hardware/property/CarPropertyManager.java

/*
 * Copyright (C) 2018 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.
 */

package android.car.hardware.property;

import static java.lang.Integer.toHexString;

import android.annotation.FloatRange;
import android.annotation.IntDef;
import android.annotation.NonNull;
import android.annotation.Nullable;
import android.car.Car;
import android.car.CarManagerBase;
import android.car.VehicleAreaType;
import android.car.VehiclePropertyIds;
import android.car.hardware.CarPropertyConfig;
import android.car.hardware.CarPropertyValue;
import android.os.Build;
import android.os.Handler;
import android.os.RemoteException;
import android.os.ServiceSpecificException;
import android.util.ArraySet;
import android.util.Log;
import android.util.SparseArray;

import com.android.car.internal.CarRatedFloatListeners;
import com.android.car.internal.SingleMessageHandler;

import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.ref.WeakReference;
import java.util.ArrayList;
import java.util.List;
import java.util.function.Consumer;


/**
 * Provides an application interface for interacting with the Vehicle specific properties.
 * For details about the individual properties, see the descriptions in
 * hardware/interfaces/automotive/vehicle/types.hal
 */
public class CarPropertyManager extends CarManagerBase {
    private static final boolean DBG = false;
    private static final String TAG = "CarPropertyManager";
    private static final int MSG_GENERIC_EVENT = 0;
    private final SingleMessageHandler<CarPropertyEvent> mHandler;
    private final ICarProperty mService;
    private final int mAppTargetSdk;

    private CarPropertyEventListenerToService mCarPropertyEventToService;

    /** Record of locally active properties. Key is propertyId */
    private final SparseArray<CarPropertyListeners> mActivePropertyListener =
            new SparseArray<>();
    /** Record of properties' configs. Key is propertyId */
    private final SparseArray<CarPropertyConfig> mConfigMap = new SparseArray<>();

    /**
     * Application registers {@link CarPropertyEventCallback} object to receive updates and changes
     * to subscribed Vehicle specific properties.
     */
    public interface CarPropertyEventCallback {
        /**
         * Called when a property is updated
         * @param value Property that has been updated.
         */
        void onChangeEvent(CarPropertyValue value);

        /**
         * Called when an error is detected when setting a property.
         *
         * @param propId Property ID which is detected an error.
         * @param zone Zone which is detected an error.
         *
         * @see CarPropertyEventCallback#onErrorEvent(int, int, int)
         */
        void onErrorEvent(int propId, int zone);

        /**
         * Called when an error is detected when setting a property.
         *
         * <p>Clients which changed the property value in the areaId most recently will receive
         * this callback. If multiple clients set a property for the same area id simultaneously,
         * which one takes precedence is undefined. Typically, the last set operation
         * (in the order that they are issued to car's ECU) overrides the previous set operations.
         * The delivered error reflects the error happened in the last set operation.
         *
         * @param propId Property ID which is detected an error.
         * @param areaId AreaId which is detected an error.
         * @param errorCode Error code is raised in the car.
         */
        default void onErrorEvent(int propId, int areaId, @CarSetPropertyErrorCode int errorCode) {
            if (DBG) {
                Log.d(TAG, "onErrorEvent propertyId: 0x" + toHexString(propId) + " areaId:0x"
                        + toHexString(areaId) + " ErrorCode: " + errorCode);
            }
            onErrorEvent(propId, areaId);
        }
    }

    /** Read ON_CHANGE sensors */
    public static final float SENSOR_RATE_ONCHANGE = 0f;
    /** Read sensors at the rate of  1 hertz */
    public static final float SENSOR_RATE_NORMAL = 1f;
    /** Read sensors at the rate of 5 hertz */
    public static final float SENSOR_RATE_UI = 5f;
    /** Read sensors at the rate of 10 hertz */
    public static final float SENSOR_RATE_FAST = 10f;
    /** Read sensors at the rate of 100 hertz */
    public static final float SENSOR_RATE_FASTEST = 100f;


    /**
     * Status to indicate that set operation failed. Try it again.
     */
    public static final int CAR_SET_PROPERTY_ERROR_CODE_TRY_AGAIN = 1;

    /**
     * Status to indicate that set operation failed because of an invalid argument.
     */
    public static final int CAR_SET_PROPERTY_ERROR_CODE_INVALID_ARG = 2;

    /**
     * Status to indicate that set operation failed because the property is not available.
     */
    public static final int CAR_SET_PROPERTY_ERROR_CODE_PROPERTY_NOT_AVAILABLE = 3;

    /**
     * Status to indicate that set operation failed because car denied access to the property.
     */
    public static final int CAR_SET_PROPERTY_ERROR_CODE_ACCESS_DENIED = 4;

    /**
     * Status to indicate that set operation failed because of an general error in cars.
     */
    public static final int CAR_SET_PROPERTY_ERROR_CODE_UNKNOWN = 5;

    /** @hide */
    @IntDef(prefix = {"CAR_SET_PROPERTY_ERROR_CODE_"}, value = {
            CAR_SET_PROPERTY_ERROR_CODE_TRY_AGAIN,
            CAR_SET_PROPERTY_ERROR_CODE_INVALID_ARG,
            CAR_SET_PROPERTY_ERROR_CODE_PROPERTY_NOT_AVAILABLE,
            CAR_SET_PROPERTY_ERROR_CODE_ACCESS_DENIED,
            CAR_SET_PROPERTY_ERROR_CODE_UNKNOWN,
    })
    @Retention(RetentionPolicy.SOURCE)
    public @interface CarSetPropertyErrorCode {}

    /**
     * Get an instance of the CarPropertyManager.
     *
     * Should not be obtained directly by clients, use {@link Car#getCarManager(String)} instead.
     * @param car Car instance
     * @param service ICarProperty instance
     * @hide
     */
    public CarPropertyManager(Car car, @NonNull ICarProperty service) {
        super(car);
        mService = service;
        mAppTargetSdk = getContext().getApplicationInfo().targetSdkVersion;
        try {
            List<CarPropertyConfig> configs = mService.getPropertyList();
            for (CarPropertyConfig carPropertyConfig : configs) {
                mConfigMap.put(carPropertyConfig.getPropertyId(), carPropertyConfig);
            }
        } catch (RemoteException e) {
            Log.e(TAG, "getPropertyList exception ", e);
            throw new RuntimeException(e);
        }

        Handler eventHandler = getEventHandler();
        if (eventHandler == null) {
            mHandler = null;
            return;
        }
        mHandler = new SingleMessageHandler<CarPropertyEvent>(eventHandler.getLooper(),
            MSG_GENERIC_EVENT) {
            @Override
            protected void handleEvent(CarPropertyEvent event) {
                CarPropertyListeners listeners;
                synchronized (mActivePropertyListener) {
                    listeners = mActivePropertyListener.get(
                        event.getCarPropertyValue().getPropertyId());
                }
                if (listeners != null) {
                    switch (event.getEventType()) {
                        case CarPropertyEvent.PROPERTY_EVENT_PROPERTY_CHANGE:
                            listeners.onPropertyChanged(event);
                            break;
                        case CarPropertyEvent.PROPERTY_EVENT_ERROR:
                            listeners.onErrorEvent(event);
                            break;
                        default:
                            throw new IllegalArgumentException();
                    }
                }
            }
        };
    }

    /**
     * Register {@link CarPropertyEventCallback} to get property updates. Multiple listeners
     * can be registered for a single property or the same listener can be used for different
     * properties. If the same listener is registered again for the same property, it will be
     * updated to new rate.
     * <p>Rate could be one of the following:
     * <ul>
     *   <li>{@link CarPropertyManager#SENSOR_RATE_ONCHANGE}</li>
     *   <li>{@link CarPropertyManager#SENSOR_RATE_NORMAL}</li>
     *   <li>{@link CarPropertyManager#SENSOR_RATE_UI}</li>
     *   <li>{@link CarPropertyManager#SENSOR_RATE_FAST}</li>
     *   <li>{@link CarPropertyManager#SENSOR_RATE_FASTEST}</li>
     * </ul>
     * <p>
     * <b>Note:</b>Rate has no effect if the property has one of the following change modes:
     * <ul>
     *   <li>{@link CarPropertyConfig#VEHICLE_PROPERTY_CHANGE_MODE_STATIC}</li>
     *   <li>{@link CarPropertyConfig#VEHICLE_PROPERTY_CHANGE_MODE_ONCHANGE}</li>
     * </ul>
     * See {@link CarPropertyConfig#getChangeMode()} for details.
     * If rate is higher than {@link CarPropertyConfig#getMaxSampleRate()}, it will be registered
     * with max sample rate.
     * If rate is lower than {@link CarPropertyConfig#getMinSampleRate()}, it will be registered
     * with min sample rate.
     *
     * @param callback CarPropertyEventCallback to be registered.
     * @param propertyId PropertyId to subscribe
     * @param rate how fast the property events are delivered in Hz.
     * @return true if the listener is successfully registered.
     * @throws SecurityException if missing the appropriate permission.
     */
    public boolean registerCallback(@NonNull CarPropertyEventCallback callback,
            int propertyId, @FloatRange(from = 0.0, to = 100.0) float rate) {
        synchronized (mActivePropertyListener) {
            if (mCarPropertyEventToService == null) {
                mCarPropertyEventToService = new CarPropertyEventListenerToService(this);
            }
            CarPropertyConfig config = mConfigMap.get(propertyId);
            if (config == null) {
                Log.e(TAG, "registerListener:  propId is not in config list:  " + propertyId);
                return false;
            }
            if (config.getChangeMode() == CarPropertyConfig.VEHICLE_PROPERTY_CHANGE_MODE_ONCHANGE) {
                rate = SENSOR_RATE_ONCHANGE;
            }
            boolean needsServerUpdate = false;
            CarPropertyListeners listeners;
            listeners = mActivePropertyListener.get(propertyId);
            if (listeners == null) {
                listeners = new CarPropertyListeners(rate);
                mActivePropertyListener.put(propertyId, listeners);
                needsServerUpdate = true;
            }
            if (listeners.addAndUpdateRate(callback, rate)) {
                needsServerUpdate = true;
            }
            if (needsServerUpdate) {
                if (!registerOrUpdatePropertyListener(propertyId, rate)) {
                    return false;
                }
            }
        }
        return true;
    }

    private boolean registerOrUpdatePropertyListener(int propertyId, float rate) {
        try {
            mService.registerListener(propertyId, rate, mCarPropertyEventToService);
        } catch (RemoteException e) {
            return handleRemoteExceptionFromCarService(e, false);
        }
        return true;
    }

    private static class CarPropertyEventListenerToService extends ICarPropertyEventListener.Stub{
        private final WeakReference<CarPropertyManager> mMgr;

        CarPropertyEventListenerToService(CarPropertyManager mgr) {
            mMgr = new WeakReference<>(mgr);
        }

        @Override
        public void onEvent(List<CarPropertyEvent> events) throws RemoteException {
            CarPropertyManager manager = mMgr.get();
            if (manager != null) {
                manager.handleEvent(events);
            }
        }
    }

    private void handleEvent(List<CarPropertyEvent> events) {
        if (mHandler != null) {
            mHandler.sendEvents(events);
        }
    }

    /**
     * Stop getting property update for the given callback. If there are multiple registrations for
     * this callback, all listening will be stopped.
     * @param callback CarPropertyEventCallback to be unregistered.
     */
    public void unregisterCallback(@NonNull CarPropertyEventCallback callback) {
        synchronized (mActivePropertyListener) {
            int [] propertyIds = new int[mActivePropertyListener.size()];
            for (int i = 0; i < mActivePropertyListener.size(); i++) {
                propertyIds[i] = mActivePropertyListener.keyAt(i);
            }
            for (int prop : propertyIds) {
                doUnregisterListenerLocked(callback, prop);
            }
        }
    }

    /**
     * Stop getting property update for the given callback and property. If the same callback is
     * used for other properties, those subscriptions will not be affected.
     *
     * @param callback CarPropertyEventCallback to be unregistered.
     * @param propertyId PropertyId to be unregistered.
     */
    public void unregisterCallback(@NonNull CarPropertyEventCallback callback, int propertyId) {
        synchronized (mActivePropertyListener) {
            doUnregisterListenerLocked(callback, propertyId);
        }
    }

    private void doUnregisterListenerLocked(CarPropertyEventCallback listener, int propertyId) {
        CarPropertyListeners listeners = mActivePropertyListener.get(propertyId);
        if (listeners != null) {
            boolean needsServerUpdate = false;
            if (listeners.contains(listener)) {
                needsServerUpdate = listeners.remove(listener);
            }
            if (listeners.isEmpty()) {
                try {
                    mService.unregisterListener(propertyId, mCarPropertyEventToService);
                } catch (RemoteException e) {
                    handleRemoteExceptionFromCarService(e);
                    // continue for local clean-up
                }
                mActivePropertyListener.remove(propertyId);
            } else if (needsServerUpdate) {
                registerOrUpdatePropertyListener(propertyId, listeners.getRate());
            }
        }
    }

    /**
     * @return List of properties implemented by this car that the application may access.
     */
    @NonNull
    public List<CarPropertyConfig> getPropertyList() {
        List<CarPropertyConfig> configs = new ArrayList<>(mConfigMap.size());
        for (int i = 0; i < mConfigMap.size(); i++) {
            configs.add(mConfigMap.valueAt(i));
        }
        return configs;
    }

    /**
     * @param propertyIds property ID list
     * @return List of properties implemented by this car in given property ID list that application
     *          may access.
     */
    @NonNull
    public List<CarPropertyConfig> getPropertyList(@NonNull ArraySet<Integer> propertyIds) {
        List<CarPropertyConfig> configs = new ArrayList<>();
        for (int propId : propertyIds) {
            checkSupportedProperty(propId);
            CarPropertyConfig config = mConfigMap.get(propId);
            if (config != null) {
                configs.add(config);
            }
        }
        return configs;
    }

    /**
     * Get CarPropertyConfig by property Id.
     *
     * @param propId Property ID
     * @return {@link CarPropertyConfig} for the selected property.
     * Null if the property is not available.
     */
    @Nullable
    public CarPropertyConfig<?> getCarPropertyConfig(int propId) {
        checkSupportedProperty(propId);

        return  mConfigMap.get(propId);
    }

    /**
     * Returns areaId contains the seletcted area for the property.
     *
     * @param propId Property ID
     * @param area Area enum such as Enums in {@link android.car.VehicleAreaSeat}.
     * @throws IllegalArgumentException if the property is not available in the vehicle for
     * the selected area.
     * @return AreaId contains the selected area for the property.
     */
    public int getAreaId(int propId, int area) {
        checkSupportedProperty(propId);

        CarPropertyConfig<?> propConfig = getCarPropertyConfig(propId);
        if (propConfig == null) {
            throw new IllegalArgumentException("The property propId: 0x" + toHexString(propId)
                    + " is not available");
        }
        // For the global property, areaId is 0
        if (propConfig.isGlobalProperty()) {
            return VehicleAreaType.VEHICLE_AREA_TYPE_GLOBAL;
        }
        for (int areaId : propConfig.getAreaIds()) {
            if ((area & areaId) == area) {
                return areaId;
            }
        }

        throw new IllegalArgumentException("The property propId: 0x" + toHexString(propId)
                + " is not available at the area: 0x" + toHexString(area));
    }

    /**
     * Return read permission string for given property ID.
     *
     * @param propId Property ID to query
     * @return String Permission needed to read this property.  NULL if propId not available.
     * @hide
     */
    @Nullable
    public String getReadPermission(int propId) {
        if (DBG) {
            Log.d(TAG, "getReadPermission, propId: 0x" + toHexString(propId));
        }
        checkSupportedProperty(propId);
        try {
            return mService.getReadPermission(propId);
        } catch (RemoteException e) {
            return handleRemoteExceptionFromCarService(e, "");
        }
    }

    /**
     * Return write permission string for given property ID.
     *
     * @param propId Property ID to query
     * @return String Permission needed to write this property.  NULL if propId not available.
     * @hide
     */
    @Nullable
    public String getWritePermission(int propId) {
        if (DBG) {
            Log.d(TAG, "getWritePermission, propId: 0x" + toHexString(propId));
        }
        checkSupportedProperty(propId);
        try {
            return mService.getWritePermission(propId);
        } catch (RemoteException e) {
            return handleRemoteExceptionFromCarService(e, "");
        }
    }


    /**
     * Check whether a given property is available or disabled based on the car's current state.
     * @param propId Property Id
     * @param area AreaId of property
     * @return true if STATUS_AVAILABLE, false otherwise (eg STATUS_UNAVAILABLE)
     */
    public boolean isPropertyAvailable(int propId, int area) {
        checkSupportedProperty(propId);
        try {
            CarPropertyValue propValue = mService.getProperty(propId, area);
            return (propValue != null)
                    && (propValue.getStatus() == CarPropertyValue.STATUS_AVAILABLE);
        } catch (RemoteException e) {
            return handleRemoteExceptionFromCarService(e, false);
        }
    }

    /**
     * Returns value of a bool property
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * @param prop Property ID to get
     * @param area Area of the property to get
     * @return value of a bool property.
     */
    public boolean getBooleanProperty(int prop, int area) {
        checkSupportedProperty(prop);
        CarPropertyValue<Boolean> carProp = getProperty(Boolean.class, prop, area);
        return carProp != null ? carProp.getValue() : false;
    }

    /**
     * Returns value of a float property
     *
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * @param prop Property ID to get
     * @param area Area of the property to get
     */
    public float getFloatProperty(int prop, int area) {
        checkSupportedProperty(prop);
        CarPropertyValue<Float> carProp = getProperty(Float.class, prop, area);
        return carProp != null ? carProp.getValue() : 0f;
    }

    /**
     * Returns value of a integer property
     *
     * <p> This method may take couple seconds to complete, so it needs to be called form an
     * non-main thread.
     * @param prop Property ID to get
     * @param area Zone of the property to get
     */
    public int getIntProperty(int prop, int area) {
        checkSupportedProperty(prop);
        CarPropertyValue<Integer> carProp = getProperty(Integer.class, prop, area);
        return carProp != null ? carProp.getValue() : 0;
    }

    /**
     * Returns value of a integer array property
     *
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * @param prop Property ID to get
     * @param area Zone of the property to get
     */
    @NonNull
    public int[] getIntArrayProperty(int prop, int area) {
        checkSupportedProperty(prop);
        CarPropertyValue<Integer[]> carProp = getProperty(Integer[].class, prop, area);
        return carProp != null ? toIntArray(carProp.getValue()) : new int[0];
    }

    private static int[] toIntArray(Integer[] input) {
        int len = input.length;
        int[] arr = new int[len];
        for (int i = 0; i < len; i++) {
            arr[i] = input[i];
        }
        return arr;
    }

    /**
     * Return CarPropertyValue
     *
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * <p> Clients that declare a {@link android.content.pm.ApplicationInfo#targetSdkVersion} equal
     * or later than {@link Build.VERSION_CODES#R} will receive the following exceptions when
     * request is failed.
     * <ul>
     *     <li>{@link CarInternalErrorException}
     *     <li>{@link PropertyAccessDeniedSecurityException}
     *     <li>{@link PropertyNotAvailableAndRetryException}
     *     <li>{@link PropertyNotAvailableException}
     *     <li>{@link IllegalArgumentException}
     * </ul>
     * <p> Clients that declare a {@link android.content.pm.ApplicationInfo#targetSdkVersion}
     * earlier than {@link Build.VERSION_CODES#R} will receive the following exceptions when request
     * is failed.
     * <ul>
     *     <li>{@link IllegalStateException} when there is an error detected in cars.
     *     <li>{@link IllegalArgumentException} when the property in the areaId is not supplied.
     * </ul>
     *
     * @param clazz The class object for the CarPropertyValue
     * @param propId Property ID to get
     * @param areaId Zone of the property to get
     *
     * @throws {@link CarInternalErrorException} when there is an error detected in cars.
     * @throws {@link PropertyAccessDeniedSecurityException} when cars denied the access of the
     * property.
     * @throws {@link PropertyNotAvailableAndRetryException} when the property is temporarily
     * not available and likely that retrying will be successful.
     * @throws {@link PropertyNotAvailableException} when the property is temporarily not available.
     * @throws {@link IllegalArgumentException} when the property in the areaId is not supplied.
     *
     * @return CarPropertyValue. Null if property's id is invalid.
     */
    @SuppressWarnings("unchecked")
    @Nullable
    public <E> CarPropertyValue<E> getProperty(@NonNull Class<E> clazz, int propId, int areaId) {
        if (DBG) {
            Log.d(TAG, "getProperty, propId: 0x" + toHexString(propId)
                    + ", areaId: 0x" + toHexString(areaId) + ", class: " + clazz);
        }

        checkSupportedProperty(propId);

        try {
            CarPropertyValue<E> propVal = mService.getProperty(propId, areaId);
            if (propVal != null && propVal.getValue() != null) {
                Class<?> actualClass = propVal.getValue().getClass();
                if (actualClass != clazz) {
                    throw new IllegalArgumentException("Invalid property type. " + "Expected: "
                            + clazz + ", but was: " + actualClass);
                }
            }
            return propVal;
        } catch (RemoteException e) {
            return handleRemoteExceptionFromCarService(e, null);
        } catch (ServiceSpecificException e) {
            // For pre R apps, throws the old exceptions.
            if (mAppTargetSdk < Build.VERSION_CODES.R) {
                if (e.errorCode == VehicleHalStatusCode.STATUS_TRY_AGAIN) {
                    return null;
                } else {
                    throw new IllegalStateException(String.format("Failed to get property: 0x%x, "
                            + "areaId: 0x%x", propId, areaId));
                }
            }
            return handleCarServiceSpecificException(e.errorCode, propId, areaId, null);
        }
    }

    /**
     * Query CarPropertyValue with property id and areaId.
     *
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * <p> Clients that declare a {@link android.content.pm.ApplicationInfo#targetSdkVersion} equal
     * or later than {@link Build.VERSION_CODES#R} will receive the following exceptions when
     * request is failed.
     * <ul>
     *     <li>{@link CarInternalErrorException}
     *     <li>{@link PropertyAccessDeniedSecurityException}
     *     <li>{@link PropertyNotAvailableAndRetryException}
     *     <li>{@link PropertyNotAvailableException}
     *     <li>{@link IllegalArgumentException}
     * </ul>
     * <p> Clients that declare a {@link android.content.pm.ApplicationInfo#targetSdkVersion}
     * earlier than {@link Build.VERSION_CODES#R} will receive the following exceptions when request
     * is failed.
     * <ul>
     *     <li>{@link IllegalStateException} when there is an error detected in cars.
     *     <li>{@link IllegalArgumentException} when the property in the areaId is not supplied.
     * </ul>
     *
     * @param propId Property Id
     * @param areaId areaId
     * @param <E> Value type of the property
     *
     * @throws {@link CarInternalErrorException} when there is an error detected in cars.
     * @throws {@link PropertyAccessDeniedSecurityException} when cars denied the access of the
     * property.
     * @throws {@link PropertyNotAvailableAndRetryException} when the property is temporarily
     * not available and likely that retrying will be successful.
     * @throws {@link PropertyNotAvailableException} when the property is temporarily not available.
     * @throws {@link IllegalArgumentException} when the property in the areaId is not supplied.
     *
     * @return CarPropertyValue. Null if property's id is invalid.
     */
    @Nullable
    public <E> CarPropertyValue<E> getProperty(int propId, int areaId) {
        checkSupportedProperty(propId);

        try {
            CarPropertyValue<E> propVal = mService.getProperty(propId, areaId);
            return propVal;
        } catch (RemoteException e) {
            return handleRemoteExceptionFromCarService(e, null);
        } catch (ServiceSpecificException e) {
            if (mAppTargetSdk < Build.VERSION_CODES.R) {
                if (e.errorCode == VehicleHalStatusCode.STATUS_TRY_AGAIN) {
                    return null;
                } else {
                    throw new IllegalStateException(String.format("Failed to get property: 0x%x, "
                            + "areaId: 0x%x", propId, areaId));
                }
            }
            return handleCarServiceSpecificException(e.errorCode, propId, areaId, null);
        }
    }

    /**
     * Set value of car property by areaId.
     *
     * <p>If multiple clients set a property for the same area id simultaneously, which one takes
     * precedence is undefined. Typically, the last set operation (in the order that they are issued
     * to the car's ECU) overrides the previous set operations.
     *
     * <p> This method may take couple seconds to complete, so it needs to be called form an
     * non-main thread.
     *
     * <p> Clients that declare a {@link android.content.pm.ApplicationInfo#targetSdkVersion} equal
     * or later than {@link Build.VERSION_CODES#R} will receive the following exceptions when
     * request is failed.
     * <ul>
     *     <li>{@link CarInternalErrorException}
     *     <li>{@link PropertyAccessDeniedSecurityException}
     *     <li>{@link PropertyNotAvailableAndRetryException}
     *     <li>{@link PropertyNotAvailableException}
     *     <li>{@link IllegalArgumentException}
     * </ul>
     * <p> Clients that declare a {@link android.content.pm.ApplicationInfo#targetSdkVersion}
     * earlier than {@link Build.VERSION_CODES#R} will receive the following exceptions when request
     * is failed.
     * <ul>
     *     <li>{@link RuntimeException} when the property is temporarily not available.
     *     <li>{@link IllegalStateException} when there is an error detected in cars.
     *     <li>{@link IllegalArgumentException} when the property in the areaId is not supplied
     * </ul>
     *
     * @param clazz The class object for the CarPropertyValue
     * @param propId Property ID
     * @param areaId areaId
     * @param val Value of CarPropertyValue
     * @param <E> data type of the given property, for example property that was
     * defined as {@code VEHICLE_VALUE_TYPE_INT32} in vehicle HAL could be accessed using
     * {@code Integer.class}.
     *
     * @throws {@link CarInternalErrorException} when there is an error detected in cars.
     * @throws {@link PropertyAccessDeniedSecurityException} when cars denied the access of the
     * property.
     * @throws {@link PropertyNotAvailableException} when the property is temporarily not available.
     * @throws {@link PropertyNotAvailableAndRetryException} when the property is temporarily
     * not available and likely that retrying will be successful.
     * @throws {@link IllegalStateException} when get an unexpected error code.
     * @throws {@link IllegalArgumentException} when the property in the areaId is not supplied.
     */
    public <E> void setProperty(@NonNull Class<E> clazz, int propId, int areaId, @NonNull E val) {
        if (DBG) {
            Log.d(TAG, "setProperty, propId: 0x" + toHexString(propId)
                    + ", areaId: 0x" + toHexString(areaId) + ", class: " + clazz + ", val: " + val);
        }
        checkSupportedProperty(propId);
        try {
            if (mCarPropertyEventToService == null) {
                mCarPropertyEventToService = new CarPropertyEventListenerToService(this);
            }
            mService.setProperty(new CarPropertyValue<>(propId, areaId, val),
                    mCarPropertyEventToService);
        } catch (RemoteException e) {
            handleRemoteExceptionFromCarService(e);
        } catch (ServiceSpecificException e) {
            if (mAppTargetSdk < Build.VERSION_CODES.R) {
                if (e.errorCode == VehicleHalStatusCode.STATUS_TRY_AGAIN) {
                    throw new RuntimeException(String.format("Failed to set property: 0x%x, "
                            + "areaId: 0x%x", propId, areaId));
                } else {
                    throw new IllegalStateException(String.format("Failed to set property: 0x%x, "
                            + "areaId: 0x%x", propId, areaId));
                }
            }
            handleCarServiceSpecificException(e.errorCode, propId, areaId, null);
        }
    }

    /**
     * Modifies a property.  If the property modification doesn't occur, an error event shall be
     * generated and propagated back to the application.
     *
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * @param prop Property ID to modify
     * @param areaId AreaId to apply the modification.
     * @param val Value to set
     */
    public void setBooleanProperty(int prop, int areaId, boolean val) {
        setProperty(Boolean.class, prop, areaId, val);
    }

    /**
     * Set float value of property
     *
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * @param prop Property ID to modify
     * @param areaId AreaId to apply the modification
     * @param val Value to set
     */
    public void setFloatProperty(int prop, int areaId, float val) {
        setProperty(Float.class, prop, areaId, val);
    }

    /**
     * Set int value of property
     *
     * <p> This method may take couple seconds to complete, so it needs to be called from an
     * non-main thread.
     *
     * @param prop Property ID to modify
     * @param areaId AreaId to apply the modification
     * @param val Value to set
     */
    public void setIntProperty(int prop, int areaId, int val) {
        setProperty(Integer.class, prop, areaId, val);
    }

    // Handles ServiceSpecificException in CarService for R and later version.
    private <T> T handleCarServiceSpecificException(int errorCode, int propId, int areaId,
            T returnValue) {
        switch (errorCode) {
            case VehicleHalStatusCode.STATUS_NOT_AVAILABLE:
                throw new PropertyNotAvailableException(propId, areaId);
            case VehicleHalStatusCode.STATUS_TRY_AGAIN:
                throw new PropertyNotAvailableAndRetryException(propId, areaId);
            case VehicleHalStatusCode.STATUS_ACCESS_DENIED:
                throw new PropertyAccessDeniedSecurityException(propId, areaId);
            case VehicleHalStatusCode.STATUS_INTERNAL_ERROR:
                throw new CarInternalErrorException(propId, areaId);
            default:
                Log.e(TAG, "Invalid errorCode: " + errorCode + " in CarService");
        }
        return returnValue;
    }

    /**
     * Checks if the given property can be exposed to by this manager.
     *
     * <p>For example, properties related to user management should only be manipulated by
     * {@code UserHalService}.
     *
     * @param propId property to be checked
     *
     * @throws IllegalArgumentException if the property is not supported.
     */
    private void checkSupportedProperty(int propId) {
        switch (propId) {
            case VehiclePropertyIds.INITIAL_USER_INFO:
            case VehiclePropertyIds.SWITCH_USER:
            case VehiclePropertyIds.CREATE_USER:
            case VehiclePropertyIds.REMOVE_USER:
            case VehiclePropertyIds.USER_IDENTIFICATION_ASSOCIATION:
                throw new IllegalArgumentException("Unsupported property: "
                        + VehiclePropertyIds.toString(propId) + " (" + propId + ")");
        }
    }

    private final class CarPropertyListeners
            extends CarRatedFloatListeners<CarPropertyEventCallback> {
        CarPropertyListeners(float rate) {
            super(rate);
        }
        void onPropertyChanged(final CarPropertyEvent event) {
            // throw away old sensor data as oneway binder call can change order.
            long updateTime = event.getCarPropertyValue().getTimestamp();
            int areaId = event.getCarPropertyValue().getAreaId();
            if (!needUpdateForAreaId(areaId, updateTime)) {
                if (DBG) {
                    Log.w(TAG, "Dropping a stale event: " + event.toString());
                }
                return;
            }
            List<CarPropertyEventCallback> listeners;
            synchronized (mActivePropertyListener) {
                listeners = new ArrayList<>(getListeners());
            }
            listeners.forEach(new Consumer<CarPropertyEventCallback>() {
                @Override
                public void accept(CarPropertyEventCallback listener) {
                    if (needUpdateForSelectedListener(listener, updateTime)) {
                        listener.onChangeEvent(event.getCarPropertyValue());
                    }
                }
            });
        }

        void onErrorEvent(final CarPropertyEvent event) {
            List<CarPropertyEventCallback> listeners;
            CarPropertyValue value = event.getCarPropertyValue();
            synchronized (mActivePropertyListener) {
                listeners = new ArrayList<>(getListeners());
            }
            listeners.forEach(new Consumer<CarPropertyEventCallback>() {
                @Override
                public void accept(CarPropertyEventCallback listener) {
                    if (DBG) {
                        Log.d(TAG, new StringBuilder().append("onErrorEvent for ")
                                        .append("property: ").append(value.getPropertyId())
                                        .append(" areaId: ").append(value.getAreaId())
                                        .append(" errorCode: ").append(event.getErrorCode())
                                        .toString());
                    }

                    listener.onErrorEvent(value.getPropertyId(), value.getAreaId(),
                            event.getErrorCode());

                }
            });
        }
    }

    /** @hide */
    @Override
    public void onCarDisconnected() {
        synchronized (mActivePropertyListener) {
            mActivePropertyListener.clear();
            mCarPropertyEventToService = null;
        }
    }
}