diff --git a/media/libaudiohal/impl/EffectConversionHelperAidl.cpp b/media/libaudiohal/impl/EffectConversionHelperAidl.cpp
index ff6126d..a13903b 100644
--- a/media/libaudiohal/impl/EffectConversionHelperAidl.cpp
+++ b/media/libaudiohal/impl/EffectConversionHelperAidl.cpp
@@ -29,6 +29,7 @@
 #include <system/audio_effects/effect_visualizer.h>
 
 #include <utils/Log.h>
+#include <Utils.h>
 
 #include "EffectConversionHelperAidl.h"
 #include "EffectProxy.h"
@@ -37,18 +38,20 @@
 namespace effect {
 
 using ::aidl::android::aidl_utils::statusTFromBinderStatus;
+using ::aidl::android::hardware::audio::common::getChannelCount;
 using ::aidl::android::hardware::audio::effect::CommandId;
 using ::aidl::android::hardware::audio::effect::Descriptor;
 using ::aidl::android::hardware::audio::effect::Flags;
 using ::aidl::android::hardware::audio::effect::IEffect;
 using ::aidl::android::hardware::audio::effect::Parameter;
 using ::aidl::android::hardware::audio::effect::State;
+using ::aidl::android::media::audio::common::AudioChannelLayout;
 using ::aidl::android::media::audio::common::AudioDeviceDescription;
 using ::aidl::android::media::audio::common::AudioMode;
 using ::aidl::android::media::audio::common::AudioSource;
-using ::android::hardware::EventFlag;
 using android::effect::utils::EffectParamReader;
 using android::effect::utils::EffectParamWriter;
+using android::hardware::EventFlag;
 
 using ::android::status_t;
 
@@ -519,5 +522,15 @@
     return OK;
 }
 
+size_t EffectConversionHelperAidl::getAudioChannelCount() const {
+    return getChannelCount(mCommon.input.base.channelMask,
+                           ~AudioChannelLayout::LAYOUT_HAPTIC_AB /* mask */);
+}
+
+size_t EffectConversionHelperAidl::getHapticChannelCount() const {
+    return getChannelCount(mCommon.input.base.channelMask,
+                           AudioChannelLayout::LAYOUT_HAPTIC_AB /* mask */);
+}
+
 }  // namespace effect
 }  // namespace android
diff --git a/media/libaudiohal/impl/EffectConversionHelperAidl.h b/media/libaudiohal/impl/EffectConversionHelperAidl.h
index 29c5a83..50b47a9 100644
--- a/media/libaudiohal/impl/EffectConversionHelperAidl.h
+++ b/media/libaudiohal/impl/EffectConversionHelperAidl.h
@@ -49,6 +49,9 @@
     ::aidl::android::hardware::audio::effect::Descriptor getDescriptor() const;
     status_t reopen();
 
+    size_t getAudioChannelCount() const;
+    size_t getHapticChannelCount() const;
+
     uint8_t mOutputAccessMode = EFFECT_BUFFER_ACCESS_WRITE;
 
   protected:
diff --git a/media/libaudiohal/impl/EffectHalAidl.cpp b/media/libaudiohal/impl/EffectHalAidl.cpp
index 0c7f78e..ea4dbf6 100644
--- a/media/libaudiohal/impl/EffectHalAidl.cpp
+++ b/media/libaudiohal/impl/EffectHalAidl.cpp
@@ -15,6 +15,7 @@
  */
 
 #include <cstddef>
+#include <cstring>
 #define LOG_TAG "EffectHalAidl"
 //#define LOG_NDEBUG 0
 
@@ -128,6 +129,7 @@
                ::aidl::android::hardware::audio::effect::getEffectTypeUuidHapticGenerator()) {
         mConversion = std::make_unique<android::effect::AidlConversionHapticGenerator>(
                 effect, sessionId, ioId, desc, mIsProxyEffect);
+        mIsHapticGenerator = true;
     } else if (typeUuid ==
                ::aidl::android::hardware::audio::effect::getEffectTypeUuidLoudnessEnhancer()) {
         mConversion = std::make_unique<android::effect::AidlConversionLoudnessEnhancer>(
@@ -200,7 +202,7 @@
                               ::android::OK == efGroup->wait(kEventFlagDataMqUpdate, &efState,
                                                              1 /* ns */, true /* retry */) &&
                               efState & kEventFlagDataMqUpdate) {
-        ALOGV("%s %s V%d receive dataMQUpdate eventFlag from HAL", __func__, effectName.c_str(),
+        ALOGD("%s %s V%d receive dataMQUpdate eventFlag from HAL", __func__, effectName.c_str(),
               halVersion);
 
         mConversion->reopen();
@@ -216,7 +218,7 @@
     }
 
     size_t available = inputQ->availableToWrite();
-    size_t floatsToWrite = std::min(available, mInBuffer->getSize() / sizeof(float));
+    const size_t floatsToWrite = std::min(available, mInBuffer->getSize() / sizeof(float));
     if (floatsToWrite == 0) {
         ALOGE("%s not able to write, floats in buffer %zu, space in FMQ %zu", __func__,
               mInBuffer->getSize() / sizeof(float), available);
@@ -248,7 +250,7 @@
     }
 
     available = outputQ->availableToRead();
-    size_t floatsToRead = std::min(available, mOutBuffer->getSize() / sizeof(float));
+    const size_t floatsToRead = std::min(available, mOutBuffer->getSize() / sizeof(float));
     if (floatsToRead == 0) {
         ALOGE("%s not able to read, buffer space %zu, floats in FMQ %zu", __func__,
               mOutBuffer->getSize() / sizeof(float), available);
@@ -257,7 +259,8 @@
 
     float *outputRawBuffer = mOutBuffer->audioBuffer()->f32;
     std::vector<float> tempBuffer;
-    if (mConversion->mOutputAccessMode == EFFECT_BUFFER_ACCESS_ACCUMULATE) {
+    // keep original data in the output buffer for accumulate mode or HapticGenerator effect
+    if (mConversion->mOutputAccessMode == EFFECT_BUFFER_ACCESS_ACCUMULATE || mIsHapticGenerator) {
         tempBuffer.resize(floatsToRead);
         outputRawBuffer = tempBuffer.data();
     }
@@ -267,7 +270,31 @@
               mOutBuffer->audioBuffer());
         return INVALID_OPERATION;
     }
-    if (mConversion->mOutputAccessMode == EFFECT_BUFFER_ACCESS_ACCUMULATE) {
+
+    // HapticGenerator needs special handling because the generated haptic samples should append to
+    // the end of audio samples, the generated haptic data pass back from HAL in output FMQ at same
+    // offset as input buffer, here we skip the audio samples in output FMQ and append haptic
+    // samples to the end of input buffer
+    if (mIsHapticGenerator) {
+        static constexpr float kHalFloatSampleLimit = 2.0f;
+        assert(floatsToRead == floatsToWrite);
+        const auto audioChNum = mConversion->getAudioChannelCount();
+        const auto audioSamples =
+                floatsToWrite * audioChNum / (audioChNum + mConversion->getHapticChannelCount());
+        // accumulate or copy input to output, haptic samples remains all zero
+        if (mConversion->mOutputAccessMode == EFFECT_BUFFER_ACCESS_ACCUMULATE) {
+            accumulate_float(mOutBuffer->audioBuffer()->f32, mInBuffer->audioBuffer()->f32,
+                             audioSamples);
+        } else {
+            memcpy_to_float_from_float_with_clamping(mOutBuffer->audioBuffer()->f32,
+                                                     mInBuffer->audioBuffer()->f32, audioSamples,
+                                                     kHalFloatSampleLimit);
+        }
+        // append the haptic sample at the end of input audio samples
+        memcpy_to_float_from_float_with_clamping(mInBuffer->audioBuffer()->f32 + audioSamples,
+                                                 outputRawBuffer + audioSamples,
+                                                 floatsToRead - audioSamples, kHalFloatSampleLimit);
+    } else if (mConversion->mOutputAccessMode == EFFECT_BUFFER_ACCESS_ACCUMULATE) {
         accumulate_float(mOutBuffer->audioBuffer()->f32, outputRawBuffer, floatsToRead);
     }
 
diff --git a/media/libaudiohal/impl/EffectHalAidl.h b/media/libaudiohal/impl/EffectHalAidl.h
index bbcb7e2..4f7de7c 100644
--- a/media/libaudiohal/impl/EffectHalAidl.h
+++ b/media/libaudiohal/impl/EffectHalAidl.h
@@ -73,6 +73,7 @@
     const int32_t mSessionId;
     const int32_t mIoId;
     const bool mIsProxyEffect;
+    bool mIsHapticGenerator = false;
 
     std::unique_ptr<EffectConversionHelperAidl> mConversion;
 
diff --git a/media/libaudiohal/impl/StreamHalAidl.cpp b/media/libaudiohal/impl/StreamHalAidl.cpp
index fb4b549..94de8ea 100644
--- a/media/libaudiohal/impl/StreamHalAidl.cpp
+++ b/media/libaudiohal/impl/StreamHalAidl.cpp
@@ -796,6 +796,14 @@
 }
 
 status_t StreamOutHalAidl::drain(bool earlyNotify) {
+    if (!mStream) return NO_INIT;
+
+    if(const auto state = getState(); state == StreamDescriptor::State::IDLE) {
+        ALOGD("%p %s stream already in IDLE state", this, __func__);
+        if(mContext.isAsynchronous()) onDrainReady();
+        return OK;
+    }
+
     return StreamHalAidl::drain(earlyNotify);
 }
 
diff --git a/media/libaudiohal/impl/StreamHalAidl.h b/media/libaudiohal/impl/StreamHalAidl.h
index 9cb2cff..0587640 100644
--- a/media/libaudiohal/impl/StreamHalAidl.h
+++ b/media/libaudiohal/impl/StreamHalAidl.h
@@ -215,6 +215,11 @@
 
     ~StreamHalAidl() override;
 
+    ::aidl::android::hardware::audio::core::StreamDescriptor::State getState() {
+        std::lock_guard l(mLock);
+        return mLastReply.state;
+    }
+
     status_t getLatency(uint32_t *latency);
 
     // Always returns non-negative values.
@@ -268,10 +273,6 @@
         result.format = config.format;
         return result;
     }
-    ::aidl::android::hardware::audio::core::StreamDescriptor::State getState() {
-        std::lock_guard l(mLock);
-        return mLastReply.state;
-    }
     // Note: Since `sendCommand` takes mLock while holding mCommandReplyLock, never call
     // it with `mLock` being held.
     status_t sendCommand(
diff --git a/media/libeffects/hapticgenerator/Android.bp b/media/libeffects/hapticgenerator/Android.bp
index 396662e..e4ac38e 100644
--- a/media/libeffects/hapticgenerator/Android.bp
+++ b/media/libeffects/hapticgenerator/Android.bp
@@ -37,6 +37,14 @@
     header_libs: [
         "libaudioeffects",
     ],
+    cflags: [
+        // This is needed for the non-zero coefficients optimization for
+        // BiquadFilter. Try the biquad_filter_benchmark test in audio_utils
+        // with/without `-ffast-math` for more context.
+        "-ffast-math",
+        "-fhonor-infinities",
+        "-fhonor-nans",
+    ],
     relative_install_path: "soundfx",
 }
 
@@ -59,12 +67,6 @@
         "-O2",
         "-Wall",
         "-Werror",
-        // This is needed for the non-zero coefficients optimization for
-        // BiquadFilter. Try the biquad_filter_benchmark test in audio_utils
-        // with/without `-ffast-math` for more context.
-        "-ffast-math",
-        "-fhonor-infinities",
-        "-fhonor-nans",
         "-fvisibility=hidden",
     ],
 }
diff --git a/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.cpp b/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.cpp
index 0a04250..9b2f443 100644
--- a/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.cpp
+++ b/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.cpp
@@ -14,30 +14,47 @@
  * limitations under the License.
  */
 
-#include <cstddef>
 #define LOG_TAG "AHAL_HapticGeneratorContext"
 
-#include <Utils.h>
+#include "HapticGeneratorContext.h"
 #include <android-base/logging.h>
 #include <android-base/parsedouble.h>
 #include <android-base/properties.h>
+#include <audio_utils/primitives.h>
+#include <audio_utils/safe_math.h>
+#include <Utils.h>
 
-#include "HapticGeneratorContext.h"
+#include <cstddef>
+
+using aidl::android::hardware::audio::common::getChannelCount;
+using aidl::android::hardware::audio::common::getPcmSampleSizeInBytes;
+using aidl::android::media::audio::common::AudioChannelLayout;
 
 namespace aidl::android::hardware::audio::effect {
 
 HapticGeneratorContext::HapticGeneratorContext(int statusDepth, const Parameter::Common& common)
     : EffectContext(statusDepth, common) {
     mState = HAPTIC_GENERATOR_STATE_UNINITIALIZED;
-    mSampleRate = common.input.base.sampleRate;
-    mFrameCount = common.input.frameCount;
-    init_params(common.input.base.channelMask, common.output.base.channelMask);
+
+    mParams.mMaxVibratorScale = HapticGenerator::VibratorScale::MUTE;
+    mParams.mVibratorInfo.resonantFrequencyHz = DEFAULT_RESONANT_FREQUENCY;
+    mParams.mVibratorInfo.qFactor = DEFAULT_BSF_ZERO_Q;
+    mParams.mVibratorInfo.maxAmplitude = 0.f;
+
+    init_params(common);
+    mState = HAPTIC_GENERATOR_STATE_INITIALIZED;
 }
 
 HapticGeneratorContext::~HapticGeneratorContext() {
     mState = HAPTIC_GENERATOR_STATE_UNINITIALIZED;
 }
 
+// Override EffectImpl::setCommon for HapticGenerator because we need init_params
+RetCode HapticGeneratorContext::setCommon(const Parameter::Common& common) {
+    init_params(common);
+    return EffectContext::setCommon(common);
+}
+
 RetCode HapticGeneratorContext::enable() {
     if (mState != HAPTIC_GENERATOR_STATE_INITIALIZED) {
         return RetCode::ERROR_EFFECT_LIB_ERROR;
@@ -75,14 +92,15 @@
     for (const auto& [id, vibratorScale] : mParams.mHapticScales) {
         mParams.mMaxVibratorScale = std::max(mParams.mMaxVibratorScale, vibratorScale);
     }
+    LOG(INFO) << " HapticGenerator VibratorScale set to " << toString(mParams.mMaxVibratorScale);
     return RetCode::SUCCESS;
 }
 
-HapticGenerator::VibratorInformation HapticGeneratorContext::getHgVibratorInformation() {
+HapticGenerator::VibratorInformation HapticGeneratorContext::getHgVibratorInformation() const {
     return mParams.mVibratorInfo;
 }
 
-std::vector<HapticGenerator::HapticScale> HapticGeneratorContext::getHgHapticScales() {
+std::vector<HapticGenerator::HapticScale> HapticGeneratorContext::getHgHapticScales() const {
     std::vector<HapticGenerator::HapticScale> result;
     for (const auto& [id, vibratorScale] : mParams.mHapticScales) {
         result.push_back({id, vibratorScale});
@@ -93,6 +111,15 @@
 RetCode HapticGeneratorContext::setHgVibratorInformation(
         const HapticGenerator::VibratorInformation& vibratorInfo) {
     mParams.mVibratorInfo = vibratorInfo;
+    if (::android::audio_utils::safe_isnan(mParams.mVibratorInfo.resonantFrequencyHz)) {
+        LOG(WARNING) << __func__ << " resonantFrequencyHz reset from nan to "
+                     << DEFAULT_RESONANT_FREQUENCY;
+        mParams.mVibratorInfo.resonantFrequencyHz = DEFAULT_RESONANT_FREQUENCY;
+    }
+    if (::android::audio_utils::safe_isnan(mParams.mVibratorInfo.qFactor)) {
+        LOG(WARNING) << __func__ << " qFactor reset from nan to " << DEFAULT_BSF_ZERO_Q;
+        mParams.mVibratorInfo.qFactor = DEFAULT_BSF_ZERO_Q;
+    }
 
     if (mProcessorsRecord.bpf != nullptr) {
         mProcessorsRecord.bpf->setCoefficients(::android::audio_effect::haptic_generator::bpfCoefs(
@@ -117,15 +144,8 @@
     auto frameSize = getInputFrameSize();
     RETURN_VALUE_IF(0 == frameSize, status, "zeroFrameSize");
 
-    // The audio data must not be modified but just written to
-    // output buffer according the access mode.
-    if (in != out) {
-        for (int i = 0; i < samples; i++) {
-            out[i] = in[i];
-        }
-    }
-
     if (mState != HAPTIC_GENERATOR_STATE_ACTIVE) {
+        LOG(WARNING) << " HapticGenerator in wrong state " << mState;
         return status;
     }
 
@@ -135,7 +155,8 @@
     }
 
     // Resize buffer if the haptic sample count is greater than buffer size.
-    size_t hapticSampleCount = mFrameCount * mParams.mHapticChannelCount;
+    const size_t hapticSampleCount = mFrameCount * mParams.mHapticChannelCount;
+    const size_t audioSampleCount = mFrameCount * mParams.mAudioChannelCount;
     if (hapticSampleCount > mInputBuffer.size()) {
         // The inputBuffer and outputBuffer must have the same size, which must be at least
         // the haptic sample count.
@@ -155,45 +176,45 @@
             runProcessingChain(mInputBuffer.data(), mOutputBuffer.data(), mFrameCount);
     ::android::os::scaleHapticData(
             hapticOutBuffer, hapticSampleCount,
-            {/*level=*/static_cast<::android::os::HapticLevel>(mParams.mMaxVibratorScale) },
-            mParams.mVibratorInfo.qFactor);
+            {static_cast<::android::os::HapticLevel>(mParams.mMaxVibratorScale)} /* scale */,
+            mParams.mVibratorInfo.maxAmplitude /* limit */);
 
     // For haptic data, the haptic playback thread will copy the data from effect input
     // buffer, which contains haptic data at the end of the buffer, directly to sink buffer.
-    // In that case, copy haptic data to input buffer instead of output buffer.
-    // Note: this may not work with rpc/binder calls
-    for (size_t i = 0; i < hapticSampleCount; ++i) {
-        in[samples + i] = hapticOutBuffer[i];
-    }
-    return {STATUS_OK, samples, static_cast<int32_t>(samples + hapticSampleCount)};
+    // In AIDL only output buffer is send back to the audio framework via FMQ. Here the effect copy
+    // the generated haptic data to the target position of output buffer, the framework then append
+    // it to the same position of input buffer.
+    memcpy_to_float_from_float_with_clamping(out + audioSampleCount, hapticOutBuffer,
+                                             hapticSampleCount, 2.f /* absMax */);
+    return {STATUS_OK, samples, samples};
 }
 
-void HapticGeneratorContext::init_params(media::audio::common::AudioChannelLayout inputChMask,
-                                         media::audio::common::AudioChannelLayout outputChMask) {
-    mParams.mMaxVibratorScale = HapticGenerator::VibratorScale::MUTE;
-    mParams.mVibratorInfo.resonantFrequencyHz = DEFAULT_RESONANT_FREQUENCY;
-    mParams.mVibratorInfo.qFactor = DEFAULT_BSF_ZERO_Q;
+void HapticGeneratorContext::init_params(const Parameter::Common& common) {
+    mSampleRate = common.input.base.sampleRate;
+    mFrameCount = common.input.frameCount;
 
     mParams.mAudioChannelCount = ::aidl::android::hardware::audio::common::getChannelCount(
-            inputChMask, ~media::audio::common::AudioChannelLayout::LAYOUT_HAPTIC_AB);
+            common.input.base.channelMask,
+            ~media::audio::common::AudioChannelLayout::LAYOUT_HAPTIC_AB);
     mParams.mHapticChannelCount = ::aidl::android::hardware::audio::common::getChannelCount(
-            outputChMask, media::audio::common::AudioChannelLayout::LAYOUT_HAPTIC_AB);
+            common.output.base.channelMask,
+            media::audio::common::AudioChannelLayout::LAYOUT_HAPTIC_AB);
     LOG_ALWAYS_FATAL_IF(mParams.mHapticChannelCount > 2, "haptic channel count is too large");
     for (int i = 0; i < mParams.mHapticChannelCount; ++i) {
         // By default, use the first audio channel to generate haptic channels.
         mParams.mHapticChannelSource[i] = 0;
     }
-
-    mState = HAPTIC_GENERATOR_STATE_INITIALIZED;
+    configure();
+    LOG(DEBUG) << " HapticGenerator init context:\n" << contextToString();
 }
 
-float HapticGeneratorContext::getDistortionOutputGain() {
+float HapticGeneratorContext::getDistortionOutputGain() const {
     float distortionOutputGain = getFloatProperty(
             "vendor.audio.hapticgenerator.distortion.output.gain", DEFAULT_DISTORTION_OUTPUT_GAIN);
     return distortionOutputGain;
 }
 
-float HapticGeneratorContext::getFloatProperty(const std::string& key, float defaultValue) {
+float HapticGeneratorContext::getFloatProperty(const std::string& key, float defaultValue) const {
     float result;
     std::string value = ::android::base::GetProperty(key, "");
     if (!value.empty() && ::android::base::ParseFloat(value, &result)) {
@@ -322,4 +343,34 @@
     return in;
 }
 
+std::string HapticGeneratorContext::paramToString(const struct HapticGeneratorParam& param) const {
+    std::stringstream ss;
+    ss << "\t\ttHapticGenerator Parameters:\n";
+    ss << "\t\t- mHapticChannelCount: " << param.mHapticChannelCount << '\n';
+    ss << "\t\t- mAudioChannelCount: " << param.mAudioChannelCount << '\n';
+    ss << "\t\t- mHapticChannelSource: " << param.mHapticChannelSource[0] << ", "
+       << param.mHapticChannelSource[1] << '\n';
+    ss << "\t\t- mMaxVibratorScale: " << ::android::internal::ToString(param.mMaxVibratorScale)
+       << '\n';
+    ss << "\t\t- mVibratorInfo: " << param.mVibratorInfo.toString() << '\n';
+    for (const auto& it : param.mHapticScales)
+        ss << "\t\t\t" << it.first << ": " << toString(it.second) << '\n';
+
+    return ss.str();
+}
+
+std::string HapticGeneratorContext::contextToString() const {
+    std::stringstream ss;
+    ss << "\t\tHapticGenerator Context:\n";
+    ss << "\t\t- state: " << mState << '\n';
+    ss << "\t\t- bpf Q: " << DEFAULT_BPF_Q << '\n';
+    ss << "\t\t- slow env normalization power: " << DEFAULT_SLOW_ENV_NORMALIZATION_POWER << '\n';
+    ss << "\t\t- distortion corner frequency: " << DEFAULT_DISTORTION_CORNER_FREQUENCY << '\n';
+    ss << "\t\t- distortion input gain: " << DEFAULT_DISTORTION_INPUT_GAIN << '\n';
+    ss << "\t\t- distortion cube threshold: " << DEFAULT_DISTORTION_CUBE_THRESHOLD << '\n';
+    ss << "\t\t- distortion output gain: " << getDistortionOutputGain() << '\n';
+    ss << "\t\tHapticGenerator Parameters:\n" << paramToString(mParams) << "\n";
+    return ss.str();
+}
+
 }  // namespace aidl::android::hardware::audio::effect
diff --git a/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.h b/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.h
index 3a2ad1c..8a736e3 100644
--- a/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.h
+++ b/media/libeffects/hapticgenerator/aidl/HapticGeneratorContext.h
@@ -16,11 +16,13 @@
 
 #pragma once
 
-#include <vibrator/ExternalVibrationUtils.h>
-#include <map>
-
-#include "Processors.h"
 #include "effect-impl/EffectContext.h"
+#include "Processors.h"
+
+#include <vibrator/ExternalVibrationUtils.h>
+
+#include <cstddef>
+#include <map>
 
 namespace aidl::android::hardware::audio::effect {
 
@@ -39,7 +41,6 @@
     int mHapticChannelCount;
     int mAudioChannelCount;
 
-    HapticGenerator::HapticScale mHapticScale;
     std::map<int, HapticGenerator::VibratorScale> mHapticScales;
     // max intensity will be used to scale haptic data.
     HapticGenerator::VibratorScale mMaxVibratorScale;
@@ -69,13 +70,15 @@
     void reset();
 
     RetCode setHgHapticScales(const std::vector<HapticGenerator::HapticScale>& hapticScales);
-    std::vector<HapticGenerator::HapticScale> getHgHapticScales();
+    std::vector<HapticGenerator::HapticScale> getHgHapticScales() const;
 
     RetCode setHgVibratorInformation(const HapticGenerator::VibratorInformation& vibratorInfo);
-    HapticGenerator::VibratorInformation getHgVibratorInformation();
+    HapticGenerator::VibratorInformation getHgVibratorInformation() const;
 
     IEffect::Status process(float* in, float* out, int samples);
 
+    RetCode setCommon(const Parameter::Common& common) override;
+
   private:
     static constexpr float DEFAULT_RESONANT_FREQUENCY = 150.0f;
     static constexpr float DEFAULT_BSF_ZERO_Q = 8.0f;
@@ -108,15 +111,17 @@
     // intermediate buffer in the generating algorithm.
     std::vector<float> mOutputBuffer;
 
-    void init_params(media::audio::common::AudioChannelLayout inputChMask,
-                     media::audio::common::AudioChannelLayout outputChMask);
+    void init_params(const Parameter::Common& common);
     void configure();
 
-    float getDistortionOutputGain();
-    float getFloatProperty(const std::string& key, float defaultValue);
+    float getDistortionOutputGain() const;
+    float getFloatProperty(const std::string& key, float defaultValue) const;
     void addBiquadFilter(std::shared_ptr<HapticBiquadFilter> filter);
     void buildProcessingChain();
     float* runProcessingChain(float* buf1, float* buf2, size_t frameCount);
+
+    std::string paramToString(const struct HapticGeneratorParam& param) const;
+    std::string contextToString() const;
 };
 
 }  // namespace aidl::android::hardware::audio::effect
diff --git a/services/audioflinger/Threads.cpp b/services/audioflinger/Threads.cpp
index 9c0176a..d24f90e 100644
--- a/services/audioflinger/Threads.cpp
+++ b/services/audioflinger/Threads.cpp
@@ -1486,8 +1486,8 @@
     }
 
     if (IAfEffectModule::isHapticGenerator(&desc->type) && mHapticChannelCount == 0) {
-        ALOGW("%s: thread doesn't support haptic playback while the effect is HapticGenerator",
-                __func__);
+        ALOGW("%s: thread (%s) doesn't support haptic playback while the effect is HapticGenerator",
+              __func__, threadTypeToString(mType));
         return BAD_VALUE;
     }
 
diff --git a/services/audiopolicy/common/managerdefinitions/include/EffectDescriptor.h b/services/audiopolicy/common/managerdefinitions/include/EffectDescriptor.h
index c2e4b11..f7b9b33 100644
--- a/services/audiopolicy/common/managerdefinitions/include/EffectDescriptor.h
+++ b/services/audiopolicy/common/managerdefinitions/include/EffectDescriptor.h
@@ -32,11 +32,15 @@
 class EffectDescriptor : public RefBase
 {
 public:
-    EffectDescriptor(const effect_descriptor_t *desc, bool isMusicEffect,
-                     int id, audio_io_handle_t io, audio_session_t session) :
-        mId(id), mIo(io), mSession(session), mEnabled(false), mSuspended(false),
-        mIsMusicEffect(isMusicEffect)
-    {
+  EffectDescriptor(const effect_descriptor_t* desc, bool isMusicEffect, int id,
+                   audio_io_handle_t io, audio_session_t session)
+      : mId(id),
+        mIo(io),
+        mIsOrphan(io == AUDIO_IO_HANDLE_NONE),
+        mSession(session),
+        mEnabled(false),
+        mSuspended(false),
+        mIsMusicEffect(isMusicEffect) {
         memcpy (&mDesc, desc, sizeof(effect_descriptor_t));
     }
 
@@ -95,8 +99,18 @@
      * @return ioHandle if found, AUDIO_IO_HANDLE_NONE otherwise.
      */
     audio_io_handle_t getIoForSession(audio_session_t sessionId,
-                                      const effect_uuid_t *effectType = nullptr);
-    bool hasOrphansForSession(audio_session_t sessionId);
+                                      const effect_uuid_t* effectType = nullptr) const;
+
+    /**
+     * @brief Checks if there is at least one orphan effect with given sessionId and optional effect
+     * type uuid.
+     * @param sessionId Session ID.
+     * @param effectType Optional effect type UUID pointer to effect_uuid_t, nullptr by default.
+     * @return True if there is an orphan effect for given sessionId and type UUID, false otherwise.
+     */
+    bool hasOrphansForSession(audio_session_t sessionId,
+                              const effect_uuid_t* effectType = nullptr) const;
+
     EffectDescriptorCollection getOrphanEffectsForSession(audio_session_t sessionId) const;
     void dump(String8 *dst, int spaces = 0, bool verbose = true) const;
 
diff --git a/services/audiopolicy/common/managerdefinitions/src/EffectDescriptor.cpp b/services/audiopolicy/common/managerdefinitions/src/EffectDescriptor.cpp
index c85df0f..090da6c 100644
--- a/services/audiopolicy/common/managerdefinitions/src/EffectDescriptor.cpp
+++ b/services/audiopolicy/common/managerdefinitions/src/EffectDescriptor.cpp
@@ -210,11 +210,13 @@
     }
 }
 
-bool EffectDescriptorCollection::hasOrphansForSession(audio_session_t sessionId)
-{
+bool EffectDescriptorCollection::hasOrphansForSession(audio_session_t sessionId,
+                                                      const effect_uuid_t* effectType) const {
     for (size_t i = 0; i < size(); ++i) {
         sp<EffectDescriptor> effect = valueAt(i);
-        if (effect->mSession == sessionId && effect->mIsOrphan) {
+        if (effect->mSession == sessionId && effect->mIsOrphan &&
+            (effectType == nullptr ||
+             memcmp(&effect->mDesc.type, effectType, sizeof(effect_uuid_t)) == 0)) {
             return true;
         }
     }
@@ -235,7 +237,7 @@
 }
 
 audio_io_handle_t EffectDescriptorCollection::getIoForSession(audio_session_t sessionId,
-                                                              const effect_uuid_t *effectType)
+                                                              const effect_uuid_t *effectType) const
 {
     for (size_t i = 0; i < size(); ++i) {
         sp<EffectDescriptor> effect = valueAt(i);
diff --git a/services/audiopolicy/managerdefault/AudioPolicyManager.cpp b/services/audiopolicy/managerdefault/AudioPolicyManager.cpp
index e330822..2754cbf 100644
--- a/services/audiopolicy/managerdefault/AudioPolicyManager.cpp
+++ b/services/audiopolicy/managerdefault/AudioPolicyManager.cpp
@@ -1654,12 +1654,14 @@
     }
 
     // Use the spatializer output if the content can be spatialized, no preferred mixer
-    // was specified and offload or direct playback is not explicitly requested.
+    // was specified and offload or direct playback is not explicitly requested, and there is no
+    // haptic channel included in playback
     *isSpatialized = false;
-    if (mSpatializerOutput != nullptr
-            && canBeSpatializedInt(attr, config, devices.toTypeAddrVector())
-            && prefMixerConfigInfo == nullptr
-            && ((*flags & (AUDIO_OUTPUT_FLAG_COMPRESS_OFFLOAD | AUDIO_OUTPUT_FLAG_DIRECT)) == 0)) {
+    if (mSpatializerOutput != nullptr &&
+        canBeSpatializedInt(attr, config, devices.toTypeAddrVector()) &&
+        prefMixerConfigInfo == nullptr &&
+        ((*flags & (AUDIO_OUTPUT_FLAG_COMPRESS_OFFLOAD | AUDIO_OUTPUT_FLAG_DIRECT)) == 0) &&
+        checkHapticCompatibilityOnSpatializerOutput(config, session)) {
         *isSpatialized = true;
         return mSpatializerOutput->mIoHandle;
     }
@@ -2085,6 +2087,7 @@
     // matching criteria values in priority order for best matching output so far
     std::vector<uint32_t> bestMatchCriteria(8, 0);
 
+    const bool hasOrphanHaptic = mEffects.hasOrphansForSession(sessionId, FX_IID_HAPTICGENERATOR);
     const uint32_t channelCount = audio_channel_count_from_out_mask(channelMask);
     const uint32_t hapticChannelCount = audio_channel_count_from_out_mask(
         channelMask & AUDIO_CHANNEL_HAPTIC_ALL);
@@ -2105,13 +2108,20 @@
         // When using haptic output, same audio format and sample rate are required.
         const uint32_t outputHapticChannelCount = audio_channel_count_from_out_mask(
             outputDesc->getChannelMask() & AUDIO_CHANNEL_HAPTIC_ALL);
-        if ((hapticChannelCount == 0) != (outputHapticChannelCount == 0)) {
+        // skip if haptic channel specified but output does not support it, or output support haptic
+        // but there is no haptic channel requested AND no orphan haptic effect exist
+        if ((hapticChannelCount != 0 && outputHapticChannelCount == 0) ||
+            (hapticChannelCount == 0 && outputHapticChannelCount != 0 && !hasOrphanHaptic)) {
             continue;
         }
-        if (outputHapticChannelCount >= hapticChannelCount
-            && format == outputDesc->getFormat()
-            && samplingRate == outputDesc->getSamplingRate()) {
-                currentMatchCriteria[0] = outputHapticChannelCount;
+        // In the case of audio-coupled-haptic playback, there is no format conversion and
+        // resampling in the framework, same format/channel/sampleRate for client and the output
+        // thread is required. In the case of HapticGenerator effect, do not require format
+        // matching.
+        if ((outputHapticChannelCount >= hapticChannelCount && format == outputDesc->getFormat() &&
+             samplingRate == outputDesc->getSamplingRate()) ||
+            (outputHapticChannelCount != 0 && hasOrphanHaptic)) {
+            currentMatchCriteria[0] = outputHapticChannelCount;
         }
 
         // functional flags match
@@ -6110,6 +6120,34 @@
     return true;
 }
 
+// The Spatializer output is compatible with Haptic use cases if:
+// 1. the Spatializer output thread supports Haptic, and format/sampleRate are same
+// with client if client haptic channel bits were set, or
+// 2. the Spatializer output thread does not support Haptic, and client did not ask haptic by
+// including the haptic bits or creating the HapticGenerator effect for same session.
+bool AudioPolicyManager::checkHapticCompatibilityOnSpatializerOutput(
+        const audio_config_t* config, audio_session_t sessionId) const {
+    const auto clientHapticChannel =
+            audio_channel_count_from_out_mask(config->channel_mask & AUDIO_CHANNEL_HAPTIC_ALL);
+    const auto threadOutputHapticChannel = audio_channel_count_from_out_mask(
+            mSpatializerOutput->getChannelMask() & AUDIO_CHANNEL_HAPTIC_ALL);
+
+    if (threadOutputHapticChannel) {
+        // check format and sampleRate match if client haptic channel mask exist
+        if (clientHapticChannel) {
+            return mSpatializerOutput->getFormat() == config->format &&
+                   mSpatializerOutput->getSamplingRate() == config->sample_rate;
+        }
+        return true;
+    } else {
+        // in the case of the Spatializer output channel mask does not have haptic channel bits, it
+        // means haptic use cases (either the client channelmask includes haptic bits, or created a
+        // HapticGenerator effect for this session) are not supported.
+        return clientHapticChannel == 0 &&
+               !mEffects.hasOrphansForSession(sessionId, FX_IID_HAPTICGENERATOR);
+    }
+}
+
 void AudioPolicyManager::checkVirtualizerClientRoutes() {
     std::set<audio_stream_type_t> streamsToInvalidate;
     for (size_t i = 0; i < mOutputs.size(); i++) {
diff --git a/services/audiopolicy/managerdefault/AudioPolicyManager.h b/services/audiopolicy/managerdefault/AudioPolicyManager.h
index 2db0445..c8cced6 100644
--- a/services/audiopolicy/managerdefault/AudioPolicyManager.h
+++ b/services/audiopolicy/managerdefault/AudioPolicyManager.h
@@ -1359,6 +1359,9 @@
 
         PortHandleVector getClientsForStream(audio_stream_type_t streamType) const;
         void invalidateStreams(StreamTypeVector streams) const;
+
+        bool checkHapticCompatibilityOnSpatializerOutput(const audio_config_t* config,
+                                                         audio_session_t sessionId) const;
 };
 
 };