg_type = VehicleHalProto_pb2.GET_CONFIG_CMD
|
|
propGet = cmd.prop.add()
|
|
propGet.prop = prop
|
|
self._txCmd(cmd)
|
|
|
|
def getConfigAll(self):
|
|
"""
|
|
Sends a getConfigAll message to the host. This will return all configs available.
|
|
"""
|
|
cmd = VehicleHalProto_pb2.EmulatorMessage()
|
|
cmd.msg_type = VehicleHalProto_pb2.GET_CONFIG_ALL_CMD
|
|
self._txCmd(cmd)
|
|
|
|
def getProperty(self, prop, area_id):
|
|
"""
|
|
Sends a getProperty command for the specified property ID and area ID.
|
|
"""
|
|
cmd = VehicleHalProto_pb2.EmulatorMessage()
|
|
cmd.msg_type = VehicleHalProto_pb2.GET_PROPERTY_CMD
|
|
propGet = cmd.prop.add()
|
|
propGet.prop = prop
|
|
propGet.area_id = area_id
|
|
self._txCmd(cmd)
|
|
|
|
def getPropertyAll(self):
|
|
"""
|
|
Sends a getPropertyAll message to the host. This will return all properties available.
|
|
"""
|
|
cmd = VehicleHalProto_pb2.EmulatorMessage()
|
|
cmd.msg_type = VehicleHalProto_pb2.GET_PROPERTY_ALL_CMD
|
|
self._txCmd(cmd)
|
|
|
|
def setProperty(self, prop, area_id, value, status=VehicleHalProto_pb2.AVAILABLE):
|
|
"""
|
|
Sends a setProperty command for the specified property ID, area ID, value and status.
|
|
If Status is not specified, automatically send AVAILABLE as the default.
|
|
This function chooses the proper value field to populate based on the config for the
|
|
property. It is the caller's responsibility to ensure the value data is the proper
|
|
type.
|
|
"""
|
|
cmd = VehicleHalProto_pb2.EmulatorMessage()
|
|
cmd.msg_type = VehicleHalProto_pb2.SET_PROPERTY_CMD
|
|
propValue = cmd.value.add()
|
|
propValue.prop = prop
|
|
# Insert value into the proper area
|
|
propValue.area_id = area_id
|
|
propValue.status = status
|
|
# Determine the value_type and populate the correct value field in protoBuf
|
|
try:
|
|
valType = self._propToType[prop]
|
|
except KeyError:
|
|
raise ValueError('propId is invalid:', prop)
|
|
return
|
|
propValue.value_type = valType
|
|
if valType in self._types.TYPE_STRING:
|
|
propValue.string_value = value
|
|
elif valType in self._types.TYPE_BYTES:
|
|
propValue.bytes_value = value
|
|
elif valType in self._types.TYPE_INT32:
|
|
propValue.int32_values.append(value)
|
|
elif valType in self._types.TYPE_INT64:
|
|
propValue.int64_values.append(value)
|
|
elif valType in self._types.TYPE_FLOAT:
|
|
propValue.float_values.append(value)
|
|
elif valType in self._types.TYPE_INT32S:
|
|
propValue.int32_values.extend(value)
|
|
elif valType in self._types.TYPE_FLOATS:
|
|
propValue.float_values.extend(value)
|
|
elif valType in self._types.TYPE_MIXED:
|
|
propValue.string_value = \
|
|
getByAttributeOrKey(value, 'string_value', '')
|
|
propValue.bytes_value = \
|
|
getByAttributeOrKey(value, 'bytes_value', '')
|
|
for newValue in getByAttributeOrKey(value, 'int32_values', []):
|
|
propValue.int32_values.append(newValue)
|
|
for newValue in getByAttributeOrKey(value, 'int64_values', []):
|
|
propValue.int64_values.append(newValue)
|
|
for newValue in getByAttributeOrKey(value, 'float_values', []):
|
|
propValue.float_values.append(newValue)
|
|
else:
|
|
raise ValueError('value type not recognized:', valType)
|
|
return
|
|
self._txCmd(cmd)
|
|
|
|
def __init__(self, types, device=None):
|
|
# Save the list of types constants
|
|
self._types = types
|
|
# Open the socket
|
|
self.openSocket(device)
|
|
# Get the list of configs
|
|
self.getConfigAll()
|
|
msg = self.rxMsg()
|
|
# Parse the list of configs to generate a dictionary of prop_id to type
|
|
for cfg in msg.config:
|
|
self._propToType[cfg.prop] = cfg.value_type
|