/* * 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. */ #define LOG_TAG "vehicle_hw_default" #define LOG_NDEBUG 1 #define RADIO_PRESET_NUM 6 #define UNUSED __attribute__((__unused__)) #include #include #include #include #include #include #include #include #include #include #include #include #include #include extern int64_t elapsedRealtimeNano(); static char VEHICLE_MAKE[] = "android_car"; typedef struct vehicle_device_impl { vehicle_hw_device_t vehicle_device; uint32_t initialized_; vehicle_event_callback_fn event_fn_; vehicle_error_callback_fn error_fn_; } vehicle_device_impl_t ; static pthread_mutex_t lock_; typedef struct subscription { // Each subscription has it's own thread. pthread_t thread_id; int32_t prop; float sample_rate; pthread_mutex_t lock; // This field should be protected by the above mutex. // TODO change this to something better as flag alone takes long time to finish. uint32_t stop_thread; vehicle_device_impl_t* impl; pthread_t thread; pthread_cond_t cond; char name[100]; } subscription_t; static vehicle_prop_config_t CONFIGS[] = { { .prop = VEHICLE_PROPERTY_INFO_MAKE, .access = VEHICLE_PROP_ACCESS_READ, .change_mode = VEHICLE_PROP_CHANGE_MODE_STATIC, .value_type = VEHICLE_VALUE_TYPE_STRING, .min_sample_rate = 0, .max_sample_rate = 0, .hal_data = NULL, }, { .prop = VEHICLE_PROPERTY_GEAR_SELECTION, .access = VEHICLE_PROP_ACCESS_READ, .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, .value_type = VEHICLE_VALUE_TYPE_INT32, .min_sample_rate = 0, .max_sample_rate = 0, .hal_data = NULL, }, { .prop = VEHICLE_PROPERTY_DRIVING_STATUS, .access = VEHICLE_PROP_ACCESS_READ, .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, .value_type = VEHICLE_VALUE_TYPE_INT32, .min_sample_rate = 0, .max_sample_rate = 0, .hal_data = NULL, }, { .prop = VEHICLE_PROPERTY_PARKING_BRAKE_ON, .access = VEHICLE_PROP_ACCESS_READ, .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, .value_type = VEHICLE_VALUE_TYPE_BOOLEAN, .min_sample_rate = 0, .max_sample_rate = 0, .hal_data = NULL, }, { .prop = VEHICLE_PROPERTY_PERF_VEHICLE_SPEED, .access = VEHICLE_PROP_ACCESS_READ, .change_mode = VEHICLE_PROP_CHANGE_MODE_CONTINUOUS, .value_type = VEHICLE_VALUE_TYPE_FLOAT, .min_sample_rate = 0.1, .max_sample_rate = 10.0, .hal_data = NULL, }, { .prop = VEHICLE_PROPERTY_RADIO_PRESET, .access = VEHICLE_PROP_ACCESS_READ_WRITE, .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, .value_type = VEHICLE_VALUE_TYPE_INT32_VEC4, .vehicle_radio_num_presets = RADIO_PRESET_NUM, .min_sample_rate = 0, .max_sample_rate = 0, .hal_data = NULL, }, }; vehicle_prop_config_t* find_config(int prop) { unsigned int i; for (i = 0; i < sizeof(CONFIGS) / sizeof(vehicle_prop_config_t); i++) { if (CONFIGS[i].prop == prop) { return &CONFIGS[i]; } } return NULL; } static int alloc_vehicle_str_from_cstr(const char* string, vehicle_str_t* vehicle_str) { int len = strlen(string); vehicle_str->data = (uint8_t*) malloc(len); if (vehicle_str->data == NULL) { return -ENOMEM; } memcpy(vehicle_str->data, string, len); vehicle_str->len = len; return 0; } static vehicle_prop_config_t const * vdev_list_properties(vehicle_hw_device_t* device UNUSED, int* num_properties) { ALOGD("vdev_list_properties."); *num_properties = sizeof(CONFIGS) / sizeof(vehicle_prop_config_t); return CONFIGS; } static int vdev_init(vehicle_hw_device_t* device, vehicle_event_callback_fn event_callback_fn, vehicle_error_callback_fn error_callback_fn) { ALOGD("vdev_init."); vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; pthread_mutex_lock(&lock_); if (impl->initialized_) { ALOGE("vdev_init: Callback and Error functions are already existing."); pthread_mutex_unlock(&lock_); return -EEXIST; } impl->initialized_ = 1; impl->event_fn_ = event_callback_fn; impl->error_fn_ = error_callback_fn; pthread_mutex_unlock(&lock_); return 0; } static int vdev_release(vehicle_hw_device_t* device) { vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; pthread_mutex_lock(&lock_); if (!impl->initialized_) { ALOGD("vdev_release: Already released before, returning early."); } else { // unsubscribe_all() impl->initialized_ = 0; } pthread_mutex_unlock(&lock_); return 0; } static int vdev_get(vehicle_hw_device_t* device UNUSED, vehicle_prop_value_t* data) { ALOGD("vdev_get."); //TODO all data supporting read should support get if (!data) { ALOGE("vdev_get: Data cannot be null."); return -EINVAL; } vehicle_prop_config_t* config = find_config(data->prop); if (config == NULL) { ALOGE("vdev_get: cannot find config 0x%x", data->prop); return -EINVAL; } data->value_type = config->value_type; // for STATIC type, time can be just 0 instead data->timestamp = elapsedRealtimeNano(); int r; switch (data->prop) { case VEHICLE_PROPERTY_INFO_MAKE: r = alloc_vehicle_str_from_cstr(VEHICLE_MAKE, &(data->value.str_value)); if (r != 0) { ALOGE("vdev_get: alloc failed"); return r; } break; case VEHICLE_PROPERTY_RADIO_PRESET: { int radio_preset = data->value.int32_array[0]; if (radio_preset < VEHICLE_RADIO_PRESET_MIN_VALUE || radio_preset >= RADIO_PRESET_NUM) { ALOGE("%s Invalid radio preset: %d\n", __func__, radio_preset); return -1; } ALOGD("%s Radio Preset number: %d", __func__, radio_preset); int32_t selector = radio_preset % 2 == 0; // Populate the channel and subchannel to be some variation of the // preset number for mocking. // Restore the preset number. data->value.int32_array[0] = radio_preset; // Channel type values taken from // system/core/include/system/radio.h data->value.int32_array[1] = selector ? RADIO_BAND_FM : RADIO_BAND_AM; // For FM set a value in Mhz and for AM set a value in Khz range // (channel). data->value.int32_array[2] = selector ? 99000000 : 100000; // For FM we have a sub-channel and we care about it, for AM pass // a dummy value. data->value.int32_array[3] = selector ? radio_preset : -1; break; } default: // actual implementation will be much complex than this. It should track proper last // state. Here just fill with zero. memset(&(data->value), 0, sizeof(data->value)); break; } ALOGI("vdev_get, type 0x%x, time %" PRId64 ", value_type %d", data->prop, data->timestamp, data->value_type); return 0; } static void vdev_release_memory_from_get(struct vehicle_hw_device* device UNUSED, vehicle_prop_value_t *data) { switch (data->value_type) { case VEHICLE_VALUE_TYPE_STRING: case VEHICLE_VALUE_TYPE_BYTES: free(data->value.str_value.data); data->value.str_value.data = NULL; break; default: ALOGW("release_memory_from_get for property 0x%x which is not string or bytes type 0x%x" , data->prop, data->value_type); break; } } static int vdev_set(vehicle_hw_device_t* device UNUSED, const vehicle_prop_value_t* data) { ALOGD("vdev_set."); // Just print what data will be setting here. ALOGD("Setting property %d with value type %d\n", data->prop, data->value_type); vehicle_prop_config_t* config = find_config(data->prop); if (config == NULL) { ALOGE("vdev_set: cannot find config 0x%x", data->prop); return -EINVAL; } if (config->value_type != data->value_type) { ALOGE("vdev_set: type mismatch, passed 0x%x expecting 0x%x", data->value_type, config->value_type); return -EINVAL; } switch (data->value_type) { case VEHICLE_VALUE_TYPE_FLOAT: ALOGD("Value type: FLOAT\nValue: %f\n", data->value.float_value); break; case VEHICLE_VALUE_TYPE_INT32: ALOGD("Value type: INT32\nValue: %" PRId32 "\n", data->value.int32_value); break; case VEHICLE_VALUE_TYPE_INT64: ALOGD("Value type: INT64\nValue: %" PRId64 "\n", data->value.int64_value); break; case VEHICLE_VALUE_TYPE_BOOLEAN: ALOGD("Value type: BOOLEAN\nValue: %d\n", data->value.boolean_value); break; case VEHICLE_VALUE_TYPE_STRING: ALOGD("Value type: STRING\n Size: %d\n", data->value.str_value.len); // NOTE: We only handle ASCII strings here. // Print the UTF-8 string. char *ascii_out = (char *) malloc ((data->value.str_value.len + 1) * sizeof (char)); memcpy(ascii_out, data->value.str_value.data, data->value.str_value.len); ascii_out[data->value.str_value.len] = '\0'; ALOGD("Value: %s\n", ascii_out); break; case VEHICLE_VALUE_TYPE_INT32_VEC4: ALOGD("Value type: INT32_VEC4\nValue[0]: %d Value[1] %d Value[2] %d Value[3] %d", data->value.int32_array[0], data->value.int32_array[1], data->value.int32_array[2], data->value.int32_array[3]); break; default: ALOGD("Value type not yet handled: %d.\n", data->value_type); } return 0; } void print_subscribe_info(vehicle_device_impl_t* impl UNUSED) { unsigned int i; for (i = 0; i < sizeof(CONFIGS) / sizeof(vehicle_prop_config_t); i++) { subscription_t* sub = (subscription_t*)CONFIGS[i].hal_data; if (sub != NULL) { ALOGD("prop: %d rate: %f", sub->prop, sub->sample_rate); } } } // This should be run in a separate thread always. void fake_event_thread(struct subscription *sub) { if (!sub) { ALOGE("oops! subscription object cannot be NULL."); exit(-1); } prctl(PR_SET_NAME, (unsigned long)sub->name, 0, 0, 0); // Emit values in a loop, every 2 seconds. while (1) { // Create a random value depending on the property type. vehicle_prop_value_t event; event.prop = sub->prop; event.timestamp = elapsedRealtimeNano(); switch (sub->prop) { case VEHICLE_PROPERTY_GEAR_SELECTION: event.value_type = VEHICLE_VALUE_TYPE_INT32; switch ((event.timestamp & 0x30000000)>>28) { case 0: event.value.gear_selection = VEHICLE_GEAR_PARK; break; case 1: event.value.gear_selection = VEHICLE_GEAR_NEUTRAL; break; case 2: event.value.gear_selection = VEHICLE_GEAR_DRIVE; break; case 3: event.value.gear_selection = VEHICLE_GEAR_REVERSE; break; } break; case VEHICLE_PROPERTY_PARKING_BRAKE_ON: event.value_type = VEHICLE_VALUE_TYPE_BOOLEAN; if (event.timestamp & 0x20000000) { event.value.parking_brake = VEHICLE_FALSE; } else { event.value.parking_brake = VEHICLE_TRUE; } break; case VEHICLE_PROPERTY_PERF_VEHICLE_SPEED: event.value_type = VEHICLE_VALUE_TYPE_FLOAT; event.value.vehicle_speed = (float) ((event.timestamp & 0xff000000)>>24); break; case VEHICLE_PROPERTY_RADIO_PRESET: event.value_type = VEHICLE_VALUE_TYPE_INT32_VEC4; int presetInfo1[4] = {1 /* preset number */, 0 /* AM Band */, 1000, 0}; int presetInfo2[4] = {2 /* preset number */, 1 /* FM Band */, 1000, 0}; if (event.timestamp & 0x20000000) { memcpy(event.value.int32_array, presetInfo1, sizeof(presetInfo1)); } else { memcpy(event.value.int32_array, presetInfo2, sizeof(presetInfo2)); } break; default: // unsupported if (sub->impl == NULL) { ALOGE("subscription impl NULL"); return; } if (sub->impl->error_fn_ != NULL) { sub->impl->error_fn_(-EINVAL, VEHICLE_PROPERTY_INVALID, VEHICLE_OPERATION_GENERIC); } else { ALOGE("Error function is null"); } ALOGE("Unsupported prop 0x%x, quit", sub->prop); return; } if (sub->impl->event_fn_ != NULL) { sub->impl->event_fn_(&event); } else { ALOGE("Event function is null"); return; } pthread_mutex_lock(&sub->lock); if (sub->stop_thread) { ALOGD("exiting subscription request here."); // Do any cleanup here. pthread_mutex_unlock(&sub->lock); return; } struct timespec now; clock_gettime(CLOCK_REALTIME, &now); now.tv_sec += 1; // sleep for one sec pthread_cond_timedwait(&sub->cond, &sub->lock, &now); pthread_mutex_unlock(&sub->lock); } } static int vdev_subscribe(vehicle_hw_device_t* device, int32_t prop, float sample_rate, int32_t zones UNUSED) { ALOGD("vdev_subscribe 0x%x, %f", prop, sample_rate); vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; // Check that the device is initialized. pthread_mutex_lock(&lock_); if (!impl->initialized_) { pthread_mutex_unlock(&lock_); ALOGE("vdev_subscribe: have you called init()?"); return -EINVAL; } vehicle_prop_config_t* config = find_config(prop); if (config == NULL) { pthread_mutex_unlock(&lock_); ALOGE("vdev_subscribe not supported property 0x%x", prop); return -EINVAL; } if ((config->access != VEHICLE_PROP_ACCESS_READ) && (config->access != VEHICLE_PROP_ACCESS_READ_WRITE)) { pthread_mutex_unlock(&lock_); ALOGE("vdev_subscribe read not supported on the property 0x%x", prop); return -EINVAL; } if (config->change_mode == VEHICLE_PROP_CHANGE_MODE_STATIC) { pthread_mutex_unlock(&lock_); ALOGE("vdev_subscribe cannot subscribe static property 0x%x", prop); return -EINVAL; } if ((config->change_mode == VEHICLE_PROP_CHANGE_MODE_ON_CHANGE) && (sample_rate != 0)) { pthread_mutex_unlock(&lock_); ALOGE("vdev_subscribe on change type should have 0 sample rate, property 0x%x, sample rate %f", prop, sample_rate); return -EINVAL; } if ((config->max_sample_rate < sample_rate) || (config->min_sample_rate > sample_rate)) { ALOGE("vdev_subscribe property 0x%x, invalid sample rate %f, min:%f, max:%f", prop, sample_rate, config->min_sample_rate, config->max_sample_rate); pthread_mutex_unlock(&lock_); return -EINVAL; } subscription_t* sub = (subscription_t*)config->hal_data; if (sub == NULL) { sub = calloc(1, sizeof(subscription_t)); sub->prop = prop; sub->sample_rate = sample_rate; sub->stop_thread = 0; sub->impl = impl; pthread_mutex_init(&sub->lock, NULL); pthread_cond_init(&sub->cond, NULL); config->hal_data = sub; sprintf(sub->name, "vhal0x%x", prop); } else if (sub->sample_rate != sample_rate){ // sample rate changed //TODO notify this to fake sensor thread sub->sample_rate = sample_rate; pthread_mutex_unlock(&lock_); return 0; } int ret_code = pthread_create( &sub->thread, NULL, (void *(*)(void*))fake_event_thread, sub); print_subscribe_info(impl); pthread_mutex_unlock(&lock_); return 0; } static int vdev_unsubscribe(vehicle_hw_device_t* device, int32_t prop) { ALOGD("vdev_unsubscribe 0x%x", prop); vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; pthread_mutex_lock(&lock_); vehicle_prop_config_t* config = find_config(prop); if (config == NULL) { pthread_mutex_unlock(&lock_); return -EINVAL; } subscription_t* sub = (subscription_t*)config->hal_data; if (sub == NULL) { pthread_mutex_unlock(&lock_); return -EINVAL; } config->hal_data = NULL; pthread_mutex_unlock(&lock_); pthread_mutex_lock(&sub->lock); sub->stop_thread = 1; pthread_cond_signal(&sub->cond); pthread_mutex_unlock(&sub->lock); pthread_join(sub->thread, NULL); pthread_cond_destroy(&sub->cond); pthread_mutex_destroy(&sub->lock); free(sub); pthread_mutex_lock(&lock_); print_subscribe_info(impl); pthread_mutex_unlock(&lock_); return 0; } static int vdev_close(hw_device_t* device) { vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; if (impl) { free(impl); return 0; } else { return -1; } } static int vdev_dump(struct vehicle_hw_device* device UNUSED, int fd UNUSED) { //TODO return 0; } /* * The open function is provided as an interface in harwdare.h which fills in * all the information about specific implementations and version specific * informations in hw_device_t structure. After calling open() the client should * use the hw_device_t to execute any Vehicle HAL device specific functions. */ static int vdev_open(const hw_module_t* module, const char* name UNUSED, hw_device_t** device) { ALOGD("vdev_open"); // Oops, out of memory! vehicle_device_impl_t* vdev = calloc(1, sizeof(vehicle_device_impl_t)); if (vdev == NULL) { return -ENOMEM; } // Common functions provided by harware.h to access module and device(s). vdev->vehicle_device.common.tag = HARDWARE_DEVICE_TAG; vdev->vehicle_device.common.version = VEHICLE_DEVICE_API_VERSION_1_0; vdev->vehicle_device.common.module = (hw_module_t *) module; vdev->vehicle_device.common.close = vdev_close; // Define the Vehicle HAL device specific functions. vdev->vehicle_device.list_properties = vdev_list_properties; vdev->vehicle_device.init = vdev_init; vdev->vehicle_device.release = vdev_release; vdev->vehicle_device.get = vdev_get; vdev->vehicle_device.release_memory_from_get = vdev_release_memory_from_get; vdev->vehicle_device.set = vdev_set; vdev->vehicle_device.subscribe = vdev_subscribe; vdev->vehicle_device.unsubscribe = vdev_unsubscribe; vdev->vehicle_device.dump = vdev_dump; *device = (hw_device_t *) vdev; return 0; } static struct hw_module_methods_t hal_module_methods = { .open = vdev_open, }; /* * This structure is mandatory to be implemented by each HAL implementation. It * exposes the open method (see hw_module_methods_t above) which opens a device. * The vehicle HAL is supposed to be used as a single device HAL hence all the * functions should be implemented inside of the vehicle_hw_device_t struct (see * the vehicle.h in include/ folder. */ vehicle_module_t HAL_MODULE_INFO_SYM = { .common = { .tag = HARDWARE_MODULE_TAG, .module_api_version = VEHICLE_MODULE_API_VERSION_1_0, .hal_api_version = HARDWARE_HAL_API_VERSION, .id = VEHICLE_HARDWARE_MODULE_ID, .name = "Default vehicle HW HAL", .author = "", .methods = &hal_module_methods, }, };