├── android
    ├── .gitignore
    ├── project
    │   └── plugins.sbt
    ├── build.sbt
    └── src
    │   └── main
    │       ├── res
    │           └── values
    │           │   └── strings.xml
    │       ├── scala
    │           └── us
    │           │   └── insolit
    │           │       └── mazdaconnector
    │           │           ├── StartVRReceiver.scala
    │           │           ├── AutoStartReceiver.scala
    │           │           ├── MainActivity.scala
    │           │           ├── WakeUpActivity.scala
    │           │           └── BluetoothService.scala
    │       └── AndroidManifest.xml
├── .gitignore
├── shared
    ├── stringify.h
    ├── prevent_brick.hpp
    └── dbus_helpers.hpp
├── src
    ├── connector
    │   ├── dbus.hpp
    │   ├── bluetooth.hpp
    │   ├── navigation.hpp
    │   ├── gesture_recognizer.hpp
    │   ├── dbus.cpp
    │   ├── connector.cpp
    │   ├── navigation.cpp
    │   ├── gesture_recognizer.cpp
    │   └── bluetooth.cpp
    └── input_filter
    │   └── input_filter.cpp
├── README.md
└── COPYING


/android/.gitignore:
--------------------------------------------------------------------------------
1 | target/
2 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
1 | /build/
2 | /connector
3 | /input_filter
4 | 


--------------------------------------------------------------------------------
/android/project/plugins.sbt:
--------------------------------------------------------------------------------
1 | addSbtPlugin("com.hanhuy.sbt" % "android-sdk-plugin" % "1.3.16")
2 | 


--------------------------------------------------------------------------------
/shared/stringify.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 | 
3 | #define _STRINGIFY(x) #x
4 | #define STRINGIFY(x) _STRINGIFY(x)
5 | 


--------------------------------------------------------------------------------
/android/build.sbt:
--------------------------------------------------------------------------------
 1 | import android.Keys._
 2 | 
 3 | android.Plugin.androidBuild
 4 | 
 5 | platformTarget in Android := "android-17"
 6 | 
 7 | name := "mazda_connector"
 8 | 
 9 | javacOptions in Compile ++= Seq("-source", "1.6", "-target", "1.6")
10 | 


--------------------------------------------------------------------------------
/android/src/main/res/values/strings.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <resources>
3 | 	<string name="connector_uuid">62306c74-5706-4375-bb48-212331070361</string>
4 | 	<string name="app_name">Mazda Connector</string>
5 | </resources>
6 | 


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/src/connector/dbus.hpp:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include <dbus/dbus.h>
 4 | 
 5 | #define SERVICE_BUS_ADDRESS "unix:path=/tmp/dbus_service_socket"
 6 | #define HMI_BUS_ADDRESS "unix:path=/tmp/dbus_hmi_socket"
 7 | 
 8 | extern DBusConnection *service_bus;
 9 | extern DBusConnection *hmi_bus;
10 | 
11 | void initialize_dbus(void);
12 | 


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/android/src/main/scala/us/insolit/mazdaconnector/StartVRReceiver.scala:
--------------------------------------------------------------------------------
 1 | package us.insolit.mazdaconnector
 2 | 
 3 | import android.content.{BroadcastReceiver, Context, Intent}
 4 | 
 5 | class StartVRReceiver extends BroadcastReceiver {
 6 |   override def onReceive(ctx: Context, intent: Intent) {
 7 |     WakeUpActivity.start(ctx)
 8 |   }
 9 | }
10 | 


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/android/src/main/scala/us/insolit/mazdaconnector/AutoStartReceiver.scala:
--------------------------------------------------------------------------------
 1 | package us.insolit.mazdaconnector
 2 | 
 3 | import android.content.{BroadcastReceiver, Context, Intent}
 4 | 
 5 | class AutoStartReceiver extends BroadcastReceiver {
 6 |   override def onReceive(ctx: Context, intent: Intent) {
 7 |     ctx.startService(new Intent(ctx, classOf[BluetoothService]))
 8 |   }
 9 | }
10 | 


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/android/src/main/scala/us/insolit/mazdaconnector/MainActivity.scala:
--------------------------------------------------------------------------------
 1 | package us.insolit.mazdaconnector
 2 | 
 3 | import android.app.Activity
 4 | import android.content.Intent
 5 | import android.os.Bundle
 6 | 
 7 | class MainActivity extends Activity {
 8 |   override def onCreate(bundle: Bundle) {
 9 |     super.onCreate(bundle)
10 |     startService(new Intent(this, classOf[BluetoothService]))
11 |   }
12 | }
13 | 


--------------------------------------------------------------------------------
/shared/prevent_brick.hpp:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include <fcntl.h>
 4 | #include <stdio.h>
 5 | #include <unistd.h>
 6 | 
 7 | inline void prevent_brick(const char *checkfile)
 8 | {
 9 |     int checkfd = ::open(checkfile, O_RDWR, 0755);
10 | 
11 |     if (checkfd < 0) {
12 |         printf("failed to open checkfile %s\n", checkfile);
13 |         for (;;);
14 |     }
15 | 
16 |     char check = '\0';
17 |     ssize_t count = ::pread(checkfd, &check, 1, 0);
18 |     if (count != 1 || (check != '1' && check != '2')) {
19 |         printf("%s is disabled\n", checkfile);
20 |         printf("count = %d, check = %c\n", count, check);
21 |         for (;;);
22 |     }
23 | 
24 |     if (check != '2') {
25 |         ::pwrite(checkfd, "0", 1, 0);
26 |     }
27 | 
28 |     ::close(checkfd);
29 | }
30 | 


--------------------------------------------------------------------------------
/src/connector/bluetooth.hpp:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include <mutex>
 4 | #include <future>
 5 | 
 6 | #include <boost/strong_typedef.hpp>
 7 | 
 8 | BOOST_STRONG_TYPEDEF(uint32_t, bluetooth_device_id_t);
 9 | 
10 | // Service specified in BdsConfiguration.xml
11 | BOOST_STRONG_TYPEDEF(uint32_t, bluetooth_service_id_t);
12 | 
13 | enum class bluetooth_socket_state {
14 |     disconnected,
15 |     connecting,
16 |     connected,
17 | };
18 | 
19 | struct bluetooth_socket {
20 |     bluetooth_socket_state state = bluetooth_socket_state::disconnected;
21 |     std::promise<int> fd_promise;
22 |     std::shared_future<int> fd_future = fd_promise.get_future();
23 | };
24 | 
25 | 
26 | // Returns a future that will be populated with the FD of the socket.
27 | // Immediately dup this fd when received, the original will be closed when the socket is closed.
28 | std::shared_future<int> bluetooth_connect(bluetooth_device_id_t device, bluetooth_service_id_t service);
29 | 
30 | void bluetooth_disconnect(bluetooth_device_id_t device_id, bluetooth_service_id_t service_id);
31 | 
32 | void handle_bluetooth_connection_response(DBusMessage *message);
33 | 


--------------------------------------------------------------------------------
/src/connector/navigation.hpp:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include <stdint.h>
 4 | 
 5 | void GuidanceChanged(
 6 |     int32_t manueverIcon,
 7 |     int32_t manueverDistance,
 8 |     int32_t manueverDistanceUnit,
 9 |     int32_t speedLimit,
10 |     int32_t speedLimitUnit,
11 |     int32_t laneIcon1,
12 |     int32_t laneIcon2,
13 |     int32_t laneIcon3,
14 |     int32_t laneIcon4,
15 |     int32_t laneIcon5,
16 |     int32_t laneIcon6,
17 |     int32_t laneIcon7,
18 |     int32_t laneIcon8
19 | );
20 | 
21 | uint8_t SetHUDDisplayMsgReq(
22 |     uint32_t manueverIcon,
23 |     uint16_t manueverDistance,
24 |     uint8_t manueverDistanceUnit,
25 |     uint16_t speedLimit,
26 |     uint8_t speedLimitUnit
27 | );
28 | 
29 | void NotificationBar_Notify(
30 |     int32_t manueverIcon,
31 |     int32_t manueverDistance,
32 |     int32_t manueverDistanceUnit,
33 |     const char *streetName,
34 |     int32_t priority
35 | );
36 | 
37 | void updateHUD(
38 |     int32_t manueverIcon,
39 |     int32_t manueverDistance,
40 |     int32_t manueverDistanceUnit,
41 |     int32_t speedLimit,
42 |     int32_t speedLimitUnit,
43 |     const char *streetName,
44 |     int32_t priority
45 | );
46 | 


--------------------------------------------------------------------------------
/src/connector/gesture_recognizer.hpp:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include <functional>
 4 | #include <unordered_map>
 5 | 
 6 | struct gesture {
 7 |     int keycode;
 8 |     bool long_press;
 9 |     int tap_count;
10 | };
11 | 
12 | class gesture_recognizer {
13 | public:
14 |     using cb_receive_input = std::function<void (gesture)>;
15 | 
16 |     gesture_recognizer(const gesture_recognizer &copy) = delete;
17 |     gesture_recognizer(gesture_recognizer &&move) = default;
18 |     gesture_recognizer(cb_receive_input input_callback, int long_press_ms = 500, int tap_interval_ms = 250);
19 |     ~gesture_recognizer(void);
20 | 
21 | private:
22 |     bool started = false;
23 |     int input_pipe[2];
24 |     cb_receive_input input_callback;
25 | 
26 |     // Time to wait to trigger a long press
27 |     int long_press_ms;
28 | 
29 |     // Time to wait for additional taps
30 |     int tap_interval_ms;
31 | 
32 |     struct recognizer_state {
33 |         int tap_count = 0;
34 |         struct timeval last_timestamp = { .tv_sec = 0, .tv_usec = 0 };
35 |         int last_value = 0;
36 |         int timer = -1;
37 |     };
38 | 
39 |     // map from keycode to last event
40 |     std::unordered_map<int, recognizer_state> key_state;
41 | 
42 |     void spawn_thread(void);
43 | 
44 | public:
45 |     void handle_input(const struct input_event *input);
46 | };
47 | 


--------------------------------------------------------------------------------
/src/connector/dbus.cpp:
--------------------------------------------------------------------------------
 1 | #include <err.h>
 2 | #include <thread>
 3 | #include <dbus/dbus.h>
 4 | 
 5 | #include "dbus.hpp"
 6 | 
 7 | DBusConnection *service_bus;
 8 | DBusConnection *hmi_bus;
 9 | 
10 | void initialize_dbus(void)
11 | {
12 |     dbus_threads_init_default();
13 | 
14 |     DBusError error;
15 |     dbus_error_init(&error);
16 | 
17 |     // Initialize service bus
18 |     service_bus = dbus_connection_open(SERVICE_BUS_ADDRESS, &error);
19 |     if (!service_bus) {
20 |         errx(1, "failed to connect to service bus: %s: %s\n", error.name, error.message);
21 |     }
22 | 
23 |     if (!dbus_bus_register(service_bus, &error)) {
24 |         errx(1, "failed to register with service bus: %s: %s\n", error.name, error.message);
25 |     }
26 | 
27 |     // Initialize HMI bus
28 |     hmi_bus = dbus_connection_open(HMI_BUS_ADDRESS, &error);
29 |     if (!hmi_bus) {
30 |         errx(1, "failed to connect to HMI bus: %s: %s\n", error.name, error.message);
31 |     }
32 | 
33 |     if (!dbus_bus_register(hmi_bus, &error)) {
34 |         errx(1, "failed to register with HMI bus: %s: %s\n", error.name, error.message);
35 |     }
36 | 
37 |     std::thread service_thread([]() {
38 |         while (dbus_connection_read_write_dispatch(service_bus, -1));
39 |     });
40 | 
41 |     std::thread hmi_thread([]() {
42 |         while (dbus_connection_read_write_dispatch(hmi_bus, -1));
43 |     });
44 | 
45 |     service_thread.detach();
46 |     hmi_thread.detach();
47 | }
48 | 


--------------------------------------------------------------------------------
/android/src/main/scala/us/insolit/mazdaconnector/WakeUpActivity.scala:
--------------------------------------------------------------------------------
 1 | package us.insolit.mazdaconnector
 2 | 
 3 | import android.app.Activity
 4 | import android.content.{ComponentName, Context, Intent}
 5 | import android.os.Bundle
 6 | import android.view.WindowManager.LayoutParams
 7 | 
 8 | class WakeUpActivity extends Activity {
 9 |   var started: Boolean = _
10 | 
11 |   override def onCreate(bundle: Bundle) {
12 |     super.onCreate(bundle)
13 | 
14 |     started = false
15 |   }
16 | 
17 |   override def onStart() {
18 |     super.onStart()
19 | 
20 |     val window = getWindow()
21 |     window.addFlags(
22 |       LayoutParams.FLAG_DISMISS_KEYGUARD |
23 |       LayoutParams.FLAG_SHOW_WHEN_LOCKED |
24 |       LayoutParams.FLAG_TURN_SCREEN_ON |
25 |       LayoutParams.FLAG_KEEP_SCREEN_ON
26 |     )
27 |   }
28 | 
29 |   override def onStop() {
30 |     super.onStop();
31 |     finish()
32 |   }
33 | 
34 |   override def onWindowFocusChanged(focus: Boolean) {
35 |     if (focus && !started) {
36 |       started = true
37 |       this.startGoogleNow()
38 |     }
39 |   }
40 | 
41 |   def startGoogleNow() {
42 |     val googleNowComponent = new ComponentName("com.google.android.googlequicksearchbox", "com.google.android.googlequicksearchbox.VoiceSearchActivity")
43 |     val googleNowIntent = new Intent(Intent.ACTION_MAIN)
44 |                                 .addCategory(Intent.CATEGORY_DEFAULT)
45 |                                 .addCategory(Intent.CATEGORY_LAUNCHER)
46 |                                 .setFlags(Intent.FLAG_ACTIVITY_NEW_TASK | Intent.FLAG_ACTIVITY_CLEAR_TOP)
47 |                                 .setComponent(googleNowComponent)
48 | 
49 |     startActivity(googleNowIntent)
50 |   }
51 | }
52 | 
53 | object WakeUpActivity {
54 |   def start(ctx: Context) {
55 |     ctx.startActivity(new Intent(ctx, classOf[WakeUpActivity]).addFlags(Intent.FLAG_ACTIVITY_NEW_TASK | Intent.FLAG_ACTIVITY_CLEAR_TASK | Intent.FLAG_ACTIVITY_CLEAR_TOP))
56 |   }
57 | }
58 | 


--------------------------------------------------------------------------------
/android/src/main/AndroidManifest.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <manifest xmlns:android="http://schemas.android.com/apk/res/android" package="us.insolit.mazdaconnector" android:versionCode="1" android:versionName="0.0.1">
 3 |   <uses-sdk android:minSdkVersion="11"
 4 |             android:targetSdkVersion="21" />
 5 |   <uses-permission android:name="android.permission.BLUETOOTH" />
 6 |   <uses-permission android:name="android.permission.DISABLE_KEYGUARD" />
 7 |   <application android:label="@string/app_name" >
 8 |     <service android:name=".BluetoothService"
 9 |              android:enabled="true"
10 |              android:exported="false">
11 |     </service>
12 |     <activity android:name=".MainActivity"
13 |               android:label="@string/app_name">
14 |       <intent-filter>
15 |         <action android:name="android.intent.action.MAIN" />
16 |         <category android:name="android.intent.category.LAUNCHER" />
17 |       </intent-filter>
18 |     </activity>
19 | 
20 |     <activity android:name=".WakeUpActivity"
21 |               android:theme="@android:style/Theme.Translucent.NoTitleBar"
22 |               android:launchMode="singleTask">
23 |     </activity>
24 | 
25 |     <receiver android:name=".AutoStartReceiver"
26 |               android:enabled="true"
27 |               android:exported="true">
28 |       <intent-filter android:priority="500">
29 |         <action android:name="android.bluetooth.adapter.action.CONNECTION_STATE_CHANGED" />
30 |         <action android:name="android.bluetooth.adapter.action.STATE_CHANGED" />
31 |         <action android:name="android.bluetooth.device.action.ACL_CONNECTED" />
32 |         <action android:name="android.bluetooth.headset.action.STATE_CHANGED" />
33 |         <action android:name="android.bluetooth.intent.action.HEADSET_STATE_CHANGED" />
34 |         <action android:name="android.intent.action.BOOT_COMPLETED" />
35 |         <action android:name="android.media.ACTION_SCO_AUDIO_STATE_UPDATED" />
36 |       </intent-filter>
37 |     </receiver>
38 | 
39 |     <receiver android:name=".StartVRReceiver"
40 |               android:enabled="true"
41 |               android:exported="true">
42 |       <intent-filter>
43 |         <action android:name="us.insolit.mazdaconnector.START_VR" />
44 |       </intent-filter>
45 |     </receiver>
46 |   </application>
47 | </manifest>
48 | 


--------------------------------------------------------------------------------
/src/connector/connector.cpp:
--------------------------------------------------------------------------------
  1 | #include <err.h>
  2 | #include <poll.h>
  3 | #include <stdio.h>
  4 | #include <stdint.h>
  5 | #include <stdlib.h>
  6 | #include <string.h>
  7 | #include <unistd.h>
  8 | 
  9 | #include <sstream>
 10 | #include <thread>
 11 | #include <vector>
 12 | 
 13 | #include <dbus/dbus.h>
 14 | #include <linux/input.h>
 15 | 
 16 | #include "shared/dbus_helpers.hpp"
 17 | #include "shared/prevent_brick.hpp"
 18 | 
 19 | #include "bluetooth.hpp"
 20 | #include "dbus.hpp"
 21 | #include "gesture_recognizer.hpp"
 22 | #include "navigation.hpp"
 23 | 
 24 | static void handle_input(gesture input);
 25 | 
 26 | static std::atomic<int> btfd { -1 };
 27 | static gesture_recognizer recognizer(handle_input);
 28 | 
 29 | static DBusHandlerResult handle_service_message(DBusConnection *, DBusMessage *message, void *)
 30 | {
 31 |     return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
 32 | }
 33 | 
 34 | static DBusHandlerResult handle_hmi_message(DBusConnection *, DBusMessage *message, void *)
 35 | {
 36 |     if (strcmp("ConnectionStatusResp", dbus_message_get_member(message)) == 0) {
 37 |         handle_bluetooth_connection_response(message);
 38 |         return DBUS_HANDLER_RESULT_HANDLED;
 39 |     } else if (strcmp("KeyEvent", dbus_message_get_member(message)) == 0) {
 40 |         DBusMessageIter iter;
 41 |         if (!dbus_message_iter_init(message, &iter)) {
 42 |             errx(1, "failed to open message iterator for reading KeyEvent message");
 43 |         }
 44 | 
 45 |         struct input_event event;
 46 |         if (!dbus_message_decode_input_event(&iter, &event)) {
 47 |             errx(1, "failed to get input event from KeyEvent message");
 48 |         }
 49 | 
 50 |         recognizer.handle_input(&event);
 51 | 
 52 |         return DBUS_HANDLER_RESULT_HANDLED;
 53 |     }
 54 | 
 55 |     printf("failed to handle message with member: %s\n", dbus_message_get_member(message));
 56 | 
 57 |     return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
 58 | }
 59 | 
 60 | static void handle_input(gesture input) {
 61 |     int fd = btfd.load();
 62 |     if (fd < 0) {
 63 |         printf("Can't send input to device, not yet connected\n");
 64 |     } else {
 65 |         std::stringstream ss;
 66 |         ss << "Input:" << input.keycode << ";" << int(input.long_press) << ";" << input.tap_count;
 67 | 
 68 |         std::string command = ss.str();
 69 | 
 70 |         printf("Sending: %s\n", command.c_str());
 71 | 
 72 |         std::vector<char> buf(command.length() + sizeof(uint32_t));
 73 |         *(uint32_t *)&buf[0] = command.length();
 74 |         memcpy(&buf[4], command.c_str(), command.length());
 75 |         ::write(fd, &buf[0], buf.size());
 76 |     }
 77 | }
 78 | 
 79 | static void register_signals(void)
 80 | {
 81 |     DBusError error;
 82 |     dbus_error_init(&error);
 83 | 
 84 |     dbus_connection_add_filter(service_bus, handle_service_message, nullptr, nullptr);
 85 |     dbus_connection_add_filter(hmi_bus, handle_hmi_message, nullptr, nullptr);
 86 | 
 87 |     // Bluetooth ConnectionStatusResp
 88 |     dbus_bus_add_match(hmi_bus, "type='signal',interface='com.jci.bca',member='ConnectionStatusResp'", &error);
 89 |     if (dbus_error_is_set(&error)) {
 90 |         errx(1, "failed to add ConnectionStatusResp match: %s: %s\n", error.name, error.message);
 91 |     }
 92 | 
 93 |     dbus_bus_add_match(hmi_bus, "type='signal',interface='us.insolit.mazda.connector',member='KeyEvent'", &error);
 94 |     if (dbus_error_is_set(&error)) {
 95 |         errx(1, "failed to add KeyEvent match: %s: %s\n", error.name, error.message);
 96 |     }
 97 | }
 98 | 
 99 | int main(void)
100 | {
101 |     // Try not to brick the car
102 |     prevent_brick("/tmp/mnt/data/enable_connector");
103 | 
104 |     initialize_dbus();
105 |     register_signals();
106 | 
107 |     setbuf(stdout, NULL);
108 |     setbuf(stderr, NULL);
109 | 
110 |     bluetooth_device_id_t device_id = bluetooth_device_id_t(1);
111 |     bluetooth_service_id_t service_id = bluetooth_service_id_t(8017);
112 |     while (true) {
113 |         std::shared_future<int> socket = bluetooth_connect(device_id, service_id);
114 |         int fd = socket.get();
115 |         if (fd < 0) {
116 |             printf("Failed to connect to socket, retrying in 1 seconds\n");
117 |             sleep(1);
118 |             continue;
119 |         }
120 | 
121 |         fd = dup(fd);
122 |         btfd.store(fd);
123 | 
124 |         struct pollfd pfd {
125 |             .fd = fd,
126 |             .events = POLLHUP | POLLERR,
127 |             .revents = 0
128 |         };
129 | 
130 |         poll(&pfd, 1, -1);
131 |         bluetooth_disconnect(device_id, service_id);
132 |         btfd.store(-1);
133 |         ::close(fd);
134 |     }
135 | 
136 |     return 0;
137 | }
138 | 
139 | 


--------------------------------------------------------------------------------
/shared/dbus_helpers.hpp:
--------------------------------------------------------------------------------
  1 | #pragma once
  2 | 
  3 | #include <stdint.h>
  4 | #include <dbus/dbus.h>
  5 | #include <linux/input.h>
  6 | 
  7 | #include "stringify.h"
  8 | 
  9 | inline bool dbus_message_encode_timeval(DBusMessageIter *iter, const struct timeval *time)
 10 | {
 11 |     DBusMessageIter sub;
 12 |     if (!dbus_message_iter_open_container(iter, DBUS_TYPE_STRUCT, nullptr, &sub)) {
 13 |         printf("ERROR: failed to open struct container\n");
 14 |         return false;
 15 |     }
 16 | 
 17 |     dbus_bool_t result = TRUE;
 18 |     uint64_t tv_sec = time->tv_sec;
 19 |     uint64_t tv_usec = time->tv_usec;
 20 | 
 21 |     result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_UINT64, &tv_sec);
 22 |     result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_UINT64, &tv_usec);
 23 | 
 24 |     if (!result) {
 25 |         printf("ERROR: failed to append time data");
 26 |         return false;
 27 |     }
 28 | 
 29 |     if (!dbus_message_iter_close_container(iter, &sub)) {
 30 |         errx(1, "ERROR: failed to close struct container\n");
 31 |     }
 32 | 
 33 |     return true;
 34 | }
 35 | 
 36 | inline bool dbus_message_encode_input_event(DBusMessageIter *iter, const struct input_event *event)
 37 | {
 38 |     DBusMessageIter sub;
 39 |     if (!dbus_message_iter_open_container(iter, DBUS_TYPE_STRUCT, nullptr, &sub)) {
 40 |         printf("ERROR: failed to open struct container\n");
 41 |         return false;
 42 |     }
 43 | 
 44 |     if (!dbus_message_encode_timeval(&sub, &event->time)) {
 45 |         printf("ERROR: failed to append time\n");
 46 |         return false;
 47 |     }
 48 | 
 49 |     dbus_bool_t result = TRUE;
 50 |     result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_UINT16, &event->type);
 51 |     result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_UINT16, &event->code);
 52 |     result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_INT32, &event->value);
 53 | 
 54 |     if (!result) {
 55 |         printf("ERROR: failed to append event data");
 56 |         return false;
 57 |     }
 58 | 
 59 |     if (!dbus_message_iter_close_container(iter, &sub)) {
 60 |         errx(1, "ERROR: failed to close struct container\n");
 61 |     }
 62 | 
 63 |     return true;
 64 | 
 65 | }
 66 | 
 67 | inline bool dbus_message_decode_timeval(DBusMessageIter *iter, struct timeval *time)
 68 | {
 69 |     DBusMessageIter sub;
 70 |     uint64_t tv_sec = 0;
 71 |     uint64_t tv_usec = 0;
 72 | 
 73 |     if (dbus_message_iter_get_arg_type(iter) != DBUS_TYPE_STRUCT) {
 74 |         printf("[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(iter));
 75 |         return false;
 76 |     }
 77 | 
 78 |     dbus_message_iter_recurse(iter, &sub);
 79 | 
 80 |     if (dbus_message_iter_get_arg_type(&sub) != DBUS_TYPE_UINT64) {
 81 |         printf("[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(iter));
 82 |         return false;
 83 |     }
 84 |     dbus_message_iter_get_basic(&sub, &tv_sec);
 85 |     dbus_message_iter_next(&sub);
 86 | 
 87 |     if (dbus_message_iter_get_arg_type(&sub) != DBUS_TYPE_UINT64) {
 88 |         printf("[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(iter));
 89 |         return false;
 90 |     }
 91 |     dbus_message_iter_get_basic(&sub, &tv_usec);
 92 | 
 93 |     dbus_message_iter_next(iter);
 94 | 
 95 |     time->tv_sec = tv_sec;
 96 |     time->tv_usec = tv_usec;
 97 | 
 98 |     return true;
 99 | }
100 | 
101 | inline bool dbus_message_decode_input_event(DBusMessageIter *iter, struct input_event *event)
102 | {
103 |     DBusMessageIter sub;
104 | 
105 |     if (dbus_message_iter_get_arg_type(iter) != DBUS_TYPE_STRUCT) {
106 |         printf("[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(iter));
107 |         return false;
108 |     }
109 | 
110 |     dbus_message_iter_recurse(iter, &sub);
111 | 
112 |     if (!dbus_message_decode_timeval(&sub, &event->time)) {
113 |         printf("ERROR: failed to decode timeval");
114 |         return false;
115 |     }
116 | 
117 |     if (dbus_message_iter_get_arg_type(&sub) != DBUS_TYPE_UINT16) {
118 |         printf("[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&sub));
119 |         return false;
120 |     }
121 |     dbus_message_iter_get_basic(&sub, &event->type);
122 |     dbus_message_iter_next(&sub);
123 | 
124 |     if (dbus_message_iter_get_arg_type(&sub) != DBUS_TYPE_UINT16) {
125 |         printf("[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&sub));
126 |         return false;
127 |     }
128 |     dbus_message_iter_get_basic(&sub, &event->code);
129 |     dbus_message_iter_next(&sub);
130 | 
131 |     if (dbus_message_iter_get_arg_type(&sub) != DBUS_TYPE_INT32) {
132 |         printf("[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&sub));
133 |         return false;
134 |     }
135 |     dbus_message_iter_get_basic(&sub, &event->value);
136 | 
137 |     dbus_message_iter_next(iter);
138 | 
139 |     return true;
140 | }
141 | 


--------------------------------------------------------------------------------
/android/src/main/scala/us/insolit/mazdaconnector/BluetoothService.scala:
--------------------------------------------------------------------------------
  1 | package us.insolit.mazdaconnector
  2 | 
  3 | import java.io.IOException
  4 | import java.nio.ByteBuffer
  5 | import java.nio.ByteOrder
  6 | import java.nio.charset.Charset
  7 | import java.util.UUID
  8 | 
  9 | import scala.concurrent.{ExecutionContext, Future}
 10 | import scala.concurrent.ExecutionContext.Implicits.global
 11 | 
 12 | import android.app.Service
 13 | import android.bluetooth.BluetoothAdapter
 14 | import android.content.Intent
 15 | import android.os.{Handler, IBinder, Looper, SystemClock}
 16 | import android.speech.tts.TextToSpeech
 17 | import android.util.Log
 18 | import android.view.KeyEvent
 19 | 
 20 | class BluetoothService extends Service {
 21 |   // FIXME: Move this somewhere else
 22 |   def runOnMainThread(f: => Unit) {
 23 |     val handler = new Handler(Looper.getMainLooper())
 24 |     handler.post(new Runnable {
 25 |       override def run() = f
 26 |     })
 27 |   }
 28 | 
 29 |   override def onCreate() {
 30 |     super.onCreate()
 31 |     Log.v("MazdaConnector", "Service started")
 32 |     Future {
 33 |       val adapter = BluetoothAdapter.getDefaultAdapter();
 34 |       val uuid = UUID.fromString(getString(R.string.connector_uuid))
 35 |       val serverSocket = adapter.listenUsingRfcommWithServiceRecord("connector", uuid);
 36 | 
 37 |       val tts: TextToSpeech = new TextToSpeech(this,
 38 |         new TextToSpeech.OnInitListener() {
 39 |           override def onInit(status: Int) {
 40 |           }
 41 |         }
 42 |       )
 43 | 
 44 |       while (true) {
 45 |         val socket = serverSocket.accept()
 46 |         Future {
 47 |           try {
 48 |             val is = socket.getInputStream()
 49 |             val os = socket.getOutputStream()
 50 | 
 51 |             while (true) {
 52 |               // length of the packet
 53 |               val header = ByteBuffer.allocate(4).order(ByteOrder.LITTLE_ENDIAN)
 54 |               if (is.read(header.array) != header.array.length) {
 55 |                 throw new IOException("BluetoothSocket returned short when reading header (wanted " +
 56 |                   header.array.length + "bytes)")
 57 |               }
 58 | 
 59 |               val length = header.getInt
 60 |               if (length < 0) {
 61 |                 throw new IOException("BluetoothSocket received length > 2GB, wtf")
 62 |               }
 63 | 
 64 |               val packet = ByteBuffer.allocate(length).order(ByteOrder.LITTLE_ENDIAN)
 65 |               if (is.read(packet.array) != packet.array.length) {
 66 |                 throw new IOException("BluetoothSocket returned short when reading data")
 67 |               }
 68 | 
 69 |               val packetString = new String(packet.array(), Charset.forName("UTF-8"))
 70 |               // Expected format: <TAG>:<MSG>
 71 |               val fields = packetString.split(":", 2)
 72 |               if (fields.length != 2) {
 73 |                 throw new IOException("Received malformed message: " + packet)
 74 |               }
 75 | 
 76 |               fields(0) match {
 77 |                 case "Input" => {
 78 |                   val input = fields(1).split(";")
 79 |                   if (input.length != 3) {
 80 |                     throw new IOException("Received malformed input message: " + fields(1))
 81 |                   }
 82 | 
 83 |                   val keycode = input(0).toInt
 84 |                   val longPress = input(1) == "1"
 85 |                   val tapCount = input(2).toInt
 86 | 
 87 |                   if (tapCount == 1) {
 88 |                     if (longPress) {
 89 |                       WakeUpActivity.start(this)
 90 |                     } else {
 91 |                       val time = SystemClock.uptimeMillis();
 92 |                       val downEvent = new KeyEvent(time, time, KeyEvent.ACTION_DOWN, KeyEvent.KEYCODE_MEDIA_PLAY_PAUSE, 0);
 93 |                       val downIntent = new Intent(Intent.ACTION_MEDIA_BUTTON, null).putExtra(Intent.EXTRA_KEY_EVENT, downEvent)
 94 |                       sendOrderedBroadcast(downIntent, null);
 95 | 
 96 |                       val upEvent = new KeyEvent(time, time, KeyEvent.ACTION_UP, KeyEvent.KEYCODE_MEDIA_PLAY_PAUSE, 0);
 97 |                       val upIntent = new Intent(Intent.ACTION_MEDIA_BUTTON, null).putExtra(Intent.EXTRA_KEY_EVENT, upEvent)
 98 |                       sendOrderedBroadcast(upIntent, null);
 99 |                     }
100 |                   } else {
101 |                     var message = "Received keycode " + input(0) + ", "
102 |                     if (longPress) {
103 |                       message += "long press "
104 |                     }
105 |                     message += "count " + input(2)
106 |                     tts.speak(message, TextToSpeech.QUEUE_ADD, null)
107 |                   }
108 |                 }
109 | 
110 |                 case tag => {
111 |                   throw new IOException("Unhandled tag: " + tag)
112 |                 }
113 |               }
114 |             }
115 |           } catch {
116 |             case ex : Throwable => Log.e("MazdaConnector", "Received exception", ex)
117 |           }
118 | 
119 |           socket.close()
120 |         }
121 |       }
122 |     }
123 |   }
124 | 
125 |   override def onBind(intent: Intent): IBinder = ???
126 | }
127 | 
128 | 


--------------------------------------------------------------------------------
/src/connector/navigation.cpp:
--------------------------------------------------------------------------------
  1 | #include <assert.h>
  2 | #include <stdint.h>
  3 | #include <stdio.h>
  4 | #include <stdlib.h>
  5 | 
  6 | #include <dbus/dbus.h>
  7 | 
  8 | #include "dbus.hpp"
  9 | #include "navigation.hpp"
 10 | 
 11 | void GuidanceChanged(
 12 |     int32_t manueverIcon,
 13 |     int32_t manueverDistance,
 14 |     int32_t manueverDistanceUnit,
 15 |     int32_t speedLimit,
 16 |     int32_t speedLimitUnit,
 17 |     int32_t laneIcon1,
 18 |     int32_t laneIcon2,
 19 |     int32_t laneIcon3,
 20 |     int32_t laneIcon4,
 21 |     int32_t laneIcon5,
 22 |     int32_t laneIcon6,
 23 |     int32_t laneIcon7,
 24 |     int32_t laneIcon8)
 25 | {
 26 |     dbus_bool_t result;
 27 |     DBusMessage *msg = dbus_message_new_signal("/com/NNG/Api/Server", "com.NNG.Api.Server.Guidance", "GuidanceChanged");
 28 |     if (!msg) {
 29 |         assert(false && "failed to create message");
 30 |     }
 31 | 
 32 |     result =
 33 |         dbus_message_append_args(
 34 |             msg,
 35 |             DBUS_TYPE_INT32, &manueverIcon,
 36 |             DBUS_TYPE_INT32, &manueverDistance,
 37 |             DBUS_TYPE_INT32, &manueverDistanceUnit,
 38 |             DBUS_TYPE_INT32, &speedLimit,
 39 |             DBUS_TYPE_INT32, &speedLimitUnit,
 40 |             DBUS_TYPE_INT32, &laneIcon1,
 41 |             DBUS_TYPE_INT32, &laneIcon2,
 42 |             DBUS_TYPE_INT32, &laneIcon3,
 43 |             DBUS_TYPE_INT32, &laneIcon4,
 44 |             DBUS_TYPE_INT32, &laneIcon5,
 45 |             DBUS_TYPE_INT32, &laneIcon6,
 46 |             DBUS_TYPE_INT32, &laneIcon7,
 47 |             DBUS_TYPE_INT32, &laneIcon8,
 48 |             DBUS_TYPE_INVALID);
 49 | 
 50 |     if (!result) {
 51 |         assert(false && "failed to append arguments to message");
 52 |         exit(1);
 53 |     }
 54 | 
 55 |     if (!dbus_connection_send(service_bus, msg, nullptr)) {
 56 |         assert(false && "failed to send message");
 57 |     }
 58 | 
 59 |     dbus_message_unref(msg);
 60 | }
 61 | 
 62 | // Synchronous, should probably be fixed
 63 | uint8_t SetHUDDisplayMsgReq(
 64 |     uint32_t manueverIcon,
 65 |     uint16_t manueverDistance,
 66 |     uint8_t manueverDistanceUnit,
 67 |     uint16_t speedLimit,
 68 |     uint8_t speedLimitUnit)
 69 | {
 70 |     DBusMessage *msg = dbus_message_new_method_call("com.jci.vbs.navi", "/com/jci/vbs/navi",
 71 |                                                     "com.jci.vbs.navi","SetHUDDisplayMsgReq");
 72 |     DBusPendingCall *pending = nullptr;
 73 | 
 74 |     if (!msg) {
 75 |         assert(false && "failed to create message");
 76 |     }
 77 | 
 78 |     DBusMessageIter iter;
 79 |     dbus_message_iter_init_append(msg, &iter);
 80 | 
 81 |     DBusMessageIter sub;
 82 |     if (!dbus_message_iter_open_container(&iter, DBUS_TYPE_STRUCT, nullptr, &sub)) {
 83 |        assert(false && "failed to initialize sub-iterator");
 84 |     }
 85 | 
 86 |     {
 87 |         dbus_bool_t result = TRUE;
 88 |         result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_UINT32, &manueverIcon);
 89 |         result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_UINT16, &manueverDistance);
 90 |         result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_BYTE, &manueverDistanceUnit);
 91 |         result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_UINT16, &speedLimit);
 92 |         result &= dbus_message_iter_append_basic(&sub, DBUS_TYPE_BYTE, &speedLimitUnit);
 93 | 
 94 |         if (!result) {
 95 |             assert(false && "failed to append arguments to struct");
 96 |         }
 97 |     }
 98 | 
 99 |     if (!dbus_message_iter_close_container(&iter, &sub)) {
100 |         assert(false && "failed to close container");
101 |     }
102 | 
103 |     if (!dbus_connection_send_with_reply(service_bus, msg, &pending, -1)) {
104 |         assert(false && "failed to send message");
105 |     }
106 | 
107 |     dbus_connection_flush(service_bus);
108 |     dbus_message_unref(msg);
109 | 
110 |     dbus_pending_call_block(pending);
111 |     msg = dbus_pending_call_steal_reply(pending);
112 |     if (!msg) {
113 |        assert(false && "received null reply");
114 |     }
115 | 
116 |     uint8_t result;
117 |     if (!dbus_message_get_args(msg, nullptr, DBUS_TYPE_BYTE, &result,
118 |                                              DBUS_TYPE_INVALID)) {
119 |         assert(false && "failed to get result");
120 |     }
121 | 
122 |     dbus_message_unref(msg);
123 | 
124 |     return result;
125 | }
126 | 
127 | void NotificationBar_Notify(
128 |     int32_t manueverIcon,
129 |     int32_t manueverDistance,
130 |     int32_t manueverDistanceUnit,
131 |     const char *streetName,
132 |     int32_t priority)
133 | {
134 |     dbus_bool_t result;
135 |     DBusMessage *msg = dbus_message_new_signal("/com/NNG/Api/Server", "com.NNG.Api.Server.NotificationBar", "Notify");
136 |     if (!msg) {
137 |         assert(false && "failed to create message");
138 |     }
139 | 
140 |     result =
141 |         dbus_message_append_args(
142 |             msg,
143 |             DBUS_TYPE_INT32, &manueverIcon,
144 |             DBUS_TYPE_INT32, &manueverDistance,
145 |             DBUS_TYPE_INT32, &manueverDistanceUnit,
146 |             DBUS_TYPE_STRING, &streetName,
147 |             DBUS_TYPE_INT32, &priority,
148 |             DBUS_TYPE_INVALID);
149 | 
150 |     if (!result) {
151 |         assert(false && "failed to append arguments to message");
152 |     }
153 | 
154 |     if (!dbus_connection_send(service_bus, msg, nullptr)) {
155 |         assert(false && "failed to send message");
156 |     }
157 | 
158 |     dbus_message_unref(msg);
159 | }
160 | 
161 | void updateHUD(
162 |     int32_t manueverIcon,
163 |     int32_t manueverDistance,
164 |     int32_t manueverDistanceUnit,
165 |     int32_t speedLimit,
166 |     int32_t speedLimitUnit,
167 |     const char *streetName,
168 |     int32_t priority)
169 | {
170 |     GuidanceChanged(manueverIcon, manueverDistance, manueverDistanceUnit, speedLimit, speedLimitUnit, 0, 0, 0, 0, 0, 0, 0, 0);
171 |     NotificationBar_Notify(manueverIcon, manueverDistance, manueverDistanceUnit, streetName, priority);
172 |     SetHUDDisplayMsgReq(manueverIcon, manueverDistance, manueverDistanceUnit, speedLimit, speedLimitUnit);
173 |     dbus_connection_flush(service_bus);
174 | }
175 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | ## Mazda Connector<sup>[[1]](#1)</sup>
 2 | Mazda Connector is a collection of binaries to augment the functionality of the MZD Connect infotainment system on Mazda's current line of cars.<sup>[[2]](#2)</sup>&nbsp; Currently, there are three components: an Android application (``android``), a server binary which runs on the infotainment system (``connector``), and an input capturing binary (``input_filter``) that does a bunch of gross hacks to capture input from the steering wheel/commander knob before it hits the system.
 3 | ### Components
 4 | ##### Android
 5 | An Android application which provides a bluetooth server socket to which the car can connect for bidirectional communication. Currently, this is only used to capture the steering wheel talk button's input events (single press to play/pause music, long press to trigger Google Now, and other inputs (e.g. quadruple press followed by a long press) to trigger text to speech saying what you pressed), but it can be easily extended to do more interesting things.
 6 | 
 7 | ##### Connector
 8 | A daemon that handles connecting to the Android application through the system's native bluetooth stack, and listens to incoming events via D-BUS to tell the phone to do stuff.
 9 | 
10 | ##### Input Filter
11 | A daemon that runs before any of the system's input reading services start, which filters out specific button presses (currently only the steering wheel talk button) and sends the events to connector for handling.
12 | 
13 | ### Building
14 | Building the connector and input filter components requires an ARM cross-compilation toolchain with a relatively new version of gcc (C++11 support is required), glibc 2.11, libdbus, boost headers. A toolchain built for Ubuntu 14.10 is available [here](https://github.com/jmgao/m3-toolchain). [ninja](http://martine.github.io/ninja/) is also required, because I'm too lazy to write a makefile. The android app is built with [sbt](http://www.scala-sbt.org/download.html).
15 | 
16 | ### Installation
17 | **WARNING**: DO NOT DO THIS UNLESS YOU KNOW WHAT YOU ARE DOING.<br/>
18 | _**THIS CAN BRICK YOUR INFOTAINMENT SYSTEM IF YOU ARE UNLUCKY OR UNCAREFUL.**_<br />
19 | Here is a checklist of things you should verify (and know how to verify) before even thinking of installing this:
20 | 
21 | 1. ``/dev/input/event1`` exists and is the virtual keyboard device.
22 | 2. ``/dev/input/event5`` is the last event device in ``/dev/input``.
23 | 3. KEY_G is the voice recognition button on your steering wheel.
24 | 
25 | ##### Bootloop prevention
26 | Several of the services on the infotainment system will cause a reboot of the system if they fail. If this happens during the boot sequence because one of the daemons added by us has broken some invariant expected by the services, it will probably enter an endless bootloop which you won't be able to fix with ssh. To prevent this, both `connector` and `input_filter` are controlled by the `enable_connector` and `enable_input_filter` files in /tmp/mnt/data. The daemons will check these files on startup for '1' to decide whether to do stuff, and set them to '0' before continuing. If they happen to break things and cause a reboot, they'll do nothing on next boot, preventing Bad Things from happening. When you have everything working after a successful boot, setting the files to contain '2' will prevent them from disabling themselves on future boots.
27 | 
28 | ##### Install the android app
29 | Sideload it onto your android device through adb or google drive or emailing the APK to yourself or whatever. Make sure that your phone is the only device paired with the car, and start the application (it's currently just a blank screen right now). The application needs to be started at least once after installing, upgrading, or force stopping it, because Android prevents it from automatically starting while it is in the stopped state. After it's been launched once, it'll be automatically started in the background when the bluetooth state changes.
30 | 
31 | ##### Install connector
32 | Installation of ``connector`` and verifying that it works is relatively safe. Add an entry for the service into ``/jci/bds/BdsConfiguration.xml``:
33 | ```
34 | <serialPort id="8017" name="Mazda Connector" critical="false" enabled="true" uuidServer="62306C7457064375BB48212331070361" uuidClient="62306C7457064375BB48212331070361" writeDelay="3"/>
35 | ```
36 | Then, copy the binary to somewhere like ``/tmp/mnt/data``, and add it to one of the later stage start scripts specificed in ``/jci/sm/sm.conf``, such as ``/jci/scripts/stage_gap2.sh``. Changing the file to contain the following should work:
37 | ```
38 | #!/bin/sh
39 | /tmp/mnt/data/connector > /tmp/mnt/data/connector.log 2>&1 &
40 | ``` 
41 | Currently, connector is pretty much completely safe, so you can set ``enable_connector`` to '2' from the start. This may not be true in the future, so on upgrades, you should probably always be setting the values for both daemons to '1')
42 | 
43 | ##### Add input_filter to the startup manifest
44 | This is the scary part: if you mess up here, you've bricked your car. Edit the ``/jci/sm/sm.conf`` file to add ``input_filter`` to the startup sequence.
45 | ```
46 | <service type="process" name="input_filter" path="/tmp/mnt/data/input_filter" autorun="yes" reset_board="no" retry_count="0" affinity_mask="0x02">
47 |     <dependency type="service" value="stage1"/>
48 | </service>
49 | ```
50 | We want ``input_filter`` to run immediately before the first process which consumes input, which is ``devices``. Therefore, we need to add a dependency for it on the ``input_filter`` service. <sup>(FIXME: Is there a race here?)</sup> 
51 | ```
52 | <service type="jci_service" name="devices" path="/jci/devices/svc-com-jci-cpp-devices.so" autorun="yes" retry_count="0" args="" reset_board="yes" affinity_mask="0x02">
53 |     <dependency type="service" value="stage_1"/>
54 |     <dependency type="service" value="settings"/>
55 | >>> <dependency type="service" value="input_filter"/>
56 | </service>
57 | ```
58 | After modifying sm.conf and triple checking that it's correct and no mistaken changes have been made, reboot with '1' in ``/tmp/mnt/data/enable_input_filter`` and verify that the voice recognition button no longer triggers the stock voice prompt.
59 | 
60 | At this point, everything is probably working, so you should be able to enable both services permanently.
61 | 
62 | ### License
63 | AGPLv3
64 | 
65 | --
66 | <a name="1"/>1. Placeholder name until I can think of something better; Mazda please don't sue me <br />
67 | <a name="2"/>2. Currently only tested with the 2014 Mazda 3
68 | 
69 | 


--------------------------------------------------------------------------------
/src/connector/gesture_recognizer.cpp:
--------------------------------------------------------------------------------
  1 | #include <assert.h>
  2 | #include <err.h>
  3 | #include <stdio.h>
  4 | #include <stdlib.h>
  5 | #include <stdint.h>
  6 | #include <unistd.h>
  7 | 
  8 | #include <sys/epoll.h>
  9 | #include <sys/timerfd.h>
 10 | #include <linux/input.h>
 11 | 
 12 | #include <thread>
 13 | 
 14 | #include "gesture_recognizer.hpp"
 15 | 
 16 | #define USE_THREAD_FOR_CALLBACK 1
 17 | constexpr long MS_TO_NS = 1000000;
 18 | 
 19 | gesture_recognizer::gesture_recognizer(cb_receive_input input_callback, int long_press_ms, int tap_interval_ms) :
 20 |     input_callback(input_callback), long_press_ms(long_press_ms), tap_interval_ms(tap_interval_ms)
 21 | {
 22 |     if (::pipe(input_pipe) != 0) {
 23 |         err(1, "failed to create input pipe in gesture_recognizer");
 24 |     }
 25 | 
 26 |     this->spawn_thread();
 27 | }
 28 | 
 29 | gesture_recognizer::~gesture_recognizer(void)
 30 | {
 31 |     ::close(input_pipe[0]);
 32 |     ::close(input_pipe[1]);
 33 | }
 34 | 
 35 | void gesture_recognizer::spawn_thread(void)
 36 | {
 37 |     assert(!started && "gesture_recognizer started multiple times");
 38 |     started = true;
 39 | 
 40 |     std::thread([this]() {
 41 |         int epfd = ::epoll_create(1);
 42 |         struct epoll_event epoll_event = {
 43 |             .events = EPOLLIN,
 44 |             .data =  {
 45 |                 .u64 = 0
 46 |             }
 47 |         };
 48 | 
 49 |         epoll_ctl(epfd, EPOLL_CTL_ADD, input_pipe[0], &epoll_event);
 50 | 
 51 |         while (true) {
 52 |             int count = ::epoll_wait(epfd, &epoll_event, 1, -1);
 53 |             if (count <= 0) {
 54 |                 err(1, "epoll_wait failed");
 55 |             }
 56 | 
 57 |             if (epoll_event.data.u64 == 0) {
 58 |                 // Input event
 59 |                 struct input_event event;
 60 |                 if (::read(input_pipe[0], &event, sizeof event) != sizeof event) {
 61 |                     err(1, "failed to receive input event");
 62 |                 }
 63 | 
 64 |                 if (event.type != EV_KEY) {
 65 |                     printf("received unhandled input, ignoring (type = %u, code = %u, value = %d)\n", event.type, event.code, event.value);
 66 |                     continue;
 67 |                 }
 68 | 
 69 |                 auto &state = this->key_state[event.code];
 70 |                 if (event.value == 1) {
 71 |                     // KEY_DOWN
 72 |                     assert(state.last_value == 0);
 73 | 
 74 |                     ++state.tap_count;
 75 | 
 76 |                     struct itimerspec long_press_timerspec = {
 77 |                         .it_interval = {0, 0},
 78 |                         .it_value = { long_press_ms / 1000, (long_press_ms % 1000) * MS_TO_NS }
 79 |                     };
 80 | 
 81 |                     if (state.tap_count == 1) {
 82 |                         // Create the timer if it doesn't already exist
 83 |                         if (state.timer < 0) {
 84 |                             state.timer = ::timerfd_create(CLOCK_MONOTONIC, TFD_NONBLOCK);
 85 |                             if (state.timer < 0) {
 86 |                                 err(1, "failed to create timer");
 87 |                             }
 88 | 
 89 |                             struct epoll_event timer_event = {
 90 |                                 .events = EPOLLIN,
 91 |                                 .data = {
 92 |                                     .u64 = event.code
 93 |                                 }
 94 |                             };
 95 | 
 96 |                             if (::epoll_ctl(epfd, EPOLL_CTL_ADD, state.timer, &timer_event) != 0) {
 97 |                                 err(1, "failed to add timer to epoll");
 98 |                             }
 99 |                         }
100 | 
101 |                         // Start the timer
102 |                         if (::timerfd_settime(state.timer, 0, &long_press_timerspec, nullptr) != 0) {
103 |                             err(1, "failed to set timer for key down");
104 |                         }
105 |                     } else {
106 |                         // Update the timer to the long press interval
107 |                         assert(state.timer >= 0);
108 |                         if (::timerfd_settime(state.timer, 0, &long_press_timerspec, nullptr) != 0) {
109 |                             err(1, "failed to set timer for key down");
110 |                         }
111 |                     }
112 |                 } else {
113 |                     // KEY_UP
114 |                     assert(event.value == 0);
115 | 
116 |                     if (state.tap_count == 0) {
117 |                         printf("received key up for key with no current event, ignoring\n");
118 |                         assert(state.tap_count == 0);
119 |                         assert(state.last_value == 0);
120 |                     } else {
121 |                         assert(state.last_value == 1);
122 |                         assert(state.timer >= 0);
123 | 
124 |                         // Start the tap interval timer
125 |                         struct itimerspec tap_interval_timerspec = {
126 |                             .it_interval = {0, 0},
127 |                             .it_value = { tap_interval_ms / 1000, (tap_interval_ms % 1000) * MS_TO_NS }
128 |                         };
129 | 
130 |                         if (::timerfd_settime(state.timer, 0, &tap_interval_timerspec, nullptr) != 0) {
131 |                             err(1, "failed to set timer for key up");
132 |                         }
133 |                     }
134 |                 }
135 | 
136 |                 state.last_value = event.value;
137 |             } else {
138 |                 // A timer expired
139 |                 int keycode = epoll_event.data.u64;
140 |                 auto it = this->key_state.find(keycode);
141 |                 assert(it != this->key_state.end());
142 |                 auto &state = it->second;
143 | 
144 |                 assert(state.tap_count > 0);
145 |                 assert(state.timer >= 0);
146 | 
147 |                 // Turn off the timer
148 |                 struct itimerspec disabled_timerspec = {
149 |                     .it_interval = {0, 0},
150 |                     .it_value = {0, 0}
151 |                 };
152 | 
153 |                 if (::timerfd_settime(state.timer, 0, &disabled_timerspec, nullptr) != 0) {
154 |                     err(1, "failed to disable timer");
155 |                 }
156 | 
157 |                 gesture result;
158 |                 result.keycode = keycode;
159 |                 if (state.last_value == 0) {
160 |                     // Tap interval timer went off
161 |                     result.long_press = false;
162 |                 } else {
163 |                     // Long press timer went off
164 |                     result.long_press = true;
165 |                 }
166 | 
167 |                 result.tap_count = state.tap_count;
168 | 
169 | #if USE_THREAD_FOR_CALLBACK
170 |                 std::thread([this, result]() {
171 | #endif
172 |                     input_callback(result);
173 | #if USE_THREAD_FOR_CALLBACK
174 |                 }).detach();
175 | #endif
176 | 
177 |                 state.tap_count = 0;
178 |                 state.last_value = 0;
179 |             }
180 |         }
181 | 
182 |     }).detach();
183 | }
184 | 
185 | void gesture_recognizer::handle_input(const struct input_event *input)
186 | {
187 |     if (::write(input_pipe[1], input, sizeof *input) != sizeof *input) {
188 |         err(1, "failed to write input into pipe");
189 |     }
190 | }
191 | 


--------------------------------------------------------------------------------
/src/input_filter/input_filter.cpp:
--------------------------------------------------------------------------------
  1 | #include <err.h>
  2 | #include <errno.h>
  3 | #include <fcntl.h>
  4 | #include <memory.h>
  5 | #include <signal.h>
  6 | #include <stdio.h>
  7 | #include <stdlib.h>
  8 | #include <sys/epoll.h>
  9 | #include <sys/stat.h>
 10 | #include <sys/uio.h>
 11 | #include <unistd.h>
 12 | 
 13 | #include <linux/input.h>
 14 | #include <linux/uinput.h>
 15 | 
 16 | #include <functional>
 17 | #include <unordered_set>
 18 | #include <vector>
 19 | 
 20 | #include <dbus/dbus.h>
 21 | 
 22 | #include "shared/dbus_helpers.hpp"
 23 | #include "shared/prevent_brick.hpp"
 24 | 
 25 | #define HMI_BUS_ADDRESS "unix:path=/tmp/dbus_hmi_socket"
 26 | 
 27 | constexpr char source_device[] = "/dev/input/event1";
 28 | constexpr char filtered_name[] = "Virtual Keyboard";
 29 | 
 30 | // HACK: There doesn't seem to be a good way to get the path of the device
 31 | //       The UI_GET_SYSNAME ioctl requires kernel 3.15+
 32 | constexpr char new_device_path[] = "/dev/input/event6";
 33 | 
 34 | static int infd = -1;
 35 | static int outfd = -1;
 36 | 
 37 | using matcher_fn_t = std::function<bool (const struct input_event *)>;
 38 | static std::vector<matcher_fn_t> matchers;
 39 | 
 40 | static void destroy_device(int fd)
 41 | {
 42 |     ::ioctl(fd, UI_DEV_DESTROY);
 43 |     ::close(fd);
 44 | }
 45 | 
 46 | static void __attribute__((destructor)) cleanup(void)
 47 | {
 48 |     if (outfd >= 0) {
 49 |         destroy_device(outfd);
 50 |     }
 51 | }
 52 | 
 53 | static void signal_handler(int)
 54 | {
 55 |     exit(1);
 56 | }
 57 | 
 58 | // SUPER HACKY: Create a bunch of dummy input devices to force our device to get created at event6
 59 | static int make_dummy(void)
 60 | {
 61 |     static int counter = 0;
 62 |     int dummy = ::open("/dev/uinput", O_WRONLY);
 63 |     ::ioctl(dummy, UI_SET_EVBIT, EV_SYN);
 64 | 
 65 |     struct uinput_user_dev uidev;
 66 |     memset(&uidev, 0, sizeof uidev);
 67 |     snprintf(uidev.name, UINPUT_MAX_NAME_SIZE, "dummy%d", counter++);
 68 |     uidev.id.bustype = BUS_USB;
 69 |     uidev.id.vendor  = 0x1234;
 70 |     uidev.id.product = 0xfedc;
 71 |     uidev.id.version = 1;
 72 | 
 73 |     if (::write(dummy, &uidev, sizeof uidev) != sizeof uidev) {
 74 |         err(1, "failed to write uidev struct");
 75 |     }
 76 | 
 77 |     if (::ioctl(dummy, UI_DEV_CREATE) != 0) {
 78 |         err(1, "failed to create device");
 79 |     }
 80 | 
 81 |     return dummy;
 82 | }
 83 | 
 84 | static void initialize(void)
 85 | {
 86 |     signal(SIGINT, signal_handler);
 87 | 
 88 |     int dummies[3];
 89 |     dummies[0] = make_dummy();
 90 |     dummies[1] = make_dummy();
 91 |     dummies[2] = make_dummy();
 92 | 
 93 |     outfd = ::open("/dev/uinput", O_WRONLY);
 94 |     if (outfd < 0) {
 95 |         err(1, "failed to open uinput device");
 96 |     }
 97 | 
 98 |     infd = ::open(source_device, O_RDONLY);
 99 |     if (infd < 0) {
100 |         err(1, "failed to open input device %s", source_device);
101 |     }
102 | 
103 |     if (::ioctl(outfd, UI_SET_EVBIT, EV_SYN) != 0) {
104 |         err(1, "failed to enable EV_SYN");
105 |     }
106 | 
107 |     if (::ioctl(outfd, UI_SET_EVBIT, EV_KEY) != 0) {
108 |         err(1, "failed to enable EV_SYN");
109 |     }
110 | 
111 |     if (::ioctl(outfd, UI_SET_EVBIT, EV_LED) != 0) {
112 |         err(1, "failed to enable EV_SYN");
113 |     }
114 | 
115 |     for (int i = 0; i < 199; ++i) {
116 |         if (::ioctl(outfd, UI_SET_KEYBIT, i) != 0) {
117 |             err(1, "failed to enable key bit %d", i);
118 |         }
119 |     }
120 | 
121 |     struct uinput_user_dev uidev;
122 |     memset(&uidev, 0, sizeof uidev);
123 |     snprintf(uidev.name, UINPUT_MAX_NAME_SIZE, filtered_name);
124 |     uidev.id.bustype = BUS_USB;
125 |     uidev.id.vendor  = 0x1234;
126 |     uidev.id.product = 0xfedc;
127 |     uidev.id.version = 1;
128 | 
129 |     if (::write(outfd, &uidev, sizeof uidev) != sizeof uidev) {
130 |         err(1, "failed to write uidev struct");
131 |     }
132 | 
133 |     // Replace the old device
134 |     struct stat st;
135 |     if (::stat(new_device_path, &st) == 0) {
136 |         errx(1, "new_device_path '%s' exists before creating input device", new_device_path);
137 |     }
138 | 
139 |     if (::ioctl(outfd, UI_DEV_CREATE) != 0) {
140 |         err(1, "failed to create device");
141 |     }
142 | 
143 |     if (::stat(new_device_path, &st) != 0) {
144 |         err(1, "couldn't stat created device");
145 |     }
146 | 
147 |     // HACK: Wait for udev to populate /dev/input/
148 |     sleep(1);
149 | 
150 |     if (::unlink(source_device) != 0) {
151 |         err(1, "failed to unlink source device '%s'", source_device);
152 |     }
153 | 
154 |     if (::rename(new_device_path, source_device) != 0) {
155 |         err(1, "failed to move new device");
156 |     }
157 | 
158 |     destroy_device(dummies[0]);
159 |     destroy_device(dummies[1]);
160 |     destroy_device(dummies[2]);
161 | }
162 | 
163 | static void __attribute__((noreturn)) loop(void)
164 | {
165 |     enum class events {
166 |         input,
167 |     };
168 | 
169 |     int epfd = ::epoll_create(1);
170 |     if (epfd < 0) {
171 |         err(1, "failed to create epoll fd");
172 |     }
173 | 
174 |     struct epoll_event event {
175 |         .events = EPOLLIN,
176 |         .data = {
177 |             .u64 = uint64_t(events::input)
178 |         }
179 |     };
180 | 
181 |     if (epoll_ctl(epfd, EPOLL_CTL_ADD, infd, &event) != 0) {
182 |         err(1, "failed to add input fd to epoll set");
183 |     }
184 | 
185 |     constexpr size_t buffer_size = 64;
186 |     std::vector<struct iovec> iovecs;
187 |     iovecs.reserve(buffer_size);
188 |     while (epoll_wait(epfd, &event, 1, -1) >= 0) {
189 |         switch (events(event.data.u64)) {
190 |             case events::input:
191 |             {
192 |                 iovecs.clear();
193 |                 struct input_event ev_buf[buffer_size];
194 |                 ssize_t bytes_read = ::read(infd, &ev_buf, sizeof ev_buf);
195 |                 if (bytes_read <= 0 || bytes_read % sizeof(struct input_event) != 0) {
196 |                     err(1, "failed to read event");
197 |                 }
198 | 
199 |                 ssize_t events_read = bytes_read / sizeof (struct input_event);
200 |                 for (int i = 0; i < events_read; ++i) {
201 |                     struct input_event *ev = &ev_buf[i];
202 |                     bool matched = false;
203 |                     for (const auto &matcher : matchers) {
204 |                         if (matcher(ev)) {
205 |                             matched = true;
206 |                             break;
207 |                         }
208 |                     }
209 | 
210 |                     if (!matched) {
211 |                         iovecs.push_back({
212 |                             .iov_base = ev,
213 |                             .iov_len = sizeof (struct input_event)
214 |                         });
215 |                     }
216 |                 }
217 | 
218 |                 ::writev(outfd, iovecs.data(), iovecs.size());
219 |             }
220 |         }
221 |     }
222 | 
223 |     err(1, "epoll_wait failed");
224 | }
225 | 
226 | int main(int argc, const char *argv[])
227 | {
228 |     // Try not to brick the car
229 |     prevent_brick("/tmp/mnt/data/enable_input_filter");
230 | 
231 |     // BEGIN SCARY STUFF:
232 |     initialize();
233 | 
234 |     DBusError error;
235 |     dbus_error_init(&error);
236 | 
237 |     DBusConnection *hmi_bus = dbus_connection_open(HMI_BUS_ADDRESS, &error);
238 |     if (!hmi_bus) {
239 |         errx(1, "failed to connect to HMI bus: %s: %s\n", error.name, error.message);
240 |     }
241 | 
242 |     if (!dbus_bus_register(hmi_bus, &error)) {
243 |         errx(1, "failed to register with HMI bus: %s: %s\n", error.name, error.message);
244 |     }
245 | 
246 |     const std::unordered_set<int> captured_keys = {
247 |         // Steering wheel talk
248 |         KEY_G,
249 | 
250 |         // Console navigation
251 |         // KEY_R,
252 |     };
253 | 
254 |     matchers.push_back(
255 |         [hmi_bus, &captured_keys] (const struct input_event *ev) {
256 |             if (ev->type == EV_KEY && captured_keys.count(ev->code)) {
257 |                 printf("received talk button, status = %d\n", ev->value);
258 | 
259 |                 DBusMessage *msg = dbus_message_new_signal(
260 |                     "/us/insolit/mazda/connector", "us.insolit.mazda.connector", "KeyEvent");
261 | 
262 |                 if (!msg) {
263 |                     errx(1, "failed to create dbus message");
264 |                 }
265 | 
266 |                 DBusMessageIter iter;
267 |                 dbus_message_iter_init_append(msg, &iter);
268 | 
269 |                 if (!dbus_message_encode_input_event(&iter, ev)) {
270 |                     errx(1, "failed to append input event");
271 |                 }
272 | 
273 |                 if (!dbus_connection_send(hmi_bus, msg, nullptr)) {
274 |                     errx(1, "failed to send dbus message");
275 |                 }
276 | 
277 |                 dbus_connection_flush(hmi_bus);
278 |                 dbus_message_unref(msg);
279 | 
280 |                 return true;
281 |             }
282 | 
283 |             return false;
284 |         });
285 | 
286 |     loop();
287 | }
288 | 


--------------------------------------------------------------------------------
/src/connector/bluetooth.cpp:
--------------------------------------------------------------------------------
  1 | #include <assert.h>
  2 | #include <err.h>
  3 | #include <fcntl.h>
  4 | #include <stdio.h>
  5 | #include <stdint.h>
  6 | #include <stdlib.h>
  7 | #include <unistd.h>
  8 | 
  9 | #include <map>
 10 | #include <mutex>
 11 | 
 12 | #include <dbus/dbus.h>
 13 | 
 14 | #include "shared/stringify.h"
 15 | #include "bluetooth.hpp"
 16 | #include "dbus.hpp"
 17 | 
 18 | static std::mutex connections_mutex;
 19 | 
 20 | using service_map_t = std::map<bluetooth_service_id_t, bluetooth_socket>;
 21 | using device_map_t = std::map<bluetooth_device_id_t, service_map_t>;
 22 | 
 23 | static device_map_t connections;
 24 | 
 25 | std::shared_future<int> bluetooth_connect(bluetooth_device_id_t device_id, bluetooth_service_id_t service_id)
 26 | {
 27 |     auto lock = std::unique_lock<decltype(connections_mutex)>(connections_mutex);
 28 |     auto device_it = connections.find(device_id);
 29 | 
 30 |     if (device_it == connections.end()) {
 31 |         connections[device_id];
 32 |         device_it = connections.find(device_id);
 33 |     }
 34 | 
 35 |     auto &services = device_it->second;
 36 |     auto service_it = services.find(service_id);
 37 |     if (service_it == services.end()) {
 38 |         services[service_id];
 39 |         service_it = services.find(service_id);
 40 |     }
 41 | 
 42 |     auto &socket = service_it->second;
 43 |     switch (socket.state) {
 44 |         case bluetooth_socket_state::disconnected:
 45 |         {
 46 |             socket.state = bluetooth_socket_state::connecting;
 47 |             socket.fd_promise = std::promise<int>();
 48 |             socket.fd_future = socket.fd_promise.get_future();
 49 |             break;
 50 |         }
 51 | 
 52 |         case bluetooth_socket_state::connecting:
 53 |         {
 54 |             // Make the ConnectRequest again, it probably doesn't hurt?
 55 |             // return socket.fd_future;
 56 |             break;
 57 |         }
 58 | 
 59 |         case bluetooth_socket_state::connected:
 60 |         {
 61 |             assert(false && "bluetooth_connect called on socket that claims to be connected");
 62 |         }
 63 |     }
 64 | 
 65 |     DBusMessage *msg = dbus_message_new_method_call("com.jci.bca", "/com/jci/bca", "com.jci.bca", "ConnectRequest");
 66 |     DBusPendingCall *pending = nullptr;
 67 | 
 68 |     if (!msg) {
 69 |         assert(false && "failed to create message");
 70 |     }
 71 | 
 72 |     if (!dbus_message_append_args(msg, DBUS_TYPE_UINT32, &service_id,
 73 |                                        DBUS_TYPE_UINT32, &device_id,
 74 |                                        DBUS_TYPE_INVALID)) {
 75 |        assert(false && "failed to append arguments to message");
 76 |     }
 77 | 
 78 |     if (!dbus_connection_send_with_reply(hmi_bus, msg, &pending, -1)) {
 79 |         assert(false && "failed to send message");
 80 |     }
 81 | 
 82 |     dbus_connection_flush(hmi_bus);
 83 |     dbus_message_unref(msg);
 84 | 
 85 |     dbus_pending_call_block(pending);
 86 |     msg = dbus_pending_call_steal_reply(pending);
 87 |     if (!msg) {
 88 |        assert(false && "[" STRINGIFY(__LINE__) "]: received null reply");
 89 |     }
 90 | 
 91 |     dbus_int32_t result;
 92 |     if (!dbus_message_get_args(msg, nullptr, DBUS_TYPE_INT32, &result,
 93 |                                              DBUS_TYPE_INVALID)) {
 94 |         assert(false && "failed to get result");
 95 |     }
 96 |     dbus_message_unref(msg);
 97 | 
 98 |     if (result != 100) {
 99 |         fprintf(stderr, "bluetooth_connect(%u, %u) received failure result %d\n", device_id.t, service_id.t, result);
100 |         socket.fd_promise.set_value(-1);
101 |     }
102 | 
103 |     return socket.fd_future;
104 | }
105 | 
106 | // FIXME: Does not actually disconnect!!
107 | void bluetooth_disconnect(bluetooth_device_id_t device_id, bluetooth_service_id_t service_id)
108 | {
109 |     auto lock = std::unique_lock<decltype(connections_mutex)>(connections_mutex);
110 | 
111 |     auto device_it = connections.find(device_id);
112 | 
113 |     if (device_it == connections.end()) {
114 |         return;
115 |     }
116 | 
117 |     auto &services = device_it->second;
118 |     auto service_it = services.find(service_id);
119 |     if (service_it == services.end()) {
120 |         return;
121 |     }
122 | 
123 |     if (!service_it->second.fd_future.valid()) {
124 |         service_it->second.fd_promise.set_value(-1);
125 |     }
126 | 
127 |     services.erase(service_it);
128 | }
129 | 
130 | 
131 | void handle_bluetooth_connection_response(DBusMessage *msg)
132 | {
133 |     DBusMessageIter args;
134 |     bluetooth_service_id_t service_id;
135 |     dbus_uint32_t connection_status;
136 |     bluetooth_device_id_t device_id;
137 |     dbus_uint32_t status;
138 |     std::string path;
139 | 
140 |     // Obnoxious message unpacking
141 |     {
142 |         if (!dbus_message_iter_init(msg, &args)) {
143 |             assert(false && "received empty reply");
144 |         }
145 | 
146 |         if (dbus_message_iter_get_arg_type(&args) != DBUS_TYPE_UINT32) {
147 |             errx(1, "[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&args));
148 |         }
149 |         dbus_message_iter_get_basic(&args, &service_id.t);
150 |         dbus_message_iter_next(&args);
151 | 
152 |         if (dbus_message_iter_get_arg_type(&args) != DBUS_TYPE_UINT32) {
153 |             errx(1, "[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&args));
154 |         }
155 |         dbus_message_iter_get_basic(&args, &connection_status);
156 |         dbus_message_iter_next(&args);
157 | 
158 |         if (dbus_message_iter_get_arg_type(&args) != DBUS_TYPE_UINT32) {
159 |             errx(1, "[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&args));
160 |         }
161 |         dbus_message_iter_get_basic(&args, &device_id.t);
162 |         dbus_message_iter_next(&args);
163 | 
164 |         if (dbus_message_iter_get_arg_type(&args) != DBUS_TYPE_UINT32) {
165 |             errx(1, "[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&args));
166 |         }
167 |         dbus_message_iter_get_basic(&args, &status);
168 |         dbus_message_iter_next(&args);
169 | 
170 |         if (dbus_message_iter_get_arg_type(&args) != DBUS_TYPE_STRUCT) {
171 |             errx(1, "[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&args));
172 |         }
173 | 
174 |         DBusMessageIter struct_iter;
175 |         dbus_message_iter_recurse(&args, &struct_iter);
176 | 
177 |         if (dbus_message_iter_get_arg_type(&struct_iter) != DBUS_TYPE_ARRAY) {
178 |             errx(1, "[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&args));
179 |         }
180 | 
181 |         DBusMessageIter array_iter;
182 |         dbus_message_iter_recurse(&struct_iter, &array_iter);
183 |         if (dbus_message_iter_get_arg_type(&array_iter) != DBUS_TYPE_BYTE) {
184 |             errx(1, "[" STRINGIFY(__LINE__) "]: received unexpected type: %c\n", dbus_message_iter_get_arg_type(&args));
185 |         }
186 | 
187 |         uint8_t *path_data = nullptr;
188 |         int path_length;
189 |         dbus_message_iter_get_fixed_array(&array_iter, &path_data, &path_length);
190 | 
191 |         path = (char *)path_data;
192 |     }
193 | 
194 |     // Dump what we know about the message
195 |     printf("device %u, service %u:\n", device_id.t, service_id.t);
196 |     printf("\tconnection_status: ");
197 |     switch (connection_status) {
198 |         case 2:
199 |             printf("connecting?\n");
200 |             break;
201 | 
202 |         case 7:
203 |             printf("failed to connect?\n");
204 |             break;
205 | 
206 |         case 3:
207 |             printf("connected?\n");
208 |             break;
209 | 
210 |         default:
211 |             printf("unknown: %d\n", connection_status);
212 |             break;
213 |     }
214 |     printf("\tstatus: ");
215 |     switch (status) {
216 |         case 100:
217 |             printf("okay?\n");
218 |             break;
219 | 
220 |         case 104:
221 |             printf("service not found? (check BdsConfiguration.xml\n");
222 |             break;
223 | 
224 |         case 107:
225 |             printf("device not connected?\n");
226 |             break;
227 | 
228 |         case 108:
229 |             printf("service doesn't exist on device?\n");
230 |             break;
231 | 
232 |         default:
233 |             printf("unknown: %d\n", status);
234 |     }
235 | 
236 |     // Do the actual handling
237 |     {
238 |         auto lock = std::unique_lock<decltype(connections_mutex)>(connections_mutex);
239 |         auto device_it = connections.find(device_id);
240 |         if (device_it == connections.end()) {
241 |             printf("can't find device\n");
242 |             return;
243 |         }
244 | 
245 |         auto &services = device_it->second;
246 |         auto service_it = services.find(service_id);
247 |         if (service_it == services.end()) {
248 |             printf("can't find service\n");
249 |             return;
250 |         }
251 | 
252 |         auto &socket = service_it->second;
253 |         switch (socket.state) {
254 |             case bluetooth_socket_state::disconnected:
255 |                 break;
256 | 
257 |             case bluetooth_socket_state::connecting:
258 |             {
259 |                 if (connection_status == 3) {
260 |                     int fd = ::open(path.c_str(), O_RDWR);
261 |                     if (fd < 0) {
262 |                         err(1, "failed to open supposedly open socket at %s", path.c_str());
263 |                     }
264 |                     socket.state = bluetooth_socket_state::connected;
265 |                     socket.fd_promise.set_value(fd);
266 |                 } else if (connection_status != 2) {
267 |                     socket.state = bluetooth_socket_state::disconnected;
268 |                     socket.fd_promise.set_value(-1);
269 |                 }
270 |                 break;
271 |             }
272 | 
273 |             case bluetooth_socket_state::connected:
274 |             {
275 |                 if (connection_status != 3) {
276 |                     socket.state = bluetooth_socket_state::disconnected;
277 |                     ::close(socket.fd_future.get());
278 |                 }
279 |                 break;
280 |             }
281 |         }
282 |     }
283 | }
284 | 


--------------------------------------------------------------------------------
/COPYING:
--------------------------------------------------------------------------------
  1 |                     GNU AFFERO GENERAL PUBLIC LICENSE
  2 |                        Version 3, 19 November 2007
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548 | means of facilitating copying of software.  This Corresponding Source
549 | shall include the Corresponding Source for any work covered by version 3
550 | of the GNU General Public License that is incorporated pursuant to the
551 | following paragraph.
552 | 
553 |   Notwithstanding any other provision of this License, you have
554 | permission to link or combine any covered work with a work licensed
555 | under version 3 of the GNU General Public License into a single
556 | combined work, and to convey the resulting work.  The terms of this
557 | License will continue to apply to the part which is the covered work,
558 | but the work with which it is combined will remain governed by version
559 | 3 of the GNU General Public License.
560 | 
561 |   14. Revised Versions of this License.
562 | 
563 |   The Free Software Foundation may publish revised and/or new versions of
564 | the GNU Affero General Public License from time to time.  Such new versions
565 | will be similar in spirit to the present version, but may differ in detail to
566 | address new problems or concerns.
567 | 
568 |   Each version is given a distinguishing version number.  If the
569 | Program specifies that a certain numbered version of the GNU Affero General
570 | Public License "or any later version" applies to it, you have the
571 | option of following the terms and conditions either of that numbered
572 | version or of any later version published by the Free Software
573 | Foundation.  If the Program does not specify a version number of the
574 | GNU Affero General Public License, you may choose any version ever published
575 | by the Free Software Foundation.
576 | 
577 |   If the Program specifies that a proxy can decide which future
578 | versions of the GNU Affero General Public License can be used, that proxy's
579 | public statement of acceptance of a version permanently authorizes you
580 | to choose that version for the Program.
581 | 
582 |   Later license versions may give you additional or different
583 | permissions.  However, no additional obligations are imposed on any
584 | author or copyright holder as a result of your choosing to follow a
585 | later version.
586 | 
587 |   15. Disclaimer of Warranty.
588 | 
589 |   THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
590 | APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
591 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
592 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
593 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
594 | PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
595 | IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
596 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
597 | 
598 |   16. Limitation of Liability.
599 | 
600 |   IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
601 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
602 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
603 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
604 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
605 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
606 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
607 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
608 | SUCH DAMAGES.
609 | 
610 |   17. Interpretation of Sections 15 and 16.
611 | 
612 |   If the disclaimer of warranty and limitation of liability provided
613 | above cannot be given local legal effect according to their terms,
614 | reviewing courts shall apply local law that most closely approximates
615 | an absolute waiver of all civil liability in connection with the
616 | Program, unless a warranty or assumption of liability accompanies a
617 | copy of the Program in return for a fee.
618 | 
619 |                      END OF TERMS AND CONDITIONS
620 | 
621 |             How to Apply These Terms to Your New Programs
622 | 
623 |   If you develop a new program, and you want it to be of the greatest
624 | possible use to the public, the best way to achieve this is to make it
625 | free software which everyone can redistribute and change under these terms.
626 | 
627 |   To do so, attach the following notices to the program.  It is safest
628 | to attach them to the start of each source file to most effectively
629 | state the exclusion of warranty; and each file should have at least
630 | the "copyright" line and a pointer to where the full notice is found.
631 | 
632 |     <one line to give the program's name and a brief idea of what it does.>
633 |     Copyright (C) <year>  <name of author>
634 | 
635 |     This program is free software: you can redistribute it and/or modify
636 |     it under the terms of the GNU Affero General Public License as published by
637 |     the Free Software Foundation, either version 3 of the License, or
638 |     (at your option) any later version.
639 | 
640 |     This program is distributed in the hope that it will be useful,
641 |     but WITHOUT ANY WARRANTY; without even the implied warranty of
642 |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
643 |     GNU Affero General Public License for more details.
644 | 
645 |     You should have received a copy of the GNU Affero General Public License
646 |     along with this program.  If not, see <http://www.gnu.org/licenses/>.
647 | 
648 | Also add information on how to contact you by electronic and paper mail.
649 | 
650 |   If your software can interact with users remotely through a computer
651 | network, you should also make sure that it provides a way for users to
652 | get its source.  For example, if your program is a web application, its
653 | interface could display a "Source" link that leads users to an archive
654 | of the code.  There are many ways you could offer source, and different
655 | solutions will be better for different programs; see section 13 for the
656 | specific requirements.
657 | 
658 |   You should also get your employer (if you work as a programmer) or school,
659 | if any, to sign a "copyright disclaimer" for the program, if necessary.
660 | For more information on this, and how to apply and follow the GNU AGPL, see
661 | <http://www.gnu.org/licenses/>.
662 | 


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