Grpc Vehicle Connectors
Test: Build; test with ag/9869095
Bug: b/141493212
Change-Id: Ia4c0b0b5b358b1c67aae43d8c64f781b83725329
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/proto/VehicleServer.proto b/automotive/vehicle/2.0/default/impl/vhal_v2_0/proto/VehicleServer.proto
index 2cc6595..6f71d65 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/proto/VehicleServer.proto
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/proto/VehicleServer.proto
@@ -35,13 +35,23 @@
VehicleHalStatusCode status_code = 1;
}
+message WrappedVehiclePropValue {
+ VehiclePropValue value = 1;
+ // An indicator on whether we should update the status of the property
+ // - true: if the value is generated by (emulated/real) car, or;
+ // if the value is injected to 'fake' a on car event (for debugging purpose)
+ // - false: if the value is set by VHal (public interface), since Android
+ // cannot change status of property on a real car
+ bool update_status = 2;
+}
+
service VehicleServer {
rpc GetAllPropertyConfig(google.protobuf.Empty) returns (stream VehiclePropConfig) {}
// Change the property value of the vehicle
- rpc SetProperty(VehiclePropValue) returns (VehicleHalCallStatus) {}
+ rpc SetProperty(WrappedVehiclePropValue) returns (VehicleHalCallStatus) {}
// Start a vehicle property value stream
- rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream VehiclePropValue) {}
+ rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream WrappedVehiclePropValue) {}
}
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.cpp
new file mode 100644
index 0000000..e329c5b
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.cpp
@@ -0,0 +1,162 @@
+/*
+ * 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 "GrpcVehicleClient.h"
+
+#include <condition_variable>
+#include <mutex>
+
+#include <android-base/logging.h>
+#include <grpc++/grpc++.h>
+
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+#include "vhal_v2_0/ProtoMessageConverter.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+static std::shared_ptr<::grpc::ChannelCredentials> getChannelCredentials() {
+ // TODO(chenhaosjtuacm): get secured credentials here
+ return ::grpc::InsecureChannelCredentials();
+}
+
+class GrpcVehicleClientImpl : public EmulatedVehicleClient {
+ public:
+ GrpcVehicleClientImpl(const std::string& addr)
+ : mServiceAddr(addr),
+ mGrpcChannel(::grpc::CreateChannel(mServiceAddr, getChannelCredentials())),
+ mGrpcStub(vhal_proto::VehicleServer::NewStub(mGrpcChannel)) {
+ StartValuePollingThread();
+ }
+
+ ~GrpcVehicleClientImpl() {
+ mShuttingDownFlag.store(true);
+ mShutdownCV.notify_all();
+ if (mPollingThread.joinable()) {
+ mPollingThread.join();
+ }
+ }
+
+ // methods from IVehicleClient
+
+ std::vector<VehiclePropConfig> getAllPropertyConfig() const override;
+
+ StatusCode setProperty(const VehiclePropValue& value, bool updateStatus) override;
+
+ private:
+ void StartValuePollingThread();
+
+ // private data members
+
+ std::string mServiceAddr;
+ std::shared_ptr<::grpc::Channel> mGrpcChannel;
+ std::unique_ptr<vhal_proto::VehicleServer::Stub> mGrpcStub;
+ std::thread mPollingThread;
+
+ std::mutex mShutdownMutex;
+ std::condition_variable mShutdownCV;
+ std::atomic<bool> mShuttingDownFlag{false};
+};
+
+std::unique_ptr<EmulatedVehicleClient> makeGrpcVehicleClient(const std::string& addr) {
+ return std::make_unique<GrpcVehicleClientImpl>(addr);
+}
+
+std::vector<VehiclePropConfig> GrpcVehicleClientImpl::getAllPropertyConfig() const {
+ std::vector<VehiclePropConfig> configs;
+ ::grpc::ClientContext context;
+ auto config_stream = mGrpcStub->GetAllPropertyConfig(&context, ::google::protobuf::Empty());
+ vhal_proto::VehiclePropConfig protoConfig;
+ while (config_stream->Read(&protoConfig)) {
+ VehiclePropConfig config;
+ proto_msg_converter::fromProto(&config, protoConfig);
+ configs.emplace_back(std::move(config));
+ }
+ auto grpc_status = config_stream->Finish();
+ if (!grpc_status.ok()) {
+ LOG(ERROR) << __func__
+ << ": GRPC GetAllPropertyConfig Failed: " << grpc_status.error_message();
+ configs.clear();
+ }
+
+ return configs;
+}
+
+StatusCode GrpcVehicleClientImpl::setProperty(const VehiclePropValue& value, bool updateStatus) {
+ ::grpc::ClientContext context;
+ vhal_proto::WrappedVehiclePropValue wrappedProtoValue;
+ vhal_proto::VehicleHalCallStatus vhal_status;
+ proto_msg_converter::toProto(wrappedProtoValue.mutable_value(), value);
+ wrappedProtoValue.set_update_status(updateStatus);
+
+ auto grpc_status = mGrpcStub->SetProperty(&context, wrappedProtoValue, &vhal_status);
+ if (!grpc_status.ok()) {
+ LOG(ERROR) << __func__ << ": GRPC SetProperty Failed: " << grpc_status.error_message();
+ return StatusCode::INTERNAL_ERROR;
+ }
+
+ return static_cast<StatusCode>(vhal_status.status_code());
+}
+
+void GrpcVehicleClientImpl::StartValuePollingThread() {
+ mPollingThread = std::thread([this]() {
+ while (!mShuttingDownFlag.load()) {
+ ::grpc::ClientContext context;
+
+ std::atomic<bool> rpc_ok{true};
+ std::thread shuttingdown_watcher([this, &rpc_ok, &context]() {
+ std::unique_lock<std::mutex> shutdownLock(mShutdownMutex);
+ mShutdownCV.wait(shutdownLock, [this, &rpc_ok]() {
+ return !rpc_ok.load() || mShuttingDownFlag.load();
+ });
+ context.TryCancel();
+ });
+
+ auto value_stream =
+ mGrpcStub->StartPropertyValuesStream(&context, ::google::protobuf::Empty());
+ vhal_proto::WrappedVehiclePropValue wrappedProtoValue;
+ while (!mShuttingDownFlag.load() && value_stream->Read(&wrappedProtoValue)) {
+ VehiclePropValue value;
+ proto_msg_converter::fromProto(&value, wrappedProtoValue.value());
+ onPropertyValue(value, wrappedProtoValue.update_status());
+ }
+
+ rpc_ok.store(false);
+ mShutdownCV.notify_all();
+ shuttingdown_watcher.join();
+
+ auto grpc_status = value_stream->Finish();
+ // never reach here until connection lost
+ LOG(ERROR) << __func__
+ << ": GRPC Value Streaming Failed: " << grpc_status.error_message();
+
+ // try to reconnect
+ }
+ });
+}
+
+} // namespace impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.h
new file mode 100644
index 0000000..14eae7f
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.h
@@ -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.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleClient_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleClient_H_
+
+#include "vhal_v2_0/EmulatedVehicleConnector.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+std::unique_ptr<EmulatedVehicleClient> makeGrpcVehicleClient(const std::string& addr);
+
+} // namespace impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
+#endif // android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleClient_H_
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.cpp
new file mode 100644
index 0000000..e30b3be
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.cpp
@@ -0,0 +1,229 @@
+/*
+ * 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 "GrpcVehicleServer.h"
+
+#include <condition_variable>
+#include <mutex>
+#include <shared_mutex>
+
+#include <android-base/logging.h>
+#include <grpc++/grpc++.h>
+
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+#include "vhal_v2_0/ProtoMessageConverter.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+class GrpcVehicleServerImpl : public GrpcVehicleServer, public vhal_proto::VehicleServer::Service {
+ public:
+ GrpcVehicleServerImpl(const std::string& addr) : mServiceAddr(addr) {
+ setValuePool(&mValueObjectPool);
+ }
+
+ // method from GrpcVehicleServer
+ void Start() override;
+
+ // method from IVehicleServer
+ void onPropertyValueFromCar(const VehiclePropValue& value, bool updateStatus) override;
+
+ // methods from vhal_proto::VehicleServer::Service
+
+ ::grpc::Status GetAllPropertyConfig(
+ ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+ ::grpc::ServerWriter<vhal_proto::VehiclePropConfig>* stream) override;
+
+ ::grpc::Status SetProperty(::grpc::ServerContext* context,
+ const vhal_proto::WrappedVehiclePropValue* wrappedPropValue,
+ vhal_proto::VehicleHalCallStatus* status) override;
+
+ ::grpc::Status StartPropertyValuesStream(
+ ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+ ::grpc::ServerWriter<vhal_proto::WrappedVehiclePropValue>* stream) override;
+
+ private:
+ // We keep long-lasting connection for streaming the prop values.
+ // For us, each connection can be represented as a function to send the new value, and
+ // an ID to identify this connection
+ struct ConnectionDescriptor {
+ using ValueWriterType = std::function<bool(const vhal_proto::WrappedVehiclePropValue&)>;
+
+ ConnectionDescriptor(ValueWriterType&& value_writer)
+ : mValueWriter(std::move(value_writer)),
+ mConnectionID(CONNECTION_ID_COUNTER.fetch_add(1)) {}
+
+ ConnectionDescriptor(const ConnectionDescriptor&) = delete;
+
+ ConnectionDescriptor& operator=(const ConnectionDescriptor&) = delete;
+
+ // This move constructor is NOT THREAD-SAFE, which means it cannot be moved
+ // while using. Since the connection descriptors are pretected by mConnectionMutex
+ // then we are fine here
+ ConnectionDescriptor(ConnectionDescriptor&& cd)
+ : mValueWriter(std::move(cd.mValueWriter)),
+ mConnectionID(cd.mConnectionID),
+ mIsAlive(cd.mIsAlive.load()) {
+ cd.mIsAlive.store(false);
+ }
+
+ ValueWriterType mValueWriter;
+ uint64_t mConnectionID;
+ std::atomic<bool> mIsAlive{true};
+
+ static std::atomic<uint64_t> CONNECTION_ID_COUNTER;
+ };
+
+ std::string mServiceAddr;
+ VehiclePropValuePool mValueObjectPool;
+ mutable std::shared_mutex mConnectionMutex;
+ mutable std::shared_mutex mWriterMutex;
+ std::list<ConnectionDescriptor> mValueStreamingConnections;
+};
+
+std::atomic<uint64_t> GrpcVehicleServerImpl::ConnectionDescriptor::CONNECTION_ID_COUNTER = 0;
+
+static std::shared_ptr<::grpc::ServerCredentials> getServerCredentials() {
+ // TODO(chenhaosjtuacm): get secured credentials here
+ return ::grpc::InsecureServerCredentials();
+}
+
+GrpcVehicleServerPtr makeGrpcVehicleServer(const std::string& addr) {
+ return std::make_unique<GrpcVehicleServerImpl>(addr);
+}
+
+void GrpcVehicleServerImpl::Start() {
+ ::grpc::ServerBuilder builder;
+ builder.RegisterService(this);
+ builder.AddListeningPort(mServiceAddr, getServerCredentials());
+ std::unique_ptr<::grpc::Server> server(builder.BuildAndStart());
+
+ server->Wait();
+}
+
+void GrpcVehicleServerImpl::onPropertyValueFromCar(const VehiclePropValue& value,
+ bool updateStatus) {
+ vhal_proto::WrappedVehiclePropValue wrappedPropValue;
+ proto_msg_converter::toProto(wrappedPropValue.mutable_value(), value);
+ wrappedPropValue.set_update_status(updateStatus);
+ std::shared_lock read_lock(mConnectionMutex);
+
+ bool has_terminated_connections = 0;
+
+ for (auto& connection : mValueStreamingConnections) {
+ auto writeOK = connection.mValueWriter(wrappedPropValue);
+ if (!writeOK) {
+ LOG(ERROR) << __func__ << ": Server Write failed, connection lost. ID: "
+ << connection.mConnectionID;
+ has_terminated_connections = true;
+ connection.mIsAlive.store(false);
+ }
+ }
+
+ if (!has_terminated_connections) {
+ return;
+ }
+
+ read_lock.unlock();
+
+ std::unique_lock write_lock(mConnectionMutex);
+
+ for (auto itr = mValueStreamingConnections.begin(); itr != mValueStreamingConnections.end();) {
+ if (!itr->mIsAlive.load()) {
+ itr = mValueStreamingConnections.erase(itr);
+ } else {
+ ++itr;
+ }
+ }
+}
+
+::grpc::Status GrpcVehicleServerImpl::GetAllPropertyConfig(
+ ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+ ::grpc::ServerWriter<vhal_proto::VehiclePropConfig>* stream) {
+ auto configs = onGetAllPropertyConfig();
+ for (auto& config : configs) {
+ vhal_proto::VehiclePropConfig protoConfig;
+ proto_msg_converter::toProto(&protoConfig, config);
+ if (!stream->Write(protoConfig)) {
+ return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
+ }
+ }
+
+ return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleServerImpl::SetProperty(
+ ::grpc::ServerContext* context, const vhal_proto::WrappedVehiclePropValue* wrappedPropValue,
+ vhal_proto::VehicleHalCallStatus* status) {
+ VehiclePropValue value;
+ proto_msg_converter::fromProto(&value, wrappedPropValue->value());
+
+ auto set_status = static_cast<int32_t>(onSetProperty(value, wrappedPropValue->update_status()));
+ if (!vhal_proto::VehicleHalStatusCode_IsValid(set_status)) {
+ return ::grpc::Status(::grpc::StatusCode::INTERNAL, "Unknown status code");
+ }
+
+ status->set_status_code(static_cast<vhal_proto::VehicleHalStatusCode>(set_status));
+
+ return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleServerImpl::StartPropertyValuesStream(
+ ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+ ::grpc::ServerWriter<vhal_proto::WrappedVehiclePropValue>* stream) {
+ std::mutex terminateMutex;
+ std::condition_variable terminateCV;
+ std::unique_lock<std::mutex> terminateLock(terminateMutex);
+ bool terminated{false};
+
+ auto callBack = [stream, &terminateMutex, &terminateCV, &terminated,
+ this](const vhal_proto::WrappedVehiclePropValue& value) {
+ std::unique_lock lock(mWriterMutex);
+ if (!stream->Write(value)) {
+ std::unique_lock<std::mutex> terminateLock(terminateMutex);
+ terminated = true;
+ terminateLock.unlock();
+ terminateCV.notify_all();
+ return false;
+ }
+ return true;
+ };
+
+ // Register connection
+ std::unique_lock lock(mConnectionMutex);
+ auto& conn = mValueStreamingConnections.emplace_back(std::move(callBack));
+ lock.unlock();
+
+ // Never stop until connection lost
+ terminateCV.wait(terminateLock, [&terminated]() { return terminated; });
+
+ LOG(ERROR) << __func__ << ": Stream lost, ID : " << conn.mConnectionID;
+
+ return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
+}
+
+} // namespace impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.h
new file mode 100644
index 0000000..32f4eb2
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.h
@@ -0,0 +1,49 @@
+/*
+ * 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.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleServer_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleServer_H_
+
+#include "vhal_v2_0/EmulatedVehicleConnector.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+// Connect to the Vehicle Client via GRPC
+class GrpcVehicleServer : public EmulatedVehicleServer {
+ public:
+ // Start listening incoming calls, should never return if working normally
+ virtual void Start() = 0;
+};
+
+using GrpcVehicleServerPtr = std::unique_ptr<GrpcVehicleServer>;
+
+GrpcVehicleServerPtr makeGrpcVehicleServer(const std::string& addr);
+
+} // namespace impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
+#endif // android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleServer_H_