diff --git a/services/sensorservice/Android.bp b/services/sensorservice/Android.bp
index a6b9533..f87fcdc 100644
--- a/services/sensorservice/Android.bp
+++ b/services/sensorservice/Android.bp
@@ -46,6 +46,7 @@
         "libhidlbase",
         "libhidltransport",
         "libhwbinder",
+        "libfmq",
         "android.hardware.sensors@1.0",
         "android.hardware.sensors@2.0",
     ],
diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
index 7237bc8..25ed21c 100644
--- a/services/sensorservice/SensorDevice.cpp
+++ b/services/sensorservice/SensorDevice.cpp
@@ -13,7 +13,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
 #include "SensorDevice.h"
+
+#include "android/hardware/sensors/2.0/types.h"
 #include "SensorService.h"
 
 #include <android-base/logging.h>
@@ -29,6 +32,7 @@
 using namespace android::hardware::sensors;
 using namespace android::hardware::sensors::V1_0;
 using namespace android::hardware::sensors::V1_0::implementation;
+using android::hardware::sensors::V2_0::EventQueueFlagBits;
 using android::hardware::hidl_vec;
 using android::SensorDeviceUtils::HidlServiceRegistrationWaiter;
 
@@ -87,22 +91,31 @@
            (checkReturn(mSensors->unregisterDirectChannel(-1)) != Result::INVALID_OPERATION);
 }
 
-bool SensorDevice::connectHidlService() {
-    bool connected = connectHidlServiceV2_0();
-    if (!connected) {
-        connected = connectHidlServiceV1_0();
+SensorDevice::~SensorDevice() {
+    if (mEventQueueFlag != nullptr) {
+        hardware::EventFlag::deleteEventFlag(&mEventQueueFlag);
+        mEventQueueFlag = nullptr;
     }
-    return connected;
 }
 
-bool SensorDevice::connectHidlServiceV1_0() {
+bool SensorDevice::connectHidlService() {
+    HalConnectionStatus status = connectHidlServiceV2_0();
+    if (status == HalConnectionStatus::DOES_NOT_EXIST) {
+        status = connectHidlServiceV1_0();
+    }
+    return (status == HalConnectionStatus::CONNECTED);
+}
+
+SensorDevice::HalConnectionStatus SensorDevice::connectHidlServiceV1_0() {
     // SensorDevice will wait for HAL service to start if HAL is declared in device manifest.
     size_t retry = 10;
+    HalConnectionStatus connectionStatus = HalConnectionStatus::UNKNOWN;
 
     while (retry-- > 0) {
         sp<V1_0::ISensors> sensors = V1_0::ISensors::getService();
         if (sensors == nullptr) {
             // no sensor hidl service found
+            connectionStatus = HalConnectionStatus::DOES_NOT_EXIST;
             break;
         }
 
@@ -113,25 +126,55 @@
         // which will be done since the size is 0.
         if(mSensors->poll(0, [](auto, const auto &, const auto &) {}).isOk()) {
             // ok to continue
+            connectionStatus = HalConnectionStatus::CONNECTED;
             break;
         }
 
         // hidl service is restarting, pointer is invalid.
         mSensors = nullptr;
+        connectionStatus = HalConnectionStatus::FAILED_TO_CONNECT;
         ALOGI("%s unsuccessful, remaining retry %zu.", __FUNCTION__, retry);
         mRestartWaiter->wait();
     }
-    return (mSensors != nullptr);
+
+    return connectionStatus;
 }
 
-bool SensorDevice::connectHidlServiceV2_0() {
+SensorDevice::HalConnectionStatus SensorDevice::connectHidlServiceV2_0() {
+    HalConnectionStatus connectionStatus = HalConnectionStatus::UNKNOWN;
     sp<V2_0::ISensors> sensors = V2_0::ISensors::getService();
-    if (sensors != nullptr) {
+
+    if (sensors == nullptr) {
+        connectionStatus = HalConnectionStatus::DOES_NOT_EXIST;
+    } else {
         mSensors = new SensorServiceUtil::SensorsWrapperV2_0(sensors);
 
-        // TODO: initialize message queues
+        mEventQueue = std::make_unique<EventMessageQueue>(
+                SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT,
+                true /* configureEventFlagWord */);
+
+        mWakeLockQueue = std::make_unique<WakeLockQueue>(
+                SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT,
+                true /* configureEventFlagWord */);
+
+        hardware::EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag);
+
+        CHECK(mSensors != nullptr && mEventQueue != nullptr &&
+                mWakeLockQueue != nullptr && mEventQueueFlag != nullptr);
+
+        status_t status = StatusFromResult(checkReturn(mSensors->initializeMessageQueues(
+                *mEventQueue->getDesc(),
+                *mWakeLockQueue->getDesc())));
+
+        if (status != NO_ERROR) {
+            connectionStatus = HalConnectionStatus::FAILED_TO_CONNECT;
+            ALOGE("Failed to initialize message queues (%s)", strerror(-status));
+        } else {
+            connectionStatus = HalConnectionStatus::CONNECTED;
+        }
     }
-    return (mSensors != nullptr);
+
+    return connectionStatus;
 }
 
 void SensorDevice::handleDynamicSensorConnection(int handle, bool connected) {
@@ -191,6 +234,19 @@
 }
 
 ssize_t SensorDevice::poll(sensors_event_t* buffer, size_t count) {
+    ssize_t eventsRead = 0;
+    if (mSensors->supportsMessageQueues()) {
+        eventsRead = pollFmq(buffer, count);
+    } else if (mSensors->supportsPolling()) {
+        eventsRead = pollHal(buffer, count);
+    } else {
+        ALOGE("Must support polling or FMQ");
+        eventsRead = -1;
+    }
+    return eventsRead;
+}
+
+ssize_t SensorDevice::pollHal(sensors_event_t* buffer, size_t count) {
     if (mSensors == nullptr) return NO_INIT;
 
     ssize_t err;
@@ -236,6 +292,46 @@
     return err;
 }
 
+ssize_t SensorDevice::pollFmq(sensors_event_t* buffer, size_t maxNumEventsToRead) {
+    if (mSensors == nullptr) {
+        return NO_INIT;
+    }
+
+    ssize_t eventsRead = 0;
+    size_t availableEvents = mEventQueue->availableToRead();
+
+    if (availableEvents == 0) {
+        uint32_t eventFlagState = 0;
+
+        // Wait for events to become available. This is necessary so that the Event FMQ's read() is
+        // able to be called with the correct number of events to read. If the specified number of
+        // events is not available, then read() would return no events, possibly introducing
+        // additional latency in delivering events to applications.
+        mEventQueueFlag->wait(static_cast<uint32_t>(EventQueueFlagBits::READ_AND_PROCESS),
+                              &eventFlagState);
+        availableEvents = mEventQueue->availableToRead();
+
+        if (availableEvents == 0) {
+            ALOGW("Event FMQ wake without any events");
+        }
+    }
+
+    size_t eventsToRead = std::min({availableEvents, maxNumEventsToRead, mEventBuffer.size()});
+    if (eventsToRead > 0) {
+        if (mEventQueue->read(mEventBuffer.data(), eventsToRead)) {
+            for (size_t i = 0; i < eventsToRead; i++) {
+                convertToSensorEvent(mEventBuffer[i], &buffer[i]);
+            }
+            eventsRead = eventsToRead;
+        } else {
+            ALOGW("Failed to read %zu events, currently %zu events available",
+                    eventsToRead, availableEvents);
+        }
+    }
+
+    return eventsRead;
+}
+
 void SensorDevice::autoDisable(void *ident, int handle) {
     Mutex::Autolock _l(mLock);
     ssize_t activationIndex = mActivationCount.indexOfKey(handle);
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
index 595a627..2caebf9 100644
--- a/services/sensorservice/SensorDevice.h
+++ b/services/sensorservice/SensorDevice.h
@@ -21,12 +21,15 @@
 #include "SensorServiceUtils.h"
 #include "SensorsWrapper.h"
 
+#include <fmq/MessageQueue.h>
+#include <sensor/SensorEventQueue.h>
 #include <sensor/Sensor.h>
 #include <stdint.h>
 #include <sys/types.h>
 #include <utils/KeyedVector.h>
 #include <utils/Singleton.h>
 #include <utils/String8.h>
+#include <utils/Timers.h>
 
 #include <string>
 #include <unordered_map>
@@ -68,6 +71,8 @@
         int mCount;   // number of transport errors observed
     };
 
+    ~SensorDevice();
+
     ssize_t getSensorList(sensor_t const** list);
 
     void handleDynamicSensorConnection(int handle, bool connected);
@@ -162,8 +167,18 @@
     SortedVector<void *> mDisabledClients;
     SensorDevice();
     bool connectHidlService();
-    bool connectHidlServiceV1_0();
-    bool connectHidlServiceV2_0();
+
+    enum HalConnectionStatus {
+        CONNECTED, // Successfully connected to the HAL
+        DOES_NOT_EXIST, // Could not find the HAL
+        FAILED_TO_CONNECT, // Found the HAL but failed to connect/initialize
+        UNKNOWN,
+    };
+    HalConnectionStatus connectHidlServiceV1_0();
+    HalConnectionStatus connectHidlServiceV2_0();
+
+    ssize_t pollHal(sensors_event_t* buffer, size_t count);
+    ssize_t pollFmq(sensors_event_t* buffer, size_t count);
 
     static void handleHidlDeath(const std::string &detail);
     template<typename T>
@@ -190,6 +205,15 @@
             sensors_event_t *dst);
 
     bool mIsDirectReportSupported;
+
+    typedef hardware::MessageQueue<Event, hardware::kSynchronizedReadWrite> EventMessageQueue;
+    typedef hardware::MessageQueue<uint32_t, hardware::kSynchronizedReadWrite> WakeLockQueue;
+    std::unique_ptr<EventMessageQueue> mEventQueue;
+    std::unique_ptr<WakeLockQueue> mWakeLockQueue;
+
+    hardware::EventFlag* mEventQueueFlag;
+
+    std::array<Event, SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT> mEventBuffer;
 };
 
 // ---------------------------------------------------------------------------