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Commit e2603e3d authored by Pavel Maltsev's avatar Pavel Maltsev
Browse files

Vehicle HAL reference impl Part I 

Implemented:
  - defined VehicleHal
  - object pool for VehiclePropValue objects
  - batching of vehicle HAL events
  - subscription management

Test: unit tests provided

Bug: b/31971746
Change-Id: Idd2d0aee7b32a975c3db54812be235e13f52905a
parent 26bf3e75

vehicle/2.0/IVehicle.hal

+6 −5
Original line number Diff line number Diff line
@@ -64,11 +64,11 @@ interface IVehicle { 
   * Clients must be able to subscribe to multiple properties at a time

   * depending on data provided in options argument.

   *

   * @param listener This client must be called on aproperiate event.

   * @param listener This client must be called on appropriate event.

   * @param options List of options to subscribe. SubscribeOption contains

   *                information such as propery Id, area Id, sample rate, etc.

   *                information such as property Id, area Id, sample rate, etc.

   */

  subscribe(IVehicleCallback listener, vec<SubscribeOptions> options)

  subscribe(IVehicleCallback callback, vec<SubscribeOptions> options)

          generates (StatusCode status);



  /**
@@ -77,7 +77,8 @@ interface IVehicle { 
   * If this client wasn't subscribed to the given property, this method

   * must return StatusCode::INVALID_ARGUMENT.

   */

  unsubscribe(VehicleProperty propId) generates (StatusCode status);

  unsubscribe(IVehicleCallback callback, VehicleProperty propId)

          generates (StatusCode status);



  /**

   * Print out debugging state for the vehicle hal.
@@ -91,7 +92,7 @@ interface IVehicle { 
   * primitives used (such as mutex locks or semaphores) must be acquired

   * with a timeout.

   *

   * TODO(pavelm): we cannot use handle here due to Java compatability, it's

   * TODO(pavelm): we cannot use handle here due to Java compatibility, it's

   * better to pass file descriptor and write debug data directly in vehicle HAL

   * rather than passing back a string.

   */

vehicle/2.0/IVehicleCallback.hal

+5 −5
Original line number Diff line number Diff line
@@ -29,7 +29,7 @@ interface IVehicleCallback { 
     *

     * @param values that has been updated.

     */

    onPropertyEvent(vec<VehiclePropValue> propValues);

    oneway onPropertyEvent(vec<VehiclePropValue> propValues);



    /*

     * This method gets called if the client was susbscribed to a property using
@@ -40,7 +40,7 @@ interface IVehicleCallback { 
     *

     * @param value Value that was set by a client.

     */

    onPropertySet(VehiclePropValue propValue);

    oneway onPropertySet(VehiclePropValue propValue);



    /*

     * Called by HAL server when error condition has occurred.
@@ -50,7 +50,7 @@ interface IVehicleCallback { 
     * a generic error, this value should be VehicleProperty::INVALID.

     * @param operation Represent the operation where the error has happened.

     */

    onError(StatusCode errorCode,

    oneway onError(StatusCode errorCode,

                   VehicleProperty propId,

                   VehiclePropertyOperation operation);

};

vehicle/2.0/default/Android.mk

+71 −8
Original line number Diff line number Diff line
@@ -14,29 +14,92 @@ 


LOCAL_PATH := $(call my-dir)



module_prefix = android.hardware.vehicle@2.0



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

# Vehicle reference implementation lib

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

include $(CLEAR_VARS)

LOCAL_MODULE := android.hardware.vehicle@2.0-impl

# TODO(pavelm): add LOCAL_INIT_RC

LOCAL_MODULE_RELATIVE_PATH := hw

LOCAL_MODULE := $(module_prefix)-manager-lib

LOCAL_SRC_FILES := \

    vehicle_hal_manager/SubscriptionManager.cpp \

    vehicle_hal_manager/VehicleHalManager.cpp \

    vehicle_hal_manager/VehicleCallback.cpp \



LOCAL_SHARED_LIBRARIES := \

    liblog \

    libbinder \

    libhidl \

    libhwbinder \

    libutils \

    $(module_prefix) \



include $(BUILD_STATIC_LIBRARY)



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

# Vehicle default VehicleHAL implementation

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

include $(CLEAR_VARS)



LOCAL_MODULE:= $(module_prefix)-default-impl-lib

LOCAL_SRC_FILES:= \

    impl/DefaultVehicleHal.cpp \



LOCAL_SHARED_LIBRARIES := \

    liblog \

    libbinder \

    libhidl \

    libhwbinder \

    libutils \

    $(module_prefix) \



include $(BUILD_STATIC_LIBRARY)





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

# Vehicle reference implementation unit tests

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

include $(CLEAR_VARS)



LOCAL_MODULE:= $(module_prefix)-manager-unit-tests



LOCAL_WHOLE_STATIC_LIBRARIES := $(module_prefix)-manager-lib



LOCAL_SRC_FILES:= \

    Vehicle.cpp \

    VehicleCallback.cpp \

    tests/VehicleObjectPool_test.cpp \

    tests/VehiclePropConfigIndex_test.cpp \

    tests/SubscriptionManager_test.cpp \

    tests/VehicleHalManager_test.cpp \



LOCAL_SHARED_LIBRARIES := \

    liblog \

    libbinder \

    libhidl \

    libhwbinder \

    libutils \

    android.hardware.vehicle@2.0 \

    $(module_prefix) \



include $(BUILD_SHARED_LIBRARY)

LOCAL_CFLAGS += -Wall -Wextra

LOCAL_MODULE_TAGS := tests



include $(BUILD_NATIVE_TEST)





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

# Vehicle HAL service

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

include $(CLEAR_VARS)

LOCAL_MODULE := android.hardware.vehicle@2.0-service

LOCAL_MODULE := $(module_prefix)-service

LOCAL_MODULE_RELATIVE_PATH := hw

# TODO(pavelm): add LOCAL_INIT_RC



LOCAL_SRC_FILES := \

    VehicleService.cpp



LOCAL_WHOLE_STATIC_LIBRARIES := \

    $(module_prefix)-manager-lib \

    $(module_prefix)-default-impl-lib \



LOCAL_SHARED_LIBRARIES := \

    liblog \

    libbinder \

vehicle/2.0/default/VehicleHal.h

0 → 100644
+115 −0
Original line number Diff line number Diff line 
/*

 * Copyright (C) 2016 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.

 */



#ifndef android_hardware_vehicle_V2_0_VehicleHal_H_

#define android_hardware_vehicle_V2_0_VehicleHal_H_



#include <android/hardware/vehicle/2.0/IVehicle.h>

#include "vehicle_hal_manager/VehicleObjectPool.h"





namespace android {

namespace hardware {

namespace vehicle {

namespace V2_0 {



/**

 * This is a low-level vehicle hal interface that should be implemented by

 * Vendor.

 */

class VehicleHal {

public:

    using VehiclePropValuePtr = recyclable_ptr<VehiclePropValue>;



    using HalEventFunction = std::function<void(VehiclePropValuePtr)>;

    using HalErrorFunction = std::function<void(

            VehicleProperty property,

            status_t errorCode,

            VehiclePropertyOperation operation)>;



    virtual ~VehicleHal() {}



    virtual std::vector<VehiclePropConfig> listProperties() = 0;

    virtual VehiclePropValuePtr get(VehicleProperty property,

                                    int32_t areaId,

                                    status_t* outStatus) = 0;



    virtual status_t set(const VehiclePropValue& propValue) = 0;



    /**

     * Subscribe to HAL property events. This method might be called multiple

     * times for the same vehicle property to update subscribed areas or sample

     * rate.

     *

     * @param property to subscribe

     * @param areas a bitwise vehicle areas or 0 for all supported areas

     * @param sampleRate sample rate in Hz for properties that support sample

     *                   rate, e.g. for properties with

     *                   VehiclePropertyChangeMode::CONTINUOUS

     */

    virtual status_t subscribe(VehicleProperty property,

                               int32_t areas,

                               float sampleRate) = 0;



    /**

     * Unsubscribe from HAL events for given property

     *

     * @param property vehicle property to unsubscribe

     */

    virtual status_t unsubscribe(VehicleProperty property) = 0;



    /**

     * Override this method if you need to do one-time initialization.

     */

    virtual void onCreate() {}



    void init(

        VehiclePropValuePool* valueObjectPool,

        const HalEventFunction& onHalEvent,

        const HalErrorFunction& onHalError) {

        mValuePool = valueObjectPool;

        mOnHalEvent = onHalEvent;

        mOnHalError = onHalError;



        onCreate();

    }



    VehiclePropValuePool* getValuePool() {

        return mValuePool;

    }

protected:

    void doHalEvent(VehiclePropValuePtr v) {

        mOnHalEvent(std::move(v));

    }



    void doHalError(VehicleProperty property,

                    status_t errorCode,

                    VehiclePropertyOperation operation) {

        mOnHalError(property, errorCode, operation);

    }



private:

    HalEventFunction mOnHalEvent;

    HalErrorFunction mOnHalError;

    VehiclePropValuePool* mValuePool;

};



}  // namespace V2_0

}  // namespace vehicle

}  // namespace hardware

}  // namespace android



#endif //android_hardware_vehicle_V2_0_VehicleHal_H_

vehicle/2.0/default/VehicleService.cpp

+6 −10
Original line number Diff line number Diff line
@@ -21,22 +21,18 @@ 


#include <hwbinder/IPCThreadState.h>



#include <android/hardware/vehicle/2.0/IVehicle.h>

#include <vehicle_hal_manager/VehicleHalManager.h>

#include <impl/DefaultVehicleHal.h>



using namespace android;

using namespace android::hardware;

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



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

    ALOGI("Service is starting");

    android::sp<IVehicle> service = IVehicle::getService("Vehicle");

    if (service.get() == NULL) {

        ALOGE("IVehicle::getService returned NULL, exiting");

        return 1;

    }

    auto hal = std::make_unique<impl::DefaultVehicleHal>();

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



    ALOGI("Registering as service");

    // will register the -impl as a binderized service in this process

    ALOGI("Registering as service...");

    service->registerAsService("Vehicle");



    ALOGI("Ready");