Merge "Update subscription logic for VHAL ref impl." into tm-dev (9c15ed74) · Commits · e / os / android_hardware_interfaces

automotive/vehicle/aidl/android/hardware/automotive/vehicle/IVehicle.aidl

+42 −4

Original line number	Diff line number	Diff line
		@@ -90,6 +90,14 @@ interface IVehicle {
		* area ID) are not allowed in a single call. This function must return
		* {@link StatusCode#INVALID_ARG} for duplicate properties.
		*
		* The {@link VehiclePropValue#timestamp} field in request is ignored. The
		* {@link VehiclePropValue#timestamp} field in {@link GetValueResult} must
		* be the system uptime since boot when the value changes for
		* ON_CHANGE property or when the value is checked according to polling rate
		* for CONTINUOUS property. Note that for CONTINUOUS property, VHAL client
		* reading the property multiple times between the polling interval will get
		* the same timestamp.
		*
		* @param callback A callback interface, whose 'onGetValues' would be called
		* after the value is fetched. Caller should use
		* {@code android-automotive-large-parcelable} library to parse the
		@@ -104,7 +112,7 @@ interface IVehicle {
		* Set vehicle property values.
		*
		* The {@link IVehicleCallback#onSetValues} function would be called after
		* the values set request are sent through vehicle bus or are failed to set.
		* the values set request are sent through vehicle bus or failed to set.
		* If the bus protocol supports confirmation, the callback would be called
		* after getting the confirmation.
		*
		@@ -152,11 +160,36 @@ interface IVehicle {
		* Clients must be able to subscribe to multiple properties at a time
		* depending on data provided in options argument.
		*
		* For one callback, the is only one subscription for one property.
		* For one callback, there is only one subscription for one property.
		* A new subscription with a different sample rate would override the old
		* subscription. One property could be subscribed multiple times for
		* different callbacks.
		*
		* If error is returned, some of the properties failed to subscribe.
		* Caller is safe to try again, since subscribing to an already subscribed
		* property is okay.
		*
		* The specified sample rate is just a guidance. It is not guaranteed that
		* the sample rate is achievable depending on how the polling refresh rate
		* is. The actual property event rate might be higher/lower than the
		* specified sampleRate, for example, if the polling rate can be 5 times/s
		* or 10 times/s, subscribing to a sample rate of 7 might use the 5 times/s
		* polling rate, thus generating 5 events/s. We only require that on
		* average, the {@code minSampleRate} and {@code maxSampleRate} can be
		* achieved, all the sampleRate within min and max would on average
		* generates events with rate >= {@code minSampleRate} and <=
		* {@code maxSampleRate}.
		*
		* The {@link VehiclePropValue#timestamp} field for each property event must
		* be the system uptime since boot when the value changes for
		* ON_CHANGE property or when the value is checked according to polling rate
		* for CONTINUOUS property. Note that for CONTINUOUS property, VHAL client
		* reading the property multiple times between the polling interval will get
		* the same timestamp.
		* For example, if the polling rate for a property is 10 times/s, no matter
		* what the sampleRate specified in {@code options}, the timestamp for
		* the timestamp is updated 10 times/s.
		*
		* @param callback The subscription callbacks.
		* {@link IVehicleCallback#onPropertyEvent} would be called when a new
		* property event arrives.
		@@ -189,8 +222,13 @@ interface IVehicle {
		/**
		* Unsubscribes from property events.
		*
		* If 'callback' is not valid or 'propIds' were not subscribed for this
		* 'callback', this method must return {@link StatusCode#INVALID_ARG}.
		* If 'callback' is not valid this method must return
		* {@link StatusCode#INVALID_ARG}. If a specified propId was not subscribed
		* before, this method must ignore that propId.
		*
		* If error is returned, some of the properties failed to unsubscribe.
		* Caller is safe to try again, since unsubscribing an already unsubscribed
		* property is okay.
		*
		* @param callback The callback used in the previous subscription.
		* @param propIds The IDs for the properties to unsubscribe.

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

+12 −5

Original line number	Diff line number	Diff line
		@@ -21,6 +21,7 @@
		#include <FakeObd2Frame.h>
		#include <FakeUserHal.h>
		#include <IVehicleHardware.h>
		#include <RecurrentTimer.h>
		#include <VehicleHalTypes.h>
		#include <VehiclePropertyStore.h>
		#include <android-base/parseint.h>
		@@ -82,6 +83,10 @@ class FakeVehicleHardware : public IVehicleHardware {
		void registerOnPropertySetErrorEvent(
		std::unique_ptr<const PropertySetErrorCallback> callback) override;

		// Update the sample rate for the [propId, areaId] pair.
		aidl::android::hardware::automotive::vehicle::StatusCode updateSampleRate(
		int32_t propId, int32_t areaId, float sampleRate) override;

		protected:
		// mValuePool is also used in mServerSidePropStore.
		const std::shared_ptr<VehiclePropValuePool> mValuePool;
		@@ -99,11 +104,13 @@ class FakeVehicleHardware : public IVehicleHardware {

		const std::unique_ptr<obd2frame::FakeObd2Frame> mFakeObd2Frame;
		const std::unique_ptr<FakeUserHal> mFakeUserHal;
		std::mutex mCallbackLock;
		std::unique_ptr<const PropertyChangeCallback> mOnPropertyChangeCallback
		GUARDED_BY(mCallbackLock);
		std::unique_ptr<const PropertySetErrorCallback> mOnPropertySetErrorCallback
		GUARDED_BY(mCallbackLock);
		// RecurrentTimer is thread-safe.
		std::unique_ptr<RecurrentTimer> mRecurrentTimer;
		std::mutex mLock;
		std::unique_ptr<const PropertyChangeCallback> mOnPropertyChangeCallback GUARDED_BY(mLock);
		std::unique_ptr<const PropertySetErrorCallback> mOnPropertySetErrorCallback GUARDED_BY(mLock);
		std::unordered_map<PropIdAreaId, std::shared_ptr<RecurrentTimer::Callback>, PropIdAreaIdHash>
		mRecurrentActions GUARDED_BY(mLock);

		void init();
		// Stores the initial value to property store.

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

+46 −10

Original line number	Diff line number	Diff line
		@@ -66,6 +66,7 @@ using ::android::base::EqualsIgnoreCase;
		using ::android::base::Error;
		using ::android::base::ParseFloat;
		using ::android::base::Result;
		using ::android::base::ScopedLockAssertion;
		using ::android::base::StartsWith;
		using ::android::base::StringPrintf;

		@@ -131,18 +132,14 @@ void FakeVehicleHardware::storePropInitialValue(const defaultconfig::ConfigDecla
		}

		FakeVehicleHardware::FakeVehicleHardware()
		: mValuePool(new VehiclePropValuePool),
		mServerSidePropStore(new VehiclePropertyStore(mValuePool)),
		mFakeObd2Frame(new obd2frame::FakeObd2Frame(mServerSidePropStore)),
		mFakeUserHal(new FakeUserHal(mValuePool)) {
		init();
		}
		: FakeVehicleHardware(std::make_unique<VehiclePropValuePool>()) {}

		FakeVehicleHardware::FakeVehicleHardware(std::unique_ptr<VehiclePropValuePool> valuePool)
		: mValuePool(std::move(valuePool)),
		mServerSidePropStore(new VehiclePropertyStore(mValuePool)),
		mFakeObd2Frame(new obd2frame::FakeObd2Frame(mServerSidePropStore)),
		mFakeUserHal(new FakeUserHal(mValuePool)) {
		mFakeUserHal(new FakeUserHal(mValuePool)),
		mRecurrentTimer(new RecurrentTimer()) {
		init();
		}

		@@ -837,18 +834,57 @@ StatusCode FakeVehicleHardware::checkHealth() {

		void FakeVehicleHardware::registerOnPropertyChangeEvent(
		std::unique_ptr<const PropertyChangeCallback> callback) {
		std::scoped_lock<std::mutex> lockGuard(mCallbackLock);
		std::scoped_lock<std::mutex> lockGuard(mLock);
		mOnPropertyChangeCallback = std::move(callback);
		}

		void FakeVehicleHardware::registerOnPropertySetErrorEvent(
		std::unique_ptr<const PropertySetErrorCallback> callback) {
		std::scoped_lock<std::mutex> lockGuard(mCallbackLock);
		std::scoped_lock<std::mutex> lockGuard(mLock);
		mOnPropertySetErrorCallback = std::move(callback);
		}

		StatusCode FakeVehicleHardware::updateSampleRate(int32_t propId, int32_t areaId, float sampleRate) {
		// DefaultVehicleHal makes sure that sampleRate must be within minSampleRate and maxSampleRate.
		// For fake implementation, we would write the same value with a new timestamp into propStore
		// at sample rate.
		std::scoped_lock<std::mutex> lockGuard(mLock);

		PropIdAreaId propIdAreaId{
		.propId = propId,
		.areaId = areaId,
		};
		if (mRecurrentActions.find(propIdAreaId) != mRecurrentActions.end()) {
		mRecurrentTimer->unregisterTimerCallback(mRecurrentActions[propIdAreaId]);
		}
		if (sampleRate == 0) {
		return StatusCode::OK;
		}
		int64_t interval = static_cast<int64_t>(1'000'000'000. / sampleRate);
		auto action = std::make_shared<RecurrentTimer::Callback>([this, propId, areaId] {
		// Refresh the property value. In real implementation, this should poll the latest value
		// from vehicle bus. Here, we are just refreshing the existing value with a new timestamp.
		auto result = getValue(VehiclePropValue{
		.prop = propId,
		.areaId = areaId,
		});
		if (!result.ok()) {
		// Failed to read current value, skip refreshing.
		return;
		}
		result.value()->timestamp = elapsedRealtimeNano();
		// Must remove the value before writing, otherwise, we would generate no update event since
		// the value is the same.
		mServerSidePropStore->removeValue(*result.value());
		mServerSidePropStore->writeValue(std::move(result.value()));
		});
		mRecurrentTimer->registerTimerCallback(interval, action);
		mRecurrentActions[propIdAreaId] = action;
		return StatusCode::OK;
		}

		void FakeVehicleHardware::onValueChangeCallback(const VehiclePropValue& value) {
		std::scoped_lock<std::mutex> lockGuard(mCallbackLock);
		std::scoped_lock<std::mutex> lockGuard(mLock);

		if (mOnPropertyChangeCallback == nullptr) {
		return;

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

+80 −7

Original line number	Diff line number	Diff line
		@@ -25,12 +25,15 @@
		#include <android-base/expected.h>
		#include <android-base/file.h>
		#include <android-base/stringprintf.h>
		#include <android-base/thread_annotations.h>
		#include <gmock/gmock.h>
		#include <gtest/gtest.h>
		#include <utils/Log.h>
		#include <utils/SystemClock.h>

		#include <inttypes.h>
		#include <chrono>
		#include <condition_variable>
		#include <vector>

		namespace android {
		@@ -53,6 +56,7 @@ using ::aidl::android::hardware::automotive::vehicle::VehicleProperty;
		using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyStatus;
		using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
		using ::android::base::expected;
		using ::android::base::ScopedLockAssertion;
		using ::android::base::StringPrintf;
		using ::android::base::unexpected;
		using ::testing::ContainerEq;
		@@ -60,6 +64,8 @@ using ::testing::ContainsRegex;
		using ::testing::Eq;
		using ::testing::WhenSortedBy;

		using std::chrono::milliseconds;

		constexpr int INVALID_PROP_ID = 0;
		constexpr char CAR_MAKE[] = "Default Car";

		@@ -158,30 +164,65 @@ class FakeVehicleHardwareTest : public ::testing::Test {
		}

		void onSetValues(std::vector<SetValueResult> results) {
		std::scoped_lock<std::mutex> lockGuard(mLock);
		for (auto& result : results) {
		mSetValueResults.push_back(result);
		}
		}

		const std::vector<SetValueResult>& getSetValueResults() { return mSetValueResults; }
		const std::vector<SetValueResult>& getSetValueResults() {
		std::scoped_lock<std::mutex> lockGuard(mLock);
		return mSetValueResults;
		}

		void onGetValues(std::vector<GetValueResult> results) {
		std::scoped_lock<std::mutex> lockGuard(mLock);
		for (auto& result : results) {
		mGetValueResults.push_back(result);
		}
		}

		const std::vector<GetValueResult>& getGetValueResults() { return mGetValueResults; }
		const std::vector<GetValueResult>& getGetValueResults() {
		std::scoped_lock<std::mutex> lockGuard(mLock);
		return mGetValueResults;
		}

		void onPropertyChangeEvent(std::vector<VehiclePropValue> values) {
		std::scoped_lock<std::mutex> lockGuard(mLock);
		for (auto& value : values) {
		mChangedProperties.push_back(value);
		PropIdAreaId propIdAreaId{
		.propId = value.prop,
		.areaId = value.areaId,
		};
		mEventCount[propIdAreaId]++;
		}
		mCv.notify_one();
		}

		const std::vector<VehiclePropValue>& getChangedProperties() {
		std::scoped_lock<std::mutex> lockGuard(mLock);
		return mChangedProperties;
		}

		const std::vector<VehiclePropValue>& getChangedProperties() { return mChangedProperties; }
		bool waitForChangedProperties(int32_t propId, int32_t areaId, size_t count,
		milliseconds timeout) {
		PropIdAreaId propIdAreaId{
		.propId = propId,
		.areaId = areaId,
		};
		std::unique_lock<std::mutex> lk(mLock);
		return mCv.wait_for(lk, timeout, [this, propIdAreaId, count] {
		ScopedLockAssertion lockAssertion(mLock);
		return mEventCount[propIdAreaId] >= count;
		});
		}

		void clearChangedProperties() { mChangedProperties.clear(); }
		void clearChangedProperties() {
		std::scoped_lock<std::mutex> lockGuard(mLock);
		mEventCount.clear();
		mChangedProperties.clear();
		}

		static void addSetValueRequest(std::vector<SetValueRequest>& requests,
		std::vector<SetValueResult>& expectedResults, int64_t requestId,
		@@ -246,11 +287,14 @@ class FakeVehicleHardwareTest : public ::testing::Test {

		private:
		FakeVehicleHardware mHardware;
		std::vector<SetValueResult> mSetValueResults;
		std::vector<GetValueResult> mGetValueResults;
		std::vector<VehiclePropValue> mChangedProperties;
		std::shared_ptr<IVehicleHardware::SetValuesCallback> mSetValuesCallback;
		std::shared_ptr<IVehicleHardware::GetValuesCallback> mGetValuesCallback;
		std::condition_variable mCv;
		std::mutex mLock;
		std::unordered_map<PropIdAreaId, size_t, PropIdAreaIdHash> mEventCount GUARDED_BY(mLock);
		std::vector<SetValueResult> mSetValueResults GUARDED_BY(mLock);
		std::vector<GetValueResult> mGetValueResults GUARDED_BY(mLock);
		std::vector<VehiclePropValue> mChangedProperties GUARDED_BY(mLock);
		};

		TEST_F(FakeVehicleHardwareTest, testGetAllPropertyConfigs) {
		@@ -1510,6 +1554,35 @@ TEST_F(FakeVehicleHardwareTest, testGetEchoReverseBytes) {
		ASSERT_EQ(result.value().value.byteValues, std::vector<uint8_t>({0x04, 0x03, 0x02, 0x01}));
		}

		TEST_F(FakeVehicleHardwareTest, testUpdateSampleRate) {
		int32_t propSpeed = toInt(VehicleProperty::PERF_VEHICLE_SPEED);
		int32_t propSteering = toInt(VehicleProperty::PERF_STEERING_ANGLE);
		int32_t areaId = 0;
		getHardware()->updateSampleRate(propSpeed, areaId, 5);

		ASSERT_TRUE(waitForChangedProperties(propSpeed, areaId, /count=/5, milliseconds(1500)))
		<< "not enough events generated for speed";

		getHardware()->updateSampleRate(propSteering, areaId, 10);

		ASSERT_TRUE(waitForChangedProperties(propSteering, areaId, /count=/10, milliseconds(1500)))
		<< "not enough events generated for steering";

		int64_t timestamp = elapsedRealtimeNano();
		// Disable refreshing for propSpeed.
		getHardware()->updateSampleRate(propSpeed, areaId, 0);
		clearChangedProperties();

		ASSERT_TRUE(waitForChangedProperties(propSteering, areaId, /count=/5, milliseconds(1500)))
		<< "should still receive steering events after disable polling for speed";
		auto updatedValues = getChangedProperties();
		for (auto& value : updatedValues) {
		ASSERT_GE(value.timestamp, timestamp);
		ASSERT_EQ(value.prop, propSteering);
		ASSERT_EQ(value.areaId, areaId);
		}
		}

		} // namespace fake
		} // namespace vehicle
		} // namespace automotive

automotive/vehicle/aidl/impl/hardware/include/IVehicleHardware.h

+29 −0

Original line number	Diff line number	Diff line
		@@ -80,6 +80,35 @@ class IVehicleHardware {
		const std::vector<aidl::android::hardware::automotive::vehicle::GetValueRequest>&
		requests) const = 0;

		// Update the sampling rate for the specified property and the specified areaId (0 for global
		// property) if server supports it. The property must be a continuous property.
		// {@code sampleRate} means that for this specific property, the server must generate at least
		// this many OnPropertyChange events per seconds.
		// A sampleRate of 0 means the property is no longer subscribed and server does not need to
		// generate any onPropertyEvent for this property.
		// This would be called if sample rate is updated for a subscriber, a new subscriber is added
		// or an existing subscriber is removed. For example:
		// 1. We have no subscriber for speed.
		// 2. A new subscriber is subscribing speed for 10 times/s, updsateSampleRate would be called
		// with sampleRate as 10. The impl is now polling vehicle speed from bus 10 times/s.
		// 3. A new subscriber is subscribing speed for 5 times/s, because it is less than 10
		// times/sec, updateSampleRate would not be called.
		// 4. The initial subscriber is removed, updateSampleRate would be called with sampleRate as
		// 5, because now it only needs to report event 5times/sec. The impl can now poll vehicle
		// speed 5 times/s. If the impl is still polling at 10 times/s, that is okay as long as
		// the polling rate is larger than 5times/s. DefaultVehicleHal would ignore the additional
		// events.
		// 5. The second subscriber is removed, updateSampleRate would be called with sampleRate as 0.
		// The impl can optionally disable the polling for vehicle speed.
		//
		// If the impl is always polling at {@code maxSampleRate} as specified in config, then this
		// function can be a no-op.
		virtual aidl::android::hardware::automotive::vehicle::StatusCode updateSampleRate(
		[[maybe_unused]] int32_t propId, [[maybe_unused]] int32_t areaId,
		[[maybe_unused]] float sampleRate) {
		return aidl::android::hardware::automotive::vehicle::StatusCode::OK;
		}

		// Dump debug information in the server.
		virtual DumpResult dump(const std::vector<std::string>& options) = 0;