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Commit 56c0c84d authored by Steve Paik's avatar Steve Paik
Browse files

Enable vehicle HAL to be controlled via ADB 

Add emulator functionality to DefaultVehicleHal:

- Create default list of properties based upon DefaultConfig.h
- Add socket that is reachable via ADB to set/get vehicle properties.

BUG: 29601815
Test: Tested with Python interface from host.
Change-Id: I6f8e4cba37d927565e10797875eb8f5a1840a94f
parent 46a1accf

automotive/vehicle/2.0/default/Android.mk

+30 −0
Original line number Diff line number Diff line
@@ -40,6 +40,28 @@ LOCAL_SHARED_LIBRARIES := \ 


include $(BUILD_STATIC_LIBRARY)



###############################################################################

# Vehicle HAL Protobuf library

###############################################################################

include $(CLEAR_VARS)

LOCAL_SRC_FILES := $(call all-proto-files-under, impl/proto)



LOCAL_PROTOC_OPTIMIZE_TYPE := nano



LOCAL_MODULE := $(module_prefix)-libproto-native

LOCAL_MODULE_CLASS := STATIC_LIBRARIES



LOCAL_MODULE_TAGS := optional



LOCAL_STRIP_MODULE := keep_symbols



generated_sources_dir := $(call local-generated-sources-dir)

LOCAL_EXPORT_C_INCLUDE_DIRS := \

    $(generated_sources_dir)/proto/$(LOCAL_PATH)/impl/proto



include $(BUILD_STATIC_LIBRARY)





###############################################################################

# Vehicle default VehicleHAL implementation

###############################################################################
@@ -55,9 +77,13 @@ LOCAL_SHARED_LIBRARIES := \ 
    libhidltransport \

    libhwbinder \

    liblog \

    libprotobuf-cpp-lite \

    libutils \

    $(module_prefix) \



LOCAL_STATIC_LIBRARIES := \

    $(module_prefix)-libproto-native



include $(BUILD_STATIC_LIBRARY)
@@ -114,7 +140,11 @@ LOCAL_SHARED_LIBRARIES := \ 
    libhidltransport \

    libhwbinder \

    liblog \

    libprotobuf-cpp-lite \

    libutils \

    $(module_prefix) \



LOCAL_STATIC_LIBRARIES := \

    $(module_prefix)-libproto-native



include $(BUILD_EXECUTABLE)

automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-service.rc

+1 −1
Original line number Diff line number Diff line 
service vehicle-hal-2.0 /system/bin/hw/android.hardware.automotive.vehicle@2.0-service

    class hal

    user vehicle_network

    group system
 
    group system inet

automotive/vehicle/2.0/default/impl/DefaultVehicleHal.cpp

+585 −162

File changed.

Preview size limit exceeded, changes collapsed.

automotive/vehicle/2.0/default/impl/DefaultVehicleHal.h

+52 −22
Original line number Diff line number Diff line
@@ -21,8 +21,12 @@ 


#include <VehicleHal.h>

#include <impl/DefaultConfig.h>

#include <vehicle_hal_manager/Obd2SensorStore.h>

#include <sys/socket.h>

#include <thread>

#include <utils/SystemClock.h>

#include <vehicle_hal_manager/Obd2SensorStore.h>

#include "VehicleHalProto.pb.h"





namespace android {

namespace hardware {
@@ -34,6 +38,23 @@ namespace impl { 


class DefaultVehicleHal : public VehicleHal {

public:

    DefaultVehicleHal() : mThread() {}

    ~DefaultVehicleHal() override {

        // Notify thread to finish and wait for it to terminate

        mExit = 1;



        // Close emulator socket if it is open

        {

            std::lock_guard<std::mutex> lock(mTxMutex);

            if (mCurSocket != -1) {

                close(mCurSocket);

                mCurSocket = -1;

            }

        }



        mThread.join();

    }



    std::vector<VehiclePropConfig> listProperties() override {

        return std::vector<VehiclePropConfig>(std::begin(kVehicleProperties),

                                              std::end(kVehicleProperties));
@@ -46,38 +67,47 @@ public: 


    StatusCode set(const VehiclePropValue& propValue) override;



    StatusCode subscribe(int32_t /*property*/,

                         int32_t /*areas*/,

                         float /*sampleRate*/) override {

        // TODO(pavelm): implement

    StatusCode subscribe(int32_t property, int32_t areas, float sampleRate) {

        ALOGD("%s: not implemented: prop=0x%x, areas=0x%x, rate=%f", __FUNCTION__, property,

              areas, sampleRate);

        return StatusCode::OK;

    }



    StatusCode unsubscribe(int32_t /*property*/) override {

        // TODO(pavelm): implement

    StatusCode unsubscribe(int32_t property) {

        ALOGD("%s: not implemented: prop=0x%x", __FUNCTION__, property);

        return StatusCode::OK;

    }



private:

    StatusCode getHvacTemperature(int32_t areaId, float* outValue);

    StatusCode setHvacTemperature(int32_t areaId, float value);

    StatusCode getHvacDefroster(int32_t areaId, bool* outValue);

    StatusCode setHvacDefroster(int32_t areaId, bool value);

    void doGetConfig(emulator::EmulatorMessage& rxMsg, emulator::EmulatorMessage& respMsg);

    void doGetConfigAll(emulator::EmulatorMessage& rxMsg, emulator::EmulatorMessage& respMsg);

    void doGetProperty(emulator::EmulatorMessage& rxMsg, emulator::EmulatorMessage& respMsg);

    void doGetPropertyAll(emulator::EmulatorMessage& rxMsg, emulator::EmulatorMessage& respMsg);

    void doSetProperty(emulator::EmulatorMessage& rxMsg, emulator::EmulatorMessage& respMsg);

    VehiclePropValue* getVehiclePropValueLocked(int32_t propId, int32_t areaId);

    void initObd2LiveFrame(VehiclePropConfig& obd2LiveFramePropConfig);

    void parseRxProtoBuf(std::vector<uint8_t>& msg);

    void populateProtoVehicleConfig(emulator::VehiclePropConfig* protoCfg,

                                    const VehiclePropConfig& cfg);

    void populateProtoVehiclePropValue(emulator::VehiclePropValue* protoVal,

                                       const VehiclePropValue* val);

    void setDefaultValue(VehiclePropValue* prop);

    void rxMsg(void);

    void rxThread(void);

    void txMsg(emulator::EmulatorMessage& txMsg);

    StatusCode updateProperty(const VehiclePropValue& propValue);

    StatusCode fillObd2LiveFrame(VehiclePropValuePtr* v);

    StatusCode fillObd2FreezeFrame(VehiclePropValuePtr* v);

private:

    int32_t mFanSpeed = 3;

    int32_t mBrightness = 7;

    float mRow1LeftHvacTemperatureSet = 16;

    float mRow1RightHvacTemperatureSet = 22;

    bool mFrontDefroster = false;

    bool mRearDefroster = false;

    bool mHvacPowerOn = true;

    bool mHvacRecircOn = true;

    bool mHvacAcOn = true;

    bool mHvacAutoOn = true;

    VehicleHvacFanDirection mFanDirection = VehicleHvacFanDirection::FACE;

    // TODO:  Use a hashtable to support indexing props

    std::vector<std::unique_ptr<VehiclePropValue>> mProps;

    std::atomic<int> mCurSocket;

    std::atomic<int> mExit;

    std::unique_ptr<Obd2SensorStore> mObd2SensorStore{nullptr};

    std::mutex mPropsMutex;

    int mSocket;

    std::mutex mTxMutex;

    std::thread mThread;

};



}  // impl

automotive/vehicle/2.0/default/impl/proto/VehicleHalProto.proto

0 → 100644
+100 −0
Original line number Diff line number Diff line 
/*

 * Copyright (C) 2015 The Android Open Source Project

 *

 * Licensed under the Apache License, Version 2.0 (the "License");

 * you may not use this file except in compliance with the License.

 * You may obtain a copy of the License at

 *

 *      http://www.apache.org/licenses/LICENSE-2.0

 *

 * Unless required by applicable law or agreed to in writing, software

 * distributed under the License is distributed on an "AS IS" BASIS,

 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

 * See the License for the specific language governing permissions and

 * limitations under the License.

 */



syntax = "proto2";

option optimize_for = LITE_RUNTIME;



package emulator;



// CMD messages are from workstation --> VHAL

// RESP messages are from VHAL --> workstation

enum MsgType {

    GET_CONFIG_CMD                      = 0;

    GET_CONFIG_RESP                     = 1;

    GET_CONFIG_ALL_CMD                  = 2;

    GET_CONFIG_ALL_RESP                 = 3;

    GET_PROPERTY_CMD                    = 4;

    GET_PROPERTY_RESP                   = 5;

    GET_PROPERTY_ALL_CMD                = 6;

    GET_PROPERTY_ALL_RESP               = 7;

    SET_PROPERTY_CMD                    = 8;

    SET_PROPERTY_RESP                   = 9;

    SET_PROPERTY_ASYNC                  = 10;

}

enum Status {

    RESULT_OK                           = 0;

    ERROR_UNKNOWN                       = 1;

    ERROR_UNIMPLEMENTED_CMD             = 2;

    ERROR_INVALID_PROPERTY              = 3;

    ERROR_INVALID_AREA_ID               = 4;

    ERROR_PROPERTY_UNINITIALIZED        = 5;

    ERROR_WRITE_ONLY_PROPERTY           = 6;

    ERROR_MEMORY_ALLOC_FAILED           = 7;

    ERROR_INVALID_OPERATION             = 8;

}



message VehicleAreaConfig {

    required int32  area_id             = 1;

    optional sint32 min_int32_value     = 2;

    optional sint32 max_int32_value     = 3;

    optional sint64 min_int64_value     = 4;

    optional sint64 max_int64_value     = 5;

    optional float  min_float_value     = 6;

    optional float  max_float_value     = 7;

}



message VehiclePropConfig {

    required int32             prop                = 1;

    optional int32             access              = 2;

    optional int32             change_mode         = 3;

    optional int32             value_type          = 4;

    optional int32             supported_areas     = 5;

    repeated VehicleAreaConfig area_configs        = 6;

    optional int32             config_flags        = 7;

    repeated int32             config_array        = 8;

    optional string            config_string       = 9;

    optional float             min_sample_rate     = 10;

    optional float             max_sample_rate     = 11;

};



message VehiclePropValue {

    // common data

    required int32  prop                = 1;

    optional int32  value_type          = 2;

    optional int64  timestamp           = 3;    // required for valid data from HAL, skipped for set



    // values

    optional int32  area_id             = 4;

    repeated sint32 int32_values        = 5;    // this also covers boolean value.

    repeated sint64 int64_values        = 6;

    repeated float  float_values        = 7;

    optional string string_value        = 8;

    optional bytes  bytes_value         = 9;

};



// This structure is used to notify what values to get from the Vehicle HAL

message VehiclePropGet {

    required int32 prop                 = 1;

    optional int32 area_id              = 2;

};



message EmulatorMessage {

    required MsgType           msg_type = 1;

    optional Status            status   = 2;    // Only for RESP messages

    repeated VehiclePropGet    prop     = 3;    // Provided for getConfig, getProperty commands

    repeated VehiclePropConfig config   = 4;

    repeated VehiclePropValue  value    = 5;

};