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 9ffaf1e..ae4ead4 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
@@ -572,7 +572,7 @@
     },
 
     {.config = {.prop = toInt(VehicleProperty::DOOR_LOCK),
-                .access = VehiclePropertyAccess::READ,
+                .access = VehiclePropertyAccess::READ_WRITE,
                 .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
                 .areaConfigs = {VehicleAreaConfig{.areaId = DOOR_1_LEFT},
                                 VehicleAreaConfig{.areaId = DOOR_1_RIGHT}}},
diff --git a/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp b/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
index 4155f16..47308e1 100644
--- a/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
+++ b/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
@@ -17,354 +17,64 @@
 #define LOG_TAG "sensors_hidl_hal_test"
 
 #include "SensorsHidlEnvironmentV1_0.h"
-#include "sensors-vts-utils/GrallocWrapper.h"
-#include "sensors-vts-utils/SensorEventsChecker.h"
+#include "sensors-vts-utils/SensorsHidlTestBase.h"
 
-#include <VtsHalHidlTargetTestBase.h>
-#include <VtsHalHidlTargetTestEnvBase.h>
-#include <android-base/logging.h>
 #include <android/hardware/sensors/1.0/ISensors.h>
 #include <android/hardware/sensors/1.0/types.h>
-#include <cutils/ashmem.h>
-#include <hardware/sensors.h>  // for sensor type strings
 #include <log/log.h>
 #include <utils/SystemClock.h>
 
-#include <algorithm>
 #include <cinttypes>
-#include <cmath>
-#include <memory>
-#include <mutex>
-#include <thread>
-#include <unordered_set>
 #include <vector>
 
-#include <sys/mman.h>
-#include <unistd.h>
-
-using ::android::GrallocWrapper;
 using ::android::hardware::Return;
 using ::android::hardware::Void;
-using ::android::hardware::hidl_string;
 using ::android::sp;
 using namespace ::android::hardware::sensors::V1_0;
 
-class SensorsTestSharedMemory {
- public:
-  static SensorsTestSharedMemory* create(SharedMemType type, size_t size);
-  SharedMemInfo getSharedMemInfo() const;
-  char * getBuffer() const;
-  std::vector<Event> parseEvents(int64_t lastCounter = -1, size_t offset = 0) const;
-  virtual ~SensorsTestSharedMemory();
- private:
-  SensorsTestSharedMemory(SharedMemType type, size_t size);
-
-  SharedMemType mType;
-  native_handle_t* mNativeHandle;
-  size_t mSize;
-  char* mBuffer;
-  std::unique_ptr<GrallocWrapper> mGrallocWrapper;
-
-  DISALLOW_COPY_AND_ASSIGN(SensorsTestSharedMemory);
-};
-
-SharedMemInfo SensorsTestSharedMemory::getSharedMemInfo() const {
-  SharedMemInfo mem = {
-    .type = mType,
-    .format = SharedMemFormat::SENSORS_EVENT,
-    .size = static_cast<uint32_t>(mSize),
-    .memoryHandle = mNativeHandle
-  };
-  return mem;
-}
-
-char * SensorsTestSharedMemory::getBuffer() const {
-  return mBuffer;
-}
-
-std::vector<Event> SensorsTestSharedMemory::parseEvents(int64_t lastCounter, size_t offset) const {
-
-  constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
-  constexpr size_t kOffsetSize = static_cast<size_t>(SensorsEventFormatOffset::SIZE_FIELD);
-  constexpr size_t kOffsetToken = static_cast<size_t>(SensorsEventFormatOffset::REPORT_TOKEN);
-  constexpr size_t kOffsetType = static_cast<size_t>(SensorsEventFormatOffset::SENSOR_TYPE);
-  constexpr size_t kOffsetAtomicCounter =
-      static_cast<size_t>(SensorsEventFormatOffset::ATOMIC_COUNTER);
-  constexpr size_t kOffsetTimestamp = static_cast<size_t>(SensorsEventFormatOffset::TIMESTAMP);
-  constexpr size_t kOffsetData = static_cast<size_t>(SensorsEventFormatOffset::DATA);
-
-  std::vector<Event> events;
-  std::vector<float> data(16);
-
-  while (offset + kEventSize <= mSize) {
-    int64_t atomicCounter = *reinterpret_cast<uint32_t *>(mBuffer + offset + kOffsetAtomicCounter);
-    if (atomicCounter <= lastCounter) {
-      ALOGV("atomicCounter = %" PRId64 ", lastCounter = %" PRId64, atomicCounter, lastCounter);
-      break;
-    }
-
-    int32_t size = *reinterpret_cast<int32_t *>(mBuffer + offset + kOffsetSize);
-    if (size != kEventSize) {
-      // unknown error, events parsed may be wrong, remove all
-      events.clear();
-      break;
-    }
-
-    int32_t token = *reinterpret_cast<int32_t *>(mBuffer + offset + kOffsetToken);
-    int32_t type = *reinterpret_cast<int32_t *>(mBuffer + offset + kOffsetType);
-    int64_t timestamp = *reinterpret_cast<int64_t *>(mBuffer + offset + kOffsetTimestamp);
-
-    ALOGV("offset = %zu, cnt %" PRId64 ", token %" PRId32 ", type %" PRId32 ", timestamp %" PRId64,
-        offset, atomicCounter, token, type, timestamp);
-
-    Event event = {
-      .timestamp = timestamp,
-      .sensorHandle = token,
-      .sensorType = static_cast<SensorType>(type),
-    };
-    event.u.data = android::hardware::hidl_array<float, 16>
-        (reinterpret_cast<float*>(mBuffer + offset + kOffsetData));
-
-    events.push_back(event);
-
-    lastCounter = atomicCounter;
-    offset += kEventSize;
-  }
-
-  return events;
-}
-
-SensorsTestSharedMemory::SensorsTestSharedMemory(SharedMemType type, size_t size)
-    : mType(type), mSize(0), mBuffer(nullptr) {
-  native_handle_t *handle = nullptr;
-  char *buffer = nullptr;
-  switch(type) {
-    case SharedMemType::ASHMEM: {
-      int fd;
-      handle = ::native_handle_create(1 /*nFds*/, 0/*nInts*/);
-      if (handle != nullptr) {
-        handle->data[0] = fd = ::ashmem_create_region("SensorsTestSharedMemory", size);
-        if (handle->data[0] > 0) {
-          // memory is pinned by default
-          buffer = static_cast<char *>
-              (::mmap(NULL, size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
-          if (buffer != reinterpret_cast<char*>(MAP_FAILED)) {
-            break;
-          }
-          ::native_handle_close(handle);
-        }
-        ::native_handle_delete(handle);
-        handle = nullptr;
-      }
-      break;
-    }
-    case SharedMemType::GRALLOC: {
-      mGrallocWrapper = std::make_unique<GrallocWrapper>();
-      if (mGrallocWrapper->getAllocator() == nullptr || mGrallocWrapper->getMapper() == nullptr) {
-        break;
-      }
-      using android::hardware::graphics::common::V1_0::BufferUsage;
-      using android::hardware::graphics::common::V1_0::PixelFormat;
-      mapper2::IMapper::BufferDescriptorInfo buf_desc_info = {
-        .width = static_cast<uint32_t>(size),
-        .height = 1,
-        .layerCount = 1,
-        .usage = static_cast<uint64_t> (BufferUsage::SENSOR_DIRECT_DATA |
-            BufferUsage::CPU_READ_OFTEN),
-        .format = PixelFormat::BLOB
-      };
-
-      handle = const_cast<native_handle_t *>(mGrallocWrapper->allocate(buf_desc_info));
-      if (handle != nullptr) {
-        mapper2::IMapper::Rect region{0, 0,
-            static_cast<int32_t>(buf_desc_info.width),
-            static_cast<int32_t>(buf_desc_info.height)};
-        buffer = static_cast<char *>
-                (mGrallocWrapper->lock(handle, buf_desc_info.usage, region, /*fence=*/-1));
-        if (buffer != nullptr) {
-          break;
-        }
-        mGrallocWrapper->freeBuffer(handle);
-        handle = nullptr;
-      }
-      break;
-    }
-    default:
-      break;
-  }
-
-  if (buffer != nullptr) {
-    mNativeHandle = handle;
-    mSize = size;
-    mBuffer = buffer;
-  }
-}
-
-SensorsTestSharedMemory::~SensorsTestSharedMemory() {
-  switch(mType) {
-    case SharedMemType::ASHMEM: {
-      if (mSize != 0) {
-        ::munmap(mBuffer, mSize);
-        mBuffer = nullptr;
-
-        ::native_handle_close(mNativeHandle);
-        ::native_handle_delete(mNativeHandle);
-
-        mNativeHandle = nullptr;
-        mSize = 0;
-      }
-      break;
-    }
-    case SharedMemType::GRALLOC: {
-      if (mSize != 0) {
-        mGrallocWrapper->unlock(mNativeHandle);
-        mGrallocWrapper->freeBuffer(mNativeHandle);
-
-        mNativeHandle = nullptr;
-        mSize = 0;
-      }
-      break;
-    }
-    default: {
-      if (mNativeHandle != nullptr || mSize != 0 || mBuffer != nullptr) {
-        ALOGE("SensorsTestSharedMemory %p not properly destructed: "
-            "type %d, native handle %p, size %zu, buffer %p",
-            this, static_cast<int>(mType), mNativeHandle, mSize, mBuffer);
-      }
-      break;
-    }
-  }
-}
-
-SensorsTestSharedMemory* SensorsTestSharedMemory::create(SharedMemType type, size_t size) {
-  constexpr size_t kMaxSize = 128*1024*1024; // sensor test should not need more than 128M
-  if (size == 0 || size >= kMaxSize) {
-    return nullptr;
-  }
-
-  auto m = new SensorsTestSharedMemory(type, size);
-  if (m->mSize != size || m->mBuffer == nullptr) {
-    delete m;
-    m = nullptr;
-  }
-  return m;
-}
-
 // The main test class for SENSORS HIDL HAL.
-class SensorsHidlTest : public ::testing::VtsHalHidlTargetTestBase {
- public:
-  virtual void SetUp() override {
-  }
 
-  virtual void TearDown() override {
-    // stop all sensors
-    for (auto s : mSensorHandles) {
-      S()->activate(s, false);
+class SensorsHidlTest : public SensorsHidlTestBase {
+   protected:
+    SensorInfo defaultSensorByType(SensorType type) override;
+    std::vector<SensorInfo> getSensorsList();
+    // implementation wrapper
+    Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) override {
+        return S()->getSensorsList(_hidl_cb);
     }
-    mSensorHandles.clear();
 
-    // stop all direct report and channels
-    for (auto c : mDirectChannelHandles) {
-      // disable all reports
-      S()->configDirectReport(-1, c, RateLevel::STOP, [] (auto, auto){});
-      S()->unregisterDirectChannel(c);
+    Return<Result> activate(int32_t sensorHandle, bool enabled) override;
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                         int64_t maxReportLatencyNs) override {
+        return S()->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
     }
-    mDirectChannelHandles.clear();
-  }
 
- protected:
-  SensorInfo defaultSensorByType(SensorType type);
-  std::vector<SensorInfo> getSensorsList();
-  std::vector<Event> collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
-        bool clearBeforeStart = true, bool changeCollection = true);
+    Return<Result> flush(int32_t sensorHandle) override { return S()->flush(sensorHandle); }
 
-  // implementation wrapper
-  Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) {
-    return S()->getSensorsList(_hidl_cb);
-  }
+    Return<Result> injectSensorData(const Event& event) override {
+        return S()->injectSensorData(event);
+    }
 
-  Return<Result> activate(
-          int32_t sensorHandle, bool enabled);
+    Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                       ISensors::registerDirectChannel_cb _hidl_cb) override;
 
-  Return<Result> batch(
-          int32_t sensorHandle,
-          int64_t samplingPeriodNs,
-          int64_t maxReportLatencyNs) {
-    return S()->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
-  }
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) override {
+        return S()->unregisterDirectChannel(channelHandle);
+    }
 
-  Return<Result> flush(int32_t sensorHandle) {
-    return S()->flush(sensorHandle);
-  }
+    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+                                    ISensors::configDirectReport_cb _hidl_cb) override {
+        return S()->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
+    }
 
-  Return<Result> injectSensorData(const Event& event) {
-    return S()->injectSensorData(event);
-  }
+    inline sp<ISensors>& S() { return SensorsHidlEnvironmentV1_0::Instance()->sensors; }
 
-  Return<void> registerDirectChannel(
-          const SharedMemInfo& mem, ISensors::registerDirectChannel_cb _hidl_cb);
-
-  Return<Result> unregisterDirectChannel(int32_t channelHandle) {
-    return S()->unregisterDirectChannel(channelHandle);
-  }
-
-  Return<void> configDirectReport(
-          int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
-          ISensors::configDirectReport_cb _hidl_cb) {
-    return S()->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
-  }
-
-  inline sp<ISensors>& S() { return SensorsHidlEnvironmentV1_0::Instance()->sensors; }
-
-  inline static SensorFlagBits extractReportMode(uint64_t flag) {
-    return (SensorFlagBits) (flag
-        & ((uint64_t) SensorFlagBits::CONTINUOUS_MODE
-          | (uint64_t) SensorFlagBits::ON_CHANGE_MODE
-          | (uint64_t) SensorFlagBits::ONE_SHOT_MODE
-          | (uint64_t) SensorFlagBits::SPECIAL_REPORTING_MODE));
-  }
-
-  inline static bool isMetaSensorType(SensorType type) {
-    return (type == SensorType::META_DATA
-            || type == SensorType::DYNAMIC_SENSOR_META
-            || type == SensorType::ADDITIONAL_INFO);
-  }
-
-  inline static bool isValidType(SensorType type) {
-    return (int32_t) type > 0;
-  }
-
-  void testStreamingOperation(SensorType type,
-                              std::chrono::nanoseconds samplingPeriod,
-                              std::chrono::seconds duration,
-                              const SensorEventsChecker &checker);
-  void testSamplingRateHotSwitchOperation(SensorType type, bool fastToSlow = true);
-  void testBatchingOperation(SensorType type);
-  void testDirectReportOperation(
-      SensorType type, SharedMemType memType, RateLevel rate, const SensorEventsChecker &checker);
-
-  static void assertTypeMatchStringType(SensorType type, const hidl_string& stringType);
-  static void assertTypeMatchReportMode(SensorType type, SensorFlagBits reportMode);
-  static void assertDelayMatchReportMode(
-          int32_t minDelay, int32_t maxDelay, SensorFlagBits reportMode);
-  static SensorFlagBits expectedReportModeForType(SensorType type);
-  static bool isDirectReportRateSupported(SensorInfo sensor, RateLevel rate);
-  static bool isDirectChannelTypeSupported(SensorInfo sensor, SharedMemType type);
-
-  // checkers
-  static const Vec3NormChecker sAccelNormChecker;
-  static const Vec3NormChecker sGyroNormChecker;
-
-  // all sensors and direct channnels used
-  std::unordered_set<int32_t> mSensorHandles;
-  std::unordered_set<int32_t> mDirectChannelHandles;
+    SensorsHidlEnvironmentBase* getEnvironment() override {
+        return SensorsHidlEnvironmentV1_0::Instance();
+    }
 };
 
-const Vec3NormChecker SensorsHidlTest::sAccelNormChecker(
-        Vec3NormChecker::byNominal(GRAVITY_EARTH, 1.0f/*m/s^2*/));
-const Vec3NormChecker SensorsHidlTest::sGyroNormChecker(
-        Vec3NormChecker::byNominal(0.f, 0.1f/*rad/s*/));
-
 Return<Result> SensorsHidlTest::activate(int32_t sensorHandle, bool enabled) {
   // If activating a sensor, add the handle in a set so that when test fails it can be turned off.
   // The handle is not removed when it is deactivating on purpose so that it is not necessary to
@@ -391,195 +101,6 @@
   return Void();
 }
 
-std::vector<Event> SensorsHidlTest::collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
-      bool clearBeforeStart, bool changeCollection) {
-  std::vector<Event> events;
-  constexpr useconds_t SLEEP_GRANULARITY = 100*1000; //granularity 100 ms
-
-  ALOGI("collect max of %zu events for %d us, clearBeforeStart %d",
-        nEventLimit, timeLimitUs, clearBeforeStart);
-
-  if (changeCollection) {
-      SensorsHidlEnvironmentV1_0::Instance()->setCollection(true);
-  }
-  if (clearBeforeStart) {
-      SensorsHidlEnvironmentV1_0::Instance()->catEvents(nullptr);
-  }
-
-  while (timeLimitUs > 0) {
-    useconds_t duration = std::min(SLEEP_GRANULARITY, timeLimitUs);
-    usleep(duration);
-    timeLimitUs -= duration;
-
-    SensorsHidlEnvironmentV1_0::Instance()->catEvents(&events);
-    if (events.size() >= nEventLimit) {
-      break;
-    }
-    ALOGV("time to go = %d, events to go = %d",
-          (int)timeLimitUs, (int)(nEventLimit - events.size()));
-  }
-
-  if (changeCollection) {
-      SensorsHidlEnvironmentV1_0::Instance()->setCollection(false);
-  }
-  return events;
-}
-
-void SensorsHidlTest::assertTypeMatchStringType(SensorType type, const hidl_string& stringType) {
-
-  if (type >= SensorType::DEVICE_PRIVATE_BASE) {
-    return;
-  }
-
-  switch (type) {
-#define CHECK_TYPE_STRING_FOR_SENSOR_TYPE(type) \
-    case SensorType::type: ASSERT_STREQ(SENSOR_STRING_TYPE_ ## type, stringType.c_str()); break;
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER_UNCALIBRATED);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ADDITIONAL_INFO);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(AMBIENT_TEMPERATURE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DEVICE_ORIENTATION);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DYNAMIC_SENSOR_META);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GAME_ROTATION_VECTOR);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GEOMAGNETIC_ROTATION_VECTOR);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GLANCE_GESTURE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GRAVITY);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE_UNCALIBRATED);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_BEAT);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_RATE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LIGHT);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LINEAR_ACCELERATION);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LOW_LATENCY_OFFBODY_DETECT);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD_UNCALIBRATED);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MOTION_DETECT);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ORIENTATION);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PICK_UP_GESTURE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(POSE_6DOF);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PRESSURE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PROXIMITY);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(RELATIVE_HUMIDITY);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ROTATION_VECTOR);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(SIGNIFICANT_MOTION);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STATIONARY_DETECT);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_COUNTER);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_DETECTOR);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TEMPERATURE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TILT_DETECTOR);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WAKE_GESTURE);
-    CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WRIST_TILT_GESTURE);
-    default:
-      FAIL() << "Type " << static_cast<int>(type) << " in android defined range is not checked, "
-             << "stringType = " << stringType;
-#undef CHECK_TYPE_STRING_FOR_SENSOR_TYPE
-  }
-}
-
-void SensorsHidlTest::assertTypeMatchReportMode(SensorType type, SensorFlagBits reportMode) {
-  if (type >= SensorType::DEVICE_PRIVATE_BASE) {
-    return;
-  }
-
-  SensorFlagBits expected = expectedReportModeForType(type);
-
-  ASSERT_TRUE(expected == (SensorFlagBits) -1 || expected == reportMode)
-      << "reportMode=" << static_cast<int>(reportMode)
-      << "expected=" << static_cast<int>(expected);
-}
-
-void SensorsHidlTest::assertDelayMatchReportMode(
-    int32_t minDelay, int32_t maxDelay, SensorFlagBits reportMode) {
-  switch(reportMode) {
-    case SensorFlagBits::CONTINUOUS_MODE:
-      ASSERT_LT(0, minDelay);
-      ASSERT_LE(0, maxDelay);
-      break;
-    case SensorFlagBits::ON_CHANGE_MODE:
-      ASSERT_LE(0, minDelay);
-      ASSERT_LE(0, maxDelay);
-      break;
-    case SensorFlagBits::ONE_SHOT_MODE:
-      ASSERT_EQ(-1, minDelay);
-      ASSERT_EQ(0, maxDelay);
-      break;
-    case SensorFlagBits::SPECIAL_REPORTING_MODE:
-      // do not enforce anything for special reporting mode
-      break;
-    default:
-      FAIL() << "Report mode " << static_cast<int>(reportMode) << " not checked";
-  }
-}
-
-// return -1 means no expectation for this type
-SensorFlagBits SensorsHidlTest::expectedReportModeForType(SensorType type) {
-  switch (type) {
-    case SensorType::ACCELEROMETER:
-    case SensorType::ACCELEROMETER_UNCALIBRATED:
-    case SensorType::GYROSCOPE:
-    case SensorType::MAGNETIC_FIELD:
-    case SensorType::ORIENTATION:
-    case SensorType::PRESSURE:
-    case SensorType::TEMPERATURE:
-    case SensorType::GRAVITY:
-    case SensorType::LINEAR_ACCELERATION:
-    case SensorType::ROTATION_VECTOR:
-    case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
-    case SensorType::GAME_ROTATION_VECTOR:
-    case SensorType::GYROSCOPE_UNCALIBRATED:
-    case SensorType::GEOMAGNETIC_ROTATION_VECTOR:
-    case SensorType::POSE_6DOF:
-    case SensorType::HEART_BEAT:
-      return SensorFlagBits::CONTINUOUS_MODE;
-
-    case SensorType::LIGHT:
-    case SensorType::PROXIMITY:
-    case SensorType::RELATIVE_HUMIDITY:
-    case SensorType::AMBIENT_TEMPERATURE:
-    case SensorType::HEART_RATE:
-    case SensorType::DEVICE_ORIENTATION:
-    case SensorType::STEP_COUNTER:
-    case SensorType::LOW_LATENCY_OFFBODY_DETECT:
-      return SensorFlagBits::ON_CHANGE_MODE;
-
-    case SensorType::SIGNIFICANT_MOTION:
-    case SensorType::WAKE_GESTURE:
-    case SensorType::GLANCE_GESTURE:
-    case SensorType::PICK_UP_GESTURE:
-    case SensorType::MOTION_DETECT:
-    case SensorType::STATIONARY_DETECT:
-      return SensorFlagBits::ONE_SHOT_MODE;
-
-    case SensorType::STEP_DETECTOR:
-    case SensorType::TILT_DETECTOR:
-    case SensorType::WRIST_TILT_GESTURE:
-    case SensorType::DYNAMIC_SENSOR_META:
-      return SensorFlagBits::SPECIAL_REPORTING_MODE;
-
-    default:
-      ALOGW("Type %d is not implemented in expectedReportModeForType", (int)type);
-      return (SensorFlagBits)-1;
-  }
-}
-
-bool SensorsHidlTest::isDirectReportRateSupported(SensorInfo sensor, RateLevel rate) {
-  unsigned int r =
-      static_cast<unsigned int>(sensor.flags & SensorFlagBits::MASK_DIRECT_REPORT)
-        >> static_cast<unsigned int>(SensorFlagShift::DIRECT_REPORT);
-  return r >= static_cast<unsigned int>(rate);
-}
-
-bool SensorsHidlTest::isDirectChannelTypeSupported(SensorInfo sensor, SharedMemType type) {
-  switch (type) {
-    case SharedMemType::ASHMEM:
-      return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_ASHMEM) != 0;
-    case SharedMemType::GRALLOC:
-      return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_GRALLOC) != 0;
-    default:
-      return false;
-  }
-}
-
 SensorInfo SensorsHidlTest::defaultSensorByType(SensorType type) {
   SensorInfo ret;
 
@@ -724,69 +245,6 @@
     ASSERT_EQ(Result::OK, S()->setOperationMode(OperationMode::NORMAL));
 }
 
-void SensorsHidlTest::testStreamingOperation(SensorType type,
-                                             std::chrono::nanoseconds samplingPeriod,
-                                             std::chrono::seconds duration,
-                                             const SensorEventsChecker &checker) {
-  std::vector<Event> events;
-  std::vector<Event> sensorEvents;
-
-  const int64_t samplingPeriodInNs = samplingPeriod.count();
-  const int64_t batchingPeriodInNs = 0; // no batching
-  const useconds_t minTimeUs = std::chrono::microseconds(duration).count();
-  const size_t minNEvent = duration / samplingPeriod;
-
-  SensorInfo sensor = defaultSensorByType(type);
-
-  if (!isValidType(sensor.type)) {
-    // no default sensor of this type
-    return;
-  }
-
-  if (std::chrono::microseconds(sensor.minDelay) > samplingPeriod) {
-    // rate not supported
-    return;
-  }
-
-  int32_t handle = sensor.sensorHandle;
-
-  ASSERT_EQ(batch(handle, samplingPeriodInNs, batchingPeriodInNs), Result::OK);
-  ASSERT_EQ(activate(handle, 1), Result::OK);
-  events = collectEvents(minTimeUs, minNEvent, true /*clearBeforeStart*/);
-  ASSERT_EQ(activate(handle, 0), Result::OK);
-
-  ALOGI("Collected %zu samples", events.size());
-
-  ASSERT_GT(events.size(), 0u);
-
-  bool handleMismatchReported = false;
-  bool metaSensorTypeErrorReported = false;
-  for (auto & e : events) {
-    if (e.sensorType == type) {
-      // avoid generating hundreds of error
-      if (!handleMismatchReported) {
-        EXPECT_EQ(e.sensorHandle, handle)
-            << (handleMismatchReported = true,
-                "Event of the same type must come from the sensor registered");
-      }
-      sensorEvents.push_back(e);
-    } else {
-      // avoid generating hundreds of error
-      if (!metaSensorTypeErrorReported) {
-        EXPECT_TRUE(isMetaSensorType(e.sensorType))
-            << (metaSensorTypeErrorReported = true,
-                "Only meta types are allowed besides the type registered");
-      }
-    }
-  }
-
-  std::string s;
-  EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
-
-  EXPECT_GE(sensorEvents.size(),
-            minNEvent / 2);  // make sure returned events are not all meta
-}
-
 // Test if sensor hal can do UI speed accelerometer streaming properly
 TEST_F(SensorsHidlTest, AccelerometerStreamingOperationSlow) {
   testStreamingOperation(SensorType::ACCELEROMETER,
@@ -859,103 +317,6 @@
                          NullChecker());
 }
 
-void SensorsHidlTest::testSamplingRateHotSwitchOperation(SensorType type, bool fastToSlow) {
-  std::vector<Event> events1, events2;
-
-  constexpr int64_t batchingPeriodInNs = 0; // no batching
-  constexpr int64_t collectionTimeoutUs = 60000000; // 60s
-  constexpr size_t minNEvent = 50;
-
-  SensorInfo sensor = defaultSensorByType(type);
-
-  if (!isValidType(sensor.type)) {
-    // no default sensor of this type
-    return;
-  }
-
-  int32_t handle = sensor.sensorHandle;
-  int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
-  int64_t maxSamplingPeriodInNs = sensor.maxDelay * 1000ll;
-
-  if (minSamplingPeriodInNs == maxSamplingPeriodInNs) {
-    // only support single rate
-    return;
-  }
-
-  int64_t firstCollectionPeriod = fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
-  int64_t secondCollectionPeriod = !fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
-
-  // first collection
-  ASSERT_EQ(batch(handle, firstCollectionPeriod, batchingPeriodInNs), Result::OK);
-  ASSERT_EQ(activate(handle, 1), Result::OK);
-
-  usleep(500000); // sleep 0.5 sec to wait for change rate to happen
-  events1 = collectEvents(collectionTimeoutUs, minNEvent);
-
-  // second collection, without stop sensor
-  ASSERT_EQ(batch(handle, secondCollectionPeriod, batchingPeriodInNs), Result::OK);
-
-  usleep(500000); // sleep 0.5 sec to wait for change rate to happen
-  events2 = collectEvents(collectionTimeoutUs, minNEvent);
-
-  // end of collection, stop sensor
-  ASSERT_EQ(activate(handle, 0), Result::OK);
-
-  ALOGI("Collected %zu fast samples and %zu slow samples", events1.size(), events2.size());
-
-  ASSERT_GT(events1.size(), 0u);
-  ASSERT_GT(events2.size(), 0u);
-
-  int64_t minDelayAverageInterval, maxDelayAverageInterval;
-  std::vector<Event> &minDelayEvents(fastToSlow ? events1 : events2);
-  std::vector<Event> &maxDelayEvents(fastToSlow ? events2 : events1);
-
-  size_t nEvent = 0;
-  int64_t prevTimestamp = -1;
-  int64_t timestampInterval = 0;
-  for (auto & e : minDelayEvents) {
-    if (e.sensorType == type) {
-      ASSERT_EQ(e.sensorHandle, handle);
-      if (prevTimestamp > 0) {
-        timestampInterval += e.timestamp - prevTimestamp;
-      }
-      prevTimestamp = e.timestamp;
-      ++ nEvent;
-    }
-  }
-  ASSERT_GT(nEvent, 2u);
-  minDelayAverageInterval = timestampInterval / (nEvent - 1);
-
-  nEvent = 0;
-  prevTimestamp = -1;
-  timestampInterval = 0;
-  for (auto & e : maxDelayEvents) {
-    if (e.sensorType == type) {
-      ASSERT_EQ(e.sensorHandle, handle);
-      if (prevTimestamp > 0) {
-        timestampInterval += e.timestamp - prevTimestamp;
-      }
-      prevTimestamp = e.timestamp;
-      ++ nEvent;
-    }
-  }
-  ASSERT_GT(nEvent, 2u);
-  maxDelayAverageInterval = timestampInterval / (nEvent - 1);
-
-  // change of rate is significant.
-  ALOGI("min/maxDelayAverageInterval = %" PRId64 " %" PRId64,
-      minDelayAverageInterval, maxDelayAverageInterval);
-  EXPECT_GT((maxDelayAverageInterval - minDelayAverageInterval), minDelayAverageInterval / 10);
-
-  // fastest rate sampling time is close to spec
-  EXPECT_LT(std::abs(minDelayAverageInterval - minSamplingPeriodInNs),
-      minSamplingPeriodInNs / 10);
-
-  // slowest rate sampling time is close to spec
-  EXPECT_LT(std::abs(maxDelayAverageInterval - maxSamplingPeriodInNs),
-      maxSamplingPeriodInNs / 10);
-}
-
 // Test if sensor hal can do accelerometer sampling rate switch properly when sensor is active
 TEST_F(SensorsHidlTest, AccelerometerSamplingPeriodHotSwitchOperation) {
   testSamplingRateHotSwitchOperation(SensorType::ACCELEROMETER);
@@ -974,74 +335,6 @@
   testSamplingRateHotSwitchOperation(SensorType::MAGNETIC_FIELD, false /*fastToSlow*/);
 }
 
-void SensorsHidlTest::testBatchingOperation(SensorType type) {
-  std::vector<Event> events;
-
-  constexpr int64_t maxBatchingTestTimeNs = 30ull * 1000 * 1000 * 1000;
-  constexpr int64_t oneSecondInNs = 1ull * 1000 * 1000 * 1000;
-
-  SensorInfo sensor = defaultSensorByType(type);
-
-  if (!isValidType(sensor.type)) {
-    // no default sensor of this type
-    return;
-  }
-
-  int32_t handle = sensor.sensorHandle;
-  int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
-  uint32_t minFifoCount = sensor.fifoReservedEventCount;
-  int64_t batchingPeriodInNs = minFifoCount * minSamplingPeriodInNs;
-
-  if (batchingPeriodInNs < oneSecondInNs) {
-    // batching size too small to test reliably
-    return;
-  }
-
-  batchingPeriodInNs = std::min(batchingPeriodInNs, maxBatchingTestTimeNs);
-
-  ALOGI("Test batching for %d ms", (int)(batchingPeriodInNs / 1000 / 1000));
-
-  int64_t allowedBatchDeliverTimeNs =
-      std::max(oneSecondInNs, batchingPeriodInNs / 10);
-
-  ASSERT_EQ(batch(handle, minSamplingPeriodInNs, INT64_MAX), Result::OK);
-  ASSERT_EQ(activate(handle, 1), Result::OK);
-
-  usleep(500000); // sleep 0.5 sec to wait for initialization
-  ASSERT_EQ(flush(handle), Result::OK);
-
-  // wait for 80% of the reserved batching period
-  // there should not be any significant amount of events
-  // since collection is not enabled all events will go down the drain
-  usleep(batchingPeriodInNs / 1000 * 8 / 10);
-
-  SensorsHidlEnvironmentV1_0::Instance()->setCollection(true);
-  // clean existing collections
-  collectEvents(0 /*timeLimitUs*/, 0/*nEventLimit*/,
-        true /*clearBeforeStart*/, false /*change collection*/);
-
-  // 0.8 + 0.2 times the batching period
-  usleep(batchingPeriodInNs / 1000 * 8 / 10);
-  ASSERT_EQ(flush(handle), Result::OK);
-
-  // plus some time for the event to deliver
-  events = collectEvents(allowedBatchDeliverTimeNs / 1000,
-        minFifoCount, false /*clearBeforeStart*/, false /*change collection*/);
-
-  SensorsHidlEnvironmentV1_0::Instance()->setCollection(false);
-  ASSERT_EQ(activate(handle, 0), Result::OK);
-
-  size_t nEvent = 0;
-  for (auto & e : events) {
-    if (e.sensorType == type && e.sensorHandle == handle) {
-      ++ nEvent;
-    }
-  }
-
-  // at least reach 90% of advertised capacity
-  ASSERT_GT(nEvent, (size_t)(minFifoCount * 9 / 10));
-}
-
 // Test if sensor hal can do accelerometer batching properly
 TEST_F(SensorsHidlTest, AccelerometerBatchingOperation) {
   testBatchingOperation(SensorType::ACCELEROMETER);
@@ -1057,124 +350,6 @@
   testBatchingOperation(SensorType::MAGNETIC_FIELD);
 }
 
-void SensorsHidlTest::testDirectReportOperation(
-    SensorType type, SharedMemType memType, RateLevel rate, const SensorEventsChecker &checker) {
-  constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
-  constexpr size_t kNEvent = 4096;
-  constexpr size_t kMemSize = kEventSize * kNEvent;
-
-  constexpr float kNormalNominal = 50;
-  constexpr float kFastNominal = 200;
-  constexpr float kVeryFastNominal = 800;
-
-  constexpr float kNominalTestTimeSec = 1.f;
-  constexpr float kMaxTestTimeSec = kNominalTestTimeSec + 0.5f; // 0.5 second for initialization
-
-  SensorInfo sensor = defaultSensorByType(type);
-
-  if (!isValidType(sensor.type)) {
-    // no default sensor of this type
-    return;
-  }
-
-  if (!isDirectReportRateSupported(sensor, rate)) {
-    return;
-  }
-
-  if (!isDirectChannelTypeSupported(sensor, memType)) {
-    return;
-  }
-
-  std::unique_ptr<SensorsTestSharedMemory>
-      mem(SensorsTestSharedMemory::create(memType, kMemSize));
-  ASSERT_NE(mem, nullptr);
-
-  char* buffer = mem->getBuffer();
-  // fill memory with data
-  for (size_t i = 0; i < kMemSize; ++i) {
-    buffer[i] = '\xcc';
-  }
-
-  int32_t channelHandle;
-  registerDirectChannel(mem->getSharedMemInfo(),
-      [&channelHandle] (auto result, auto channelHandle_) {
-          ASSERT_EQ(result, Result::OK);
-          channelHandle = channelHandle_;
-      });
-
-  // check memory is zeroed
-  for (size_t i = 0; i < kMemSize; ++i) {
-    ASSERT_EQ(buffer[i], '\0');
-  }
-
-  int32_t eventToken;
-  configDirectReport(sensor.sensorHandle, channelHandle, rate,
-      [&eventToken] (auto result, auto token) {
-          ASSERT_EQ(result, Result::OK);
-          eventToken = token;
-      });
-
-  usleep(static_cast<useconds_t>(kMaxTestTimeSec * 1e6f));
-  auto events = mem->parseEvents();
-
-  // find norminal rate
-  float nominalFreq = 0.f;
-  switch (rate) {
-      case RateLevel::NORMAL:
-          nominalFreq = kNormalNominal;
-          break;
-      case RateLevel::FAST:
-          nominalFreq = kFastNominal;
-          break;
-      case RateLevel::VERY_FAST:
-          nominalFreq = kVeryFastNominal;
-          break;
-      case RateLevel::STOP:
-          FAIL();
-  }
-
-  // allowed to be between 55% and 220% of nominal freq
-  ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * kNominalTestTimeSec));
-  ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * kMaxTestTimeSec));
-
-  int64_t lastTimestamp = 0;
-  bool typeErrorReported = false;
-  bool tokenErrorReported = false;
-  bool timestampErrorReported = false;
-  std::vector<Event> sensorEvents;
-  for (auto &e : events) {
-    if (!tokenErrorReported) {
-      EXPECT_EQ(eventToken, e.sensorHandle)
-          << (tokenErrorReported = true,
-            "Event token does not match that retured from configDirectReport");
-    }
-
-    if (isMetaSensorType(e.sensorType)) {
-        continue;
-    }
-    sensorEvents.push_back(e);
-
-    if (!typeErrorReported) {
-      EXPECT_EQ(type, e.sensorType)
-          << (typeErrorReported = true,
-              "Type in event does not match type of sensor registered.");
-    }
-    if (!timestampErrorReported) {
-      EXPECT_GT(e.timestamp, lastTimestamp)
-          << (timestampErrorReported = true, "Timestamp not monotonically increasing");
-    }
-    lastTimestamp = e.timestamp;
-  }
-
-  std::string s;
-  EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
-
-  // stop sensor and unregister channel
-  configDirectReport(sensor.sensorHandle, channelHandle, RateLevel::STOP,
-                     [](auto result, auto) { EXPECT_EQ(result, Result::OK); });
-  EXPECT_EQ(unregisterDirectChannel(channelHandle), Result::OK);
-}
-
 // Test sensor event direct report with ashmem for accel sensor at normal rate
 TEST_F(SensorsHidlTest, AccelerometerAshmemDirectReportOperationNormal) {
   testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::ASHMEM, RateLevel::NORMAL,
diff --git a/sensors/common/vts/utils/Android.bp b/sensors/common/vts/utils/Android.bp
index 6c25e47..95df425 100644
--- a/sensors/common/vts/utils/Android.bp
+++ b/sensors/common/vts/utils/Android.bp
@@ -19,6 +19,8 @@
     srcs: [
         "GrallocWrapper.cpp",
         "SensorsHidlEnvironmentBase.cpp",
+        "SensorsHidlTestBase.cpp",
+        "SensorsTestSharedMemory.cpp",
     ],
     export_include_dirs: [
         "include",
@@ -33,4 +35,3 @@
         "VtsHalHidlTargetTestBase",
     ],
 }
-
diff --git a/sensors/common/vts/utils/OWNERS b/sensors/common/vts/utils/OWNERS
new file mode 100644
index 0000000..759d87b
--- /dev/null
+++ b/sensors/common/vts/utils/OWNERS
@@ -0,0 +1,7 @@
+# Sensors team
+bduddie@google.com
+bstack@google.com
+
+# VTS team
+trong@google.com
+yim@google.com
diff --git a/sensors/common/vts/utils/SensorsHidlTestBase.cpp b/sensors/common/vts/utils/SensorsHidlTestBase.cpp
new file mode 100644
index 0000000..8497d82
--- /dev/null
+++ b/sensors/common/vts/utils/SensorsHidlTestBase.cpp
@@ -0,0 +1,575 @@
+/*
+ * Copyright (C) 2018 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 "SensorsHidlTestBase.h"
+
+#include "sensors-vts-utils/GrallocWrapper.h"
+#include "sensors-vts-utils/SensorsTestSharedMemory.h"
+
+#include <hardware/sensors.h>  // for sensor type strings
+#include <log/log.h>
+#include <utils/SystemClock.h>
+
+#include <cinttypes>
+
+using ::android::sp;
+using ::android::hardware::hidl_string;
+using ::android::hardware::Return;
+using ::android::hardware::Void;
+using namespace ::android::hardware::sensors::V1_0;
+
+const Vec3NormChecker SensorsHidlTestBase::sAccelNormChecker(
+    Vec3NormChecker::byNominal(GRAVITY_EARTH, 1.0f /*m/s^2*/));
+const Vec3NormChecker SensorsHidlTestBase::sGyroNormChecker(
+    Vec3NormChecker::byNominal(0.f, 0.1f /*rad/s*/));
+
+std::vector<Event> SensorsHidlTestBase::collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
+                                                      bool clearBeforeStart,
+                                                      bool changeCollection) {
+    std::vector<Event> events;
+    constexpr useconds_t SLEEP_GRANULARITY = 100 * 1000;  // granularity 100 ms
+
+    ALOGI("collect max of %zu events for %d us, clearBeforeStart %d", nEventLimit, timeLimitUs,
+          clearBeforeStart);
+
+    if (changeCollection) {
+        getEnvironment()->setCollection(true);
+    }
+    if (clearBeforeStart) {
+        getEnvironment()->catEvents(nullptr);
+    }
+
+    while (timeLimitUs > 0) {
+        useconds_t duration = std::min(SLEEP_GRANULARITY, timeLimitUs);
+        usleep(duration);
+        timeLimitUs -= duration;
+
+        getEnvironment()->catEvents(&events);
+        if (events.size() >= nEventLimit) {
+            break;
+        }
+        ALOGV("time to go = %d, events to go = %d", (int)timeLimitUs,
+              (int)(nEventLimit - events.size()));
+    }
+
+    if (changeCollection) {
+        getEnvironment()->setCollection(false);
+    }
+    return events;
+}
+
+void SensorsHidlTestBase::assertTypeMatchStringType(SensorType type,
+                                                    const hidl_string& stringType) {
+    if (type >= SensorType::DEVICE_PRIVATE_BASE) {
+        return;
+    }
+
+    switch (type) {
+#define CHECK_TYPE_STRING_FOR_SENSOR_TYPE(type)                      \
+    case SensorType::type:                                           \
+        ASSERT_STREQ(SENSOR_STRING_TYPE_##type, stringType.c_str()); \
+        break;
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER_UNCALIBRATED);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ADDITIONAL_INFO);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(AMBIENT_TEMPERATURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DEVICE_ORIENTATION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DYNAMIC_SENSOR_META);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GAME_ROTATION_VECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GEOMAGNETIC_ROTATION_VECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GLANCE_GESTURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GRAVITY);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE_UNCALIBRATED);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_BEAT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_RATE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LIGHT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LINEAR_ACCELERATION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LOW_LATENCY_OFFBODY_DETECT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD_UNCALIBRATED);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MOTION_DETECT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ORIENTATION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PICK_UP_GESTURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(POSE_6DOF);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PRESSURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PROXIMITY);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(RELATIVE_HUMIDITY);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ROTATION_VECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(SIGNIFICANT_MOTION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STATIONARY_DETECT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_COUNTER);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_DETECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TEMPERATURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TILT_DETECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WAKE_GESTURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WRIST_TILT_GESTURE);
+        default:
+            FAIL() << "Type " << static_cast<int>(type)
+                   << " in android defined range is not checked, "
+                   << "stringType = " << stringType;
+#undef CHECK_TYPE_STRING_FOR_SENSOR_TYPE
+    }
+}
+
+void SensorsHidlTestBase::assertTypeMatchReportMode(SensorType type, SensorFlagBits reportMode) {
+    if (type >= SensorType::DEVICE_PRIVATE_BASE) {
+        return;
+    }
+
+    SensorFlagBits expected = expectedReportModeForType(type);
+
+    ASSERT_TRUE(expected == (SensorFlagBits)-1 || expected == reportMode)
+        << "reportMode=" << static_cast<int>(reportMode)
+        << "expected=" << static_cast<int>(expected);
+}
+
+void SensorsHidlTestBase::assertDelayMatchReportMode(int32_t minDelay, int32_t maxDelay,
+                                                     SensorFlagBits reportMode) {
+    switch (reportMode) {
+        case SensorFlagBits::CONTINUOUS_MODE:
+            ASSERT_LT(0, minDelay);
+            ASSERT_LE(0, maxDelay);
+            break;
+        case SensorFlagBits::ON_CHANGE_MODE:
+            ASSERT_LE(0, minDelay);
+            ASSERT_LE(0, maxDelay);
+            break;
+        case SensorFlagBits::ONE_SHOT_MODE:
+            ASSERT_EQ(-1, minDelay);
+            ASSERT_EQ(0, maxDelay);
+            break;
+        case SensorFlagBits::SPECIAL_REPORTING_MODE:
+            // do not enforce anything for special reporting mode
+            break;
+        default:
+            FAIL() << "Report mode " << static_cast<int>(reportMode) << " not checked";
+    }
+}
+
+// return -1 means no expectation for this type
+SensorFlagBits SensorsHidlTestBase::expectedReportModeForType(SensorType type) {
+    switch (type) {
+        case SensorType::ACCELEROMETER:
+        case SensorType::ACCELEROMETER_UNCALIBRATED:
+        case SensorType::GYROSCOPE:
+        case SensorType::MAGNETIC_FIELD:
+        case SensorType::ORIENTATION:
+        case SensorType::PRESSURE:
+        case SensorType::TEMPERATURE:
+        case SensorType::GRAVITY:
+        case SensorType::LINEAR_ACCELERATION:
+        case SensorType::ROTATION_VECTOR:
+        case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case SensorType::GAME_ROTATION_VECTOR:
+        case SensorType::GYROSCOPE_UNCALIBRATED:
+        case SensorType::GEOMAGNETIC_ROTATION_VECTOR:
+        case SensorType::POSE_6DOF:
+        case SensorType::HEART_BEAT:
+            return SensorFlagBits::CONTINUOUS_MODE;
+
+        case SensorType::LIGHT:
+        case SensorType::PROXIMITY:
+        case SensorType::RELATIVE_HUMIDITY:
+        case SensorType::AMBIENT_TEMPERATURE:
+        case SensorType::HEART_RATE:
+        case SensorType::DEVICE_ORIENTATION:
+        case SensorType::STEP_COUNTER:
+        case SensorType::LOW_LATENCY_OFFBODY_DETECT:
+            return SensorFlagBits::ON_CHANGE_MODE;
+
+        case SensorType::SIGNIFICANT_MOTION:
+        case SensorType::WAKE_GESTURE:
+        case SensorType::GLANCE_GESTURE:
+        case SensorType::PICK_UP_GESTURE:
+        case SensorType::MOTION_DETECT:
+        case SensorType::STATIONARY_DETECT:
+            return SensorFlagBits::ONE_SHOT_MODE;
+
+        case SensorType::STEP_DETECTOR:
+        case SensorType::TILT_DETECTOR:
+        case SensorType::WRIST_TILT_GESTURE:
+        case SensorType::DYNAMIC_SENSOR_META:
+            return SensorFlagBits::SPECIAL_REPORTING_MODE;
+
+        default:
+            ALOGW("Type %d is not implemented in expectedReportModeForType", (int)type);
+            return (SensorFlagBits)-1;
+    }
+}
+
+bool SensorsHidlTestBase::isDirectReportRateSupported(SensorInfo sensor, RateLevel rate) {
+    unsigned int r = static_cast<unsigned int>(sensor.flags & SensorFlagBits::MASK_DIRECT_REPORT) >>
+                     static_cast<unsigned int>(SensorFlagShift::DIRECT_REPORT);
+    return r >= static_cast<unsigned int>(rate);
+}
+
+bool SensorsHidlTestBase::isDirectChannelTypeSupported(SensorInfo sensor, SharedMemType type) {
+    switch (type) {
+        case SharedMemType::ASHMEM:
+            return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_ASHMEM) != 0;
+        case SharedMemType::GRALLOC:
+            return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_GRALLOC) != 0;
+        default:
+            return false;
+    }
+}
+
+void SensorsHidlTestBase::testDirectReportOperation(SensorType type, SharedMemType memType,
+                                                    RateLevel rate,
+                                                    const SensorEventsChecker& checker) {
+    constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
+    constexpr size_t kNEvent = 4096;
+    constexpr size_t kMemSize = kEventSize * kNEvent;
+
+    constexpr float kNormalNominal = 50;
+    constexpr float kFastNominal = 200;
+    constexpr float kVeryFastNominal = 800;
+
+    constexpr float kNominalTestTimeSec = 1.f;
+    constexpr float kMaxTestTimeSec = kNominalTestTimeSec + 0.5f;  // 0.5 second for initialization
+
+    SensorInfo sensor = defaultSensorByType(type);
+
+    if (!isValidType(sensor.type)) {
+        // no default sensor of this type
+        return;
+    }
+
+    if (!isDirectReportRateSupported(sensor, rate)) {
+        return;
+    }
+
+    if (!isDirectChannelTypeSupported(sensor, memType)) {
+        return;
+    }
+
+    std::unique_ptr<SensorsTestSharedMemory> mem(
+        SensorsTestSharedMemory::create(memType, kMemSize));
+    ASSERT_NE(mem, nullptr);
+
+    char* buffer = mem->getBuffer();
+    // fill memory with data
+    for (size_t i = 0; i < kMemSize; ++i) {
+        buffer[i] = '\xcc';
+    }
+
+    int32_t channelHandle;
+    registerDirectChannel(mem->getSharedMemInfo(),
+                          [&channelHandle](auto result, auto channelHandle_) {
+                              ASSERT_EQ(result, Result::OK);
+                              channelHandle = channelHandle_;
+                          });
+
+    // check memory is zeroed
+    for (size_t i = 0; i < kMemSize; ++i) {
+        ASSERT_EQ(buffer[i], '\0');
+    }
+
+    int32_t eventToken;
+    configDirectReport(sensor.sensorHandle, channelHandle, rate,
+                       [&eventToken](auto result, auto token) {
+                           ASSERT_EQ(result, Result::OK);
+                           eventToken = token;
+                       });
+
+    usleep(static_cast<useconds_t>(kMaxTestTimeSec * 1e6f));
+    auto events = mem->parseEvents();
+
+    // find norminal rate
+    float nominalFreq = 0.f;
+    switch (rate) {
+        case RateLevel::NORMAL:
+            nominalFreq = kNormalNominal;
+            break;
+        case RateLevel::FAST:
+            nominalFreq = kFastNominal;
+            break;
+        case RateLevel::VERY_FAST:
+            nominalFreq = kVeryFastNominal;
+            break;
+        case RateLevel::STOP:
+            FAIL();
+    }
+
+    // allowed to be between 55% and 220% of nominal freq
+    ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * kNominalTestTimeSec));
+    ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * kMaxTestTimeSec));
+
+    int64_t lastTimestamp = 0;
+    bool typeErrorReported = false;
+    bool tokenErrorReported = false;
+    bool timestampErrorReported = false;
+    std::vector<Event> sensorEvents;
+    for (auto& e : events) {
+        if (!tokenErrorReported) {
+            EXPECT_EQ(eventToken, e.sensorHandle)
+                << (tokenErrorReported = true,
+                    "Event token does not match that retured from configDirectReport");
+        }
+
+        if (isMetaSensorType(e.sensorType)) {
+            continue;
+        }
+        sensorEvents.push_back(e);
+
+        if (!typeErrorReported) {
+            EXPECT_EQ(type, e.sensorType)
+                << (typeErrorReported = true,
+                    "Type in event does not match type of sensor registered.");
+        }
+        if (!timestampErrorReported) {
+            EXPECT_GT(e.timestamp, lastTimestamp)
+                << (timestampErrorReported = true, "Timestamp not monotonically increasing");
+        }
+        lastTimestamp = e.timestamp;
+    }
+
+    std::string s;
+    EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
+
+    // stop sensor and unregister channel
+    configDirectReport(sensor.sensorHandle, channelHandle, RateLevel::STOP,
+                       [](auto result, auto) { EXPECT_EQ(result, Result::OK); });
+    EXPECT_EQ(unregisterDirectChannel(channelHandle), Result::OK);
+}
+
+void SensorsHidlTestBase::testStreamingOperation(SensorType type,
+                                                 std::chrono::nanoseconds samplingPeriod,
+                                                 std::chrono::seconds duration,
+                                                 const SensorEventsChecker& checker) {
+    std::vector<Event> events;
+    std::vector<Event> sensorEvents;
+
+    const int64_t samplingPeriodInNs = samplingPeriod.count();
+    const int64_t batchingPeriodInNs = 0;  // no batching
+    const useconds_t minTimeUs = std::chrono::microseconds(duration).count();
+    const size_t minNEvent = duration / samplingPeriod;
+
+    SensorInfo sensor = defaultSensorByType(type);
+
+    if (!isValidType(sensor.type)) {
+        // no default sensor of this type
+        return;
+    }
+
+    if (std::chrono::microseconds(sensor.minDelay) > samplingPeriod) {
+        // rate not supported
+        return;
+    }
+
+    int32_t handle = sensor.sensorHandle;
+
+    ASSERT_EQ(batch(handle, samplingPeriodInNs, batchingPeriodInNs), Result::OK);
+    ASSERT_EQ(activate(handle, 1), Result::OK);
+    events = collectEvents(minTimeUs, minNEvent, true /*clearBeforeStart*/);
+    ASSERT_EQ(activate(handle, 0), Result::OK);
+
+    ALOGI("Collected %zu samples", events.size());
+
+    ASSERT_GT(events.size(), 0u);
+
+    bool handleMismatchReported = false;
+    bool metaSensorTypeErrorReported = false;
+    for (auto& e : events) {
+        if (e.sensorType == type) {
+            // avoid generating hundreds of error
+            if (!handleMismatchReported) {
+                EXPECT_EQ(e.sensorHandle, handle)
+                    << (handleMismatchReported = true,
+                        "Event of the same type must come from the sensor registered");
+            }
+            sensorEvents.push_back(e);
+        } else {
+            // avoid generating hundreds of error
+            if (!metaSensorTypeErrorReported) {
+                EXPECT_TRUE(isMetaSensorType(e.sensorType))
+                    << (metaSensorTypeErrorReported = true,
+                        "Only meta types are allowed besides the type registered");
+            }
+        }
+    }
+
+    std::string s;
+    EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
+
+    EXPECT_GE(sensorEvents.size(),
+              minNEvent / 2);  // make sure returned events are not all meta
+}
+
+void SensorsHidlTestBase::testSamplingRateHotSwitchOperation(SensorType type, bool fastToSlow) {
+    std::vector<Event> events1, events2;
+
+    constexpr int64_t batchingPeriodInNs = 0;          // no batching
+    constexpr int64_t collectionTimeoutUs = 60000000;  // 60s
+    constexpr size_t minNEvent = 50;
+
+    SensorInfo sensor = defaultSensorByType(type);
+
+    if (!isValidType(sensor.type)) {
+        // no default sensor of this type
+        return;
+    }
+
+    int32_t handle = sensor.sensorHandle;
+    int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
+    int64_t maxSamplingPeriodInNs = sensor.maxDelay * 1000ll;
+
+    if (minSamplingPeriodInNs == maxSamplingPeriodInNs) {
+        // only support single rate
+        return;
+    }
+
+    int64_t firstCollectionPeriod = fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
+    int64_t secondCollectionPeriod = !fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
+
+    // first collection
+    ASSERT_EQ(batch(handle, firstCollectionPeriod, batchingPeriodInNs), Result::OK);
+    ASSERT_EQ(activate(handle, 1), Result::OK);
+
+    usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
+    events1 = collectEvents(collectionTimeoutUs, minNEvent);
+
+    // second collection, without stop sensor
+    ASSERT_EQ(batch(handle, secondCollectionPeriod, batchingPeriodInNs), Result::OK);
+
+    usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
+    events2 = collectEvents(collectionTimeoutUs, minNEvent);
+
+    // end of collection, stop sensor
+    ASSERT_EQ(activate(handle, 0), Result::OK);
+
+    ALOGI("Collected %zu fast samples and %zu slow samples", events1.size(), events2.size());
+
+    ASSERT_GT(events1.size(), 0u);
+    ASSERT_GT(events2.size(), 0u);
+
+    int64_t minDelayAverageInterval, maxDelayAverageInterval;
+    std::vector<Event>& minDelayEvents(fastToSlow ? events1 : events2);
+    std::vector<Event>& maxDelayEvents(fastToSlow ? events2 : events1);
+
+    size_t nEvent = 0;
+    int64_t prevTimestamp = -1;
+    int64_t timestampInterval = 0;
+    for (auto& e : minDelayEvents) {
+        if (e.sensorType == type) {
+            ASSERT_EQ(e.sensorHandle, handle);
+            if (prevTimestamp > 0) {
+                timestampInterval += e.timestamp - prevTimestamp;
+            }
+            prevTimestamp = e.timestamp;
+            ++nEvent;
+        }
+    }
+    ASSERT_GT(nEvent, 2u);
+    minDelayAverageInterval = timestampInterval / (nEvent - 1);
+
+    nEvent = 0;
+    prevTimestamp = -1;
+    timestampInterval = 0;
+    for (auto& e : maxDelayEvents) {
+        if (e.sensorType == type) {
+            ASSERT_EQ(e.sensorHandle, handle);
+            if (prevTimestamp > 0) {
+                timestampInterval += e.timestamp - prevTimestamp;
+            }
+            prevTimestamp = e.timestamp;
+            ++nEvent;
+        }
+    }
+    ASSERT_GT(nEvent, 2u);
+    maxDelayAverageInterval = timestampInterval / (nEvent - 1);
+
+    // change of rate is significant.
+    ALOGI("min/maxDelayAverageInterval = %" PRId64 " %" PRId64, minDelayAverageInterval,
+          maxDelayAverageInterval);
+    EXPECT_GT((maxDelayAverageInterval - minDelayAverageInterval), minDelayAverageInterval / 10);
+
+    // fastest rate sampling time is close to spec
+    EXPECT_LT(std::abs(minDelayAverageInterval - minSamplingPeriodInNs),
+              minSamplingPeriodInNs / 10);
+
+    // slowest rate sampling time is close to spec
+    EXPECT_LT(std::abs(maxDelayAverageInterval - maxSamplingPeriodInNs),
+              maxSamplingPeriodInNs / 10);
+}
+
+void SensorsHidlTestBase::testBatchingOperation(SensorType type) {
+    std::vector<Event> events;
+
+    constexpr int64_t maxBatchingTestTimeNs = 30ull * 1000 * 1000 * 1000;
+    constexpr int64_t oneSecondInNs = 1ull * 1000 * 1000 * 1000;
+
+    SensorInfo sensor = defaultSensorByType(type);
+
+    if (!isValidType(sensor.type)) {
+        // no default sensor of this type
+        return;
+    }
+
+    int32_t handle = sensor.sensorHandle;
+    int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
+    uint32_t minFifoCount = sensor.fifoReservedEventCount;
+    int64_t batchingPeriodInNs = minFifoCount * minSamplingPeriodInNs;
+
+    if (batchingPeriodInNs < oneSecondInNs) {
+        // batching size too small to test reliably
+        return;
+    }
+
+    batchingPeriodInNs = std::min(batchingPeriodInNs, maxBatchingTestTimeNs);
+
+    ALOGI("Test batching for %d ms", (int)(batchingPeriodInNs / 1000 / 1000));
+
+    int64_t allowedBatchDeliverTimeNs = std::max(oneSecondInNs, batchingPeriodInNs / 10);
+
+    ASSERT_EQ(batch(handle, minSamplingPeriodInNs, INT64_MAX), Result::OK);
+    ASSERT_EQ(activate(handle, 1), Result::OK);
+
+    usleep(500000);  // sleep 0.5 sec to wait for initialization
+    ASSERT_EQ(flush(handle), Result::OK);
+
+    // wait for 80% of the reserved batching period
+    // there should not be any significant amount of events
+    // since collection is not enabled all events will go down the drain
+    usleep(batchingPeriodInNs / 1000 * 8 / 10);
+
+    getEnvironment()->setCollection(true);
+    // clean existing collections
+    collectEvents(0 /*timeLimitUs*/, 0 /*nEventLimit*/, true /*clearBeforeStart*/,
+                  false /*change collection*/);
+
+    // 0.8 + 0.2 times the batching period
+    usleep(batchingPeriodInNs / 1000 * 8 / 10);
+    ASSERT_EQ(flush(handle), Result::OK);
+
+    // plus some time for the event to deliver
+    events = collectEvents(allowedBatchDeliverTimeNs / 1000, minFifoCount,
+                           false /*clearBeforeStart*/, false /*change collection*/);
+
+    getEnvironment()->setCollection(false);
+    ASSERT_EQ(activate(handle, 0), Result::OK);
+
+    size_t nEvent = 0;
+    for (auto& e : events) {
+        if (e.sensorType == type && e.sensorHandle == handle) {
+            ++nEvent;
+        }
+    }
+
+    // at least reach 90% of advertised capacity
+    ASSERT_GT(nEvent, (size_t)(minFifoCount * 9 / 10));
+}
diff --git a/sensors/common/vts/utils/SensorsTestSharedMemory.cpp b/sensors/common/vts/utils/SensorsTestSharedMemory.cpp
new file mode 100644
index 0000000..5096498
--- /dev/null
+++ b/sensors/common/vts/utils/SensorsTestSharedMemory.cpp
@@ -0,0 +1,206 @@
+/*
+ * Copyright (C) 2018 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 "SensorsTestSharedMemory.h"
+
+#include <log/log.h>
+
+#include <sys/mman.h>
+#include <cinttypes>
+
+using namespace ::android::hardware::sensors::V1_0;
+
+SharedMemInfo SensorsTestSharedMemory::getSharedMemInfo() const {
+    SharedMemInfo mem = {.type = mType,
+                         .format = SharedMemFormat::SENSORS_EVENT,
+                         .size = static_cast<uint32_t>(mSize),
+                         .memoryHandle = mNativeHandle};
+    return mem;
+}
+
+char* SensorsTestSharedMemory::getBuffer() const {
+    return mBuffer;
+}
+
+std::vector<Event> SensorsTestSharedMemory::parseEvents(int64_t lastCounter, size_t offset) const {
+    constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
+    constexpr size_t kOffsetSize = static_cast<size_t>(SensorsEventFormatOffset::SIZE_FIELD);
+    constexpr size_t kOffsetToken = static_cast<size_t>(SensorsEventFormatOffset::REPORT_TOKEN);
+    constexpr size_t kOffsetType = static_cast<size_t>(SensorsEventFormatOffset::SENSOR_TYPE);
+    constexpr size_t kOffsetAtomicCounter =
+        static_cast<size_t>(SensorsEventFormatOffset::ATOMIC_COUNTER);
+    constexpr size_t kOffsetTimestamp = static_cast<size_t>(SensorsEventFormatOffset::TIMESTAMP);
+    constexpr size_t kOffsetData = static_cast<size_t>(SensorsEventFormatOffset::DATA);
+
+    std::vector<Event> events;
+    std::vector<float> data(16);
+
+    while (offset + kEventSize <= mSize) {
+        int64_t atomicCounter =
+            *reinterpret_cast<uint32_t*>(mBuffer + offset + kOffsetAtomicCounter);
+        if (atomicCounter <= lastCounter) {
+            ALOGV("atomicCounter = %" PRId64 ", lastCounter = %" PRId64, atomicCounter,
+                  lastCounter);
+            break;
+        }
+
+        int32_t size = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetSize);
+        if (size != kEventSize) {
+            // unknown error, events parsed may be wrong, remove all
+            events.clear();
+            break;
+        }
+
+        int32_t token = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetToken);
+        int32_t type = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetType);
+        int64_t timestamp = *reinterpret_cast<int64_t*>(mBuffer + offset + kOffsetTimestamp);
+
+        ALOGV("offset = %zu, cnt %" PRId64 ", token %" PRId32 ", type %" PRId32
+              ", timestamp %" PRId64,
+              offset, atomicCounter, token, type, timestamp);
+
+        Event event = {
+            .timestamp = timestamp,
+            .sensorHandle = token,
+            .sensorType = static_cast<SensorType>(type),
+        };
+        event.u.data = android::hardware::hidl_array<float, 16>(
+            reinterpret_cast<float*>(mBuffer + offset + kOffsetData));
+
+        events.push_back(event);
+
+        lastCounter = atomicCounter;
+        offset += kEventSize;
+    }
+
+    return events;
+}
+
+SensorsTestSharedMemory::SensorsTestSharedMemory(SharedMemType type, size_t size)
+    : mType(type), mSize(0), mBuffer(nullptr) {
+    native_handle_t* handle = nullptr;
+    char* buffer = nullptr;
+    switch (type) {
+        case SharedMemType::ASHMEM: {
+            int fd;
+            handle = ::native_handle_create(1 /*nFds*/, 0 /*nInts*/);
+            if (handle != nullptr) {
+                handle->data[0] = fd = ::ashmem_create_region("SensorsTestSharedMemory", size);
+                if (handle->data[0] > 0) {
+                    // memory is pinned by default
+                    buffer = static_cast<char*>(
+                        ::mmap(NULL, size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
+                    if (buffer != reinterpret_cast<char*>(MAP_FAILED)) {
+                        break;
+                    }
+                    ::native_handle_close(handle);
+                }
+                ::native_handle_delete(handle);
+                handle = nullptr;
+            }
+            break;
+        }
+        case SharedMemType::GRALLOC: {
+            mGrallocWrapper = std::make_unique<::android::GrallocWrapper>();
+            if (mGrallocWrapper->getAllocator() == nullptr ||
+                mGrallocWrapper->getMapper() == nullptr) {
+                break;
+            }
+            using android::hardware::graphics::common::V1_0::BufferUsage;
+            using android::hardware::graphics::common::V1_0::PixelFormat;
+            mapper2::IMapper::BufferDescriptorInfo buf_desc_info = {
+                .width = static_cast<uint32_t>(size),
+                .height = 1,
+                .layerCount = 1,
+                .usage = static_cast<uint64_t>(BufferUsage::SENSOR_DIRECT_DATA |
+                                               BufferUsage::CPU_READ_OFTEN),
+                .format = PixelFormat::BLOB};
+
+            handle = const_cast<native_handle_t*>(mGrallocWrapper->allocate(buf_desc_info));
+            if (handle != nullptr) {
+                mapper2::IMapper::Rect region{0, 0, static_cast<int32_t>(buf_desc_info.width),
+                                              static_cast<int32_t>(buf_desc_info.height)};
+                buffer = static_cast<char*>(
+                    mGrallocWrapper->lock(handle, buf_desc_info.usage, region, /*fence=*/-1));
+                if (buffer != nullptr) {
+                    break;
+                }
+                mGrallocWrapper->freeBuffer(handle);
+                handle = nullptr;
+            }
+            break;
+        }
+        default:
+            break;
+    }
+
+    if (buffer != nullptr) {
+        mNativeHandle = handle;
+        mSize = size;
+        mBuffer = buffer;
+    }
+}
+
+SensorsTestSharedMemory::~SensorsTestSharedMemory() {
+    switch (mType) {
+        case SharedMemType::ASHMEM: {
+            if (mSize != 0) {
+                ::munmap(mBuffer, mSize);
+                mBuffer = nullptr;
+
+                ::native_handle_close(mNativeHandle);
+                ::native_handle_delete(mNativeHandle);
+
+                mNativeHandle = nullptr;
+                mSize = 0;
+            }
+            break;
+        }
+        case SharedMemType::GRALLOC: {
+            if (mSize != 0) {
+                mGrallocWrapper->unlock(mNativeHandle);
+                mGrallocWrapper->freeBuffer(mNativeHandle);
+
+                mNativeHandle = nullptr;
+                mSize = 0;
+            }
+            break;
+        }
+        default: {
+            if (mNativeHandle != nullptr || mSize != 0 || mBuffer != nullptr) {
+                ALOGE(
+                    "SensorsTestSharedMemory %p not properly destructed: "
+                    "type %d, native handle %p, size %zu, buffer %p",
+                    this, static_cast<int>(mType), mNativeHandle, mSize, mBuffer);
+            }
+            break;
+        }
+    }
+}
+
+SensorsTestSharedMemory* SensorsTestSharedMemory::create(SharedMemType type, size_t size) {
+    constexpr size_t kMaxSize = 128 * 1024 * 1024;  // sensor test should not need more than 128M
+    if (size == 0 || size >= kMaxSize) {
+        return nullptr;
+    }
+
+    auto m = new SensorsTestSharedMemory(type, size);
+    if (m->mSize != size || m->mBuffer == nullptr) {
+        delete m;
+        m = nullptr;
+    }
+    return m;
+}
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
new file mode 100644
index 0000000..405dc28
--- /dev/null
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
@@ -0,0 +1,117 @@
+/*
+ * Copyright (C) 2018 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_SENSORS_HIDL_TEST_BASE_H
+#define ANDROID_SENSORS_HIDL_TEST_BASE_H
+
+#include "sensors-vts-utils/SensorEventsChecker.h"
+#include "sensors-vts-utils/SensorsHidlEnvironmentBase.h"
+
+#include <VtsHalHidlTargetTestBase.h>
+#include <android/hardware/sensors/1.0/ISensors.h>
+#include <android/hardware/sensors/1.0/types.h>
+
+#include <unordered_set>
+#include <vector>
+
+using ::android::sp;
+using ::android::hardware::hidl_string;
+using ::android::hardware::Return;
+using ::android::hardware::Void;
+using namespace ::android::hardware::sensors::V1_0;
+
+class SensorsHidlTestBase : public ::testing::VtsHalHidlTargetTestBase {
+   public:
+    virtual SensorsHidlEnvironmentBase* getEnvironment() = 0;
+    virtual void SetUp() override {}
+
+    virtual void TearDown() override {
+        // stop all sensors
+        for (auto s : mSensorHandles) {
+            activate(s, false);
+        }
+        mSensorHandles.clear();
+
+        // stop all direct report and channels
+        for (auto c : mDirectChannelHandles) {
+            // disable all reports
+            configDirectReport(-1, c, RateLevel::STOP, [](auto, auto) {});
+            unregisterDirectChannel(c);
+        }
+        mDirectChannelHandles.clear();
+    }
+
+    // implementation wrapper
+    virtual SensorInfo defaultSensorByType(SensorType type) = 0;
+    virtual Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) = 0;
+
+    virtual Return<Result> activate(int32_t sensorHandle, bool enabled) = 0;
+
+    virtual Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                                 int64_t maxReportLatencyNs) = 0;
+
+    virtual Return<Result> flush(int32_t sensorHandle) = 0;
+    virtual Return<Result> injectSensorData(const Event& event) = 0;
+    virtual Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                               ISensors::registerDirectChannel_cb _hidl_cb) = 0;
+    virtual Return<Result> unregisterDirectChannel(int32_t channelHandle) = 0;
+    virtual Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle,
+                                            RateLevel rate,
+                                            ISensors::configDirectReport_cb _hidl_cb) = 0;
+
+    std::vector<Event> collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
+                                     bool clearBeforeStart = true, bool changeCollection = true);
+
+    inline static SensorFlagBits extractReportMode(uint64_t flag) {
+        return (SensorFlagBits)(flag & ((uint64_t)SensorFlagBits::CONTINUOUS_MODE |
+                                        (uint64_t)SensorFlagBits::ON_CHANGE_MODE |
+                                        (uint64_t)SensorFlagBits::ONE_SHOT_MODE |
+                                        (uint64_t)SensorFlagBits::SPECIAL_REPORTING_MODE));
+    }
+
+    inline static bool isMetaSensorType(SensorType type) {
+        return (type == SensorType::META_DATA || type == SensorType::DYNAMIC_SENSOR_META ||
+                type == SensorType::ADDITIONAL_INFO);
+    }
+
+    inline static bool isValidType(SensorType type) { return (int32_t)type > 0; }
+
+    void testStreamingOperation(SensorType type, std::chrono::nanoseconds samplingPeriod,
+                                std::chrono::seconds duration, const SensorEventsChecker& checker);
+    void testSamplingRateHotSwitchOperation(SensorType type, bool fastToSlow = true);
+    void testBatchingOperation(SensorType type);
+    void testDirectReportOperation(SensorType type, SharedMemType memType, RateLevel rate,
+                                   const SensorEventsChecker& checker);
+
+    static void assertTypeMatchStringType(SensorType type, const hidl_string& stringType);
+    static void assertTypeMatchReportMode(SensorType type, SensorFlagBits reportMode);
+    static void assertDelayMatchReportMode(int32_t minDelay, int32_t maxDelay,
+                                           SensorFlagBits reportMode);
+    static SensorFlagBits expectedReportModeForType(SensorType type);
+    static bool isDirectReportRateSupported(SensorInfo sensor, RateLevel rate);
+    static bool isDirectChannelTypeSupported(SensorInfo sensor, SharedMemType type);
+
+   protected:
+    // checkers
+    static const Vec3NormChecker sAccelNormChecker;
+    static const Vec3NormChecker sGyroNormChecker;
+
+    // all sensors and direct channnels used
+    std::unordered_set<int32_t> mSensorHandles;
+    std::unordered_set<int32_t> mDirectChannelHandles;
+};
+
+#endif  // ANDROID_SENSORS_HIDL_TEST_BASE_H
\ No newline at end of file
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsTestSharedMemory.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsTestSharedMemory.h
new file mode 100644
index 0000000..055b8e7
--- /dev/null
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsTestSharedMemory.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2018 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_SENSORS_TEST_SHARED_MEMORY_H
+#define ANDROID_SENSORS_TEST_SHARED_MEMORY_H
+
+#include "GrallocWrapper.h"
+
+#include <android-base/macros.h>
+#include <android/hardware/sensors/1.0/types.h>
+
+#include <cutils/ashmem.h>
+
+class SensorsTestSharedMemory {
+    using SharedMemType = ::android::hardware::sensors::V1_0::SharedMemType;
+    using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
+    using Event = ::android::hardware::sensors::V1_0::Event;
+
+   public:
+    static SensorsTestSharedMemory* create(SharedMemType type, size_t size);
+    SharedMemInfo getSharedMemInfo() const;
+    char* getBuffer() const;
+    std::vector<Event> parseEvents(int64_t lastCounter = -1, size_t offset = 0) const;
+    virtual ~SensorsTestSharedMemory();
+
+   private:
+    SensorsTestSharedMemory(SharedMemType type, size_t size);
+
+    SharedMemType mType;
+    native_handle_t* mNativeHandle;
+    size_t mSize;
+    char* mBuffer;
+    std::unique_ptr<::android::GrallocWrapper> mGrallocWrapper;
+
+    DISALLOW_COPY_AND_ASSIGN(SensorsTestSharedMemory);
+};
+
+#endif  // ANDROID_SENSORS_TEST_SHARED_MEMORY_H
diff --git a/tests/foo/1.0/IFoo.hal b/tests/foo/1.0/IFoo.hal
index f54994f..4c54427 100644
--- a/tests/foo/1.0/IFoo.hal
+++ b/tests/foo/1.0/IFoo.hal
@@ -122,7 +122,14 @@
     };
 
     struct WithFmq {
-        fmq_sync<uint8_t> descSync;
+        struct ScatterGather {
+            fmq_sync<uint8_t> descSync;
+        } scatterGathered;
+
+        struct ContainsPointer {
+            fmq_sync<uint8_t> descSync;
+            interface foo;
+        } containsPointer;
     };
 
     enum Discriminator : uint8_t {