Merge "Enable vehicle HAL to be controlled via ADB" (f53dfca3) · Commits · e / os / android_hardware_interfaces

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;
		};