Merge "uwb: Refactor default AIDL HAL implementation" into main (23a520e0) · Commits · e / os / android_hardware_interfaces

uwb/aidl/default/Android.bp

+0 −4

Original line number	Diff line number	Diff line
		@@ -16,17 +16,13 @@ rust_binary {
		prefer_rlib: true,
		rustlibs: [
		"android.hardware.uwb-V1-rust",
		"liblibc",
		"liblogger",
		"liblog_rust",
		"libbinder_rs",
		"libbinder_tokio_rs",
		"libtokio",
		"libtokio_util",
		"libnix",
		"libanyhow",
		"libpdl_runtime",
		"libuwb_uci_packets",
		],
		proc_macros: [
		"libasync_trait",

uwb/aidl/default/src/service.rs

+2 −5

Original line number	Diff line number	Diff line
		use android_hardware_uwb::aidl::android::hardware::uwb::IUwb::{self, IUwb as _};
		use android_hardware_uwb::binder;

		use tokio::runtime::Runtime;

		use std::env;
		use std::panic;

		@@ -25,13 +23,12 @@ fn main() -> anyhow::Result<()> {

		log::info!("UWB HAL starting up");

		// Create the tokio runtime
		let rt = Runtime::new()?;
		let rt = tokio::runtime::Runtime::new()?;

		let chips = env::args()
		.skip(1) // Skip binary name
		.enumerate()
		.map(\|(i, arg)\| uwb_chip::UwbChip::new(i.to_string(), arg));
		.map(\|(i, arg)\| rt.block_on(uwb_chip::UwbChip::new(i.to_string(), arg)));

		binder::add_service(
		&format!("{}/default", IUwb::BpUwb::get_descriptor()),

uwb/aidl/default/src/uwb_chip.rs

+142 −221

Original line number	Diff line number	Diff line
		@@ -7,253 +7,146 @@ use async_trait::async_trait;
		use binder::{DeathRecipient, IBinder, Result, Strong};

		use std::sync::Arc;
		use tokio::io::unix::AsyncFd;
		use tokio::select;
		use tokio::fs;
		use tokio::io::{AsyncReadExt, AsyncWriteExt};
		use tokio::sync::Mutex;
		use tokio_util::sync::CancellationToken;

		use std::fs::{File, OpenOptions};
		use std::io::{self, Read, Write};
		use std::os::unix::fs::OpenOptionsExt;

		use pdl_runtime::Packet;
		use uwb_uci_packets::{DeviceResetCmdBuilder, ResetConfig, UciControlPacket, UciControlPacketHal};

		enum State {
		enum ClientState {
		Closed,
		Opened {
		callbacks: Strong<dyn IUwbClientCallback>,
		handle: tokio::task::JoinHandle<()>,
		serial: File,
		death_recipient: DeathRecipient,
		token: CancellationToken,
		_death_recipient: DeathRecipient,
		},
		}

		pub struct UwbChip {
		name: String,
		path: String,
		state: Arc<Mutex<State>>,
		}

		impl UwbChip {
		pub fn new(name: String, path: String) -> Self {
		Self {
		name,
		path,
		state: Arc::new(Mutex::new(State::Closed)),
		}
		}
		}

		impl State {
		/// Terminate the reader task.
		async fn close(&mut self) -> Result<()> {
		if let State::Opened {
		ref mut token,
		ref callbacks,
		ref mut death_recipient,
		ref mut handle,
		ref mut serial,
		} = *self
		{
		log::info!("waiting for task cancellation");
		callbacks.as_binder().unlink_to_death(death_recipient)?;
		token.cancel();
		handle.await.unwrap();
		let packet: UciControlPacket = DeviceResetCmdBuilder {
		reset_config: ResetConfig::UwbsReset,
		}
		.build()
		.into();
		// DeviceResetCmd need to be send to reset the device to stop all running
		// activities on UWBS.
		let packet_vec: Vec<UciControlPacketHal> = packet.into();
		for hal_packet in packet_vec.into_iter() {
		serial
		.write(&hal_packet.encode_to_vec().unwrap())
		.map(\|written\| written as i32)
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR)?;
		}
		consume_device_reset_rsp_and_ntf(
		&mut serial
		.try_clone()
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR)?,
		);
		log::info!("task successfully cancelled");
		callbacks.onHalEvent(UwbEvent::CLOSE_CPLT, UwbStatus::OK)?;
		*self = State::Closed;
		}
		Ok(())
		}
		struct ServiceState {
		client_state: ClientState,
		writer: fs::File,
		}

		fn consume_device_reset_rsp_and_ntf(reader: &mut File) {
		// Poll the DeviceResetRsp and DeviceStatusNtf before hal is closed to prevent
		// the host from getting response and notifications from a 'powered down' UWBS.
		// Do nothing when these packets are received.
		const DEVICE_RESET_RSP: [u8; 5] = [64, 0, 0, 1, 0];
		const DEVICE_STATUS_NTF: [u8; 5] = [96, 1, 0, 1, 1];
		let mut buffer = vec![0; DEVICE_RESET_RSP.len() + DEVICE_STATUS_NTF.len()];
		read_exact(reader, &mut buffer).unwrap();

		// Make sure received packets are the expected ones.
		assert_eq!(&buffer[0..DEVICE_RESET_RSP.len()], &DEVICE_RESET_RSP);
		assert_eq!(&buffer[DEVICE_RESET_RSP.len()..], &DEVICE_STATUS_NTF);
		pub struct UwbChip {
		name: String,
		_handle: tokio::task::JoinHandle<()>,
		service_state: Arc<Mutex<ServiceState>>,
		}

		pub fn makeraw(file: File) -> io::Result<File> {
		// Configure the file descriptor as raw fd.
		/// Configure a file descriptor as raw fd.
		pub fn makeraw(file: fs::File) -> std::io::Result<fs::File> {
		use nix::sys::termios::*;
		let mut attrs = tcgetattr(&file)?;
		cfmakeraw(&mut attrs);
		tcsetattr(&file, SetArg::TCSANOW, &attrs)?;

		Ok(file)
		}

		/// Wrapper around Read::read to handle EWOULDBLOCK.
		/// /!\ will actively wait for more data, make sure to call
		/// this method only when data is immediately expected.
		fn read_exact(file: &mut File, mut buf: &mut [u8]) -> io::Result<()> {
		while buf.len() > 0 {
		match file.read(buf) {
		Ok(0) => panic!("unexpectedly reached end of file"),
		Ok(read_len) => buf = &mut buf[read_len..],
		Err(err) if err.kind() == io::ErrorKind::WouldBlock => continue,
		Err(err) => return Err(err),
		}
		}
		Ok(())
		}

		impl binder::Interface for UwbChip {}

		#[async_trait]
		impl IUwbChipAsyncServer for UwbChip {
		async fn getName(&self) -> Result<String> {
		Ok(self.name.clone())
		}

		async fn open(&self, callbacks: &Strong<dyn IUwbClientCallback>) -> Result<()> {
		log::debug!("open: {:?}", &self.path);

		let mut state = self.state.lock().await;

		if matches!(*state, State::Opened { .. }) {
		log::error!("the state is already opened");
		return Err(binder::ExceptionCode::ILLEGAL_STATE.into());
		}

		let serial = OpenOptions::new()
		impl UwbChip {
		pub async fn new(name: String, path: String) -> Self {
		// Open the serial file and configure it as raw file
		// descriptor.
		let mut reader = fs::OpenOptions::new()
		.read(true)
		.write(true)
		.create(false)
		.custom_flags(libc::O_NONBLOCK)
		.open(&self.path)
		.open(&path)
		.await
		.and_then(makeraw)
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR)?;

		let state_death_recipient = self.state.clone();
		let mut death_recipient = DeathRecipient::new(move \|\| {
		let mut state = state_death_recipient.blocking_lock();
		log::info!("Uwb service has died");
		if let State::Opened { ref mut token, .. } = *state {
		token.cancel();
		*state = State::Closed;
		}
		});

		callbacks.as_binder().link_to_death(&mut death_recipient)?;

		let token = CancellationToken::new();
		let cloned_token = token.clone();
		.expect("failed to open the serial device");
		let writer = reader
		.try_clone()
		.await
		.expect("failed to clone serial for writing");

		let client_callbacks = callbacks.clone();
		// Create the chip
		let service_state = Arc::new(Mutex::new(ServiceState {
		writer,
		client_state: ClientState::Closed,
		}));

		let reader = serial
		.try_clone()
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR)?;
		// Spawn the task that will run the polling loop.
		let handle = {
		let service_state = service_state.clone();

		let join_handle = tokio::task::spawn(async move {
		tokio::task::spawn(async move {
		log::info!("UCI reader task started");
		let mut reader = AsyncFd::new(reader).unwrap();

		loop {
		const MESSAGE_TYPE_MASK: u8 = 0b11100000;
		const DATA_MESSAGE_TYPE: u8 = 0b000;
		const UWB_HEADER_SIZE: usize = 4;
		let mut buffer = vec![0; UWB_HEADER_SIZE];
		const UCI_HEADER_SIZE: usize = 4;
		const UCI_BUFFER_SIZE: usize = 1024;

		// The only time where the task can be safely
		// cancelled is when no packet bytes have been read.
		//
		// - read_exact() cannot be used here since it is not
		// cancellation safe.
		// - read() cannot be used because it cannot be cancelled:
		// the syscall is executed blocking on the threadpool
		// and completes after termination of the task when
		// the pipe receives more data.
		let read_len = loop {
		// On some platforms, the readiness detecting mechanism
		// relies on edge-triggered notifications. This means that
		// the OS will only notify Tokio when the file descriptor
		// transitions from not-ready to ready. For this to work
		// you should first try to read or write and only poll for
		// readiness if that fails with an error of
		// std::io::ErrorKind::WouldBlock.
		match reader.get_mut().read(&mut buffer) {
		Ok(0) => {
		log::error!("file unexpectedly closed");
		return;
		}
		Ok(read_len) => break read_len,
		Err(err) if err.kind() == io::ErrorKind::WouldBlock => (),
		Err(_) => panic!("unexpected read failure"),
		}

		let mut guard = select! {
		_ = cloned_token.cancelled() => {
		log::info!("task is cancelled!");
		return;
		},
		result = reader.readable() => result.unwrap()
		};

		guard.clear_ready();
		};

		// Read the remaining header bytes, if truncated.
		read_exact(reader.get_mut(), &mut buffer[read_len..]).unwrap();
		let mut buffer = [0; UCI_BUFFER_SIZE];

		loop {
		reader
		.read_exact(&mut buffer[0..UCI_HEADER_SIZE])
		.await
		.expect("failed to read uci header bytes");
		let common_header = buffer[0];
		let mt = (common_header & MESSAGE_TYPE_MASK) >> 5;
		let payload_length = if mt == DATA_MESSAGE_TYPE {
		let payload_length_fields: [u8; 2] = buffer[2..=3].try_into().unwrap();
		u16::from_le_bytes(payload_length_fields) as usize
		u16::from_le_bytes([buffer[2], buffer[3]]) as usize
		} else {
		buffer[3] as usize
		};

		let length = payload_length + UWB_HEADER_SIZE;
		buffer.resize(length, 0);
		let total_packet_length = payload_length + UCI_HEADER_SIZE;
		reader
		.read_exact(&mut buffer[UCI_HEADER_SIZE..total_packet_length])
		.await
		.expect("failed to read uci payload bytes");

		log::debug!(" <-- {:?}", &buffer[0..total_packet_length]);

		let service_state = service_state.lock().await;
		if let ClientState::Opened { ref callbacks, .. } = service_state.client_state {
		callbacks
		.onUciMessage(&buffer[0..total_packet_length])
		.unwrap();
		}
		}
		})
		};

		Self {
		name,
		_handle: handle,
		service_state,
		}
		}
		}
		impl binder::Interface for UwbChip {}

		#[async_trait]
		impl IUwbChipAsyncServer for UwbChip {
		async fn getName(&self) -> Result<String> {
		Ok(self.name.clone())
		}

		async fn open(&self, callbacks: &Strong<dyn IUwbClientCallback>) -> Result<()> {
		log::debug!("open");

		// Read the payload bytes.
		read_exact(reader.get_mut(), &mut buffer[UWB_HEADER_SIZE..]).unwrap();
		let mut service_state = self.service_state.lock().await;

		log::debug!(" <-- {:?}", buffer);
		client_callbacks.onUciMessage(&buffer).unwrap();
		if matches!(service_state.client_state, ClientState::Opened { .. }) {
		log::error!("the state is already opened");
		return Err(binder::ExceptionCode::ILLEGAL_STATE.into());
		}
		});

		let mut death_recipient = {
		let service_state = self.service_state.clone();
		DeathRecipient::new(move \|\| {
		log::info!("Uwb service has died");
		let mut service_state = service_state.blocking_lock();
		service_state.client_state = ClientState::Closed;
		})
		};

		callbacks.as_binder().link_to_death(&mut death_recipient)?;
		callbacks.onHalEvent(UwbEvent::OPEN_CPLT, UwbStatus::OK)?;

		*state = State::Opened {
		service_state.client_state = ClientState::Opened {
		callbacks: callbacks.clone(),
		handle: join_handle,
		serial,
		death_recipient,
		token,
		_death_recipient: death_recipient,
		};

		Ok(())
		@@ -262,19 +155,42 @@ impl IUwbChipAsyncServer for UwbChip {
		async fn close(&self) -> Result<()> {
		log::debug!("close");

		let mut state = self.state.lock().await;
		let mut service_state = self.service_state.lock().await;

		if let State::Opened { .. } = *state {
		state.close().await
		} else {
		Err(binder::ExceptionCode::ILLEGAL_STATE.into())
		if matches!(service_state.client_state, ClientState::Closed) {
		log::error!("the state is already closed");
		return Err(binder::ExceptionCode::ILLEGAL_STATE.into());
		}

		// Send the command Device Reset to stop all running activities
		// on the UWBS emulator. This is necessary because the emulator
		// is otherwise not notified of the power down (the serial stays
		// open).
		//
		// The response to the command will be dropped by the polling loop,
		// as the callbacks will have been removed then.
		let uci_core_device_reset_cmd = [0x20, 0x00, 0x00, 0x01, 0x00];

		service_state
		.writer
		.write_all(&uci_core_device_reset_cmd)
		.await
		.expect("failed to write UCI Device Reset command");

		if let ClientState::Opened { ref callbacks, .. } = service_state.client_state {
		callbacks.onHalEvent(UwbEvent::CLOSE_CPLT, UwbStatus::OK)?;
		}

		service_state.client_state = ClientState::Closed;
		Ok(())
		}

		async fn coreInit(&self) -> Result<()> {
		log::debug!("coreInit");

		if let State::Opened { ref callbacks, .. } = *self.state.lock().await {
		let service_state = self.service_state.lock().await;

		if let ClientState::Opened { ref callbacks, .. } = service_state.client_state {
		callbacks.onHalEvent(UwbEvent::POST_INIT_CPLT, UwbStatus::OK)?;
		Ok(())
		} else {
		@@ -289,22 +205,27 @@ impl IUwbChipAsyncServer for UwbChip {
		}

		async fn getSupportedAndroidUciVersion(&self) -> Result<i32> {
		log::debug!("getSupportedAndroidUciVersion");

		Ok(1)
		}

		async fn sendUciMessage(&self, data: &[u8]) -> Result<i32> {
		log::debug!("sendUciMessage");

		if let State::Opened { ref mut serial, .. } = &mut *self.state.lock().await {
		let mut service_state = self.service_state.lock().await;

		if matches!(service_state.client_state, ClientState::Closed) {
		log::error!("the state is not opened");
		return Err(binder::ExceptionCode::ILLEGAL_STATE.into());
		}

		log::debug!(" --> {:?}", data);
		let result = serial
		service_state
		.writer
		.write_all(data)
		.await
		.map(\|_\| data.len() as i32)
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR.into());
		log::debug!(" status: {:?}", result);
		result
		} else {
		Err(binder::ExceptionCode::ILLEGAL_STATE.into())
		}
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR.into())
		}
		}