diff --git a/OWNERS b/OWNERS
index 1d7a8e1..433bbb7 100644
--- a/OWNERS
+++ b/OWNERS
@@ -1,3 +1,6 @@
+per-file *.hal,*.aidl,OWNERS = set noparent
+per-file *.hal,*.aidl,OWNERS = elsk@google.com,malchev@google.com,smoreland@google.com
+
 elsk@google.com
 maco@google.com
 malchev@google.com
diff --git a/automotive/can/1.0/Android.bp b/automotive/can/1.0/Android.bp
new file mode 100644
index 0000000..fe2a2be
--- /dev/null
+++ b/automotive/can/1.0/Android.bp
@@ -0,0 +1,20 @@
+// This file is autogenerated by hidl-gen -Landroidbp.
+
+hidl_interface {
+    name: "android.hardware.automotive.can@1.0",
+    root: "android.hardware",
+    vndk: {
+        enabled: true,
+    },
+    srcs: [
+        "types.hal",
+        "ICanBus.hal",
+        "ICanController.hal",
+        "ICanMessageListener.hal",
+        "ICloseHandle.hal",
+    ],
+    interfaces: [
+        "android.hidl.base@1.0",
+    ],
+    gen_java: true,
+}
diff --git a/automotive/can/1.0/ICanBus.hal b/automotive/can/1.0/ICanBus.hal
new file mode 100644
index 0000000..6ed89f3
--- /dev/null
+++ b/automotive/can/1.0/ICanBus.hal
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2019 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.hardware.automotive.can@1.0;
+
+import ICanMessageListener;
+import ICloseHandle;
+
+/**
+ * Represents a CAN bus interface that's up and configured.
+ *
+ * Configuration part is done in ICanController.
+ */
+interface ICanBus {
+    /**
+     * Send CAN message.
+     *
+     * @param message CAN message to send out
+     * @return result OK in the case of success
+     *                PAYLOAD_TOO_LONG if the payload is too long
+     *                INTERFACE_DOWN if the bus is down
+     *                TRANSMISSION_FAILURE in case of transmission failure
+     */
+    send(CanMessage message) generates (Result result);
+
+    /**
+     * Requests HAL implementation to listen for specific CAN messages.
+     *
+     * HAL is responsible for maintaining listener set and sending out messages
+     * to each listener that matches given filter against received message.
+     *
+     * Empty filter list means no filtering. If two or more listeners requested
+     * different filters, HAL server must merge these to fulfill the superset of
+     * these filters. HAL must not send out a message to a listener which filter
+     * doesn't match given message id.
+     *
+     * If filtering is not supported at the hardware level (what's strongly
+     * recommended), it must be covered in the HAL.
+     *
+     * @param filter The set of requested filters
+     * @param listener The interface to receive the messages on
+     * @return result OK in the case of success
+     *                INTERFACE_DOWN if the bus is down
+     * @return close A handle to call in order to remove the listener
+     */
+    listen(vec<CanMessageFilter> filter, ICanMessageListener listener)
+            generates (Result result, ICloseHandle close);
+};
diff --git a/automotive/can/1.0/ICanController.hal b/automotive/can/1.0/ICanController.hal
new file mode 100644
index 0000000..2c7494a
--- /dev/null
+++ b/automotive/can/1.0/ICanController.hal
@@ -0,0 +1,190 @@
+/*
+ * Copyright (C) 2019 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.hardware.automotive.can@1.0;
+
+/**
+ * Represents a CAN controller that's capable of configuring CAN bus interfaces.
+ *
+ * The goal of this service is to configure CAN interfaces and bring up HIDL
+ * server instances of ICanBus for each one that's up.
+ *
+ * Providing an ICanController interface to configure CAN buses is optional.
+ * A system can elect to publish only ICanBus if the hardware is hardcoded
+ * for a specific application.
+ */
+interface ICanController {
+    /**
+     * Type of an interface, a mean to express the domain of device address.
+     */
+    enum InterfaceType : uint8_t {
+        /**
+         * Virtual SocketCAN interface.
+         *
+         * The address is an interface name, such as vcan0. If the interface
+         * doesn't exist, HAL server must create it.
+         *
+         * Valid InterfaceIdentifier types:
+         *  - address.
+         */
+        VIRTUAL,
+
+        /**
+         * Native SocketCAN interface.
+         *
+         * The address is an interface name, such as can0.
+         *
+         * Valid InterfaceIdentifier types:
+         *  - address;
+         *  - serialno.
+         */
+        SOCKETCAN,
+
+        /**
+         * Serial-based interface.
+         *
+         * The address is a patch to a device, such as /dev/ttyUSB0.
+         *
+         * Valid InterfaceIdentifier types:
+         *  - address;
+         *  - serialno.
+         */
+        SLCAN,
+
+        /**
+         * Proprietary interface, specific to the hardware system Android
+         * is running on. Instead of using address field, the interface is
+         * addressed with 0-based index.
+         *
+         * Valid InterfaceIdentifier types:
+         *  - index
+         */
+        INDEXED
+    };
+
+    enum Result : uint8_t {
+        OK,
+
+        /**
+         * General error class, if others are not applicable.
+         */
+        UNKNOWN_ERROR,
+
+        /**
+         * Up request was called out of order (i.e. trying to up the
+         * interface twice).
+         */
+        INVALID_STATE,
+
+        /** Interface type is not supported. */
+        NOT_SUPPORTED,
+
+        /**
+         * Provided address (interface name, device path) doesn't exist or there
+         * is no device with a given serial no.
+         */
+        BAD_ADDRESS,
+
+        /** Provided baud rate is not supported by the hardware. */
+        BAD_BAUDRATE,
+    };
+
+    /**
+     * Configuration of the (physical or virtual) CAN bus.
+     *
+     * ISO TP and CAN FD are currently not supported.
+     */
+    struct BusConfiguration {
+        /**
+         * Name under which ICanBus HIDL service should be published.
+         *
+         * It must consist of only alphanumeric characters and underscore
+         * (a-z, A-Z, 0-9, '_'), at least 1 and at most 32 characters long.
+         */
+        string name;
+
+        /**
+         * Type of the hardware (or virtual) CAN interface.
+         */
+        InterfaceType iftype;
+
+        /**
+         * Identification of hardware interface to configure.
+         */
+        safe_union InterfaceIdentifier {
+            /**
+             * Interface name or other mean of identification of the specific
+             * interface port. Syntax depends on {@see iftype}, for details
+             * {@see InterfaceType}.
+             */
+            string address;
+
+            /**
+             * Numerical identifier of interface, used for InterfaceType#INDEXED.
+             */
+            uint8_t index;
+
+            /**
+             * Alternatively to providing {@see address}, one may provide a list
+             * of interface serial number suffixes. If there happens to be
+             * a device (like USB2CAN) with a matching serial number suffix,
+             * it gets selected.
+             *
+             * Client may utilize this in two ways: by matching against the
+             * entire serial number, or the last few characters (usually one).
+             * The former is better for small-scale test deployments (with just
+             * a handful of vehicles), the latter is good for larger scale
+             * (where a small suffix list may support large test fleet).
+             */
+            vec<string> serialno;
+        } interfaceId;
+
+        /**
+         * Baud rate for CAN communication.
+         *
+         * Typical baud rates are: 100000, 125000, 250000, 500000.
+         *
+         * For virtual interfaces this value is ignored.
+         */
+        uint32_t baudrate;
+    };
+
+    /**
+     * Fetches the list of interface types supported by this HAL server.
+     *
+     * @return iftypes The list of supported interface types
+     */
+    getSupportedInterfaceTypes() generates (vec<InterfaceType> iftypes);
+
+    /**
+     * Bring up the CAN interface and publish ICanBus server instance.
+     *
+     * @param config Configuration of the CAN interface
+     * @return result OK if the operation succeeded; error code otherwise.
+     */
+    upInterface(BusConfiguration config) generates (Result result);
+
+    /**
+     * Unpublish ICanBus server instance and bring down the CAN interface.
+     *
+     * In case of failure, at least the ICanBus server instance must be
+     * unpublished and resources freed on best-effort basis.
+     *
+     * @param name Name of the interface (@see BusConfiguration#name} to
+     * bring down
+     * @return success true in case of success, false otherwise
+     */
+    downInterface(string name) generates (bool success);
+};
diff --git a/automotive/can/1.0/ICanMessageListener.hal b/automotive/can/1.0/ICanMessageListener.hal
new file mode 100644
index 0000000..992d1c7
--- /dev/null
+++ b/automotive/can/1.0/ICanMessageListener.hal
@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2019 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.hardware.automotive.can@1.0;
+
+/**
+ * CAN message listener.
+ */
+interface ICanMessageListener {
+    /**
+     * Called on received CAN message.
+     *
+     * The timestamp field of message struct is set to time when the message
+     * was received by the hardware. If it's not possible to fetch exact
+     * hardware time, this field should be set as early as possible to decrease
+     * potential time delta.
+     *
+     * @param message Received CAN message
+     */
+    onReceive(CanMessage message);
+
+    /**
+     * Called on error event.
+     *
+     * @param error Error type
+     */
+    onError(ErrorEvent error);
+};
diff --git a/automotive/can/1.0/ICloseHandle.hal b/automotive/can/1.0/ICloseHandle.hal
new file mode 100644
index 0000000..924c58b
--- /dev/null
+++ b/automotive/can/1.0/ICloseHandle.hal
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2019 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.hardware.automotive.can@1.0;
+
+/**
+ * Represents a generic close handle to remove a callback that doesn't need
+ * active interface.
+ *
+ * When close() is called OR when the interface is released, the underlying
+ * resources must be freed.
+ */
+interface ICloseHandle {
+    /**
+     * Closes the handle.
+     *
+     * The call must not fail and must be issued by the client at most once.
+     * Otherwise, the server must ignore subsequent calls.
+     */
+    close();
+};
diff --git a/automotive/can/1.0/default/Android.bp b/automotive/can/1.0/default/Android.bp
new file mode 100644
index 0000000..0a4afd6
--- /dev/null
+++ b/automotive/can/1.0/default/Android.bp
@@ -0,0 +1,55 @@
+//
+// Copyright (C) 2019 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.
+//
+
+cc_defaults {
+    name: "android.hardware.automotive.can@defaults",
+    cpp_std: "experimental",
+    cflags: [
+        "-Wall",
+        "-Wextra",
+        "-Werror",
+        "-DANDROID_BASE_UNIQUE_FD_DISABLE_IMPLICIT_CONVERSION=1",
+    ],
+    shared_libs: [
+        "libbase",
+        "libutils",
+    ],
+}
+
+cc_binary {
+    name: "android.hardware.automotive.can@1.0-service",
+    init_rc: ["android.hardware.automotive.can@1.0-service.rc"],
+    defaults: ["android.hardware.automotive.can@defaults"],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "CanBus.cpp",
+        "CanBusNative.cpp",
+        "CanBusVirtual.cpp",
+        "CanController.cpp",
+        "CanSocket.cpp",
+        "CloseHandle.cpp",
+        "service.cpp",
+    ],
+    shared_libs: [
+        "android.hardware.automotive.can@1.0",
+        "libhidlbase",
+        "libhidltransport",
+    ],
+    static_libs: [
+        "android.hardware.automotive.can@libnetdevice",
+    ],
+}
diff --git a/automotive/can/1.0/default/CanBus.cpp b/automotive/can/1.0/default/CanBus.cpp
new file mode 100644
index 0000000..65da291
--- /dev/null
+++ b/automotive/can/1.0/default/CanBus.cpp
@@ -0,0 +1,249 @@
+/*
+ * Copyright (C) 2019 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 "CanBus.h"
+
+#include "CloseHandle.h"
+
+#include <android-base/logging.h>
+#include <libnetdevice/can.h>
+#include <libnetdevice/libnetdevice.h>
+#include <linux/can.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+/**
+ * Whether to log sent/received packets.
+ */
+static constexpr bool kSuperVerbose = false;
+
+Return<Result> CanBus::send(const CanMessage& message) {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+    if (!mIsUp) return Result::INTERFACE_DOWN;
+
+    if (UNLIKELY(kSuperVerbose)) {
+        LOG(VERBOSE) << "Sending " << toString(message);
+    }
+
+    if (message.payload.size() > CAN_MAX_DLEN) return Result::PAYLOAD_TOO_LONG;
+
+    struct canfd_frame frame = {};
+    frame.can_id = message.id;
+    frame.len = message.payload.size();
+    memcpy(frame.data, message.payload.data(), message.payload.size());
+
+    if (!mSocket->send(frame)) return Result::TRANSMISSION_FAILURE;
+
+    return Result::OK;
+}
+
+Return<void> CanBus::listen(const hidl_vec<CanMessageFilter>& filter,
+                            const sp<ICanMessageListener>& listenerCb, listen_cb _hidl_cb) {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+
+    if (listenerCb == nullptr) {
+        _hidl_cb(Result::INVALID_ARGUMENTS, nullptr);
+        return {};
+    }
+    if (!mIsUp) {
+        _hidl_cb(Result::INTERFACE_DOWN, nullptr);
+        return {};
+    }
+
+    std::lock_guard<std::mutex> lckListeners(mListenersGuard);
+
+    sp<CloseHandle> closeHandle = new CloseHandle([this, listenerCb]() {
+        std::lock_guard<std::mutex> lck(mListenersGuard);
+        std::erase_if(mListeners, [&](const auto& e) { return e.callback == listenerCb; });
+    });
+    mListeners.emplace_back(CanMessageListener{listenerCb, filter, closeHandle});
+    auto& listener = mListeners.back();
+
+    // fix message IDs to have all zeros on bits not covered by mask
+    std::for_each(listener.filter.begin(), listener.filter.end(),
+                  [](auto& rule) { rule.id &= rule.mask; });
+
+    _hidl_cb(Result::OK, closeHandle);
+    return {};
+}
+
+CanBus::CanBus(const std::string& ifname) : mIfname(ifname) {}
+
+CanBus::~CanBus() {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+    CHECK(!mIsUp) << "Interface is still up while being destroyed";
+
+    std::lock_guard<std::mutex> lckListeners(mListenersGuard);
+    CHECK(mListeners.empty()) << "Listeners list is not empty while interface is being destroyed";
+}
+
+ICanController::Result CanBus::preUp() {
+    return ICanController::Result::OK;
+}
+
+bool CanBus::postDown() {
+    return true;
+}
+
+ICanController::Result CanBus::up() {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+
+    if (mIsUp) {
+        LOG(WARNING) << "Interface is already up";
+        return ICanController::Result::INVALID_STATE;
+    }
+
+    const auto preResult = preUp();
+    if (preResult != ICanController::Result::OK) return preResult;
+
+    const auto isUp = netdevice::isUp(mIfname);
+    if (!isUp.has_value()) {
+        // preUp() should prepare the interface (either create or make sure it's there)
+        LOG(ERROR) << "Interface " << mIfname << " didn't get prepared";
+        return ICanController::Result::BAD_ADDRESS;
+    }
+    mWasUpInitially = *isUp;
+
+    if (!mWasUpInitially && !netdevice::up(mIfname)) {
+        LOG(ERROR) << "Can't bring " << mIfname << " up";
+        return ICanController::Result::UNKNOWN_ERROR;
+    }
+
+    using namespace std::placeholders;
+    CanSocket::ReadCallback rdcb = std::bind(&CanBus::onRead, this, _1, _2);
+    CanSocket::ErrorCallback errcb = std::bind(&CanBus::onError, this);
+    mSocket = CanSocket::open(mIfname, rdcb, errcb);
+    if (!mSocket) {
+        if (!mWasUpInitially) netdevice::down(mIfname);
+        return ICanController::Result::UNKNOWN_ERROR;
+    }
+
+    mIsUp = true;
+    return ICanController::Result::OK;
+}
+
+void CanBus::clearListeners() {
+    std::vector<wp<ICloseHandle>> listenersToClose;
+    {
+        std::lock_guard<std::mutex> lck(mListenersGuard);
+        std::transform(mListeners.begin(), mListeners.end(), std::back_inserter(listenersToClose),
+                       [](const auto& e) { return e.closeHandle; });
+    }
+
+    for (auto& weakListener : listenersToClose) {
+        /* Between populating listenersToClose and calling close method here, some listeners might
+         * have been already removed from the original mListeners list (resulting in a dangling weak
+         * pointer here). It's fine - we just want to clean them up. */
+        auto listener = weakListener.promote();
+        if (listener != nullptr) listener->close();
+    }
+
+    std::lock_guard<std::mutex> lck(mListenersGuard);
+    CHECK(mListeners.empty()) << "Listeners list wasn't emptied";
+}
+
+bool CanBus::down() {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+
+    if (!mIsUp) {
+        LOG(WARNING) << "Interface is already down";
+        return false;
+    }
+    mIsUp = false;
+
+    clearListeners();
+    mSocket.reset();
+
+    bool success = true;
+
+    if (!mWasUpInitially && !netdevice::down(mIfname)) {
+        LOG(ERROR) << "Can't bring " << mIfname << " down";
+        // don't return yet, let's try to do best-effort cleanup
+        success = false;
+    }
+
+    if (!postDown()) success = false;
+
+    return success;
+}
+
+/**
+ * Match the filter set against message id.
+ *
+ * For details on the filters syntax, please see CanMessageFilter at
+ * the HAL definition (types.hal).
+ *
+ * \param filter Filter to match against
+ * \param id Message id to filter
+ * \return true if the message id matches the filter, false otherwise
+ */
+static bool match(const hidl_vec<CanMessageFilter>& filter, CanMessageId id) {
+    if (filter.size() == 0) return true;
+
+    bool anyNonInvertedPresent = false;
+    bool anyNonInvertedSatisfied = false;
+    for (auto& rule : filter) {
+        const bool satisfied = ((id & rule.mask) == rule.id) == !rule.inverted;
+        if (rule.inverted) {
+            // Any inverted (blacklist) rule not being satisfied invalidates the whole filter set.
+            if (!satisfied) return false;
+        } else {
+            anyNonInvertedPresent = true;
+            if (satisfied) anyNonInvertedSatisfied = true;
+        }
+    }
+    return !anyNonInvertedPresent || anyNonInvertedSatisfied;
+}
+
+void CanBus::onRead(const struct canfd_frame& frame, std::chrono::nanoseconds timestamp) {
+    CanMessage message = {};
+    message.id = frame.can_id;
+    message.payload = hidl_vec<uint8_t>(frame.data, frame.data + frame.len);
+    message.timestamp = timestamp.count();
+
+    if (UNLIKELY(kSuperVerbose)) {
+        LOG(VERBOSE) << "Got message " << toString(message);
+    }
+
+    std::lock_guard<std::mutex> lck(mListenersGuard);
+    for (auto& listener : mListeners) {
+        if (!match(listener.filter, message.id)) continue;
+        if (!listener.callback->onReceive(message).isOk()) {
+            LOG(WARNING) << "Failed to notify listener about message";
+        }
+    }
+}
+
+void CanBus::onError() {
+    std::lock_guard<std::mutex> lck(mListenersGuard);
+    for (auto& listener : mListeners) {
+        if (!listener.callback->onError(ErrorEvent::HARDWARE_ERROR).isOk()) {
+            LOG(WARNING) << "Failed to notify listener about error";
+        }
+    }
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanBus.h b/automotive/can/1.0/default/CanBus.h
new file mode 100644
index 0000000..81a83c8
--- /dev/null
+++ b/automotive/can/1.0/default/CanBus.h
@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include "CanSocket.h"
+
+#include <android-base/unique_fd.h>
+#include <android/hardware/automotive/can/1.0/ICanBus.h>
+#include <android/hardware/automotive/can/1.0/ICanController.h>
+#include <utils/Mutex.h>
+
+#include <atomic>
+#include <thread>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+struct CanBus : public ICanBus {
+    virtual ~CanBus();
+
+    Return<Result> send(const CanMessage& message) override;
+    Return<void> listen(const hidl_vec<CanMessageFilter>& filter,
+                        const sp<ICanMessageListener>& listener, listen_cb _hidl_cb) override;
+
+    ICanController::Result up();
+    bool down();
+
+  protected:
+    CanBus(const std::string& ifname);
+
+    /**
+     * Prepare the SocketCAN interface.
+     *
+     * After calling this method, mIfname network interface is available and ready to be brought up.
+     */
+    virtual ICanController::Result preUp();
+
+    /**
+     * Cleanup after bringing the interface down.
+     *
+     * This is a counterpart to preUp().
+     */
+    virtual bool postDown();
+
+    /** Network interface name. */
+    const std::string mIfname;
+
+  private:
+    struct CanMessageListener {
+        sp<ICanMessageListener> callback;
+        hidl_vec<CanMessageFilter> filter;
+        wp<ICloseHandle> closeHandle;
+    };
+    void clearListeners();
+
+    void onRead(const struct canfd_frame& frame, std::chrono::nanoseconds timestamp);
+    void onError();
+
+    std::mutex mListenersGuard;
+    std::vector<CanMessageListener> mListeners GUARDED_BY(mListenersGuard);
+
+    std::unique_ptr<CanSocket> mSocket;
+    bool mWasUpInitially;
+
+    /**
+     * Guard for up flag is required to be held for entire time when the interface is being used
+     * (i.e. message being sent), because we don't want the interface to be torn down while
+     * executing that operation.
+     */
+    std::mutex mIsUpGuard;
+    bool mIsUp GUARDED_BY(mIsUpGuard) = false;
+};
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanBusNative.cpp b/automotive/can/1.0/default/CanBusNative.cpp
new file mode 100644
index 0000000..365b749
--- /dev/null
+++ b/automotive/can/1.0/default/CanBusNative.cpp
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2019 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 "CanBusNative.h"
+
+#include <android-base/logging.h>
+#include <libnetdevice/can.h>
+#include <libnetdevice/libnetdevice.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+CanBusNative::CanBusNative(const std::string& ifname, uint32_t baudrate)
+    : CanBus(ifname), mBaudrate(baudrate) {}
+
+ICanController::Result CanBusNative::preUp() {
+    if (!netdevice::exists(mIfname)) {
+        LOG(ERROR) << "Interface " << mIfname << " doesn't exist";
+        return ICanController::Result::BAD_ADDRESS;
+    }
+
+    if (!netdevice::down(mIfname)) {
+        LOG(ERROR) << "Can't bring " << mIfname << " down (to configure it)";
+        return ICanController::Result::UNKNOWN_ERROR;
+    }
+
+    if (!netdevice::can::setBitrate(mIfname, mBaudrate)) {
+        LOG(ERROR) << "Can't set bitrate " << mBaudrate << " for " << mIfname;
+        return ICanController::Result::BAD_BAUDRATE;
+    }
+
+    return ICanController::Result::OK;
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanBusNative.h b/automotive/can/1.0/default/CanBusNative.h
new file mode 100644
index 0000000..126f1cb
--- /dev/null
+++ b/automotive/can/1.0/default/CanBusNative.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include "CanBus.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+struct CanBusNative : public CanBus {
+    CanBusNative(const std::string& ifname, uint32_t baudrate);
+
+  protected:
+    virtual ICanController::Result preUp() override;
+
+  private:
+    const uint32_t mBaudrate;
+};
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanBusVirtual.cpp b/automotive/can/1.0/default/CanBusVirtual.cpp
new file mode 100644
index 0000000..cc59fa9
--- /dev/null
+++ b/automotive/can/1.0/default/CanBusVirtual.cpp
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2019 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 "CanBusVirtual.h"
+
+#include <android-base/logging.h>
+#include <libnetdevice/libnetdevice.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+CanBusVirtual::CanBusVirtual(const std::string& ifname) : CanBus(ifname) {}
+
+ICanController::Result CanBusVirtual::preUp() {
+    if (netdevice::exists(mIfname)) return ICanController::Result::OK;
+
+    LOG(DEBUG) << "Virtual interface " << mIfname << " doesn't exist, creating...";
+    mWasCreated = true;
+    if (!netdevice::add(mIfname, "vcan")) {
+        LOG(ERROR) << "Can't create vcan interface " << mIfname;
+        return ICanController::Result::UNKNOWN_ERROR;
+    }
+
+    return ICanController::Result::OK;
+}
+
+bool CanBusVirtual::postDown() {
+    if (mWasCreated) {
+        mWasCreated = false;
+        if (!netdevice::del(mIfname)) {
+            LOG(ERROR) << "Couldn't remove vcan interface " << mIfname;
+            return false;
+        }
+    }
+    return true;
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanBusVirtual.h b/automotive/can/1.0/default/CanBusVirtual.h
new file mode 100644
index 0000000..c2d5794
--- /dev/null
+++ b/automotive/can/1.0/default/CanBusVirtual.h
@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include "CanBus.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+struct CanBusVirtual : public CanBus {
+    CanBusVirtual(const std::string& ifname);
+
+  protected:
+    virtual ICanController::Result preUp() override;
+    virtual bool postDown() override;
+
+  private:
+    bool mWasCreated = false;
+};
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanController.cpp b/automotive/can/1.0/default/CanController.cpp
new file mode 100644
index 0000000..20adbe1
--- /dev/null
+++ b/automotive/can/1.0/default/CanController.cpp
@@ -0,0 +1,133 @@
+/*
+ * Copyright (C) 2019 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 "CanController.h"
+
+#include "CanBusNative.h"
+#include "CanBusVirtual.h"
+
+#include <android-base/logging.h>
+#include <android/hidl/manager/1.2/IServiceManager.h>
+
+#include <regex>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+using IfaceIdDisc = ICanController::BusConfiguration::InterfaceIdentifier::hidl_discriminator;
+
+Return<void> CanController::getSupportedInterfaceTypes(getSupportedInterfaceTypes_cb _hidl_cb) {
+    _hidl_cb({
+            ICanController::InterfaceType::VIRTUAL,
+            ICanController::InterfaceType::SOCKETCAN,
+    });
+    return {};
+}
+
+static bool isValidName(const std::string& name) {
+    static const std::regex nameRE("^[a-zA-Z0-9_]{1,32}$");
+    return std::regex_match(name, nameRE);
+}
+
+Return<ICanController::Result> CanController::upInterface(
+        const ICanController::BusConfiguration& config) {
+    LOG(VERBOSE) << "Attempting to bring interface up: " << toString(config);
+
+    std::lock_guard<std::mutex> lck(mCanBusesGuard);
+
+    if (!isValidName(config.name)) {
+        LOG(ERROR) << "Bus name " << config.name << " is invalid";
+        return ICanController::Result::UNKNOWN_ERROR;
+    }
+
+    if (mCanBuses.find(config.name) != mCanBuses.end()) {
+        LOG(ERROR) << "Bus " << config.name << " is already up";
+        return ICanController::Result::INVALID_STATE;
+    }
+
+    sp<CanBus> busService;
+
+    if (config.iftype == ICanController::InterfaceType::SOCKETCAN) {
+        // TODO(b/135918744): support serialno
+        if (config.interfaceId.getDiscriminator() == IfaceIdDisc::address) {
+            busService = new CanBusNative(config.interfaceId.address(), config.baudrate);
+        } else {
+            return ICanController::Result::BAD_ADDRESS;
+        }
+    } else if (config.iftype == ICanController::InterfaceType::VIRTUAL) {
+        if (config.interfaceId.getDiscriminator() == IfaceIdDisc::address) {
+            busService = new CanBusVirtual(config.interfaceId.address());
+        } else {
+            return ICanController::Result::BAD_ADDRESS;
+        }
+    } else {
+        return ICanController::Result::NOT_SUPPORTED;
+    }
+
+    const auto result = busService->up();
+    if (result != ICanController::Result::OK) return result;
+
+    if (busService->registerAsService(config.name) != OK) {
+        LOG(ERROR) << "Failed to register ICanBus/" << config.name;
+        if (!busService->down()) {
+            LOG(WARNING) << "Failed to bring down CAN bus that failed to register";
+        }
+        return ICanController::Result::UNKNOWN_ERROR;
+    }
+
+    mCanBuses[config.name] = busService;
+
+    return ICanController::Result::OK;
+}
+
+Return<bool> CanController::downInterface(const hidl_string& name) {
+    LOG(VERBOSE) << "Attempting to bring interface down: " << name;
+
+    std::lock_guard<std::mutex> lck(mCanBusesGuard);
+
+    auto busEntry = mCanBuses.extract(name);
+    if (!busEntry) {
+        LOG(WARNING) << "Interface " << name << " is not up";
+        return false;
+    }
+
+    auto success = true;
+
+    auto manager = hidl::manager::V1_2::IServiceManager::getService();
+    if (!manager || !manager->tryUnregister(ICanBus::descriptor, name, busEntry.mapped())) {
+        LOG(ERROR) << "Couldn't unregister " << name;
+        // don't return yet, let's try to do best-effort cleanup
+        success = false;
+    }
+
+    if (!busEntry.mapped()->down()) {
+        LOG(ERROR) << "Couldn't bring " << name << " down";
+        success = false;
+    }
+
+    return success;
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanController.h b/automotive/can/1.0/default/CanController.h
new file mode 100644
index 0000000..0674d0e
--- /dev/null
+++ b/automotive/can/1.0/default/CanController.h
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include "CanBus.h"
+
+#include <android/hardware/automotive/can/1.0/ICanController.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+struct CanController : public ICanController {
+    Return<void> getSupportedInterfaceTypes(getSupportedInterfaceTypes_cb _hidl_cb) override;
+
+    Return<ICanController::Result> upInterface(
+            const ICanController::BusConfiguration& config) override;
+    Return<bool> downInterface(const hidl_string& name) override;
+
+  private:
+    std::mutex mCanBusesGuard;
+    std::map<std::string, sp<CanBus>> mCanBuses GUARDED_BY(mCanBusesGuard);
+};
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanSocket.cpp b/automotive/can/1.0/default/CanSocket.cpp
new file mode 100644
index 0000000..4d86de6
--- /dev/null
+++ b/automotive/can/1.0/default/CanSocket.cpp
@@ -0,0 +1,150 @@
+/*
+ * Copyright (C) 2019 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 "CanSocket.h"
+
+#include <android-base/logging.h>
+#include <libnetdevice/can.h>
+#include <libnetdevice/libnetdevice.h>
+#include <linux/can.h>
+#include <utils/SystemClock.h>
+
+#include <chrono>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+using namespace std::chrono_literals;
+
+/**
+ * How frequently the read thread checks whether the interface was asked to be down.
+ *
+ * Note: This does *not* affect read timing or bandwidth, just CPU load vs time to
+ *       down the interface.
+ */
+static constexpr auto kReadPooling = 100ms;
+
+std::unique_ptr<CanSocket> CanSocket::open(const std::string& ifname, ReadCallback rdcb,
+                                           ErrorCallback errcb) {
+    auto sock = netdevice::can::socket(ifname);
+    if (!sock.ok()) {
+        LOG(ERROR) << "Can't open CAN socket on " << ifname;
+        return nullptr;
+    }
+
+    // Can't use std::make_unique due to private CanSocket constructor.
+    return std::unique_ptr<CanSocket>(new CanSocket(std::move(sock), rdcb, errcb));
+}
+
+CanSocket::CanSocket(base::unique_fd socket, ReadCallback rdcb, ErrorCallback errcb)
+    : mReadCallback(rdcb),
+      mErrorCallback(errcb),
+      mSocket(std::move(socket)),
+      mReaderThread(&CanSocket::readerThread, this) {}
+
+CanSocket::~CanSocket() {
+    mStopReaderThread = true;
+    mReaderThread.join();
+}
+
+bool CanSocket::send(const struct canfd_frame& frame) {
+    const auto res = write(mSocket.get(), &frame, CAN_MTU);
+    if (res < 0) {
+        LOG(DEBUG) << "CanSocket send failed: " << errno;
+        return false;
+    }
+    if (res != CAN_MTU) {
+        LOG(DEBUG) << "CanSocket sent wrong number of bytes: " << res;
+        return false;
+    }
+    return true;
+}
+
+static struct timeval toTimeval(std::chrono::microseconds t) {
+    struct timeval tv;
+    tv.tv_sec = t / 1s;
+    tv.tv_usec = (t % 1s) / 1us;
+    return tv;
+}
+
+static int selectRead(const base::unique_fd& fd, std::chrono::microseconds timeout) {
+    auto timeouttv = toTimeval(timeout);
+    fd_set readfds;
+    FD_ZERO(&readfds);
+    FD_SET(fd.get(), &readfds);
+    return select(fd.get() + 1, &readfds, nullptr, nullptr, &timeouttv);
+}
+
+void CanSocket::readerThread() {
+    LOG(VERBOSE) << "Reader thread started";
+
+    while (!mStopReaderThread) {
+        /* The ideal would be to have a blocking read(3) call and interrupt it with shutdown(3).
+         * This is unfortunately not supported for SocketCAN, so we need to rely on select(3).
+         */
+        const auto sel = selectRead(mSocket, kReadPooling);
+        if (sel == 0) continue;  // timeout
+        if (sel == -1) {
+            LOG(ERROR) << "Select failed: " << errno;
+            break;
+        }
+
+        struct canfd_frame frame;
+        const auto nbytes = read(mSocket.get(), &frame, CAN_MTU);
+
+        /* We could use SIOCGSTAMP to get a precise UNIX timestamp for a given packet, but what
+         * we really need is a time since boot. There is no direct way to convert between these
+         * clocks. We could implement a class to calculate the difference between the clocks
+         * (querying both several times and picking the smallest difference); apply the difference
+         * to a SIOCGSTAMP returned value; re-synchronize if the elapsed time is too much in the
+         * past (indicating the UNIX timestamp might have been adjusted).
+         *
+         * Apart from the added complexity, it's possible the added calculations and system calls
+         * would add so much time to the processing pipeline so the precision of the reported time
+         * was buried under the subsystem latency. Let's just use a local time since boot here and
+         * leave precise hardware timestamps for custom proprietary implementations (if needed).
+         */
+        const std::chrono::nanoseconds ts(elapsedRealtimeNano());
+
+        if (nbytes != CAN_MTU) {
+            if (nbytes >= 0) {
+                LOG(ERROR) << "Failed to read CAN packet, got " << nbytes << " bytes";
+                break;
+            }
+            if (errno == EAGAIN) continue;
+
+            LOG(ERROR) << "Failed to read CAN packet: " << errno;
+            break;
+        }
+
+        mReadCallback(frame, ts);
+    }
+
+    if (!mStopReaderThread) mErrorCallback();
+
+    LOG(VERBOSE) << "Reader thread stopped";
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CanSocket.h b/automotive/can/1.0/default/CanSocket.h
new file mode 100644
index 0000000..cd7162d
--- /dev/null
+++ b/automotive/can/1.0/default/CanSocket.h
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android-base/macros.h>
+#include <android-base/unique_fd.h>
+#include <linux/can.h>
+
+#include <atomic>
+#include <chrono>
+#include <thread>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+/**
+ * Wrapper around SocketCAN socket.
+ */
+struct CanSocket {
+    using ReadCallback = std::function<void(const struct canfd_frame&, std::chrono::nanoseconds)>;
+    using ErrorCallback = std::function<void()>;
+
+    /**
+     * Open and bind SocketCAN socket.
+     *
+     * \param ifname SocketCAN network interface name (such as can0)
+     * \param rdcb Callback on received messages
+     * \param errcb Callback on socket failure
+     * \return Socket instance, or nullptr if it wasn't possible to open one
+     */
+    static std::unique_ptr<CanSocket> open(const std::string& ifname, ReadCallback rdcb,
+                                           ErrorCallback errcb);
+    virtual ~CanSocket();
+
+    /**
+     * Send CAN frame.
+     *
+     * \param frame Frame to send
+     * \return true in case of success, false otherwise
+     */
+    bool send(const struct canfd_frame& frame);
+
+  private:
+    CanSocket(base::unique_fd socket, ReadCallback rdcb, ErrorCallback errcb);
+    void readerThread();
+
+    ReadCallback mReadCallback;
+    ErrorCallback mErrorCallback;
+
+    const base::unique_fd mSocket;
+    std::thread mReaderThread;
+    std::atomic<bool> mStopReaderThread = false;
+
+    DISALLOW_COPY_AND_ASSIGN(CanSocket);
+};
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CloseHandle.cpp b/automotive/can/1.0/default/CloseHandle.cpp
new file mode 100644
index 0000000..13693d2
--- /dev/null
+++ b/automotive/can/1.0/default/CloseHandle.cpp
@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2019 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 "CloseHandle.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+CloseHandle::CloseHandle(Callback callback) : mCallback(callback) {}
+
+CloseHandle::~CloseHandle() {
+    close();
+}
+
+Return<void> CloseHandle::close() {
+    const auto wasClosed = mIsClosed.exchange(true);
+    if (wasClosed) return {};
+
+    mCallback();
+    return {};
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/CloseHandle.h b/automotive/can/1.0/default/CloseHandle.h
new file mode 100644
index 0000000..94972e0
--- /dev/null
+++ b/automotive/can/1.0/default/CloseHandle.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android-base/macros.h>
+#include <android/hardware/automotive/can/1.0/ICloseHandle.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+/**
+ * Generic ICloseHandle implementation ignoring double-close events.
+ */
+struct CloseHandle : public ICloseHandle {
+    using Callback = std::function<void()>;
+
+    /**
+     * Create a handle with a callback.
+     *
+     * The callback is guaranteed to be called exactly once.
+     *
+     * \param callback Called on the first close() call, or on destruction of the handle
+     */
+    CloseHandle(Callback callback);
+    virtual ~CloseHandle();
+
+    Return<void> close() override;
+
+  private:
+    Callback mCallback;
+    std::atomic<bool> mIsClosed = false;
+
+    DISALLOW_COPY_AND_ASSIGN(CloseHandle);
+};
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/default/android.hardware.automotive.can@1.0-service.rc b/automotive/can/1.0/default/android.hardware.automotive.can@1.0-service.rc
new file mode 100644
index 0000000..a629bda
--- /dev/null
+++ b/automotive/can/1.0/default/android.hardware.automotive.can@1.0-service.rc
@@ -0,0 +1,5 @@
+service can-hal-1.0-service /vendor/bin/hw/android.hardware.automotive.can@1.0-service
+    class hal
+    capabilities NET_ADMIN
+    user vehicle_network
+    group system inet
diff --git a/automotive/can/1.0/default/libnetdevice/Android.bp b/automotive/can/1.0/default/libnetdevice/Android.bp
new file mode 100644
index 0000000..31e5ad0
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/Android.bp
@@ -0,0 +1,30 @@
+//
+// Copyright (C) 2019 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.
+//
+
+cc_library_static {
+    name: "android.hardware.automotive.can@libnetdevice",
+    defaults: ["android.hardware.automotive.can@defaults"],
+    vendor_available: true,
+    relative_install_path: "hw",
+    srcs: [
+        "NetlinkRequest.cpp",
+        "NetlinkSocket.cpp",
+        "can.cpp",
+        "common.cpp",
+        "libnetdevice.cpp",
+    ],
+    export_include_dirs: ["include"],
+}
diff --git a/automotive/can/1.0/default/libnetdevice/NetlinkRequest.cpp b/automotive/can/1.0/default/libnetdevice/NetlinkRequest.cpp
new file mode 100644
index 0000000..9845bc7
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/NetlinkRequest.cpp
@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2019 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 "NetlinkRequest.h"
+
+#include <android-base/logging.h>
+
+namespace android {
+namespace netdevice {
+namespace impl {
+
+static struct rtattr* nlmsg_tail(struct nlmsghdr* n) {
+    return reinterpret_cast<struct rtattr*>(  //
+            reinterpret_cast<uintptr_t>(n) + NLMSG_ALIGN(n->nlmsg_len));
+}
+
+struct rtattr* addattr_l(struct nlmsghdr* n, size_t maxLen, rtattrtype_t type, const void* data,
+                         size_t dataLen) {
+    size_t newLen = NLMSG_ALIGN(n->nlmsg_len) + RTA_SPACE(dataLen);
+    if (newLen > maxLen) {
+        LOG(ERROR) << "addattr_l failed - exceeded maxLen: " << newLen << " > " << maxLen;
+        return nullptr;
+    }
+
+    auto attr = nlmsg_tail(n);
+    attr->rta_len = RTA_SPACE(dataLen);
+    attr->rta_type = type;
+    if (dataLen > 0) memcpy(RTA_DATA(attr), data, dataLen);
+
+    n->nlmsg_len = newLen;
+    return attr;
+}
+
+struct rtattr* addattr_nest(struct nlmsghdr* n, size_t maxLen, rtattrtype_t type) {
+    return addattr_l(n, maxLen, type, nullptr, 0);
+}
+
+void addattr_nest_end(struct nlmsghdr* n, struct rtattr* nest) {
+    size_t nestLen = reinterpret_cast<uintptr_t>(nlmsg_tail(n)) - reinterpret_cast<uintptr_t>(nest);
+    nest->rta_len = nestLen;
+}
+
+}  // namespace impl
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/NetlinkRequest.h b/automotive/can/1.0/default/libnetdevice/NetlinkRequest.h
new file mode 100644
index 0000000..21202e3
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/NetlinkRequest.h
@@ -0,0 +1,159 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android-base/macros.h>
+#include <linux/rtnetlink.h>
+
+#include <string>
+
+namespace android {
+namespace netdevice {
+
+typedef unsigned short rtattrtype_t;  // as in rtnetlink.h
+typedef __u16 nlmsgtype_t;            // as in netlink.h
+
+/**
+ * Implementation details, do not use outside NetlinkRequest template.
+ */
+namespace impl {
+
+struct rtattr* addattr_l(struct nlmsghdr* n, size_t maxLen, rtattrtype_t type, const void* data,
+                         size_t dataLen);
+struct rtattr* addattr_nest(struct nlmsghdr* n, size_t maxLen, rtattrtype_t type);
+void addattr_nest_end(struct nlmsghdr* n, struct rtattr* nest);
+
+}  // namespace impl
+
+/**
+ * Wrapper around NETLINK_ROUTE messages, to build them in C++ style.
+ *
+ * \param T specific message header (such as struct ifinfomsg)
+ * \param BUFSIZE how much space to reserve for payload (not counting the header size)
+ */
+template <class T, unsigned int BUFSIZE = 128>
+struct NetlinkRequest {
+    /**
+     * Create empty message.
+     *
+     * \param type Message type (such as RTM_NEWLINK)
+     * \param flags Message flags (such as NLM_F_REQUEST)
+     */
+    NetlinkRequest(nlmsgtype_t type, uint16_t flags) {
+        mRequest.nlmsg.nlmsg_len = NLMSG_LENGTH(sizeof(mRequest.data));
+        mRequest.nlmsg.nlmsg_type = type;
+        mRequest.nlmsg.nlmsg_flags = flags;
+    }
+
+    /** Returns pointer to raw netlink message header. */
+    struct nlmsghdr* header() {
+        return &mRequest.nlmsg;
+    }
+    /** Reference to message-specific header. */
+    T& data() { return mRequest.data; }
+
+    /**
+     * Adds an attribute of a simple type.
+     *
+     * If this method fails (i.e. due to insufficient space), the message will be marked
+     * as bad (\see isGood).
+     *
+     * \param type attribute type (such as IFLA_IFNAME)
+     * \param attr attribute data
+     */
+    template <class A>
+    void addattr(rtattrtype_t type, const A& attr) {
+        if (!mIsGood) return;
+        auto ap = impl::addattr_l(&mRequest.nlmsg, sizeof(mRequest), type, &attr, sizeof(attr));
+        if (ap == nullptr) mIsGood = false;
+    }
+
+    template <>
+    void addattr(rtattrtype_t type, const std::string& s) {
+        if (!mIsGood) return;
+        auto ap = impl::addattr_l(&mRequest.nlmsg, sizeof(mRequest), type, s.c_str(), s.size() + 1);
+        if (ap == nullptr) mIsGood = false;
+    }
+
+    /**
+     * Guard class to frame nested attributes. See nest(int).
+     */
+    struct Nest {
+        Nest(NetlinkRequest& req, rtattrtype_t type) : mReq(req), mAttr(req.nestStart(type)) {}
+        ~Nest() { mReq.nestEnd(mAttr); }
+
+      private:
+        NetlinkRequest& mReq;
+        struct rtattr* mAttr;
+
+        DISALLOW_COPY_AND_ASSIGN(Nest);
+    };
+
+    /**
+     * Add nested attribute.
+     *
+     * The returned object is a guard for auto-nesting children inside the argument attribute.
+     * When the Nest object goes out of scope, the nesting attribute is closed.
+     *
+     * Example usage nesting IFLA_CAN_BITTIMING inside IFLA_INFO_DATA, which is nested
+     * inside IFLA_LINKINFO:
+     *    NetlinkRequest<struct ifinfomsg> req(RTM_NEWLINK, NLM_F_REQUEST);
+     *    {
+     *        auto linkinfo = req.nest(IFLA_LINKINFO);
+     *        req.addattr(IFLA_INFO_KIND, "can");
+     *        {
+     *            auto infodata = req.nest(IFLA_INFO_DATA);
+     *            req.addattr(IFLA_CAN_BITTIMING, bitTimingStruct);
+     *        }
+     *    }
+     *    // use req
+     *
+     * \param type attribute type (such as IFLA_LINKINFO)
+     */
+    Nest nest(int type) { return Nest(*this, type); }
+
+    /**
+     * Indicates, whether the message is in a good state.
+     *
+     * The bad state is usually a result of payload buffer being too small.
+     * You can modify BUFSIZE template parameter to fix this.
+     */
+    bool isGood() const { return mIsGood; }
+
+  private:
+    bool mIsGood = true;
+
+    struct {
+        struct nlmsghdr nlmsg;
+        T data;
+        char buf[BUFSIZE];
+    } mRequest = {};
+
+    struct rtattr* nestStart(rtattrtype_t type) {
+        if (!mIsGood) return nullptr;
+        auto attr = impl::addattr_nest(&mRequest.nlmsg, sizeof(mRequest), type);
+        if (attr == nullptr) mIsGood = false;
+        return attr;
+    }
+
+    void nestEnd(struct rtattr* nest) {
+        if (mIsGood && nest != nullptr) impl::addattr_nest_end(&mRequest.nlmsg, nest);
+    }
+};
+
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/NetlinkSocket.cpp b/automotive/can/1.0/default/libnetdevice/NetlinkSocket.cpp
new file mode 100644
index 0000000..0514764
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/NetlinkSocket.cpp
@@ -0,0 +1,114 @@
+/*
+ * Copyright (C) 2019 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 "NetlinkSocket.h"
+
+#include <android-base/logging.h>
+
+namespace android {
+namespace netdevice {
+
+NetlinkSocket::NetlinkSocket(int protocol) {
+    mFd.reset(socket(AF_NETLINK, SOCK_RAW, protocol));
+    if (!mFd.ok()) {
+        LOG(ERROR) << "Can't open Netlink socket: " << errno;
+        mFailed = true;
+        return;
+    }
+
+    struct sockaddr_nl sa = {};
+    sa.nl_family = AF_NETLINK;
+
+    if (bind(mFd.get(), reinterpret_cast<struct sockaddr*>(&sa), sizeof(sa)) < 0) {
+        LOG(ERROR) << "Can't bind Netlink socket: " << errno;
+        mFd.reset();
+        mFailed = true;
+    }
+}
+
+bool NetlinkSocket::send(struct nlmsghdr* nlmsg) {
+    if (mFailed) return false;
+
+    nlmsg->nlmsg_pid = 0;  // kernel
+    nlmsg->nlmsg_seq = mSeq++;
+    nlmsg->nlmsg_flags |= NLM_F_ACK;
+
+    struct iovec iov = {nlmsg, nlmsg->nlmsg_len};
+
+    struct sockaddr_nl sa = {};
+    sa.nl_family = AF_NETLINK;
+
+    struct msghdr msg = {};
+    msg.msg_name = &sa;
+    msg.msg_namelen = sizeof(sa);
+    msg.msg_iov = &iov;
+    msg.msg_iovlen = 1;
+
+    if (sendmsg(mFd.get(), &msg, 0) < 0) {
+        LOG(ERROR) << "Can't send Netlink message: " << errno;
+        return false;
+    }
+    return true;
+}
+
+bool NetlinkSocket::receiveAck() {
+    if (mFailed) return false;
+
+    char buf[8192];
+
+    struct sockaddr_nl sa;
+    struct iovec iov = {buf, sizeof(buf)};
+
+    struct msghdr msg = {};
+    msg.msg_name = &sa;
+    msg.msg_namelen = sizeof(sa);
+    msg.msg_iov = &iov;
+    msg.msg_iovlen = 1;
+
+    const ssize_t status = recvmsg(mFd.get(), &msg, 0);
+    if (status < 0) {
+        LOG(ERROR) << "Failed to receive Netlink message: " << errno;
+        return false;
+    }
+    size_t remainingLen = status;
+
+    if (msg.msg_flags & MSG_TRUNC) {
+        LOG(ERROR) << "Failed to receive Netlink message: truncated";
+        return false;
+    }
+
+    for (auto nlmsg = reinterpret_cast<struct nlmsghdr*>(buf); NLMSG_OK(nlmsg, remainingLen);
+         nlmsg = NLMSG_NEXT(nlmsg, remainingLen)) {
+        // We're looking for error/ack message only, ignoring others.
+        if (nlmsg->nlmsg_type != NLMSG_ERROR) {
+            LOG(WARNING) << "Received unexpected Netlink message (ignored): " << nlmsg->nlmsg_type;
+            continue;
+        }
+
+        // Found error/ack message, return status.
+        auto nlerr = reinterpret_cast<struct nlmsgerr*>(NLMSG_DATA(nlmsg));
+        if (nlerr->error != 0) {
+            LOG(ERROR) << "Received Netlink error message: " << nlerr->error;
+            return false;
+        }
+        return true;
+    }
+    // Couldn't find any error/ack messages.
+    return false;
+}
+
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/NetlinkSocket.h b/automotive/can/1.0/default/libnetdevice/NetlinkSocket.h
new file mode 100644
index 0000000..81d6224
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/NetlinkSocket.h
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include "NetlinkRequest.h"
+
+#include <android-base/macros.h>
+#include <android-base/unique_fd.h>
+
+#include <linux/netlink.h>
+
+namespace android {
+namespace netdevice {
+
+/**
+ * A wrapper around AF_NETLINK sockets.
+ *
+ * This class is not thread safe to use a single instance between multiple threads, but it's fine to
+ * use multiple instances over multiple threads.
+ */
+struct NetlinkSocket {
+    NetlinkSocket(int protocol);
+
+    /**
+     * Send Netlink message to Kernel.
+     *
+     * @param msg Message to send, nlmsg_seq will be set to next sequence number
+     * @return true, if succeeded
+     */
+    template <class T, unsigned int BUFSIZE>
+    bool send(NetlinkRequest<T, BUFSIZE>& req) {
+        if (!req.isGood()) return false;
+        return send(req.header());
+    }
+
+    /**
+     * Receive Netlink ACK message from Kernel.
+     *
+     * @return true if received ACK message, false in case of error
+     */
+    bool receiveAck();
+
+  private:
+    uint32_t mSeq = 0;
+    base::unique_fd mFd;
+    bool mFailed = false;
+
+    bool send(struct nlmsghdr* msg);
+
+    DISALLOW_COPY_AND_ASSIGN(NetlinkSocket);
+};
+
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/can.cpp b/automotive/can/1.0/default/libnetdevice/can.cpp
new file mode 100644
index 0000000..87617dd
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/can.cpp
@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2019 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 <libnetdevice/libnetdevice.h>
+
+#include "NetlinkRequest.h"
+#include "NetlinkSocket.h"
+#include "common.h"
+
+#include <android-base/logging.h>
+#include <android-base/unique_fd.h>
+
+#include <linux/can.h>
+#include <linux/can/netlink.h>
+
+namespace android {
+namespace netdevice {
+namespace can {
+
+base::unique_fd socket(const std::string& ifname) {
+    struct sockaddr_can addr = {};
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = nametoindex(ifname);
+    if (addr.can_ifindex == 0) {
+        LOG(ERROR) << "Interface " << ifname << " doesn't exists";
+        return {};
+    }
+
+    base::unique_fd sock(::socket(PF_CAN, SOCK_RAW, CAN_RAW));
+    if (!sock.ok()) {
+        LOG(ERROR) << "Failed to create CAN socket";
+        return {};
+    }
+
+    if (0 != fcntl(sock.get(), F_SETFL, O_RDWR | O_NONBLOCK)) {
+        LOG(ERROR) << "Couldn't put CAN socket in non-blocking mode";
+        return {};
+    }
+
+    if (0 != bind(sock.get(), reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr))) {
+        LOG(ERROR) << "Can't bind to CAN interface " << ifname;
+        return {};
+    }
+
+    return sock;
+}
+
+bool setBitrate(std::string ifname, uint32_t bitrate) {
+    struct can_bittiming bt = {};
+    bt.bitrate = bitrate;
+
+    NetlinkRequest<struct ifinfomsg> req(RTM_NEWLINK, NLM_F_REQUEST);
+
+    const auto ifidx = nametoindex(ifname);
+    if (ifidx == 0) {
+        LOG(ERROR) << "Can't find interface " << ifname;
+        return false;
+    }
+    req.data().ifi_index = ifidx;
+
+    {
+        auto linkinfo = req.nest(IFLA_LINKINFO);
+        req.addattr(IFLA_INFO_KIND, "can");
+        {
+            auto infodata = req.nest(IFLA_INFO_DATA);
+            /* For CAN FD, it would require to add IFLA_CAN_DATA_BITTIMING
+             * and IFLA_CAN_CTRLMODE as well. */
+            req.addattr(IFLA_CAN_BITTIMING, bt);
+        }
+    }
+
+    NetlinkSocket sock(NETLINK_ROUTE);
+    return sock.send(req) && sock.receiveAck();
+}
+
+}  // namespace can
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/common.cpp b/automotive/can/1.0/default/libnetdevice/common.cpp
new file mode 100644
index 0000000..3deac3e
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/common.cpp
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2019 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 "common.h"
+
+#include <android-base/logging.h>
+
+#include <net/if.h>
+
+namespace android {
+namespace netdevice {
+
+unsigned int nametoindex(const std::string& ifname) {
+    const auto ifidx = if_nametoindex(ifname.c_str());
+    if (ifidx != 0) return ifidx;
+
+    const auto err = errno;
+    if (err != ENODEV) {
+        LOG(ERROR) << "if_nametoindex(" << ifname << ") failed: " << err;
+    }
+    return 0;
+}
+
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/common.h b/automotive/can/1.0/default/libnetdevice/common.h
new file mode 100644
index 0000000..9bdff4d
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/common.h
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <string>
+
+namespace android {
+namespace netdevice {
+
+/**
+ * Returns the index of a given network interface.
+ *
+ * If the syscall to check the index fails with other error than ENODEV, it gets logged and the
+ * return value indicates the interface doesn't exists.
+ *
+ * \param ifname Interface to check
+ * \return Interface index, or 0 if the interface doesn't exist
+ */
+unsigned int nametoindex(const std::string& ifname);
+
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/include/libnetdevice/can.h b/automotive/can/1.0/default/libnetdevice/include/libnetdevice/can.h
new file mode 100644
index 0000000..ec3f962
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/include/libnetdevice/can.h
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android-base/unique_fd.h>
+
+#include <string>
+
+namespace android {
+namespace netdevice {
+namespace can {
+
+/**
+ * Opens and binds SocketCAN socket.
+ *
+ * @param ifname Interface to open a socket against
+ * @return Socket's FD or -1 in case of failure
+ */
+base::unique_fd socket(const std::string& ifname);
+
+/**
+ * Sets CAN interface bitrate.
+ */
+bool setBitrate(std::string ifname, uint32_t bitrate);
+
+}  // namespace can
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/include/libnetdevice/libnetdevice.h b/automotive/can/1.0/default/libnetdevice/include/libnetdevice/libnetdevice.h
new file mode 100644
index 0000000..33d5de5
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/include/libnetdevice/libnetdevice.h
@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <optional>
+#include <string>
+
+namespace android {
+namespace netdevice {
+
+/**
+ * Checks, if the network interface exists.
+ *
+ * @param ifname Interface to check
+ * @return true if it exists, false otherwise
+ */
+bool exists(std::string ifname);
+
+/**
+ * Checks if network interface is up.
+ *
+ * @param ifname Interface to check
+ * @return true/false if the check succeeded, nullopt otherwise
+ */
+std::optional<bool> isUp(std::string ifname);
+
+/**
+ * Brings network interface up.
+ *
+ * @param ifname Interface to bring up
+ * @return true in case of success, false otherwise
+ */
+bool up(std::string ifname);
+
+/**
+ * Brings network interface down.
+ *
+ * @param ifname Interface to bring down
+ * @return true in case of success, false otherwise
+ */
+bool down(std::string ifname);
+
+/**
+ * Adds virtual link.
+ *
+ * @param dev the name of the new virtual device
+ * @param type the type of the new device
+ * @return true in case of success, false otherwise
+ */
+bool add(std::string dev, std::string type);
+
+/**
+ * Deletes virtual link.
+ *
+ * @param dev the name of the device to remove
+ * @return true in case of success, false otherwise
+ */
+bool del(std::string dev);
+
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/libnetdevice/libnetdevice.cpp b/automotive/can/1.0/default/libnetdevice/libnetdevice.cpp
new file mode 100644
index 0000000..fc2b193
--- /dev/null
+++ b/automotive/can/1.0/default/libnetdevice/libnetdevice.cpp
@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2019 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 <libnetdevice/libnetdevice.h>
+
+#include "NetlinkRequest.h"
+#include "NetlinkSocket.h"
+#include "common.h"
+
+#include <android-base/logging.h>
+
+#include <linux/can.h>
+#include <net/if.h>
+
+namespace android {
+namespace netdevice {
+
+bool exists(std::string ifname) {
+    return nametoindex(ifname) != 0;
+}
+
+static bool sendIfreq(unsigned long request, struct ifreq& ifr) {
+    /* For general interfaces it would be socket(AF_INET, SOCK_DGRAM, 0),
+     * but SEPolicy forces us to limit our flexibility here. */
+    base::unique_fd sock(socket(PF_CAN, SOCK_RAW, CAN_RAW));
+    if (!sock.ok()) {
+        LOG(ERROR) << "Can't create socket";
+        return false;
+    }
+
+    if (ioctl(sock.get(), request, &ifr) < 0) {
+        LOG(ERROR) << "ioctl(" << std::hex << request << std::dec << ") failed: " << errno;
+        return false;
+    }
+
+    return true;
+}
+
+static struct ifreq ifreqFromName(const std::string& ifname) {
+    struct ifreq ifr = {};
+    strlcpy(ifr.ifr_name, ifname.c_str(), IF_NAMESIZE);
+    return ifr;
+}
+
+std::optional<bool> isUp(std::string ifname) {
+    struct ifreq ifr = ifreqFromName(ifname);
+    if (!sendIfreq(SIOCGIFFLAGS, ifr)) return std::nullopt;
+    return ifr.ifr_flags & IFF_UP;
+}
+
+bool up(std::string ifname) {
+    struct ifreq ifr = ifreqFromName(ifname);
+    if (!sendIfreq(SIOCGIFFLAGS, ifr)) return false;
+    ifr.ifr_flags |= IFF_UP;
+    return sendIfreq(SIOCSIFFLAGS, ifr);
+}
+
+bool down(std::string ifname) {
+    struct ifreq ifr = ifreqFromName(ifname);
+    if (!sendIfreq(SIOCGIFFLAGS, ifr)) return false;
+    ifr.ifr_flags &= ~IFF_UP;
+    return sendIfreq(SIOCSIFFLAGS, ifr);
+}
+
+bool add(std::string dev, std::string type) {
+    NetlinkRequest<struct ifinfomsg> req(RTM_NEWLINK, NLM_F_REQUEST | NLM_F_CREATE | NLM_F_EXCL);
+    req.addattr(IFLA_IFNAME, dev);
+
+    {
+        auto linkinfo = req.nest(IFLA_LINKINFO);
+        req.addattr(IFLA_INFO_KIND, type);
+    }
+
+    NetlinkSocket sock(NETLINK_ROUTE);
+    return sock.send(req) && sock.receiveAck();
+}
+
+bool del(std::string dev) {
+    NetlinkRequest<struct ifinfomsg> req(RTM_DELLINK, NLM_F_REQUEST);
+    req.addattr(IFLA_IFNAME, dev);
+
+    NetlinkSocket sock(NETLINK_ROUTE);
+    return sock.send(req) && sock.receiveAck();
+}
+
+}  // namespace netdevice
+}  // namespace android
diff --git a/automotive/can/1.0/default/service.cpp b/automotive/can/1.0/default/service.cpp
new file mode 100644
index 0000000..7ef44fc
--- /dev/null
+++ b/automotive/can/1.0/default/service.cpp
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2019 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 "CanController.h"
+
+#include <android-base/logging.h>
+#include <hidl/HidlTransportSupport.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace implementation {
+
+static void canControllerService() {
+    base::SetDefaultTag("CanController");
+    base::SetMinimumLogSeverity(android::base::VERBOSE);
+    configureRpcThreadpool(16, true);
+    LOG(DEBUG) << "CAN controller service starting...";
+
+    CanController canController;
+    if (canController.registerAsService("socketcan") != OK) {
+        LOG(FATAL) << "Failed to register CAN controller";
+        return;
+    }
+
+    LOG(INFO) << "CAN controller service ready";
+    joinRpcThreadpool();
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+int main() {
+    ::android::hardware::automotive::can::V1_0::implementation::canControllerService();
+    return 1;  // canBusService (joinRpcThreadpool) shouldn't exit
+}
diff --git a/automotive/can/1.0/hidl-utils/Android.bp b/automotive/can/1.0/hidl-utils/Android.bp
new file mode 100644
index 0000000..bc8ff13
--- /dev/null
+++ b/automotive/can/1.0/hidl-utils/Android.bp
@@ -0,0 +1,20 @@
+//
+// Copyright (C) 2019 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.
+//
+
+cc_library_headers {
+    name: "android.hardware.automotive.can@hidl-utils-lib",
+    export_include_dirs: ["include"],
+}
diff --git a/automotive/can/1.0/hidl-utils/include/hidl-utils/hidl-utils.h b/automotive/can/1.0/hidl-utils/include/hidl-utils/hidl-utils.h
new file mode 100644
index 0000000..039f971
--- /dev/null
+++ b/automotive/can/1.0/hidl-utils/include/hidl-utils/hidl-utils.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace hidl_utils {
+
+/**
+ * Helper functor to fetch results from multi-return HIDL calls.
+ * It's meant to be used in place of _hidl_cb callbacks.
+ *
+ * Please note extracting these return variables outside of the callback scope requires making
+ * a copy of each return variable. This may be costly for frequently called HIDL methods with
+ * non-negligible return object size. Please be cautious about performance when using this.
+ *
+ * Example usage:
+ *     Result result;
+ *     sp<ISomeInterface> iface;
+ *     hidlObject->someMethod(arg1, arg2, hidl_utils::fill(&result, &iface)).assertOk();
+ *     // use result and iface
+ */
+template <typename... T>
+struct fill : public std::function<void(const T&...)> {
+    /**
+     * Create _hidl_cb functor that copies the call arguments to specified pointers.
+     *
+     * \param args... Targets to copy the call arguments to
+     */
+    fill(T*... args) : mTargets(args...) {}
+
+    void operator()(const T&... args) { copy<0, T...>(args...); }
+
+  private:
+    std::tuple<T*...> mTargets;
+
+    template <int Pos, typename First>
+    inline void copy(const First& first) {
+        *std::get<Pos>(mTargets) = first;
+    }
+
+    template <int Pos, typename First, typename... Rest>
+    inline void copy(const First& first, const Rest&... rest) {
+        *std::get<Pos>(mTargets) = first;
+        copy<Pos + 1, Rest...>(rest...);
+    }
+};
+
+}  // namespace hidl_utils
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/tools/Android.bp b/automotive/can/1.0/tools/Android.bp
new file mode 100644
index 0000000..8c26985
--- /dev/null
+++ b/automotive/can/1.0/tools/Android.bp
@@ -0,0 +1,60 @@
+//
+// Copyright (C) 2019 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.
+//
+
+cc_binary {
+    name: "canhalctrl",
+    defaults: ["android.hardware.automotive.can@defaults"],
+    srcs: [
+        "canhalctrl.cpp",
+    ],
+    shared_libs: [
+        "android.hardware.automotive.can@1.0",
+        "libhidlbase",
+        "libhidltransport",
+    ],
+    header_libs: [
+        "android.hardware.automotive.can@hidl-utils-lib",
+    ],
+}
+
+cc_binary {
+    name: "canhaldump",
+    defaults: ["android.hardware.automotive.can@defaults"],
+    srcs: [
+        "canhaldump.cpp",
+    ],
+    shared_libs: [
+        "android.hardware.automotive.can@1.0",
+        "libhidlbase",
+        "libhidltransport",
+    ],
+    header_libs: [
+        "android.hardware.automotive.can@hidl-utils-lib",
+    ],
+}
+
+cc_binary {
+    name: "canhalsend",
+    defaults: ["android.hardware.automotive.can@defaults"],
+    srcs: [
+        "canhalsend.cpp",
+    ],
+    shared_libs: [
+        "android.hardware.automotive.can@1.0",
+        "libhidlbase",
+        "libhidltransport",
+    ],
+}
diff --git a/automotive/can/1.0/tools/canhalctrl.cpp b/automotive/can/1.0/tools/canhalctrl.cpp
new file mode 100644
index 0000000..fa1048d
--- /dev/null
+++ b/automotive/can/1.0/tools/canhalctrl.cpp
@@ -0,0 +1,181 @@
+/*
+ * Copyright (C) 2019 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 <android-base/logging.h>
+#include <android/hardware/automotive/can/1.0/ICanController.h>
+#include <android/hidl/manager/1.2/IServiceManager.h>
+#include <hidl-utils/hidl-utils.h>
+
+#include <iostream>
+#include <string>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+
+using ICanController = V1_0::ICanController;
+
+static void usage() {
+    std::cerr << "CAN bus HAL Control tool" << std::endl;
+    std::cerr << std::endl << "usage:" << std::endl << std::endl;
+    std::cerr << "canhalctrl up <bus name> <type> <interface> [baudrate]" << std::endl;
+    std::cerr << "where:" << std::endl;
+    std::cerr << " bus name - name under which ICanBus will be published" << std::endl;
+    std::cerr << " type - one of: virtual, socketcan, slcan, indexed" << std::endl;
+    std::cerr << " interface - hardware identifier (like can0, vcan0, /dev/ttyUSB0)" << std::endl;
+    std::cerr << " baudrate - such as 100000, 125000, 250000, 500000" << std::endl;
+    std::cerr << std::endl;
+    std::cerr << "canhalctrl down <bus name>" << std::endl;
+    std::cerr << "where:" << std::endl;
+    std::cerr << " bus name - name under which ICanBus will be published" << std::endl;
+}
+
+static hidl_vec<hidl_string> getControlServices() {
+    auto manager = hidl::manager::V1_2::IServiceManager::getService();
+    hidl_vec<hidl_string> services;
+    manager->listManifestByInterface(ICanController::descriptor, hidl_utils::fill(&services));
+    if (services.size() == 0) {
+        std::cerr << "No ICanController services registered (missing privileges?)" << std::endl;
+        exit(-1);
+    }
+    return services;
+}
+
+static bool isSupported(sp<ICanController> ctrl, ICanController::InterfaceType iftype) {
+    hidl_vec<ICanController::InterfaceType> supported;
+    if (!ctrl->getSupportedInterfaceTypes(hidl_utils::fill(&supported)).isOk()) return false;
+    return supported.contains(iftype);
+}
+
+static int up(const std::string& busName, ICanController::InterfaceType type,
+              const std::string& interface, uint32_t baudrate) {
+    bool anySupported = false;
+    for (auto&& service : getControlServices()) {
+        auto ctrl = ICanController::getService(service);
+        if (ctrl == nullptr) {
+            std::cerr << "Couldn't open ICanController/" << service;
+            continue;
+        }
+
+        if (!isSupported(ctrl, type)) continue;
+        anySupported = true;
+
+        ICanController::BusConfiguration config = {};
+        config.name = busName;
+        config.iftype = type;
+        config.baudrate = baudrate;
+
+        if (type == ICanController::InterfaceType::INDEXED) {
+            config.interfaceId.index(std::stol(interface));
+        } else {
+            config.interfaceId.address(interface);
+        }
+
+        const auto upresult = ctrl->upInterface(config);
+        if (upresult == ICanController::Result::OK) return 0;
+        std::cerr << "Failed to bring interface up: " << toString(upresult) << std::endl;
+        // Let's continue the loop to try other controllers.
+    }
+
+    if (!anySupported) {
+        std::cerr << "No controller supports " << toString(type) << std::endl;
+    }
+    return -1;
+}
+
+static int down(const std::string& busName) {
+    for (auto&& service : getControlServices()) {
+        auto ctrl = ICanController::getService(service);
+        if (ctrl == nullptr) continue;
+
+        if (ctrl->downInterface(busName)) return 0;
+    }
+
+    std::cerr << "Failed to bring interface " << busName << " down (maybe it's down already?)"
+              << std::endl;
+    return -1;
+}
+
+static std::optional<ICanController::InterfaceType> parseInterfaceType(const std::string& str) {
+    if (str == "virtual") return ICanController::InterfaceType::VIRTUAL;
+    if (str == "socketcan") return ICanController::InterfaceType::SOCKETCAN;
+    if (str == "slcan") return ICanController::InterfaceType::SLCAN;
+    if (str == "indexed") return ICanController::InterfaceType::INDEXED;
+    return std::nullopt;
+}
+
+static int main(int argc, char* argv[]) {
+    base::SetDefaultTag("CanHalControl");
+    base::SetMinimumLogSeverity(android::base::VERBOSE);
+
+    if (argc == 0) {
+        usage();
+        return 0;
+    }
+
+    std::string cmd(argv[0]);
+    argv++;
+    argc--;
+
+    if (cmd == "up") {
+        if (argc < 3 || argc > 4) {
+            std::cerr << "Invalid number of arguments to up command: " << argc << std::endl;
+            usage();
+            return -1;
+        }
+
+        const std::string busName(argv[0]);
+        const std::string typeStr(argv[1]);
+        const std::string interface(argv[2]);
+
+        const auto type = parseInterfaceType(typeStr);
+        if (!type) {
+            std::cerr << "Invalid interface type: " << typeStr << std::endl;
+            usage();
+            return -1;
+        }
+
+        long long baudrate = 0;
+        if (argc == 4) {
+            baudrate = std::stoll(argv[3]);
+        }
+
+        return up(busName, *type, interface, baudrate);
+    } else if (cmd == "down") {
+        if (argc != 1) {
+            std::cerr << "Invalid number of arguments to down command: " << argc << std::endl;
+            usage();
+            return -1;
+        }
+
+        return down(argv[0]);
+    } else {
+        std::cerr << "Invalid command: " << cmd << std::endl;
+        usage();
+        return -1;
+    }
+}
+
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+int main(int argc, char* argv[]) {
+    if (argc < 1) return -1;
+    return ::android::hardware::automotive::can::main(--argc, ++argv);
+}
diff --git a/automotive/can/1.0/tools/canhaldump.cpp b/automotive/can/1.0/tools/canhaldump.cpp
new file mode 100644
index 0000000..5713d17
--- /dev/null
+++ b/automotive/can/1.0/tools/canhaldump.cpp
@@ -0,0 +1,136 @@
+/*
+ * Copyright (C) 2019 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 <android-base/logging.h>
+#include <android/hardware/automotive/can/1.0/ICanBus.h>
+#include <android/hardware/automotive/can/1.0/ICanMessageListener.h>
+#include <android/hidl/manager/1.2/IServiceManager.h>
+#include <hidl-utils/hidl-utils.h>
+
+#include <chrono>
+#include <iomanip>
+#include <iostream>
+#include <string>
+#include <thread>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+
+using namespace std::chrono_literals;
+
+using ICanBus = V1_0::ICanBus;
+using Result = V1_0::Result;
+
+struct CanMessageListener : public V1_0::ICanMessageListener {
+    const std::string name;
+
+    CanMessageListener(std::string name) : name(name) {}
+
+    virtual Return<void> onReceive(const V1_0::CanMessage& message) {
+        std::cout << "  " << name << "  " << std::hex << std::uppercase << std::setw(3)
+                  << std::setfill('0') << message.id << std::setw(0);
+        if (message.remoteTransmissionRequest) {
+            std::cout << " RTR";
+        } else {
+            std::cout << "   [" << message.payload.size() << "] ";
+            for (const auto byte : message.payload) {
+                std::cout << " " << unsigned(byte);
+            }
+        }
+        std::cout << std::nouppercase << std::dec << std::endl;
+        return {};
+    }
+
+    virtual Return<void> onError(V1_0::ErrorEvent error) {
+        std::cout << "  " << name << "  " << toString(error) << std::endl;
+        return {};
+    }
+};
+
+static void usage() {
+    std::cerr << "canhaldump - dump CAN bus traffic" << std::endl;
+    std::cerr << std::endl << "usage:" << std::endl << std::endl;
+    std::cerr << "canhaldump <bus name>" << std::endl;
+    std::cerr << "where:" << std::endl;
+    std::cerr << " bus name - name under which ICanBus is be published" << std::endl;
+}
+
+// TODO(b/135918744): extract to a new library
+static sp<ICanBus> tryOpen(const std::string& busname) {
+    auto bus = ICanBus::tryGetService(busname);
+    if (bus != nullptr) return bus;
+
+    /* Fallback for interfaces not registered in manifest. For testing purposes only,
+     * one should not depend on this in production deployment. */
+    auto manager = hidl::manager::V1_2::IServiceManager::getService();
+    auto ret = manager->get(ICanBus::descriptor, busname).withDefault(nullptr);
+    if (ret == nullptr) return nullptr;
+
+    std::cerr << "WARNING: bus " << busname << " is not registered in device manifest, "
+              << "trying to fetch it directly..." << std::endl;
+
+    return ICanBus::castFrom(ret);
+}
+
+static int candump(const std::string& busname) {
+    auto bus = tryOpen(busname);
+    if (bus == nullptr) {
+        std::cerr << "Bus " << busname << " is not available" << std::endl;
+        return -1;
+    }
+
+    Result result;
+    sp<V1_0::ICloseHandle> chnd;
+    // TODO(b/135918744): extract to library
+    bus->listen({}, new CanMessageListener(busname), hidl_utils::fill(&result, &chnd)).assertOk();
+
+    if (result != Result::OK) {
+        std::cerr << "Listen call failed: " << toString(result) << std::endl;
+        return -1;
+    }
+
+    while (true) std::this_thread::sleep_for(1h);
+}
+
+static int main(int argc, char* argv[]) {
+    base::SetDefaultTag("CanHalDump");
+    base::SetMinimumLogSeverity(android::base::VERBOSE);
+
+    if (argc == 0) {
+        usage();
+        return 0;
+    }
+
+    if (argc != 1) {
+        std::cerr << "Invalid number of arguments" << std::endl;
+        usage();
+        return -1;
+    }
+
+    return candump(argv[0]);
+}
+
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+int main(int argc, char* argv[]) {
+    if (argc < 1) return -1;
+    return ::android::hardware::automotive::can::main(--argc, ++argv);
+}
diff --git a/automotive/can/1.0/tools/canhalsend.cpp b/automotive/can/1.0/tools/canhalsend.cpp
new file mode 100644
index 0000000..29330c9
--- /dev/null
+++ b/automotive/can/1.0/tools/canhalsend.cpp
@@ -0,0 +1,136 @@
+/*
+ * Copyright (C) 2019 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 <android-base/logging.h>
+#include <android/hardware/automotive/can/1.0/ICanBus.h>
+#include <android/hidl/manager/1.2/IServiceManager.h>
+
+#include <iostream>
+#include <string>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+
+using ICanBus = V1_0::ICanBus;
+using Result = V1_0::Result;
+
+static void usage() {
+    std::cerr << "cansend - simple command line tool to send raw CAN frames" << std::endl;
+    std::cerr << std::endl << "usage:" << std::endl << std::endl;
+    std::cerr << "canhalsend <bus name> <can id>#<data>" << std::endl;
+    std::cerr << "where:" << std::endl;
+    std::cerr << " bus name - name under which ICanBus is be published" << std::endl;
+    std::cerr << " can id - such as 1a5" << std::endl;
+    std::cerr << " data - such as deadbeef or 010203" << std::endl;
+}
+
+// TODO(b/135918744): extract to a new library
+static sp<ICanBus> tryOpen(const std::string& busname) {
+    auto bus = ICanBus::tryGetService(busname);
+    if (bus != nullptr) return bus;
+
+    /* Fallback for interfaces not registered in manifest. For testing purposes only,
+     * one should not depend on this in production deployment. */
+    auto manager = hidl::manager::V1_2::IServiceManager::getService();
+    auto ret = manager->get(ICanBus::descriptor, busname).withDefault(nullptr);
+    if (ret == nullptr) return nullptr;
+
+    std::cerr << "WARNING: bus " << busname << " is not registered in device manifest, "
+              << "trying to fetch it directly..." << std::endl;
+
+    return ICanBus::castFrom(ret);
+}
+
+static int cansend(const std::string& busname, V1_0::CanMessageId msgid,
+                   std::vector<uint8_t> payload) {
+    auto bus = tryOpen(busname);
+    if (bus == nullptr) {
+        std::cerr << "Bus " << busname << " is not available" << std::endl;
+        return -1;
+    }
+
+    V1_0::CanMessage msg = {};
+    msg.id = msgid;
+    msg.payload = payload;
+
+    const auto result = bus->send(msg);
+    if (result != Result::OK) {
+        std::cerr << "Send call failed: " << toString(result) << std::endl;
+        return -1;
+    }
+    return 0;
+}
+
+static std::optional<std::tuple<V1_0::CanMessageId, std::vector<uint8_t>>> parseCanMessage(
+        const std::string& msg) {
+    const auto hashpos = msg.find("#");
+    if (hashpos == std::string::npos) return std::nullopt;
+
+    const std::string msgidStr = msg.substr(0, hashpos);
+    const std::string payloadStr = msg.substr(hashpos + 1);
+
+    size_t idx = 0;
+    V1_0::CanMessageId msgid = std::stoi(msgidStr, &idx, 16);
+    if (msgidStr[idx] != '\0') return std::nullopt;
+
+    std::vector<uint8_t> payload;
+    if (payloadStr.size() % 2 != 0) return std::nullopt;
+    for (size_t i = 0; i < payloadStr.size(); i += 2) {
+        std::string byteStr(payloadStr, i, 2);
+        payload.emplace_back(std::stoi(byteStr, &idx, 16));
+        if (byteStr[idx] != '\0') return std::nullopt;
+    }
+
+    return {{msgid, payload}};
+}
+
+static int main(int argc, char* argv[]) {
+    base::SetDefaultTag("CanHalSend");
+    base::SetMinimumLogSeverity(android::base::VERBOSE);
+
+    if (argc == 0) {
+        usage();
+        return 0;
+    }
+
+    if (argc != 2) {
+        std::cerr << "Invalid number of arguments" << std::endl;
+        usage();
+        return -1;
+    }
+
+    std::string busname(argv[0]);
+    const auto canmsg = parseCanMessage(argv[1]);
+    if (!canmsg) {
+        std::cerr << "Failed to parse CAN message argument" << std::endl;
+        return -1;
+    }
+    const auto [msgid, payload] = *canmsg;
+
+    return cansend(busname, msgid, payload);
+}
+
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+int main(int argc, char* argv[]) {
+    if (argc < 1) return -1;
+    return ::android::hardware::automotive::can::main(--argc, ++argv);
+}
diff --git a/automotive/can/1.0/types.hal b/automotive/can/1.0/types.hal
new file mode 100644
index 0000000..37877c6
--- /dev/null
+++ b/automotive/can/1.0/types.hal
@@ -0,0 +1,112 @@
+/*
+ * Copyright (C) 2019 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.hardware.automotive.can@1.0;
+
+/**
+ * CAN message ID.
+ *
+ * Does not include any flags like RTR nor ERR, only a plain 11-bit
+ * or 29-bit identifier, as defined in CAN 1.x/2.0x.
+ *
+ * Unused bits must be set to zero.
+ */
+typedef uint32_t CanMessageId;
+
+/**
+ * CAN message being sent or received.
+ */
+struct CanMessage {
+    CanMessageId id;
+
+    /**
+     * CAN message payload, as defined in CAN 1.x and CAN 2.x standards.
+     *
+     * The length of the payload vector directly translates to the length
+     * of the data frame (i.e. includes any padding bytes), so it may be in
+     * a range of:
+     *  - 0-8 bytes for standard CAN;
+     *  - up to 64 bytes for CAN FD.
+     * ISO TP is not supported directly for now.
+     */
+    vec<uint8_t> payload;
+
+    /**
+     * Time in nanoseconds since boot.
+     *
+     * Ignored for outgoing messages.
+     */
+    uint64_t timestamp;
+
+    /**
+     * A request to proactively pull certain data from other ECU in CAN network.
+     *
+     * For details please refer to CAN standard.
+     *
+     * If this flag is set, payload must be empty.
+     */
+    bool remoteTransmissionRequest;
+};
+
+/**
+ * Single filter rule for CAN messages.
+ *
+ * A filter is satisfied if:
+ * ((receivedId & mask) == (id & mask)) == !inverted
+ *
+ * In order for set of filters to match, at least one non-inverted filters must match (if there is
+ * one) and all inverted filters must match. In other words:
+ *  - a single matching non-inverted filter makes the whole set matching;
+ *  - a single non-matching inverted filter makes the whole set non-matching.
+ */
+struct CanMessageFilter {
+    CanMessageId id;
+    uint32_t mask;
+    bool inverted;
+};
+
+enum Result : uint8_t {
+    OK,
+    UNKNOWN_ERROR,
+    PAYLOAD_TOO_LONG,
+    INTERFACE_DOWN,
+    TRANSMISSION_FAILURE,
+    INVALID_ARGUMENTS,
+};
+
+/**
+ * @see ICanMessageListener#onError
+ */
+enum ErrorEvent : uint8_t {
+    UNKNOWN_ERROR,
+
+    /** A problem with CAN interface HW. */
+    HARDWARE_ERROR,
+
+    /** TX buffer overflow: client is sending too many packets. */
+    TX_OVERFLOW,
+
+    /** RX buffer overflow: client is not reading packets fast enough. */
+    RX_OVERFLOW,
+
+    /** Received malformed input. */
+    MALFORMED_INPUT,
+
+    /** Bus overload: there is too much traffic on the bus. */
+    BUS_OVERLOAD,
+
+    /** Bus error: shorted Hi/Lo line, bus off etc. */
+    BUS_ERROR,
+};
diff --git a/automotive/can/1.0/vts/functional/Android.bp b/automotive/can/1.0/vts/functional/Android.bp
new file mode 100644
index 0000000..b4d9132
--- /dev/null
+++ b/automotive/can/1.0/vts/functional/Android.bp
@@ -0,0 +1,47 @@
+//
+// Copyright (C) 2019 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.
+//
+
+cc_defaults {
+    name: "android.hardware.automotive.can@vts-defaults",
+    defaults: ["VtsHalTargetTestDefaults", "android.hardware.automotive.can@defaults"],
+    header_libs: [
+        "android.hardware.automotive.can@hidl-utils-lib",
+        "android.hardware.automotive.can@vts-utils-lib",
+    ],
+    static_libs: [
+        "android.hardware.automotive.can@1.0",
+        "libgmock",
+    ],
+    test_suites: ["general-tests"],
+}
+
+cc_test {
+    name: "VtsHalCanControllerV1_0TargetTest",
+    defaults: ["android.hardware.automotive.can@vts-defaults"],
+    srcs: ["VtsHalCanControllerV1_0TargetTest.cpp"],
+}
+
+cc_test {
+    name: "VtsHalCanBusV1_0TargetTest",
+    defaults: ["android.hardware.automotive.can@vts-defaults"],
+    srcs: ["VtsHalCanBusV1_0TargetTest.cpp"],
+}
+
+cc_test {
+    name: "VtsHalCanBusVirtualV1_0TargetTest",
+    defaults: ["android.hardware.automotive.can@vts-defaults"],
+    srcs: ["VtsHalCanBusVirtualV1_0TargetTest.cpp"],
+}
diff --git a/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp b/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
new file mode 100644
index 0000000..215328e
--- /dev/null
+++ b/automotive/can/1.0/vts/functional/VtsHalCanBusV1_0TargetTest.cpp
@@ -0,0 +1,168 @@
+/*
+ * Copyright (C) 2019 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 <VtsHalHidlTargetTestBase.h>
+#include <android-base/logging.h>
+#include <android-base/strings.h>
+#include <android/hardware/automotive/can/1.0/ICanBus.h>
+#include <android/hardware/automotive/can/1.0/types.h>
+#include <can-vts-utils/can-hal-printers.h>
+#include <can-vts-utils/environment-utils.h>
+#include <gmock/gmock.h>
+#include <hidl-utils/hidl-utils.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace vts {
+
+using hardware::hidl_vec;
+
+static utils::SimpleHidlEnvironment<ICanBus>* gEnv = nullptr;
+
+struct CanMessageListener : public can::V1_0::ICanMessageListener {
+    virtual Return<void> onReceive(const can::V1_0::CanMessage&) { return {}; }
+    virtual Return<void> onError(can::V1_0::ErrorEvent) { return {}; }
+};
+
+class CanBusHalTest : public ::testing::VtsHalHidlTargetTestBase {
+  protected:
+    virtual void SetUp() override;
+    virtual void TearDown() override;
+
+    std::tuple<Result, sp<ICloseHandle>> listen(const hidl_vec<CanMessageFilter>& filter,
+                                                const sp<ICanMessageListener>& listener);
+
+    sp<ICanBus> mCanBus;
+};
+
+void CanBusHalTest::SetUp() {
+    const auto serviceName = gEnv->getServiceName<ICanBus>();
+    mCanBus = getService<ICanBus>(serviceName);
+    ASSERT_TRUE(mCanBus) << "Couldn't open CAN Bus: " << serviceName;
+}
+
+void CanBusHalTest::TearDown() {
+    mCanBus.clear();
+}
+
+std::tuple<Result, sp<ICloseHandle>> CanBusHalTest::listen(
+        const hidl_vec<CanMessageFilter>& filter, const sp<ICanMessageListener>& listener) {
+    Result halResult;
+    sp<ICloseHandle> closeHandle;
+    mCanBus->listen(filter, listener, hidl_utils::fill(&halResult, &closeHandle)).assertOk();
+
+    return {halResult, closeHandle};
+}
+
+TEST_F(CanBusHalTest, SendNoPayload) {
+    CanMessage msg = {};
+    msg.id = 0x123;
+
+    const auto result = mCanBus->send(msg);
+    ASSERT_EQ(Result::OK, result);
+}
+
+TEST_F(CanBusHalTest, Send8B) {
+    CanMessage msg = {};
+    msg.id = 0x234;
+    msg.payload = {1, 2, 3, 4, 5, 6, 7, 8};
+
+    const auto result = mCanBus->send(msg);
+    ASSERT_EQ(Result::OK, result);
+}
+
+TEST_F(CanBusHalTest, SendZeroId) {
+    CanMessage msg = {};
+    msg.payload = {1, 2, 3};
+
+    const auto result = mCanBus->send(msg);
+    ASSERT_EQ(Result::OK, result);
+}
+
+TEST_F(CanBusHalTest, SendTooLong) {
+    CanMessage msg = {};
+    msg.id = 0x123;
+    msg.payload = hidl_vec<uint8_t>(102400);  // 100kiB
+
+    const auto result = mCanBus->send(msg);
+    ASSERT_EQ(Result::PAYLOAD_TOO_LONG, result);
+}
+
+TEST_F(CanBusHalTest, ListenNoFilter) {
+    const auto [result, closeHandle] = listen({}, new CanMessageListener());
+    ASSERT_EQ(Result::OK, result);
+
+    closeHandle->close().assertOk();
+}
+
+TEST_F(CanBusHalTest, ListenSomeFilter) {
+    hidl_vec<CanMessageFilter> filters = {
+            {0x123, 0x1FF, false},
+            {0x001, 0x00F, true},
+            {0x200, 0x100, false},
+    };
+
+    const auto [result, closeHandle] = listen(filters, new CanMessageListener());
+    ASSERT_EQ(Result::OK, result);
+
+    closeHandle->close().assertOk();
+}
+
+TEST_F(CanBusHalTest, ListenNull) {
+    const auto [result, closeHandle] = listen({}, nullptr);
+    ASSERT_EQ(Result::INVALID_ARGUMENTS, result);
+}
+
+TEST_F(CanBusHalTest, DoubleCloseListen) {
+    const auto [result, closeHandle] = listen({}, new CanMessageListener());
+    ASSERT_EQ(Result::OK, result);
+
+    closeHandle->close().assertOk();
+    closeHandle->close().assertOk();
+}
+
+TEST_F(CanBusHalTest, DontCloseListen) {
+    const auto [result, closeHandle] = listen({}, new CanMessageListener());
+    ASSERT_EQ(Result::OK, result);
+}
+
+}  // namespace vts
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+/**
+ * Example manual invocation:
+ * adb shell /data/nativetest64/VtsHalCanBusV1_0TargetTest/VtsHalCanBusV1_0TargetTest \
+ *     --hal_service_instance=android.hardware.automotive.can@1.0::ICanBus/test
+ */
+int main(int argc, char** argv) {
+    using android::hardware::automotive::can::V1_0::ICanBus;
+    using android::hardware::automotive::can::V1_0::vts::gEnv;
+    using android::hardware::automotive::can::V1_0::vts::utils::SimpleHidlEnvironment;
+    android::base::SetDefaultTag("CanBusVts");
+    android::base::SetMinimumLogSeverity(android::base::VERBOSE);
+    gEnv = new SimpleHidlEnvironment<ICanBus>;
+    ::testing::AddGlobalTestEnvironment(gEnv);
+    ::testing::InitGoogleTest(&argc, argv);
+    gEnv->init(&argc, argv);
+    return RUN_ALL_TESTS();
+}
diff --git a/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp b/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
new file mode 100644
index 0000000..699c138
--- /dev/null
+++ b/automotive/can/1.0/vts/functional/VtsHalCanBusVirtualV1_0TargetTest.cpp
@@ -0,0 +1,322 @@
+/*
+ * Copyright (C) 2019 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 <VtsHalHidlTargetTestBase.h>
+#include <android-base/logging.h>
+#include <android-base/strings.h>
+#include <android/hardware/automotive/can/1.0/ICanBus.h>
+#include <android/hardware/automotive/can/1.0/ICanController.h>
+#include <android/hardware/automotive/can/1.0/types.h>
+#include <android/hidl/manager/1.2/IServiceManager.h>
+#include <can-vts-utils/can-hal-printers.h>
+#include <can-vts-utils/environment-utils.h>
+#include <gmock/gmock.h>
+#include <hidl-utils/hidl-utils.h>
+#include <utils/Mutex.h>
+#include <utils/SystemClock.h>
+
+#include <chrono>
+#include <thread>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace vts {
+
+using namespace std::chrono_literals;
+
+using hardware::hidl_vec;
+using InterfaceType = ICanController::InterfaceType;
+
+static utils::SimpleHidlEnvironment<ICanController>* gEnv = nullptr;
+
+struct CanMessageListener : public can::V1_0::ICanMessageListener {
+    DISALLOW_COPY_AND_ASSIGN(CanMessageListener);
+
+    CanMessageListener() {}
+
+    virtual Return<void> onReceive(const can::V1_0::CanMessage& msg) {
+        std::unique_lock<std::mutex> lk(mMessagesGuard);
+        mMessages.push_back(msg);
+        mMessagesUpdated.notify_one();
+        return {};
+    }
+
+    virtual Return<void> onError(can::V1_0::ErrorEvent event) {
+        EXPECT_TRUE(false) << "Got error: " << event;
+        return {};
+    }
+
+    virtual ~CanMessageListener() { mCloseHandle->close(); }
+
+    void assignCloseHandle(sp<ICloseHandle> closeHandle) {
+        EXPECT_TRUE(closeHandle);
+        EXPECT_FALSE(mCloseHandle);
+        mCloseHandle = closeHandle;
+    }
+
+    std::vector<can::V1_0::CanMessage> fetchMessages(std::chrono::milliseconds timeout,
+                                                     unsigned atLeast = 1) {
+        std::unique_lock<std::mutex> lk(mMessagesGuard);
+        mMessagesUpdated.wait_for(lk, timeout, [&] { return mMessages.size() >= atLeast; });
+        const auto messages = mMessages;
+        mMessages.clear();
+        return messages;
+    }
+
+  private:
+    sp<ICloseHandle> mCloseHandle;
+
+    std::mutex mMessagesGuard;
+    std::condition_variable mMessagesUpdated GUARDED_BY(mMessagesGuard);
+    std::vector<can::V1_0::CanMessage> mMessages GUARDED_BY(mMessagesGuard);
+};
+
+struct Bus {
+    DISALLOW_COPY_AND_ASSIGN(Bus);
+
+    Bus(sp<ICanController> controller, const ICanController::BusConfiguration& config)
+        : mIfname(config.name), mController(controller) {
+        const auto result = controller->upInterface(config);
+        EXPECT_EQ(ICanController::Result::OK, result);
+
+        /* Not using ICanBus::getService here, since it ignores interfaces not in the manifest
+         * file -- this is a test, so we don't want to add dummy services to a device manifest.
+         */
+        auto manager = hidl::manager::V1_2::IServiceManager::getService();
+        auto service = manager->get(ICanBus::descriptor, config.name);
+        mBus = ICanBus::castFrom(service);
+        EXPECT_TRUE(mBus) << "ICanBus/" << config.name << " failed to register";
+    }
+
+    virtual ~Bus() { reset(); }
+
+    void reset() {
+        mBus.clear();
+        if (mController) {
+            const auto res = mController->downInterface(mIfname);
+            EXPECT_TRUE(res);
+            mController.clear();
+        }
+    }
+
+    ICanBus* operator->() const { return mBus.get(); }
+    sp<ICanBus> get() { return mBus; }
+
+    sp<CanMessageListener> listen(const hidl_vec<CanMessageFilter>& filter) {
+        sp<CanMessageListener> listener = new CanMessageListener();
+
+        Result result;
+        sp<ICloseHandle> closeHandle;
+        mBus->listen(filter, listener, hidl_utils::fill(&result, &closeHandle)).assertOk();
+        EXPECT_EQ(Result::OK, result);
+        listener->assignCloseHandle(closeHandle);
+
+        return listener;
+    }
+
+    void send(const CanMessage& msg) {
+        const auto result = mBus->send(msg);
+        EXPECT_EQ(Result::OK, result);
+    }
+
+  private:
+    const std::string mIfname;
+    sp<ICanController> mController;
+    sp<ICanBus> mBus;
+};
+
+class CanBusVirtualHalTest : public ::testing::VtsHalHidlTargetTestBase {
+  protected:
+    virtual void SetUp() override;
+
+    static void SetUpTestCase();
+    static void TearDownTestCase();
+
+    Bus makeBus();
+
+  private:
+    unsigned mLastIface = 0;
+    static sp<ICanController> mCanController;
+    static bool mVirtualSupported;
+};
+
+sp<ICanController> CanBusVirtualHalTest::mCanController = nullptr;
+bool CanBusVirtualHalTest::mVirtualSupported;
+
+static CanMessage makeMessage(CanMessageId id) {
+    CanMessage msg = {};
+    msg.id = id;
+    return msg;
+}
+
+static void clearTimestamps(std::vector<CanMessage>& messages) {
+    std::for_each(messages.begin(), messages.end(), [](auto& msg) { msg.timestamp = 0; });
+}
+
+void CanBusVirtualHalTest::SetUp() {
+    if (!mVirtualSupported) GTEST_SKIP();
+}
+
+void CanBusVirtualHalTest::SetUpTestCase() {
+    const auto serviceName = gEnv->getServiceName<ICanController>();
+    mCanController = getService<ICanController>(serviceName);
+    ASSERT_TRUE(mCanController) << "Couldn't open CAN Controller: " << serviceName;
+
+    hidl_vec<InterfaceType> supported;
+    mCanController->getSupportedInterfaceTypes(hidl_utils::fill(&supported)).assertOk();
+    mVirtualSupported = supported.contains(InterfaceType::VIRTUAL);
+}
+
+void CanBusVirtualHalTest::TearDownTestCase() {
+    mCanController.clear();
+}
+
+Bus CanBusVirtualHalTest::makeBus() {
+    const auto idx = ++mLastIface;
+
+    ICanController::BusConfiguration config = {};
+    config.name = "test" + std::to_string(idx);
+    config.iftype = InterfaceType::VIRTUAL;
+    config.interfaceId.address("vcan50");
+
+    return Bus(mCanController, config);
+}
+
+TEST_F(CanBusVirtualHalTest, Send) {
+    auto bus = makeBus();
+
+    CanMessage msg = {};
+    msg.id = 0x123;
+    msg.payload = {1, 2, 3};
+
+    bus.send(msg);
+}
+
+TEST_F(CanBusVirtualHalTest, SendAfterClose) {
+    auto bus = makeBus();
+    auto zombie = bus.get();
+    bus.reset();
+
+    const auto result = zombie->send({});
+    ASSERT_EQ(Result::INTERFACE_DOWN, result);
+}
+
+TEST_F(CanBusVirtualHalTest, SendAndRecv) {
+    auto bus1 = makeBus();
+    auto bus2 = makeBus();
+
+    auto listener = bus2.listen({});
+
+    CanMessage msg = {};
+    msg.id = 0x123;
+    msg.payload = {1, 2, 3};
+    bus1.send(msg);
+
+    auto messages = listener->fetchMessages(100ms);
+    ASSERT_EQ(1u, messages.size());
+    ASSERT_NEAR(uint64_t(elapsedRealtimeNano()), messages[0].timestamp,
+                std::chrono::nanoseconds(100ms).count());
+    clearTimestamps(messages);
+    ASSERT_EQ(msg, messages[0]);
+}
+
+TEST_F(CanBusVirtualHalTest, DownOneOfTwo) {
+    auto bus1 = makeBus();
+    auto bus2 = makeBus();
+
+    bus2.reset();
+
+    bus1.send({});
+}
+
+TEST_F(CanBusVirtualHalTest, Filter) {
+    auto bus1 = makeBus();
+    auto bus2 = makeBus();
+
+    hidl_vec<CanMessageFilter> filterPositive = {
+            {0x101, 0x100, false},
+            {0x010, 0x0F0, false},
+    };
+    auto listenerPositive = bus2.listen(filterPositive);
+
+    hidl_vec<CanMessageFilter> filterNegative = {
+            {0x123, 0x0FF, true},
+            {0x004, 0x00F, true},
+    };
+    auto listenerNegative = bus2.listen(filterNegative);
+
+    bus1.send(makeMessage(0));
+    bus1.send(makeMessage(0x1A0));
+    bus1.send(makeMessage(0x1A1));
+    bus1.send(makeMessage(0x2A0));
+    bus1.send(makeMessage(0x3A0));
+    bus1.send(makeMessage(0x010));
+    bus1.send(makeMessage(0x123));
+    bus1.send(makeMessage(0x023));
+    bus1.send(makeMessage(0x124));
+
+    std::vector<can::V1_0::CanMessage> expectedPositive{
+            makeMessage(0x1A0),  //
+            makeMessage(0x1A1),  //
+            makeMessage(0x3A0),  //
+            makeMessage(0x010),  //
+            makeMessage(0x123),  //
+            makeMessage(0x124),  //
+    };
+    std::vector<can::V1_0::CanMessage> expectedNegative{
+            makeMessage(0),      //
+            makeMessage(0x1A0),  //
+            makeMessage(0x1A1),  //
+            makeMessage(0x2A0),  //
+            makeMessage(0x3A0),  //
+            makeMessage(0x010),  //
+    };
+
+    auto messagesNegative = listenerNegative->fetchMessages(100ms, expectedNegative.size());
+    auto messagesPositive = listenerPositive->fetchMessages(100ms, expectedPositive.size());
+    clearTimestamps(messagesNegative);
+    clearTimestamps(messagesPositive);
+    ASSERT_EQ(expectedNegative, messagesNegative);
+    ASSERT_EQ(expectedPositive, messagesPositive);
+}
+
+}  // namespace vts
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+/**
+ * Example manual invocation:
+ * adb shell /data/nativetest64/VtsHalCanBusVirtualV1_0TargetTest/VtsHalCanBusVirtualV1_0TargetTest\
+ *     --hal_service_instance=android.hardware.automotive.can@1.0::ICanController/socketcan
+ */
+int main(int argc, char** argv) {
+    using android::hardware::automotive::can::V1_0::ICanController;
+    using android::hardware::automotive::can::V1_0::vts::gEnv;
+    using android::hardware::automotive::can::V1_0::vts::utils::SimpleHidlEnvironment;
+    android::base::SetDefaultTag("CanBusVirtualVts");
+    android::base::SetMinimumLogSeverity(android::base::VERBOSE);
+    gEnv = new SimpleHidlEnvironment<ICanController>;
+    ::testing::AddGlobalTestEnvironment(gEnv);
+    ::testing::InitGoogleTest(&argc, argv);
+    gEnv->init(&argc, argv);
+    return RUN_ALL_TESTS();
+}
diff --git a/automotive/can/1.0/vts/functional/VtsHalCanControllerV1_0TargetTest.cpp b/automotive/can/1.0/vts/functional/VtsHalCanControllerV1_0TargetTest.cpp
new file mode 100644
index 0000000..70f9fe4
--- /dev/null
+++ b/automotive/can/1.0/vts/functional/VtsHalCanControllerV1_0TargetTest.cpp
@@ -0,0 +1,260 @@
+/*
+ * Copyright (C) 2019 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 <VtsHalHidlTargetTestBase.h>
+#include <android-base/logging.h>
+#include <android-base/strings.h>
+#include <android/hardware/automotive/can/1.0/ICanBus.h>
+#include <android/hardware/automotive/can/1.0/ICanController.h>
+#include <android/hardware/automotive/can/1.0/types.h>
+#include <android/hidl/manager/1.2/IServiceManager.h>
+#include <can-vts-utils/can-hal-printers.h>
+#include <can-vts-utils/environment-utils.h>
+#include <gmock/gmock.h>
+#include <hidl-utils/hidl-utils.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace vts {
+
+using hardware::hidl_vec;
+using InterfaceType = ICanController::InterfaceType;
+
+static utils::SimpleHidlEnvironment<ICanController>* gEnv = nullptr;
+
+class CanControllerHalTest : public ::testing::VtsHalHidlTargetTestBase {
+  protected:
+    virtual void SetUp() override;
+    virtual void TearDown() override;
+
+    hidl_vec<InterfaceType> getSupportedInterfaceTypes();
+    bool isSupported(InterfaceType iftype);
+
+    bool up(InterfaceType iftype, const std::string srvname, std::string ifname,
+            ICanController::Result expected);
+    void assertRegistered(const std::string srvname, bool expectRegistered);
+
+    sp<ICanController> mCanController;
+};
+
+void CanControllerHalTest::SetUp() {
+    const auto serviceName = gEnv->getServiceName<ICanController>();
+    mCanController = getService<ICanController>(serviceName);
+    ASSERT_TRUE(mCanController) << "Couldn't open CAN Controller: " << serviceName;
+}
+
+void CanControllerHalTest::TearDown() {
+    mCanController.clear();
+}
+
+hidl_vec<InterfaceType> CanControllerHalTest::getSupportedInterfaceTypes() {
+    hidl_vec<InterfaceType> iftypesResult;
+    mCanController->getSupportedInterfaceTypes(hidl_utils::fill(&iftypesResult)).assertOk();
+    return iftypesResult;
+}
+
+bool CanControllerHalTest::isSupported(InterfaceType iftype) {
+    const auto supported = getSupportedInterfaceTypes();
+    return std::find(supported.begin(), supported.end(), iftype) != supported.end();
+}
+
+bool CanControllerHalTest::up(InterfaceType iftype, std::string srvname, std::string ifname,
+                              ICanController::Result expected) {
+    ICanController::BusConfiguration config = {};
+    config.name = srvname;
+    config.iftype = iftype;
+    config.interfaceId.address(ifname);
+
+    const auto upresult = mCanController->upInterface(config);
+
+    if (!isSupported(iftype)) {
+        LOG(INFO) << iftype << " interfaces not supported";
+        EXPECT_EQ(ICanController::Result::NOT_SUPPORTED, upresult);
+        return false;
+    }
+
+    EXPECT_EQ(expected, upresult);
+    return true;
+}
+
+void CanControllerHalTest::assertRegistered(std::string srvname, bool expectRegistered) {
+    /* Not using ICanBus::tryGetService here, since it ignores interfaces not in the manifest
+     * file -- this is a test, so we don't want to add dummy services to a device manifest.
+     */
+    auto manager = hidl::manager::V1_2::IServiceManager::getService();
+    auto busService = manager->get(ICanBus::descriptor, srvname);
+    ASSERT_EQ(expectRegistered, busService.withDefault(nullptr) != nullptr)
+            << "ICanBus/" << srvname << (expectRegistered ? " is not " : " is ") << "registered"
+            << " (should be otherwise)";
+}
+
+TEST_F(CanControllerHalTest, SupportsSomething) {
+    const auto supported = getSupportedInterfaceTypes();
+    ASSERT_GT(supported.size(), 0u);
+}
+
+TEST_F(CanControllerHalTest, BringUpDown) {
+    const std::string name = "dummy";
+
+    assertRegistered(name, false);
+    if (!up(InterfaceType::VIRTUAL, name, "vcan57", ICanController::Result::OK)) GTEST_SKIP();
+    assertRegistered(name, true);
+
+    const auto dnresult = mCanController->downInterface(name);
+    ASSERT_TRUE(dnresult);
+
+    assertRegistered(name, false);
+}
+
+TEST_F(CanControllerHalTest, DownDummy) {
+    const auto result = mCanController->downInterface("imnotup");
+    ASSERT_FALSE(result);
+}
+
+TEST_F(CanControllerHalTest, UpTwice) {
+    const std::string name = "dummy";
+
+    assertRegistered(name, false);
+    if (!up(InterfaceType::VIRTUAL, name, "vcan72", ICanController::Result::OK)) GTEST_SKIP();
+    assertRegistered(name, true);
+    if (!up(InterfaceType::VIRTUAL, name, "vcan73", ICanController::Result::INVALID_STATE)) {
+        GTEST_SKIP();
+    }
+    assertRegistered(name, true);
+
+    const auto result = mCanController->downInterface(name);
+    ASSERT_TRUE(result);
+    assertRegistered(name, false);
+}
+
+TEST_F(CanControllerHalTest, IdentifierCompatibility) {
+    using IdDisc = ICanController::BusConfiguration::InterfaceIdentifier::hidl_discriminator;
+    static const std::map<InterfaceType, std::vector<IdDisc>> compatMatrix = {
+            {InterfaceType::VIRTUAL, {IdDisc::address}},
+            {InterfaceType::SOCKETCAN, {IdDisc::address, IdDisc::serialno}},
+            {InterfaceType::SLCAN, {IdDisc::address, IdDisc::serialno}},
+            {InterfaceType::INDEXED, {IdDisc::index}},
+    };
+    static const std::vector<IdDisc> allDisc = {IdDisc::address, IdDisc::index, IdDisc::serialno};
+
+    for (const auto [iftype, supported] : compatMatrix) {
+        for (const auto iddisc : allDisc) {
+            LOG(INFO) << "Compatibility testing: " << iftype << " / " << iddisc;
+
+            ICanController::BusConfiguration config = {};
+            config.name = "compattestsrv";
+            config.iftype = iftype;
+            config.baudrate = 125000;
+
+            // using random-ish addresses, which may not be valid - we can't test the success case
+            if (iddisc == IdDisc::address) {
+                config.interfaceId.address("can0");
+            } else if (iddisc == IdDisc::index) {
+                config.interfaceId.index(0);
+            } else if (iddisc == IdDisc::serialno) {
+                config.interfaceId.serialno({"dummy", "dummier"});
+            }
+
+            const auto upresult = mCanController->upInterface(config);
+
+            if (!isSupported(iftype)) {
+                ASSERT_EQ(ICanController::Result::NOT_SUPPORTED, upresult);
+                continue;
+            }
+            ASSERT_NE(ICanController::Result::NOT_SUPPORTED, upresult);
+
+            bool isSupportedDisc =
+                    std::find(supported.begin(), supported.end(), iddisc) != supported.end();
+            if (!isSupportedDisc) {
+                ASSERT_EQ(ICanController::Result::BAD_ADDRESS, upresult);
+                continue;
+            }
+
+            if (upresult == ICanController::Result::OK) {
+                const auto dnresult = mCanController->downInterface(config.name);
+                ASSERT_TRUE(dnresult);
+                continue;
+            }
+        }
+    }
+}
+
+TEST_F(CanControllerHalTest, FailEmptyName) {
+    const std::string name = "";
+
+    assertRegistered(name, false);
+    if (!up(InterfaceType::VIRTUAL, name, "vcan57", ICanController::Result::UNKNOWN_ERROR)) {
+        GTEST_SKIP();
+    }
+    assertRegistered(name, false);
+}
+
+TEST_F(CanControllerHalTest, FailBadName) {
+    // 33 characters (name can be at most 32 characters long)
+    const std::string name = "ab012345678901234567890123456789c";
+
+    assertRegistered(name, false);
+    if (!up(InterfaceType::VIRTUAL, name, "vcan57", ICanController::Result::UNKNOWN_ERROR)) {
+        GTEST_SKIP();
+    }
+    assertRegistered(name, false);
+}
+
+TEST_F(CanControllerHalTest, FailBadVirtualAddress) {
+    const std::string name = "dummy";
+
+    assertRegistered(name, false);
+    if (!up(InterfaceType::VIRTUAL, name, "", ICanController::Result::BAD_ADDRESS)) GTEST_SKIP();
+    assertRegistered(name, false);
+}
+
+TEST_F(CanControllerHalTest, FailBadSocketcanAddress) {
+    const std::string name = "dummy";
+
+    assertRegistered(name, false);
+    if (!up(InterfaceType::SOCKETCAN, name, "can87", ICanController::Result::BAD_ADDRESS)) {
+        GTEST_SKIP();
+    }
+    assertRegistered(name, false);
+}
+
+}  // namespace vts
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+/**
+ * Example manual invocation:
+ * adb shell /data/nativetest64/VtsHalCanControllerV1_0TargetTest/VtsHalCanControllerV1_0TargetTest\
+ *     --hal_service_instance=android.hardware.automotive.can@1.0::ICanController/socketcan
+ */
+int main(int argc, char** argv) {
+    using android::hardware::automotive::can::V1_0::ICanController;
+    using android::hardware::automotive::can::V1_0::vts::gEnv;
+    using android::hardware::automotive::can::V1_0::vts::utils::SimpleHidlEnvironment;
+    android::base::SetDefaultTag("CanControllerVts");
+    android::base::SetMinimumLogSeverity(android::base::VERBOSE);
+    gEnv = new SimpleHidlEnvironment<ICanController>;
+    ::testing::AddGlobalTestEnvironment(gEnv);
+    ::testing::InitGoogleTest(&argc, argv);
+    gEnv->init(&argc, argv);
+    return RUN_ALL_TESTS();
+}
diff --git a/automotive/can/1.0/vts/utils/Android.bp b/automotive/can/1.0/vts/utils/Android.bp
new file mode 100644
index 0000000..e925c8f
--- /dev/null
+++ b/automotive/can/1.0/vts/utils/Android.bp
@@ -0,0 +1,20 @@
+//
+// Copyright (C) 2019 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.
+//
+
+cc_library_headers {
+    name: "android.hardware.automotive.can@vts-utils-lib",
+    export_include_dirs: ["include"],
+}
diff --git a/automotive/can/1.0/vts/utils/include/can-vts-utils/can-hal-printers.h b/automotive/can/1.0/vts/utils/include/can-vts-utils/can-hal-printers.h
new file mode 100644
index 0000000..0923998
--- /dev/null
+++ b/automotive/can/1.0/vts/utils/include/can-vts-utils/can-hal-printers.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android/hardware/automotive/can/1.0/ICanController.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+
+/**
+ * Define gTest printer for a given HIDL type, but skip definition for Return<T>.
+ */
+#define DEFINE_CAN_HAL_PRINTER_SIMPLE(T, converter) \
+    std::ostream& operator<<(std::ostream& os, const T& v) { return os << converter(v); }
+
+/**
+ * Define gTest printer for a given HIDL type.
+ */
+#define DEFINE_CAN_HAL_PRINTER(T, converter)    \
+    DEFINE_CAN_HAL_PRINTER_SIMPLE(T, converter) \
+    std::ostream& operator<<(std::ostream& os, const Return<T>& v) { return os << converter(v); }
+
+DEFINE_CAN_HAL_PRINTER(CanMessage, toString)
+DEFINE_CAN_HAL_PRINTER(ErrorEvent, toString)
+DEFINE_CAN_HAL_PRINTER_SIMPLE(
+        ICanController::BusConfiguration::InterfaceIdentifier::hidl_discriminator, int)
+DEFINE_CAN_HAL_PRINTER(ICanController::InterfaceType, toString)
+DEFINE_CAN_HAL_PRINTER(ICanController::Result, toString)
+DEFINE_CAN_HAL_PRINTER(Result, toString)
+
+#undef DEFINE_CAN_HAL_PRINTER
+#undef DEFINE_CAN_HAL_PRINTER_SIMPLE
+
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/can/1.0/vts/utils/include/can-vts-utils/environment-utils.h b/automotive/can/1.0/vts/utils/include/can-vts-utils/environment-utils.h
new file mode 100644
index 0000000..a722dd0
--- /dev/null
+++ b/automotive/can/1.0/vts/utils/include/can-vts-utils/environment-utils.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <VtsHalHidlTargetTestEnvBase.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace can {
+namespace V1_0 {
+namespace vts {
+namespace utils {
+
+/**
+ * Simple test environment.
+ *
+ * This is a helper class to instantiate a test environment without boilerplate code for cases where
+ * there is no need to pass more parameters than just HIDL service instance name.
+ *
+ * The class implements registerTestServices() by calling registerTestService() on every HIDL
+ * interface provided as parameter to this template.
+ *
+ * Example usage:
+ *     static utils::SimpleHidlEnvironment<IMyService>* gEnv = nullptr;
+ *
+ *     void CanBusHalTest::SetUp() {
+ *         const auto serviceName = gEnv->getServiceName<IMyService>();
+ *         (...)
+ *     }
+ *
+ *     int main(int argc, char** argv) {
+ *         gEnv = new SimpleHidlEnvironment<IMyService>;
+ *         ::testing::AddGlobalTestEnvironment(gEnv);
+ *         ::testing::InitGoogleTest(&argc, argv);
+ *         gEnv->init(&argc, argv);
+ *         return RUN_ALL_TESTS();
+ *     }
+ *
+ * \param T... HIDL interface names to register for a test service
+ */
+template <typename... T>
+class SimpleHidlEnvironment : public ::testing::VtsHalHidlTargetTestEnvBase {
+  public:
+    virtual void registerTestServices() override {
+        // Call registerTestService() for every HIDL interface using this template.
+        using expander = int[];
+        (void)expander{0, (registerTestService<T>(), 0)...};
+    }
+};
+
+}  // namespace utils
+}  // namespace vts
+}  // namespace V1_0
+}  // namespace can
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index 8a008d3..5452cfa 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -85,6 +85,12 @@
     0x0666 | VehiclePropertyGroup::VENDOR | VehicleArea::GLOBAL | VehiclePropertyType::MIXED;
 
 /**
+ * This property is used for test purpose. End to end tests use this property to test set and get
+ * method for MIXED type properties.
+ */
+const int32_t kMixedTypePropertyForTest =
+        0x1111 | VehiclePropertyGroup::VENDOR | VehicleArea::GLOBAL | VehiclePropertyType::MIXED;
+/**
  * FakeDataCommand enum defines the supported command type for kGenerateFakeDataControllingProperty.
  * All those commands can be send independently with each other. And each will override the one sent
  * previously.
@@ -625,6 +631,14 @@
                         },
         },
 
+        {.config = {.prop = kMixedTypePropertyForTest,
+                    .access = VehiclePropertyAccess::READ_WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .configArray = {1, 1, 0, 2, 0, 0, 1, 0, 0}},
+         .initialValue = {.stringValue = "MIXED property",
+                          .int32Values = {1 /* indicate TRUE boolean value */, 2, 3},
+                          .floatValues = {4.5f}}},
+
         {.config = {.prop = toInt(VehicleProperty::DOOR_LOCK),
                     .access = VehiclePropertyAccess::READ_WRITE,
                     .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 955283e..8c84c0a 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -35,6 +35,21 @@
     /**
      * Any combination of scalar or vector types. The exact format must be
      * provided in the description of the property.
+     *
+     * For vendor MIXED type properties, configArray needs to be formatted in this
+     * structure.
+     * configArray[0], 1 indicates the property has a String value
+     * configArray[1], 1 indicates the property has a Boolean value .
+     * configArray[2], 1 indicates the property has an Integer value.
+     * configArray[3], the number indicates the size of Integer[] in the property.
+     * configArray[4], 1 indicates the property has a Long value.
+     * configArray[5], the number indicates the size of Long[] in the property.
+     * configArray[6], 1 indicates the property has a Float value.
+     * configArray[7], the number indicates the size of Float[] in the property.
+     * configArray[8], the number indicates the size of byte[] in the property.
+     * For example:
+     * {@code configArray = {1, 1, 1, 3, 0, 0, 0, 0, 0}} indicates the property has
+     * a String value, a Boolean value, an Integer value and an array with 3 integers.
      */
     MIXED           = 0x00e00000,
 
diff --git a/current.txt b/current.txt
index eb1b1ca..fbb9752 100644
--- a/current.txt
+++ b/current.txt
@@ -576,3 +576,4 @@
 ad431c8de51c07934a068e3043d8dd0537ac4d3158627706628b123f42df48dc android.hardware.neuralnetworks@1.0::IPreparedModel
 aafcc10cf04ab247e86d4582586c71c6b4c2b8c479241ffa7fe37deb659fc942 android.hardware.neuralnetworks@1.2::IPreparedModel
 1a6e2bd289f22931c526b21916910f1d4c436b7acb9556e4243de4ce8e6cc2e4 android.hardware.soundtrigger@2.0::ISoundTriggerHwCallback
+fd65298e1e09e0e3c781ab18305920d757dbe55a3b459ce17814ec5cf6dfee99 android.hardware.wifi@1.0::IWifiP2pIface
diff --git a/sensors/2.0/multihal/Android.bp b/sensors/2.0/multihal/Android.bp
new file mode 100644
index 0000000..f0b33e4
--- /dev/null
+++ b/sensors/2.0/multihal/Android.bp
@@ -0,0 +1,47 @@
+//
+// Copyright (C) 2019 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.
+
+cc_binary {
+    name: "android.hardware.sensors@2.0-service.multihal",
+    defaults: ["hidl_defaults"],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "service.cpp",
+        "HalProxy.cpp",
+    ],
+    init_rc: ["android.hardware.sensors@2.0-service-multihal.rc"],
+    header_libs: [
+        "android.hardware.sensors@2.0-subhal.header",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "libhidltransport",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+    vintf_fragments: ["android.hardware.sensors@2.0-multihal.xml"],
+}
+
+cc_library_headers {
+    name: "android.hardware.sensors@2.0-subhal.header",
+    vendor: true,
+    export_include_dirs: ["include"],
+}
\ No newline at end of file
diff --git a/sensors/2.0/multihal/HalProxy.cpp b/sensors/2.0/multihal/HalProxy.cpp
new file mode 100644
index 0000000..31f8a18
--- /dev/null
+++ b/sensors/2.0/multihal/HalProxy.cpp
@@ -0,0 +1,182 @@
+/*
+ * Copyright (C) 2019 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 "HalProxy.h"
+
+#include <android/hardware/sensors/2.0/types.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace implementation {
+
+// TODO: Use this wake lock name as the prefix to all sensors HAL wake locks acquired.
+// constexpr const char* kWakeLockName = "SensorsHAL_WAKEUP";
+
+// TODO: Use the following class as a starting point for implementing the full HalProxyCallback
+// along with being inspiration for how to implement the ScopedWakelock class.
+/**
+ * Callback class used to provide the HalProxy with the index of which subHal is invoking
+ */
+class SensorsCallbackProxy : public ISensorsCallback {
+  public:
+    SensorsCallbackProxy(wp<HalProxy>& halProxy, int32_t subHalIndex)
+        : mHalProxy(halProxy), mSubHalIndex(subHalIndex) {}
+
+    Return<void> onDynamicSensorsConnected(
+            const hidl_vec<SensorInfo>& dynamicSensorsAdded) override {
+        sp<HalProxy> halProxy(mHalProxy.promote());
+        if (halProxy != nullptr) {
+            return halProxy->onDynamicSensorsConnected(dynamicSensorsAdded, mSubHalIndex);
+        }
+        return Return<void>();
+    }
+
+    Return<void> onDynamicSensorsDisconnected(
+            const hidl_vec<int32_t>& dynamicSensorHandlesRemoved) override {
+        sp<HalProxy> halProxy(mHalProxy.promote());
+        if (halProxy != nullptr) {
+            return halProxy->onDynamicSensorsDisconnected(dynamicSensorHandlesRemoved,
+                                                          mSubHalIndex);
+        }
+        return Return<void>();
+    }
+
+  private:
+    wp<HalProxy>& mHalProxy;
+    int32_t mSubHalIndex;
+};
+
+HalProxy::HalProxy() {
+    // TODO: Initialize all sub-HALs and discover sensors.
+}
+
+HalProxy::~HalProxy() {
+    // TODO: Join any running threads and clean up FMQs and any other allocated
+    // state.
+}
+
+Return<void> HalProxy::getSensorsList(getSensorsList_cb /* _hidl_cb */) {
+    // TODO: Output sensors list created as part of HalProxy().
+    return Void();
+}
+
+Return<Result> HalProxy::setOperationMode(OperationMode /* mode */) {
+    // TODO: Proxy API call to all sub-HALs and return appropriate result.
+    return Result::INVALID_OPERATION;
+}
+
+Return<Result> HalProxy::activate(int32_t /* sensorHandle */, bool /* enabled */) {
+    // TODO: Proxy API call to appropriate sub-HAL.
+    return Result::INVALID_OPERATION;
+}
+
+Return<Result> HalProxy::initialize(
+        const ::android::hardware::MQDescriptorSync<Event>& eventQueueDescriptor,
+        const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+        const sp<ISensorsCallback>& sensorsCallback) {
+    Result result = Result::OK;
+
+    // TODO: clean up sensor requests, if not already done elsewhere through a death recipient, and
+    // clean up any other resources that exist (FMQs, flags, threads, etc.)
+
+    mDynamicSensorsCallback = sensorsCallback;
+
+    // Create the Event FMQ from the eventQueueDescriptor. Reset the read/write positions.
+    mEventQueue =
+            std::make_unique<EventMessageQueue>(eventQueueDescriptor, true /* resetPointers */);
+
+    // Create the EventFlag that is used to signal to the framework that sensor events have been
+    // written to the Event FMQ
+    if (EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag) != OK) {
+        result = Result::BAD_VALUE;
+    }
+
+    // Create the Wake Lock FMQ that is used by the framework to communicate whenever WAKE_UP
+    // events have been successfully read and handled by the framework.
+    mWakeLockQueue =
+            std::make_unique<WakeLockMessageQueue>(wakeLockDescriptor, true /* resetPointers */);
+
+    if (!mDynamicSensorsCallback || !mEventQueue || !mWakeLockQueue || mEventQueueFlag == nullptr) {
+        result = Result::BAD_VALUE;
+    }
+
+    // TODO: start threads to read wake locks and process events from sub HALs.
+
+    return result;
+}
+
+Return<Result> HalProxy::batch(int32_t /* sensorHandle */, int64_t /* samplingPeriodNs */,
+                               int64_t /* maxReportLatencyNs */) {
+    // TODO: Proxy API call to appropriate sub-HAL.
+    return Result::INVALID_OPERATION;
+}
+
+Return<Result> HalProxy::flush(int32_t /* sensorHandle */) {
+    // TODO: Proxy API call to appropriate sub-HAL.
+    return Result::INVALID_OPERATION;
+}
+
+Return<Result> HalProxy::injectSensorData(const Event& /* event */) {
+    // TODO: Proxy API call to appropriate sub-HAL.
+    return Result::INVALID_OPERATION;
+}
+
+Return<void> HalProxy::registerDirectChannel(const SharedMemInfo& /* mem */,
+                                             registerDirectChannel_cb _hidl_cb) {
+    // TODO: During init, discover the first sub-HAL in the config that has sensors with direct
+    // channel support, if any, and proxy the API call there.
+    _hidl_cb(Result::INVALID_OPERATION, -1 /* channelHandle */);
+    return Return<void>();
+}
+
+Return<Result> HalProxy::unregisterDirectChannel(int32_t /* channelHandle */) {
+    // TODO: During init, discover the first sub-HAL in the config that has sensors with direct
+    // channel support, if any, and proxy the API call there.
+    return Result::INVALID_OPERATION;
+}
+
+Return<void> HalProxy::configDirectReport(int32_t /* sensorHandle */, int32_t /* channelHandle */,
+                                          RateLevel /* rate */, configDirectReport_cb _hidl_cb) {
+    // TODO: During init, discover the first sub-HAL in the config that has sensors with direct
+    // channel support, if any, and proxy the API call there.
+    _hidl_cb(Result::INVALID_OPERATION, 0 /* reportToken */);
+    return Return<void>();
+}
+
+Return<void> HalProxy::debug(const hidl_handle& /* fd */, const hidl_vec<hidl_string>& /* args */) {
+    // TODO: output debug information
+    return Return<void>();
+}
+
+Return<void> HalProxy::onDynamicSensorsConnected(
+        const hidl_vec<SensorInfo>& /* dynamicSensorsAdded */, int32_t /* subHalIndex */) {
+    // TODO: Map the SensorInfo to the global list and then invoke the framework's callback.
+    return Return<void>();
+}
+
+Return<void> HalProxy::onDynamicSensorsDisconnected(
+        const hidl_vec<int32_t>& /* dynamicSensorHandlesRemoved */, int32_t /* subHalIndex */) {
+    // TODO: Unmap the SensorInfo from the global list and then invoke the framework's callback.
+    return Return<void>();
+}
+
+}  // namespace implementation
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/2.0/multihal/HalProxy.h b/sensors/2.0/multihal/HalProxy.h
new file mode 100644
index 0000000..b9855a6
--- /dev/null
+++ b/sensors/2.0/multihal/HalProxy.h
@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include "SubHal.h"
+
+#include <android/hardware/sensors/2.0/ISensors.h>
+#include <fmq/MessageQueue.h>
+#include <hardware_legacy/power.h>
+#include <hidl/MQDescriptor.h>
+#include <hidl/Status.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace implementation {
+
+using ::android::sp;
+using ::android::hardware::EventFlag;
+using ::android::hardware::hidl_string;
+using ::android::hardware::hidl_vec;
+using ::android::hardware::MessageQueue;
+using ::android::hardware::MQDescriptor;
+using ::android::hardware::Return;
+using ::android::hardware::Void;
+
+struct HalProxy : public ISensors {
+    using Event = ::android::hardware::sensors::V1_0::Event;
+    using OperationMode = ::android::hardware::sensors::V1_0::OperationMode;
+    using RateLevel = ::android::hardware::sensors::V1_0::RateLevel;
+    using Result = ::android::hardware::sensors::V1_0::Result;
+    using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
+
+    HalProxy();
+    ~HalProxy();
+
+    // Methods from ::android::hardware::sensors::V2_0::ISensors follow.
+    Return<void> getSensorsList(getSensorsList_cb _hidl_cb) override;
+
+    Return<Result> setOperationMode(OperationMode mode) override;
+
+    Return<Result> activate(int32_t sensorHandle, bool enabled) override;
+
+    Return<Result> initialize(
+            const ::android::hardware::MQDescriptorSync<Event>& eventQueueDescriptor,
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<ISensorsCallback>& sensorsCallback) override;
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                         int64_t maxReportLatencyNs) override;
+
+    Return<Result> flush(int32_t sensorHandle) override;
+
+    Return<Result> injectSensorData(const Event& event) override;
+
+    Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                       registerDirectChannel_cb _hidl_cb) override;
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) override;
+
+    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+                                    configDirectReport_cb _hidl_cb) override;
+
+    Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& args) override;
+
+    // Below methods from ::android::hardware::sensors::V2_0::ISensorsCaback with a minor change
+    // to pass in the sub-HAL index. While the above methods are invoked from the sensors framework
+    // via the binder, these methods are invoked from a callback provided to sub-HALs inside the
+    // same process as the HalProxy, but potentially running on different threads.
+    Return<void> onDynamicSensorsConnected(const hidl_vec<SensorInfo>& dynamicSensorsAdded,
+                                           int32_t subHalIndex);
+
+    Return<void> onDynamicSensorsDisconnected(const hidl_vec<int32_t>& dynamicSensorHandlesRemoved,
+                                              int32_t subHalIndex);
+
+  private:
+    using EventMessageQueue = MessageQueue<Event, kSynchronizedReadWrite>;
+    using WakeLockMessageQueue = MessageQueue<uint32_t, kSynchronizedReadWrite>;
+
+    /**
+     * The Event FMQ where sensor events are written
+     */
+    std::unique_ptr<EventMessageQueue> mEventQueue;
+
+    /**
+     * The Wake Lock FMQ that is read to determine when the framework has handled WAKE_UP events
+     */
+    std::unique_ptr<WakeLockMessageQueue> mWakeLockQueue;
+
+    /**
+     * Event Flag to signal to the framework when sensor events are available to be read
+     */
+    EventFlag* mEventQueueFlag;
+
+    /**
+     * Callback to the sensors framework to inform it that new sensors have been added or removed.
+     */
+    sp<ISensorsCallback> mDynamicSensorsCallback;
+};
+
+}  // namespace implementation
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/2.0/multihal/OWNERS b/sensors/2.0/multihal/OWNERS
new file mode 100644
index 0000000..e955670
--- /dev/null
+++ b/sensors/2.0/multihal/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
\ No newline at end of file
diff --git a/sensors/2.0/multihal/android.hardware.sensors@2.0-multihal.xml b/sensors/2.0/multihal/android.hardware.sensors@2.0-multihal.xml
new file mode 100644
index 0000000..a771100
--- /dev/null
+++ b/sensors/2.0/multihal/android.hardware.sensors@2.0-multihal.xml
@@ -0,0 +1,11 @@
+<manifest version="1.0" type="device">
+    <hal format="hidl">
+        <name>android.hardware.sensors</name>
+        <transport>hwbinder</transport>
+        <version>2.0</version>
+        <interface>
+            <name>ISensors</name>
+            <instance>multihal</instance>
+        </interface>
+    </hal>
+</manifest>
diff --git a/sensors/2.0/multihal/android.hardware.sensors@2.0-service-multihal.rc b/sensors/2.0/multihal/android.hardware.sensors@2.0-service-multihal.rc
new file mode 100644
index 0000000..1671689
--- /dev/null
+++ b/sensors/2.0/multihal/android.hardware.sensors@2.0-service-multihal.rc
@@ -0,0 +1,6 @@
+service vendor.sensors-hal-2-0-multihal /vendor/bin/hw/android.hardware.sensors@2.0-service.multihal
+    class hal
+    user system
+    group system
+    capabilities BLOCK_SUSPEND
+    rlimit rtprio 10 10
diff --git a/sensors/2.0/multihal/include/SubHal.h b/sensors/2.0/multihal/include/SubHal.h
new file mode 100644
index 0000000..75e93a1
--- /dev/null
+++ b/sensors/2.0/multihal/include/SubHal.h
@@ -0,0 +1,202 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android/hardware/sensors/1.0/types.h>
+#include <android/hardware/sensors/2.0/ISensors.h>
+
+#include <vector>
+
+using ::android::hardware::sensors::V1_0::Event;
+using ::android::hardware::sensors::V1_0::Result;
+using ::android::hardware::sensors::V1_0::SensorInfo;
+
+// Indicates the current version of the multiHAL interface formatted as (HAL major version) << 24 |
+// (HAL minor version) << 16 | (multiHAL version)
+#define SUB_HAL_2_0_VERSION 0x02000000
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace implementation {
+
+/**
+ * Wrapper around wake lock acquisition functions (acquire/release_wake_lock) that provides a
+ * RAII-style mechanism for keeping a wake lock held for the duration of a scoped block.
+ * When a ScopedWakelock is created, it increments the reference count stored in the HalProxy
+ * for the sub-HALs specific wake lock, acquiring the wake lock if necessary. When the object goes
+ * out of scope, the ref count is decremented, potentially releasing the wake lock if no other
+ * references to the wake lock exist.
+ *
+ * This class is allocated through the createScopedWakelock callback inside the IHalProxyCallback
+ * provided to sub-HALs during initialization and should be used for all wake lock acquisition
+ * inside of the sub-HAL to ensure wake locks are not held indefinitely.
+ *
+ * The most prevalent use case for this class will be for posting events to the framework through
+ * the postEvents HalProxy callback. The expectation is that sub-HALs will create this
+ * ScopedWakelock through the createScopedWakelock upon receiving a sensor events. The lock boolean
+ * provided to createScopedWakelock will be set the according to whether the sensor events are
+ * from wakeup sensors. Then, the sub-HAL will perform any processing necessary before invoking the
+ * postEvents callback passing in the previously created ScopedWakelock. At this point, ownership
+ * of the object will be passed to the HalProxy that will then be responsible for ensuring any
+ * wake locks continue to be held, if necessary.
+ */
+class ScopedWakelock {
+  public:
+    ScopedWakelock(ScopedWakelock&&) = default;
+    ScopedWakelock& operator=(ScopedWakelock&&) = default;
+    virtual ~ScopedWakelock() { mLocked = false; };
+
+    bool isLocked() const { return mLocked; }
+
+  protected:
+    bool mLocked;
+
+  private:
+    // TODO: Mark HalProxy's subclass of ScopedWakelock as a friend so that it can be initialized.
+    ScopedWakelock();
+    ScopedWakelock(const ScopedWakelock&) = delete;
+    ScopedWakelock& operator=(const ScopedWakelock&) = delete;
+};
+
+/**
+ * Interface that contains several callbacks into the HalProxy class to communicate dynamic sensor
+ * changes and sensor events to the framework and acquire wake locks. The HalProxy will ensure
+ * callbacks occurring at the same time from multiple sub-HALs are synchronized in a safe, efficient
+ * manner.
+ */
+class IHalProxyCallback : public ISensorsCallback {
+  public:
+    /**
+     * Thread-safe callback used to post events to the HalProxy. Sub-HALs should invoke this
+     * whenever new sensor events need to be delivered to the sensors framework. Once invoked, the
+     * HalProxy will attempt to send events to the sensors framework using a blocking write with a
+     * 5 second timeout. This write may be done asynchronously if the queue used to communicate
+     * with the framework is full to avoid blocking sub-HALs for the length of the timeout. If the
+     * write fails, the events will be dropped and any wake locks held will be released.
+     *
+     * The provided ScopedWakelock must be locked if the events are from wakeup sensors. If it's
+     * not locked accordingly, the HalProxy will crash as this indicates the sub-HAL isn't compliant
+     * with the sensors HAL 2.0 specification. Additionally, since ScopedWakelock isn't copyable,
+     * the HalProxy will take ownership of the wake lock given when this method is invoked. Once the
+     * method returns, the HalProxy will handle holding the wake lock, if necessary, until the
+     * framework has successfully processed any wakeup events.
+     *
+     * No return type is used for this callback to avoid sub-HALs trying to resend events when
+     * writes fail. Writes should only fail when the framework is under inordinate stress which will
+     * likely result in a framework restart so retrying will likely only result in overloading the
+     * HalProxy. Sub-HALs should always assume that the write was a success and perform any
+     * necessary cleanup. Additionally, the HalProxy will ensure it logs any errors (through ADB and
+     * bug reports) it encounters during delivery to ensure it's obvious that a failure occurred.
+     *
+     * @param events the events that should be sent to the sensors framework
+     * @param wakelock ScopedWakelock that should be locked to send events from wake sensors and
+     *     unlocked otherwise.
+     */
+    virtual void postEvents(const std::vector<Event>& events, ScopedWakelock wakelock) = 0;
+
+    /**
+     * Initializes a ScopedWakelock on the stack that, when locked, will increment the reference
+     * count for the sub-HAL's wake lock managed inside the HalProxy. See the ScopedWakelock class
+     * definition for how it should be used.
+     *
+     * @param lock whether the ScopedWakelock should be locked before it's returned.
+     * @return the created ScopedWakelock
+     */
+    virtual ScopedWakelock createScopedWakelock(bool lock) = 0;
+};
+
+/**
+ * ISensorsSubHal is an interface that sub-HALs must implement in order to be compliant with
+ * multihal 2.0 and in order for the HalProxy to successfully load and communicate with the sub-HAL.
+ *
+ * Any vendor wishing to implement this interface and support multihal 2.0 will need to create a
+ * dynamic library that exposes sensorsHalGetSubHal (defined below). This library will be loaded by
+ * the HalProxy when the sensors HAL is initialized and then the HalProxy will retrieve the vendor's
+ * implementation of sensorsHalGetSubHal.
+ *
+ * With the exception of the initialize method, ISensorsSubHal will implement the ISensors.hal spec.
+ * Any sensor handles given to the HalProxy, either through getSensorsList() or the
+ * onDynamicSensors(Dis)Connected callbacks, will be translated to avoid clashing with other sub-HAL
+ * handles. To achieve this, the HalProxy will use the upper byte to store the sub-HAL index and
+ * sub-HALs can continue to use the lower 3 bytes of the handle.
+ */
+class ISensorsSubHal : public ISensors {
+    // The ISensors version of initialize isn't used for multihal. Instead, sub-HALs must implement
+    // the version below to allow communciation logic to centralized in the HalProxy
+    Return<Result> initialize(
+            const ::android::hardware::MQDescriptorSync<Event>& /* eventQueueDescriptor */,
+            const ::android::hardware::MQDescriptorSync<uint32_t>& /* wakeLockDescriptor */,
+            const sp<ISensorsCallback>& /* sensorsCallback */) final {
+        return Result::INVALID_OPERATION;
+    }
+
+    /**
+     * Method defined in ::android::hidl::base::V1_0::IBase.
+     *
+     * This method should write debug information to hidl_handle that is useful for debugging
+     * issues. Suggestions include:
+     * - Sensor info including handle values and any other state available in the SensorInfo class
+     * - List of active sensors and their current sampling period and reporting latency
+     * - Information about pending flush requests
+     * - Current operating mode
+     * - Currently registered direct channel info
+     * - A history of any of the above
+     */
+    virtual Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& args) = 0;
+
+    /**
+     * @return A human-readable name for use in wake locks and logging.
+     */
+    virtual const std::string getName() = 0;
+
+    /**
+     * First method invoked on the sub-HAL after it's allocated through sensorsHalGetSubHal() by the
+     * HalProxy. Sub-HALs should use this to initialize any state and retain the callback given in
+     * order to communicate with the HalProxy.
+     *
+     * @param halProxyCallback callback used to inform the HalProxy when a dynamic sensor's state
+     *     changes, new sensor events should be sent to the framework, and when a new ScopedWakelock
+     *     should be created.
+     * @return result OK on success
+     */
+    virtual Return<Result> initialize(const sp<IHalProxyCallback>& halProxyCallback) = 0;
+};
+
+}  // namespace implementation
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+using ::android::hardware::sensors::V2_0::implementation::ISensorsSubHal;
+
+/**
+ * Function that must be exported so the HalProxy class can invoke it on the sub-HAL dynamic
+ * library. This function will only be invoked once at initialization time.
+ *
+ * NOTE: The supported sensors HAL version must match SUB_HAL_2_0_VERSION exactly or the HalProxy
+ * will fail to initialize.
+ *
+ * @param uint32_t when this function returns, this parameter must contain the HAL version that
+ *     this sub-HAL supports. To support this version of multi-HAL, this must be set to
+ *     SUB_HAL_2_0_VERSION.
+ * @return A statically allocated, valid ISensorsSubHal implementation.
+ */
+__attribute__((visibility("default"))) extern "C" ISensorsSubHal* sensorsHalGetSubHal(
+        uint32_t* version);
diff --git a/sensors/2.0/multihal/service.cpp b/sensors/2.0/multihal/service.cpp
new file mode 100644
index 0000000..995cf3c
--- /dev/null
+++ b/sensors/2.0/multihal/service.cpp
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2019 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 "android.hardware.sensors@2.0-service"
+
+#include <android/hardware/sensors/2.0/ISensors.h>
+#include <hidl/HidlTransportSupport.h>
+#include <log/log.h>
+#include <utils/StrongPointer.h>
+#include "HalProxy.h"
+
+using android::hardware::configureRpcThreadpool;
+using android::hardware::joinRpcThreadpool;
+using android::hardware::sensors::V2_0::ISensors;
+using android::hardware::sensors::V2_0::implementation::HalProxy;
+
+int main(int /* argc */, char** /* argv */) {
+    configureRpcThreadpool(1, true);
+
+    android::sp<ISensors> halProxy = new HalProxy();
+    if (halProxy->registerAsService() != ::android::OK) {
+        ALOGE("Failed to register Sensors HAL instance");
+        return -1;
+    }
+
+    joinRpcThreadpool();
+    return 1;  // joinRpcThreadpool shouldn't exit
+}
diff --git a/sensors/2.0/multihal/testing/Android.bp b/sensors/2.0/multihal/testing/Android.bp
new file mode 100644
index 0000000..3dedbd6
--- /dev/null
+++ b/sensors/2.0/multihal/testing/Android.bp
@@ -0,0 +1,55 @@
+//
+// Copyright (C) 2019 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.
+
+cc_defaults {
+    name: "android.hardware.sensors@2.0-fakesubhal-defaults",
+    vendor: true,
+    srcs: [
+        "Sensor.cpp",
+        "SensorsSubHal.cpp",
+    ],
+    header_libs: [
+        "android.hardware.sensors@2.0-subhal.header",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "libhidltransport",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+}
+
+cc_library {
+    name: "android.hardware.sensors@2.0-fakesubhal-config1",
+    defaults: ["android.hardware.sensors@2.0-fakesubhal-defaults"],
+    cflags: [
+        "-DSUPPORT_CONTINUOUS_SENSORS",
+        "-DSUB_HAL_NAME=\"FakeSubHal-Continuous\"",
+    ],
+}
+
+cc_library {
+    name: "android.hardware.sensors@2.0-fakesubhal-config2",
+    defaults: ["android.hardware.sensors@2.0-fakesubhal-defaults"],
+    cflags: [
+        "-DSUPPORT_ON_CHANGE_SENSORS",
+        "-DSUB_HAL_NAME=\"FakeSubHal-OnChange\"",
+    ],
+}
\ No newline at end of file
diff --git a/sensors/2.0/multihal/testing/README b/sensors/2.0/multihal/testing/README
new file mode 100644
index 0000000..ddcc584
--- /dev/null
+++ b/sensors/2.0/multihal/testing/README
@@ -0,0 +1,19 @@
+This directory contains a modified version of the default implementation
+provided for sensors HAL 2.0 to support multi-HAL 2.0. It should be used as a
+means to verify the multi-HAL 2.0 implementation can successfully load and
+interact with sub-HALs.
+
+This sub-HAL implementation has two macros that can be used to configure support
+for different sets of sensors. One "SUPPORT_CONTINUOUS_SENSORS", enables
+support for continuous sensors like accel, and gyro whereas the other
+"SUPPORT_ON_CHANGE_SENSORS" enables support for on change sensors like the
+light and proximity sensor. A build target is defined for each of these macros,
+but more targets could be added to support both in one sub-HAL or none at all,
+if necessary.
+
+When built, the library will be written to
+out/target/product/<device>/vendor/lib64/android.hardware.sensors@2.0-fakesubhal.so
+
+Take this .so and place it where the multi-HAL config will cause the HalProxy to
+look and then restart the system server with adb shell stop / adb shell start
+to cause the multi-HAL to restart and attempt to load in the sub-HAL.
diff --git a/sensors/2.0/multihal/testing/Sensor.cpp b/sensors/2.0/multihal/testing/Sensor.cpp
new file mode 100644
index 0000000..e095efe
--- /dev/null
+++ b/sensors/2.0/multihal/testing/Sensor.cpp
@@ -0,0 +1,372 @@
+/*
+ * Copyright (C) 2019 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 "Sensor.h"
+
+#include <utils/SystemClock.h>
+
+#include <cmath>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace subhal {
+namespace implementation {
+
+using ::android::hardware::sensors::V1_0::MetaDataEventType;
+using ::android::hardware::sensors::V1_0::SensorFlagBits;
+using ::android::hardware::sensors::V1_0::SensorStatus;
+
+static constexpr float kDefaultMaxDelayUs = 10 * 1000 * 1000;
+
+Sensor::Sensor(ISensorsEventCallback* callback)
+    : mIsEnabled(false),
+      mSamplingPeriodNs(0),
+      mLastSampleTimeNs(0),
+      mCallback(callback),
+      mMode(OperationMode::NORMAL) {
+    mRunThread = std::thread(startThread, this);
+}
+
+Sensor::~Sensor() {
+    std::unique_lock<std::mutex> lock(mRunMutex);
+    mStopThread = true;
+    mIsEnabled = false;
+    mWaitCV.notify_all();
+    lock.release();
+    mRunThread.join();
+}
+
+const SensorInfo& Sensor::getSensorInfo() const {
+    return mSensorInfo;
+}
+
+void Sensor::batch(int32_t samplingPeriodNs) {
+    samplingPeriodNs =
+            std::clamp(samplingPeriodNs, mSensorInfo.minDelay * 1000, mSensorInfo.maxDelay * 1000);
+
+    if (mSamplingPeriodNs != samplingPeriodNs) {
+        mSamplingPeriodNs = samplingPeriodNs;
+        // Wake up the 'run' thread to check if a new event should be generated now
+        mWaitCV.notify_all();
+    }
+}
+
+void Sensor::activate(bool enable) {
+    if (mIsEnabled != enable) {
+        std::unique_lock<std::mutex> lock(mRunMutex);
+        mIsEnabled = enable;
+        mWaitCV.notify_all();
+    }
+}
+
+Result Sensor::flush() {
+    // Only generate a flush complete event if the sensor is enabled and if the sensor is not a
+    // one-shot sensor.
+    if (!mIsEnabled || (mSensorInfo.flags & static_cast<uint32_t>(SensorFlagBits::ONE_SHOT_MODE))) {
+        return Result::BAD_VALUE;
+    }
+
+    // Note: If a sensor supports batching, write all of the currently batched events for the sensor
+    // to the Event FMQ prior to writing the flush complete event.
+    Event ev;
+    ev.sensorHandle = mSensorInfo.sensorHandle;
+    ev.sensorType = SensorType::META_DATA;
+    ev.u.meta.what = MetaDataEventType::META_DATA_FLUSH_COMPLETE;
+    std::vector<Event> evs{ev};
+    mCallback->postEvents(evs, isWakeUpSensor());
+
+    return Result::OK;
+}
+
+void Sensor::startThread(Sensor* sensor) {
+    sensor->run();
+}
+
+void Sensor::run() {
+    std::unique_lock<std::mutex> runLock(mRunMutex);
+    constexpr int64_t kNanosecondsInSeconds = 1000 * 1000 * 1000;
+
+    while (!mStopThread) {
+        if (!mIsEnabled || mMode == OperationMode::DATA_INJECTION) {
+            mWaitCV.wait(runLock, [&] {
+                return ((mIsEnabled && mMode == OperationMode::NORMAL) || mStopThread);
+            });
+        } else {
+            timespec curTime;
+            clock_gettime(CLOCK_REALTIME, &curTime);
+            int64_t now = (curTime.tv_sec * kNanosecondsInSeconds) + curTime.tv_nsec;
+            int64_t nextSampleTime = mLastSampleTimeNs + mSamplingPeriodNs;
+
+            if (now >= nextSampleTime) {
+                mLastSampleTimeNs = now;
+                nextSampleTime = mLastSampleTimeNs + mSamplingPeriodNs;
+                mCallback->postEvents(readEvents(), isWakeUpSensor());
+            }
+
+            mWaitCV.wait_for(runLock, std::chrono::nanoseconds(nextSampleTime - now));
+        }
+    }
+}
+
+bool Sensor::isWakeUpSensor() {
+    return mSensorInfo.flags & static_cast<uint32_t>(SensorFlagBits::WAKE_UP);
+}
+
+std::vector<Event> Sensor::readEvents() {
+    std::vector<Event> events;
+    Event event;
+    event.sensorHandle = mSensorInfo.sensorHandle;
+    event.sensorType = mSensorInfo.type;
+    event.timestamp = ::android::elapsedRealtimeNano();
+    event.u.vec3.x = 0;
+    event.u.vec3.y = 0;
+    event.u.vec3.z = 0;
+    event.u.vec3.status = SensorStatus::ACCURACY_HIGH;
+    events.push_back(event);
+    return events;
+}
+
+void Sensor::setOperationMode(OperationMode mode) {
+    if (mMode != mode) {
+        std::unique_lock<std::mutex> lock(mRunMutex);
+        mMode = mode;
+        mWaitCV.notify_all();
+    }
+}
+
+bool Sensor::supportsDataInjection() const {
+    return mSensorInfo.flags & static_cast<uint32_t>(SensorFlagBits::DATA_INJECTION);
+}
+
+Result Sensor::injectEvent(const Event& event) {
+    Result result = Result::OK;
+    if (event.sensorType == SensorType::ADDITIONAL_INFO) {
+        // When in OperationMode::NORMAL, SensorType::ADDITIONAL_INFO is used to push operation
+        // environment data into the device.
+    } else if (!supportsDataInjection()) {
+        result = Result::INVALID_OPERATION;
+    } else if (mMode == OperationMode::DATA_INJECTION) {
+        mCallback->postEvents(std::vector<Event>{event}, isWakeUpSensor());
+    } else {
+        result = Result::BAD_VALUE;
+    }
+    return result;
+}
+
+OnChangeSensor::OnChangeSensor(ISensorsEventCallback* callback)
+    : Sensor(callback), mPreviousEventSet(false) {}
+
+void OnChangeSensor::activate(bool enable) {
+    Sensor::activate(enable);
+    if (!enable) {
+        mPreviousEventSet = false;
+    }
+}
+
+std::vector<Event> OnChangeSensor::readEvents() {
+    std::vector<Event> events = Sensor::readEvents();
+    std::vector<Event> outputEvents;
+
+    for (auto iter = events.begin(); iter != events.end(); ++iter) {
+        Event ev = *iter;
+        if (ev.u.vec3 != mPreviousEvent.u.vec3 || !mPreviousEventSet) {
+            outputEvents.push_back(ev);
+            mPreviousEvent = ev;
+            mPreviousEventSet = true;
+        }
+    }
+    return outputEvents;
+}
+
+AccelSensor::AccelSensor(int32_t sensorHandle, ISensorsEventCallback* callback) : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Accel Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::ACCELEROMETER;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 78.4f;  // +/- 8g
+    mSensorInfo.resolution = 1.52e-5;
+    mSensorInfo.power = 0.001f;        // mA
+    mSensorInfo.minDelay = 20 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorFlagBits::DATA_INJECTION);
+};
+
+PressureSensor::PressureSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Pressure Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::PRESSURE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 1100.0f;     // hPa
+    mSensorInfo.resolution = 0.005f;    // hPa
+    mSensorInfo.power = 0.001f;         // mA
+    mSensorInfo.minDelay = 100 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = 0;
+};
+
+MagnetometerSensor::MagnetometerSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Magnetic Field Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::MAGNETIC_FIELD;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 1300.0f;
+    mSensorInfo.resolution = 0.01f;
+    mSensorInfo.power = 0.001f;        // mA
+    mSensorInfo.minDelay = 20 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = 0;
+};
+
+LightSensor::LightSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Light Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::LIGHT;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 43000.0f;
+    mSensorInfo.resolution = 10.0f;
+    mSensorInfo.power = 0.001f;         // mA
+    mSensorInfo.minDelay = 200 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorFlagBits::ON_CHANGE_MODE);
+};
+
+ProximitySensor::ProximitySensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Proximity Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::PROXIMITY;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 5.0f;
+    mSensorInfo.resolution = 1.0f;
+    mSensorInfo.power = 0.012f;         // mA
+    mSensorInfo.minDelay = 200 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags =
+            static_cast<uint32_t>(SensorFlagBits::ON_CHANGE_MODE | SensorFlagBits::WAKE_UP);
+};
+
+GyroSensor::GyroSensor(int32_t sensorHandle, ISensorsEventCallback* callback) : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Gyro Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::GYROSCOPE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 1000.0f * M_PI / 180.0f;
+    mSensorInfo.resolution = 1000.0f * M_PI / (180.0f * 32768.0f);
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelay = 2.5f * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = 0;
+};
+
+AmbientTempSensor::AmbientTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Ambient Temp Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::AMBIENT_TEMPERATURE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 80.0f;
+    mSensorInfo.resolution = 0.01f;
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelay = 40 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorFlagBits::ON_CHANGE_MODE);
+};
+
+DeviceTempSensor::DeviceTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Device Temp Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::TEMPERATURE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 80.0f;
+    mSensorInfo.resolution = 0.01f;
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelay = 40 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorFlagBits::ON_CHANGE_MODE);
+}
+
+RelativeHumiditySensor::RelativeHumiditySensor(int32_t sensorHandle,
+                                               ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Relative Humidity Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::RELATIVE_HUMIDITY;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 100.0f;
+    mSensorInfo.resolution = 0.1f;
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelay = 40 * 1000;  // microseconds
+    mSensorInfo.maxDelay = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorFlagBits::ON_CHANGE_MODE);
+}
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/2.0/multihal/testing/Sensor.h b/sensors/2.0/multihal/testing/Sensor.h
new file mode 100644
index 0000000..980ea54
--- /dev/null
+++ b/sensors/2.0/multihal/testing/Sensor.h
@@ -0,0 +1,146 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include <android/hardware/sensors/1.0/types.h>
+
+#include <condition_variable>
+#include <memory>
+#include <mutex>
+#include <thread>
+#include <vector>
+
+using ::android::hardware::sensors::V1_0::Event;
+using ::android::hardware::sensors::V1_0::OperationMode;
+using ::android::hardware::sensors::V1_0::Result;
+using ::android::hardware::sensors::V1_0::SensorInfo;
+using ::android::hardware::sensors::V1_0::SensorType;
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace subhal {
+namespace implementation {
+
+class ISensorsEventCallback {
+  public:
+    virtual ~ISensorsEventCallback(){};
+    virtual void postEvents(const std::vector<Event>& events, bool wakeup) = 0;
+};
+
+class Sensor {
+  public:
+    Sensor(ISensorsEventCallback* callback);
+    virtual ~Sensor();
+
+    const SensorInfo& getSensorInfo() const;
+    void batch(int32_t samplingPeriodNs);
+    virtual void activate(bool enable);
+    Result flush();
+
+    void setOperationMode(OperationMode mode);
+    bool supportsDataInjection() const;
+    Result injectEvent(const Event& event);
+
+  protected:
+    void run();
+    virtual std::vector<Event> readEvents();
+    static void startThread(Sensor* sensor);
+
+    bool isWakeUpSensor();
+
+    bool mIsEnabled;
+    int64_t mSamplingPeriodNs;
+    int64_t mLastSampleTimeNs;
+    SensorInfo mSensorInfo;
+
+    std::atomic_bool mStopThread;
+    std::condition_variable mWaitCV;
+    std::mutex mRunMutex;
+    std::thread mRunThread;
+
+    ISensorsEventCallback* mCallback;
+
+    OperationMode mMode;
+};
+
+class OnChangeSensor : public Sensor {
+  public:
+    OnChangeSensor(ISensorsEventCallback* callback);
+
+    virtual void activate(bool enable) override;
+
+  protected:
+    virtual std::vector<Event> readEvents() override;
+
+  protected:
+    Event mPreviousEvent;
+    bool mPreviousEventSet;
+};
+
+class AccelSensor : public Sensor {
+  public:
+    AccelSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class GyroSensor : public Sensor {
+  public:
+    GyroSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class AmbientTempSensor : public OnChangeSensor {
+  public:
+    AmbientTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class DeviceTempSensor : public OnChangeSensor {
+  public:
+    DeviceTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class PressureSensor : public Sensor {
+  public:
+    PressureSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class MagnetometerSensor : public Sensor {
+  public:
+    MagnetometerSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class LightSensor : public OnChangeSensor {
+  public:
+    LightSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class ProximitySensor : public OnChangeSensor {
+  public:
+    ProximitySensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+class RelativeHumiditySensor : public OnChangeSensor {
+  public:
+    RelativeHumiditySensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+};
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/2.0/multihal/testing/SensorsSubHal.cpp b/sensors/2.0/multihal/testing/SensorsSubHal.cpp
new file mode 100644
index 0000000..8d45982
--- /dev/null
+++ b/sensors/2.0/multihal/testing/SensorsSubHal.cpp
@@ -0,0 +1,179 @@
+/*
+ * Copyright (C) 2019 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 "SensorsSubHal.h"
+
+#include <android/hardware/sensors/2.0/types.h>
+#include <log/log.h>
+
+ISensorsSubHal* sensorsHalGetSubHal(uint32_t* version) {
+    static ::android::hardware::sensors::V2_0::subhal::implementation::SensorsSubHal subHal;
+    *version = SUB_HAL_2_0_VERSION;
+    return &subHal;
+}
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace subhal {
+namespace implementation {
+
+using ::android::hardware::Void;
+using ::android::hardware::sensors::V1_0::Event;
+using ::android::hardware::sensors::V1_0::OperationMode;
+using ::android::hardware::sensors::V1_0::RateLevel;
+using ::android::hardware::sensors::V1_0::Result;
+using ::android::hardware::sensors::V1_0::SharedMemInfo;
+using ::android::hardware::sensors::V2_0::SensorTimeout;
+using ::android::hardware::sensors::V2_0::WakeLockQueueFlagBits;
+using ::android::hardware::sensors::V2_0::implementation::ScopedWakelock;
+
+SensorsSubHal::SensorsSubHal() : mCallback(nullptr), mNextHandle(1) {
+#ifdef SUPPORT_CONTINUOUS_SENSORS
+    AddSensor<AccelSensor>();
+    AddSensor<GyroSensor>();
+    AddSensor<MagnetometerSensor>();
+    AddSensor<PressureSensor>();
+#endif  // SUPPORT_CONTINUOUS_SENSORS
+
+#ifdef SUPPORT_ON_CHANGE_SENSORS
+    AddSensor<AmbientTempSensor>();
+    AddSensor<DeviceTempSensor>();
+    AddSensor<LightSensor>();
+    AddSensor<ProximitySensor>();
+    AddSensor<RelativeHumiditySensor>();
+#endif  // SUPPORT_ON_CHANGE_SENSORS
+}
+
+// Methods from ::android::hardware::sensors::V2_0::ISensors follow.
+Return<void> SensorsSubHal::getSensorsList(getSensorsList_cb _hidl_cb) {
+    std::vector<SensorInfo> sensors;
+    for (const auto& sensor : mSensors) {
+        sensors.push_back(sensor.second->getSensorInfo());
+    }
+
+    _hidl_cb(sensors);
+    return Void();
+}
+
+Return<Result> SensorsSubHal::setOperationMode(OperationMode mode) {
+    for (auto sensor : mSensors) {
+        sensor.second->setOperationMode(mode);
+    }
+    return Result::OK;
+}
+
+Return<Result> SensorsSubHal::activate(int32_t sensorHandle, bool enabled) {
+    auto sensor = mSensors.find(sensorHandle);
+    if (sensor != mSensors.end()) {
+        sensor->second->activate(enabled);
+        return Result::OK;
+    }
+    return Result::BAD_VALUE;
+}
+
+Return<Result> SensorsSubHal::batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                                    int64_t /* maxReportLatencyNs */) {
+    auto sensor = mSensors.find(sensorHandle);
+    if (sensor != mSensors.end()) {
+        sensor->second->batch(samplingPeriodNs);
+        return Result::OK;
+    }
+    return Result::BAD_VALUE;
+}
+
+Return<Result> SensorsSubHal::flush(int32_t sensorHandle) {
+    auto sensor = mSensors.find(sensorHandle);
+    if (sensor != mSensors.end()) {
+        return sensor->second->flush();
+    }
+    return Result::BAD_VALUE;
+}
+
+Return<Result> SensorsSubHal::injectSensorData(const Event& event) {
+    auto sensor = mSensors.find(event.sensorHandle);
+    if (sensor != mSensors.end()) {
+        return sensor->second->injectEvent(event);
+    }
+
+    return Result::BAD_VALUE;
+}
+
+Return<void> SensorsSubHal::registerDirectChannel(const SharedMemInfo& /* mem */,
+                                                  registerDirectChannel_cb _hidl_cb) {
+    _hidl_cb(Result::INVALID_OPERATION, -1 /* channelHandle */);
+    return Return<void>();
+}
+
+Return<Result> SensorsSubHal::unregisterDirectChannel(int32_t /* channelHandle */) {
+    return Result::INVALID_OPERATION;
+}
+
+Return<void> SensorsSubHal::configDirectReport(int32_t /* sensorHandle */,
+                                               int32_t /* channelHandle */, RateLevel /* rate */,
+                                               configDirectReport_cb _hidl_cb) {
+    _hidl_cb(Result::INVALID_OPERATION, 0 /* reportToken */);
+    return Return<void>();
+}
+
+Return<void> SensorsSubHal::debug(const hidl_handle& fd, const hidl_vec<hidl_string>& args) {
+    if (fd.getNativeHandle() == nullptr || fd->numFds < 1) {
+        ALOGE("%s: missing fd for writing", __FUNCTION__);
+        return Void();
+    }
+
+    FILE* out = fdopen(dup(fd->data[0]), "w");
+
+    if (args.size() != 0) {
+        fprintf(out,
+                "Note: sub-HAL %s currently does not support args. Input arguments are "
+                "ignored.\n",
+                getName().c_str());
+    }
+
+    std::ostringstream stream;
+    stream << "Available sensors:" << std::endl;
+    for (auto sensor : mSensors) {
+        SensorInfo info = sensor.second->getSensorInfo();
+        stream << "Name: " << info.name << std::endl;
+        stream << "Min delay: " << info.minDelay << std::endl;
+        stream << "Flags: " << info.flags << std::endl;
+    }
+    stream << std::endl;
+
+    fprintf(out, "%s", stream.str().c_str());
+
+    fclose(out);
+    return Return<void>();
+}
+
+Return<Result> SensorsSubHal::initialize(const sp<IHalProxyCallback>& halProxyCallback) {
+    mCallback = halProxyCallback;
+    return Result::OK;
+}
+
+void SensorsSubHal::postEvents(const std::vector<Event>& events, bool wakeup) {
+    ScopedWakelock wakelock = mCallback->createScopedWakelock(wakeup);
+    mCallback->postEvents(events, std::move(wakelock));
+}
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/sensors/2.0/multihal/testing/SensorsSubHal.h b/sensors/2.0/multihal/testing/SensorsSubHal.h
new file mode 100644
index 0000000..93009d5
--- /dev/null
+++ b/sensors/2.0/multihal/testing/SensorsSubHal.h
@@ -0,0 +1,115 @@
+/*
+ * Copyright (C) 2019 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.
+ */
+
+#pragma once
+
+#include "SubHal.h"
+
+#include "Sensor.h"
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace subhal {
+namespace implementation {
+
+using ::android::hardware::sensors::V2_0::implementation::IHalProxyCallback;
+
+/**
+ * Implementation of a ISensorsSubHal that can be used to test the implementation of multihal 2.0.
+ * See the README file for more details on how this class can be used for testing.
+ */
+class SensorsSubHal : public ISensorsSubHal, public ISensorsEventCallback {
+    using Event = ::android::hardware::sensors::V1_0::Event;
+    using OperationMode = ::android::hardware::sensors::V1_0::OperationMode;
+    using RateLevel = ::android::hardware::sensors::V1_0::RateLevel;
+    using Result = ::android::hardware::sensors::V1_0::Result;
+    using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
+
+  public:
+    SensorsSubHal();
+
+    // Methods from ::android::hardware::sensors::V2_0::ISensors follow.
+    Return<void> getSensorsList(getSensorsList_cb _hidl_cb) override;
+
+    Return<Result> setOperationMode(OperationMode mode) override;
+
+    Return<Result> activate(int32_t sensorHandle, bool enabled) override;
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                         int64_t maxReportLatencyNs) override;
+
+    Return<Result> flush(int32_t sensorHandle) override;
+
+    Return<Result> injectSensorData(const Event& event) override;
+
+    Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                       registerDirectChannel_cb _hidl_cb) override;
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) override;
+
+    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+                                    configDirectReport_cb _hidl_cb) override;
+
+    Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& args) override;
+
+    // Methods from ::android::hardware::sensors::V2_0::implementation::ISensorsSubHal follow.
+    const std::string getName() override {
+#ifdef SUB_HAL_NAME
+        return SUB_HAL_NAME;
+#else   // SUB_HAL_NAME
+        return "FakeSubHal";
+#endif  // SUB_HAL_NAME
+    }
+
+    Return<Result> initialize(const sp<IHalProxyCallback>& halProxyCallback) override;
+
+    // Method from ISensorsEventCallback.
+    void postEvents(const std::vector<Event>& events, bool wakeup) override;
+
+  private:
+    template <class SensorType>
+    void AddSensor() {
+        std::shared_ptr<SensorType> sensor =
+                std::make_shared<SensorType>(mNextHandle++ /* sensorHandle */, this /* callback */);
+        mSensors[sensor->getSensorInfo().sensorHandle] = sensor;
+    }
+
+    /**
+     * Callback used to communicate to the HalProxy when dynamic sensors are connected /
+     * disconnected, sensor events need to be sent to the framework, and when a wakelock should be
+     * acquired.
+     */
+    sp<IHalProxyCallback> mCallback;
+
+    /**
+     * A map of the available sensors
+     */
+    std::map<int32_t, std::shared_ptr<Sensor>> mSensors;
+
+    /**
+     * The next available sensor handle
+     */
+    int32_t mNextHandle;
+};
+
+}  // namespace implementation
+}  // namespace subhal
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
diff --git a/wifi/1.0/IWifiP2pIface.hal b/wifi/1.0/IWifiP2pIface.hal
index b908591..025f7ab 100644
--- a/wifi/1.0/IWifiP2pIface.hal
+++ b/wifi/1.0/IWifiP2pIface.hal
@@ -19,6 +19,6 @@
 import IWifiIface;
 
 /**
- * Interface used to represent a single NAN iface.
+ * Interface used to represent a single P2P iface.
  */
 interface IWifiP2pIface extends IWifiIface {};