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Commit 5a97c389 authored by Hao Chen's avatar Hao Chen
Browse files

Apply Grpc Client to current VHal Implementation 

Test: tested on Cuttlefish VM

 - Use virtualization HAL implementation, device/google/cuttlefish/shared/auto/device.mk, PRODUCT_PACKAGES:
      remove android.hardware.automotive.vehicle@2.0-service
      add:
        android.hardware.automotive.vehicle@2.0-virtualization-service
        android.hardware.automotive.vehicle@2.0-virtualization-grpc-server

 - configure the server CID and port, add the following device/google/cuttlefish/shared/config/init.vendor.rc:
        setprop ro.vendor.vehiclehal.server.cid 3
        setprop ro.vendor.vehiclehal.server.port 9210
 - Build and Launch cuttlefish VM
        m && acloud create --boot-timeout 3600 -vv --local-instance --local-image
 - VHAL should work as normal, see tests in ag/9693857

Bug: b/141493212

Change-Id: I97df02dd26b89f60d3d87b2c32c4f4f8919b1294
parent 46df8f59

automotive/vehicle/2.0/default/Android.bp

+70 −0
Original line number Diff line number Diff line
@@ -82,6 +82,20 @@ cc_library_static { 
    ],

}



// VHal virtualization utils

cc_library_static {

    name: "android.hardware.automotive.vehicle@2.0-virtualization-utils",

    vendor: true,

    defaults: ["vhal_v2_0_defaults"],

    srcs: [

        "impl/vhal_v2_0/virtualization/Utils.cpp",

    ],

    export_include_dirs: ["impl"],

    shared_libs: [

        "libbase",

    ],

}



cc_test {

    name: "android.hardware.automotive.vehicle@2.0-manager-unit-tests",

    vendor: true,
@@ -133,3 +147,59 @@ cc_binary { 
        "libqemu_pipe",

    ],

}



cc_binary {

    name: "android.hardware.automotive.vehicle@2.0-virtualization-service",

    defaults: ["vhal_v2_0_defaults"],

    init_rc: ["android.hardware.automotive.vehicle@2.0-virtualization-service.rc"],

    vendor: true,

    relative_install_path: "hw",

    srcs: [

        "impl/vhal_v2_0/virtualization/GrpcVehicleClient.cpp",

        "VirtualizedVehicleService.cpp",

    ],

    shared_libs: [

        "libbase",

        "libcutils",

        "libjsoncpp",

        "libprotobuf-cpp-full",

        "libgrpc++",

    ],

    static_libs: [

        "android.hardware.automotive.vehicle@2.0-manager-lib",

        "android.hardware.automotive.vehicle@2.0-default-impl-lib",

        "android.hardware.automotive.vehicle@2.0-grpc",

        "android.hardware.automotive.vehicle@2.0-virtualization-utils",

        "libqemu_pipe",

    ],

    cflags: [

        "-Wno-unused-parameter"

    ],

}



cc_binary {

    name: "android.hardware.automotive.vehicle@2.0-virtualization-grpc-server",

    init_rc: ["android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc"],

    defaults: ["vhal_v2_0_defaults"],

    vendor: true,

    relative_install_path: "hw",

    srcs: [

        "impl/vhal_v2_0/virtualization/GrpcVehicleServer.cpp",

        "VirtualizationGrpcServer.cpp",

    ],

    shared_libs: [

        "libbase",

        "libjsoncpp",

        "libprotobuf-cpp-full",

        "libgrpc++",

    ],

    static_libs: [

        "android.hardware.automotive.vehicle@2.0-manager-lib",

        "android.hardware.automotive.vehicle@2.0-default-impl-lib",

        "android.hardware.automotive.vehicle@2.0-grpc",

        "android.hardware.automotive.vehicle@2.0-virtualization-utils",

    ],

    cflags: [

        "-Wno-unused-parameter"

    ],

}

automotive/vehicle/2.0/default/VirtualizationGrpcServer.cpp

0 → 100644
+49 −0
Original line number Diff line number Diff line 
#include <android-base/logging.h>

#include <getopt.h>

#include <unistd.h>



#include "vhal_v2_0/virtualization/GrpcVehicleServer.h"

#include "vhal_v2_0/virtualization/Utils.h"



int main(int argc, char* argv[]) {

    namespace vhal_impl = android::hardware::automotive::vehicle::V2_0::impl;



    vhal_impl::VsockServerInfo serverInfo;



    // unique values to identify the options

    constexpr int OPT_VHAL_SERVER_CID = 1001;

    constexpr int OPT_VHAL_SERVER_PORT_NUMBER = 1002;



    struct option longOptions[] = {

            {"server_cid", 1, 0, OPT_VHAL_SERVER_CID},

            {"server_port", 1, 0, OPT_VHAL_SERVER_PORT_NUMBER},

            {nullptr, 0, nullptr, 0},

    };



    int optValue;

    while ((optValue = getopt_long_only(argc, argv, ":", longOptions, 0)) != -1) {

        switch (optValue) {

            case OPT_VHAL_SERVER_CID:

                serverInfo.serverCid = std::atoi(optarg);

                LOG(DEBUG) << "Vehicle HAL server CID: " << serverInfo.serverCid;

                break;

            case OPT_VHAL_SERVER_PORT_NUMBER:

                serverInfo.serverPort = std::atoi(optarg);

                LOG(DEBUG) << "Vehicle HAL server port: " << serverInfo.serverPort;

                break;

            default:

                // ignore other options

                break;

        }

    }



    if (serverInfo.serverCid == 0 || serverInfo.serverPort == 0) {

        LOG(FATAL) << "Invalid server information, CID: " << serverInfo.serverCid

                   << "; port: " << serverInfo.serverPort;

        // Will abort after logging

    }



    auto server = vhal_impl::makeGrpcVehicleServer(vhal_impl::getVsockUri(serverInfo));

    server->Start();

    return 0;

}

automotive/vehicle/2.0/default/VirtualizedVehicleService.cpp

0 → 100644
+74 −0
Original line number Diff line number Diff line 
/*

 * Copyright (C) 2019 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.

 */



#include <android-base/logging.h>

#include <cutils/properties.h>

#include <hidl/HidlTransportSupport.h>



#include <vhal_v2_0/EmulatedVehicleConnector.h>

#include <vhal_v2_0/EmulatedVehicleHal.h>

#include <vhal_v2_0/VehicleHalManager.h>

#include <vhal_v2_0/virtualization/GrpcVehicleClient.h>

#include <vhal_v2_0/virtualization/Utils.h>



using namespace android;

using namespace android::hardware;

using namespace android::hardware::automotive::vehicle::V2_0;



int main(int argc, char* argv[]) {

    constexpr const char* VHAL_SERVER_CID_PROPERTY_KEY = "ro.vendor.vehiclehal.server.cid";

    constexpr const char* VHAL_SERVER_PORT_PROPERTY_KEY = "ro.vendor.vehiclehal.server.port";



    auto property_get_uint = [](const char* key, unsigned int default_value) {

        auto value = property_get_int64(key, default_value);

        if (value < 0 || value > UINT_MAX) {

            LOG(DEBUG) << key << ": " << value << " is out of bound, using default value '"

                       << default_value << "' instead";

            return default_value;

        }

        return static_cast<unsigned int>(value);

    };



    impl::VsockServerInfo serverInfo{property_get_uint(VHAL_SERVER_CID_PROPERTY_KEY, 0),

                                     property_get_uint(VHAL_SERVER_PORT_PROPERTY_KEY, 0)};



    if (serverInfo.serverCid == 0 || serverInfo.serverPort == 0) {

        LOG(FATAL) << "Invalid server information, CID: " << serverInfo.serverCid

                   << "; port: " << serverInfo.serverPort;

        // Will abort after logging

    }



    auto store = std::make_unique<VehiclePropertyStore>();

    auto connector = impl::makeGrpcVehicleClient(impl::getVsockUri(serverInfo));

    auto hal = std::make_unique<impl::EmulatedVehicleHal>(store.get(), connector.get());

    auto emulator = std::make_unique<impl::VehicleEmulator>(hal.get());

    auto service = std::make_unique<VehicleHalManager>(hal.get());



    configureRpcThreadpool(4, true /* callerWillJoin */);



    LOG(INFO) << "Registering as service...";

    status_t status = service->registerAsService();



    if (status != OK) {

        LOG(ERROR) << "Unable to register vehicle service (" << status << ")";

        return 1;

    }



    LOG(INFO) << "Ready";

    joinRpcThreadpool();



    return 1;

}

automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc

0 → 100644
+10 −0
Original line number Diff line number Diff line 
# It is an interim state to run GRPC server as an Android service.

# Eventually it will run outside of Android (e.g., AGL),

# so the command line arguments are expected, though not conventionally used in Android

service vendor.vehicle-hal-2.0-server \

        /vendor/bin/hw/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server \

        -server_cid ${ro.vendor.vehiclehal.server.cid:-0} \

        -server_port ${ro.vendor.vehiclehal.server.port:-0}

    class hal

    user vehicle_network

    group system inet

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

0 → 100644
+4 −0
Original line number Diff line number Diff line 
service vendor.vehicle-hal-2.0 /vendor/bin/hw/android.hardware.automotive.vehicle@2.0-virtualization-service

    class hal

    user vehicle_network

    group system inet