Apply Grpc Client to current VHal Implementation
Test: tested on Cuttlefish VM
- Use virtualization HAL implementation, device/google/cuttlefish/shared/auto/device.mk, PRODUCT_PACKAGES:
remove android.hardware.automotive.vehicle@2.0-service
add:
android.hardware.automotive.vehicle@2.0-virtualization-service
android.hardware.automotive.vehicle@2.0-virtualization-grpc-server
- configure the server CID and port, add the following device/google/cuttlefish/shared/config/init.vendor.rc:
setprop ro.vendor.vehiclehal.server.cid 3
setprop ro.vendor.vehiclehal.server.port 9210
- Build and Launch cuttlefish VM
m && acloud create --boot-timeout 3600 -vv --local-instance --local-image
- VHAL should work as normal, see tests in ag/9693857
Bug: b/141493212
Change-Id: I97df02dd26b89f60d3d87b2c32c4f4f8919b1294
diff --git a/automotive/vehicle/2.0/default/Android.bp b/automotive/vehicle/2.0/default/Android.bp
index 2050038..a94a37e 100644
--- a/automotive/vehicle/2.0/default/Android.bp
+++ b/automotive/vehicle/2.0/default/Android.bp
@@ -82,6 +82,20 @@
],
}
+// VHal virtualization utils
+cc_library_static {
+ name: "android.hardware.automotive.vehicle@2.0-virtualization-utils",
+ vendor: true,
+ defaults: ["vhal_v2_0_defaults"],
+ srcs: [
+ "impl/vhal_v2_0/virtualization/Utils.cpp",
+ ],
+ export_include_dirs: ["impl"],
+ shared_libs: [
+ "libbase",
+ ],
+}
+
cc_test {
name: "android.hardware.automotive.vehicle@2.0-manager-unit-tests",
vendor: true,
@@ -133,3 +147,59 @@
"libqemu_pipe",
],
}
+
+cc_binary {
+ name: "android.hardware.automotive.vehicle@2.0-virtualization-service",
+ defaults: ["vhal_v2_0_defaults"],
+ init_rc: ["android.hardware.automotive.vehicle@2.0-virtualization-service.rc"],
+ vendor: true,
+ relative_install_path: "hw",
+ srcs: [
+ "impl/vhal_v2_0/virtualization/GrpcVehicleClient.cpp",
+ "VirtualizedVehicleService.cpp",
+ ],
+ shared_libs: [
+ "libbase",
+ "libcutils",
+ "libjsoncpp",
+ "libprotobuf-cpp-full",
+ "libgrpc++",
+ ],
+ static_libs: [
+ "android.hardware.automotive.vehicle@2.0-manager-lib",
+ "android.hardware.automotive.vehicle@2.0-default-impl-lib",
+ "android.hardware.automotive.vehicle@2.0-grpc",
+ "android.hardware.automotive.vehicle@2.0-virtualization-utils",
+ "libqemu_pipe",
+ ],
+ cflags: [
+ "-Wno-unused-parameter"
+ ],
+}
+
+cc_binary {
+ name: "android.hardware.automotive.vehicle@2.0-virtualization-grpc-server",
+ init_rc: ["android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc"],
+ defaults: ["vhal_v2_0_defaults"],
+ vendor: true,
+ relative_install_path: "hw",
+ srcs: [
+ "impl/vhal_v2_0/virtualization/GrpcVehicleServer.cpp",
+ "VirtualizationGrpcServer.cpp",
+ ],
+ shared_libs: [
+ "libbase",
+ "libjsoncpp",
+ "libprotobuf-cpp-full",
+ "libgrpc++",
+ ],
+ static_libs: [
+ "android.hardware.automotive.vehicle@2.0-manager-lib",
+ "android.hardware.automotive.vehicle@2.0-default-impl-lib",
+ "android.hardware.automotive.vehicle@2.0-grpc",
+ "android.hardware.automotive.vehicle@2.0-virtualization-utils",
+ ],
+ cflags: [
+ "-Wno-unused-parameter"
+ ],
+}
diff --git a/automotive/vehicle/2.0/default/VirtualizationGrpcServer.cpp b/automotive/vehicle/2.0/default/VirtualizationGrpcServer.cpp
new file mode 100644
index 0000000..cca65d9
--- /dev/null
+++ b/automotive/vehicle/2.0/default/VirtualizationGrpcServer.cpp
@@ -0,0 +1,49 @@
+#include <android-base/logging.h>
+#include <getopt.h>
+#include <unistd.h>
+
+#include "vhal_v2_0/virtualization/GrpcVehicleServer.h"
+#include "vhal_v2_0/virtualization/Utils.h"
+
+int main(int argc, char* argv[]) {
+ namespace vhal_impl = android::hardware::automotive::vehicle::V2_0::impl;
+
+ vhal_impl::VsockServerInfo serverInfo;
+
+ // unique values to identify the options
+ constexpr int OPT_VHAL_SERVER_CID = 1001;
+ constexpr int OPT_VHAL_SERVER_PORT_NUMBER = 1002;
+
+ struct option longOptions[] = {
+ {"server_cid", 1, 0, OPT_VHAL_SERVER_CID},
+ {"server_port", 1, 0, OPT_VHAL_SERVER_PORT_NUMBER},
+ {nullptr, 0, nullptr, 0},
+ };
+
+ int optValue;
+ while ((optValue = getopt_long_only(argc, argv, ":", longOptions, 0)) != -1) {
+ switch (optValue) {
+ case OPT_VHAL_SERVER_CID:
+ serverInfo.serverCid = std::atoi(optarg);
+ LOG(DEBUG) << "Vehicle HAL server CID: " << serverInfo.serverCid;
+ break;
+ case OPT_VHAL_SERVER_PORT_NUMBER:
+ serverInfo.serverPort = std::atoi(optarg);
+ LOG(DEBUG) << "Vehicle HAL server port: " << serverInfo.serverPort;
+ break;
+ default:
+ // ignore other options
+ break;
+ }
+ }
+
+ if (serverInfo.serverCid == 0 || serverInfo.serverPort == 0) {
+ LOG(FATAL) << "Invalid server information, CID: " << serverInfo.serverCid
+ << "; port: " << serverInfo.serverPort;
+ // Will abort after logging
+ }
+
+ auto server = vhal_impl::makeGrpcVehicleServer(vhal_impl::getVsockUri(serverInfo));
+ server->Start();
+ return 0;
+}
diff --git a/automotive/vehicle/2.0/default/VirtualizedVehicleService.cpp b/automotive/vehicle/2.0/default/VirtualizedVehicleService.cpp
new file mode 100644
index 0000000..1de81ae
--- /dev/null
+++ b/automotive/vehicle/2.0/default/VirtualizedVehicleService.cpp
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2019 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <android-base/logging.h>
+#include <cutils/properties.h>
+#include <hidl/HidlTransportSupport.h>
+
+#include <vhal_v2_0/EmulatedVehicleConnector.h>
+#include <vhal_v2_0/EmulatedVehicleHal.h>
+#include <vhal_v2_0/VehicleHalManager.h>
+#include <vhal_v2_0/virtualization/GrpcVehicleClient.h>
+#include <vhal_v2_0/virtualization/Utils.h>
+
+using namespace android;
+using namespace android::hardware;
+using namespace android::hardware::automotive::vehicle::V2_0;
+
+int main(int argc, char* argv[]) {
+ constexpr const char* VHAL_SERVER_CID_PROPERTY_KEY = "ro.vendor.vehiclehal.server.cid";
+ constexpr const char* VHAL_SERVER_PORT_PROPERTY_KEY = "ro.vendor.vehiclehal.server.port";
+
+ auto property_get_uint = [](const char* key, unsigned int default_value) {
+ auto value = property_get_int64(key, default_value);
+ if (value < 0 || value > UINT_MAX) {
+ LOG(DEBUG) << key << ": " << value << " is out of bound, using default value '"
+ << default_value << "' instead";
+ return default_value;
+ }
+ return static_cast<unsigned int>(value);
+ };
+
+ impl::VsockServerInfo serverInfo{property_get_uint(VHAL_SERVER_CID_PROPERTY_KEY, 0),
+ property_get_uint(VHAL_SERVER_PORT_PROPERTY_KEY, 0)};
+
+ if (serverInfo.serverCid == 0 || serverInfo.serverPort == 0) {
+ LOG(FATAL) << "Invalid server information, CID: " << serverInfo.serverCid
+ << "; port: " << serverInfo.serverPort;
+ // Will abort after logging
+ }
+
+ auto store = std::make_unique<VehiclePropertyStore>();
+ auto connector = impl::makeGrpcVehicleClient(impl::getVsockUri(serverInfo));
+ auto hal = std::make_unique<impl::EmulatedVehicleHal>(store.get(), connector.get());
+ auto emulator = std::make_unique<impl::VehicleEmulator>(hal.get());
+ auto service = std::make_unique<VehicleHalManager>(hal.get());
+
+ configureRpcThreadpool(4, true /* callerWillJoin */);
+
+ LOG(INFO) << "Registering as service...";
+ status_t status = service->registerAsService();
+
+ if (status != OK) {
+ LOG(ERROR) << "Unable to register vehicle service (" << status << ")";
+ return 1;
+ }
+
+ LOG(INFO) << "Ready";
+ joinRpcThreadpool();
+
+ return 1;
+}
diff --git a/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc b/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc
new file mode 100644
index 0000000..29147ad
--- /dev/null
+++ b/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc
@@ -0,0 +1,10 @@
+# It is an interim state to run GRPC server as an Android service.
+# Eventually it will run outside of Android (e.g., AGL),
+# so the command line arguments are expected, though not conventionally used in Android
+service vendor.vehicle-hal-2.0-server \
+ /vendor/bin/hw/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server \
+ -server_cid ${ro.vendor.vehiclehal.server.cid:-0} \
+ -server_port ${ro.vendor.vehiclehal.server.port:-0}
+ class hal
+ user vehicle_network
+ group system inet
diff --git a/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-service.rc b/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-service.rc
new file mode 100644
index 0000000..234de59
--- /dev/null
+++ b/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-service.rc
@@ -0,0 +1,4 @@
+service vendor.vehicle-hal-2.0 /vendor/bin/hw/android.hardware.automotive.vehicle@2.0-virtualization-service
+ class hal
+ user vehicle_network
+ group system inet
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/Utils.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/Utils.cpp
new file mode 100644
index 0000000..41d4827
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/Utils.cpp
@@ -0,0 +1,39 @@
+/*
+ * 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 "Utils.h"
+
+#include <sstream>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+namespace impl {
+
+std::string getVsockUri(const VsockServerInfo& serverInfo) {
+ std::stringstream uri_stream;
+ uri_stream << "vsock:" << serverInfo.serverCid << ":" << serverInfo.serverPort;
+ return uri_stream.str();
+}
+
+} // 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/Utils.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/Utils.h
new file mode 100644
index 0000000..6b1049c
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/Utils.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2019 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_0_impl_virtualization_Utils_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_virtualization_Utils_H_
+
+#include <string>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+namespace impl {
+
+struct VsockServerInfo {
+ unsigned int serverCid{0};
+ unsigned int serverPort{0};
+};
+
+std::string getVsockUri(const VsockServerInfo& serverInfo);
+
+} // namespace impl
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
+#endif // android_hardware_automotive_vehicle_V2_0_impl_virtualization_Utils_H_