Merge "Implement ADAS properties in emulator VHAL" into udc-dev (57e4a8f1) · Commits · e / os / android_hardware_interfaces

automotive/vehicle/aidl/impl/fake_impl/hardware/include/FakeVehicleHardware.h

+4 −0

Original line number	Diff line number	Diff line
		@@ -195,6 +195,8 @@ class FakeVehicleHardware : public IVehicleHardware {
		const aidl::android::hardware::automotive::vehicle::VehiclePropValue& value);
		VehiclePropValuePool::RecyclableType createApPowerStateReq(
		aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReq state);
		VehiclePropValuePool::RecyclableType createAdasStateReq(int32_t propertyId, int32_t areaId,
		int32_t state);
		VhalResult<void> setUserHalProp(
		const aidl::android::hardware::automotive::vehicle::VehiclePropValue& value);
		ValueResultType getUserHalProp(
		@@ -202,6 +204,7 @@ class FakeVehicleHardware : public IVehicleHardware {
		ValueResultType getEchoReverseBytes(
		const aidl::android::hardware::automotive::vehicle::VehiclePropValue& value) const;
		bool isHvacPropAndHvacNotAvailable(int32_t propId, int32_t areaId) const;
		VhalResult<void> isAdasPropertyAvailable(int32_t adasStatePropertyId) const;

		std::unordered_map<int32_t, ConfigDeclaration> loadConfigDeclarations();

		@@ -244,6 +247,7 @@ class FakeVehicleHardware : public IVehicleHardware {

		std::string genFakeDataCommand(const std::vector<std::string>& options);
		void sendHvacPropertiesCurrentValues(int32_t areaId);
		void sendAdasPropertiesState(int32_t propertyId, int32_t state);

		static aidl::android::hardware::automotive::vehicle::VehiclePropValue createHwInputKeyProp(
		aidl::android::hardware::automotive::vehicle::VehicleHwKeyInputAction action,

automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp

+176 −0

Original line number	Diff line number	Diff line
		@@ -52,6 +52,7 @@ namespace fake {

		namespace {

		using ::aidl::android::hardware::automotive::vehicle::ErrorState;
		using ::aidl::android::hardware::automotive::vehicle::GetValueRequest;
		using ::aidl::android::hardware::automotive::vehicle::GetValueResult;
		using ::aidl::android::hardware::automotive::vehicle::RawPropValues;
		@@ -107,6 +108,74 @@ const std::unordered_set<std::string> SET_PROP_OPTIONS = {
		// Timestamp in int64.
		"-t"};

		// ADAS _ENABLED property to list of ADAS state properties using ErrorState enum.
		const std::unordered_map<int32_t, std::vector<int32_t>> mAdasEnabledPropToAdasPropWithErrorState = {
		// AEB
		{
		toInt(VehicleProperty::AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
		{
		toInt(VehicleProperty::AUTOMATIC_EMERGENCY_BRAKING_STATE),
		},
		},
		// FCW
		{
		toInt(VehicleProperty::FORWARD_COLLISION_WARNING_ENABLED),
		{
		toInt(VehicleProperty::FORWARD_COLLISION_WARNING_STATE),
		},
		},
		// BSW
		{
		toInt(VehicleProperty::BLIND_SPOT_WARNING_ENABLED),
		{
		toInt(VehicleProperty::BLIND_SPOT_WARNING_STATE),
		},
		},
		// LDW
		{
		toInt(VehicleProperty::LANE_DEPARTURE_WARNING_ENABLED),
		{
		toInt(VehicleProperty::LANE_DEPARTURE_WARNING_STATE),
		},
		},
		// LKA
		{
		toInt(VehicleProperty::LANE_KEEP_ASSIST_ENABLED),
		{
		toInt(VehicleProperty::LANE_KEEP_ASSIST_STATE),
		},
		},
		// LCA
		{
		toInt(VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
		{
		toInt(VehicleProperty::LANE_CENTERING_ASSIST_STATE),
		},
		},
		// ELKA
		{
		toInt(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED),
		{
		toInt(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_STATE),
		},
		},
		// CC
		{
		toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
		{
		toInt(VehicleProperty::CRUISE_CONTROL_TYPE),
		toInt(VehicleProperty::CRUISE_CONTROL_STATE),
		},
		},
		// HOD
		{
		toInt(VehicleProperty::HANDS_ON_DETECTION_ENABLED),
		{
		toInt(VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE),
		toInt(VehicleProperty::HANDS_ON_DETECTION_WARNING),
		},
		},
		};
		} // namespace

		void FakeVehicleHardware::storePropInitialValue(const ConfigDeclaration& config) {
		@@ -238,6 +307,18 @@ VehiclePropValuePool::RecyclableType FakeVehicleHardware::createApPowerStateReq(
		return req;
		}

		VehiclePropValuePool::RecyclableType FakeVehicleHardware::createAdasStateReq(int32_t propertyId,
		int32_t areaId,
		int32_t state) {
		auto req = mValuePool->obtain(VehiclePropertyType::INT32);
		req->prop = propertyId;
		req->areaId = areaId;
		req->timestamp = elapsedRealtimeNano();
		req->status = VehiclePropertyStatus::AVAILABLE;
		req->value.int32Values[0] = state;
		return req;
		}

		VhalResult<void> FakeVehicleHardware::setApPowerStateReport(const VehiclePropValue& value) {
		auto updatedValue = mValuePool->obtain(value);
		updatedValue->timestamp = elapsedRealtimeNano();
		@@ -413,6 +494,41 @@ bool FakeVehicleHardware::isHvacPropAndHvacNotAvailable(int32_t propId, int32_t
		return false;
		}

		VhalResult<void> FakeVehicleHardware::isAdasPropertyAvailable(int32_t adasStatePropertyId) const {
		auto adasStateResult = mServerSidePropStore->readValue(adasStatePropertyId);
		if (!adasStateResult.ok()) {
		ALOGW("Failed to get ADAS ENABLED property 0x%x, error: %s", adasStatePropertyId,
		getErrorMsg(adasStateResult).c_str());
		return {};
		}

		if (adasStateResult.value()->value.int32Values.size() == 1 &&
		adasStateResult.value()->value.int32Values[0] < 0) {
		auto errorState = adasStateResult.value()->value.int32Values[0];
		switch (errorState) {
		case toInt(ErrorState::NOT_AVAILABLE_DISABLED):
		return StatusError(StatusCode::NOT_AVAILABLE_DISABLED)
		<< "ADAS feature is disabled.";
		case toInt(ErrorState::NOT_AVAILABLE_SPEED_LOW):
		return StatusError(StatusCode::NOT_AVAILABLE_SPEED_LOW)
		<< "ADAS feature is disabled because the vehicle speed is too low.";
		case toInt(ErrorState::NOT_AVAILABLE_SPEED_HIGH):
		return StatusError(StatusCode::NOT_AVAILABLE_SPEED_HIGH)
		<< "ADAS feature is disabled because the vehicle speed is too high.";
		case toInt(ErrorState::NOT_AVAILABLE_POOR_VISIBILITY):
		return StatusError(StatusCode::NOT_AVAILABLE_POOR_VISIBILITY)
		<< "ADAS feature is disabled because the visibility is too poor.";
		case toInt(ErrorState::NOT_AVAILABLE_SAFETY):
		return StatusError(StatusCode::NOT_AVAILABLE_SAFETY)
		<< "ADAS feature is disabled because of safety reasons.";
		default:
		return StatusError(StatusCode::NOT_AVAILABLE) << "ADAS feature is not available.";
		}
		}

		return {};
		}

		VhalResult<void> FakeVehicleHardware::setUserHalProp(const VehiclePropValue& value) {
		auto result = mFakeUserHal->onSetProperty(value);
		if (!result.ok()) {
		@@ -495,6 +611,19 @@ FakeVehicleHardware::ValueResultType FakeVehicleHardware::maybeGetSpecialValue(
		case VENDOR_PROPERTY_ID:
		*isSpecialValue = true;
		return StatusError((StatusCode)VENDOR_ERROR_CODE);
		case toInt(VehicleProperty::CRUISE_CONTROL_TARGET_SPEED):
		[[fallthrough]];
		case toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP):
		[[fallthrough]];
		case toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE): {
		auto isAdasPropertyAvailableResult =
		isAdasPropertyAvailable(toInt(VehicleProperty::CRUISE_CONTROL_STATE));
		if (!isAdasPropertyAvailableResult.ok()) {
		*isSpecialValue = true;
		return isAdasPropertyAvailableResult.error();
		}
		return nullptr;
		}
		default:
		// Do nothing.
		break;
		@@ -542,6 +671,25 @@ void FakeVehicleHardware::sendHvacPropertiesCurrentValues(int32_t areaId) {
		}
		}

		void FakeVehicleHardware::sendAdasPropertiesState(int32_t propertyId, int32_t state) {
		auto& adasDependentPropIds = mAdasEnabledPropToAdasPropWithErrorState.find(propertyId)->second;
		for (auto dependentPropId : adasDependentPropIds) {
		auto dependentPropConfigResult = mServerSidePropStore->getConfig(dependentPropId);
		if (!dependentPropConfigResult.ok()) {
		ALOGW("Failed to get config for ADAS property 0x%x, error: %s", dependentPropId,
		getErrorMsg(dependentPropConfigResult).c_str());
		continue;
		}
		auto& dependentPropConfig = dependentPropConfigResult.value();
		for (auto& areaConfig : dependentPropConfig->areaConfigs) {
		auto propValue = createAdasStateReq(dependentPropId, areaConfig.areaId, state);
		// This will trigger a property change event for the current ADAS property value.
		mServerSidePropStore->writeValue(std::move(propValue), /updateStatus=/true,
		VehiclePropertyStore::EventMode::ALWAYS);
		}
		}
		}

		VhalResult<void> FakeVehicleHardware::maybeSetSpecialValue(const VehiclePropValue& value,
		bool* isSpecialValue) {
		*isSpecialValue = false;
		@@ -565,6 +713,16 @@ VhalResult<void> FakeVehicleHardware::maybeSetSpecialValue(const VehiclePropValu
		return StatusError(StatusCode::NOT_AVAILABLE_DISABLED) << "hvac not available";
		}

		if (mAdasEnabledPropToAdasPropWithErrorState.count(propId) &&
		value.value.int32Values.size() == 1) {
		if (value.value.int32Values[0] == 1) {
		// Set default state to 1 when ADAS feature is enabled.
		sendAdasPropertiesState(propId, /* state = */ 1);
		} else {
		sendAdasPropertiesState(propId, toInt(ErrorState::NOT_AVAILABLE_DISABLED));
		}
		}

		switch (propId) {
		case toInt(VehicleProperty::AP_POWER_STATE_REPORT):
		*isSpecialValue = true;
		@@ -583,6 +741,24 @@ VhalResult<void> FakeVehicleHardware::maybeSetSpecialValue(const VehiclePropValu
		case toInt(VehicleProperty::HVAC_TEMPERATURE_VALUE_SUGGESTION):
		*isSpecialValue = true;
		return setHvacTemperatureValueSuggestion(value);
		case toInt(VehicleProperty::LANE_CENTERING_ASSIST_COMMAND): {
		auto isAdasPropertyAvailableResult =
		isAdasPropertyAvailable(toInt(VehicleProperty::LANE_CENTERING_ASSIST_STATE));
		if (!isAdasPropertyAvailableResult.ok()) {
		*isSpecialValue = true;
		}
		return isAdasPropertyAvailableResult;
		}
		case toInt(VehicleProperty::CRUISE_CONTROL_COMMAND):
		[[fallthrough]];
		case toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP): {
		auto isAdasPropertyAvailableResult =
		isAdasPropertyAvailable(toInt(VehicleProperty::CRUISE_CONTROL_STATE));
		if (!isAdasPropertyAvailableResult.ok()) {
		*isSpecialValue = true;
		}
		return isAdasPropertyAvailableResult;
		}

		#ifdef ENABLE_VEHICLE_HAL_TEST_PROPERTIES
		case toInt(VehicleProperty::CLUSTER_REPORT_STATE):

automotive/vehicle/aidl/impl/fake_impl/hardware/test/FakeVehicleHardwareTest.cpp

+636 −1

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