diff --git a/OWNERS b/OWNERS
index b807c00..2f454e4 100644
--- a/OWNERS
+++ b/OWNERS
@@ -4,7 +4,6 @@
 wilsonsung@google.com
 lucaswei@google.com
 cyanhsieh@google.com
-rogerliao@google.com
 cyuanjen@google.com
 robinpeng@google.com
 achant@google.com
@@ -13,4 +12,8 @@
 bkhalife@google.com
 lokeshgoel@google.com
 jainne@google.com
-pscovanner@google.com
\ No newline at end of file
+pscovanner@google.com
+
+per-file *.te,*_contexts,te_macros,global_macros=set noparent
+per-file *.te,*_contexts,te_macros,global_macros=file:/sepolicy/OWNERS
+
diff --git a/dauntless/sepolicy/citadeld.te b/dauntless/sepolicy/citadeld.te
index 86cb61c..60c633c 100644
--- a/dauntless/sepolicy/citadeld.te
+++ b/dauntless/sepolicy/citadeld.te
@@ -11,3 +11,5 @@
 allow citadeld citadel_device:chr_file rw_file_perms;
 allow citadeld fwk_stats_service:service_manager find;
 allow citadeld hal_power_stats_vendor_service:service_manager find;
+
+set_prop(citadeld, vendor_nos_citadel_version);
diff --git a/dauntless/sepolicy/property.te b/dauntless/sepolicy/property.te
new file mode 100644
index 0000000..2e1c4ec
--- /dev/null
+++ b/dauntless/sepolicy/property.te
@@ -0,0 +1 @@
+vendor_internal_prop(vendor_nos_citadel_version)
diff --git a/dauntless/sepolicy/property_contexts b/dauntless/sepolicy/property_contexts
new file mode 100644
index 0000000..835de17
--- /dev/null
+++ b/dauntless/sepolicy/property_contexts
@@ -0,0 +1 @@
+vendor.nos.citadel.version     u:object_r:vendor_nos_citadel_version:s0
diff --git a/edgetpu/sepolicy/hal_neuralnetworks_darwinn.te b/edgetpu/sepolicy/hal_neuralnetworks_darwinn.te
index 7d50bfc..f867528 100644
--- a/edgetpu/sepolicy/hal_neuralnetworks_darwinn.te
+++ b/edgetpu/sepolicy/hal_neuralnetworks_darwinn.te
@@ -7,7 +7,7 @@
 # The TPU HAL looks for TPU instance in /dev/abrolhos
 allow hal_neuralnetworks_darwinn edgetpu_device:chr_file rw_file_perms;
 
-# Allow DawriNN service to use a client-provided fd residing in /vendor/etc/.
+# Allow DarwiNN service to use a client-provided fd residing in /vendor/etc/.
 allow hal_neuralnetworks_darwinn vendor_configs_file:file r_file_perms;
 
 # Allow DarwiNN service to access data files.
diff --git a/gear/dumpstate/Dumpstate.cpp b/gear/dumpstate/Dumpstate.cpp
index 9fe7c1a..31df2c7 100644
--- a/gear/dumpstate/Dumpstate.cpp
+++ b/gear/dumpstate/Dumpstate.cpp
@@ -74,21 +74,21 @@
 void Dumpstate::dumpTextSection(int fd, const std::string &sectionName) {
     bool dumpAll = (sectionName == kAllSections);
     std::string dumpFiles;
-
-    // Execute all or designated programs under vendor/bin/dump/
-    std::unique_ptr<DIR, decltype(&closedir)> dir(opendir("/vendor/bin/dump"), closedir);
-    if (!dir) {
-        ALOGE("Fail To Open Dir vendor/bin/dump/");
-        ::android::base::WriteStringToFd("Fail To Open Dir vendor/bin/dump/\n", fd);
+    struct dirent **dirent_list = NULL;
+    int num_entries = scandir("/vendor/bin/dump", &dirent_list, 0, (int (*)(const struct dirent **, const struct dirent **)) alphasort);
+    if (!dirent_list) {
+        ALOGE("Unable to scan dir: /vendor/bin/dump\n");
+        return;
+    } else if (num_entries <= 0) {
+        ALOGE("No file is found.\n");
         return;
     }
-    dirent *entry;
-    while ((entry = readdir(dir.get())) != nullptr) {
-        // Skip '.', '..'
-        if (entry->d_name[0] == '.') {
+    // Execute all or designated programs under vendor/bin/dump/
+    for (int i = 0; i <  num_entries; i++) {
+        if (dirent_list[i]->d_name[0] == '.') {
             continue;
         }
-        std::string bin(entry->d_name);
+        std::string bin(dirent_list[i]->d_name);
         dumpFiles = dumpFiles + " " + bin;
         if (dumpAll || sectionName == bin) {
             auto startTime = startSection(fd, bin);
@@ -111,6 +111,10 @@
     ::android::base::WriteStringToFd(dumpFiles, fd);
     ::android::base::WriteStringToFd("\nNote: sections with attachments (e.g. dump_soc) are"
                                    "not available from the command line.\n", fd);
+    while (num_entries--) {
+        free(dirent_list[num_entries]);
+    }
+    free(dirent_list);
 }
 
 void Dumpstate::dumpLogSection(int fd, int fd_bin)
diff --git a/gpu/gpu.mk b/gpu/gpu.mk
index f7a3542..67d1263 100644
--- a/gpu/gpu.mk
+++ b/gpu/gpu.mk
@@ -1,3 +1,4 @@
 BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/gpu/sepolicy
 
+PRODUCT_PACKAGES += gpu_probe
 PRODUCT_PACKAGES += android.hardware.neuralnetworks-shim-service-armnn
diff --git a/gpu/sepolicy/file_contexts b/gpu/sepolicy/file_contexts
index 571c211..7cadf04 100644
--- a/gpu/sepolicy/file_contexts
+++ b/gpu/sepolicy/file_contexts
@@ -1 +1,3 @@
+/vendor/bin/gpu_probe                                                     u:object_r:gpu_probe_exec:s0
+
 /vendor/bin/hw/android\.hardware\.neuralnetworks-shim-service-armnn       u:object_r:hal_neuralnetworks_armnn_exec:s0
diff --git a/gpu/sepolicy/gpu_probe.te b/gpu/sepolicy/gpu_probe.te
new file mode 100644
index 0000000..d8ffb78
--- /dev/null
+++ b/gpu/sepolicy/gpu_probe.te
@@ -0,0 +1,8 @@
+# gpu_probe
+type gpu_probe_exec, exec_type, vendor_file_type, file_type;
+type gpu_probe, domain;
+
+init_daemon_domain(gpu_probe)
+allow gpu_probe gpu_device:chr_file rw_file_perms;
+
+perfetto_producer(gpu_probe)
diff --git a/gpu/sepolicy/hal_neuralnetworks_armnn.te b/gpu/sepolicy/hal_neuralnetworks_armnn.te
index d08ec2c..62c3257 100644
--- a/gpu/sepolicy/hal_neuralnetworks_armnn.te
+++ b/gpu/sepolicy/hal_neuralnetworks_armnn.te
@@ -15,4 +15,3 @@
 allow hal_neuralnetworks_armnn fwk_stats_service:service_manager find;
 binder_call(hal_neuralnetworks_armnn, system_server);
 binder_use(hal_neuralnetworks_armnn)
-
diff --git a/gpu/sepolicy/priv_app.te b/gpu/sepolicy/priv_app.te
index c2452f1..97eec7c 100644
--- a/gpu/sepolicy/priv_app.te
+++ b/gpu/sepolicy/priv_app.te
@@ -1,3 +1,2 @@
 allow priv_app armnn_app_service:service_manager find;
 allow priv_app armnn_nnapi_service:service_manager find;
-
diff --git a/gpu/sepolicy/service.te b/gpu/sepolicy/service.te
index cb788b6..bf5f3ce 100644
--- a/gpu/sepolicy/service.te
+++ b/gpu/sepolicy/service.te
@@ -2,4 +2,3 @@
 type armnn_vendor_service, service_manager_type, hal_service_type;
 type armnn_dba_service, app_api_service, service_manager_type, isolated_compute_allowed_service;
 type armnn_app_service, service_manager_type;
-
diff --git a/gpu/sepolicy/service_contexts b/gpu/sepolicy/service_contexts
index d81ca78..a881130 100644
--- a/gpu/sepolicy/service_contexts
+++ b/gpu/sepolicy/service_contexts
@@ -1,4 +1,3 @@
 com.google.armnn.IArmnnVendorService/default             u:object_r:armnn_vendor_service:s0
 android.hardware.neuralnetworks.IDevice/google-armnn     u:object_r:armnn_nnapi_service:s0
 com.google.armnn.IArmnnpAppService/default               u:object_r:armnn_app_service:s0
-
diff --git a/gxp/dump.mk b/gxp/dump.mk
deleted file mode 100644
index c1f6300..0000000
--- a/gxp/dump.mk
+++ /dev/null
@@ -1,4 +0,0 @@
-BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/gxp/sepolicy/
-
-PRODUCT_PACKAGES_DEBUG += dump_gxp
-
diff --git a/gxp/gxp.mk b/gxp/gxp.mk
new file mode 100644
index 0000000..45b0f08
--- /dev/null
+++ b/gxp/gxp.mk
@@ -0,0 +1,13 @@
+# GXP logging service
+PRODUCT_PACKAGES += \
+	android.hardware.gxp.logging@service-gxp-logging
+# GXP metrics logger library
+PRODUCT_PACKAGES += \
+	gxp_metrics_logger
+# GXP C-API library
+PRODUCT_PACKAGES += libgxp
+# GXP Debug dump.
+PRODUCT_PACKAGES_DEBUG += dump_gxp
+
+BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/gxp/sepolicy
+
diff --git a/gxp/sepolicy/device.te b/gxp/sepolicy/device.te
new file mode 100644
index 0000000..382bc9d
--- /dev/null
+++ b/gxp/sepolicy/device.te
@@ -0,0 +1,2 @@
+# GXP device
+type gxp_device, dev_type, mlstrustedobject;
diff --git a/gxp/sepolicy/dump_gxp.te b/gxp/sepolicy/dump_gxp.te
index 61a0482..8d285c5 100644
--- a/gxp/sepolicy/dump_gxp.te
+++ b/gxp/sepolicy/dump_gxp.te
@@ -7,5 +7,7 @@
   allow dump_gxp sscoredump_vendor_data_coredump_file:file r_file_perms;
   allow dump_gxp sscoredump_vendor_data_crashinfo_file:dir r_dir_perms;
   allow dump_gxp sscoredump_vendor_data_crashinfo_file:file r_file_perms;
+  # Allow dump_gxp to access gxp properties.
+  get_prop(google_camera_app, vendor_gxp_prop)
 ')
 
diff --git a/gxp/sepolicy/file.te b/gxp/sepolicy/file.te
new file mode 100644
index 0000000..278cdd9
--- /dev/null
+++ b/gxp/sepolicy/file.te
@@ -0,0 +1,2 @@
+# Gxp sysfs file
+type sysfs_gxp, sysfs_type, fs_type;
diff --git a/gxp/sepolicy/file_contexts b/gxp/sepolicy/file_contexts
index 80420f4..08bef12 100644
--- a/gxp/sepolicy/file_contexts
+++ b/gxp/sepolicy/file_contexts
@@ -1,2 +1,12 @@
-/vendor/bin/dump/dump_gxp           u:object_r:dump_gxp_exec:s0
+# GXP Vendor library
+/vendor/lib(64)?/libgxp\.so                                                 u:object_r:same_process_hal_file:s0
+
+# GXP logging service
+/vendor/bin/hw/android\.hardware\.gxp\.logging@service-gxp-logging          u:object_r:gxp_logging_exec:s0
+
+# GXP Metrics Collection Library
+/vendor/lib(64)?/gxp_metrics_logger\.so                                     u:object_r:same_process_hal_file:s0
+
+# Allow collection of debug dump.
+/vendor/bin/dump/dump_gxp                                                   u:object_r:dump_gxp_exec:s0
 
diff --git a/gxp/sepolicy/gxp_logging.te b/gxp/sepolicy/gxp_logging.te
new file mode 100644
index 0000000..fd1af7f
--- /dev/null
+++ b/gxp/sepolicy/gxp_logging.te
@@ -0,0 +1,21 @@
+type gxp_logging, domain;
+type gxp_logging_exec, exec_type, vendor_file_type, file_type;
+init_daemon_domain(gxp_logging)
+
+# The logging service accesses /dev/gxp
+allow gxp_logging gxp_device:chr_file rw_file_perms;
+
+# Allow logging service to access /sys/class/gxp
+allow gxp_logging sysfs_gxp:dir search;
+allow gxp_logging sysfs_gxp:file rw_file_perms;
+
+# Allow logging service to log to stats service for reporting metrics.
+allow gxp_logging fwk_stats_service:service_manager find;
+binder_call(gxp_logging, system_server);
+binder_use(gxp_logging)
+
+# Allow logging service to read gxp properties.
+get_prop(gxp_logging, vendor_gxp_prop)
+
+# Allow gxp tracing service to send packets to Perfetto
+userdebug_or_eng(`perfetto_producer(gxp_logging)')
diff --git a/gxp/sepolicy/hal_camera_default.te b/gxp/sepolicy/hal_camera_default.te
new file mode 100644
index 0000000..5570a2e
--- /dev/null
+++ b/gxp/sepolicy/hal_camera_default.te
@@ -0,0 +1,3 @@
+# Allow the camera hal to access the GXP device and Properties.
+allow hal_camera_default gxp_device:chr_file rw_file_perms;
+get_prop(hal_camera_default, vendor_gxp_prop)
diff --git a/gxp/sepolicy/property.te b/gxp/sepolicy/property.te
new file mode 100644
index 0000000..b9741f0
--- /dev/null
+++ b/gxp/sepolicy/property.te
@@ -0,0 +1,3 @@
+# Gxp Android properties
+system_vendor_config_prop(vendor_gxp_prop)
+
diff --git a/gxp/sepolicy/property_contexts b/gxp/sepolicy/property_contexts
new file mode 100644
index 0000000..6093c7c
--- /dev/null
+++ b/gxp/sepolicy/property_contexts
@@ -0,0 +1,3 @@
+# GXP Android Property.
+vendor.gxp.                                u:object_r:vendor_gxp_prop:s0
+
diff --git a/gxp/sepolicy/vendor_init.te b/gxp/sepolicy/vendor_init.te
new file mode 100644
index 0000000..ec6ceab
--- /dev/null
+++ b/gxp/sepolicy/vendor_init.te
@@ -0,0 +1,3 @@
+# Gxp Android Properties.
+set_prop(vendor_init, vendor_gxp_prop)
+
diff --git a/pixelsystemservice/pixelsystemservice.mk b/pixelsystemservice/pixelsystemservice.mk
new file mode 100644
index 0000000..fcabe89
--- /dev/null
+++ b/pixelsystemservice/pixelsystemservice.mk
@@ -0,0 +1,5 @@
+PRODUCT_SOONG_NAMESPACES += vendor/google/apps/PersistentBackgroundServices
+PRODUCT_PACKAGES += \
+       PersistentBackgroundServices
+
+BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/pixelsystemservice/sepolicy
diff --git a/pixelsystemservice/sepolicy/pixelsystemservice_app.te b/pixelsystemservice/sepolicy/pixelsystemservice_app.te
new file mode 100644
index 0000000..f120058
--- /dev/null
+++ b/pixelsystemservice/sepolicy/pixelsystemservice_app.te
@@ -0,0 +1,6 @@
+type pixelsystemservice_app, domain, coredomain;
+
+app_domain(pixelsystemservice_app);
+
+# Standard system services
+allow pixelsystemservice_app app_api_service:service_manager find;
diff --git a/pixelsystemservice/sepolicy/seapp_contexts b/pixelsystemservice/sepolicy/seapp_contexts
new file mode 100644
index 0000000..f1c1262
--- /dev/null
+++ b/pixelsystemservice/sepolicy/seapp_contexts
@@ -0,0 +1,2 @@
+# Pixel System Service
+user=_app seinfo=platform name=com.google.android.pixelsystemservice domain=pixelsystemservice_app type=app_data_file levelFrom=all
diff --git a/soc/Android.bp b/soc/Android.bp
index e913154..43e9202 100644
--- a/soc/Android.bp
+++ b/soc/Android.bp
@@ -2,11 +2,21 @@
     default_applicable_licenses: ["Android-Apache-2.0"],
 }
 
-sh_binary {
-    name: "dump_memory.sh",
-    src: "dump_memory.sh",
+cc_binary {
+    name: "dump_memory",
+    srcs: ["dump_memory.cpp"],
+    cflags: [
+        "-Wall",
+        "-Wextra",
+        "-Werror",
+    ],
+    shared_libs: [
+        "libbase",
+	"libdump",
+	"liblog",
+    ],
     vendor: true,
-    sub_dir: "dump",
+    relative_install_path: "dump",
 }
 
 cc_binary {
diff --git a/soc/dump_memory.cpp b/soc/dump_memory.cpp
new file mode 100644
index 0000000..1528f73
--- /dev/null
+++ b/soc/dump_memory.cpp
@@ -0,0 +1,91 @@
+/*
+ * Copyright 2022 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.
+ */
+#include <dump/pixel_dump.h>
+
+#include <android-base/file.h>
+#include <stdio.h>
+#include <log/log.h>
+
+char* concat(char* result, const char* one, const char* two){
+  strcpy(result, one);
+  strcat(result, two);
+  return result;
+}
+
+void iterate(const char* path){
+    dirent *entry, *entry2;
+    char result[100], base[100];
+
+    std::unique_ptr<DIR, decltype(&closedir)> ion(opendir(path), closedir);
+    if (!ion) {
+        ALOGE("Fail To Open Dir %s", path);
+        return;
+    }
+    while ((entry = readdir(ion.get())) != nullptr) {
+        if(entry->d_name[0] == '.') {
+            continue;
+        }
+        strcpy(base, path);
+        strcat(base, entry->d_name);
+        strcat(base, "/");
+        std::unique_ptr<DIR, decltype(&closedir)> ion2(opendir(base), closedir);
+        if (!ion2) {
+            ALOGE("Fail To Open Dir %s\n", base);
+            return;
+        }
+        while ((entry2 = readdir(ion2.get())) != nullptr) {
+            if(entry2->d_name[0] == '.') {
+                continue;
+            }
+            dumpFileContent(entry2->d_name, concat(result, base, entry2->d_name));
+        }
+    }
+    return;
+}
+
+// Dump memory.
+int main() {
+    dirent *entry;
+    char result[100];
+
+    printf("------ ION HEAPS  ------\n");
+    iterate("/d/ion/");
+
+    dumpFileContent("dmabuf info", "/d/dma_buf/bufinfo");
+    dumpFileContent("Page Pinner - longterm pin", "/sys/kernel/debug/page_pinner/buffer");
+
+    printf("------ CMA info  ------\n");
+    std::unique_ptr<DIR, decltype(&closedir)> cmadebug(opendir("/sys/kernel/debug/cma/"), closedir);
+    if (!cmadebug) {
+        ALOGE("Fail To Open Dir /sys/kernel/debug/cma/");
+    } else {
+        while ((entry = readdir(cmadebug.get())) != nullptr) {
+            if(entry->d_name[0] == '.') {
+                continue;
+            }
+            dumpFileContent("count", concat(result, concat(result, "/sys/kernel/debug/cma/", entry->d_name), "/count"));
+            dumpFileContent("used", concat(result, concat(result, "/sys/kernel/debug/cma/", entry->d_name), "/used"));
+            dumpFileContent("bitmap", concat(result, concat(result, "/sys/kernel/debug/cma/", entry->d_name), "/bitmap"));
+        }
+    }
+
+    printf("------ Pixel CMA stat  ------\n");
+    iterate("/sys/kernel/pixel_stat/mm/cma/");
+
+    dumpFileContent("Pixel Trace", "/sys/kernel/tracing/instances/pixel/trace");
+    return 0;
+}
+
diff --git a/soc/dump_memory.sh b/soc/dump_memory.sh
deleted file mode 100644
index 6135dea..0000000
--- a/soc/dump_memory.sh
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/vendor/bin/sh
-echo "------ ION HEAPS ------"
-for d in $(ls -d /d/ion/*)
-do
-  if [ -f $d ]; then
-    echo --- $d
-    cat $d
-  else
-    for f in $(ls $d)
-    do
-      echo --- $d/$f
-      cat $d/$f
-    done
-  fi
-done
-
-echo "------ dmabuf info ------"
-cat "/d/dma_buf/bufinfo"
-
-echo "------ Page Pinner - longterm pin ------"
-cat "/sys/kernel/debug/page_pinner/buffer"
-
-echo "------ CMA info ------"
-for d in $(ls -d /sys/kernel/debug/cma/*)
-do
-  echo --- $d
-  echo --- count; cat $d/count;
-  echo --- used; cat $d/used;
-  echo --- bitmap; cat $d/bitmap;
-done
-
-echo "------ Pixel CMA stat ------"
-for d in $(ls -d /sys/kernel/pixel_stat/mm/cma/*); do
-  if [ -f $d ]; then
-    echo --- $d
-    cat $d
-  else
-    for f in $(ls $d); do
-      echo --- $d/$f
-      cat $d/$f
-    done
-  fi
-done
-
-echo "------ Pixel Trace ------"
-cat "/sys/kernel/tracing/instances/pixel/trace"
diff --git a/soc/sepolicy/soc/file_contexts b/soc/sepolicy/soc/file_contexts
index 23a91e5..5adc605 100644
--- a/soc/sepolicy/soc/file_contexts
+++ b/soc/sepolicy/soc/file_contexts
@@ -1,3 +1,3 @@
 /vendor/bin/dump/dump_soc           u:object_r:dump_soc_exec:s0
-/vendor/bin/dump/dump_memory\.sh    u:object_r:dump_memory_exec:s0
+/vendor/bin/dump/dump_memory        u:object_r:dump_memory_exec:s0
 
diff --git a/soc/soc.mk b/soc/soc.mk
index d08d99d..8ec9412 100644
--- a/soc/soc.mk
+++ b/soc/soc.mk
@@ -1,5 +1,5 @@
 BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/soc/sepolicy/soc
 
 PRODUCT_PACKAGES += dump_soc
-PRODUCT_PACKAGES_DEBUG += dump_memory.sh
+PRODUCT_PACKAGES_DEBUG += dump_memory