diff --git a/automotive/can/1.0/tools/libprotocan/Android.bp b/automotive/can/1.0/tools/libprotocan/Android.bp
index 76c238b..4c23fad 100644
--- a/automotive/can/1.0/tools/libprotocan/Android.bp
+++ b/automotive/can/1.0/tools/libprotocan/Android.bp
@@ -25,7 +25,7 @@
 
 cc_library_static {
     name: "libprotocan",
-    defaults: ["android.hardware.automotive.vehicle@2.0-protocan-defaults"],
+    defaults: ["android.hardware.automotive.can@defaults"],
     vendor: true,
     srcs: [
         "Checksum.cpp",
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h
index 63eb747..49b33d5 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h
@@ -213,7 +213,7 @@
 ::ndk::ScopedAStatus toScopedAStatus(
         const ::android::base::Result<T>& result,
         ::aidl::android::hardware::automotive::vehicle::StatusCode status,
-        std::string additionalErrorMsg) {
+        const std::string& additionalErrorMsg) {
     if (result.ok()) {
         return ::ndk::ScopedAStatus::ok();
     }
@@ -236,10 +236,50 @@
 
 template <class T>
 ::ndk::ScopedAStatus toScopedAStatus(const ::android::base::Result<T>& result,
-                                     std::string additionalErrorMsg) {
+                                     const std::string& additionalErrorMsg) {
     return toScopedAStatus(result, getErrorCode(result), additionalErrorMsg);
 }
 
+// Check whether the value is valid according to config.
+// We check for the following:
+// *  If the type is INT32, {@code value.int32Values} must contain one element.
+// *  If the type is INT32_VEC, {@code value.int32Values} must contain at least one element.
+// *  If the type is INT64, {@code value.int64Values} must contain one element.
+// *  If the type is INT64_VEC, {@code value.int64Values} must contain at least one element.
+// *  If the type is FLOAT, {@code value.floatValues} must contain one element.
+// *  If the type is FLOAT_VEC, {@code value.floatValues} must contain at least one element.
+// *  If the type is MIXED, see checkVendorMixedPropValue.
+::android::base::Result<void> checkPropValue(
+        const ::aidl::android::hardware::automotive::vehicle::VehiclePropValue& value,
+        const ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig* config);
+
+// Check whether the Mixed type value is valid according to config.
+// We check for the following:
+// *  configArray[1] + configArray[2] + configArray[3] must be equal to the number of
+//    {@code value.int32Values} elements.
+// *  configArray[4] + configArray[5] must be equal to the number of {@code value.int64Values}
+//    elements.
+// *  configArray[6] + configArray[7] must be equal to the number of {@code value.floatValues}
+//    elements.
+// *  configArray[8] must be equal to the number of {@code value.byteValues} elements.
+::android::base::Result<void> checkVendorMixedPropValue(
+        const ::aidl::android::hardware::automotive::vehicle::VehiclePropValue& value,
+        const ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig* config);
+
+// Check whether the value is within the configured range.
+// We check for the following types:
+// *  If type is INT32 or INT32_VEC, all {@code value.int32Values} elements must be within
+//    {@code minInt32Value} and {@code maxInt32Value} if either of them is not 0.
+// *  If type is INT64 or INT64_VEC, all {@code value.int64Values} elements must be within
+//    {@code minInt64Value} and {@code maxInt64Value} if either of them is not 0.
+// *  If type is FLOAT or FLOAT_VEC, all {@code value.floatValues} elements must be within
+//    {@code minFloatValues} and {@code maxFloatValues} if either of them is not 0.
+// We don't check other types. If more checks are required, they should be added in VehicleHardware
+// implementation.
+::android::base::Result<void> checkValueRange(
+        const ::aidl::android::hardware::automotive::vehicle::VehiclePropValue& value,
+        const ::aidl::android::hardware::automotive::vehicle::VehicleAreaConfig* config);
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware
diff --git a/automotive/vehicle/aidl/impl/utils/common/src/VehicleUtils.cpp b/automotive/vehicle/aidl/impl/utils/common/src/VehicleUtils.cpp
new file mode 100644
index 0000000..5abde8d
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/utils/common/src/VehicleUtils.cpp
@@ -0,0 +1,210 @@
+/*
+ * Copyright (C) 2021 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 "VehicleUtils.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+
+using ::aidl::android::hardware::automotive::vehicle::VehicleAreaConfig;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyGroup;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyType;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
+using ::android::base::Error;
+using ::android::base::Result;
+using ::ndk::ScopedAStatus;
+
+Result<void> checkPropValue(const VehiclePropValue& value, const VehiclePropConfig* config) {
+    int32_t property = value.prop;
+    VehiclePropertyType type = getPropType(property);
+    switch (type) {
+        case VehiclePropertyType::BOOLEAN:
+            [[fallthrough]];
+        case VehiclePropertyType::INT32:
+            if (value.value.int32Values.size() != 1) {
+                return Error() << "expect 1 int32Values for INT32 type";
+            }
+            break;
+        case VehiclePropertyType::INT32_VEC:
+            if (value.value.int32Values.size() < 1) {
+                return Error() << "expect >=1 int32Values for INT32_VEC type";
+            }
+            break;
+        case VehiclePropertyType::INT64:
+            if (value.value.int64Values.size() != 1) {
+                return Error() << "expect 1 int64Values for INT64 type";
+            }
+            break;
+        case VehiclePropertyType::INT64_VEC:
+            if (value.value.int64Values.size() < 1) {
+                return Error() << "expect >=1 int64Values for INT64_VEC type";
+            }
+            break;
+        case VehiclePropertyType::FLOAT:
+            if (value.value.floatValues.size() != 1) {
+                return Error() << "expect 1 floatValues for FLOAT type";
+            }
+            break;
+        case VehiclePropertyType::FLOAT_VEC:
+            if (value.value.floatValues.size() < 1) {
+                return Error() << "expect >=1 floatValues for FLOAT_VEC type";
+            }
+            break;
+        case VehiclePropertyType::BYTES:
+            // We allow setting an empty bytes array.
+            break;
+        case VehiclePropertyType::STRING:
+            // We allow setting an empty string.
+            break;
+        case VehiclePropertyType::MIXED:
+            if (getPropGroup(property) == VehiclePropertyGroup::VENDOR) {
+                // We only checks vendor mixed properties.
+                return checkVendorMixedPropValue(value, config);
+            }
+            break;
+        default:
+            return Error() << "unknown property type: " << toInt(type);
+    }
+    return {};
+}
+
+Result<void> checkVendorMixedPropValue(const VehiclePropValue& value,
+                                       const VehiclePropConfig* config) {
+    auto configArray = config->configArray;
+    // configArray[0], 1 indicates the property has a String value, we allow the string value to
+    // be empty.
+
+    size_t int32Count = 0;
+    // configArray[1], 1 indicates the property has a Boolean value.
+    if (configArray[1] == 1) {
+        int32Count++;
+    }
+    // configArray[2], 1 indicates the property has an Integer value.
+    if (configArray[2] == 1) {
+        int32Count++;
+    }
+    // configArray[3], the number indicates the size of Integer[] in the property.
+    int32Count += static_cast<size_t>(configArray[3]);
+    size_t int32Size = value.value.int32Values.size();
+    if (int32Size != int32Count) {
+        return Error() << "invalid mixed property, got " << int32Size << " int32Values, expect "
+                       << int32Count;
+    }
+
+    size_t int64Count = 0;
+    // configArray[4], 1 indicates the property has a Long value.
+    if (configArray[4] == 1) {
+        int64Count++;
+    }
+    // configArray[5], the number indicates the size of Long[] in the property.
+    int64Count += static_cast<size_t>(configArray[5]);
+    size_t int64Size = value.value.int64Values.size();
+    if (int64Size != int64Count) {
+        return Error() << "invalid mixed property, got " << int64Size << " int64Values, expect "
+                       << int64Count;
+    }
+
+    size_t floatCount = 0;
+    // configArray[6], 1 indicates the property has a Float value.
+    if (configArray[6] == 1) {
+        floatCount++;
+    }
+    // configArray[7], the number indicates the size of Float[] in the property.
+    floatCount += static_cast<size_t>(configArray[7]);
+    size_t floatSize = value.value.floatValues.size();
+    if (floatSize != floatCount) {
+        return Error() << "invalid mixed property, got " << floatSize << " floatValues, expect "
+                       << floatCount;
+    }
+
+    // configArray[8], the number indicates the size of byte[] in the property.
+    size_t byteSize = value.value.byteValues.size();
+    size_t byteCount = static_cast<size_t>(configArray[8]);
+    if (byteCount != 0 && byteSize != byteCount) {
+        return Error() << "invalid mixed property, got " << byteSize << " byteValues, expect "
+                       << byteCount;
+    }
+    return {};
+}
+
+Result<void> checkValueRange(const VehiclePropValue& value, const VehicleAreaConfig* areaConfig) {
+    if (areaConfig == nullptr) {
+        return {};
+    }
+    int32_t property = value.prop;
+    VehiclePropertyType type = getPropType(property);
+    switch (type) {
+        case VehiclePropertyType::INT32:
+            [[fallthrough]];
+        case VehiclePropertyType::INT32_VEC:
+            if (areaConfig->minInt32Value == 0 && areaConfig->maxInt32Value == 0) {
+                break;
+            }
+            for (int32_t int32Value : value.value.int32Values) {
+                if (int32Value < areaConfig->minInt32Value ||
+                    int32Value > areaConfig->maxInt32Value) {
+                    return Error() << "int32Value: " << int32Value
+                                   << " out of range, min: " << areaConfig->minInt32Value
+                                   << " max: " << areaConfig->maxInt32Value;
+                }
+            }
+            break;
+        case VehiclePropertyType::INT64:
+            [[fallthrough]];
+        case VehiclePropertyType::INT64_VEC:
+            if (areaConfig->minInt64Value == 0 && areaConfig->maxInt64Value == 0) {
+                break;
+            }
+            for (int64_t int64Value : value.value.int64Values) {
+                if (int64Value < areaConfig->minInt64Value ||
+                    int64Value > areaConfig->maxInt64Value) {
+                    return Error() << "int64Value: " << int64Value
+                                   << " out of range, min: " << areaConfig->minInt64Value
+                                   << " max: " << areaConfig->maxInt64Value;
+                }
+            }
+            break;
+        case VehiclePropertyType::FLOAT:
+            [[fallthrough]];
+        case VehiclePropertyType::FLOAT_VEC:
+            if (areaConfig->minFloatValue == 0.f && areaConfig->maxFloatValue == 0.f) {
+                break;
+            }
+            for (float floatValue : value.value.floatValues) {
+                if (floatValue < areaConfig->minFloatValue ||
+                    floatValue > areaConfig->maxFloatValue) {
+                    return Error() << "floatValue: " << floatValue
+                                   << " out of range, min: " << areaConfig->minFloatValue
+                                   << " max: " << areaConfig->maxFloatValue;
+                }
+            }
+            break;
+        default:
+            // We don't check the rest of property types. Additional logic needs to be added if
+            // required in VehicleHardware, e.g. you might want to check the range for mixed
+            // property.
+            break;
+    }
+    return {};
+}
+
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/vehicle/aidl/impl/utils/common/test/Android.bp b/automotive/vehicle/aidl/impl/utils/common/test/Android.bp
index dd43712..250b331 100644
--- a/automotive/vehicle/aidl/impl/utils/common/test/Android.bp
+++ b/automotive/vehicle/aidl/impl/utils/common/test/Android.bp
@@ -27,6 +27,7 @@
         "libgtest",
         "libgmock",
     ],
+    header_libs: ["VehicleHalTestUtilHeaders"],
     defaults: ["VehicleHalDefaults"],
     test_suites: ["device-tests"],
 }
diff --git a/automotive/vehicle/aidl/impl/utils/common/test/VehicleUtilsTest.cpp b/automotive/vehicle/aidl/impl/utils/common/test/VehicleUtilsTest.cpp
index 131eb3b..de8b26d 100644
--- a/automotive/vehicle/aidl/impl/utils/common/test/VehicleUtilsTest.cpp
+++ b/automotive/vehicle/aidl/impl/utils/common/test/VehicleUtilsTest.cpp
@@ -16,6 +16,7 @@
 
 #include <ConcurrentQueue.h>
 #include <PropertyUtils.h>
+#include <TestPropertyUtils.h>
 #include <VehicleUtils.h>
 
 #include <gtest/gtest.h>
@@ -29,6 +30,8 @@
 namespace automotive {
 namespace vehicle {
 
+namespace {
+
 using ::aidl::android::hardware::automotive::vehicle::VehicleArea;
 using ::aidl::android::hardware::automotive::vehicle::VehicleAreaConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
@@ -37,6 +40,427 @@
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyType;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
 
+struct InvalidPropValueTestCase {
+    std::string name;
+    VehiclePropValue value;
+    bool valid = false;
+    VehiclePropConfig config;
+};
+
+constexpr int32_t int32Prop = toInt(VehicleProperty::INFO_MODEL_YEAR);
+constexpr int32_t int32VecProp = toInt(VehicleProperty::INFO_FUEL_TYPE);
+constexpr int32_t int64Prop = toInt(VehicleProperty::ANDROID_EPOCH_TIME);
+constexpr int32_t int64VecProp = toInt(VehicleProperty::WHEEL_TICK);
+constexpr int32_t floatProp = toInt(VehicleProperty::ENV_OUTSIDE_TEMPERATURE);
+constexpr int32_t floatVecProp = toInt(VehicleProperty::HVAC_TEMPERATURE_VALUE_SUGGESTION);
+
+std::vector<InvalidPropValueTestCase> getInvalidPropValuesTestCases() {
+    return std::vector<InvalidPropValueTestCase>(
+            {
+                    InvalidPropValueTestCase{
+                            .name = "int32_normal",
+                            .value =
+                                    {
+                                            .prop = int32Prop,
+                                            .value.int32Values = {0},
+                                    },
+                            .valid = true,
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int32_no_value",
+                            .value =
+                                    {
+                                            .prop = int32Prop,
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int32_more_than_one_value",
+                            .value =
+                                    {
+                                            .prop = int32Prop,
+                                            .value.int32Values = {0, 1},
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int32_vec_normal",
+                            .value =
+                                    {
+                                            .prop = int32VecProp,
+                                            .value.int32Values = {0, 1},
+                                    },
+                            .valid = true,
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int32_vec_no_value",
+                            .value =
+                                    {
+                                            .prop = int32VecProp,
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int64_normal",
+                            .value =
+                                    {
+                                            .prop = int64Prop,
+                                            .value.int64Values = {0},
+                                    },
+                            .valid = true,
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int64_no_value",
+                            .value =
+                                    {
+                                            .prop = int64Prop,
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int64_more_than_one_value",
+                            .value =
+                                    {
+                                            .prop = int64Prop,
+                                            .value.int64Values = {0, 1},
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int64_vec_normal",
+                            .value =
+                                    {
+                                            .prop = int64VecProp,
+                                            .value.int64Values = {0, 1},
+                                    },
+                            .valid = true,
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "int64_vec_no_value",
+                            .value =
+                                    {
+                                            .prop = int64VecProp,
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "float_normal",
+                            .value =
+                                    {
+                                            .prop = floatProp,
+                                            .value.floatValues = {0.0},
+                                    },
+                            .valid = true,
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "float_no_value",
+                            .value =
+                                    {
+                                            .prop = floatProp,
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "float_more_than_one_value",
+                            .value =
+                                    {
+                                            .prop = floatProp,
+                                            .value.floatValues = {0.0, 1.0},
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "float_vec_normal",
+                            .value =
+                                    {
+                                            .prop = floatVecProp,
+                                            .value.floatValues = {0.0, 1.0},
+                                    },
+                            .valid = true,
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "float_vec_no_value",
+                            .value =
+                                    {
+                                            .prop = floatVecProp,
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "mixed_normal",
+                            .value =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            // Expect 3 values.
+                                            .value.int32Values = {0, 1, 2},
+                                            // Expect 2 values.
+                                            .value.int64Values = {0, 1},
+                                            // Expect 2 values.
+                                            .value.floatValues = {0.0, 1.0},
+                                            // Expect 1 value.
+                                            .value.byteValues = {static_cast<uint8_t>(0)},
+                                    },
+                            .config =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            .configArray = {0, 1, 1, 1, 1, 1, 1, 1, 1},
+                                    },
+                            .valid = true,
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "mixed_mismatch_int32_values_count",
+                            .value =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            // Expect 3 values.
+                                            .value.int32Values = {0, 1},
+                                            // Expect 2 values.
+                                            .value.int64Values = {0, 1},
+                                            // Expect 2 values.
+                                            .value.floatValues = {0.0, 1.0},
+                                            // Expect 1 value.
+                                            .value.byteValues = {static_cast<uint8_t>(0)},
+                                    },
+                            .config =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            .configArray = {0, 1, 1, 1, 1, 1, 1, 1, 1},
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "mixed_mismatch_int64_values_count",
+                            .value =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            // Expect 3 values.
+                                            .value.int32Values = {0, 1, 2},
+                                            // Expect 2 values.
+                                            .value.int64Values = {0},
+                                            // Expect 2 values.
+                                            .value.floatValues = {0.0, 1.0},
+                                            // Expect 1 value.
+                                            .value.byteValues = {static_cast<uint8_t>(0)},
+                                    },
+                            .config =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            .configArray = {0, 1, 1, 1, 1, 1, 1, 1, 1},
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "mixed_mismatch_float_values_count",
+                            .value =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            // Expect 3 values.
+                                            .value.int32Values = {0, 1, 2},
+                                            // Expect 2 values.
+                                            .value.int64Values = {0, 1},
+                                            // Expect 2 values.
+                                            .value.floatValues = {0.0},
+                                            // Expect 1 value.
+                                            .value.byteValues = {static_cast<uint8_t>(0)},
+                                    },
+                            .config =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            .configArray = {0, 1, 1, 1, 1, 1, 1, 1, 1},
+                                    },
+                    },
+                    InvalidPropValueTestCase{
+                            .name = "mixed_mismatch_byte_values_count",
+                            .value =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            // Expect 3 values.
+                                            .value.int32Values = {0, 1, 2},
+                                            // Expect 2 values.
+                                            .value.int64Values = {0, 1},
+                                            // Expect 2 values.
+                                            .value.floatValues = {0.0, 1.0},
+                                            // Expect 1 value.
+                                            .value.byteValues = {static_cast<uint8_t>(0),
+                                                                 static_cast<uint8_t>(1)},
+                                    },
+                            .config =
+                                    {
+                                            .prop = kMixedTypePropertyForTest,
+                                            .configArray = {0, 1, 1, 1, 1, 1, 1, 1, 1},
+                                    },
+                    },
+            });
+}
+
+struct InvalidValueRangeTestCase {
+    std::string name;
+    VehiclePropValue value;
+    bool valid = false;
+    VehicleAreaConfig config;
+};
+
+std::vector<InvalidValueRangeTestCase> getInvalidValueRangeTestCases() {
+    return std::vector<InvalidValueRangeTestCase>({{
+            InvalidValueRangeTestCase{
+                    .name = "int32_normal",
+                    .value =
+                            {
+                                    .prop = int32Prop,
+                                    .value.int32Values = {0},
+                            },
+                    .valid = true,
+                    .config =
+                            {
+                                    .minInt32Value = 0,
+                                    .maxInt32Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "int32_vec_normal",
+                    .value =
+                            {
+                                    .prop = int32VecProp,
+                                    .value.int32Values = {0, 1},
+                            },
+                    .valid = true,
+                    .config =
+                            {
+                                    .minInt32Value = 0,
+                                    .maxInt32Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "int32_vec_underflow",
+                    .value =
+                            {
+                                    .prop = int32VecProp,
+                                    .value.int32Values = {-1, 1},
+                            },
+
+                    .config =
+                            {
+                                    .minInt32Value = 0,
+                                    .maxInt32Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "int32_vec_overflow",
+                    .value =
+                            {
+                                    .prop = int32VecProp,
+                                    .value.int32Values = {0, 100},
+                            },
+                    .config =
+                            {
+                                    .minInt32Value = 0,
+                                    .maxInt32Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "int64_normal",
+                    .value =
+                            {
+                                    .prop = int64Prop,
+                                    .value.int64Values = {0},
+                            },
+                    .valid = true,
+                    .config =
+                            {
+                                    .minInt64Value = 0,
+                                    .maxInt64Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "int64_vec_normal",
+                    .value =
+                            {
+                                    .prop = int64VecProp,
+                                    .value.int64Values = {0, 1},
+                            },
+                    .valid = true,
+                    .config =
+                            {
+                                    .minInt64Value = 0,
+                                    .maxInt64Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "int64_vec_underflow",
+                    .value =
+                            {
+                                    .prop = int64VecProp,
+                                    .value.int64Values = {-1, 1},
+                            },
+
+                    .config =
+                            {
+                                    .minInt64Value = 0,
+                                    .maxInt64Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "int64_vec_overflow",
+                    .value =
+                            {
+                                    .prop = int64VecProp,
+                                    .value.int64Values = {0, 100},
+                            },
+                    .config =
+                            {
+                                    .minInt64Value = 0,
+                                    .maxInt64Value = 10,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "float_normal",
+                    .value =
+                            {
+                                    .prop = floatProp,
+                                    .value.floatValues = {0.0},
+                            },
+                    .valid = true,
+                    .config =
+                            {
+                                    .minFloatValue = 0.0,
+                                    .maxFloatValue = 10.0,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "float_vec_normal",
+                    .value =
+                            {
+                                    .prop = floatVecProp,
+                                    .value.floatValues = {0.0, 10.0},
+                            },
+                    .valid = true,
+                    .config =
+                            {
+                                    .minFloatValue = 0.0,
+                                    .maxFloatValue = 10.0,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "float_vec_underflow",
+                    .value =
+                            {
+                                    .prop = floatVecProp,
+                                    .value.floatValues = {-0.1, 1.1},
+                            },
+
+                    .config =
+                            {
+                                    .minFloatValue = 0.0,
+                                    .maxFloatValue = 10.0,
+                            },
+            },
+            InvalidValueRangeTestCase{
+                    .name = "float_vec_overflow",
+                    .value =
+                            {
+                                    .prop = floatVecProp,
+                                    .value.floatValues = {0.0, 10.1},
+                            },
+                    .config =
+                            {
+                                    .minFloatValue = 0.0,
+                                    .maxFloatValue = 10.0,
+                            },
+            },
+    }});
+}
+
+}  // namespace
+
 TEST(VehicleUtilsTest, testToInt) {
     int areaGlobal = toInt(VehicleArea::GLOBAL);
 
@@ -335,6 +759,40 @@
     t.join();
 }
 
+class InvalidPropValueTest : public testing::TestWithParam<InvalidPropValueTestCase> {};
+
+INSTANTIATE_TEST_SUITE_P(InvalidPropValueTests, InvalidPropValueTest,
+                         testing::ValuesIn(getInvalidPropValuesTestCases()),
+                         [](const testing::TestParamInfo<InvalidPropValueTest::ParamType>& info) {
+                             return info.param.name;
+                         });
+
+TEST_P(InvalidPropValueTest, testCheckPropValue) {
+    InvalidPropValueTestCase tc = GetParam();
+
+    // Config is not used for non-mixed types.
+    auto result = checkPropValue(tc.value, &tc.config);
+
+    ASSERT_EQ(tc.valid, result.ok());
+}
+
+class InvalidValueRangeTest : public testing::TestWithParam<InvalidValueRangeTestCase> {};
+
+INSTANTIATE_TEST_SUITE_P(InvalidValueRangeTests, InvalidValueRangeTest,
+                         testing::ValuesIn(getInvalidValueRangeTestCases()),
+                         [](const testing::TestParamInfo<InvalidValueRangeTest::ParamType>& info) {
+                             return info.param.name;
+                         });
+
+TEST_P(InvalidValueRangeTest, testCheckValueRange) {
+    InvalidValueRangeTestCase tc = GetParam();
+
+    // Config is not used for non-mixed types.
+    auto result = checkValueRange(tc.value, &tc.config);
+
+    ASSERT_EQ(tc.valid, result.ok());
+}
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware
diff --git a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
index 43bdca2..4ee3ee9 100644
--- a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
+++ b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
@@ -17,10 +17,14 @@
 #ifndef android_hardware_automotive_vehicle_aidl_impl_vhal_include_DefaultVehicleHal_H_
 #define android_hardware_automotive_vehicle_aidl_impl_vhal_include_DefaultVehicleHal_H_
 
+#include "ConnectedClient.h"
+#include "ParcelableUtils.h"
+
 #include <IVehicleHardware.h>
-#include <LargeParcelableBase.h>
 #include <VehicleUtils.h>
 #include <aidl/android/hardware/automotive/vehicle/BnVehicle.h>
+#include <android-base/expected.h>
+#include <android-base/thread_annotations.h>
 #include <android/binder_auto_utils.h>
 
 #include <memory>
@@ -37,59 +41,24 @@
 
 constexpr int INVALID_MEMORY_FD = -1;
 
-template <class T>
-::ndk::ScopedAStatus toScopedAStatus(
-        const ::android::base::Result<T>& result,
-        ::aidl::android::hardware::automotive::vehicle::StatusCode status) {
-    if (result.ok()) {
-        return ::ndk::ScopedAStatus::ok();
-    }
-    return ::ndk::ScopedAStatus::fromServiceSpecificErrorWithMessage(toInt(status),
-                                                                     getErrorMsg(result).c_str());
-}
-
-template <class T>
-::ndk::ScopedAStatus toScopedAStatus(const ::android::base::Result<T>& result) {
-    return toScopedAStatus(result, getErrorCode(result));
-}
-
-template <class T1, class T2>
-::ndk::ScopedAStatus vectorToStableLargeParcelable(std::vector<T1>& values, T2* output) {
-    auto result = ::android::automotive::car_binder_lib::LargeParcelableBase::
-            parcelableVectorToStableLargeParcelable(values);
-    if (!result.ok()) {
-        return toScopedAStatus(
-                result, ::aidl::android::hardware::automotive::vehicle::StatusCode::INTERNAL_ERROR);
-    }
-    auto& fd = result.value();
-    if (fd == nullptr) {
-        output->payloads = values;
-    } else {
-        // Move the returned ScopedFileDescriptor pointer to ScopedFileDescriptor value in
-        // 'sharedMemoryFd' field.
-        output->sharedMemoryFd.set(fd->get());
-        *(fd->getR()) = INVALID_MEMORY_FD;
-    }
-    return ::ndk::ScopedAStatus::ok();
-}
-
 }  // namespace defaultvehiclehal_impl
 
 class DefaultVehicleHal final : public ::aidl::android::hardware::automotive::vehicle::BnVehicle {
   public:
+    using CallbackType =
+            std::shared_ptr<::aidl::android::hardware::automotive::vehicle::IVehicleCallback>;
+
     explicit DefaultVehicleHal(std::unique_ptr<IVehicleHardware> hardware);
 
     ::ndk::ScopedAStatus getAllPropConfigs(
             ::aidl::android::hardware::automotive::vehicle::VehiclePropConfigs* returnConfigs)
             override;
     ::ndk::ScopedAStatus getValues(
-            const std::shared_ptr<::aidl::android::hardware::automotive::vehicle::IVehicleCallback>&
-                    callback,
+            const CallbackType& callback,
             const ::aidl::android::hardware::automotive::vehicle::GetValueRequests& requests)
             override;
     ::ndk::ScopedAStatus setValues(
-            const std::shared_ptr<::aidl::android::hardware::automotive::vehicle::IVehicleCallback>&
-                    callback,
+            const CallbackType& callback,
             const ::aidl::android::hardware::automotive::vehicle::SetValueRequests& requests)
             override;
     ::ndk::ScopedAStatus getPropConfigs(
@@ -97,27 +66,49 @@
             ::aidl::android::hardware::automotive::vehicle::VehiclePropConfigs* returnConfigs)
             override;
     ::ndk::ScopedAStatus subscribe(
-            const std::shared_ptr<::aidl::android::hardware::automotive::vehicle::IVehicleCallback>&
-                    callback,
+            const CallbackType& callback,
             const std::vector<::aidl::android::hardware::automotive::vehicle::SubscribeOptions>&
                     options,
             int32_t maxSharedMemoryFileCount) override;
-    ::ndk::ScopedAStatus unsubscribe(
-            const std::shared_ptr<::aidl::android::hardware::automotive::vehicle::IVehicleCallback>&
-                    callback,
-            const std::vector<int32_t>& propIds) override;
-    ::ndk::ScopedAStatus returnSharedMemory(
-            const std::shared_ptr<::aidl::android::hardware::automotive::vehicle::IVehicleCallback>&
-                    callback,
-            int64_t sharedMemoryId) override;
+    ::ndk::ScopedAStatus unsubscribe(const CallbackType& callback,
+                                     const std::vector<int32_t>& propIds) override;
+    ::ndk::ScopedAStatus returnSharedMemory(const CallbackType& callback,
+                                            int64_t sharedMemoryId) override;
 
     IVehicleHardware* getHardware();
 
   private:
+    // friend class for unit testing.
+    friend class DefaultVehicleHalTest;
+
+    using GetValuesClient =
+            GetSetValuesClient<::aidl::android::hardware::automotive::vehicle::GetValueResult,
+                               ::aidl::android::hardware::automotive::vehicle::GetValueResults>;
+    using SetValuesClient =
+            GetSetValuesClient<::aidl::android::hardware::automotive::vehicle::SetValueResult,
+                               ::aidl::android::hardware::automotive::vehicle::SetValueResults>;
+
     const std::unique_ptr<IVehicleHardware> mVehicleHardware;
+
+    // mConfigsByPropId and mConfigFile are only modified during initialization, so no need to
+    // lock guard them.
     std::unordered_map<int32_t, ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig>
             mConfigsByPropId;
     std::unique_ptr<::ndk::ScopedFileDescriptor> mConfigFile;
+
+    std::mutex mLock;
+    std::unordered_map<CallbackType, std::shared_ptr<GetValuesClient>> mGetValuesClients
+            GUARDED_BY(mLock);
+    std::unordered_map<CallbackType, std::shared_ptr<SetValuesClient>> mSetValuesClients
+            GUARDED_BY(mLock);
+
+    template <class T>
+    std::shared_ptr<T> getOrCreateClient(
+            std::unordered_map<CallbackType, std::shared_ptr<T>>* clients,
+            const CallbackType& callback) REQUIRES(mLock);
+
+    ::android::base::Result<void> checkProperty(
+            const ::aidl::android::hardware::automotive::vehicle::VehiclePropValue& propValue);
 };
 
 }  // namespace vehicle
diff --git a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
index fd9e331..e98f021 100644
--- a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
@@ -21,6 +21,7 @@
 #include <LargeParcelableBase.h>
 #include <VehicleHalTypes.h>
 #include <VehicleUtils.h>
+
 #include <android-base/result.h>
 #include <utils/Log.h>
 
@@ -29,14 +30,24 @@
 namespace automotive {
 namespace vehicle {
 
+using ::aidl::android::hardware::automotive::vehicle::GetValueRequest;
 using ::aidl::android::hardware::automotive::vehicle::GetValueRequests;
+using ::aidl::android::hardware::automotive::vehicle::GetValueResult;
+using ::aidl::android::hardware::automotive::vehicle::GetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::IVehicleCallback;
+using ::aidl::android::hardware::automotive::vehicle::SetValueRequest;
 using ::aidl::android::hardware::automotive::vehicle::SetValueRequests;
+using ::aidl::android::hardware::automotive::vehicle::SetValueResult;
+using ::aidl::android::hardware::automotive::vehicle::SetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::StatusCode;
 using ::aidl::android::hardware::automotive::vehicle::SubscribeOptions;
+using ::aidl::android::hardware::automotive::vehicle::VehicleAreaConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfigs;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
 using ::android::automotive::car_binder_lib::LargeParcelableBase;
+using ::android::base::Error;
+using ::android::base::expected;
 using ::android::base::Result;
 using ::ndk::ScopedAStatus;
 
@@ -70,15 +81,141 @@
     return ScopedAStatus::ok();
 }
 
-ScopedAStatus DefaultVehicleHal::getValues(const std::shared_ptr<IVehicleCallback>&,
-                                           const GetValueRequests&) {
-    // TODO(b/200737967): implement this.
+template <class T>
+std::shared_ptr<T> DefaultVehicleHal::getOrCreateClient(
+        std::unordered_map<CallbackType, std::shared_ptr<T>>* clients,
+        const CallbackType& callback) {
+    if (clients->find(callback) == clients->end()) {
+        // TODO(b/204943359): Remove client from clients when linkToDeath is implemented.
+        (*clients)[callback] = std::make_shared<T>(callback);
+    }
+    return (*clients)[callback];
+}
+
+template std::shared_ptr<DefaultVehicleHal::GetValuesClient>
+DefaultVehicleHal::getOrCreateClient<DefaultVehicleHal::GetValuesClient>(
+        std::unordered_map<CallbackType, std::shared_ptr<GetValuesClient>>* clients,
+        const CallbackType& callback);
+
+template std::shared_ptr<DefaultVehicleHal::SetValuesClient>
+DefaultVehicleHal::getOrCreateClient<DefaultVehicleHal::SetValuesClient>(
+        std::unordered_map<CallbackType, std::shared_ptr<SetValuesClient>>* clients,
+        const CallbackType& callback);
+
+Result<void> DefaultVehicleHal::checkProperty(const VehiclePropValue& propValue) {
+    int32_t propId = propValue.prop;
+    auto it = mConfigsByPropId.find(propId);
+    if (it == mConfigsByPropId.end()) {
+        return Error() << "no config for property, ID: " << propId;
+    }
+    const VehiclePropConfig& config = it->second;
+    const VehicleAreaConfig* areaConfig = getAreaConfig(propValue, config);
+    if (!isGlobalProp(propId) && areaConfig == nullptr) {
+        // Ignore areaId for global property. For non global property, check whether areaId is
+        // allowed. areaId must appear in areaConfig.
+        return Error() << "invalid area ID: " << propValue.areaId << " for prop ID: " << propId
+                       << ", not listed in config";
+    }
+    if (auto result = checkPropValue(propValue, &config); !result.ok()) {
+        return Error() << "invalid property value: " << propValue.toString()
+                       << ", error: " << result.error().message();
+    }
+    if (auto result = checkValueRange(propValue, areaConfig); !result.ok()) {
+        return Error() << "property value out of range: " << propValue.toString()
+                       << ", error: " << result.error().message();
+    }
+    return {};
+}
+
+ScopedAStatus DefaultVehicleHal::getValues(const CallbackType& callback,
+                                           const GetValueRequests& requests) {
+    // TODO(b/203713317): check for duplicate properties and duplicate request IDs.
+
+    const std::vector<GetValueRequest>* getValueRequests;
+    // Define deserializedResults here because we need it to have the same lifetime as
+    // getValueRequests.
+    expected<std::vector<GetValueRequest>, ScopedAStatus> deserializedResults;
+    if (!requests.payloads.empty()) {
+        getValueRequests = &requests.payloads;
+    } else {
+        deserializedResults = stableLargeParcelableToVector<GetValueRequest>(requests);
+        if (!deserializedResults.ok()) {
+            ALOGE("failed to parse getValues requests");
+            return std::move(deserializedResults.error());
+        }
+        getValueRequests = &deserializedResults.value();
+    }
+
+    std::shared_ptr<GetValuesClient> client;
+    {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        client = getOrCreateClient(&mGetValuesClients, callback);
+    }
+
+    if (StatusCode status =
+                mVehicleHardware->getValues(client->getResultCallback(), *getValueRequests);
+        status != StatusCode::OK) {
+        return ScopedAStatus::fromServiceSpecificErrorWithMessage(
+                toInt(status), "failed to get value from VehicleHardware");
+    }
+
     return ScopedAStatus::ok();
 }
 
-ScopedAStatus DefaultVehicleHal::setValues(const std::shared_ptr<IVehicleCallback>&,
-                                           const SetValueRequests&) {
-    // TODO(b/200737967): implement this.
+ScopedAStatus DefaultVehicleHal::setValues(const CallbackType& callback,
+                                           const SetValueRequests& requests) {
+    // TODO(b/203713317): check for duplicate properties and duplicate request IDs.
+
+    const std::vector<SetValueRequest>* setValueRequests;
+    // Define deserializedResults here because we need it to have the same lifetime as
+    // setValueRequests.
+    expected<std::vector<SetValueRequest>, ScopedAStatus> deserializedResults;
+    if (!requests.payloads.empty()) {
+        setValueRequests = &requests.payloads;
+    } else {
+        deserializedResults = stableLargeParcelableToVector<SetValueRequest>(requests);
+        if (!deserializedResults.ok()) {
+            ALOGE("failed to parse setValues requests");
+            return std::move(deserializedResults.error());
+        }
+        setValueRequests = &deserializedResults.value();
+    }
+
+    // A list of failed result we already know before sending to hardware.
+    std::vector<SetValueResult> failedResults;
+    // The list of requests that we would send to hardware.
+    std::vector<SetValueRequest> hardwareRequests;
+
+    for (auto& request : *setValueRequests) {
+        int64_t requestId = request.requestId;
+        if (auto result = checkProperty(request.value); !result.ok()) {
+            ALOGW("property not valid: %s", result.error().message().c_str());
+            failedResults.push_back(SetValueResult{
+                    .requestId = requestId,
+                    .status = StatusCode::INVALID_ARG,
+            });
+            continue;
+        }
+        hardwareRequests.push_back(request);
+    }
+
+    std::shared_ptr<SetValuesClient> client;
+    {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        client = getOrCreateClient(&mSetValuesClients, callback);
+    }
+
+    if (!failedResults.empty()) {
+        client->sendResults(failedResults);
+    }
+
+    if (StatusCode status =
+                mVehicleHardware->setValues(client->getResultCallback(), hardwareRequests);
+        status != StatusCode::OK) {
+        return ScopedAStatus::fromServiceSpecificErrorWithMessage(
+                toInt(status), "failed to set value to VehicleHardware");
+    }
+
     return ScopedAStatus::ok();
 }
 
@@ -90,23 +227,21 @@
             configs.push_back(mConfigsByPropId[prop]);
         }
     }
-    return defaultvehiclehal_impl::vectorToStableLargeParcelable(configs, output);
+    return vectorToStableLargeParcelable(std::move(configs), output);
 }
 
-ScopedAStatus DefaultVehicleHal::subscribe(const std::shared_ptr<IVehicleCallback>&,
+ScopedAStatus DefaultVehicleHal::subscribe(const CallbackType&,
                                            const std::vector<SubscribeOptions>&, int32_t) {
     // TODO(b/200737967): implement this.
     return ScopedAStatus::ok();
 }
 
-ScopedAStatus DefaultVehicleHal::unsubscribe(const std::shared_ptr<IVehicleCallback>&,
-                                             const std::vector<int32_t>&) {
+ScopedAStatus DefaultVehicleHal::unsubscribe(const CallbackType&, const std::vector<int32_t>&) {
     // TODO(b/200737967): implement this.
     return ScopedAStatus::ok();
 }
 
-ScopedAStatus DefaultVehicleHal::returnSharedMemory(const std::shared_ptr<IVehicleCallback>&,
-                                                    int64_t) {
+ScopedAStatus DefaultVehicleHal::returnSharedMemory(const CallbackType&, int64_t) {
     // TODO(b/200737967): implement this.
     return ScopedAStatus::ok();
 }
diff --git a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
index 2b5ca70..8934a7b 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
@@ -15,17 +15,24 @@
  */
 
 #include "DefaultVehicleHal.h"
+#include "MockVehicleCallback.h"
 
 #include <IVehicleHardware.h>
 #include <LargeParcelableBase.h>
 #include <aidl/android/hardware/automotive/vehicle/IVehicle.h>
-#include <android-base/thread_annotations.h>
+#include <aidl/android/hardware/automotive/vehicle/IVehicleCallback.h>
 
+#include <android-base/thread_annotations.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <utils/Log.h>
 
+#include <list>
 #include <memory>
+#include <mutex>
 #include <optional>
+#include <thread>
+#include <unordered_map>
 #include <vector>
 
 namespace android {
@@ -36,38 +43,77 @@
 namespace {
 
 using ::aidl::android::hardware::automotive::vehicle::GetValueRequest;
+using ::aidl::android::hardware::automotive::vehicle::GetValueRequests;
 using ::aidl::android::hardware::automotive::vehicle::GetValueResult;
+using ::aidl::android::hardware::automotive::vehicle::GetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::IVehicle;
+using ::aidl::android::hardware::automotive::vehicle::IVehicleCallback;
 using ::aidl::android::hardware::automotive::vehicle::SetValueRequest;
+using ::aidl::android::hardware::automotive::vehicle::SetValueRequests;
 using ::aidl::android::hardware::automotive::vehicle::SetValueResult;
+using ::aidl::android::hardware::automotive::vehicle::SetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::StatusCode;
+using ::aidl::android::hardware::automotive::vehicle::VehicleAreaWindow;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfigs;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropErrors;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropValues;
 
 using ::android::automotive::car_binder_lib::LargeParcelableBase;
 using ::android::base::Result;
 
+using ::ndk::ScopedAStatus;
+using ::ndk::ScopedFileDescriptor;
+
 using ::testing::Eq;
 using ::testing::WhenSortedBy;
 
+constexpr int32_t INVALID_PROP_ID = 0;
+// VehiclePropertyGroup:SYSTEM,VehicleArea:WINDOW,VehiclePropertyType:INT32
+constexpr int32_t INT32_WINDOW_PROP = 10001 + 0x10000000 + 0x03000000 + 0x00400000;
+
+template <class T>
+std::optional<T> pop(std::list<T>& items) {
+    if (items.size() > 0) {
+        auto item = std::move(items.front());
+        items.pop_front();
+        return item;
+    }
+    return std::nullopt;
+}
+
+int32_t testInt32VecProp(size_t i) {
+    // VehiclePropertyGroup:SYSTEM,VehicleArea:GLOBAL,VehiclePropertyType:INT32_VEC
+    return static_cast<int32_t>(i) + 0x10000000 + 0x01000000 + 0x00410000;
+}
+
 class MockVehicleHardware final : public IVehicleHardware {
   public:
+    ~MockVehicleHardware() {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        for (auto& thread : mThreads) {
+            thread.join();
+        }
+    }
+
     std::vector<VehiclePropConfig> getAllPropertyConfigs() const override {
         std::scoped_lock<std::mutex> lockGuard(mLock);
         return mPropertyConfigs;
     }
 
-    StatusCode setValues(std::shared_ptr<const SetValuesCallback>,
-                         const std::vector<SetValueRequest>&) override {
-        // TODO(b/200737967): mock this.
-        return StatusCode::OK;
+    StatusCode setValues(std::shared_ptr<const SetValuesCallback> callback,
+                         const std::vector<SetValueRequest>& requests) override {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        return handleRequests(__func__, callback, requests, &mSetValueRequests,
+                              &mSetValueResponses);
     }
 
-    StatusCode getValues(std::shared_ptr<const GetValuesCallback>,
-                         const std::vector<GetValueRequest>&) const override {
-        // TODO(b/200737967): mock this.
-        return StatusCode::OK;
+    StatusCode getValues(std::shared_ptr<const GetValuesCallback> callback,
+                         const std::vector<GetValueRequest>& requests) const override {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        return handleRequests(__func__, callback, requests, &mGetValueRequests,
+                              &mGetValueResponses);
     }
 
     DumpResult dump(const std::vector<std::string>&) override {
@@ -94,20 +140,316 @@
         mPropertyConfigs = configs;
     }
 
+    void addGetValueResponses(const std::vector<GetValueResult>& responses) {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        mGetValueResponses.push_back(responses);
+    }
+
+    void addSetValueResponses(const std::vector<SetValueResult>& responses) {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        mSetValueResponses.push_back(responses);
+    }
+
+    std::vector<GetValueRequest> nextGetValueRequests() {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        std::optional<std::vector<GetValueRequest>> request = pop(mGetValueRequests);
+        if (!request.has_value()) {
+            return std::vector<GetValueRequest>();
+        }
+        return std::move(request.value());
+    }
+
+    std::vector<SetValueRequest> nextSetValueRequests() {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        std::optional<std::vector<SetValueRequest>> request = pop(mSetValueRequests);
+        if (!request.has_value()) {
+            return std::vector<SetValueRequest>();
+        }
+        return std::move(request.value());
+    }
+
+    void setStatus(const char* functionName, StatusCode status) {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        mStatusByFunctions[functionName] = status;
+    }
+
+    void setSleepTime(int64_t timeInNano) {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        mSleepTime = timeInNano;
+    }
+
   private:
     mutable std::mutex mLock;
     std::vector<VehiclePropConfig> mPropertyConfigs GUARDED_BY(mLock);
+    mutable std::list<std::vector<GetValueRequest>> mGetValueRequests GUARDED_BY(mLock);
+    mutable std::list<std::vector<GetValueResult>> mGetValueResponses GUARDED_BY(mLock);
+    mutable std::list<std::vector<SetValueRequest>> mSetValueRequests GUARDED_BY(mLock);
+    mutable std::list<std::vector<SetValueResult>> mSetValueResponses GUARDED_BY(mLock);
+    std::unordered_map<const char*, StatusCode> mStatusByFunctions GUARDED_BY(mLock);
+    int64_t mSleepTime GUARDED_BY(mLock) = 0;
+    mutable std::vector<std::thread> mThreads GUARDED_BY(mLock);
+
+    template <class ResultType>
+    StatusCode returnResponse(
+            std::shared_ptr<const std::function<void(std::vector<ResultType>)>> callback,
+            std::list<std::vector<ResultType>>* storedResponses) const;
+
+    template <class RequestType, class ResultType>
+    StatusCode handleRequests(
+            const char* functionName,
+            std::shared_ptr<const std::function<void(std::vector<ResultType>)>> callback,
+            const std::vector<RequestType>& requests,
+            std::list<std::vector<RequestType>>* storedRequests,
+            std::list<std::vector<ResultType>>* storedResponses) const REQUIRES(mLock);
 };
 
+template <class ResultType>
+StatusCode MockVehicleHardware::returnResponse(
+        std::shared_ptr<const std::function<void(std::vector<ResultType>)>> callback,
+        std::list<std::vector<ResultType>>* storedResponses) const {
+    if (storedResponses->size() > 0) {
+        (*callback)(std::move(storedResponses->front()));
+        storedResponses->pop_front();
+        return StatusCode::OK;
+    } else {
+        ALOGE("no more response");
+        return StatusCode::INTERNAL_ERROR;
+    }
+}
+
+template StatusCode MockVehicleHardware::returnResponse<GetValueResult>(
+        std::shared_ptr<const std::function<void(std::vector<GetValueResult>)>> callback,
+        std::list<std::vector<GetValueResult>>* storedResponses) const;
+
+template StatusCode MockVehicleHardware::returnResponse<SetValueResult>(
+        std::shared_ptr<const std::function<void(std::vector<SetValueResult>)>> callback,
+        std::list<std::vector<SetValueResult>>* storedResponses) const;
+
+template <class RequestType, class ResultType>
+StatusCode MockVehicleHardware::handleRequests(
+        const char* functionName,
+        std::shared_ptr<const std::function<void(std::vector<ResultType>)>> callback,
+        const std::vector<RequestType>& requests,
+        std::list<std::vector<RequestType>>* storedRequests,
+        std::list<std::vector<ResultType>>* storedResponses) const {
+    storedRequests->push_back(requests);
+    if (auto it = mStatusByFunctions.find(functionName); it != mStatusByFunctions.end()) {
+        if (StatusCode status = it->second; status != StatusCode::OK) {
+            return status;
+        }
+    }
+
+    if (mSleepTime != 0) {
+        int64_t sleepTime = mSleepTime;
+        mThreads.emplace_back([this, callback, sleepTime, storedResponses]() {
+            std::this_thread::sleep_for(std::chrono::nanoseconds(sleepTime));
+            returnResponse(callback, storedResponses);
+        });
+        return StatusCode::OK;
+
+    } else {
+        return returnResponse(callback, storedResponses);
+    }
+}
+
+template StatusCode MockVehicleHardware::handleRequests<GetValueRequest, GetValueResult>(
+        const char* functionName,
+        std::shared_ptr<const std::function<void(std::vector<GetValueResult>)>> callback,
+        const std::vector<GetValueRequest>& requests,
+        std::list<std::vector<GetValueRequest>>* storedRequests,
+        std::list<std::vector<GetValueResult>>* storedResponses) const;
+
+template StatusCode MockVehicleHardware::handleRequests<SetValueRequest, SetValueResult>(
+        const char* functionName,
+        std::shared_ptr<const std::function<void(std::vector<SetValueResult>)>> callback,
+        const std::vector<SetValueRequest>& requests,
+        std::list<std::vector<SetValueRequest>>* storedRequests,
+        std::list<std::vector<SetValueResult>>* storedResponses) const;
+
 struct PropConfigCmp {
     bool operator()(const VehiclePropConfig& a, const VehiclePropConfig& b) const {
         return (a.prop < b.prop);
     }
 } propConfigCmp;
 
+struct SetValuesInvalidRequestTestCase {
+    std::string name;
+    VehiclePropValue request;
+    StatusCode expectedStatus;
+};
+
+std::vector<SetValuesInvalidRequestTestCase> getSetValuesInvalidRequestTestCases() {
+    return {{
+                    .name = "config_not_found",
+                    .request =
+                            {
+                                    // No config for INVALID_PROP_ID.
+                                    .prop = INVALID_PROP_ID,
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            },
+            {
+                    .name = "invalid_prop_value",
+                    .request =
+                            {
+                                    .prop = testInt32VecProp(0),
+                                    // No int32Values for INT32_VEC property.
+                                    .value.int32Values = {},
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            },
+            {
+                    .name = "value_out_of_range",
+                    .request =
+                            {
+                                    .prop = testInt32VecProp(0),
+                                    // We configured the range to be 0-100.
+                                    .value.int32Values = {0, -1},
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            },
+            {
+                    .name = "invalid_area",
+                    .request =
+                            {
+                                    .prop = INT32_WINDOW_PROP,
+                                    .value.int32Values = {0},
+                                    // Only ROW_1_LEFT is allowed.
+                                    .areaId = toInt(VehicleAreaWindow::ROW_1_RIGHT),
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            }};
+}
+
 }  // namespace
 
-TEST(DefaultVehicleHalTest, testGetAllPropConfigsSmall) {
+class DefaultVehicleHalTest : public ::testing::Test {
+  public:
+    void SetUp() override {
+        auto hardware = std::make_unique<MockVehicleHardware>();
+        std::vector<VehiclePropConfig> testConfigs;
+        for (size_t i = 0; i < 10000; i++) {
+            testConfigs.push_back(VehiclePropConfig{
+                    .prop = testInt32VecProp(i),
+                    .areaConfigs =
+                            {
+                                    {
+                                            .areaId = 0,
+                                            .minInt32Value = 0,
+                                            .maxInt32Value = 100,
+                                    },
+                            },
+            });
+        }
+        testConfigs.push_back(
+                VehiclePropConfig{.prop = INT32_WINDOW_PROP,
+                                  .areaConfigs = {{
+                                          .areaId = toInt(VehicleAreaWindow::ROW_1_LEFT),
+                                          .minInt32Value = 0,
+                                          .maxInt32Value = 100,
+                                  }}});
+        hardware->setPropertyConfigs(testConfigs);
+        mHardwarePtr = hardware.get();
+        mVhal = ndk::SharedRefBase::make<DefaultVehicleHal>(std::move(hardware));
+        mVhalClient = IVehicle::fromBinder(mVhal->asBinder());
+        mCallback = ndk::SharedRefBase::make<MockVehicleCallback>();
+        mCallbackClient = IVehicleCallback::fromBinder(mCallback->asBinder());
+    }
+
+    MockVehicleHardware* getHardware() { return mHardwarePtr; }
+
+    std::shared_ptr<IVehicle> getClient() { return mVhal; }
+
+    std::shared_ptr<IVehicleCallback> getCallbackClient() { return mCallbackClient; }
+
+    MockVehicleCallback* getCallback() { return mCallback.get(); }
+
+    static Result<void> getValuesTestCases(size_t size, GetValueRequests& requests,
+                                           std::vector<GetValueResult>& expectedResults,
+                                           std::vector<GetValueRequest>& expectedHardwareRequests) {
+        expectedHardwareRequests.clear();
+        for (size_t i = 0; i < size; i++) {
+            int64_t requestId = static_cast<int64_t>(i);
+            int32_t propId = testInt32VecProp(i);
+            expectedHardwareRequests.push_back(GetValueRequest{
+                    .prop =
+                            VehiclePropValue{
+                                    .prop = propId,
+                            },
+                    .requestId = requestId,
+            });
+            expectedResults.push_back(GetValueResult{
+                    .requestId = requestId,
+                    .status = StatusCode::OK,
+                    .prop =
+                            VehiclePropValue{
+                                    .prop = propId,
+                                    .value.int32Values = {1, 2, 3, 4},
+                            },
+            });
+        }
+
+        auto result = LargeParcelableBase::parcelableVectorToStableLargeParcelable(
+                expectedHardwareRequests);
+        if (!result.ok()) {
+            return result.error();
+        }
+        if (result.value() == nullptr) {
+            requests.payloads = expectedHardwareRequests;
+        } else {
+            requests.sharedMemoryFd = std::move(*result.value());
+        }
+        return {};
+    }
+
+    static Result<void> setValuesTestCases(size_t size, SetValueRequests& requests,
+                                           std::vector<SetValueResult>& expectedResults,
+                                           std::vector<SetValueRequest>& expectedHardwareRequests) {
+        expectedHardwareRequests.clear();
+        for (size_t i = 0; i < size; i++) {
+            int64_t requestId = static_cast<int64_t>(i);
+            int32_t propId = testInt32VecProp(i);
+            expectedHardwareRequests.push_back(SetValueRequest{
+                    .value =
+                            VehiclePropValue{
+                                    .prop = propId,
+                                    .value.int32Values = {1, 2, 3, 4},
+                            },
+                    .requestId = requestId,
+            });
+            expectedResults.push_back(SetValueResult{
+                    .requestId = requestId,
+                    .status = StatusCode::OK,
+            });
+        }
+
+        auto result = LargeParcelableBase::parcelableVectorToStableLargeParcelable(
+                expectedHardwareRequests);
+        if (!result.ok()) {
+            return result.error();
+        }
+        if (result.value() == nullptr) {
+            requests.payloads = expectedHardwareRequests;
+        } else {
+            requests.sharedMemoryFd = std::move(*result.value());
+        }
+        return {};
+    }
+
+    size_t countClients() {
+        std::scoped_lock<std::mutex> lockGuard(mVhal->mLock);
+        return mVhal->mGetValuesClients.size() + mVhal->mSetValuesClients.size();
+    }
+
+  private:
+    std::shared_ptr<DefaultVehicleHal> mVhal;
+    std::shared_ptr<IVehicle> mVhalClient;
+    MockVehicleHardware* mHardwarePtr;
+    std::shared_ptr<MockVehicleCallback> mCallback;
+    std::shared_ptr<IVehicleCallback> mCallbackClient;
+};
+
+TEST_F(DefaultVehicleHalTest, testGetAllPropConfigsSmall) {
     auto testConfigs = std::vector<VehiclePropConfig>({
             VehiclePropConfig{
                     .prop = 1,
@@ -125,14 +467,14 @@
     VehiclePropConfigs output;
     auto status = client->getAllPropConfigs(&output);
 
-    ASSERT_TRUE(status.isOk());
+    ASSERT_TRUE(status.isOk()) << "getAllPropConfigs failed: " << status.getMessage();
     ASSERT_THAT(output.payloads, WhenSortedBy(propConfigCmp, Eq(testConfigs)));
 }
 
-TEST(DefaultVehicleHalTest, testGetAllPropConfigsLarge) {
+TEST_F(DefaultVehicleHalTest, testGetAllPropConfigsLarge) {
     std::vector<VehiclePropConfig> testConfigs;
-    // 10000 VehiclePropConfig exceeds 4k memory limit, so it would be sent through shared memory.
-    for (size_t i = 0; i < 10000; i++) {
+    // 5000 VehiclePropConfig exceeds 4k memory limit, so it would be sent through shared memory.
+    for (size_t i = 0; i < 5000; i++) {
         testConfigs.push_back(VehiclePropConfig{
                 .prop = static_cast<int32_t>(i),
         });
@@ -146,16 +488,202 @@
     VehiclePropConfigs output;
     auto status = client->getAllPropConfigs(&output);
 
-    ASSERT_TRUE(status.isOk());
+    ASSERT_TRUE(status.isOk()) << "getAllPropConfigs failed: " << status.getMessage();
     ASSERT_TRUE(output.payloads.empty());
     Result<std::optional<std::vector<VehiclePropConfig>>> result =
             LargeParcelableBase::stableLargeParcelableToParcelableVector<VehiclePropConfig>(
                     output.sharedMemoryFd);
-    ASSERT_TRUE(result.ok());
-    ASSERT_TRUE(result.value().has_value());
+    ASSERT_TRUE(result.ok()) << "failed to parse result shared memory file: "
+                             << result.error().message();
+    ASSERT_TRUE(result.value().has_value()) << "empty parsed value";
     ASSERT_EQ(result.value().value(), testConfigs);
 }
 
+TEST_F(DefaultVehicleHalTest, testGetValuesSmall) {
+    GetValueRequests requests;
+    std::vector<GetValueResult> expectedResults;
+    std::vector<GetValueRequest> expectedHardwareRequests;
+
+    ASSERT_TRUE(getValuesTestCases(10, requests, expectedResults, expectedHardwareRequests).ok());
+
+    getHardware()->addGetValueResponses(expectedResults);
+
+    auto status = getClient()->getValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "getValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextGetValueRequests(), expectedHardwareRequests)
+            << "requests to hardware mismatch";
+
+    auto maybeGetValueResults = getCallback()->nextGetValueResults();
+    ASSERT_TRUE(maybeGetValueResults.has_value()) << "no results in callback";
+    EXPECT_EQ(maybeGetValueResults.value().payloads, expectedResults) << "results mismatch";
+    EXPECT_EQ(countClients(), static_cast<size_t>(1));
+}
+
+TEST_F(DefaultVehicleHalTest, testGetValuesLarge) {
+    GetValueRequests requests;
+    std::vector<GetValueResult> expectedResults;
+    std::vector<GetValueRequest> expectedHardwareRequests;
+
+    ASSERT_TRUE(getValuesTestCases(5000, requests, expectedResults, expectedHardwareRequests).ok())
+            << "requests to hardware mismatch";
+    ;
+
+    getHardware()->addGetValueResponses(expectedResults);
+
+    auto status = getClient()->getValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "getValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextGetValueRequests(), expectedHardwareRequests);
+
+    auto maybeGetValueResults = getCallback()->nextGetValueResults();
+    ASSERT_TRUE(maybeGetValueResults.has_value()) << "no results in callback";
+    const GetValueResults& getValueResults = maybeGetValueResults.value();
+    ASSERT_TRUE(getValueResults.payloads.empty())
+            << "payload should be empty, shared memory file should be used";
+
+    auto result = LargeParcelableBase::stableLargeParcelableToParcelableVector<GetValueResult>(
+            getValueResults.sharedMemoryFd);
+    ASSERT_TRUE(result.ok()) << "failed to parse shared memory file";
+    ASSERT_TRUE(result.value().has_value()) << "no parsed value";
+    ASSERT_EQ(result.value().value(), expectedResults) << "results mismatch";
+    EXPECT_EQ(countClients(), static_cast<size_t>(1));
+}
+
+TEST_F(DefaultVehicleHalTest, testGetValuesErrorFromHardware) {
+    GetValueRequests requests;
+    std::vector<GetValueResult> expectedResults;
+    std::vector<GetValueRequest> expectedHardwareRequests;
+
+    ASSERT_TRUE(getValuesTestCases(10, requests, expectedResults, expectedHardwareRequests).ok());
+
+    getHardware()->setStatus("getValues", StatusCode::INTERNAL_ERROR);
+
+    auto status = getClient()->getValues(getCallbackClient(), requests);
+
+    ASSERT_FALSE(status.isOk()) << "expect getValues to fail when hardware returns error";
+    ASSERT_EQ(status.getServiceSpecificError(), toInt(StatusCode::INTERNAL_ERROR));
+}
+
+TEST_F(DefaultVehicleHalTest, testGetValuesInvalidLargeParcelableInput) {
+    GetValueRequests requests;
+    requests.sharedMemoryFd = ScopedFileDescriptor(0);
+
+    auto status = getClient()->getValues(getCallbackClient(), requests);
+
+    ASSERT_FALSE(status.isOk()) << "expect getValues to fail when input parcelable is not valid";
+    ASSERT_EQ(status.getServiceSpecificError(), toInt(StatusCode::INVALID_ARG));
+}
+
+TEST_F(DefaultVehicleHalTest, testSetValuesSmall) {
+    SetValueRequests requests;
+    std::vector<SetValueResult> expectedResults;
+    std::vector<SetValueRequest> expectedHardwareRequests;
+
+    ASSERT_TRUE(setValuesTestCases(10, requests, expectedResults, expectedHardwareRequests).ok());
+
+    getHardware()->addSetValueResponses(expectedResults);
+
+    auto status = getClient()->setValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "setValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextSetValueRequests(), expectedHardwareRequests)
+            << "requests to hardware mismatch";
+
+    auto maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results in callback";
+    ASSERT_EQ(maybeSetValueResults.value().payloads, expectedResults) << "results mismatch";
+    EXPECT_EQ(countClients(), static_cast<size_t>(1));
+}
+
+TEST_F(DefaultVehicleHalTest, testSetValuesLarge) {
+    SetValueRequests requests;
+    std::vector<SetValueResult> expectedResults;
+    std::vector<SetValueRequest> expectedHardwareRequests;
+
+    ASSERT_TRUE(setValuesTestCases(5000, requests, expectedResults, expectedHardwareRequests).ok());
+
+    getHardware()->addSetValueResponses(expectedResults);
+
+    auto status = getClient()->setValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "setValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextSetValueRequests(), expectedHardwareRequests)
+            << "requests to hardware mismatch";
+
+    auto maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results in callback";
+    const SetValueResults& setValueResults = maybeSetValueResults.value();
+    ASSERT_TRUE(setValueResults.payloads.empty())
+            << "payload should be empty, shared memory file should be used";
+
+    auto result = LargeParcelableBase::stableLargeParcelableToParcelableVector<SetValueResult>(
+            setValueResults.sharedMemoryFd);
+    ASSERT_TRUE(result.ok()) << "failed to parse shared memory file";
+    ASSERT_TRUE(result.value().has_value()) << "no parsed value";
+    ASSERT_EQ(result.value().value(), expectedResults) << "results mismatch";
+    EXPECT_EQ(countClients(), static_cast<size_t>(1));
+}
+
+class SetValuesInvalidRequestTest
+    : public DefaultVehicleHalTest,
+      public testing::WithParamInterface<SetValuesInvalidRequestTestCase> {};
+
+INSTANTIATE_TEST_SUITE_P(
+        SetValuesInvalidRequestTests, SetValuesInvalidRequestTest,
+        ::testing::ValuesIn(getSetValuesInvalidRequestTestCases()),
+        [](const testing::TestParamInfo<SetValuesInvalidRequestTest::ParamType>& info) {
+            return info.param.name;
+        });
+
+TEST_P(SetValuesInvalidRequestTest, testSetValuesInvalidRequest) {
+    SetValuesInvalidRequestTestCase tc = GetParam();
+    std::vector<SetValueResult> expectedHardwareResults{
+            SetValueResult{
+                    .requestId = 1,
+                    .status = StatusCode::OK,
+            },
+    };
+    getHardware()->addSetValueResponses(expectedHardwareResults);
+
+    SetValueRequests requests;
+    SetValueRequest invalidRequest{
+            .requestId = 0,
+            .value = tc.request,
+    };
+    SetValueRequest normalRequest{.requestId = 1,
+                                  .value = {
+                                          .prop = testInt32VecProp(0),
+                                          .value.int32Values = {0},
+                                  }};
+    requests.payloads = {invalidRequest, normalRequest};
+    auto status = getClient()->setValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "setValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextSetValueRequests(), std::vector<SetValueRequest>({normalRequest}))
+            << "requests to hardware mismatch";
+
+    auto maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results in callback";
+    EXPECT_EQ(maybeSetValueResults.value().payloads, std::vector<SetValueResult>({
+                                                             {
+                                                                     .requestId = 0,
+                                                                     .status = tc.expectedStatus,
+                                                             },
+                                                     }))
+            << "invalid argument result mismatch";
+
+    maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results from hardware in callback";
+    EXPECT_EQ(maybeSetValueResults.value().payloads, expectedHardwareResults)
+            << "results from hardware mismatch";
+}
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware
diff --git a/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.cpp b/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.cpp
index d7d5476..6e8c1d7 100644
--- a/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.cpp
+++ b/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.cpp
@@ -41,12 +41,8 @@
     BluetoothAudioProvidersFactory::hearing_aid_provider_instance_;
 LeAudioOutputAudioProvider
     BluetoothAudioProvidersFactory::leaudio_output_provider_instance_;
-LeAudioOffloadOutputAudioProvider
-    BluetoothAudioProvidersFactory::leaudio_offload_output_provider_instance_;
 LeAudioInputAudioProvider
     BluetoothAudioProvidersFactory::leaudio_input_provider_instance_;
-LeAudioOffloadInputAudioProvider
-    BluetoothAudioProvidersFactory::leaudio_offload_input_provider_instance_;
 
 Return<void> BluetoothAudioProvidersFactory::openProvider(
     const V2_0::SessionType sessionType, openProvider_cb _hidl_cb) {
@@ -94,15 +90,9 @@
     case SessionType::LE_AUDIO_SOFTWARE_ENCODING_DATAPATH:
       provider = &leaudio_output_provider_instance_;
       break;
-    case SessionType::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH:
-      provider = &leaudio_offload_output_provider_instance_;
-      break;
     case SessionType::LE_AUDIO_SOFTWARE_DECODED_DATAPATH:
       provider = &leaudio_input_provider_instance_;
       break;
-    case SessionType::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH:
-      provider = &leaudio_offload_input_provider_instance_;
-      break;
     default:
       status = BluetoothAudioStatus::FAILURE;
   }
diff --git a/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.h b/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.h
index f8f557e..714d738 100644
--- a/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.h
+++ b/bluetooth/audio/2.1/default/BluetoothAudioProvidersFactory.h
@@ -56,8 +56,6 @@
   static HearingAidAudioProvider hearing_aid_provider_instance_;
   static LeAudioOutputAudioProvider leaudio_output_provider_instance_;
   static LeAudioInputAudioProvider leaudio_input_provider_instance_;
-  static LeAudioOffloadOutputAudioProvider leaudio_offload_output_provider_instance_;
-  static LeAudioOffloadInputAudioProvider leaudio_offload_input_provider_instance_;
 };
 
 extern "C" IBluetoothAudioProvidersFactory*
diff --git a/bluetooth/audio/2.2/IBluetoothAudioProvider.hal b/bluetooth/audio/2.2/IBluetoothAudioProvider.hal
index bc16b01..f577537 100644
--- a/bluetooth/audio/2.2/IBluetoothAudioProvider.hal
+++ b/bluetooth/audio/2.2/IBluetoothAudioProvider.hal
@@ -59,4 +59,14 @@
      */
     startSession_2_2(IBluetoothAudioPort hostIf, AudioConfiguration audioConfig)
                 generates (Status status, fmq_sync<uint8_t> dataMQ);
+
+    /**
+     * Called when the audio configuration of the stream has been changed.
+     *
+     * @param audioConfig The audio configuration negotiated with the remote
+     *    device. The PCM parameters are set if software based encoding,
+     *    otherwise the correct codec configuration is used for hardware
+     *    encoding.
+     */
+    updateAudioConfiguration(AudioConfiguration audioConfig);
 };
diff --git a/bluetooth/audio/2.2/default/BluetoothAudioProvider.cpp b/bluetooth/audio/2.2/default/BluetoothAudioProvider.cpp
index 18ac292..202cfb9 100644
--- a/bluetooth/audio/2.2/default/BluetoothAudioProvider.cpp
+++ b/bluetooth/audio/2.2/default/BluetoothAudioProvider.cpp
@@ -186,6 +186,29 @@
   return Void();
 }
 
+Return<void> BluetoothAudioProvider::updateAudioConfiguration(
+    const AudioConfiguration& audioConfig) {
+  LOG(INFO) << __func__ << " - SessionType=" << toString(session_type_);
+
+  if (stack_iface_ == nullptr) {
+    LOG(INFO) << __func__ << " - SessionType=" << toString(session_type_)
+              << " has NO session";
+    return Void();
+  }
+
+  if (audioConfig.getDiscriminator() != audio_config_.getDiscriminator()) {
+    LOG(INFO) << __func__ << " - SessionType=" << toString(session_type_)
+              << " audio config type is not match";
+    return Void();
+  }
+
+  audio_config_ = audioConfig;
+  BluetoothAudioSessionReport_2_2::ReportAudioConfigChanged(session_type_,
+                                                            audio_config_);
+
+  return Void();
+}
+
 }  // namespace implementation
 }  // namespace V2_2
 }  // namespace audio
diff --git a/bluetooth/audio/2.2/default/BluetoothAudioProvider.h b/bluetooth/audio/2.2/default/BluetoothAudioProvider.h
index 0f1f3c6..425ea3b 100644
--- a/bluetooth/audio/2.2/default/BluetoothAudioProvider.h
+++ b/bluetooth/audio/2.2/default/BluetoothAudioProvider.h
@@ -53,6 +53,8 @@
   Return<void> streamStarted(BluetoothAudioStatus status) override;
   Return<void> streamSuspended(BluetoothAudioStatus status) override;
   Return<void> endSession() override;
+  Return<void> updateAudioConfiguration(
+      const AudioConfiguration& audioConfig) override;
 
  protected:
   sp<BluetoothAudioDeathRecipient> death_recipient_;
diff --git a/bluetooth/audio/2.2/default/BluetoothAudioProvidersFactory.cpp b/bluetooth/audio/2.2/default/BluetoothAudioProvidersFactory.cpp
index 2fe31d5..490a436 100644
--- a/bluetooth/audio/2.2/default/BluetoothAudioProvidersFactory.cpp
+++ b/bluetooth/audio/2.2/default/BluetoothAudioProvidersFactory.cpp
@@ -98,15 +98,9 @@
     case V2_1::SessionType::LE_AUDIO_SOFTWARE_ENCODING_DATAPATH:
       provider = &leaudio_output_provider_instance_;
       break;
-    case V2_1::SessionType::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH:
-      provider = &leaudio_offload_output_provider_instance_;
-      break;
     case V2_1::SessionType::LE_AUDIO_SOFTWARE_DECODED_DATAPATH:
       provider = &leaudio_input_provider_instance_;
       break;
-    case V2_1::SessionType::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH:
-      provider = &leaudio_offload_input_provider_instance_;
-      break;
     default:
       status = BluetoothAudioStatus::FAILURE;
   }
@@ -239,7 +233,7 @@
                                 LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH ||
              sessionType == V2_1::SessionType::
                                 LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH) {
-    std::vector<LeAudioCodecCapabilitiesPair> db_codec_capabilities =
+    std::vector<LeAudioCodecCapabilitiesSetting> db_codec_capabilities =
         android::bluetooth::audio::GetLeAudioOffloadCodecCapabilities(
             sessionType);
     if (db_codec_capabilities.size()) {
diff --git a/bluetooth/audio/2.2/types.hal b/bluetooth/audio/2.2/types.hal
index 8ec3660..6755899 100644
--- a/bluetooth/audio/2.2/types.hal
+++ b/bluetooth/audio/2.2/types.hal
@@ -83,23 +83,22 @@
 safe_union AudioCapabilities {
     PcmParameters pcmCapabilities;
     CodecCapabilities codecCapabilities;
-    LeAudioCodecCapabilitiesPair leAudioCapabilities;
+    LeAudioCodecCapabilitiesSetting leAudioCapabilities;
 };
 
 /**
- * Used to specify th le audio capabilities pair of the Hardware offload encode and decode.
+ * Used to specify the le audio capabilities for unicast and broadcast hardware offload.
  */
-struct LeAudioCodecCapabilitiesPair{
-    LeAudioMode mode;
-    LeAudioCodecCapability encodeCapability;
-    LeAudioCodecCapability decodeCapability;
+struct LeAudioCodecCapabilitiesSetting{
+    UnicastCapability unicastEncodeCapability;
+    UnicastCapability unicastDecodeCapability;
+    BroadcastCapability broadcastCapability;
 };
 
 /**
- * Used to specify the le audio capabilities of the codecs supported by Hardware offload
- * for encode or decode.
+ * Used to specify the le audio unicast codec capabilities for hardware offload.
  */
-struct LeAudioCodecCapability {
+struct UnicastCapability {
     CodecType codecType;
     AudioLocation supportedChannel;
 
@@ -112,3 +111,17 @@
     // Should use safe union when there is more than one codec
     Lc3Parameters capabilities;
 };
+
+/**
+ * Used to specify the le audio broadcast codec capabilities for hardware offload.
+ */
+struct BroadcastCapability {
+    CodecType codecType;
+    AudioLocation supportedChannel;
+
+    // Supported channel count for each stream
+    uint8_t channelCountPerStream;
+
+    // Should use safe union when there is more than one codec
+    vec<Lc3Parameters> capabilities;
+};
diff --git a/bluetooth/audio/utils/session/BluetoothAudioSessionControl_2_2.h b/bluetooth/audio/utils/session/BluetoothAudioSessionControl_2_2.h
index 71ab464..368939e 100644
--- a/bluetooth/audio/utils/session/BluetoothAudioSessionControl_2_2.h
+++ b/bluetooth/audio/utils/session/BluetoothAudioSessionControl_2_2.h
@@ -48,20 +48,38 @@
     std::shared_ptr<BluetoothAudioSession_2_2> session_ptr =
         BluetoothAudioSessionInstance_2_2::GetSessionInstance(session_type);
     if (session_ptr != nullptr) {
-      return session_ptr->GetAudioSession()->RegisterStatusCback(cbacks);
+      PortStatusCallbacks_2_2 cb = {
+          .control_result_cb_ = cbacks.control_result_cb_,
+          .session_changed_cb_ = cbacks.session_changed_cb_,
+          .audio_configuration_changed_cb_ = nullptr};
+      return session_ptr->RegisterStatusCback(cb);
+    }
+    return kObserversCookieUndefined;
+  }
+
+  // The control API helps the bluetooth_audio module to register
+  // PortStatusCallbacks_2_2
+  // @return: cookie - the assigned number to this bluetooth_audio output
+  static uint16_t RegisterControlResultCback(
+      const SessionType_2_1& session_type,
+      const PortStatusCallbacks_2_2& cbacks) {
+    std::shared_ptr<BluetoothAudioSession_2_2> session_ptr =
+        BluetoothAudioSessionInstance_2_2::GetSessionInstance(session_type);
+    if (session_ptr != nullptr) {
+      return session_ptr->RegisterStatusCback(cbacks);
     }
     return kObserversCookieUndefined;
   }
 
   // The control API helps the bluetooth_audio module to unregister
-  // PortStatusCallbacks
+  // PortStatusCallbacks and PortStatusCallbacks_2_2
   // @param: cookie - indicates which bluetooth_audio output is
   static void UnregisterControlResultCback(const SessionType_2_1& session_type,
                                            uint16_t cookie) {
     std::shared_ptr<BluetoothAudioSession_2_2> session_ptr =
         BluetoothAudioSessionInstance_2_2::GetSessionInstance(session_type);
     if (session_ptr != nullptr) {
-      session_ptr->GetAudioSession()->UnregisterStatusCback(cookie);
+      session_ptr->UnregisterStatusCback(cookie);
     }
   }
 
diff --git a/bluetooth/audio/utils/session/BluetoothAudioSessionReport_2_2.h b/bluetooth/audio/utils/session/BluetoothAudioSessionReport_2_2.h
index 79121cc..17e140e 100644
--- a/bluetooth/audio/utils/session/BluetoothAudioSessionReport_2_2.h
+++ b/bluetooth/audio/utils/session/BluetoothAudioSessionReport_2_2.h
@@ -60,7 +60,20 @@
     std::shared_ptr<BluetoothAudioSession_2_2> session_ptr =
         BluetoothAudioSessionInstance_2_2::GetSessionInstance(session_type);
     if (session_ptr != nullptr) {
-      session_ptr->GetAudioSession()->ReportControlStatus(start_resp, status);
+      session_ptr->ReportControlStatus(start_resp, status);
+    }
+  }
+  // The API reports the Bluetooth stack has replied the changed of the audio
+  // configuration, and will inform registered bluetooth_audio outputs
+  static void ReportAudioConfigChanged(
+      const ::android::hardware::bluetooth::audio::V2_1::SessionType&
+          session_type,
+      const ::android::hardware::bluetooth::audio::V2_2::AudioConfiguration&
+          audio_config) {
+    std::shared_ptr<BluetoothAudioSession_2_2> session_ptr =
+        BluetoothAudioSessionInstance_2_2::GetSessionInstance(session_type);
+    if (session_ptr != nullptr) {
+      session_ptr->ReportAudioConfigChanged(audio_config);
     }
   }
 };
diff --git a/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.cpp b/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.cpp
index db1619b..60ac4ec 100644
--- a/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.cpp
+++ b/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.cpp
@@ -359,7 +359,7 @@
       audio_session->stack_iface_ = stack_iface;
       LOG(INFO) << __func__ << " - SessionType=" << toString(session_type_2_1_)
                 << ", AudioConfiguration=" << toString(audio_config);
-      audio_session->ReportSessionStatus();
+      ReportSessionStatus();
     };
   }
 }
@@ -386,7 +386,150 @@
   audio_session->stack_iface_ = nullptr;
   audio_session->UpdateDataPath(nullptr);
   if (toggled) {
+    ReportSessionStatus();
+  }
+}
+
+// The control function helps the bluetooth_audio module to register
+// PortStatusCallbacks_2_2
+// @return: cookie - the assigned number to this bluetooth_audio output
+uint16_t BluetoothAudioSession_2_2::RegisterStatusCback(
+    const PortStatusCallbacks_2_2& cbacks) {
+  if (session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH &&
+      session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH) {
+    PortStatusCallbacks cb = {
+        .control_result_cb_ = cbacks.control_result_cb_,
+        .session_changed_cb_ = cbacks.session_changed_cb_};
+    return audio_session->RegisterStatusCback(cb);
+  }
+
+  std::lock_guard<std::recursive_mutex> guard(audio_session->mutex_);
+  uint16_t cookie = ObserversCookieGetInitValue(session_type_2_1_);
+  uint16_t cookie_upper_bound = ObserversCookieGetUpperBound(session_type_2_1_);
+
+  while (cookie < cookie_upper_bound) {
+    if (observers_.find(cookie) == observers_.end()) {
+      break;
+    }
+    ++cookie;
+  }
+  if (cookie >= cookie_upper_bound) {
+    LOG(ERROR) << __func__ << " - SessionType=" << toString(session_type_2_1_)
+               << " has " << observers_.size()
+               << " observers already (No Resource)";
+    return kObserversCookieUndefined;
+  }
+  std::shared_ptr<struct PortStatusCallbacks_2_2> cb =
+      std::make_shared<struct PortStatusCallbacks_2_2>();
+  *cb = cbacks;
+  observers_[cookie] = cb;
+  return cookie;
+}
+
+// The control function helps the bluetooth_audio module to unregister
+// PortStatusCallbacks_2_2
+// @param: cookie - indicates which bluetooth_audio output is
+void BluetoothAudioSession_2_2::UnregisterStatusCback(uint16_t cookie) {
+  std::lock_guard<std::recursive_mutex> guard(audio_session->mutex_);
+  if (session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH &&
+      session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH) {
+    audio_session->UnregisterStatusCback(cookie);
+    return;
+  }
+  if (observers_.erase(cookie) != 1) {
+    LOG(WARNING) << __func__ << " - SessionType=" << toString(session_type_2_1_)
+                 << " no such provider=0x"
+                 << android::base::StringPrintf("%04x", cookie);
+  }
+}
+
+// invoking the registered session_changed_cb_
+void BluetoothAudioSession_2_2::ReportSessionStatus() {
+  // This is locked already by OnSessionStarted / OnSessionEnded
+  if (session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH &&
+      session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH) {
     audio_session->ReportSessionStatus();
+    return;
+  }
+  if (observers_.empty()) {
+    LOG(INFO) << __func__ << " - SessionType=" << toString(session_type_2_1_)
+              << " has NO port state observer";
+    return;
+  }
+  for (auto& observer : observers_) {
+    uint16_t cookie = observer.first;
+    std::shared_ptr<struct PortStatusCallbacks_2_2> cb = observer.second;
+    LOG(INFO) << __func__ << " - SessionType=" << toString(session_type_2_1_)
+              << " notify to bluetooth_audio=0x"
+              << android::base::StringPrintf("%04x", cookie);
+    cb->session_changed_cb_(cookie);
+  }
+}
+
+// The report function is used to report that the Bluetooth stack has notified
+// the result of startStream or suspendStream, and will invoke
+// control_result_cb_ to notify registered bluetooth_audio outputs
+void BluetoothAudioSession_2_2::ReportControlStatus(
+    bool start_resp, const BluetoothAudioStatus& status) {
+  if (session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH &&
+      session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH) {
+    audio_session->ReportControlStatus(start_resp, status);
+    return;
+  }
+  std::lock_guard<std::recursive_mutex> guard(audio_session->mutex_);
+  if (observers_.empty()) {
+    LOG(WARNING) << __func__ << " - SessionType=" << toString(session_type_2_1_)
+                 << " has NO port state observer";
+    return;
+  }
+  for (auto& observer : observers_) {
+    uint16_t cookie = observer.first;
+    std::shared_ptr<struct PortStatusCallbacks_2_2> cb = observer.second;
+    LOG(INFO) << __func__ << " - status=" << toString(status)
+              << " for SessionType=" << toString(session_type_2_1_)
+              << ", bluetooth_audio=0x"
+              << android::base::StringPrintf("%04x", cookie)
+              << (start_resp ? " started" : " suspended");
+    cb->control_result_cb_(cookie, start_resp, status);
+  }
+}
+
+// The report function is used to report that the Bluetooth stack has notified
+// the result of startStream or suspendStream, and will invoke
+// control_result_cb_ to notify registered bluetooth_audio outputs
+void BluetoothAudioSession_2_2::ReportAudioConfigChanged(
+    const ::android::hardware::bluetooth::audio::V2_2::AudioConfiguration&
+        audio_config) {
+  if (session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH &&
+      session_type_2_1_ !=
+          SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH) {
+    return;
+  }
+  std::lock_guard<std::recursive_mutex> guard(audio_session->mutex_);
+  audio_config_2_2_ = audio_config;
+  if (observers_.empty()) {
+    LOG(WARNING) << __func__ << " - SessionType=" << toString(session_type_2_1_)
+                 << " has NO port state observer";
+    return;
+  }
+  for (auto& observer : observers_) {
+    uint16_t cookie = observer.first;
+    std::shared_ptr<struct PortStatusCallbacks_2_2> cb = observer.second;
+    LOG(INFO) << __func__ << " for SessionType=" << toString(session_type_2_1_)
+              << ", bluetooth_audio=0x"
+              << android::base::StringPrintf("%04x", cookie);
+    if (cb->audio_configuration_changed_cb_ != nullptr) {
+      cb->audio_configuration_changed_cb_(cookie);
+    }
   }
 }
 
diff --git a/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.h b/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.h
index 6ac0188..3673fd8 100644
--- a/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.h
+++ b/bluetooth/audio/utils/session/BluetoothAudioSession_2_2.h
@@ -28,6 +28,40 @@
 namespace bluetooth {
 namespace audio {
 
+inline uint16_t ObserversCookieGetInitValue(
+    const ::android::hardware::bluetooth::audio::V2_1::SessionType&
+        session_type) {
+  return (static_cast<uint16_t>(session_type) << 8 & 0xff00);
+}
+inline uint16_t ObserversCookieGetUpperBound(
+    const ::android::hardware::bluetooth::audio::V2_1::SessionType&
+        session_type) {
+  return (static_cast<uint16_t>(session_type) << 8 & 0xff00) +
+         kObserversCookieSize;
+}
+
+struct PortStatusCallbacks_2_2 {
+  // control_result_cb_ - when the Bluetooth stack reports results of
+  // streamStarted or streamSuspended, the BluetoothAudioProvider will invoke
+  // this callback to report to the bluetooth_audio module.
+  // @param: cookie - indicates which bluetooth_audio output should handle
+  // @param: start_resp - this report is for startStream or not
+  // @param: status - the result of startStream
+  std::function<void(uint16_t cookie, bool start_resp,
+                     const BluetoothAudioStatus& status)>
+      control_result_cb_;
+  // session_changed_cb_ - when the Bluetooth stack start / end session, the
+  // BluetoothAudioProvider will invoke this callback to notify to the
+  // bluetooth_audio module.
+  // @param: cookie - indicates which bluetooth_audio output should handle
+  std::function<void(uint16_t cookie)> session_changed_cb_;
+  // audio_configuration_changed_cb_ - when the Bluetooth stack change the audio
+  // configuration, the BluetoothAudioProvider will invoke this callback to
+  // notify to the bluetooth_audio module.
+  // @param: cookie - indicates which bluetooth_audio output should handle
+  std::function<void(uint16_t cookie)> audio_configuration_changed_cb_;
+};
+
 class BluetoothAudioSession_2_2 {
  private:
   std::shared_ptr<BluetoothAudioSession> audio_session;
@@ -50,6 +84,13 @@
   static ::android::hardware::bluetooth::audio::V2_2::AudioConfiguration
       invalidLeOffloadAudioConfiguration;
 
+  // saving those registered bluetooth_audio's callbacks
+  std::unordered_map<uint16_t, std::shared_ptr<struct PortStatusCallbacks_2_2>>
+      observers_;
+
+  // invoking the registered session_changed_cb_
+  void ReportSessionStatus();
+
  public:
   BluetoothAudioSession_2_2(
       const ::android::hardware::bluetooth::audio::V2_1::SessionType&
@@ -82,6 +123,29 @@
   bool SuspendStream();
   void StopStream();
 
+  // The control function helps the bluetooth_audio module to register
+  // PortStatusCallbacks_2_2
+  // @return: cookie - the assigned number to this bluetooth_audio output
+  uint16_t RegisterStatusCback(const PortStatusCallbacks_2_2& cbacks);
+
+  // The control function helps the bluetooth_audio module to unregister
+  // PortStatusCallbacks_2_2
+  // @param: cookie - indicates which bluetooth_audio output is
+  void UnregisterStatusCback(uint16_t cookie);
+
+  // The report function is used to report that the Bluetooth stack has notified
+  // the result of startStream or suspendStream, and will invoke
+  // control_result_cb_ to notify registered bluetooth_audio outputs
+  void ReportControlStatus(bool start_resp, const BluetoothAudioStatus& status);
+
+  // The report function is used to report that the Bluetooth stack has notified
+  // the audio configuration changed, and will invoke
+  // audio_configuration_changed_cb_ to notify registered bluetooth_audio
+  // outputs
+  void ReportAudioConfigChanged(
+      const ::android::hardware::bluetooth::audio::V2_2::AudioConfiguration&
+          audio_config);
+
   // The control function is for the bluetooth_audio module to get the current
   // AudioConfiguration
   const ::android::hardware::bluetooth::audio::V2_2::AudioConfiguration
diff --git a/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.cpp b/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.cpp
index 34cfd7e..4c99b0f 100644
--- a/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.cpp
+++ b/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.cpp
@@ -30,16 +30,20 @@
 using ::android::hardware::bluetooth::audio::V2_1::Lc3Parameters;
 using ::android::hardware::bluetooth::audio::V2_1::SampleRate;
 using ::android::hardware::bluetooth::audio::V2_2::AudioLocation;
-using ::android::hardware::bluetooth::audio::V2_2::LeAudioCodecCapabilitiesPair;
-using ::android::hardware::bluetooth::audio::V2_2::LeAudioCodecCapability;
-using ::android::hardware::bluetooth::audio::V2_2::LeAudioMode;
+using ::android::hardware::bluetooth::audio::V2_2::BroadcastCapability;
+using ::android::hardware::bluetooth::audio::V2_2::
+    LeAudioCodecCapabilitiesSetting;
+using ::android::hardware::bluetooth::audio::V2_2::UnicastCapability;
 using SessionType_2_1 =
     ::android::hardware::bluetooth::audio::V2_1::SessionType;
 
 // Stores the list of offload supported capability
-std::vector<LeAudioCodecCapabilitiesPair> kDefaultOffloadLeAudioCapabilities;
+std::vector<LeAudioCodecCapabilitiesSetting> kDefaultOffloadLeAudioCapabilities;
 
-static const LeAudioCodecCapability kInvalidLc3Capability = {
+static const UnicastCapability kInvalidUnicastCapability = {
+    .codecType = CodecType::UNKNOWN};
+
+static const BroadcastCapability kInvalidBroadcastCapability = {
     .codecType = CodecType::UNKNOWN};
 
 // Default Supported Codecs
@@ -94,53 +98,53 @@
   return true;
 }
 
-LeAudioCodecCapability composeLc3Capability(AudioLocation audioLocation,
-                                            uint8_t deviceCnt,
-                                            uint8_t channelCount,
-                                            Lc3Parameters capability) {
-  return LeAudioCodecCapability{.codecType = CodecType::LC3,
-                                .supportedChannel = audioLocation,
-                                .deviceCount = deviceCnt,
-                                .channelCountPerDevice = channelCount,
-                                .capabilities = capability};
+UnicastCapability composeUnicastLc3Capability(AudioLocation audioLocation,
+                                              uint8_t deviceCnt,
+                                              uint8_t channelCount,
+                                              Lc3Parameters capability) {
+  return UnicastCapability{.codecType = CodecType::LC3,
+                           .supportedChannel = audioLocation,
+                           .deviceCount = deviceCnt,
+                           .channelCountPerDevice = channelCount,
+                           .capabilities = capability};
 }
 
-std::vector<LeAudioCodecCapabilitiesPair> GetLeAudioOffloadCodecCapabilities(
+std::vector<LeAudioCodecCapabilitiesSetting> GetLeAudioOffloadCodecCapabilities(
     const SessionType_2_1& session_type) {
   if (session_type !=
           SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_ENCODING_DATAPATH &&
       session_type !=
           SessionType_2_1::LE_AUDIO_HARDWARE_OFFLOAD_DECODING_DATAPATH) {
-    return std::vector<LeAudioCodecCapabilitiesPair>(0);
+    return std::vector<LeAudioCodecCapabilitiesSetting>(0);
   }
 
   if (kDefaultOffloadLeAudioCapabilities.empty()) {
     for (auto [audioLocation, deviceCnt, channelCount] :
          supportedDeviceSetting) {
       for (auto capability : supportedLc3CapabilityList) {
-        LeAudioCodecCapability lc3Capability = composeLc3Capability(
+        UnicastCapability lc3Capability = composeUnicastLc3Capability(
             audioLocation, deviceCnt, channelCount, capability);
-        LeAudioCodecCapability lc3MonoCapability =
-            composeLc3Capability(monoAudio, 1, 1, capability);
+        UnicastCapability lc3MonoDecodeCapability =
+            composeUnicastLc3Capability(monoAudio, 1, 1, capability);
 
         // Adds the capability for encode only
         kDefaultOffloadLeAudioCapabilities.push_back(
-            {.mode = LeAudioMode::UNICAST,
-             .encodeCapability = lc3Capability,
-             .decodeCapability = kInvalidLc3Capability});
+            {.unicastEncodeCapability = lc3Capability,
+             .unicastDecodeCapability = kInvalidUnicastCapability,
+             .broadcastCapability = kInvalidBroadcastCapability});
 
         // Adds the capability for decode only
         kDefaultOffloadLeAudioCapabilities.push_back(
-            {.mode = LeAudioMode::UNICAST,
-             .encodeCapability = kInvalidLc3Capability,
-             .decodeCapability = lc3Capability});
+            {.unicastEncodeCapability = kInvalidUnicastCapability,
+             .unicastDecodeCapability = lc3Capability,
+             .broadcastCapability = kInvalidBroadcastCapability});
 
         // Adds the capability for the case that encode and decode exist at the
         // same time
         kDefaultOffloadLeAudioCapabilities.push_back(
-            {.mode = LeAudioMode::UNICAST,
-             .encodeCapability = lc3Capability,
-             .decodeCapability = lc3MonoCapability});
+            {.unicastEncodeCapability = lc3Capability,
+             .unicastDecodeCapability = lc3MonoDecodeCapability,
+             .broadcastCapability = kInvalidBroadcastCapability});
       }
     }
   }
diff --git a/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.h b/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.h
index 89da6a3..34bba5f 100644
--- a/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.h
+++ b/bluetooth/audio/utils/session/BluetoothAudioSupportedCodecsDB_2_2.h
@@ -31,7 +31,7 @@
     const ::android::hardware::bluetooth::audio::V2_2::LeAudioConfiguration&
         le_audio_codec_config);
 
-std::vector<hardware::bluetooth::audio::V2_2::LeAudioCodecCapabilitiesPair>
+std::vector<hardware::bluetooth::audio::V2_2::LeAudioCodecCapabilitiesSetting>
 GetLeAudioOffloadCodecCapabilities(
     const ::android::hardware::bluetooth::audio::V2_1::SessionType&
         session_type);
diff --git a/compatibility_matrices/compatibility_matrix.current.xml b/compatibility_matrices/compatibility_matrix.current.xml
index cb9bd3d..cf85688 100644
--- a/compatibility_matrices/compatibility_matrix.current.xml
+++ b/compatibility_matrices/compatibility_matrix.current.xml
@@ -405,6 +405,7 @@
         <interface>
             <name>IRemotelyProvisionedComponent</name>
             <instance>default</instance>
+            <instance>strongbox</instance>
         </interface>
     </hal>
     <hal format="aidl" optional="true">
@@ -638,6 +639,13 @@
             <instance>strongbox</instance>
         </interface>
     </hal>
+    <hal format="aidl" optional="true">
+        <name>android.hardware.sensors</name>
+        <interface>
+            <name>ISensors</name>
+            <instance>default</instance>
+        </interface>
+    </hal>
     <hal format="hidl" optional="true">
         <name>android.hardware.sensors</name>
         <version>1.0</version>
diff --git a/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/HostEndpointInfo.aidl b/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/HostEndpointInfo.aidl
index e7dcbc7..84e8531 100644
--- a/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/HostEndpointInfo.aidl
+++ b/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/HostEndpointInfo.aidl
@@ -40,7 +40,7 @@
   @nullable String attributionTag;
   @Backing(type="int") @VintfStability
   enum Type {
-    TYPE_FRAMEWORK = 1,
-    TYPE_APP = 2,
+    FRAMEWORK = 1,
+    APP = 2,
   }
 }
diff --git a/contexthub/aidl/android/hardware/contexthub/ContextHubMessage.aidl b/contexthub/aidl/android/hardware/contexthub/ContextHubMessage.aidl
index 867da2f..95d478e 100644
--- a/contexthub/aidl/android/hardware/contexthub/ContextHubMessage.aidl
+++ b/contexthub/aidl/android/hardware/contexthub/ContextHubMessage.aidl
@@ -32,10 +32,14 @@
      */
     char hostEndPoint;
 
-    /** The type of this message */
+    /**
+     * The type of this message payload, defined by the communication endpoints (i.e.
+     * either the nanoapp or the host endpoint). This value can be used to distinguish
+     * the handling of messageBody (e.g. for decoding).
+     */
     int messageType;
 
-    /** The payload containing the message */
+    /** The payload containing the message. */
     byte[] messageBody;
 
     /**
diff --git a/contexthub/aidl/android/hardware/contexthub/HostEndpointInfo.aidl b/contexthub/aidl/android/hardware/contexthub/HostEndpointInfo.aidl
index 40a231d..a9d6657 100644
--- a/contexthub/aidl/android/hardware/contexthub/HostEndpointInfo.aidl
+++ b/contexthub/aidl/android/hardware/contexthub/HostEndpointInfo.aidl
@@ -37,12 +37,12 @@
     @Backing(type="int")
     enum Type {
         /**
-           This endpoint is from the Android framework, where packageName and attributionTag may be
-           empty.
+         * This endpoint is from the Android framework, where packageName and attributionTag may be
+         * empty.
          */
-        TYPE_FRAMEWORK = 1,
+        FRAMEWORK = 1,
 
         /** This endpoint is an Android app. */
-        TYPE_APP = 2,
+        APP = 2,
     }
 }
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IAGnss.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IAGnss.aidl
index f02e08c..1a69f33 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IAGnss.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IAGnss.aidl
@@ -37,8 +37,8 @@
   void setCallback(in android.hardware.gnss.IAGnssCallback callback);
   void dataConnClosed();
   void dataConnFailed();
-  void setServer(in android.hardware.gnss.IAGnssCallback.AGnssType type, in String hostname, in int port);
-  void dataConnOpen(in long networkHandle, in String apn, in android.hardware.gnss.IAGnss.ApnIpType apnIpType);
+  void setServer(in android.hardware.gnss.IAGnssCallback.AGnssType type, in @utf8InCpp String hostname, in int port);
+  void dataConnOpen(in long networkHandle, in @utf8InCpp String apn, in android.hardware.gnss.IAGnss.ApnIpType apnIpType);
   @Backing(type="int") @VintfStability
   enum ApnIpType {
     INVALID = 0,
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
index 3477380..1b4c581 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
@@ -46,7 +46,41 @@
   android.hardware.gnss.IAGnss getExtensionAGnss();
   android.hardware.gnss.IGnssDebug getExtensionGnssDebug();
   android.hardware.gnss.visibility_control.IGnssVisibilityControl getExtensionGnssVisibilityControl();
+  void start();
+  void stop();
+  void injectTime(in long timeMs, in long timeReferenceMs, in int uncertaintyMs);
+  void injectLocation(in android.hardware.gnss.GnssLocation location);
+  void injectBestLocation(in android.hardware.gnss.GnssLocation location);
+  void deleteAidingData(in android.hardware.gnss.IGnss.GnssAidingData aidingDataFlags);
+  void setPositionMode(in android.hardware.gnss.IGnss.GnssPositionMode mode, in android.hardware.gnss.IGnss.GnssPositionRecurrence recurrence, in int minIntervalMs, in int preferredAccuracyMeters, in int preferredTimeMs, in boolean lowPowerMode);
   const int ERROR_INVALID_ARGUMENT = 1;
   const int ERROR_ALREADY_INIT = 2;
   const int ERROR_GENERIC = 3;
+  @Backing(type="int") @VintfStability
+  enum GnssPositionMode {
+    STANDALONE = 0,
+    MS_BASED = 1,
+    MS_ASSISTED = 2,
+  }
+  @Backing(type="int") @VintfStability
+  enum GnssPositionRecurrence {
+    RECURRENCE_PERIODIC = 0,
+    RECURRENCE_SINGLE = 1,
+  }
+  @Backing(type="int") @VintfStability
+  enum GnssAidingData {
+    DELETE_EPHEMERIS = 1,
+    DELETE_ALMANAC = 2,
+    DELETE_POSITION = 4,
+    DELETE_TIME = 8,
+    DELETE_IONO = 16,
+    DELETE_UTC = 32,
+    DELETE_HEALTH = 64,
+    DELETE_SVDIR = 128,
+    DELETE_SVSTEER = 256,
+    DELETE_SADATA = 512,
+    DELETE_RTI = 1024,
+    DELETE_CELLDB_INFO = 32768,
+    DELETE_ALL = 65535,
+  }
 }
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssCallback.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssCallback.aidl
index fb0931c..957a75f 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssCallback.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssCallback.aidl
@@ -35,8 +35,60 @@
 @VintfStability
 interface IGnssCallback {
   void gnssSetCapabilitiesCb(in int capabilities);
+  void gnssStatusCb(in android.hardware.gnss.IGnssCallback.GnssStatusValue status);
+  void gnssSvStatusCb(in android.hardware.gnss.IGnssCallback.GnssSvInfo[] svInfoList);
+  void gnssLocationCb(in android.hardware.gnss.GnssLocation location);
+  void gnssNmeaCb(in long timestamp, in @utf8InCpp String nmea);
+  void gnssAcquireWakelockCb();
+  void gnssReleaseWakelockCb();
+  void gnssSetSystemInfoCb(in android.hardware.gnss.IGnssCallback.GnssSystemInfo info);
+  void gnssRequestTimeCb();
+  void gnssRequestLocationCb(in boolean independentFromGnss, in boolean isUserEmergency);
+  const int CAPABILITY_SCHEDULING = 1;
+  const int CAPABILITY_MSB = 2;
+  const int CAPABILITY_MSA = 4;
+  const int CAPABILITY_SINGLE_SHOT = 8;
+  const int CAPABILITY_ON_DEMAND_TIME = 16;
+  const int CAPABILITY_GEOFENCING = 32;
+  const int CAPABILITY_MEASUREMENTS = 64;
+  const int CAPABILITY_NAV_MESSAGES = 128;
+  const int CAPABILITY_LOW_POWER_MODE = 256;
   const int CAPABILITY_SATELLITE_BLOCKLIST = 512;
+  const int CAPABILITY_MEASUREMENT_CORRECTIONS = 1024;
+  const int CAPABILITY_ANTENNA_INFO = 2048;
   const int CAPABILITY_CORRELATION_VECTOR = 4096;
   const int CAPABILITY_SATELLITE_PVT = 8192;
   const int CAPABILITY_MEASUREMENT_CORRECTIONS_FOR_DRIVING = 16384;
+  @Backing(type="int") @VintfStability
+  enum GnssStatusValue {
+    NONE = 0,
+    SESSION_BEGIN = 1,
+    SESSION_END = 2,
+    ENGINE_ON = 3,
+    ENGINE_OFF = 4,
+  }
+  @Backing(type="int") @VintfStability
+  enum GnssSvFlags {
+    NONE = 0,
+    HAS_EPHEMERIS_DATA = 1,
+    HAS_ALMANAC_DATA = 2,
+    USED_IN_FIX = 4,
+    HAS_CARRIER_FREQUENCY = 8,
+  }
+  @VintfStability
+  parcelable GnssSvInfo {
+    int svid;
+    android.hardware.gnss.GnssConstellationType constellation;
+    float cN0Dbhz;
+    float basebandCN0DbHz;
+    float elevationDegrees;
+    float azimuthDegrees;
+    long carrierFrequencyHz;
+    int svFlag;
+  }
+  @VintfStability
+  parcelable GnssSystemInfo {
+    int yearOfHw;
+    @utf8InCpp String name;
+  }
 }
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssMeasurementInterface.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssMeasurementInterface.aidl
index 24d6f9c..9c4a54b 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssMeasurementInterface.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssMeasurementInterface.aidl
@@ -36,4 +36,11 @@
 interface IGnssMeasurementInterface {
   void setCallback(in android.hardware.gnss.IGnssMeasurementCallback callback, in boolean enableFullTracking, in boolean enableCorrVecOutputs);
   void close();
+  void setCallbackWithOptions(in android.hardware.gnss.IGnssMeasurementCallback callback, in android.hardware.gnss.IGnssMeasurementInterface.Options options);
+  @VintfStability
+  parcelable Options {
+    boolean enableFullTracking;
+    boolean enableCorrVecOutputs;
+    int intervalMs;
+  }
 }
diff --git a/gnss/aidl/android/hardware/gnss/IAGnss.aidl b/gnss/aidl/android/hardware/gnss/IAGnss.aidl
index 3e256e2..30b2167 100644
--- a/gnss/aidl/android/hardware/gnss/IAGnss.aidl
+++ b/gnss/aidl/android/hardware/gnss/IAGnss.aidl
@@ -60,7 +60,7 @@
      * @param hostname Hostname of the AGNSS server.
      * @param port Port number associated with the server.
      */
-    void setServer(in AGnssType type, in String hostname, in int port);
+    void setServer(in AGnssType type, in @utf8InCpp String hostname, in int port);
 
     /**
      * Notifies GNSS that a data connection is available and sets the network handle,
@@ -75,5 +75,6 @@
      * @param apn Access Point Name (follows regular APN naming convention).
      * @param apnIpType Specifies IP type of APN.
      */
-    void dataConnOpen(in long networkHandle, in String apn, in ApnIpType apnIpType);
+    void dataConnOpen(
+            in long networkHandle, in @utf8InCpp String apn, in ApnIpType apnIpType);
 }
diff --git a/gnss/aidl/android/hardware/gnss/IGnss.aidl b/gnss/aidl/android/hardware/gnss/IGnss.aidl
index 1351f59..4ddc6a6 100644
--- a/gnss/aidl/android/hardware/gnss/IGnss.aidl
+++ b/gnss/aidl/android/hardware/gnss/IGnss.aidl
@@ -16,6 +16,7 @@
 
 package android.hardware.gnss;
 
+import android.hardware.gnss.GnssLocation;
 import android.hardware.gnss.IAGnss;
 import android.hardware.gnss.IGnssBatching;
 import android.hardware.gnss.IGnssCallback;
@@ -45,6 +46,53 @@
     /** Any other error. */
     const int ERROR_GENERIC = 3;
 
+    /** Requested operational mode for GNSS operation. */
+    @VintfStability
+    @Backing(type="int")
+    enum GnssPositionMode {
+        /** Mode for running GNSS standalone (no assistance). */
+        STANDALONE = 0,
+        /** AGNSS MS-Based mode. */
+        MS_BASED = 1,
+        /**
+         * AGNSS MS-Assisted mode. This mode is not maintained by the platform anymore.
+         * It is strongly recommended to use MS_BASED instead.
+         */
+        MS_ASSISTED = 2,
+    }
+
+    /** Requested recurrence mode for GNSS operation. */
+    @VintfStability
+    @Backing(type="int")
+    enum GnssPositionRecurrence {
+        /** Receive GNSS fixes on a recurring basis at a specified period. */
+        RECURRENCE_PERIODIC = 0,
+        /** Request a single shot GNSS fix. */
+        RECURRENCE_SINGLE = 1,
+    }
+
+    /**
+     * Flags used to specify which aiding data to delete when calling
+     * deleteAidingData().
+     */
+    @VintfStability
+    @Backing(type="int")
+    enum GnssAidingData {
+        DELETE_EPHEMERIS = 0x0001,
+        DELETE_ALMANAC = 0x0002,
+        DELETE_POSITION = 0x0004,
+        DELETE_TIME = 0x0008,
+        DELETE_IONO = 0x0010,
+        DELETE_UTC = 0x0020,
+        DELETE_HEALTH = 0x0040,
+        DELETE_SVDIR = 0x0080,
+        DELETE_SVSTEER = 0x0100,
+        DELETE_SADATA = 0x0200,
+        DELETE_RTI = 0x0400,
+        DELETE_CELLDB_INFO = 0x8000,
+        DELETE_ALL = 0xFFFF
+    }
+
     /**
      * Opens the interface and provides the callback routines to the implementation of this
      * interface.
@@ -152,4 +200,81 @@
      * @return Handle to the IGnssVisibilityControl.
      */
     IGnssVisibilityControl getExtensionGnssVisibilityControl();
+
+    /**
+     * Starts a location output stream using the IGnssCallback gnssLocationCb(), following the
+     * settings from the most recent call to setPositionMode().
+     *
+     * This output must operate independently of any GNSS location batching operations,
+     * see the IGnssBatching for details.
+     */
+    void start();
+
+    /**
+     * Stops the location output stream.
+     */
+    void stop();
+
+    /**
+     * Injects the current time.
+     *
+     * @param timeMs This is the UTC time received from the NTP server, its value is given in
+     *     milliseconds since January 1, 1970.
+     * @param timeReferenceMs The corresponding value of SystemClock.elapsedRealtime() from the
+     *     device when the NTP response was received in milliseconds.
+     * @param uncertaintyMs Uncertainty associated with the value represented by time. Represented
+     *     in milliseconds.
+     */
+    void injectTime(in long timeMs, in long timeReferenceMs, in int uncertaintyMs);
+
+    /**
+     * Injects current location from another (typically network) location provider.
+     *
+     * @param location Current location from the location provider
+     */
+    void injectLocation(in GnssLocation location);
+
+    /**
+     * Injects current location from the best available location provider.
+     *
+     * Unlike injectLocation, this method may inject a recent GNSS location from the HAL
+     * implementation, if that is the best available location known to the framework.
+     *
+     * @param location Location information from the best available location provider.
+     */
+    void injectBestLocation(in GnssLocation location);
+
+    /**
+     * Specifies that the next call to start will not use the information defined in the flags.
+     * GnssAidingData value of DELETE_ALL is passed for a cold start.
+     *
+     * @param aidingDataFlags Flags specifying the aiding data to be deleted.
+     */
+    void deleteAidingData(in GnssAidingData aidingDataFlags);
+
+    /**
+     * Sets the GnssPositionMode parameter, its associated recurrence value, the time between fixes,
+     * requested fix accuracy, time to first fix.
+     *
+     * @param mode Parameter must be one of MS_BASED or STANDALONE. It is allowed by the platform
+     *     (and it is recommended) to fallback to MS_BASED if MS_ASSISTED is passed in, and MS_BASED
+     *     is supported.
+     * @param recurrence GNSS position recurrence value, either periodic or single.
+     * @param minIntervalMs Represents the time between fixes in milliseconds.
+     * @param preferredAccuracyMeters Represents the requested fix accuracy in meters.
+     * @param preferredTimeMs Represents the requested time to first fix in milliseconds.
+     * @param lowPowerMode When true, and IGnss is the only client to the GNSS hardware, the GNSS
+     *     hardware must make strong tradeoffs to substantially restrict power use. Specifically, in
+     *     the case of a several second long minIntervalMs, the GNSS hardware must not, on average,
+     *     run power hungry operations like RF and signal searches for more than one second per
+     *     interval, and must make exactly one call to gnssSvStatusCb(), and either zero or one call
+     *     to GnssLocationCb() at each interval. When false, HAL must operate in the nominal mode
+     *     and is expected to make power and performance tradoffs such as duty-cycling when signal
+     *     conditions are good and more active searches to reacquire GNSS signals when no signals
+     *     are present. When there are additional clients using the GNSS hardware other than IGnss,
+     *     the GNSS hardware may operate in a higher power mode, on behalf of those clients.
+     */
+    void setPositionMode(in GnssPositionMode mode, in GnssPositionRecurrence recurrence,
+            in int minIntervalMs, in int preferredAccuracyMeters, in int preferredTimeMs,
+            in boolean lowPowerMode);
 }
diff --git a/gnss/aidl/android/hardware/gnss/IGnssCallback.aidl b/gnss/aidl/android/hardware/gnss/IGnssCallback.aidl
index aad09ef..157c912 100644
--- a/gnss/aidl/android/hardware/gnss/IGnssCallback.aidl
+++ b/gnss/aidl/android/hardware/gnss/IGnssCallback.aidl
@@ -16,6 +16,8 @@
 
 package android.hardware.gnss;
 
+import android.hardware.gnss.GnssConstellationType;
+import android.hardware.gnss.GnssLocation;
 import android.hardware.gnss.IGnssConfiguration;
 import android.hardware.gnss.IGnssPsds;
 
@@ -26,9 +28,48 @@
  */
 @VintfStability
 interface IGnssCallback {
+    /**
+     * Capability bit mask indicating that GNSS supports scheduling fixes for RECURRENCE_PERIODIC
+     * mode.
+     *
+     * If this is not set, then the framework will use 1000ms for minInterval and will call start()
+     * and stop() to schedule the GNSS.
+     */
+    const int CAPABILITY_SCHEDULING = 1 << 0;
+
+    /** Capability bit mask indicating that GNSS supports MS-Based AGNSS mode */
+    const int CAPABILITY_MSB = 1 << 1;
+
+    /** Capability bit mask indicating that GNSS supports MS-Assisted AGNSS mode */
+    const int CAPABILITY_MSA = 1 << 2;
+
+    /** Capability bit mask indicating that GNSS supports single-shot fixes */
+    const int CAPABILITY_SINGLE_SHOT = 1 << 3;
+
+    /** Capability bit mask indicating that GNSS supports on demand time injection */
+    const int CAPABILITY_ON_DEMAND_TIME = 1 << 4;
+
+    /** Capability bit mask indicating that GNSS supports Geofencing  */
+    const int CAPABILITY_GEOFENCING = 1 << 5;
+
+    /** Capability bit mask indicating that GNSS supports Measurements. */
+    const int CAPABILITY_MEASUREMENTS = 1 << 6;
+
+    /** Capability bit mask indicating that GNSS supports Navigation Messages */
+    const int CAPABILITY_NAV_MESSAGES = 1 << 7;
+
+    /** Capability bit mask indicating that GNSS supports low power mode */
+    const int CAPABILITY_LOW_POWER_MODE = 1 << 8;
+
     /** Capability bit mask indicating that GNSS supports blocklisting satellites */
     const int CAPABILITY_SATELLITE_BLOCKLIST = 1 << 9;
 
+    /** Capability bit mask indicating that GNSS supports measurement corrections */
+    const int CAPABILITY_MEASUREMENT_CORRECTIONS = 1 << 10;
+
+    /** Capability bit mask indicating that GNSS supports measurement corrections */
+    const int CAPABILITY_ANTENNA_INFO = 1 << 11;
+
     /** Capability bit mask indicating that GNSS supports correlation vector */
     const int CAPABILITY_CORRELATION_VECTOR = 1 << 12;
 
@@ -44,4 +85,221 @@
      * @param capabilities Capability parameter is a bit field of the Capability bit masks.
      */
     void gnssSetCapabilitiesCb(in int capabilities);
+
+    /** GNSS status event values. */
+    @VintfStability
+    @Backing(type="int")
+    enum GnssStatusValue {
+        /** GNSS status unknown. */
+        NONE = 0,
+        /** GNSS has begun navigating. */
+        SESSION_BEGIN = 1,
+        /** GNSS has stopped navigating. */
+        SESSION_END = 2,
+        /** GNSS has powered on but is not navigating. */
+        ENGINE_ON = 3,
+        /** GNSS is powered off. */
+        ENGINE_OFF = 4
+    }
+
+    /**
+     * Flags that indicate information about the satellite
+     */
+    @VintfStability
+    @Backing(type="int")
+    enum GnssSvFlags {
+        NONE = 0,
+        HAS_EPHEMERIS_DATA = 1 << 0,
+        HAS_ALMANAC_DATA = 1 << 1,
+        USED_IN_FIX = 1 << 2,
+        HAS_CARRIER_FREQUENCY = 1 << 3,
+    }
+
+    @VintfStability
+    parcelable GnssSvInfo {
+        /**
+         * Pseudo-random or satellite ID number for the satellite, a.k.a. Space Vehicle (SV), or
+         * FCN/OSN number for Glonass. The distinction is made by looking at constellation field.
+         * Values must be in the range of:
+         *
+         * - GNSS:    1-32
+         * - SBAS:    120-151, 183-192
+         * - GLONASS: 1-24, the orbital slot number (OSN), if known.  Or, if not:
+         *            93-106, the frequency channel number (FCN) (-7 to +6) offset by
+         *            + 100
+         *            i.e. report an FCN of -7 as 93, FCN of 0 as 100, and FCN of +6
+         *            as 106.
+         * - QZSS:    193-200
+         * - Galileo: 1-36
+         * - Beidou:  1-37
+         * - IRNSS:   1-14
+         */
+        int svid;
+
+        /**
+         * Defines the constellation of the given SV.
+         */
+        GnssConstellationType constellation;
+
+        /**
+         * Carrier-to-noise density in dB-Hz, typically in the range [0, 63].
+         * It contains the measured C/N0 value for the signal at the antenna port.
+         *
+         * This is a mandatory field.
+         */
+        float cN0Dbhz;
+
+        /**
+         * Baseband Carrier-to-noise density in dB-Hz, typically in the range [0, 63]. It contains
+         * the measured C/N0 value for the signal measured at the baseband.
+         *
+         * This is typically a few dB weaker than the value estimated for C/N0 at the antenna port,
+         * which is reported in cN0DbHz.
+         *
+         * If a signal has separate components (e.g. Pilot and Data channels) and the receiver only
+         * processes one of the components, then the reported basebandCN0DbHz reflects only the
+         * component that is processed.
+         *
+         * This field is mandatory. Like cN0DbHz, it may be reported as 0 for satellites being
+         * reported that may be searched for, but not yet tracked.
+         */
+        float basebandCN0DbHz;
+
+        /** Elevation of SV in degrees. */
+        float elevationDegrees;
+
+        /** Azimuth of SV in degrees. */
+        float azimuthDegrees;
+
+        /**
+         * Carrier frequency of the signal tracked, for example it can be the
+         * GPS central frequency for L1 = 1575.45 MHz, or L2 = 1227.60 MHz, L5 =
+         * 1176.45 MHz, varying GLO channels, etc. If the field is zero, it is
+         * the primary common use central frequency, e.g. L1 = 1575.45 MHz for
+         * GPS.
+         *
+         * For an L1, L5 receiver tracking a satellite on L1 and L5 at the same
+         * time, two GnssSvInfo structs must be reported for this same
+         * satellite, in one of the structs, all the values related
+         * to L1 must be filled, and in the other all of the values related to
+         * L5 must be filled.
+         *
+         * If the data is available, svFlag must contain HAS_CARRIER_FREQUENCY.
+         */
+        long carrierFrequencyHz;
+
+        /** A bit field of the GnssSvFlags. */
+        int svFlag;
+    }
+
+    /**
+     * Called to communicate the status of the GNSS engine.
+     *
+     * @param status Status information from HAL.
+     */
+    void gnssStatusCb(in GnssStatusValue status);
+
+    /**
+     * Callback for the HAL to pass a vector of GnssSvInfo back to the client.
+     *
+     * @param svInfo SV status information from HAL.
+     */
+    void gnssSvStatusCb(in GnssSvInfo[] svInfoList);
+
+    /**
+     * Called when a GNSS location is available.
+     *
+     * @param location Location information from HAL.
+     */
+    void gnssLocationCb(in GnssLocation location);
+
+    /**
+     * Callback for reporting NMEA sentences. Called when NMEA data is available.
+     *
+     * @param timestamp Marks the instance of reporting.
+     * @param nmea Follows standard NMEA 0183. Each sentence begins with a '$'
+     * and ends with a carriage return/line feed sequence and can be no longer
+     * than 80 characters of visible text (plus the line terminators). The data
+     * is contained within this single line with data items separated by commas.
+     * The data itself is just ascii text and may extend over multiple sentences
+     * in certain specialized instances but is normally fully contained in one
+     * variable length sentence. The data may vary in the amount of precision
+     * contained in the message. For example time might be indicated to decimal
+     * parts of a second or location may be shown with 3 or even 4 digits after
+     * the decimal point. Programs that read the data must only use the commas
+     * to determine the field boundaries and not depend on column positions.
+     * There is a provision for a checksum at the end of each sentence which may
+     * or may not be checked by the unit that reads the data. The checksum field
+     * consists of a '*' and two hex digits representing an 8 bit exclusive OR
+     * of all characters between, but not including, the '$' and '*'.
+     */
+    void gnssNmeaCb(in long timestamp, in @utf8InCpp String nmea);
+
+    /**
+     * Callback utility for acquiring the GNSS wakelock. This can be used to prevent
+     * the CPU from suspending while handling GNSS events.
+     */
+    void gnssAcquireWakelockCb();
+
+    /** Callback utility for releasing the GNSS wakelock. */
+    void gnssReleaseWakelockCb();
+
+    /**
+     * Provides information about how new the underlying GPS/GNSS hardware and software is.
+     */
+    @VintfStability
+    parcelable GnssSystemInfo {
+        /**
+         * The year in which the last update was made to the underlying hardware/firmware used to
+         * capture GNSS signals, e.g. 2016.
+         */
+        int yearOfHw;
+
+        /**
+         * The name of the GNSS HAL implementation model and version name.
+         *
+         * This is a user-visible string that identifies the model and version of the GNSS HAL.
+         * For example "ABC Co., Baseband Part 1234, RF Part 567, Software version 3.14.159"
+         *
+         * For privacy reasons, this string must not contain any device-specific serial number or
+         * other identifier that uniquely identifies an individual device.
+         */
+        @utf8InCpp String name;
+    }
+
+    /**
+     * Callback to inform the framework of the GNSS system information.
+     *
+     * This must be called in response to IGnss::setCallback
+     *
+     * @param info GnssSystemInfo about the GPS/GNSS hardware.
+     */
+    void gnssSetSystemInfoCb(in GnssSystemInfo info);
+
+    /** Callback for requesting NTP time */
+    void gnssRequestTimeCb();
+
+    /**
+     * Callback for requesting Location.
+     *
+     * HAL implementation must call this when it wants the framework to provide locations to assist
+     * with GNSS HAL operation, for example, to assist with time to first fix, error recovery, or to
+     * supplement GNSS location for other clients of the GNSS HAL.
+     *
+     * If a request is made with independentFromGnss set to true, the framework must avoid
+     * providing locations derived from GNSS locations (such as "fused" location), to help improve
+     * information independence for situations such as error recovery.
+     *
+     * In response to this method call, GNSS HAL can expect zero, one, or more calls to
+     * IGnss::injectLocation or IGnss::injectBestLocation, dependent on availability of location
+     * from other sources, which may happen at some arbitrary delay. Generally speaking, HAL
+     * implementations must be able to handle calls to IGnss::injectLocation or
+     * IGnss::injectBestLocation at any time.
+     *
+     * @param independentFromGnss True if requesting a location that is independent from GNSS.
+     * @param isUserEmergency True if the location request is for delivery of this location to an
+     *        emergency services endpoint, during a user-initiated emergency session (e.g.
+     *        during-call to E911, or up to 5 minutes after end-of-call or text to E911).
+     */
+    void gnssRequestLocationCb(in boolean independentFromGnss, in boolean isUserEmergency);
 }
diff --git a/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl b/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl
index 08c83a4..102cdcd 100644
--- a/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl
+++ b/gnss/aidl/android/hardware/gnss/IGnssMeasurementInterface.aidl
@@ -24,6 +24,48 @@
 @VintfStability
 interface IGnssMeasurementInterface {
     /**
+     * Options specifying the GnssMeasurement request.
+     */
+    @VintfStability
+    parcelable Options {
+        /**
+         * Enable full tracking mode.
+         *
+         * If true, GNSS chipset must switch off duty cycling. In such mode no clock discontinuities
+         * are expected and, when supported, carrier phase should be continuous in good signal
+         * conditions. All non-blocklisted, healthy constellations, satellites and frequency bands
+         * that the chipset supports must be reported in this mode. The GNSS chipset is allowed to
+         * consume more power in this mode. If false, API must optimize power via duty cycling,
+         * constellations and frequency limits, etc.
+         */
+        boolean enableFullTracking;
+
+        /**
+         * Enable Correlation Vector outputs.
+         *
+         * If true, enable correlation vectors as part of the raw GNSS measurements outputs. If
+         * false, disable correlation vectors.
+         */
+        boolean enableCorrVecOutputs;
+
+        /**
+         * Time interval between the reported measurements in milliseconds.
+         *
+         * The GNSS chipset must not report measurements with a rate slower than requested. All the
+         * available measurements must be reported to the framework.
+         *
+         * For cases where concurrently serving the location and the measurement requests would not
+         * consume more power than only the measurement request, the faster rate of the 2 requests
+         * must be chosen. Otherwise, it is recommended that the GNSS chipset minimizes the power
+         * consumption with appropriate location and measurement intervals to satisfy both requests.
+         * For example, for 2-sec measurement interval request and 7-sec location interval request,
+         * the GNSS chipset is recommended to run the measurement engine with 2-sec interval and the
+         * location engine with 6-sec interval.
+         */
+        int intervalMs;
+    }
+
+    /**
      * Initializes the interface and registers the callback routines with the HAL. After a
      * successful call to 'setCallback' the HAL must begin to provide updates at an average
      * output rate of 1Hz (occasional intra-measurement time offsets in the range from 0-2000msec
@@ -39,13 +81,9 @@
      *
      * @param enableCorrVecOutputs If true, enable correlation vectors as part of the raw GNSS
      *     measurements outputs. If false, disable correlation vectors.
-     *
-     * Returns ok() if successful. Returns ERROR_ALREADY_INIT if a callback has already been
-     * registered without a corresponding call to 'close'. Returns ERROR_GENERIC for any other
-     * error. The HAL must not generate any other updates upon returning this error code.
      */
     void setCallback(in IGnssMeasurementCallback callback, in boolean enableFullTracking,
-                     in boolean enableCorrVecOutputs);
+            in boolean enableCorrVecOutputs);
 
     /**
      * Stops updates from the HAL, and unregisters the callback routines. After a call to close(),
@@ -55,4 +93,11 @@
      * no work.
      */
     void close();
-}
\ No newline at end of file
+
+    /**
+     * Initializes the interface and registers the callback routines with the HAL.
+     *
+     * @param options See Options definition.
+     */
+    void setCallbackWithOptions(in IGnssMeasurementCallback callback, in Options options);
+}
diff --git a/gnss/aidl/default/Gnss.cpp b/gnss/aidl/default/Gnss.cpp
index afb7b95..e296351 100644
--- a/gnss/aidl/default/Gnss.cpp
+++ b/gnss/aidl/default/Gnss.cpp
@@ -17,6 +17,7 @@
 #define LOG_TAG "GnssAidl"
 
 #include "Gnss.h"
+#include <inttypes.h>
 #include <log/log.h>
 #include "AGnss.h"
 #include "GnssBatching.h"
@@ -27,16 +28,24 @@
 #include "GnssNavigationMessageInterface.h"
 #include "GnssPsds.h"
 #include "GnssVisibilityControl.h"
+#include "Utils.h"
 
 namespace aidl::android::hardware::gnss {
+using ::android::hardware::gnss::common::Utils;
+using ndk::ScopedAStatus;
+using GnssSvInfo = IGnssCallback::GnssSvInfo;
+
+constexpr int TTFF_MILLIS = 2200;
 
 std::shared_ptr<IGnssCallback> Gnss::sGnssCallback = nullptr;
 
-ndk::ScopedAStatus Gnss::setCallback(const std::shared_ptr<IGnssCallback>& callback) {
-    ALOGD("Gnss::setCallback");
+Gnss::Gnss() : mMinIntervalMs(1000), mFirstFixReceived(false) {}
+
+ScopedAStatus Gnss::setCallback(const std::shared_ptr<IGnssCallback>& callback) {
+    ALOGD("setCallback");
     if (callback == nullptr) {
         ALOGE("%s: Null callback ignored", __func__);
-        return ndk::ScopedAStatus::fromExceptionCode(STATUS_INVALID_OPERATION);
+        return ScopedAStatus::fromExceptionCode(STATUS_INVALID_OPERATION);
     }
 
     sGnssCallback = callback;
@@ -50,13 +59,99 @@
         ALOGE("%s: Unable to invoke callback.gnssSetCapabilities", __func__);
     }
 
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::close() {
-    ALOGD("Gnss::close");
+ScopedAStatus Gnss::start() {
+    ALOGD("start()");
+    if (mIsActive) {
+        ALOGW("Gnss has started. Restarting...");
+        stop();
+    }
+
+    mIsActive = true;
+    this->reportGnssStatusValue(IGnssCallback::GnssStatusValue::SESSION_BEGIN);
+    mThread = std::thread([this]() {
+        auto svStatus = filterBlocklistedSatellites(Utils::getMockSvInfoList());
+        this->reportSvStatus(svStatus);
+        if (!mFirstFixReceived) {
+            std::this_thread::sleep_for(std::chrono::milliseconds(TTFF_MILLIS));
+            mFirstFixReceived = true;
+        }
+        while (mIsActive == true) {
+            auto svStatus = filterBlocklistedSatellites(Utils::getMockSvInfoList());
+            this->reportSvStatus(svStatus);
+
+            mGnssPowerIndication->notePowerConsumption();
+            const auto location = Utils::getMockLocation();
+            this->reportLocation(location);
+            std::this_thread::sleep_for(std::chrono::milliseconds(mMinIntervalMs));
+        }
+    });
+    return ScopedAStatus::ok();
+}
+
+void Gnss::reportLocation(const GnssLocation& location) const {
+    std::unique_lock<std::mutex> lock(mMutex);
+    if (sGnssCallback == nullptr) {
+        ALOGE("%s: GnssCallback is null.", __func__);
+        return;
+    }
+    auto status = sGnssCallback->gnssLocationCb(location);
+    if (!status.isOk()) {
+        ALOGE("%s: Unable to invoke gnssLocationCb", __func__);
+    }
+    return;
+}
+
+void Gnss::reportSvStatus(const std::vector<GnssSvInfo>& svInfoList) const {
+    std::unique_lock<std::mutex> lock(mMutex);
+    if (sGnssCallback == nullptr) {
+        ALOGE("%s: sGnssCallback is null.", __func__);
+        return;
+    }
+    auto status = sGnssCallback->gnssSvStatusCb(svInfoList);
+    if (!status.isOk()) {
+        ALOGE("%s: Unable to invoke callback", __func__);
+    }
+}
+
+std::vector<GnssSvInfo> Gnss::filterBlocklistedSatellites(std::vector<GnssSvInfo> gnssSvInfoList) {
+    ALOGD("filterBlocklistedSatellites");
+    for (uint32_t i = 0; i < gnssSvInfoList.size(); i++) {
+        if (mGnssConfiguration->isBlocklisted(gnssSvInfoList[i])) {
+            gnssSvInfoList[i].svFlag &= ~(uint32_t)IGnssCallback::GnssSvFlags::USED_IN_FIX;
+        }
+    }
+    return gnssSvInfoList;
+}
+
+void Gnss::reportGnssStatusValue(const IGnssCallback::GnssStatusValue gnssStatusValue) const {
+    std::unique_lock<std::mutex> lock(mMutex);
+    if (sGnssCallback == nullptr) {
+        ALOGE("%s: sGnssCallback is null.", __func__);
+        return;
+    }
+    auto status = sGnssCallback->gnssStatusCb(gnssStatusValue);
+    if (!status.isOk()) {
+        ALOGE("%s: Unable to invoke gnssStatusCb", __func__);
+    }
+}
+
+ScopedAStatus Gnss::stop() {
+    ALOGD("stop");
+    mIsActive = false;
+    this->reportGnssStatusValue(IGnssCallback::GnssStatusValue::SESSION_END);
+    if (mThread.joinable()) {
+        mThread.join();
+    }
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::close() {
+    ALOGD("close");
     sGnssCallback = nullptr;
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
 ndk::ScopedAStatus Gnss::getExtensionAGnss(std::shared_ptr<IAGnss>* iAGnss) {
@@ -65,61 +160,93 @@
     return ndk::ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::getExtensionPsds(std::shared_ptr<IGnssPsds>* iGnssPsds) {
-    ALOGD("Gnss::getExtensionPsds");
-    *iGnssPsds = SharedRefBase::make<GnssPsds>();
-    return ndk::ScopedAStatus::ok();
+ScopedAStatus Gnss::injectTime(int64_t timeMs, int64_t timeReferenceMs, int uncertaintyMs) {
+    ALOGD("injectTime. timeMs:%" PRId64 ", timeReferenceMs:%" PRId64 ", uncertaintyMs:%d", timeMs,
+          timeReferenceMs, uncertaintyMs);
+    return ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::getExtensionGnssConfiguration(
+ScopedAStatus Gnss::injectLocation(const GnssLocation& location) {
+    ALOGD("injectLocation. lat:%lf, lng:%lf, acc:%f", location.latitudeDegrees,
+          location.longitudeDegrees, location.horizontalAccuracyMeters);
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::injectBestLocation(const GnssLocation& location) {
+    ALOGD("injectBestLocation. lat:%lf, lng:%lf, acc:%f", location.latitudeDegrees,
+          location.longitudeDegrees, location.horizontalAccuracyMeters);
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::deleteAidingData(GnssAidingData aidingDataFlags) {
+    ALOGD("deleteAidingData. flags:%d", (int)aidingDataFlags);
+    mFirstFixReceived = false;
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::setPositionMode(GnssPositionMode, GnssPositionRecurrence, int minIntervalMs,
+                                    int /* preferredAccuracyMeters */, int /* preferredTimeMs */,
+                                    bool lowPowerMode) {
+    ALOGD("setPositionMode. minIntervalMs:%d, lowPowerMode:%d", minIntervalMs, (int)lowPowerMode);
+    mMinIntervalMs = minIntervalMs;
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::getExtensionPsds(std::shared_ptr<IGnssPsds>* iGnssPsds) {
+    ALOGD("getExtensionPsds");
+    *iGnssPsds = SharedRefBase::make<GnssPsds>();
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::getExtensionGnssConfiguration(
         std::shared_ptr<IGnssConfiguration>* iGnssConfiguration) {
-    ALOGD("Gnss::getExtensionGnssConfiguration");
+    ALOGD("getExtensionGnssConfiguration");
     if (mGnssConfiguration == nullptr) {
         mGnssConfiguration = SharedRefBase::make<GnssConfiguration>();
     }
     *iGnssConfiguration = mGnssConfiguration;
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::getExtensionGnssPowerIndication(
+ScopedAStatus Gnss::getExtensionGnssPowerIndication(
         std::shared_ptr<IGnssPowerIndication>* iGnssPowerIndication) {
-    ALOGD("Gnss::getExtensionGnssPowerIndication");
+    ALOGD("getExtensionGnssPowerIndication");
     if (mGnssPowerIndication == nullptr) {
         mGnssPowerIndication = SharedRefBase::make<GnssPowerIndication>();
     }
 
     *iGnssPowerIndication = mGnssPowerIndication;
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::getExtensionGnssMeasurement(
+ScopedAStatus Gnss::getExtensionGnssMeasurement(
         std::shared_ptr<IGnssMeasurementInterface>* iGnssMeasurement) {
-    ALOGD("Gnss::getExtensionGnssMeasurement");
+    ALOGD("getExtensionGnssMeasurement");
 
     *iGnssMeasurement = SharedRefBase::make<GnssMeasurementInterface>();
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::getExtensionGnssBatching(std::shared_ptr<IGnssBatching>* iGnssBatching) {
-    ALOGD("Gnss::getExtensionGnssBatching");
+ScopedAStatus Gnss::getExtensionGnssBatching(std::shared_ptr<IGnssBatching>* iGnssBatching) {
+    ALOGD("getExtensionGnssBatching");
 
     *iGnssBatching = SharedRefBase::make<GnssBatching>();
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::getExtensionGnssGeofence(std::shared_ptr<IGnssGeofence>* iGnssGeofence) {
-    ALOGD("Gnss::getExtensionGnssGeofence");
+ScopedAStatus Gnss::getExtensionGnssGeofence(std::shared_ptr<IGnssGeofence>* iGnssGeofence) {
+    ALOGD("getExtensionGnssGeofence");
 
     *iGnssGeofence = SharedRefBase::make<GnssGeofence>();
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
-ndk::ScopedAStatus Gnss::getExtensionGnssNavigationMessage(
+ScopedAStatus Gnss::getExtensionGnssNavigationMessage(
         std::shared_ptr<IGnssNavigationMessageInterface>* iGnssNavigationMessage) {
-    ALOGD("Gnss::getExtensionGnssNavigationMessage");
+    ALOGD("getExtensionGnssNavigationMessage");
 
     *iGnssNavigationMessage = SharedRefBase::make<GnssNavigationMessageInterface>();
-    return ndk::ScopedAStatus::ok();
+    return ScopedAStatus::ok();
 }
 
 ndk::ScopedAStatus Gnss::getExtensionGnssDebug(std::shared_ptr<IGnssDebug>* iGnssDebug) {
diff --git a/gnss/aidl/default/Gnss.h b/gnss/aidl/default/Gnss.h
index 67fef94..384c862 100644
--- a/gnss/aidl/default/Gnss.h
+++ b/gnss/aidl/default/Gnss.h
@@ -25,6 +25,9 @@
 #include <aidl/android/hardware/gnss/BnGnssPowerIndication.h>
 #include <aidl/android/hardware/gnss/BnGnssPsds.h>
 #include <aidl/android/hardware/gnss/visibility_control/BnGnssVisibilityControl.h>
+#include <atomic>
+#include <mutex>
+#include <thread>
 #include "GnssConfiguration.h"
 #include "GnssPowerIndication.h"
 
@@ -32,8 +35,22 @@
 
 class Gnss : public BnGnss {
   public:
+    Gnss();
+    ~Gnss() { stop(); };
     ndk::ScopedAStatus setCallback(const std::shared_ptr<IGnssCallback>& callback) override;
+    ndk::ScopedAStatus start() override;
+    ndk::ScopedAStatus stop() override;
     ndk::ScopedAStatus close() override;
+
+    ndk::ScopedAStatus injectTime(int64_t timeMs, int64_t timeReferenceMs,
+                                  int uncertaintyMs) override;
+    ndk::ScopedAStatus injectLocation(const GnssLocation& location) override;
+    ndk::ScopedAStatus injectBestLocation(const GnssLocation& location) override;
+    ndk::ScopedAStatus deleteAidingData(GnssAidingData aidingDataFlags) override;
+    ndk::ScopedAStatus setPositionMode(GnssPositionMode mode, GnssPositionRecurrence recurrence,
+                                       int minIntervalMs, int preferredAccuracyMeters,
+                                       int preferredTimeMs, bool lowPowerMode) override;
+
     ndk::ScopedAStatus getExtensionPsds(std::shared_ptr<IGnssPsds>* iGnssPsds) override;
     ndk::ScopedAStatus getExtensionGnssConfiguration(
             std::shared_ptr<IGnssConfiguration>* iGnssConfiguration) override;
@@ -57,7 +74,20 @@
     std::shared_ptr<GnssPowerIndication> mGnssPowerIndication;
 
   private:
+    void reportLocation(const GnssLocation&) const;
+    void reportSvStatus(const std::vector<IGnssCallback::GnssSvInfo>& svInfoList) const;
+    std::vector<IGnssCallback::GnssSvInfo> filterBlocklistedSatellites(
+            std::vector<IGnssCallback::GnssSvInfo> gnssSvInfoList);
+    void reportGnssStatusValue(const IGnssCallback::GnssStatusValue gnssStatusValue) const;
+
     static std::shared_ptr<IGnssCallback> sGnssCallback;
+
+    std::atomic<long> mMinIntervalMs;
+    std::atomic<bool> mIsActive;
+    std::atomic<bool> mFirstFixReceived;
+    std::thread mThread;
+
+    mutable std::mutex mMutex;
 };
 
 }  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/GnssConfiguration.cpp b/gnss/aidl/default/GnssConfiguration.cpp
index 30e0d8c..96a1aa2 100644
--- a/gnss/aidl/default/GnssConfiguration.cpp
+++ b/gnss/aidl/default/GnssConfiguration.cpp
@@ -49,4 +49,14 @@
     return (mBlocklistedSourceSet.find(source) != mBlocklistedSourceSet.end());
 }
 
+bool GnssConfiguration::isBlocklisted(const IGnssCallback::GnssSvInfo& gnssSvInfo) const {
+    std::unique_lock<std::recursive_mutex> lock(mMutex);
+    if (mBlocklistedConstellationSet.find(gnssSvInfo.constellation) !=
+        mBlocklistedConstellationSet.end()) {
+        return true;
+    }
+    BlocklistedSource source = {.constellation = gnssSvInfo.constellation, .svid = gnssSvInfo.svid};
+    return (mBlocklistedSourceSet.find(source) != mBlocklistedSourceSet.end());
+}
+
 }  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/GnssConfiguration.h b/gnss/aidl/default/GnssConfiguration.h
index 491733c..3c77f32 100644
--- a/gnss/aidl/default/GnssConfiguration.h
+++ b/gnss/aidl/default/GnssConfiguration.h
@@ -16,6 +16,7 @@
 
 #pragma once
 
+#include <aidl/android/hardware/gnss/BnGnssCallback.h>
 #include <aidl/android/hardware/gnss/BnGnssConfiguration.h>
 #include <android/hardware/gnss/2.1/IGnssCallback.h>
 #include <mutex>
@@ -62,6 +63,7 @@
     ndk::ScopedAStatus setBlocklist(const vector<BlocklistedSource>& blocklist) override;
 
     bool isBlocklistedV2_1(const GnssSvInfoV2_1& gnssSvInfo) const;
+    bool isBlocklisted(const IGnssCallback::GnssSvInfo& gnssSvInfo) const;
 
   private:
     BlocklistedSourceSet mBlocklistedSourceSet;
diff --git a/gnss/aidl/default/GnssMeasurementInterface.cpp b/gnss/aidl/default/GnssMeasurementInterface.cpp
index 9e4f7c7..2c7241b 100644
--- a/gnss/aidl/default/GnssMeasurementInterface.cpp
+++ b/gnss/aidl/default/GnssMeasurementInterface.cpp
@@ -56,11 +56,29 @@
     return ndk::ScopedAStatus::ok();
 }
 
+ndk::ScopedAStatus GnssMeasurementInterface::setCallbackWithOptions(
+        const std::shared_ptr<IGnssMeasurementCallback>& callback, const Options& options) {
+    ALOGD("setCallbackWithOptions: fullTracking:%d, corrVec:%d, intervalMs:%d",
+          (int)options.enableFullTracking, (int)options.enableCorrVecOutputs, options.intervalMs);
+    std::unique_lock<std::mutex> lock(mMutex);
+    sCallback = callback;
+
+    if (mIsActive) {
+        ALOGW("GnssMeasurement callback already set. Resetting the callback...");
+        stop();
+    }
+    mMinIntervalMillis = options.intervalMs;
+    start(options.enableCorrVecOutputs);
+
+    return ndk::ScopedAStatus::ok();
+}
+
 ndk::ScopedAStatus GnssMeasurementInterface::close() {
     ALOGD("close");
     stop();
     std::unique_lock<std::mutex> lock(mMutex);
     sCallback = nullptr;
+    mMinIntervalMillis = 1000;
     return ndk::ScopedAStatus::ok();
 }
 
diff --git a/gnss/aidl/default/GnssMeasurementInterface.h b/gnss/aidl/default/GnssMeasurementInterface.h
index db63515..bf77806 100644
--- a/gnss/aidl/default/GnssMeasurementInterface.h
+++ b/gnss/aidl/default/GnssMeasurementInterface.h
@@ -32,6 +32,9 @@
                                    const bool enableFullTracking,
                                    const bool enableCorrVecOutputs) override;
     ndk::ScopedAStatus close() override;
+    ndk::ScopedAStatus setCallbackWithOptions(
+            const std::shared_ptr<IGnssMeasurementCallback>& callback,
+            const Options& options) override;
 
   private:
     void start(const bool enableCorrVecOutputs);
diff --git a/gnss/aidl/vts/GnssBatchingCallback.cpp b/gnss/aidl/vts/GnssBatchingCallback.cpp
index 2da3b12..d4eb0a5 100644
--- a/gnss/aidl/vts/GnssBatchingCallback.cpp
+++ b/gnss/aidl/vts/GnssBatchingCallback.cpp
@@ -14,6 +14,8 @@
  * limitations under the License.
  */
 
+#define LOG_TAG "GnssBatchingCallbackAidl"
+
 #include "GnssBatchingCallback.h"
 #include <inttypes.h>
 #include <log/log.h>
diff --git a/gnss/aidl/vts/GnssCallbackAidl.cpp b/gnss/aidl/vts/GnssCallbackAidl.cpp
index f5c745b..77a2506 100644
--- a/gnss/aidl/vts/GnssCallbackAidl.cpp
+++ b/gnss/aidl/vts/GnssCallbackAidl.cpp
@@ -14,11 +14,62 @@
  * limitations under the License.
  */
 
+#define LOG_TAG "GnssCallbackAidl"
+
 #include "GnssCallbackAidl.h"
 #include <log/log.h>
 
-android::binder::Status GnssCallbackAidl::gnssSetCapabilitiesCb(const int capabilities) {
-    ALOGI("Capabilities received %d", capabilities);
+using android::binder::Status;
+using android::hardware::gnss::GnssLocation;
+using GnssSvInfo = android::hardware::gnss::IGnssCallback::GnssSvInfo;
+using GnssSystemInfo = android::hardware::gnss::IGnssCallback::GnssSystemInfo;
+
+Status GnssCallbackAidl::gnssSetCapabilitiesCb(const int capabilities) {
+    ALOGI("Capabilities received %#08x", capabilities);
     capabilities_cbq_.store(capabilities);
-    return android::binder::Status::ok();
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssStatusCb(const GnssStatusValue /* status */) {
+    ALOGI("gnssSvStatusCb");
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssSvStatusCb(const std::vector<GnssSvInfo>& svInfoList) {
+    ALOGI("gnssSvStatusCb. Size = %d", (int)svInfoList.size());
+    sv_info_list_cbq_.store(svInfoList);
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssLocationCb(const GnssLocation& location) {
+    ALOGI("Location received");
+    location_cbq_.store(location);
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssNmeaCb(const int64_t /* timestamp */, const std::string& /* nmea */) {
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssAcquireWakelockCb() {
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssReleaseWakelockCb() {
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssSetSystemInfoCb(const GnssSystemInfo& info) {
+    ALOGI("gnssSetSystemInfoCb, year=%d, name=%s", info.yearOfHw, info.name.c_str());
+    info_cbq_.store(info);
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssRequestTimeCb() {
+    return Status::ok();
+}
+
+Status GnssCallbackAidl::gnssRequestLocationCb(const bool /* independentFromGnss */,
+                                               const bool /* isUserEmergency */) {
+    return Status::ok();
 }
diff --git a/gnss/aidl/vts/GnssCallbackAidl.h b/gnss/aidl/vts/GnssCallbackAidl.h
index 7f802ea..209728d 100644
--- a/gnss/aidl/vts/GnssCallbackAidl.h
+++ b/gnss/aidl/vts/GnssCallbackAidl.h
@@ -22,11 +22,37 @@
 /* Callback class for data & Event. */
 class GnssCallbackAidl : public android::hardware::gnss::BnGnssCallback {
   public:
-    GnssCallbackAidl() : capabilities_cbq_("capabilities"){};
+    GnssCallbackAidl()
+        : capabilities_cbq_("capabilities"),
+          info_cbq_("system_info"),
+          location_cbq_("location"),
+          sv_info_list_cbq_("sv_info"){};
     ~GnssCallbackAidl(){};
 
     android::binder::Status gnssSetCapabilitiesCb(const int capabilities) override;
+    android::binder::Status gnssStatusCb(const GnssStatusValue status) override;
+    android::binder::Status gnssSvStatusCb(const std::vector<GnssSvInfo>& svInfoList) override;
+    android::binder::Status gnssLocationCb(
+            const android::hardware::gnss::GnssLocation& location) override;
+    android::binder::Status gnssNmeaCb(const int64_t timestamp, const std::string& nmea) override;
+    android::binder::Status gnssAcquireWakelockCb() override;
+    android::binder::Status gnssReleaseWakelockCb() override;
+    android::binder::Status gnssSetSystemInfoCb(const GnssSystemInfo& info) override;
+    android::binder::Status gnssRequestTimeCb() override;
+    android::binder::Status gnssRequestLocationCb(const bool independentFromGnss,
+                                                  const bool isUserEmergency) override;
 
     int last_capabilities_;
+    android::hardware::gnss::IGnssCallback::GnssSystemInfo last_info_;
+    android::hardware::gnss::GnssLocation last_location_;
+
     android::hardware::gnss::common::GnssCallbackEventQueue<int> capabilities_cbq_;
+    android::hardware::gnss::common::GnssCallbackEventQueue<
+            android::hardware::gnss::IGnssCallback::GnssSystemInfo>
+            info_cbq_;
+    android::hardware::gnss::common::GnssCallbackEventQueue<android::hardware::gnss::GnssLocation>
+            location_cbq_;
+    android::hardware::gnss::common::GnssCallbackEventQueue<
+            std::vector<android::hardware::gnss::IGnssCallback::GnssSvInfo>>
+            sv_info_list_cbq_;
 };
\ No newline at end of file
diff --git a/gnss/aidl/vts/gnss_hal_test.cpp b/gnss/aidl/vts/gnss_hal_test.cpp
index 2447bf8..13c32ee 100644
--- a/gnss/aidl/vts/gnss_hal_test.cpp
+++ b/gnss/aidl/vts/gnss_hal_test.cpp
@@ -14,20 +14,31 @@
  * limitations under the License.
  */
 
+#define LOG_TAG "GnssHalTest"
+
 #include "gnss_hal_test.h"
 #include <hidl/ServiceManagement.h>
+#include "Utils.h"
 
-using GnssConstellationTypeAidl = android::hardware::gnss::GnssConstellationType;
+using android::hardware::gnss::GnssConstellationType;
+using android::hardware::gnss::GnssLocation;
+using android::hardware::gnss::IGnss;
+using android::hardware::gnss::IGnssCallback;
+using android::hardware::gnss::common::Utils;
+using GnssConstellationTypeV2_0 = android::hardware::gnss::V2_0::GnssConstellationType;
 
 void GnssHalTest::SetUp() {
     // Get AIDL handle
     aidl_gnss_hal_ = android::waitForDeclaredService<IGnssAidl>(String16(GetParam().c_str()));
     ASSERT_NE(aidl_gnss_hal_, nullptr);
+    ALOGD("AIDL Interface Version = %d", aidl_gnss_hal_->getInterfaceVersion());
 
-    const auto& hidlInstanceNames = android::hardware::getAllHalInstanceNames(
-            android::hardware::gnss::V2_1::IGnss::descriptor);
-    gnss_hal_ = IGnss_V2_1::getService(hidlInstanceNames[0]);
-    ASSERT_NE(gnss_hal_, nullptr);
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        const auto& hidlInstanceNames = android::hardware::getAllHalInstanceNames(
+                android::hardware::gnss::V2_1::IGnss::descriptor);
+        gnss_hal_ = IGnss_V2_1::getService(hidlInstanceNames[0]);
+        ASSERT_NE(gnss_hal_, nullptr);
+    }
 
     SetUpGnssCallback();
 }
@@ -40,7 +51,6 @@
     if (!status.isOk()) {
         ALOGE("Failed to setCallback");
     }
-
     ASSERT_TRUE(status.isOk());
 
     /*
@@ -48,9 +58,243 @@
      */
     EXPECT_TRUE(aidl_gnss_cb_->capabilities_cbq_.retrieve(aidl_gnss_cb_->last_capabilities_,
                                                           TIMEOUT_SEC));
-
     EXPECT_EQ(aidl_gnss_cb_->capabilities_cbq_.calledCount(), 1);
 
-    // Invoke the super method.
-    GnssHalTestTemplate<IGnss_V2_1>::SetUpGnssCallback();
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        // Invoke the super method.
+        GnssHalTestTemplate<IGnss_V2_1>::SetUpGnssCallback();
+    }
+}
+
+void GnssHalTest::CheckLocation(const GnssLocation& location, bool check_speed) {
+    Utils::checkLocation(location, check_speed, /* check_more_accuracies= */ true);
+}
+
+void GnssHalTest::SetPositionMode(const int min_interval_msec, const bool low_power_mode) {
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        // Invoke the super method.
+        return GnssHalTestTemplate<IGnss_V2_1>::SetPositionMode(min_interval_msec, low_power_mode);
+    }
+
+    const int kPreferredAccuracy = 0;  // Ideally perfect (matches GnssLocationProvider)
+    const int kPreferredTimeMsec = 0;  // Ideally immediate
+
+    auto status = aidl_gnss_hal_->setPositionMode(
+            IGnss::GnssPositionMode::MS_BASED, IGnss::GnssPositionRecurrence::RECURRENCE_PERIODIC,
+            min_interval_msec, kPreferredAccuracy, kPreferredTimeMsec, low_power_mode);
+
+    ASSERT_TRUE(status.isOk());
+}
+
+bool GnssHalTest::StartAndCheckFirstLocation(const int min_interval_msec,
+                                             const bool low_power_mode) {
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        // Invoke the super method.
+        return GnssHalTestTemplate<IGnss_V2_1>::StartAndCheckFirstLocation(min_interval_msec,
+                                                                           low_power_mode);
+    }
+
+    SetPositionMode(min_interval_msec, low_power_mode);
+    auto result = aidl_gnss_hal_->start();
+
+    EXPECT_TRUE(result.isOk());
+
+    /*
+     * GnssLocationProvider support of AGPS SUPL & XtraDownloader is not available in VTS,
+     * so allow time to demodulate ephemeris over the air.
+     */
+    const int kFirstGnssLocationTimeoutSeconds = 75;
+
+    EXPECT_TRUE(aidl_gnss_cb_->location_cbq_.retrieve(aidl_gnss_cb_->last_location_,
+                                                      kFirstGnssLocationTimeoutSeconds));
+    int locationCalledCount = aidl_gnss_cb_->location_cbq_.calledCount();
+    EXPECT_EQ(locationCalledCount, 1);
+
+    if (locationCalledCount > 0) {
+        // don't require speed on first fix
+        CheckLocation(aidl_gnss_cb_->last_location_, false);
+        return true;
+    }
+    return false;
+}
+
+void GnssHalTest::StopAndClearLocations() {
+    ALOGD("StopAndClearLocations");
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        // Invoke the super method.
+        return GnssHalTestTemplate<IGnss_V2_1>::StopAndClearLocations();
+    }
+
+    auto status = aidl_gnss_hal_->stop();
+    EXPECT_TRUE(status.isOk());
+
+    /*
+     * Clear notify/waiting counter, allowing up till the timeout after
+     * the last reply for final startup messages to arrive (esp. system
+     * info.)
+     */
+    while (aidl_gnss_cb_->location_cbq_.retrieve(aidl_gnss_cb_->last_location_, TIMEOUT_SEC)) {
+    }
+    aidl_gnss_cb_->location_cbq_.reset();
+}
+
+void GnssHalTest::StartAndCheckLocations(int count) {
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        // Invoke the super method.
+        return GnssHalTestTemplate<IGnss_V2_1>::StartAndCheckLocations(count);
+    }
+    const int kMinIntervalMsec = 500;
+    const int kLocationTimeoutSubsequentSec = 2;
+    const bool kLowPowerMode = false;
+
+    EXPECT_TRUE(StartAndCheckFirstLocation(kMinIntervalMsec, kLowPowerMode));
+
+    for (int i = 1; i < count; i++) {
+        EXPECT_TRUE(aidl_gnss_cb_->location_cbq_.retrieve(aidl_gnss_cb_->last_location_,
+                                                          kLocationTimeoutSubsequentSec));
+        int locationCalledCount = aidl_gnss_cb_->location_cbq_.calledCount();
+        EXPECT_EQ(locationCalledCount, i + 1);
+        // Don't cause confusion by checking details if no location yet
+        if (locationCalledCount > 0) {
+            // Should be more than 1 location by now, but if not, still don't check first fix speed
+            CheckLocation(aidl_gnss_cb_->last_location_, locationCalledCount > 1);
+        }
+    }
+}
+
+std::list<std::vector<IGnssCallback::GnssSvInfo>> GnssHalTest::convertToAidl(
+        const std::list<hidl_vec<IGnssCallback_2_1::GnssSvInfo>>& sv_info_list) {
+    std::list<std::vector<IGnssCallback::GnssSvInfo>> aidl_sv_info_list;
+    for (const auto& sv_info_vec : sv_info_list) {
+        std::vector<IGnssCallback::GnssSvInfo> aidl_sv_info_vec;
+        for (const auto& sv_info : sv_info_vec) {
+            IGnssCallback::GnssSvInfo aidl_sv_info;
+            aidl_sv_info.svid = sv_info.v2_0.v1_0.svid;
+            aidl_sv_info.constellation =
+                    static_cast<GnssConstellationType>(sv_info.v2_0.constellation);
+            aidl_sv_info.cN0Dbhz = sv_info.v2_0.v1_0.cN0Dbhz;
+            aidl_sv_info.basebandCN0DbHz = sv_info.basebandCN0DbHz;
+            aidl_sv_info.elevationDegrees = sv_info.v2_0.v1_0.elevationDegrees;
+            aidl_sv_info.azimuthDegrees = sv_info.v2_0.v1_0.azimuthDegrees;
+            aidl_sv_info.carrierFrequencyHz = (int64_t)sv_info.v2_0.v1_0.carrierFrequencyHz;
+            aidl_sv_info.svFlag = (int)sv_info.v2_0.v1_0.svFlag;
+            aidl_sv_info_vec.push_back(aidl_sv_info);
+        }
+        aidl_sv_info_list.push_back(aidl_sv_info_vec);
+    }
+    return aidl_sv_info_list;
+}
+
+/*
+ * FindStrongFrequentNonGpsSource:
+ *
+ * Search through a GnssSvStatus list for the strongest non-GPS satellite observed enough times
+ *
+ * returns the strongest source,
+ *         or a source with constellation == UNKNOWN if none are found sufficient times
+ */
+BlocklistedSource GnssHalTest::FindStrongFrequentNonGpsSource(
+        const std::list<hidl_vec<IGnssCallback_2_1::GnssSvInfo>> sv_info_list,
+        const int min_observations) {
+    return FindStrongFrequentNonGpsSource(convertToAidl(sv_info_list), min_observations);
+}
+
+BlocklistedSource GnssHalTest::FindStrongFrequentNonGpsSource(
+        const std::list<std::vector<IGnssCallback::GnssSvInfo>> sv_info_list,
+        const int min_observations) {
+    std::map<ComparableBlocklistedSource, SignalCounts> mapSignals;
+
+    for (const auto& sv_info_vec : sv_info_list) {
+        for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+            const auto& gnss_sv = sv_info_vec[iSv];
+            if ((gnss_sv.svFlag & (int)IGnssCallback::GnssSvFlags::USED_IN_FIX) &&
+                (gnss_sv.constellation != GnssConstellationType::GPS)) {
+                ComparableBlocklistedSource source;
+                source.id.svid = gnss_sv.svid;
+                source.id.constellation = gnss_sv.constellation;
+
+                const auto& itSignal = mapSignals.find(source);
+                if (itSignal == mapSignals.end()) {
+                    SignalCounts counts;
+                    counts.observations = 1;
+                    counts.max_cn0_dbhz = gnss_sv.cN0Dbhz;
+                    mapSignals.insert(
+                            std::pair<ComparableBlocklistedSource, SignalCounts>(source, counts));
+                } else {
+                    itSignal->second.observations++;
+                    if (itSignal->second.max_cn0_dbhz < gnss_sv.cN0Dbhz) {
+                        itSignal->second.max_cn0_dbhz = gnss_sv.cN0Dbhz;
+                    }
+                }
+            }
+        }
+    }
+
+    float max_cn0_dbhz_with_sufficient_count = 0.;
+    int total_observation_count = 0;
+    int blocklisted_source_count_observation = 0;
+
+    ComparableBlocklistedSource source_to_blocklist;  // initializes to zero = UNKNOWN constellation
+    for (auto const& pairSignal : mapSignals) {
+        total_observation_count += pairSignal.second.observations;
+        if ((pairSignal.second.observations >= min_observations) &&
+            (pairSignal.second.max_cn0_dbhz > max_cn0_dbhz_with_sufficient_count)) {
+            source_to_blocklist = pairSignal.first;
+            blocklisted_source_count_observation = pairSignal.second.observations;
+            max_cn0_dbhz_with_sufficient_count = pairSignal.second.max_cn0_dbhz;
+        }
+    }
+    ALOGD("Among %d observations, chose svid %d, constellation %d, "
+          "with %d observations at %.1f max CNo",
+          total_observation_count, source_to_blocklist.id.svid,
+          (int)source_to_blocklist.id.constellation, blocklisted_source_count_observation,
+          max_cn0_dbhz_with_sufficient_count);
+
+    return source_to_blocklist.id;
+}
+
+GnssConstellationType GnssHalTest::startLocationAndGetNonGpsConstellation(
+        const int locations_to_await, const int gnss_sv_info_list_timeout) {
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        return static_cast<GnssConstellationType>(
+                GnssHalTestTemplate<IGnss_V2_1>::startLocationAndGetNonGpsConstellation(
+                        locations_to_await, gnss_sv_info_list_timeout));
+    }
+    aidl_gnss_cb_->location_cbq_.reset();
+    StartAndCheckLocations(locations_to_await);
+    const int location_called_count = aidl_gnss_cb_->location_cbq_.calledCount();
+
+    // Tolerate 1 less sv status to handle edge cases in reporting.
+    int sv_info_list_cbq_size = aidl_gnss_cb_->sv_info_list_cbq_.size();
+    EXPECT_GE(sv_info_list_cbq_size + 1, locations_to_await);
+    ALOGD("Observed %d GnssSvInfo, while awaiting %d Locations (%d received)",
+          sv_info_list_cbq_size, locations_to_await, location_called_count);
+
+    // Find first non-GPS constellation to blocklist
+    GnssConstellationType constellation_to_blocklist = GnssConstellationType::UNKNOWN;
+    for (int i = 0; i < sv_info_list_cbq_size; ++i) {
+        std::vector<IGnssCallback::GnssSvInfo> sv_info_vec;
+        aidl_gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, gnss_sv_info_list_timeout);
+        for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+            auto& gnss_sv = sv_info_vec[iSv];
+            if ((gnss_sv.svFlag & (uint32_t)IGnssCallback::GnssSvFlags::USED_IN_FIX) &&
+                (gnss_sv.constellation != GnssConstellationType::UNKNOWN) &&
+                (gnss_sv.constellation != GnssConstellationType::GPS)) {
+                // found a non-GPS constellation
+                constellation_to_blocklist = gnss_sv.constellation;
+                break;
+            }
+        }
+        if (constellation_to_blocklist != GnssConstellationType::UNKNOWN) {
+            break;
+        }
+    }
+
+    if (constellation_to_blocklist == GnssConstellationType::UNKNOWN) {
+        ALOGI("No non-GPS constellations found, constellation blocklist test less effective.");
+        // Proceed functionally to blocklist something.
+        constellation_to_blocklist = GnssConstellationType::GLONASS;
+    }
+
+    return constellation_to_blocklist;
 }
diff --git a/gnss/aidl/vts/gnss_hal_test.h b/gnss/aidl/vts/gnss_hal_test.h
index e3ecbed..d479af3 100644
--- a/gnss/aidl/vts/gnss_hal_test.h
+++ b/gnss/aidl/vts/gnss_hal_test.h
@@ -41,9 +41,50 @@
   public:
     GnssHalTest(){};
     ~GnssHalTest(){};
+
+    struct ComparableBlocklistedSource {
+        android::hardware::gnss::BlocklistedSource id;
+
+        ComparableBlocklistedSource() {
+            id.constellation = android::hardware::gnss::GnssConstellationType::UNKNOWN;
+            id.svid = 0;
+        }
+
+        bool operator<(const ComparableBlocklistedSource& compare) const {
+            return ((id.svid < compare.id.svid) || ((id.svid == compare.id.svid) &&
+                                                    (id.constellation < compare.id.constellation)));
+        }
+    };
+
+    struct SignalCounts {
+        int observations;
+        float max_cn0_dbhz;
+    };
+
     virtual void SetUp() override;
     virtual void SetUpGnssCallback() override;
 
+    void CheckLocation(const android::hardware::gnss::GnssLocation& location,
+                       const bool check_speed);
+    void SetPositionMode(const int min_interval_msec, const bool low_power_mode);
+    bool StartAndCheckFirstLocation(const int min_interval_msec, const bool low_power_mode);
+    void StopAndClearLocations();
+    void StartAndCheckLocations(int count);
+
+    android::hardware::gnss::GnssConstellationType startLocationAndGetNonGpsConstellation(
+            const int locations_to_await, const int gnss_sv_info_list_timeout);
+    std::list<std::vector<android::hardware::gnss::IGnssCallback::GnssSvInfo>> convertToAidl(
+            const std::list<hidl_vec<android::hardware::gnss::V2_1::IGnssCallback::GnssSvInfo>>&
+                    sv_info_list);
+    android::hardware::gnss::BlocklistedSource FindStrongFrequentNonGpsSource(
+            const std::list<hidl_vec<android::hardware::gnss::V2_1::IGnssCallback::GnssSvInfo>>
+                    sv_info_list,
+            const int min_observations);
+    android::hardware::gnss::BlocklistedSource FindStrongFrequentNonGpsSource(
+            const std::list<std::vector<android::hardware::gnss::IGnssCallback::GnssSvInfo>>
+                    sv_info_list,
+            const int min_observations);
+
     sp<IGnssAidl> aidl_gnss_hal_;
     sp<GnssCallbackAidl> aidl_gnss_cb_;  // Primary callback interface
 };
diff --git a/gnss/aidl/vts/gnss_hal_test_cases.cpp b/gnss/aidl/vts/gnss_hal_test_cases.cpp
index 90b643c..9acef8b 100644
--- a/gnss/aidl/vts/gnss_hal_test_cases.cpp
+++ b/gnss/aidl/vts/gnss_hal_test_cases.cpp
@@ -46,6 +46,7 @@
 using android::hardware::gnss::IGnss;
 using android::hardware::gnss::IGnssBatching;
 using android::hardware::gnss::IGnssBatchingCallback;
+using android::hardware::gnss::IGnssCallback;
 using android::hardware::gnss::IGnssConfiguration;
 using android::hardware::gnss::IGnssDebug;
 using android::hardware::gnss::IGnssGeofence;
@@ -59,6 +60,7 @@
 using android::hardware::gnss::SatellitePvt;
 using android::hardware::gnss::visibility_control::IGnssVisibilityControl;
 
+using GnssConstellationTypeV2_0 = android::hardware::gnss::V2_0::GnssConstellationType;
 using GnssConstellationTypeAidl = android::hardware::gnss::GnssConstellationType;
 
 static bool IsAutomotiveDevice() {
@@ -324,7 +326,11 @@
     auto powerStats1 = gnssPowerIndicationCallback->last_gnss_power_stats_;
 
     // Get a location and request another GnssPowerStats
-    gnss_cb_->location_cbq_.reset();
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        gnss_cb_->location_cbq_.reset();
+    } else {
+        aidl_gnss_cb_->location_cbq_.reset();
+    }
     StartAndCheckFirstLocation(/* min_interval_msec= */ 1000, /* low_power_mode= */ false);
 
     // Request and verify the 2nd GnssPowerStats has larger values than the 1st one
@@ -375,88 +381,6 @@
 }
 
 /*
- * FindStrongFrequentNonGpsSource:
- *
- * Search through a GnssSvStatus list for the strongest non-GPS satellite observed enough times
- *
- * returns the strongest source,
- *         or a source with constellation == UNKNOWN if none are found sufficient times
- */
-BlocklistedSource FindStrongFrequentNonGpsSource(
-        const std::list<hidl_vec<IGnssCallback_2_1::GnssSvInfo>> sv_info_list,
-        const int min_observations) {
-    struct ComparableBlocklistedSource {
-        BlocklistedSource id;
-
-        ComparableBlocklistedSource() {
-            id.constellation = GnssConstellationTypeAidl::UNKNOWN;
-            id.svid = 0;
-        }
-
-        bool operator<(const ComparableBlocklistedSource& compare) const {
-            return ((id.svid < compare.id.svid) || ((id.svid == compare.id.svid) &&
-                                                    (id.constellation < compare.id.constellation)));
-        }
-    };
-
-    struct SignalCounts {
-        int observations;
-        float max_cn0_dbhz;
-    };
-
-    std::map<ComparableBlocklistedSource, SignalCounts> mapSignals;
-
-    for (const auto& sv_info_vec : sv_info_list) {
-        for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
-            const auto& gnss_sv = sv_info_vec[iSv];
-            if ((gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX) &&
-                (gnss_sv.v2_0.constellation != GnssConstellationType::GPS)) {
-                ComparableBlocklistedSource source;
-                source.id.svid = gnss_sv.v2_0.v1_0.svid;
-                source.id.constellation =
-                        static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation);
-
-                const auto& itSignal = mapSignals.find(source);
-                if (itSignal == mapSignals.end()) {
-                    SignalCounts counts;
-                    counts.observations = 1;
-                    counts.max_cn0_dbhz = gnss_sv.v2_0.v1_0.cN0Dbhz;
-                    mapSignals.insert(
-                            std::pair<ComparableBlocklistedSource, SignalCounts>(source, counts));
-                } else {
-                    itSignal->second.observations++;
-                    if (itSignal->second.max_cn0_dbhz < gnss_sv.v2_0.v1_0.cN0Dbhz) {
-                        itSignal->second.max_cn0_dbhz = gnss_sv.v2_0.v1_0.cN0Dbhz;
-                    }
-                }
-            }
-        }
-    }
-
-    float max_cn0_dbhz_with_sufficient_count = 0.;
-    int total_observation_count = 0;
-    int blocklisted_source_count_observation = 0;
-
-    ComparableBlocklistedSource source_to_blocklist;  // initializes to zero = UNKNOWN constellation
-    for (auto const& pairSignal : mapSignals) {
-        total_observation_count += pairSignal.second.observations;
-        if ((pairSignal.second.observations >= min_observations) &&
-            (pairSignal.second.max_cn0_dbhz > max_cn0_dbhz_with_sufficient_count)) {
-            source_to_blocklist = pairSignal.first;
-            blocklisted_source_count_observation = pairSignal.second.observations;
-            max_cn0_dbhz_with_sufficient_count = pairSignal.second.max_cn0_dbhz;
-        }
-    }
-    ALOGD("Among %d observations, chose svid %d, constellation %d, "
-          "with %d observations at %.1f max CNo",
-          total_observation_count, source_to_blocklist.id.svid,
-          (int)source_to_blocklist.id.constellation, blocklisted_source_count_observation,
-          max_cn0_dbhz_with_sufficient_count);
-
-    return source_to_blocklist.id;
-}
-
-/*
  * BlocklistIndividualSatellites:
  *
  * 1) Turns on location, waits for 3 locations, ensuring they are valid, and checks corresponding
@@ -481,12 +405,20 @@
     const int kLocationsToAwait = 3;
     const int kRetriesToUnBlocklist = 10;
 
-    gnss_cb_->location_cbq_.reset();
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        gnss_cb_->location_cbq_.reset();
+    } else {
+        aidl_gnss_cb_->location_cbq_.reset();
+    }
     StartAndCheckLocations(kLocationsToAwait);
-    int location_called_count = gnss_cb_->location_cbq_.calledCount();
+    int location_called_count = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                        ? gnss_cb_->location_cbq_.calledCount()
+                                        : aidl_gnss_cb_->location_cbq_.calledCount();
 
     // Tolerate 1 less sv status to handle edge cases in reporting.
-    int sv_info_list_cbq_size = gnss_cb_->sv_info_list_cbq_.size();
+    int sv_info_list_cbq_size = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                        ? gnss_cb_->sv_info_list_cbq_.size()
+                                        : aidl_gnss_cb_->sv_info_list_cbq_.size();
     EXPECT_GE(sv_info_list_cbq_size + 1, kLocationsToAwait);
     ALOGD("Observed %d GnssSvInfo, while awaiting %d Locations (%d received)",
           sv_info_list_cbq_size, kLocationsToAwait, location_called_count);
@@ -498,14 +430,22 @@
      */
 
     const int kGnssSvInfoListTimeout = 2;
-    std::list<hidl_vec<IGnssCallback_2_1::GnssSvInfo>> sv_info_vec_list;
-    int count = gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec_list, sv_info_list_cbq_size,
-                                                     kGnssSvInfoListTimeout);
-
-    ASSERT_EQ(count, sv_info_list_cbq_size);
-
-    BlocklistedSource source_to_blocklist =
-            FindStrongFrequentNonGpsSource(sv_info_vec_list, kLocationsToAwait - 1);
+    BlocklistedSource source_to_blocklist;
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        std::list<hidl_vec<IGnssCallback_2_1::GnssSvInfo>> sv_info_vec_list;
+        int count = gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec_list, sv_info_list_cbq_size,
+                                                         kGnssSvInfoListTimeout);
+        ASSERT_EQ(count, sv_info_list_cbq_size);
+        source_to_blocklist =
+                FindStrongFrequentNonGpsSource(sv_info_vec_list, kLocationsToAwait - 1);
+    } else {
+        std::list<std::vector<IGnssCallback::GnssSvInfo>> sv_info_vec_list;
+        int count = aidl_gnss_cb_->sv_info_list_cbq_.retrieve(
+                sv_info_vec_list, sv_info_list_cbq_size, kGnssSvInfoListTimeout);
+        ASSERT_EQ(count, sv_info_list_cbq_size);
+        source_to_blocklist =
+                FindStrongFrequentNonGpsSource(sv_info_vec_list, kLocationsToAwait - 1);
+    }
 
     if (source_to_blocklist.constellation == GnssConstellationTypeAidl::UNKNOWN) {
         // Cannot find a non-GPS satellite. Let the test pass.
@@ -529,32 +469,53 @@
     ASSERT_TRUE(status.isOk());
 
     // retry and ensure satellite not used
-    gnss_cb_->sv_info_list_cbq_.reset();
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        gnss_cb_->sv_info_list_cbq_.reset();
+        gnss_cb_->location_cbq_.reset();
+    } else {
+        aidl_gnss_cb_->sv_info_list_cbq_.reset();
+        aidl_gnss_cb_->location_cbq_.reset();
+    }
 
-    gnss_cb_->location_cbq_.reset();
     StartAndCheckLocations(kLocationsToAwait);
 
     // early exit if test is being run with insufficient signal
-    location_called_count = gnss_cb_->location_cbq_.calledCount();
+    location_called_count = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                    ? gnss_cb_->location_cbq_.calledCount()
+                                    : aidl_gnss_cb_->location_cbq_.calledCount();
     if (location_called_count == 0) {
         ALOGE("0 Gnss locations received - ensure sufficient signal and retry");
     }
     ASSERT_TRUE(location_called_count > 0);
 
     // Tolerate 1 less sv status to handle edge cases in reporting.
-    sv_info_list_cbq_size = gnss_cb_->sv_info_list_cbq_.size();
+    sv_info_list_cbq_size = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                    ? gnss_cb_->sv_info_list_cbq_.size()
+                                    : aidl_gnss_cb_->sv_info_list_cbq_.size();
     EXPECT_GE(sv_info_list_cbq_size + 1, kLocationsToAwait);
     ALOGD("Observed %d GnssSvInfo, while awaiting %d Locations (%d received)",
           sv_info_list_cbq_size, kLocationsToAwait, location_called_count);
     for (int i = 0; i < sv_info_list_cbq_size; ++i) {
-        hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
-        gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
-        for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
-            const auto& gnss_sv = sv_info_vec[iSv];
-            EXPECT_FALSE((gnss_sv.v2_0.v1_0.svid == source_to_blocklist.svid) &&
-                         (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
-                          source_to_blocklist.constellation) &&
-                         (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+        if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+            hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
+            gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+            for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                auto& gnss_sv = sv_info_vec[iSv];
+                EXPECT_FALSE(
+                        (gnss_sv.v2_0.v1_0.svid == source_to_blocklist.svid) &&
+                        (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
+                         source_to_blocklist.constellation) &&
+                        (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+            }
+        } else {
+            std::vector<IGnssCallback::GnssSvInfo> sv_info_vec;
+            aidl_gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+            for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                auto& gnss_sv = sv_info_vec[iSv];
+                EXPECT_FALSE((gnss_sv.svid == source_to_blocklist.svid) &&
+                             (gnss_sv.constellation == source_to_blocklist.constellation) &&
+                             (gnss_sv.svFlag & (int)IGnssCallback::GnssSvFlags::USED_IN_FIX));
+            }
         }
     }
 
@@ -569,36 +530,59 @@
     int unblocklist_loops_remaining = kRetriesToUnBlocklist;
     while (!strongest_sv_is_reobserved && (unblocklist_loops_remaining-- > 0)) {
         StopAndClearLocations();
-        gnss_cb_->sv_info_list_cbq_.reset();
 
-        gnss_cb_->location_cbq_.reset();
+        if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+            gnss_cb_->sv_info_list_cbq_.reset();
+            gnss_cb_->location_cbq_.reset();
+        } else {
+            aidl_gnss_cb_->sv_info_list_cbq_.reset();
+            aidl_gnss_cb_->location_cbq_.reset();
+        }
         StartAndCheckLocations(kLocationsToAwait);
 
         // early exit loop if test is being run with insufficient signal
-        location_called_count = gnss_cb_->location_cbq_.calledCount();
+        location_called_count = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                        ? gnss_cb_->location_cbq_.calledCount()
+                                        : aidl_gnss_cb_->location_cbq_.calledCount();
         if (location_called_count == 0) {
             ALOGE("0 Gnss locations received - ensure sufficient signal and retry");
         }
         ASSERT_TRUE(location_called_count > 0);
 
         // Tolerate 1 less sv status to handle edge cases in reporting.
-        sv_info_list_cbq_size = gnss_cb_->sv_info_list_cbq_.size();
+        sv_info_list_cbq_size = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                        ? gnss_cb_->sv_info_list_cbq_.size()
+                                        : aidl_gnss_cb_->sv_info_list_cbq_.size();
         EXPECT_GE(sv_info_list_cbq_size + 1, kLocationsToAwait);
         ALOGD("Clear blocklist, observed %d GnssSvInfo, while awaiting %d Locations"
               ", tries remaining %d",
               sv_info_list_cbq_size, kLocationsToAwait, unblocklist_loops_remaining);
 
         for (int i = 0; i < sv_info_list_cbq_size; ++i) {
-            hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
-            gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
-            for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
-                const auto& gnss_sv = sv_info_vec[iSv];
-                if ((gnss_sv.v2_0.v1_0.svid == source_to_blocklist.svid) &&
-                    (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
-                     source_to_blocklist.constellation) &&
-                    (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX)) {
-                    strongest_sv_is_reobserved = true;
-                    break;
+            if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+                hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
+                gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+                for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                    auto& gnss_sv = sv_info_vec[iSv];
+                    if ((gnss_sv.v2_0.v1_0.svid == source_to_blocklist.svid) &&
+                        (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
+                         source_to_blocklist.constellation) &&
+                        (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX)) {
+                        strongest_sv_is_reobserved = true;
+                        break;
+                    }
+                }
+            } else {
+                std::vector<IGnssCallback::GnssSvInfo> sv_info_vec;
+                aidl_gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+                for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                    auto& gnss_sv = sv_info_vec[iSv];
+                    if ((gnss_sv.svid == source_to_blocklist.svid) &&
+                        (gnss_sv.constellation == source_to_blocklist.constellation) &&
+                        (gnss_sv.svFlag & (int)IGnssCallback::GnssSvFlags::USED_IN_FIX)) {
+                        strongest_sv_is_reobserved = true;
+                        break;
+                    }
                 }
             }
             if (strongest_sv_is_reobserved) break;
@@ -660,27 +644,47 @@
     ASSERT_TRUE(status.isOk());
 
     // retry and ensure constellation not used
-    gnss_cb_->sv_info_list_cbq_.reset();
-
-    gnss_cb_->location_cbq_.reset();
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        gnss_cb_->sv_info_list_cbq_.reset();
+        gnss_cb_->location_cbq_.reset();
+    } else {
+        aidl_gnss_cb_->sv_info_list_cbq_.reset();
+        aidl_gnss_cb_->location_cbq_.reset();
+    }
     StartAndCheckLocations(kLocationsToAwait);
 
     // Tolerate 1 less sv status to handle edge cases in reporting.
-    int sv_info_list_cbq_size = gnss_cb_->sv_info_list_cbq_.size();
+    int sv_info_list_cbq_size = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                        ? gnss_cb_->sv_info_list_cbq_.size()
+                                        : aidl_gnss_cb_->sv_info_list_cbq_.size();
     EXPECT_GE(sv_info_list_cbq_size + 1, kLocationsToAwait);
     ALOGD("Observed %d GnssSvInfo, while awaiting %d Locations", sv_info_list_cbq_size,
           kLocationsToAwait);
     for (int i = 0; i < sv_info_list_cbq_size; ++i) {
-        hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
-        gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
-        for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
-            const auto& gnss_sv = sv_info_vec[iSv];
-            EXPECT_FALSE((static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
-                          source_to_blocklist_1.constellation) &&
-                         (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
-            EXPECT_FALSE((static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
-                          source_to_blocklist_2.constellation) &&
-                         (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+        if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+            hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
+            gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+            for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                const auto& gnss_sv = sv_info_vec[iSv];
+                EXPECT_FALSE(
+                        (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
+                         source_to_blocklist_1.constellation) &&
+                        (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+                EXPECT_FALSE(
+                        (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
+                         source_to_blocklist_2.constellation) &&
+                        (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+            }
+        } else {
+            std::vector<IGnssCallback::GnssSvInfo> sv_info_vec;
+            aidl_gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+            for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                const auto& gnss_sv = sv_info_vec[iSv];
+                EXPECT_FALSE((gnss_sv.constellation == source_to_blocklist_1.constellation) &&
+                             (gnss_sv.svFlag & (int)IGnssCallback::GnssSvFlags::USED_IN_FIX));
+                EXPECT_FALSE((gnss_sv.constellation == source_to_blocklist_2.constellation) &&
+                             (gnss_sv.svFlag & (int)IGnssCallback::GnssSvFlags::USED_IN_FIX));
+            }
         }
     }
 
@@ -743,27 +747,47 @@
     StopAndClearLocations();
 
     // retry and ensure constellation not used
-    gnss_cb_->sv_info_list_cbq_.reset();
-
-    gnss_cb_->location_cbq_.reset();
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        gnss_cb_->sv_info_list_cbq_.reset();
+        gnss_cb_->location_cbq_.reset();
+    } else {
+        aidl_gnss_cb_->sv_info_list_cbq_.reset();
+        aidl_gnss_cb_->location_cbq_.reset();
+    }
     StartAndCheckLocations(kLocationsToAwait);
 
     // Tolerate 1 less sv status to handle edge cases in reporting.
-    int sv_info_list_cbq_size = gnss_cb_->sv_info_list_cbq_.size();
+    int sv_info_list_cbq_size = (aidl_gnss_hal_->getInterfaceVersion() == 1)
+                                        ? gnss_cb_->sv_info_list_cbq_.size()
+                                        : aidl_gnss_cb_->sv_info_list_cbq_.size();
     EXPECT_GE(sv_info_list_cbq_size + 1, kLocationsToAwait);
     ALOGD("Observed %d GnssSvInfo, while awaiting %d Locations", sv_info_list_cbq_size,
           kLocationsToAwait);
     for (int i = 0; i < sv_info_list_cbq_size; ++i) {
-        hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
-        gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
-        for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
-            const auto& gnss_sv = sv_info_vec[iSv];
-            EXPECT_FALSE((static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
-                          source_to_blocklist_1.constellation) &&
-                         (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
-            EXPECT_FALSE((static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
-                          source_to_blocklist_2.constellation) &&
-                         (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+        if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+            hidl_vec<IGnssCallback_2_1::GnssSvInfo> sv_info_vec;
+            gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+            for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                const auto& gnss_sv = sv_info_vec[iSv];
+                EXPECT_FALSE(
+                        (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
+                         source_to_blocklist_1.constellation) &&
+                        (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+                EXPECT_FALSE(
+                        (static_cast<GnssConstellationTypeAidl>(gnss_sv.v2_0.constellation) ==
+                         source_to_blocklist_2.constellation) &&
+                        (gnss_sv.v2_0.v1_0.svFlag & IGnssCallback_1_0::GnssSvFlags::USED_IN_FIX));
+            }
+        } else {
+            std::vector<IGnssCallback::GnssSvInfo> sv_info_vec;
+            aidl_gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_vec, kGnssSvInfoListTimeout);
+            for (uint32_t iSv = 0; iSv < sv_info_vec.size(); iSv++) {
+                const auto& gnss_sv = sv_info_vec[iSv];
+                EXPECT_FALSE((gnss_sv.constellation == source_to_blocklist_1.constellation) &&
+                             (gnss_sv.svFlag & (int)IGnssCallback::GnssSvFlags::USED_IN_FIX));
+                EXPECT_FALSE((gnss_sv.constellation == source_to_blocklist_2.constellation) &&
+                             (gnss_sv.svFlag & (int)IGnssCallback::GnssSvFlags::USED_IN_FIX));
+            }
         }
     }
 
@@ -829,7 +853,7 @@
     ASSERT_TRUE(status.isOk());
 
     // Set SUPL server host/port
-    status = iAGnss->setServer(AGnssType::SUPL, String16("supl.google.com"), 7275);
+    status = iAGnss->setServer(AGnssType::SUPL, std::string("supl.google.com"), 7275);
     ASSERT_TRUE(status.isOk());
 }
 
@@ -845,7 +869,7 @@
     auto status = aidl_gnss_hal_->getExtensionGnssDebug(&iGnssDebug);
     ASSERT_TRUE(status.isOk());
 
-    if (!IsAutomotiveDevice() && gnss_cb_->info_cbq_.calledCount() > 0) {
+    if (!IsAutomotiveDevice()) {
         ASSERT_TRUE(iGnssDebug != nullptr);
 
         IGnssDebug::DebugData data;
@@ -903,3 +927,42 @@
     status = iGnssVisibilityControl->enableNfwLocationAccess(proxyApps);
     ASSERT_TRUE(status.isOk());
 }
+
+/*
+ * TestGnssMeasurementSetCallbackWithOptions:
+ * 1. Gets the GnssMeasurementExtension and verifies that it returns a non-null extension.
+ * 2. Sets a GnssMeasurementCallback with intervalMillis option, waits for measurements reported,
+ *    and verifies mandatory fields are valid.
+ */
+TEST_P(GnssHalTest, TestGnssMeasurementSetCallbackWithOptions) {
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        return;
+    }
+    const int kFirstGnssMeasurementTimeoutSeconds = 10;
+    const int kNumMeasurementEvents = 5;
+
+    sp<IGnssMeasurementInterface> iGnssMeasurement;
+    auto status = aidl_gnss_hal_->getExtensionGnssMeasurement(&iGnssMeasurement);
+    ASSERT_TRUE(status.isOk());
+    ASSERT_TRUE(iGnssMeasurement != nullptr);
+
+    auto callback = sp<GnssMeasurementCallbackAidl>::make();
+    IGnssMeasurementInterface::Options options;
+    options.intervalMs = 2000;
+    status = iGnssMeasurement->setCallbackWithOptions(callback, options);
+    ASSERT_TRUE(status.isOk());
+
+    for (int i = 0; i < kNumMeasurementEvents; i++) {
+        GnssData lastMeasurement;
+        ASSERT_TRUE(callback->gnss_data_cbq_.retrieve(lastMeasurement,
+                                                      kFirstGnssMeasurementTimeoutSeconds));
+        EXPECT_EQ(callback->gnss_data_cbq_.calledCount(), i + 1);
+        ASSERT_TRUE(lastMeasurement.measurements.size() > 0);
+
+        // Validity check GnssData fields
+        CheckGnssMeasurementClockFields(lastMeasurement);
+    }
+
+    status = iGnssMeasurement->close();
+    ASSERT_TRUE(status.isOk());
+}
diff --git a/gnss/common/utils/default/Utils.cpp b/gnss/common/utils/default/Utils.cpp
index c339e72..563c6d5 100644
--- a/gnss/common/utils/default/Utils.cpp
+++ b/gnss/common/utils/default/Utils.cpp
@@ -27,14 +27,17 @@
 
 using aidl::android::hardware::gnss::ElapsedRealtime;
 using aidl::android::hardware::gnss::GnssClock;
+using aidl::android::hardware::gnss::GnssConstellationType;
 using aidl::android::hardware::gnss::GnssData;
 using aidl::android::hardware::gnss::GnssLocation;
 using aidl::android::hardware::gnss::GnssMeasurement;
 using aidl::android::hardware::gnss::IGnss;
 using aidl::android::hardware::gnss::IGnssMeasurementCallback;
 using aidl::android::hardware::gnss::SatellitePvt;
+using GnssSvInfo = aidl::android::hardware::gnss::IGnssCallback::GnssSvInfo;
+using GnssSvFlags = aidl::android::hardware::gnss::IGnssCallback::GnssSvFlags;
 
-using GnssSvFlags = V1_0::IGnssCallback::GnssSvFlags;
+using GnssSvFlagsV1_0 = V1_0::IGnssCallback::GnssSvFlags;
 using GnssMeasurementFlagsV1_0 = V1_0::IGnssMeasurementCallback::GnssMeasurementFlags;
 using GnssMeasurementFlagsV2_1 = V2_1::IGnssMeasurementCallback::GnssMeasurementFlags;
 using GnssMeasurementStateV2_0 = V2_0::IGnssMeasurementCallback::GnssMeasurementState;
@@ -144,7 +147,7 @@
 
 GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs) {
     aidl::android::hardware::gnss::GnssSignalType signalType = {
-            .constellation = aidl::android::hardware::gnss::GnssConstellationType::GLONASS,
+            .constellation = GnssConstellationType::GLONASS,
             .carrierFrequencyHz = 1.59975e+09,
             .codeType = aidl::android::hardware::gnss::GnssSignalType::CODE_TYPE_C,
     };
@@ -289,6 +292,40 @@
     return location;
 }
 
+namespace {
+GnssSvInfo getMockSvInfo(int svid, GnssConstellationType type, float cN0DbHz, float basebandCN0DbHz,
+                         float elevationDegrees, float azimuthDegrees, long carrierFrequencyHz) {
+    GnssSvInfo svInfo = {
+            .svid = svid,
+            .constellation = type,
+            .cN0Dbhz = cN0DbHz,
+            .basebandCN0DbHz = basebandCN0DbHz,
+            .elevationDegrees = elevationDegrees,
+            .azimuthDegrees = azimuthDegrees,
+            .carrierFrequencyHz = carrierFrequencyHz,
+            .svFlag = (int)GnssSvFlags::USED_IN_FIX | (int)GnssSvFlags::HAS_EPHEMERIS_DATA |
+                      (int)GnssSvFlags::HAS_ALMANAC_DATA | (int)GnssSvFlags::HAS_CARRIER_FREQUENCY};
+    return svInfo;
+}
+}  // anonymous namespace
+
+std::vector<GnssSvInfo> Utils::getMockSvInfoList() {
+    std::vector<GnssSvInfo> gnssSvInfoList = {
+            getMockSvInfo(3, GnssConstellationType::GPS, 32.5, 27.5, 59.1, 166.5, kGpsL1FreqHz),
+            getMockSvInfo(5, GnssConstellationType::GPS, 27.0, 22.0, 29.0, 56.5, kGpsL1FreqHz),
+            getMockSvInfo(17, GnssConstellationType::GPS, 30.5, 25.5, 71.0, 77.0, kGpsL5FreqHz),
+            getMockSvInfo(26, GnssConstellationType::GPS, 24.1, 19.1, 28.0, 253.0, kGpsL5FreqHz),
+            getMockSvInfo(5, GnssConstellationType::GLONASS, 20.5, 15.5, 11.5, 116.0, kGloG1FreqHz),
+            getMockSvInfo(17, GnssConstellationType::GLONASS, 21.5, 16.5, 28.5, 186.0,
+                          kGloG1FreqHz),
+            getMockSvInfo(18, GnssConstellationType::GLONASS, 28.3, 25.3, 38.8, 69.0, kGloG1FreqHz),
+            getMockSvInfo(10, GnssConstellationType::GLONASS, 25.0, 20.0, 66.0, 247.0,
+                          kGloG1FreqHz),
+            getMockSvInfo(3, GnssConstellationType::IRNSS, 22.0, 19.7, 35.0, 112.0, kIrnssL5FreqHz),
+    };
+    return gnssSvInfoList;
+}
+
 hidl_vec<GnssSvInfoV2_1> Utils::getMockSvInfoListV2_1() {
     GnssSvInfoV1_0 gnssSvInfoV1_0 = Utils::getMockSvInfoV1_0(3, V1_0::GnssConstellationType::GPS,
                                                              32.5, 59.1, 166.5, kGpsL1FreqHz);
@@ -360,15 +397,15 @@
 GnssSvInfoV1_0 Utils::getMockSvInfoV1_0(int16_t svid, V1_0::GnssConstellationType type,
                                         float cN0DbHz, float elevationDegrees, float azimuthDegrees,
                                         float carrierFrequencyHz) {
-    GnssSvInfoV1_0 svInfo = {.svid = svid,
-                             .constellation = type,
-                             .cN0Dbhz = cN0DbHz,
-                             .elevationDegrees = elevationDegrees,
-                             .azimuthDegrees = azimuthDegrees,
-                             .carrierFrequencyHz = carrierFrequencyHz,
-                             .svFlag = GnssSvFlags::USED_IN_FIX | GnssSvFlags::HAS_EPHEMERIS_DATA |
-                                       GnssSvFlags::HAS_ALMANAC_DATA |
-                                       GnssSvFlags::HAS_CARRIER_FREQUENCY};
+    GnssSvInfoV1_0 svInfo = {
+            .svid = svid,
+            .constellation = type,
+            .cN0Dbhz = cN0DbHz,
+            .elevationDegrees = elevationDegrees,
+            .azimuthDegrees = azimuthDegrees,
+            .carrierFrequencyHz = carrierFrequencyHz,
+            .svFlag = GnssSvFlagsV1_0::USED_IN_FIX | GnssSvFlagsV1_0::HAS_EPHEMERIS_DATA |
+                      GnssSvFlagsV1_0::HAS_ALMANAC_DATA | GnssSvFlagsV1_0::HAS_CARRIER_FREQUENCY};
     return svInfo;
 }
 
diff --git a/gnss/common/utils/default/include/Utils.h b/gnss/common/utils/default/include/Utils.h
index 4500ee6..7065a6fb 100644
--- a/gnss/common/utils/default/include/Utils.h
+++ b/gnss/common/utils/default/include/Utils.h
@@ -35,9 +35,13 @@
             const bool enableCorrVecOutputs);
     static V2_0::IGnssMeasurementCallback::GnssData getMockMeasurementV2_0();
     static V2_1::IGnssMeasurementCallback::GnssData getMockMeasurementV2_1();
+
     static aidl::android::hardware::gnss::GnssLocation getMockLocation();
     static V2_0::GnssLocation getMockLocationV2_0();
     static V1_0::GnssLocation getMockLocationV1_0();
+
+    static std::vector<aidl::android::hardware::gnss::IGnssCallback::GnssSvInfo>
+    getMockSvInfoList();
     static hidl_vec<V2_1::IGnssCallback::GnssSvInfo> getMockSvInfoListV2_1();
     static V2_1::IGnssCallback::GnssSvInfo getMockSvInfoV2_1(
             V2_0::IGnssCallback::GnssSvInfo gnssSvInfoV2_0, float basebandCN0DbHz);
@@ -48,6 +52,7 @@
                                                              float cN0DbHz, float elevationDegrees,
                                                              float azimuthDegrees,
                                                              float carrierFrequencyHz);
+
     static hidl_vec<V2_1::IGnssAntennaInfoCallback::GnssAntennaInfo> getMockAntennaInfos();
 };
 
diff --git a/gnss/common/utils/vts/Android.bp b/gnss/common/utils/vts/Android.bp
index 47eff2e..f92e609 100644
--- a/gnss/common/utils/vts/Android.bp
+++ b/gnss/common/utils/vts/Android.bp
@@ -44,6 +44,7 @@
         "android.hardware.gnss@2.1",
         "android.hardware.gnss.measurement_corrections@1.0",
         "android.hardware.gnss.measurement_corrections@1.1",
+        "android.hardware.gnss-V2-cpp",
     ],
     static_libs: [
         "libgtest",
diff --git a/gnss/common/utils/vts/Utils.cpp b/gnss/common/utils/vts/Utils.cpp
index be22ff6..06bce9d 100644
--- a/gnss/common/utils/vts/Utils.cpp
+++ b/gnss/common/utils/vts/Utils.cpp
@@ -15,6 +15,7 @@
  */
 
 #include <Utils.h>
+#include <android/hardware/gnss/IGnss.h>
 #include "gtest/gtest.h"
 
 #include <cutils/properties.h>
@@ -27,71 +28,14 @@
 using namespace measurement_corrections::V1_0;
 using V1_0::GnssLocationFlags;
 
-void Utils::checkLocation(const V1_0::GnssLocation& location, bool check_speed,
-                          bool check_more_accuracies) {
-    EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG);
-    EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE);
-    if (check_speed) {
-        EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED);
-    }
-    EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
-    // New uncertainties available in O must be provided,
-    // at least when paired with modern hardware (2017+)
-    if (check_more_accuracies) {
-        EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY);
-        if (check_speed) {
-            EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY);
-            if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
-                EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY);
-            }
-        }
-    }
-    EXPECT_GE(location.latitudeDegrees, -90.0);
-    EXPECT_LE(location.latitudeDegrees, 90.0);
-    EXPECT_GE(location.longitudeDegrees, -180.0);
-    EXPECT_LE(location.longitudeDegrees, 180.0);
-    EXPECT_GE(location.altitudeMeters, -1000.0);
-    EXPECT_LE(location.altitudeMeters, 30000.0);
-    if (check_speed) {
-        EXPECT_GE(location.speedMetersPerSec, 0.0);
-        EXPECT_LE(location.speedMetersPerSec, 5.0);  // VTS tests are stationary.
+template <>
+int64_t Utils::getLocationTimestampMillis(const android::hardware::gnss::GnssLocation& location) {
+    return location.timestampMillis;
+}
 
-        // Non-zero speeds must be reported with an associated bearing
-        if (location.speedMetersPerSec > 0.0) {
-            EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING);
-        }
-    }
-
-    /*
-     * Tolerating some especially high values for accuracy estimate, in case of
-     * first fix with especially poor geometry (happens occasionally)
-     */
-    EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
-    EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
-
-    /*
-     * Some devices may define bearing as -180 to +180, others as 0 to 360.
-     * Both are okay & understandable.
-     */
-    if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
-        EXPECT_GE(location.bearingDegrees, -180.0);
-        EXPECT_LE(location.bearingDegrees, 360.0);
-    }
-    if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
-        EXPECT_GT(location.verticalAccuracyMeters, 0.0);
-        EXPECT_LE(location.verticalAccuracyMeters, 500.0);
-    }
-    if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
-        EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
-        EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
-    }
-    if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
-        EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
-        EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
-    }
-
-    // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
-    EXPECT_GT(location.timestamp, 1.48e12);
+template <>
+int64_t Utils::getLocationTimestampMillis(const V1_0::GnssLocation& location) {
+    return location.timestamp;
 }
 
 const MeasurementCorrections Utils::getMockMeasurementCorrections() {
diff --git a/gnss/common/utils/vts/include/Utils.h b/gnss/common/utils/vts/include/Utils.h
index 91c1167..40f31d2 100644
--- a/gnss/common/utils/vts/include/Utils.h
+++ b/gnss/common/utils/vts/include/Utils.h
@@ -21,6 +21,7 @@
 #include <android/hardware/gnss/2.0/IGnss.h>
 #include <android/hardware/gnss/measurement_corrections/1.0/IMeasurementCorrections.h>
 #include <android/hardware/gnss/measurement_corrections/1.1/IMeasurementCorrections.h>
+#include <gtest/gtest.h>
 
 namespace android {
 namespace hardware {
@@ -28,8 +29,9 @@
 namespace common {
 
 struct Utils {
-    static void checkLocation(const V1_0::GnssLocation& location, bool check_speed,
-                              bool check_more_accuracies);
+  public:
+    template <class T>
+    static void checkLocation(const T& location, bool check_speed, bool check_more_accuracies);
     static const measurement_corrections::V1_0::MeasurementCorrections
     getMockMeasurementCorrections();
     static const measurement_corrections::V1_1::MeasurementCorrections
@@ -39,8 +41,80 @@
             V2_0::GnssConstellationType constellation);
 
     static bool isAutomotiveDevice();
+
+  private:
+    template <class T>
+    static int64_t getLocationTimestampMillis(const T&);
 };
 
+template <class T>
+void Utils::checkLocation(const T& location, bool check_speed, bool check_more_accuracies) {
+    EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_LAT_LONG);
+    EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_ALTITUDE);
+    if (check_speed) {
+        EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_SPEED);
+    }
+    EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
+    // New uncertainties available in O must be provided,
+    // at least when paired with modern hardware (2017+)
+    if (check_more_accuracies) {
+        EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_VERTICAL_ACCURACY);
+        if (check_speed) {
+            EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_SPEED_ACCURACY);
+            if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING) {
+                EXPECT_TRUE(location.gnssLocationFlags &
+                            V1_0::GnssLocationFlags::HAS_BEARING_ACCURACY);
+            }
+        }
+    }
+    EXPECT_GE(location.latitudeDegrees, -90.0);
+    EXPECT_LE(location.latitudeDegrees, 90.0);
+    EXPECT_GE(location.longitudeDegrees, -180.0);
+    EXPECT_LE(location.longitudeDegrees, 180.0);
+    EXPECT_GE(location.altitudeMeters, -1000.0);
+    EXPECT_LE(location.altitudeMeters, 30000.0);
+    if (check_speed) {
+        EXPECT_GE(location.speedMetersPerSec, 0.0);
+        EXPECT_LE(location.speedMetersPerSec, 5.0);  // VTS tests are stationary.
+
+        // Non-zero speeds must be reported with an associated bearing
+        if (location.speedMetersPerSec > 0.0) {
+            EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING);
+        }
+    }
+
+    /*
+     * Tolerating some especially high values for accuracy estimate, in case of
+     * first fix with especially poor geometry (happens occasionally)
+     */
+    EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
+    EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
+
+    /*
+     * Some devices may define bearing as -180 to +180, others as 0 to 360.
+     * Both are okay & understandable.
+     */
+    if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING) {
+        EXPECT_GE(location.bearingDegrees, -180.0);
+        EXPECT_LE(location.bearingDegrees, 360.0);
+    }
+    if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
+        EXPECT_GT(location.verticalAccuracyMeters, 0.0);
+        EXPECT_LE(location.verticalAccuracyMeters, 500.0);
+    }
+    if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_SPEED_ACCURACY) {
+        EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
+        EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
+    }
+    if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING_ACCURACY) {
+        EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
+        EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
+    }
+
+    // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
+    EXPECT_GT(getLocationTimestampMillis(location), 1.48e12);
+}
+
 }  // namespace common
 }  // namespace gnss
 }  // namespace hardware
diff --git a/gnss/common/utils/vts/include/v2_1/GnssCallback.h b/gnss/common/utils/vts/include/v2_1/GnssCallback.h
index ab1375d..09a67de 100644
--- a/gnss/common/utils/vts/include/v2_1/GnssCallback.h
+++ b/gnss/common/utils/vts/include/v2_1/GnssCallback.h
@@ -28,7 +28,6 @@
 using android::hardware::gnss::common::GnssCallbackEventQueue;
 using android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrectionsCallback;
 using android::hardware::gnss::V1_0::GnssLocationFlags;
-using android::hardware::gnss::V2_0::GnssConstellationType;
 
 using GnssLocation_1_0 = android::hardware::gnss::V1_0::GnssLocation;
 using GnssLocation_2_0 = android::hardware::gnss::V2_0::GnssLocation;
diff --git a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/DisplayCapability.aidl b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/DisplayCapability.aidl
index 9f5342e..fdf1100 100644
--- a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/DisplayCapability.aidl
+++ b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/DisplayCapability.aidl
@@ -41,4 +41,5 @@
   PROTECTED_CONTENTS = 4,
   AUTO_LOW_LATENCY_MODE = 5,
   SUSPEND = 6,
+  DISPLAY_DECORATION = 7,
 }
diff --git a/graphics/composer/aidl/android/hardware/graphics/composer3/DisplayCapability.aidl b/graphics/composer/aidl/android/hardware/graphics/composer3/DisplayCapability.aidl
index eacf106..249fed0 100644
--- a/graphics/composer/aidl/android/hardware/graphics/composer3/DisplayCapability.aidl
+++ b/graphics/composer/aidl/android/hardware/graphics/composer3/DisplayCapability.aidl
@@ -75,4 +75,8 @@
      * PowerMode.ON_SUSPEND and PowerMode.DOZE_SUSPEND must be supported.
      */
     SUSPEND = 6,
+    /**
+     * Indicates that the display supports Composition.DISPLAY_DECORATION.
+     */
+    DISPLAY_DECORATION = 7,
 }
diff --git a/health/aidl/default/Android.bp b/health/aidl/default/Android.bp
index 8aa7638..8eab997 100644
--- a/health/aidl/default/Android.bp
+++ b/health/aidl/default/Android.bp
@@ -120,6 +120,15 @@
     },
 }
 
+// Users of libhealth_aidl_impl should use this defaults.
+cc_defaults {
+    name: "libhealth_aidl_impl_user",
+    defaults: [
+        "libhealth_aidl_common_defaults",
+        "libhealth_aidl_charger_defaults",
+    ],
+}
+
 // AIDL version of android.hardware.health@2.1-service.
 // Default binder service of the health HAL.
 cc_defaults {
@@ -127,8 +136,7 @@
     relative_install_path: "hw",
     vintf_fragments: ["android.hardware.health-service.example.xml"],
     defaults: [
-        "libhealth_aidl_common_defaults",
-        "libhealth_aidl_charger_defaults",
+        "libhealth_aidl_impl_user",
     ],
     static_libs: [
         "libhealth_aidl_impl",
diff --git a/ir/aidl/Android.bp b/ir/aidl/Android.bp
index 6dacb85..a623491 100644
--- a/ir/aidl/Android.bp
+++ b/ir/aidl/Android.bp
@@ -12,6 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
 aidl_interface {
     name: "android.hardware.ir",
     vendor_available: true,
diff --git a/ir/aidl/default/Android.bp b/ir/aidl/default/Android.bp
index 6519664..a4fb439 100644
--- a/ir/aidl/default/Android.bp
+++ b/ir/aidl/default/Android.bp
@@ -13,6 +13,15 @@
 // limitations under the License.
 
 // Example binder service of the ir HAL.
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
 cc_binary {
     name: "android.hardware.ir-service.example",
     relative_install_path: "hw",
diff --git a/neuralnetworks/OWNERS b/neuralnetworks/OWNERS
index def3ea9..04c5d72 100644
--- a/neuralnetworks/OWNERS
+++ b/neuralnetworks/OWNERS
@@ -1,10 +1,2 @@
 # Bug component: 195575
-# Neuralnetworks team
-butlermichael@google.com
-dgross@google.com
-galarragas@google.com
-ianhua@google.com
-jeanluc@google.com
-miaowang@google.com
-pszczepaniak@google.com
-xusongw@google.com
+include platform/packages/modules/NeuralNetworks:/NNAPI_OWNERS  # Neuralnetworks team
diff --git a/radio/aidl/aidl_api/android.hardware.radio.data/current/android/hardware/radio/data/DataProfileInfo.aidl b/radio/aidl/aidl_api/android.hardware.radio.data/current/android/hardware/radio/data/DataProfileInfo.aidl
index 3342619..c8efea0 100644
--- a/radio/aidl/aidl_api/android.hardware.radio.data/current/android/hardware/radio/data/DataProfileInfo.aidl
+++ b/radio/aidl/aidl_api/android.hardware.radio.data/current/android/hardware/radio/data/DataProfileInfo.aidl
@@ -46,8 +46,8 @@
   int maxConns;
   int waitTime;
   boolean enabled;
-  android.hardware.radio.data.ApnTypes supportedApnTypesBitmap;
-  android.hardware.radio.RadioAccessFamily bearerBitmap;
+  int supportedApnTypesBitmap;
+  int bearerBitmap;
   int mtuV4;
   int mtuV6;
   boolean preferred;
diff --git a/radio/aidl/aidl_api/android.hardware.radio.modem/current/android/hardware/radio/modem/RadioCapability.aidl b/radio/aidl/aidl_api/android.hardware.radio.modem/current/android/hardware/radio/modem/RadioCapability.aidl
index d5716ac..5aaf5a7 100644
--- a/radio/aidl/aidl_api/android.hardware.radio.modem/current/android/hardware/radio/modem/RadioCapability.aidl
+++ b/radio/aidl/aidl_api/android.hardware.radio.modem/current/android/hardware/radio/modem/RadioCapability.aidl
@@ -36,7 +36,7 @@
 parcelable RadioCapability {
   int session;
   int phase;
-  android.hardware.radio.RadioAccessFamily raf;
+  int raf;
   String logicalModemUuid;
   int status;
   const int PHASE_CONFIGURED = 0;
diff --git a/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetwork.aidl b/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetwork.aidl
index c618791..2b70e45 100644
--- a/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetwork.aidl
+++ b/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetwork.aidl
@@ -50,12 +50,12 @@
   oneway void getVoiceRegistrationState(in int serial);
   oneway void isNrDualConnectivityEnabled(in int serial);
   oneway void responseAcknowledgement();
-  oneway void setAllowedNetworkTypesBitmap(in int serial, in android.hardware.radio.RadioAccessFamily networkTypeBitmap);
+  oneway void setAllowedNetworkTypesBitmap(in int serial, in int networkTypeBitmap);
   oneway void setBandMode(in int serial, in android.hardware.radio.network.RadioBandMode mode);
   oneway void setBarringPassword(in int serial, in String facility, in String oldPassword, in String newPassword);
   oneway void setCdmaRoamingPreference(in int serial, in android.hardware.radio.network.CdmaRoamingType type);
   oneway void setCellInfoListRate(in int serial, in int rate);
-  oneway void setIndicationFilter(in int serial, in android.hardware.radio.network.IndicationFilter indicationFilter);
+  oneway void setIndicationFilter(in int serial, in int indicationFilter);
   oneway void setLinkCapacityReportingCriteria(in int serial, in int hysteresisMs, in int hysteresisDlKbps, in int hysteresisUlKbps, in int[] thresholdsDownlinkKbps, in int[] thresholdsUplinkKbps, in android.hardware.radio.AccessNetwork accessNetwork);
   oneway void setLocationUpdates(in int serial, in boolean enable);
   oneway void setNetworkSelectionModeAutomatic(in int serial);
diff --git a/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkIndication.aidl b/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkIndication.aidl
index d135a69..bd03c51 100644
--- a/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkIndication.aidl
+++ b/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkIndication.aidl
@@ -44,7 +44,7 @@
   oneway void networkScanResult(in android.hardware.radio.RadioIndicationType type, in android.hardware.radio.network.NetworkScanResult result);
   oneway void networkStateChanged(in android.hardware.radio.RadioIndicationType type);
   oneway void nitzTimeReceived(in android.hardware.radio.RadioIndicationType type, in String nitzTime, in long receivedTimeMs, in long ageMs);
-  oneway void registrationFailed(in android.hardware.radio.RadioIndicationType type, in android.hardware.radio.network.CellIdentity cellIdentity, in String chosenPlmn, in android.hardware.radio.network.Domain domain, in int causeCode, in int additionalCauseCode);
+  oneway void registrationFailed(in android.hardware.radio.RadioIndicationType type, in android.hardware.radio.network.CellIdentity cellIdentity, in String chosenPlmn, in int domain, in int causeCode, in int additionalCauseCode);
   oneway void restrictedStateChanged(in android.hardware.radio.RadioIndicationType type, in android.hardware.radio.network.PhoneRestrictedState state);
   oneway void suppSvcNotify(in android.hardware.radio.RadioIndicationType type, in android.hardware.radio.network.SuppSvcNotification suppSvc);
   oneway void voiceRadioTechChanged(in android.hardware.radio.RadioIndicationType type, in android.hardware.radio.RadioTechnology rat);
diff --git a/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkResponse.aidl b/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkResponse.aidl
index 8cf4c31..5f6c736 100644
--- a/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkResponse.aidl
+++ b/radio/aidl/aidl_api/android.hardware.radio.network/current/android/hardware/radio/network/IRadioNetworkResponse.aidl
@@ -35,7 +35,7 @@
 @VintfStability
 interface IRadioNetworkResponse {
   oneway void acknowledgeRequest(in int serial);
-  oneway void getAllowedNetworkTypesBitmapResponse(in android.hardware.radio.RadioResponseInfo info, in android.hardware.radio.RadioAccessFamily networkTypeBitmap);
+  oneway void getAllowedNetworkTypesBitmapResponse(in android.hardware.radio.RadioResponseInfo info, in int networkTypeBitmap);
   oneway void getAvailableBandModesResponse(in android.hardware.radio.RadioResponseInfo info, in android.hardware.radio.network.RadioBandMode[] bandModes);
   oneway void getAvailableNetworksResponse(in android.hardware.radio.RadioResponseInfo info, in android.hardware.radio.network.OperatorInfo[] networkInfos);
   oneway void getBarringInfoResponse(in android.hardware.radio.RadioResponseInfo info, in android.hardware.radio.network.CellIdentity cellIdentity, in android.hardware.radio.network.BarringInfo[] barringInfos);
diff --git a/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/EmergencyNumber.aidl b/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/EmergencyNumber.aidl
index 4f415ee..39bcf1a 100644
--- a/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/EmergencyNumber.aidl
+++ b/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/EmergencyNumber.aidl
@@ -37,7 +37,7 @@
   String number;
   String mcc;
   String mnc;
-  android.hardware.radio.voice.EmergencyServiceCategory categories;
+  int categories;
   String[] urns;
   int sources;
   const int SOURCE_NETWORK_SIGNALING = 1;
diff --git a/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/IRadioVoice.aidl b/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/IRadioVoice.aidl
index 68c82fa..34d155a 100644
--- a/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/IRadioVoice.aidl
+++ b/radio/aidl/aidl_api/android.hardware.radio.voice/current/android/hardware/radio/voice/IRadioVoice.aidl
@@ -37,7 +37,7 @@
   oneway void acceptCall(in int serial);
   oneway void conference(in int serial);
   oneway void dial(in int serial, in android.hardware.radio.voice.Dial dialInfo);
-  oneway void emergencyDial(in int serial, in android.hardware.radio.voice.Dial dialInfo, in android.hardware.radio.voice.EmergencyServiceCategory categories, in String[] urns, in android.hardware.radio.voice.EmergencyCallRouting routing, in boolean hasKnownUserIntentEmergency, in boolean isTesting);
+  oneway void emergencyDial(in int serial, in android.hardware.radio.voice.Dial dialInfo, in int categories, in String[] urns, in android.hardware.radio.voice.EmergencyCallRouting routing, in boolean hasKnownUserIntentEmergency, in boolean isTesting);
   oneway void exitEmergencyCallbackMode(in int serial);
   oneway void explicitCallTransfer(in int serial);
   oneway void getCallForwardStatus(in int serial, in android.hardware.radio.voice.CallForwardInfo callInfo);
diff --git a/radio/aidl/android/hardware/radio/config/SimSlotStatus.aidl b/radio/aidl/android/hardware/radio/config/SimSlotStatus.aidl
index a1c3c27..b5cf633 100644
--- a/radio/aidl/android/hardware/radio/config/SimSlotStatus.aidl
+++ b/radio/aidl/android/hardware/radio/config/SimSlotStatus.aidl
@@ -42,7 +42,13 @@
      */
     String eid;
     /**
-     * PortInfo contains the ICCID, logical slot ID, and port state
+     * PortInfo contains the ICCID, logical slot ID, and port state.
+     * Cardstate has no relationship with whether the slot is active or inactive. Should always
+     * report up at least 1 port otherwise the logicalSlotIndex and portActive info will be lost.
+     * For example, the pSIM can be removed, but the slot can still be active. In that case, the
+     * SIM_STATUS reported for the corresponding logical stack will show CARDSTATE_ABSENT.
+     * Similarly, even if there is no profile enabled on the eSIM, that port can still be the
+     * active port in the slot mapping.
      */
     SimPortInfo[] portInfo;
 }
diff --git a/radio/aidl/android/hardware/radio/data/DataProfileInfo.aidl b/radio/aidl/android/hardware/radio/data/DataProfileInfo.aidl
index 0f06119..7360202 100644
--- a/radio/aidl/android/hardware/radio/data/DataProfileInfo.aidl
+++ b/radio/aidl/android/hardware/radio/data/DataProfileInfo.aidl
@@ -93,11 +93,11 @@
     /**
      * Supported APN types bitmap. See ApnTypes for the value of each bit.
      */
-    ApnTypes supportedApnTypesBitmap;
+    int supportedApnTypesBitmap;
     /**
      * The bearer bitmap. See RadioAccessFamily for the value of each bit.
      */
-    RadioAccessFamily bearerBitmap;
+    int bearerBitmap;
     /**
      * Maximum transmission unit (MTU) size in bytes for IPv4.
      */
diff --git a/radio/aidl/android/hardware/radio/modem/RadioCapability.aidl b/radio/aidl/android/hardware/radio/modem/RadioCapability.aidl
index b7b8ef3..9bd5f21 100644
--- a/radio/aidl/android/hardware/radio/modem/RadioCapability.aidl
+++ b/radio/aidl/android/hardware/radio/modem/RadioCapability.aidl
@@ -71,7 +71,7 @@
     /**
      * 32-bit bitmap of RadioAccessFamily.
      */
-    RadioAccessFamily raf;
+    int raf;
     /**
      * A UUID typically "com.xxxx.lmX" where X is the logical modem.
      * RadioConst:MAX_UUID_LENGTH is the max length.
diff --git a/radio/aidl/android/hardware/radio/network/IRadioNetwork.aidl b/radio/aidl/android/hardware/radio/network/IRadioNetwork.aidl
index aaf432a..7a22a9a 100644
--- a/radio/aidl/android/hardware/radio/network/IRadioNetwork.aidl
+++ b/radio/aidl/android/hardware/radio/network/IRadioNetwork.aidl
@@ -195,7 +195,7 @@
      *
      * Response function is IRadioNetworkResponse.setAllowedNetworkTypesBitmapResponse()
      */
-    void setAllowedNetworkTypesBitmap(in int serial, in RadioAccessFamily networkTypeBitmap);
+    void setAllowedNetworkTypesBitmap(in int serial, in int networkTypeBitmap);
 
     /**
      * Assign a specified band for RF configuration.
@@ -253,7 +253,7 @@
      *
      * Response function is IRadioNetworkResponse.setIndicationFilterResponse()
      */
-    void setIndicationFilter(in int serial, in IndicationFilter indicationFilter);
+    void setIndicationFilter(in int serial, in int indicationFilter);
 
     /**
      * Sets the link capacity reporting criteria. The resulting reporting criteria are the AND of
diff --git a/radio/aidl/android/hardware/radio/network/IRadioNetworkIndication.aidl b/radio/aidl/android/hardware/radio/network/IRadioNetworkIndication.aidl
index ba7610d..6863ac3 100644
--- a/radio/aidl/android/hardware/radio/network/IRadioNetworkIndication.aidl
+++ b/radio/aidl/android/hardware/radio/network/IRadioNetworkIndication.aidl
@@ -136,8 +136,8 @@
      *        include the time spend in sleep / low power states. If it can not be guaranteed,
      *        there must not be any caching done at the modem and should fill in 0 for ageMs
      */
-    void nitzTimeReceived(in RadioIndicationType type, in String nitzTime,
-            in long receivedTimeMs, in long ageMs);
+    void nitzTimeReceived(
+            in RadioIndicationType type, in String nitzTime, in long receivedTimeMs, in long ageMs);
 
     /**
      * Report that Registration or a Location/Routing/Tracking Area update has failed.
@@ -165,7 +165,7 @@
      *        MAX_INT if this value is unused.
      */
     void registrationFailed(in RadioIndicationType type, in CellIdentity cellIdentity,
-            in String chosenPlmn, in Domain domain, in int causeCode, in int additionalCauseCode);
+            in String chosenPlmn, in int domain, in int causeCode, in int additionalCauseCode);
 
     /**
      * Indicates a restricted state change (eg, for Domain Specific Access Control).
diff --git a/radio/aidl/android/hardware/radio/network/IRadioNetworkResponse.aidl b/radio/aidl/android/hardware/radio/network/IRadioNetworkResponse.aidl
index 30f4221..e650321 100644
--- a/radio/aidl/android/hardware/radio/network/IRadioNetworkResponse.aidl
+++ b/radio/aidl/android/hardware/radio/network/IRadioNetworkResponse.aidl
@@ -62,8 +62,7 @@
      *   RadioError:REQUEST_NOT_SUPPORTED
      *   RadioError:NO_RESOURCES
      */
-    void getAllowedNetworkTypesBitmapResponse(
-            in RadioResponseInfo info, in RadioAccessFamily networkTypeBitmap);
+    void getAllowedNetworkTypesBitmapResponse(in RadioResponseInfo info, in int networkTypeBitmap);
 
     /**
      * @param info Response info struct containing response type, serial no. and error
diff --git a/radio/aidl/android/hardware/radio/sim/IRadioSim.aidl b/radio/aidl/android/hardware/radio/sim/IRadioSim.aidl
index c731caf..7923b14 100644
--- a/radio/aidl/android/hardware/radio/sim/IRadioSim.aidl
+++ b/radio/aidl/android/hardware/radio/sim/IRadioSim.aidl
@@ -205,6 +205,12 @@
      * Open a new logical channel and select the given application. This command
      * reflects TS 27.007 "open logical channel" operation (+CCHO).
      *
+     * For MEP-A(Multiple enabled profile), only dedicated port 0 is ISDR selectable.
+     * e.g., Port0 - for ISDR access and Port1/Port2 - the currently active ports/subscriptions.
+     * Port 0 should be transparent to AP and iccLogicalChannel API should remain the same.
+     * Even if the ISDR request comes over port1 or port2, Modem would just internally convert the
+     * portID to port0 and add the real port index as the payload of MANAGE_CHANNEL command.
+     *
      * @param serial Serial number of request.
      * @param aid AID value, See ETSI 102.221 and 101.220.
      * @param p2 P2 value, described in ISO 7816-4. Ignore if equal to RadioConst:P2_CONSTANT_NO_P2
diff --git a/radio/aidl/android/hardware/radio/voice/EmergencyNumber.aidl b/radio/aidl/android/hardware/radio/voice/EmergencyNumber.aidl
index aa4dde2..ddc5d76 100644
--- a/radio/aidl/android/hardware/radio/voice/EmergencyNumber.aidl
+++ b/radio/aidl/android/hardware/radio/voice/EmergencyNumber.aidl
@@ -78,7 +78,7 @@
      * The bitfield of EmergencyServiceCategory(s). See EmergencyServiceCategory for the value of
      * each bit.
      */
-    EmergencyServiceCategory categories;
+    int categories;
     /**
      * The list of emergency Uniform Resource Names (URN).
      */
diff --git a/radio/aidl/android/hardware/radio/voice/IRadioVoice.aidl b/radio/aidl/android/hardware/radio/voice/IRadioVoice.aidl
index a012be4..b25e63d 100644
--- a/radio/aidl/android/hardware/radio/voice/IRadioVoice.aidl
+++ b/radio/aidl/android/hardware/radio/voice/IRadioVoice.aidl
@@ -117,9 +117,9 @@
      *
      * Response function is IRadioVoiceResponse.emergencyDialResponse()
      */
-    void emergencyDial(in int serial, in Dial dialInfo, in EmergencyServiceCategory categories,
-            in String[] urns, in EmergencyCallRouting routing,
-            in boolean hasKnownUserIntentEmergency, in boolean isTesting);
+    void emergencyDial(in int serial, in Dial dialInfo, in int categories, in String[] urns,
+            in EmergencyCallRouting routing, in boolean hasKnownUserIntentEmergency,
+            in boolean isTesting);
 
     /**
      * Request the radio's system selection module to exit emergency callback mode. Radio must not
diff --git a/radio/aidl/compat/libradiocompat/RadioResponse.cpp b/radio/aidl/compat/libradiocompat/RadioResponse.cpp
index dbeb68a..dab70cc 100644
--- a/radio/aidl/compat/libradiocompat/RadioResponse.cpp
+++ b/radio/aidl/compat/libradiocompat/RadioResponse.cpp
@@ -26,7 +26,10 @@
 
 Return<void> RadioResponse::acknowledgeRequest(int32_t serial) {
     LOG_CALL << serial;
-    // TODO(b/203699028): send to correct requestor or confirm if spam is not a problem
+    /* We send ACKs to all callbacks instead of the one requested it to make implementation simpler.
+     * If it turns out to be a problem, we would have to track where serials come from and make sure
+     * this tracking data (e.g. a map) doesn't grow indefinitely.
+     */
     if (mDataCb) mDataCb.get()->acknowledgeRequest(serial);
     if (mMessagingCb) mMessagingCb.get()->acknowledgeRequest(serial);
     if (mModemCb) mModemCb.get()->acknowledgeRequest(serial);
diff --git a/radio/aidl/compat/libradiocompat/config/RadioConfig.cpp b/radio/aidl/compat/libradiocompat/config/RadioConfig.cpp
index 5b22dbe..b450418 100644
--- a/radio/aidl/compat/libradiocompat/config/RadioConfig.cpp
+++ b/radio/aidl/compat/libradiocompat/config/RadioConfig.cpp
@@ -20,6 +20,8 @@
 #include "debug.h"
 #include "structs.h"
 
+#include "collections.h"
+
 #define RADIO_MODULE "Config"
 
 namespace android::hardware::radio::compat {
diff --git a/radio/aidl/compat/libradiocompat/config/structs.cpp b/radio/aidl/compat/libradiocompat/config/structs.cpp
index 9ba5623..39ad944 100644
--- a/radio/aidl/compat/libradiocompat/config/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/config/structs.cpp
@@ -24,14 +24,11 @@
 
 namespace aidl = ::aidl::android::hardware::radio::config;
 
-hidl_vec<uint32_t> toHidl(const std::vector<aidl::SlotPortMapping>& slotMap) {
-    hidl_vec<uint32_t> out(slotMap.size());
-    for (const auto& el : slotMap) {
-        CHECK_GE(el.portId, 0);
-        CHECK_LT(static_cast<size_t>(el.portId), out.size());
-        out[el.portId] = el.physicalSlotId;
+uint32_t toHidl(const aidl::SlotPortMapping& slotPortMapping) {
+    if (slotPortMapping.portId != 0) {
+        LOG(ERROR) << "Port ID " << slotPortMapping.portId << " != 0 not supported by HIDL HAL";
     }
-    return out;
+    return slotPortMapping.physicalSlotId;
 }
 
 aidl::SimSlotStatus toAidl(const config::V1_0::SimSlotStatus& sst) {
diff --git a/radio/aidl/compat/libradiocompat/config/structs.h b/radio/aidl/compat/libradiocompat/config/structs.h
index b8a0385..6ea4e4a 100644
--- a/radio/aidl/compat/libradiocompat/config/structs.h
+++ b/radio/aidl/compat/libradiocompat/config/structs.h
@@ -23,8 +23,7 @@
 
 namespace android::hardware::radio::compat {
 
-hidl_vec<uint32_t>  //
-toHidl(const std::vector<aidl::android::hardware::radio::config::SlotPortMapping>& slotMap);
+uint32_t toHidl(const aidl::android::hardware::radio::config::SlotPortMapping& slotPortMapping);
 
 aidl::android::hardware::radio::config::SimSlotStatus  //
 toAidl(const config::V1_0::SimSlotStatus& sst);
diff --git a/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioNetwork.h b/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioNetwork.h
index ec76300..1731b78 100644
--- a/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioNetwork.h
+++ b/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioNetwork.h
@@ -41,9 +41,8 @@
     ::ndk::ScopedAStatus getVoiceRegistrationState(int32_t serial) override;
     ::ndk::ScopedAStatus isNrDualConnectivityEnabled(int32_t serial) override;
     ::ndk::ScopedAStatus responseAcknowledgement() override;
-    ::ndk::ScopedAStatus setAllowedNetworkTypesBitmap(
-            int32_t serial,
-            ::aidl::android::hardware::radio::RadioAccessFamily networkTypeBitmap) override;
+    ::ndk::ScopedAStatus setAllowedNetworkTypesBitmap(int32_t serial,
+                                                      int32_t networkTypeBitmap) override;
     ::ndk::ScopedAStatus setBandMode(
             int32_t serial, ::aidl::android::hardware::radio::network::RadioBandMode mode) override;
     ::ndk::ScopedAStatus setBarringPassword(int32_t serial, const std::string& facility,
@@ -53,9 +52,7 @@
             int32_t serial,
             ::aidl::android::hardware::radio::network::CdmaRoamingType type) override;
     ::ndk::ScopedAStatus setCellInfoListRate(int32_t serial, int32_t rate) override;
-    ::ndk::ScopedAStatus setIndicationFilter(
-            int32_t serial,
-            ::aidl::android::hardware::radio::network::IndicationFilter indicationFilter) override;
+    ::ndk::ScopedAStatus setIndicationFilter(int32_t serial, int32_t indicationFilter) override;
     ::ndk::ScopedAStatus setLinkCapacityReportingCriteria(
             int32_t serial, int32_t hysteresisMs, int32_t hysteresisDlKbps,
             int32_t hysteresisUlKbps, const std::vector<int32_t>& thresholdsDownlinkKbps,
diff --git a/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioVoice.h b/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioVoice.h
index 5839e3a..a0e1e82 100644
--- a/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioVoice.h
+++ b/radio/aidl/compat/libradiocompat/include/libradiocompat/RadioVoice.h
@@ -31,8 +31,7 @@
             int32_t serial, const ::aidl::android::hardware::radio::voice::Dial& dialInfo) override;
     ::ndk::ScopedAStatus emergencyDial(
             int32_t serial, const ::aidl::android::hardware::radio::voice::Dial& dialInfo,
-            ::aidl::android::hardware::radio::voice::EmergencyServiceCategory categories,
-            const std::vector<std::string>& urns,
+            int32_t categories, const std::vector<std::string>& urns,
             ::aidl::android::hardware::radio::voice::EmergencyCallRouting routing,
             bool hasKnownUserIntentEmergency, bool isTesting) override;
     ::ndk::ScopedAStatus exitEmergencyCallbackMode(int32_t serial) override;
diff --git a/radio/aidl/compat/libradiocompat/modem/structs.cpp b/radio/aidl/compat/libradiocompat/modem/structs.cpp
index 53d5753..69e651b 100644
--- a/radio/aidl/compat/libradiocompat/modem/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/modem/structs.cpp
@@ -25,7 +25,6 @@
 namespace android::hardware::radio::compat {
 
 using ::aidl::android::hardware::radio::AccessNetwork;
-using ::aidl::android::hardware::radio::RadioAccessFamily;
 using ::aidl::android::hardware::radio::RadioTechnology;
 namespace aidl = ::aidl::android::hardware::radio::modem;
 
@@ -40,7 +39,7 @@
     return {
             .session = capa.session,
             .phase = static_cast<int32_t>(capa.phase),
-            .raf = RadioAccessFamily(capa.raf),
+            .raf = static_cast<int32_t>(capa.raf),
             .logicalModemUuid = capa.logicalModemUuid,
             .status = static_cast<int32_t>(capa.status),
     };
diff --git a/radio/aidl/compat/libradiocompat/network/RadioIndication-network.cpp b/radio/aidl/compat/libradiocompat/network/RadioIndication-network.cpp
index d4cbdbc..4eb99f7 100644
--- a/radio/aidl/compat/libradiocompat/network/RadioIndication-network.cpp
+++ b/radio/aidl/compat/libradiocompat/network/RadioIndication-network.cpp
@@ -208,8 +208,8 @@
         const hidl_string& chosenPlmn, hidl_bitfield<V1_5::Domain> domain, int32_t causeCode,
         int32_t additionalCauseCode) {
     LOG_CALL << type;
-    networkCb()->registrationFailed(toAidl(type), toAidl(cellIdentity), chosenPlmn,
-                                    aidl::Domain(domain), causeCode, additionalCauseCode);
+    networkCb()->registrationFailed(toAidl(type), toAidl(cellIdentity), chosenPlmn, domain,
+                                    causeCode, additionalCauseCode);
     return {};
 }
 
diff --git a/radio/aidl/compat/libradiocompat/network/RadioNetwork.cpp b/radio/aidl/compat/libradiocompat/network/RadioNetwork.cpp
index 8bfa0bb..22b9ede 100644
--- a/radio/aidl/compat/libradiocompat/network/RadioNetwork.cpp
+++ b/radio/aidl/compat/libradiocompat/network/RadioNetwork.cpp
@@ -28,7 +28,6 @@
 namespace android::hardware::radio::compat {
 
 using ::aidl::android::hardware::radio::AccessNetwork;
-using ::aidl::android::hardware::radio::RadioAccessFamily;
 using ::ndk::ScopedAStatus;
 namespace aidl = ::aidl::android::hardware::radio::network;
 constexpr auto ok = &ScopedAStatus::ok;
@@ -161,7 +160,7 @@
     return ok();
 }
 
-ScopedAStatus RadioNetwork::setAllowedNetworkTypesBitmap(int32_t serial, RadioAccessFamily ntype) {
+ScopedAStatus RadioNetwork::setAllowedNetworkTypesBitmap(int32_t serial, int32_t ntype) {
     LOG_CALL << serial;
     const auto raf = toHidlBitfield<V1_4::RadioAccessFamily>(ntype);
     if (mHal1_6) {
@@ -197,7 +196,7 @@
     return ok();
 }
 
-ScopedAStatus RadioNetwork::setIndicationFilter(int32_t serial, aidl::IndicationFilter indFilter) {
+ScopedAStatus RadioNetwork::setIndicationFilter(int32_t serial, int32_t indFilter) {
     LOG_CALL << serial;
     mHal1_5->setIndicationFilter_1_5(serial, toHidlBitfield<V1_5::IndicationFilter>(indFilter));
     return ok();
@@ -255,7 +254,13 @@
 ScopedAStatus RadioNetwork::setSignalStrengthReportingCriteria(
         int32_t serial, const std::vector<aidl::SignalThresholdInfo>& infos) {
     LOG_CALL << serial;
-    // TODO(b/203699028): how about other infos?
+    if (infos.size() == 0) {
+        LOG(ERROR) << "Threshold info array is empty - dropping setSignalStrengthReportingCriteria";
+        return ok();
+    }
+    if (infos.size() > 1) {
+        LOG(WARNING) << "Multi-element reporting criteria are not supported with HIDL HAL";
+    }
     mHal1_5->setSignalStrengthReportingCriteria_1_5(serial, toHidl(infos[0]),
                                                     V1_5::AccessNetwork(infos[0].ran));
     return ok();
@@ -292,18 +297,17 @@
     return ok();
 }
 
-// TODO(b/210498497): is there a cleaner way to send a response back to Android, even though these
-// methods must never be called?
-ScopedAStatus RadioNetwork::setUsageSetting(
-        int32_t ser, ::aidl::android::hardware::radio::network::UsageSetting) {
-    LOG_CALL << ser;
+ScopedAStatus RadioNetwork::setUsageSetting(int32_t serial, aidl::UsageSetting) {
+    LOG_CALL << serial;
     LOG(ERROR) << "setUsageSetting is unsupported by HIDL HALs";
+    respond()->setUsageSettingResponse(notSupported(serial));
     return ok();
 }
 
-ScopedAStatus RadioNetwork::getUsageSetting(int32_t ser) {
-    LOG_CALL << ser;
+ScopedAStatus RadioNetwork::getUsageSetting(int32_t serial) {
+    LOG_CALL << serial;
     LOG(ERROR) << "getUsageSetting is unsupported by HIDL HALs";
+    respond()->getUsageSettingResponse(notSupported(serial), {});  // {} = neither voice nor data
     return ok();
 }
 
diff --git a/radio/aidl/compat/libradiocompat/network/RadioResponse-network.cpp b/radio/aidl/compat/libradiocompat/network/RadioResponse-network.cpp
index bab1d4a..5a98eb2 100644
--- a/radio/aidl/compat/libradiocompat/network/RadioResponse-network.cpp
+++ b/radio/aidl/compat/libradiocompat/network/RadioResponse-network.cpp
@@ -27,7 +27,6 @@
 
 namespace android::hardware::radio::compat {
 
-using ::aidl::android::hardware::radio::RadioAccessFamily;
 using ::aidl::android::hardware::radio::RadioTechnology;
 using ::aidl::android::hardware::radio::RadioTechnologyFamily;
 namespace aidl = ::aidl::android::hardware::radio::network;
@@ -44,16 +43,14 @@
         const V1_6::RadioResponseInfo& info,
         hidl_bitfield<V1_4::RadioAccessFamily> networkTypeBitmap) {
     LOG_CALL << info.serial;
-    networkCb()->getAllowedNetworkTypesBitmapResponse(toAidl(info),
-                                                      RadioAccessFamily(networkTypeBitmap));
+    networkCb()->getAllowedNetworkTypesBitmapResponse(toAidl(info), networkTypeBitmap);
     return {};
 }
 
 Return<void> RadioResponse::getPreferredNetworkTypeResponse(const V1_0::RadioResponseInfo& info,
                                                             V1_0::PreferredNetworkType nwType) {
     LOG_CALL << info.serial;
-    networkCb()->getAllowedNetworkTypesBitmapResponse(  //
-            toAidl(info), RadioAccessFamily(getRafFromNetworkType(nwType)));
+    networkCb()->getAllowedNetworkTypesBitmapResponse(toAidl(info), getRafFromNetworkType(nwType));
     return {};
 }
 
diff --git a/radio/aidl/compat/libradiocompat/sim/structs.cpp b/radio/aidl/compat/libradiocompat/sim/structs.cpp
index 97a21a1..bfbff02 100644
--- a/radio/aidl/compat/libradiocompat/sim/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/sim/structs.cpp
@@ -173,7 +173,6 @@
             .atr = status.base.base.atr,
             .iccid = status.base.base.iccid,
             .eid = status.base.eid,
-            // TODO(b/203699028): we don't know portId here (but we can get it from RadioConfig)
             .slotMap = {static_cast<int32_t>(status.base.base.physicalSlotId), 0},
     };
 }
diff --git a/radio/aidl/compat/libradiocompat/voice/RadioVoice.cpp b/radio/aidl/compat/libradiocompat/voice/RadioVoice.cpp
index 7b1d1fa..71d1a56 100644
--- a/radio/aidl/compat/libradiocompat/voice/RadioVoice.cpp
+++ b/radio/aidl/compat/libradiocompat/voice/RadioVoice.cpp
@@ -53,7 +53,7 @@
 }
 
 ScopedAStatus RadioVoice::emergencyDial(  //
-        int32_t serial, const aidl::Dial& info, aidl::EmergencyServiceCategory categories,
+        int32_t serial, const aidl::Dial& info, int32_t categories,
         const std::vector<std::string>& urns, aidl::EmergencyCallRouting routing,
         bool knownUserIntentEmerg, bool isTesting) {
     LOG_CALL << serial;
diff --git a/radio/aidl/compat/libradiocompat/voice/structs.cpp b/radio/aidl/compat/libradiocompat/voice/structs.cpp
index ae6342e..254ea20 100644
--- a/radio/aidl/compat/libradiocompat/voice/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/voice/structs.cpp
@@ -147,7 +147,7 @@
             .number = num.number,
             .mcc = num.mcc,
             .mnc = num.mnc,
-            .categories = aidl::EmergencyServiceCategory(num.categories),
+            .categories = num.categories,
             .urns = toAidl(num.urns),
             .sources = num.sources,
     };
diff --git a/radio/aidl/vts/Android.bp b/radio/aidl/vts/Android.bp
index 935d2e5..8060e4b 100644
--- a/radio/aidl/vts/Android.bp
+++ b/radio/aidl/vts/Android.bp
@@ -29,6 +29,9 @@
     ],
     srcs: [
         "radio_aidl_hal_utils.cpp",
+        "radio_config_indication.cpp",
+        "radio_config_response.cpp",
+        "radio_config_test.cpp",
         "radio_data_indication.cpp",
         "radio_data_response.cpp",
         "radio_data_test.cpp",
diff --git a/radio/aidl/vts/VtsHalRadioTargetTest.cpp b/radio/aidl/vts/VtsHalRadioTargetTest.cpp
index e829f8e..1ebc6af 100644
--- a/radio/aidl/vts/VtsHalRadioTargetTest.cpp
+++ b/radio/aidl/vts/VtsHalRadioTargetTest.cpp
@@ -16,6 +16,7 @@
 
 #include <android/binder_process.h>
 
+#include "radio_config_utils.h"
 #include "radio_data_utils.h"
 #include "radio_messaging_utils.h"
 #include "radio_modem_utils.h"
@@ -23,6 +24,12 @@
 #include "radio_sim_utils.h"
 #include "radio_voice_utils.h"
 
+GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(RadioConfigTest);
+INSTANTIATE_TEST_SUITE_P(
+        PerInstance, RadioConfigTest,
+        testing::ValuesIn(android::getAidlHalInstanceNames(IRadioConfig::descriptor)),
+        android::PrintInstanceNameToString);
+
 GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(RadioDataTest);
 INSTANTIATE_TEST_SUITE_P(
         PerInstance, RadioDataTest,
diff --git a/radio/aidl/vts/radio_aidl_hal_utils.cpp b/radio/aidl/vts/radio_aidl_hal_utils.cpp
index 14a16c0..dc61a3c 100644
--- a/radio/aidl/vts/radio_aidl_hal_utils.cpp
+++ b/radio/aidl/vts/radio_aidl_hal_utils.cpp
@@ -18,12 +18,14 @@
 #include "radio_aidl_hal_utils.h"
 #include <iostream>
 #include "VtsCoreUtil.h"
-
-using namespace aidl::android::hardware::radio::network;
+#include "radio_config_utils.h"
+#include "radio_sim_utils.h"
 
 #define WAIT_TIMEOUT_PERIOD 75
 
-aidl::android::hardware::radio::sim::CardStatus cardStatus = {};
+sim::CardStatus cardStatus = {};
+int serial = 0;
+int count_ = 0;
 
 int GetRandomSerialNumber() {
     return rand();
@@ -103,23 +105,33 @@
            RegState::UNKNOWN_EM == state;
 }
 
+bool stringEndsWith(std::string const& string, std::string const& end) {
+    if (string.size() >= end.size()) {
+        return (0 == string.compare(string.size() - end.size() - 1, end.size(), end));
+    } else {
+        return false;
+    }
+}
+
 bool isServiceValidForDeviceConfiguration(std::string& serviceName) {
     if (isSsSsEnabled()) {
         // Device is configured as SSSS.
-        if (serviceName != RADIO_SERVICE_SLOT1_NAME) {
+        if (stringEndsWith(serviceName, RADIO_SERVICE_SLOT1_NAME)) {
             ALOGI("%s instance is not valid for SSSS device.", serviceName.c_str());
             return false;
         }
     } else if (isDsDsEnabled()) {
         // Device is configured as DSDS.
-        if (serviceName != RADIO_SERVICE_SLOT1_NAME && serviceName != RADIO_SERVICE_SLOT2_NAME) {
+        if (!stringEndsWith(serviceName, RADIO_SERVICE_SLOT1_NAME) &&
+            !stringEndsWith(serviceName, RADIO_SERVICE_SLOT2_NAME)) {
             ALOGI("%s instance is not valid for DSDS device.", serviceName.c_str());
             return false;
         }
     } else if (isTsTsEnabled()) {
         // Device is configured as TSTS.
-        if (serviceName != RADIO_SERVICE_SLOT1_NAME && serviceName != RADIO_SERVICE_SLOT2_NAME &&
-            serviceName != RADIO_SERVICE_SLOT3_NAME) {
+        if (!stringEndsWith(serviceName, RADIO_SERVICE_SLOT1_NAME) &&
+            !stringEndsWith(serviceName, RADIO_SERVICE_SLOT2_NAME) &&
+            !stringEndsWith(serviceName, RADIO_SERVICE_SLOT3_NAME)) {
             ALOGI("%s instance is not valid for TSTS device.", serviceName.c_str());
             return false;
         }
@@ -130,7 +142,7 @@
 /*
  * Notify that the response message is received.
  */
-void RadioResponseWaiter::notify(int receivedSerial) {
+void RadioServiceTest::notify(int receivedSerial) {
     std::unique_lock<std::mutex> lock(mtx_);
     if (serial == receivedSerial) {
         count_++;
@@ -141,7 +153,7 @@
 /*
  * Wait till the response message is notified or till WAIT_TIMEOUT_PERIOD.
  */
-std::cv_status RadioResponseWaiter::wait() {
+std::cv_status RadioServiceTest::wait() {
     std::unique_lock<std::mutex> lock(mtx_);
     std::cv_status status = std::cv_status::no_timeout;
     auto now = std::chrono::system_clock::now();
@@ -158,19 +170,37 @@
 /**
  * Specific features on the Radio HAL rely on Radio HAL Capabilities.
  * The VTS test related to those features must not run if the related capability is disabled.
- * Typical usage within VTS: if (getRadioHalCapabilities()) return;
+ * Typical usage within VTS:
+ * if (getRadioHalCapabilities()) return;
  */
-bool RadioResponseWaiter::getRadioHalCapabilities() {
-    // TODO(b/210712359): implement after RadioConfig VTS is created
-    /**
-    // Get HalDeviceCapabilities from the radio config
-    std::shared_ptr<RadioConfigResponse> radioConfigRsp = new (std::nothrow)
-    RadioConfigResponse(*this); radioConfig->setResponseFunctions(radioConfigRsp, nullptr); serial =
-    GetRandomSerialNumber();
-
-    radioConfig->getHalDeviceCapabilities(serial);
+bool RadioServiceTest::getRadioHalCapabilities() {
+    // Get HalDeviceCapabilities from RadioConfig
+    std::shared_ptr<RadioConfigResponse> radioConfigRsp =
+            ndk::SharedRefBase::make<RadioConfigResponse>(*this);
+    std::shared_ptr<RadioConfigIndication> radioConfigInd =
+            ndk::SharedRefBase::make<RadioConfigIndication>(*this);
+    radio_config->setResponseFunctions(radioConfigRsp, radioConfigInd);
+    serial = GetRandomSerialNumber();
+    radio_config->getHalDeviceCapabilities(serial);
     EXPECT_EQ(std::cv_status::no_timeout, wait());
     return radioConfigRsp->modemReducedFeatureSet1;
-    **/
-    return true;
-}
\ No newline at end of file
+}
+
+/**
+ * Some VTS tests require the SIM card status to be present before running.
+ * Update the SIM card status, which can be accessed via the extern cardStatus.
+ */
+void RadioServiceTest::updateSimCardStatus() {
+    // Update CardStatus from RadioSim
+    std::shared_ptr<RadioSimResponse> radioSimRsp =
+            ndk::SharedRefBase::make<RadioSimResponse>(*this);
+    std::shared_ptr<RadioSimIndication> radioSimInd =
+            ndk::SharedRefBase::make<RadioSimIndication>(*this);
+    radio_sim->setResponseFunctions(radioSimRsp, radioSimInd);
+    serial = GetRandomSerialNumber();
+    radio_sim->getIccCardStatus(serial);
+    EXPECT_EQ(std::cv_status::no_timeout, wait());
+    EXPECT_EQ(RadioResponseType::SOLICITED, radioSimRsp->rspInfo.type);
+    EXPECT_EQ(serial, radioSimRsp->rspInfo.serial);
+    EXPECT_EQ(RadioError::NONE, radioSimRsp->rspInfo.error);
+}
diff --git a/radio/aidl/vts/radio_aidl_hal_utils.h b/radio/aidl/vts/radio_aidl_hal_utils.h
index 2f31fa8..414ffbc 100644
--- a/radio/aidl/vts/radio_aidl_hal_utils.h
+++ b/radio/aidl/vts/radio_aidl_hal_utils.h
@@ -19,15 +19,20 @@
 #include <aidl/Gtest.h>
 #include <aidl/Vintf.h>
 #include <aidl/android/hardware/radio/RadioError.h>
+#include <aidl/android/hardware/radio/config/IRadioConfig.h>
 #include <aidl/android/hardware/radio/network/RegState.h>
 #include <aidl/android/hardware/radio/sim/CardStatus.h>
+#include <aidl/android/hardware/radio/sim/IRadioSim.h>
 #include <utils/Log.h>
 #include <vector>
 
 using namespace aidl::android::hardware::radio;
+using aidl::android::hardware::radio::network::RegState;
 using aidl::android::hardware::radio::sim::CardStatus;
 
 extern CardStatus cardStatus;
+extern int serial;
+extern int count_;
 
 /*
  * MACRO used to skip test case when radio response return error REQUEST_NOT_SUPPORTED
@@ -102,12 +107,12 @@
 /*
  * Check if voice status is in emergency only.
  */
-bool isVoiceEmergencyOnly(aidl::android::hardware::radio::network::RegState state);
+bool isVoiceEmergencyOnly(RegState state);
 
 /*
  * Check if voice status is in service.
  */
-bool isVoiceInService(aidl::android::hardware::radio::network::RegState state);
+bool isVoiceInService(RegState state);
 
 /*
  * Check if service is valid for device configuration
@@ -115,26 +120,25 @@
 bool isServiceValidForDeviceConfiguration(std::string& serviceName);
 
 /**
- * Used when waiting for an asynchronous response from the HAL.
+ * RadioServiceTest base class
  */
-class RadioResponseWaiter {
+class RadioServiceTest {
   protected:
     std::mutex mtx_;
     std::condition_variable cv_;
-    int count_;
+    std::shared_ptr<config::IRadioConfig> radio_config;
+    std::shared_ptr<sim::IRadioSim> radio_sim;
 
   public:
-    /* Serial number for radio request */
-    int serial;
-
     /* Used as a mechanism to inform the test about data/event callback */
     void notify(int receivedSerial);
 
     /* Test code calls this function to wait for response */
     std::cv_status wait();
 
-    // TODO(b/210712359): this probably isn't the best place to put this, but it works for now
-    //  since all RadioXTest extend RadioResponseWaiter
-    /* Used to get the radio HAL capabilities */
+    /* Get the radio HAL capabilities */
     bool getRadioHalCapabilities();
+
+    /* Update SIM card status */
+    void updateSimCardStatus();
 };
diff --git a/radio/aidl/vts/radio_config_indication.cpp b/radio/aidl/vts/radio_config_indication.cpp
new file mode 100644
index 0000000..a84c20b
--- /dev/null
+++ b/radio/aidl/vts/radio_config_indication.cpp
@@ -0,0 +1,24 @@
+/*
+ * Copyright (C) 2021 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 "radio_config_utils.h"
+
+RadioConfigIndication::RadioConfigIndication(RadioServiceTest& parent) : parent_config(parent) {}
+
+ndk::ScopedAStatus RadioConfigIndication::simSlotsStatusChanged(
+        RadioIndicationType /*type*/, const std::vector<SimSlotStatus>& /*slotStatus*/) {
+    return ndk::ScopedAStatus::ok();
+}
diff --git a/radio/aidl/vts/radio_config_response.cpp b/radio/aidl/vts/radio_config_response.cpp
new file mode 100644
index 0000000..1a152fb
--- /dev/null
+++ b/radio/aidl/vts/radio_config_response.cpp
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2021 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 "radio_config_utils.h"
+
+RadioConfigResponse::RadioConfigResponse(RadioServiceTest& parent) : parent_config(parent) {}
+
+ndk::ScopedAStatus RadioConfigResponse::getSimSlotsStatusResponse(
+        const RadioResponseInfo& /* info */, const std::vector<SimSlotStatus>& /* slotStatus */) {
+    return ndk::ScopedAStatus::ok();
+}
+
+ndk::ScopedAStatus RadioConfigResponse::setSimSlotsMappingResponse(
+        const RadioResponseInfo& /* info */) {
+    return ndk::ScopedAStatus::ok();
+}
+
+ndk::ScopedAStatus RadioConfigResponse::getPhoneCapabilityResponse(
+        const RadioResponseInfo& info, const PhoneCapability& phoneCapability) {
+    rspInfo = info;
+    phoneCap = phoneCapability;
+    parent_config.notify(info.serial);
+    return ndk::ScopedAStatus::ok();
+}
+
+ndk::ScopedAStatus RadioConfigResponse::setPreferredDataModemResponse(
+        const RadioResponseInfo& /* info */) {
+    return ndk::ScopedAStatus::ok();
+}
+
+ndk::ScopedAStatus RadioConfigResponse::getNumOfLiveModemsResponse(
+        const RadioResponseInfo& /* info */, const int8_t /* numOfLiveModems */) {
+    return ndk::ScopedAStatus::ok();
+}
+
+ndk::ScopedAStatus RadioConfigResponse::setNumOfLiveModemsResponse(
+        const RadioResponseInfo& /* info */) {
+    return ndk::ScopedAStatus::ok();
+}
+
+ndk::ScopedAStatus RadioConfigResponse::getHalDeviceCapabilitiesResponse(
+        const RadioResponseInfo& info, bool modemReducedFeatures) {
+    modemReducedFeatureSet1 = modemReducedFeatures;
+    parent_config.notify(info.serial);
+    return ndk::ScopedAStatus::ok();
+}
diff --git a/radio/aidl/vts/radio_config_test.cpp b/radio/aidl/vts/radio_config_test.cpp
new file mode 100644
index 0000000..2d7fe01
--- /dev/null
+++ b/radio/aidl/vts/radio_config_test.cpp
@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <android-base/logging.h>
+#include <android/binder_manager.h>
+
+#include "radio_config_utils.h"
+
+#define ASSERT_OK(ret) ASSERT_TRUE(ret.isOk())
+
+void RadioConfigTest::SetUp() {
+    std::string serviceName = GetParam();
+
+    if (!isServiceValidForDeviceConfiguration(serviceName)) {
+        ALOGI("Skipped the test due to device configuration.");
+        GTEST_SKIP();
+    }
+
+    radio_config = IRadioConfig::fromBinder(
+            ndk::SpAIBinder(AServiceManager_waitForService(GetParam().c_str())));
+    ASSERT_NE(nullptr, radio_config.get());
+
+    radioRsp_config = ndk::SharedRefBase::make<RadioConfigResponse>(*this);
+    ASSERT_NE(nullptr, radioRsp_config.get());
+
+    count_ = 0;
+
+    radioInd_config = ndk::SharedRefBase::make<RadioConfigIndication>(*this);
+    ASSERT_NE(nullptr, radioInd_config.get());
+
+    radio_config->setResponseFunctions(radioRsp_config, radioInd_config);
+}
+
+/*
+ * Test IRadioConfig.getHalDeviceCapabilities() for the response returned.
+ */
+TEST_P(RadioConfigTest, getHalDeviceCapabilities) {
+    serial = GetRandomSerialNumber();
+    ndk::ScopedAStatus res = radio_config->getHalDeviceCapabilities(serial);
+    ASSERT_OK(res);
+    ALOGI("getHalDeviceCapabilities, rspInfo.error = %s\n",
+          toString(radioRsp_config->rspInfo.error).c_str());
+}
diff --git a/radio/aidl/vts/radio_config_utils.h b/radio/aidl/vts/radio_config_utils.h
new file mode 100644
index 0000000..465c106
--- /dev/null
+++ b/radio/aidl/vts/radio_config_utils.h
@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/radio/config/BnRadioConfigIndication.h>
+#include <aidl/android/hardware/radio/config/BnRadioConfigResponse.h>
+#include <aidl/android/hardware/radio/config/IRadioConfig.h>
+
+#include "radio_aidl_hal_utils.h"
+
+using namespace aidl::android::hardware::radio::config;
+
+class RadioConfigTest;
+
+/* Callback class for radio config response */
+class RadioConfigResponse : public BnRadioConfigResponse {
+  protected:
+    RadioServiceTest& parent_config;
+
+  public:
+    RadioConfigResponse(RadioServiceTest& parent_config);
+    virtual ~RadioConfigResponse() = default;
+
+    RadioResponseInfo rspInfo;
+    PhoneCapability phoneCap;
+    bool modemReducedFeatureSet1;
+
+    virtual ndk::ScopedAStatus getSimSlotsStatusResponse(
+            const RadioResponseInfo& info, const std::vector<SimSlotStatus>& slotStatus) override;
+
+    virtual ndk::ScopedAStatus setSimSlotsMappingResponse(const RadioResponseInfo& info) override;
+
+    virtual ndk::ScopedAStatus getPhoneCapabilityResponse(
+            const RadioResponseInfo& info, const PhoneCapability& phoneCapability) override;
+
+    virtual ndk::ScopedAStatus setPreferredDataModemResponse(
+            const RadioResponseInfo& info) override;
+
+    virtual ndk::ScopedAStatus getNumOfLiveModemsResponse(const RadioResponseInfo& info,
+                                                          const int8_t numOfLiveModems) override;
+
+    virtual ndk::ScopedAStatus setNumOfLiveModemsResponse(const RadioResponseInfo& info) override;
+
+    virtual ndk::ScopedAStatus getHalDeviceCapabilitiesResponse(
+            const RadioResponseInfo& info, bool modemReducedFeatureSet1) override;
+};
+
+/* Callback class for radio config indication */
+class RadioConfigIndication : public BnRadioConfigIndication {
+  protected:
+    RadioServiceTest& parent_config;
+
+  public:
+    RadioConfigIndication(RadioServiceTest& parent_config);
+    virtual ~RadioConfigIndication() = default;
+
+    virtual ndk::ScopedAStatus simSlotsStatusChanged(
+            RadioIndicationType type, const std::vector<SimSlotStatus>& slotStatus) override;
+};
+
+// The main test class for Radio AIDL Config.
+class RadioConfigTest : public ::testing::TestWithParam<std::string>, public RadioServiceTest {
+  public:
+    virtual void SetUp() override;
+    ndk::ScopedAStatus updateSimCardStatus();
+
+    /* radio config service handle in RadioServiceTest */
+    /* radio config response handle */
+    std::shared_ptr<RadioConfigResponse> radioRsp_config;
+    /* radio config indication handle */
+    std::shared_ptr<RadioConfigIndication> radioInd_config;
+};
diff --git a/radio/aidl/vts/radio_data_indication.cpp b/radio/aidl/vts/radio_data_indication.cpp
index 1e02fe1..4d3c539 100644
--- a/radio/aidl/vts/radio_data_indication.cpp
+++ b/radio/aidl/vts/radio_data_indication.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_data_utils.h"
 
-RadioDataIndication::RadioDataIndication(RadioDataTest& parent) : parent_data(parent) {}
+RadioDataIndication::RadioDataIndication(RadioServiceTest& parent) : parent_data(parent) {}
 
 ndk::ScopedAStatus RadioDataIndication::dataCallListChanged(
         RadioIndicationType /*type*/, const std::vector<SetupDataCallResult>& /*dcList*/) {
diff --git a/radio/aidl/vts/radio_data_response.cpp b/radio/aidl/vts/radio_data_response.cpp
index 682ddfb..9b17bfb 100644
--- a/radio/aidl/vts/radio_data_response.cpp
+++ b/radio/aidl/vts/radio_data_response.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_data_utils.h"
 
-RadioDataResponse::RadioDataResponse(RadioResponseWaiter& parent) : parent_data(parent) {}
+RadioDataResponse::RadioDataResponse(RadioServiceTest& parent) : parent_data(parent) {}
 
 ndk::ScopedAStatus RadioDataResponse::acknowledgeRequest(int32_t /*serial*/) {
     return ndk::ScopedAStatus::ok();
diff --git a/radio/aidl/vts/radio_data_test.cpp b/radio/aidl/vts/radio_data_test.cpp
index dbf0eb7..8547e9d 100644
--- a/radio/aidl/vts/radio_data_test.cpp
+++ b/radio/aidl/vts/radio_data_test.cpp
@@ -14,10 +14,11 @@
  * limitations under the License.
  */
 
+#include <aidl/android/hardware/radio/RadioAccessFamily.h>
 #include <aidl/android/hardware/radio/config/IRadioConfig.h>
+#include <aidl/android/hardware/radio/data/ApnTypes.h>
 #include <android-base/logging.h>
 #include <android/binder_manager.h>
-#include <algorithm>
 
 #include "radio_data_utils.h"
 
@@ -45,12 +46,17 @@
 
     radio_data->setResponseFunctions(radioRsp_data, radioInd_data);
 
+    // Assert IRadioSim exists and SIM is present before testing
+    radio_sim = sim::IRadioSim::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.sim.IRadioSim/slot1")));
+    ASSERT_NE(nullptr, radio_sim.get());
+    updateSimCardStatus();
+    EXPECT_EQ(CardStatus::STATE_PRESENT, cardStatus.cardState);
+
     // Assert IRadioConfig exists before testing
-    std::shared_ptr<aidl::android::hardware::radio::config::IRadioConfig> radioConfig =
-            aidl::android::hardware::radio::config::IRadioConfig::fromBinder(
-                    ndk::SpAIBinder(AServiceManager_waitForService(
-                            "android.hardware.radio.config.IRadioConfig/default")));
-    ASSERT_NE(nullptr, radioConfig.get());
+    radio_config = config::IRadioConfig::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.config.IRadioConfig/default")));
+    ASSERT_NE(nullptr, radio_config.get());
 }
 
 ndk::ScopedAStatus RadioDataTest::getDataCallList() {
@@ -82,10 +88,18 @@
     dataProfileInfo.maxConns = 20;
     dataProfileInfo.waitTime = 0;
     dataProfileInfo.enabled = true;
-    // TODO(b/210712359): 320 was the previous value; need to support bitmaps
-    dataProfileInfo.supportedApnTypesBitmap = ApnTypes::DEFAULT;
-    // TODO(b/210712359): 161543 was the previous value; need to support bitmaps
-    dataProfileInfo.bearerBitmap = RadioAccessFamily::LTE;
+    dataProfileInfo.supportedApnTypesBitmap =
+            static_cast<int32_t>(ApnTypes::IMS) | static_cast<int32_t>(ApnTypes::IA);
+    dataProfileInfo.bearerBitmap = static_cast<int32_t>(RadioAccessFamily::GPRS) |
+                                   static_cast<int32_t>(RadioAccessFamily::EDGE) |
+                                   static_cast<int32_t>(RadioAccessFamily::UMTS) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSDPA) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSUPA) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSPA) |
+                                   static_cast<int32_t>(RadioAccessFamily::EHRPD) |
+                                   static_cast<int32_t>(RadioAccessFamily::LTE) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSPAP) |
+                                   static_cast<int32_t>(RadioAccessFamily::IWLAN);
     dataProfileInfo.mtuV4 = 0;
     dataProfileInfo.mtuV6 = 0;
     dataProfileInfo.preferred = true;
@@ -130,11 +144,8 @@
     TrafficDescriptor trafficDescriptor;
     OsAppId osAppId;
     std::string osAppIdString("osAppId");
-    // TODO(b/210712359): there should be a cleaner way to convert this
-    std::vector<unsigned char> output(osAppIdString.length());
-    std::transform(osAppIdString.begin(), osAppIdString.end(), output.begin(),
-                   [](char c) { return static_cast<unsigned char>(c); });
-    osAppId.osAppId = output;
+    std::vector<unsigned char> osAppIdVec(osAppIdString.begin(), osAppIdString.end());
+    osAppId.osAppId = osAppIdVec;
     trafficDescriptor.osAppId = osAppId;
 
     DataProfileInfo dataProfileInfo;
@@ -151,10 +162,18 @@
     dataProfileInfo.maxConns = 20;
     dataProfileInfo.waitTime = 0;
     dataProfileInfo.enabled = true;
-    // TODO(b/210712359): 320 was the previous value; need to support bitmaps
-    dataProfileInfo.supportedApnTypesBitmap = ApnTypes::DEFAULT;
-    // TODO(b/210712359): 161543 was the previous value; need to support bitmaps
-    dataProfileInfo.bearerBitmap = RadioAccessFamily::LTE;
+    dataProfileInfo.supportedApnTypesBitmap =
+            static_cast<int32_t>(ApnTypes::IMS) | static_cast<int32_t>(ApnTypes::IA);
+    dataProfileInfo.bearerBitmap = static_cast<int32_t>(RadioAccessFamily::GPRS) |
+                                   static_cast<int32_t>(RadioAccessFamily::EDGE) |
+                                   static_cast<int32_t>(RadioAccessFamily::UMTS) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSDPA) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSUPA) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSPA) |
+                                   static_cast<int32_t>(RadioAccessFamily::EHRPD) |
+                                   static_cast<int32_t>(RadioAccessFamily::LTE) |
+                                   static_cast<int32_t>(RadioAccessFamily::HSPAP) |
+                                   static_cast<int32_t>(RadioAccessFamily::IWLAN);
     dataProfileInfo.mtuV4 = 0;
     dataProfileInfo.mtuV6 = 0;
     dataProfileInfo.preferred = true;
diff --git a/radio/aidl/vts/radio_data_utils.h b/radio/aidl/vts/radio_data_utils.h
index ada8ac1..50c7878 100644
--- a/radio/aidl/vts/radio_data_utils.h
+++ b/radio/aidl/vts/radio_data_utils.h
@@ -23,17 +23,16 @@
 #include "radio_aidl_hal_utils.h"
 
 using namespace aidl::android::hardware::radio::data;
-using aidl::android::hardware::radio::sim::CardStatus;
 
 class RadioDataTest;
 
 /* Callback class for radio data response */
 class RadioDataResponse : public BnRadioDataResponse {
   protected:
-    RadioResponseWaiter& parent_data;
+    RadioServiceTest& parent_data;
 
   public:
-    RadioDataResponse(RadioResponseWaiter& parent_data);
+    RadioDataResponse(RadioServiceTest& parent_data);
     virtual ~RadioDataResponse() = default;
 
     RadioResponseInfo rspInfo;
@@ -80,10 +79,10 @@
 /* Callback class for radio data indication */
 class RadioDataIndication : public BnRadioDataIndication {
   protected:
-    RadioDataTest& parent_data;
+    RadioServiceTest& parent_data;
 
   public:
-    RadioDataIndication(RadioDataTest& parent_data);
+    RadioDataIndication(RadioServiceTest& parent_data);
     virtual ~RadioDataIndication() = default;
 
     virtual ndk::ScopedAStatus dataCallListChanged(
@@ -99,7 +98,7 @@
 };
 
 // The main test class for Radio AIDL Data.
-class RadioDataTest : public ::testing::TestWithParam<std::string>, public RadioResponseWaiter {
+class RadioDataTest : public ::testing::TestWithParam<std::string>, public RadioServiceTest {
   protected:
     /* Get current data call list */
     ndk::ScopedAStatus getDataCallList();
diff --git a/radio/aidl/vts/radio_messaging_indication.cpp b/radio/aidl/vts/radio_messaging_indication.cpp
index 7eeb266..c69611f 100644
--- a/radio/aidl/vts/radio_messaging_indication.cpp
+++ b/radio/aidl/vts/radio_messaging_indication.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_messaging_utils.h"
 
-RadioMessagingIndication::RadioMessagingIndication(RadioMessagingTest& parent)
+RadioMessagingIndication::RadioMessagingIndication(RadioServiceTest& parent)
     : parent_messaging(parent) {}
 
 ndk::ScopedAStatus RadioMessagingIndication::cdmaNewSms(RadioIndicationType /*type*/,
diff --git a/radio/aidl/vts/radio_messaging_response.cpp b/radio/aidl/vts/radio_messaging_response.cpp
index d73278f..718df7e 100644
--- a/radio/aidl/vts/radio_messaging_response.cpp
+++ b/radio/aidl/vts/radio_messaging_response.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_messaging_utils.h"
 
-RadioMessagingResponse::RadioMessagingResponse(RadioResponseWaiter& parent)
+RadioMessagingResponse::RadioMessagingResponse(RadioServiceTest& parent)
     : parent_messaging(parent) {}
 
 ndk::ScopedAStatus RadioMessagingResponse::acknowledgeIncomingGsmSmsWithPduResponse(
diff --git a/radio/aidl/vts/radio_messaging_test.cpp b/radio/aidl/vts/radio_messaging_test.cpp
index 58aeaab..8abd91d 100644
--- a/radio/aidl/vts/radio_messaging_test.cpp
+++ b/radio/aidl/vts/radio_messaging_test.cpp
@@ -44,12 +44,17 @@
 
     radio_messaging->setResponseFunctions(radioRsp_messaging, radioInd_messaging);
 
+    // Assert IRadioSim exists and SIM is present before testing
+    radio_sim = sim::IRadioSim::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.sim.IRadioSim/slot1")));
+    ASSERT_NE(nullptr, radio_sim.get());
+    updateSimCardStatus();
+    EXPECT_EQ(CardStatus::STATE_PRESENT, cardStatus.cardState);
+
     // Assert IRadioConfig exists before testing
-    std::shared_ptr<aidl::android::hardware::radio::config::IRadioConfig> radioConfig =
-            aidl::android::hardware::radio::config::IRadioConfig::fromBinder(
-                    ndk::SpAIBinder(AServiceManager_waitForService(
-                            "android.hardware.radio.config.IRadioConfig/default")));
-    ASSERT_NE(nullptr, radioConfig.get());
+    radio_config = config::IRadioConfig::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.config.IRadioConfig/default")));
+    ASSERT_NE(nullptr, radio_config.get());
 }
 
 /*
diff --git a/radio/aidl/vts/radio_messaging_utils.h b/radio/aidl/vts/radio_messaging_utils.h
index 96cde08..7bb99cd 100644
--- a/radio/aidl/vts/radio_messaging_utils.h
+++ b/radio/aidl/vts/radio_messaging_utils.h
@@ -29,10 +29,10 @@
 /* Callback class for radio messaging response */
 class RadioMessagingResponse : public BnRadioMessagingResponse {
   protected:
-    RadioResponseWaiter& parent_messaging;
+    RadioServiceTest& parent_messaging;
 
   public:
-    RadioMessagingResponse(RadioResponseWaiter& parent_messaging);
+    RadioMessagingResponse(RadioServiceTest& parent_messaging);
     virtual ~RadioMessagingResponse() = default;
 
     RadioResponseInfo rspInfo;
@@ -110,10 +110,10 @@
 /* Callback class for radio messaging indication */
 class RadioMessagingIndication : public BnRadioMessagingIndication {
   protected:
-    RadioMessagingTest& parent_messaging;
+    RadioServiceTest& parent_messaging;
 
   public:
-    RadioMessagingIndication(RadioMessagingTest& parent_messaging);
+    RadioMessagingIndication(RadioServiceTest& parent_messaging);
     virtual ~RadioMessagingIndication() = default;
 
     virtual ndk::ScopedAStatus cdmaNewSms(RadioIndicationType type,
@@ -139,8 +139,7 @@
 };
 
 // The main test class for Radio AIDL Messaging.
-class RadioMessagingTest : public ::testing::TestWithParam<std::string>,
-                           public RadioResponseWaiter {
+class RadioMessagingTest : public ::testing::TestWithParam<std::string>, public RadioServiceTest {
   public:
     virtual void SetUp() override;
 
diff --git a/radio/aidl/vts/radio_modem_indication.cpp b/radio/aidl/vts/radio_modem_indication.cpp
index 17f37a8..0bfcd66 100644
--- a/radio/aidl/vts/radio_modem_indication.cpp
+++ b/radio/aidl/vts/radio_modem_indication.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_modem_utils.h"
 
-RadioModemIndication::RadioModemIndication(RadioModemTest& parent) : parent_modem(parent) {}
+RadioModemIndication::RadioModemIndication(RadioServiceTest& parent) : parent_modem(parent) {}
 
 ndk::ScopedAStatus RadioModemIndication::hardwareConfigChanged(
         RadioIndicationType /*type*/, const std::vector<HardwareConfig>& /*configs*/) {
diff --git a/radio/aidl/vts/radio_modem_response.cpp b/radio/aidl/vts/radio_modem_response.cpp
index 7ac590f..53bfab4 100644
--- a/radio/aidl/vts/radio_modem_response.cpp
+++ b/radio/aidl/vts/radio_modem_response.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_modem_utils.h"
 
-RadioModemResponse::RadioModemResponse(RadioResponseWaiter& parent) : parent_modem(parent) {}
+RadioModemResponse::RadioModemResponse(RadioServiceTest& parent) : parent_modem(parent) {}
 
 ndk::ScopedAStatus RadioModemResponse::acknowledgeRequest(int32_t /*serial*/) {
     return ndk::ScopedAStatus::ok();
diff --git a/radio/aidl/vts/radio_modem_test.cpp b/radio/aidl/vts/radio_modem_test.cpp
index 406927f..b40bb7b 100644
--- a/radio/aidl/vts/radio_modem_test.cpp
+++ b/radio/aidl/vts/radio_modem_test.cpp
@@ -44,12 +44,17 @@
 
     radio_modem->setResponseFunctions(radioRsp_modem, radioInd_modem);
 
+    // Assert IRadioSim exists and SIM is present before testing
+    radio_sim = sim::IRadioSim::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.sim.IRadioSim/slot1")));
+    ASSERT_NE(nullptr, radio_sim.get());
+    updateSimCardStatus();
+    EXPECT_EQ(CardStatus::STATE_PRESENT, cardStatus.cardState);
+
     // Assert IRadioConfig exists before testing
-    std::shared_ptr<aidl::android::hardware::radio::config::IRadioConfig> radioConfig =
-            aidl::android::hardware::radio::config::IRadioConfig::fromBinder(
-                    ndk::SpAIBinder(AServiceManager_waitForService(
-                            "android.hardware.radio.config.IRadioConfig/default")));
-    ASSERT_NE(nullptr, radioConfig.get());
+    radio_config = config::IRadioConfig::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.config.IRadioConfig/default")));
+    ASSERT_NE(nullptr, radio_config.get());
 }
 
 /*
diff --git a/radio/aidl/vts/radio_modem_utils.h b/radio/aidl/vts/radio_modem_utils.h
index cd9a30d..8779e0c 100644
--- a/radio/aidl/vts/radio_modem_utils.h
+++ b/radio/aidl/vts/radio_modem_utils.h
@@ -22,7 +22,6 @@
 
 #include "radio_aidl_hal_utils.h"
 
-using namespace aidl::android::hardware::radio::config;
 using namespace aidl::android::hardware::radio::modem;
 
 class RadioModemTest;
@@ -30,10 +29,10 @@
 /* Callback class for radio modem response */
 class RadioModemResponse : public BnRadioModemResponse {
   protected:
-    RadioResponseWaiter& parent_modem;
+    RadioServiceTest& parent_modem;
 
   public:
-    RadioModemResponse(RadioResponseWaiter& parent_modem);
+    RadioModemResponse(RadioServiceTest& parent_modem);
     virtual ~RadioModemResponse() = default;
 
     RadioResponseInfo rspInfo;
@@ -87,10 +86,10 @@
 /* Callback class for radio modem indication */
 class RadioModemIndication : public BnRadioModemIndication {
   protected:
-    RadioModemTest& parent_modem;
+    RadioServiceTest& parent_modem;
 
   public:
-    RadioModemIndication(RadioModemTest& parent_modem);
+    RadioModemIndication(RadioServiceTest& parent_modem);
     virtual ~RadioModemIndication() = default;
 
     virtual ndk::ScopedAStatus hardwareConfigChanged(
@@ -109,7 +108,7 @@
 };
 
 // The main test class for Radio AIDL Modem.
-class RadioModemTest : public ::testing::TestWithParam<std::string>, public RadioResponseWaiter {
+class RadioModemTest : public ::testing::TestWithParam<std::string>, public RadioServiceTest {
   public:
     virtual void SetUp() override;
 
diff --git a/radio/aidl/vts/radio_network_indication.cpp b/radio/aidl/vts/radio_network_indication.cpp
index 7bed759..7acbff4 100644
--- a/radio/aidl/vts/radio_network_indication.cpp
+++ b/radio/aidl/vts/radio_network_indication.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_network_utils.h"
 
-RadioNetworkIndication::RadioNetworkIndication(RadioNetworkTest& parent) : parent_network(parent) {}
+RadioNetworkIndication::RadioNetworkIndication(RadioServiceTest& parent) : parent_network(parent) {}
 
 ndk::ScopedAStatus RadioNetworkIndication::barringInfoChanged(
         RadioIndicationType /*type*/, const CellIdentity& /*cellIdentity*/,
@@ -72,7 +72,7 @@
 ndk::ScopedAStatus RadioNetworkIndication::registrationFailed(RadioIndicationType /*type*/,
                                                               const CellIdentity& /*cellIdentity*/,
                                                               const std::string& /*chosenPlmn*/,
-                                                              Domain /*domain*/,
+                                                              int32_t /*domain*/,
                                                               int32_t /*causeCode*/,
                                                               int32_t /*additionalCauseCode*/) {
     return ndk::ScopedAStatus::ok();
diff --git a/radio/aidl/vts/radio_network_response.cpp b/radio/aidl/vts/radio_network_response.cpp
index b242341..ccae0f3 100644
--- a/radio/aidl/vts/radio_network_response.cpp
+++ b/radio/aidl/vts/radio_network_response.cpp
@@ -16,14 +16,14 @@
 
 #include "radio_network_utils.h"
 
-RadioNetworkResponse::RadioNetworkResponse(RadioResponseWaiter& parent) : parent_network(parent) {}
+RadioNetworkResponse::RadioNetworkResponse(RadioServiceTest& parent) : parent_network(parent) {}
 
 ndk::ScopedAStatus RadioNetworkResponse::acknowledgeRequest(int32_t /*serial*/) {
     return ndk::ScopedAStatus::ok();
 }
 
 ndk::ScopedAStatus RadioNetworkResponse::getAllowedNetworkTypesBitmapResponse(
-        const RadioResponseInfo& info, const RadioAccessFamily networkTypeBitmap) {
+        const RadioResponseInfo& info, const int32_t networkTypeBitmap) {
     rspInfo = info;
     networkTypeBitmapResponse = networkTypeBitmap;
     parent_network.notify(info.serial);
@@ -112,7 +112,7 @@
 ndk::ScopedAStatus RadioNetworkResponse::getVoiceRegistrationStateResponse(
         const RadioResponseInfo& info, const RegStateResult& regResponse) {
     rspInfo = info;
-    regStateResp.regState = regResponse.regState;
+    voiceRegResp.regState = regResponse.regState;
     parent_network.notify(info.serial);
     return ndk::ScopedAStatus::ok();
 }
diff --git a/radio/aidl/vts/radio_network_test.cpp b/radio/aidl/vts/radio_network_test.cpp
index 1cdbb6d..93c4c35 100644
--- a/radio/aidl/vts/radio_network_test.cpp
+++ b/radio/aidl/vts/radio_network_test.cpp
@@ -14,6 +14,7 @@
  * limitations under the License.
  */
 
+#include <aidl/android/hardware/radio/RadioAccessFamily.h>
 #include <aidl/android/hardware/radio/config/IRadioConfig.h>
 #include <android-base/logging.h>
 #include <android/binder_manager.h>
@@ -44,12 +45,17 @@
 
     radio_network->setResponseFunctions(radioRsp_network, radioInd_network);
 
+    // Assert IRadioSim exists and SIM is present before testing
+    radio_sim = sim::IRadioSim::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.sim.IRadioSim/slot1")));
+    ASSERT_NE(nullptr, radio_sim.get());
+    updateSimCardStatus();
+    EXPECT_EQ(CardStatus::STATE_PRESENT, cardStatus.cardState);
+
     // Assert IRadioConfig exists before testing
-    std::shared_ptr<aidl::android::hardware::radio::config::IRadioConfig> radioConfig =
-            aidl::android::hardware::radio::config::IRadioConfig::fromBinder(
-                    ndk::SpAIBinder(AServiceManager_waitForService(
-                            "android.hardware.radio.config.IRadioConfig/default")));
-    ASSERT_NE(nullptr, radioConfig.get());
+    radio_config = config::IRadioConfig::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.config.IRadioConfig/default")));
+    ASSERT_NE(nullptr, radio_config.get());
 }
 
 /*
@@ -57,7 +63,7 @@
  */
 TEST_P(RadioNetworkTest, setAllowedNetworkTypesBitmap) {
     serial = GetRandomSerialNumber();
-    RadioAccessFamily allowedNetworkTypesBitmap = RadioAccessFamily::LTE;
+    int32_t allowedNetworkTypesBitmap = static_cast<int32_t>(RadioAccessFamily::LTE);
 
     radio_network->setAllowedNetworkTypesBitmap(serial, allowedNetworkTypesBitmap);
 
@@ -77,7 +83,7 @@
  */
 TEST_P(RadioNetworkTest, getAllowedNetworkTypesBitmap) {
     serial = GetRandomSerialNumber();
-    RadioAccessFamily allowedNetworkTypesBitmap = RadioAccessFamily::LTE;
+    int32_t allowedNetworkTypesBitmap = static_cast<int32_t>(RadioAccessFamily::LTE);
 
     radio_network->setAllowedNetworkTypesBitmap(serial, allowedNetworkTypesBitmap);
 
diff --git a/radio/aidl/vts/radio_network_utils.h b/radio/aidl/vts/radio_network_utils.h
index caa1ecc..9f76769 100644
--- a/radio/aidl/vts/radio_network_utils.h
+++ b/radio/aidl/vts/radio_network_utils.h
@@ -29,18 +29,18 @@
 /* Callback class for radio network response */
 class RadioNetworkResponse : public BnRadioNetworkResponse {
   protected:
-    RadioResponseWaiter& parent_network;
+    RadioServiceTest& parent_network;
 
   public:
-    RadioNetworkResponse(RadioResponseWaiter& parent_network);
+    RadioNetworkResponse(RadioServiceTest& parent_network);
     virtual ~RadioNetworkResponse() = default;
 
     RadioResponseInfo rspInfo;
     std::vector<RadioBandMode> radioBandModes;
     std::vector<OperatorInfo> networkInfos;
     bool isNrDualConnectivityEnabled;
-    RadioAccessFamily networkTypeBitmapResponse;
-    RegStateResult regStateResp;
+    int networkTypeBitmapResponse;
+    RegStateResult voiceRegResp;
     CellIdentity barringCellIdentity;
     std::vector<BarringInfo> barringInfos;
     UsageSetting usageSetting;
@@ -48,7 +48,7 @@
     virtual ndk::ScopedAStatus acknowledgeRequest(int32_t serial) override;
 
     virtual ndk::ScopedAStatus getAllowedNetworkTypesBitmapResponse(
-            const RadioResponseInfo& info, const RadioAccessFamily networkTypeBitmap) override;
+            const RadioResponseInfo& info, const int32_t networkTypeBitmap) override;
 
     virtual ndk::ScopedAStatus getAvailableBandModesResponse(
             const RadioResponseInfo& info, const std::vector<RadioBandMode>& bandModes) override;
@@ -150,10 +150,10 @@
 /* Callback class for radio network indication */
 class RadioNetworkIndication : public BnRadioNetworkIndication {
   protected:
-    RadioNetworkTest& parent_network;
+    RadioServiceTest& parent_network;
 
   public:
-    RadioNetworkIndication(RadioNetworkTest& parent_network);
+    RadioNetworkIndication(RadioServiceTest& parent_network);
     virtual ~RadioNetworkIndication() = default;
 
     virtual ndk::ScopedAStatus barringInfoChanged(
@@ -187,7 +187,7 @@
 
     virtual ndk::ScopedAStatus registrationFailed(RadioIndicationType type,
                                                   const CellIdentity& cellIdentity,
-                                                  const std::string& chosenPlmn, Domain domain,
+                                                  const std::string& chosenPlmn, int32_t domain,
                                                   int32_t causeCode,
                                                   int32_t additionalCauseCode) override;
 
@@ -202,7 +202,7 @@
 };
 
 // The main test class for Radio AIDL Network.
-class RadioNetworkTest : public ::testing::TestWithParam<std::string>, public RadioResponseWaiter {
+class RadioNetworkTest : public ::testing::TestWithParam<std::string>, public RadioServiceTest {
   public:
     virtual void SetUp() override;
 
diff --git a/radio/aidl/vts/radio_sim_indication.cpp b/radio/aidl/vts/radio_sim_indication.cpp
index 0385845..c03d947 100644
--- a/radio/aidl/vts/radio_sim_indication.cpp
+++ b/radio/aidl/vts/radio_sim_indication.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_sim_utils.h"
 
-RadioSimIndication::RadioSimIndication(RadioSimTest& parent) : parent_sim(parent) {}
+RadioSimIndication::RadioSimIndication(RadioServiceTest& parent) : parent_sim(parent) {}
 
 ndk::ScopedAStatus RadioSimIndication::carrierInfoForImsiEncryption(RadioIndicationType /*info*/) {
     return ndk::ScopedAStatus::ok();
diff --git a/radio/aidl/vts/radio_sim_response.cpp b/radio/aidl/vts/radio_sim_response.cpp
index 2c796fa..a783f43 100644
--- a/radio/aidl/vts/radio_sim_response.cpp
+++ b/radio/aidl/vts/radio_sim_response.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_sim_utils.h"
 
-RadioSimResponse::RadioSimResponse(RadioResponseWaiter& parent) : parent_sim(parent) {}
+RadioSimResponse::RadioSimResponse(RadioServiceTest& parent) : parent_sim(parent) {}
 
 ndk::ScopedAStatus RadioSimResponse::acknowledgeRequest(int32_t /*serial*/) {
     return ndk::ScopedAStatus::ok();
diff --git a/radio/aidl/vts/radio_sim_test.cpp b/radio/aidl/vts/radio_sim_test.cpp
index c70219f..5db77f6 100644
--- a/radio/aidl/vts/radio_sim_test.cpp
+++ b/radio/aidl/vts/radio_sim_test.cpp
@@ -43,20 +43,23 @@
     ASSERT_NE(nullptr, radioInd_sim.get());
 
     radio_sim->setResponseFunctions(radioRsp_sim, radioInd_sim);
+    // Assert SIM is present before testing
+    updateSimCardStatus();
+    EXPECT_EQ(CardStatus::STATE_PRESENT, cardStatus.cardState);
 
     // Assert IRadioConfig exists before testing
-    std::shared_ptr<aidl::android::hardware::radio::config::IRadioConfig> radioConfig =
-            aidl::android::hardware::radio::config::IRadioConfig::fromBinder(
-                    ndk::SpAIBinder(AServiceManager_waitForService(
-                            "android.hardware.radio.config.IRadioConfig/default")));
-    ASSERT_NE(nullptr, radioConfig.get());
+    radio_config = config::IRadioConfig::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.config.IRadioConfig/default")));
+    ASSERT_NE(nullptr, radio_config.get());
 }
 
-ndk::ScopedAStatus RadioSimTest::updateSimCardStatus() {
+void RadioSimTest::updateSimCardStatus() {
     serial = GetRandomSerialNumber();
     radio_sim->getIccCardStatus(serial);
     EXPECT_EQ(std::cv_status::no_timeout, wait());
-    return ndk::ScopedAStatus::ok();
+    EXPECT_EQ(RadioResponseType::SOLICITED, radioRsp_sim->rspInfo.type);
+    EXPECT_EQ(serial, radioRsp_sim->rspInfo.serial);
+    EXPECT_EQ(RadioError::NONE, radioRsp_sim->rspInfo.error);
 }
 
 /*
diff --git a/radio/aidl/vts/radio_sim_utils.h b/radio/aidl/vts/radio_sim_utils.h
index 6cb6790..b5e365d 100644
--- a/radio/aidl/vts/radio_sim_utils.h
+++ b/radio/aidl/vts/radio_sim_utils.h
@@ -29,10 +29,10 @@
 /* Callback class for radio SIM response */
 class RadioSimResponse : public BnRadioSimResponse {
   protected:
-    RadioResponseWaiter& parent_sim;
+    RadioServiceTest& parent_sim;
 
   public:
-    RadioSimResponse(RadioResponseWaiter& parent_sim);
+    RadioSimResponse(RadioServiceTest& parent_sim);
     virtual ~RadioSimResponse() = default;
 
     RadioResponseInfo rspInfo;
@@ -152,10 +152,10 @@
 /* Callback class for radio SIM indication */
 class RadioSimIndication : public BnRadioSimIndication {
   protected:
-    RadioSimTest& parent_sim;
+    RadioServiceTest& parent_sim;
 
   public:
-    RadioSimIndication(RadioSimTest& parent_sim);
+    RadioSimIndication(RadioServiceTest& parent_sim);
     virtual ~RadioSimIndication() = default;
 
     virtual ndk::ScopedAStatus carrierInfoForImsiEncryption(RadioIndicationType info) override;
@@ -190,16 +190,14 @@
 };
 
 // The main test class for Radio AIDL SIM.
-class RadioSimTest : public ::testing::TestWithParam<std::string>, public RadioResponseWaiter {
-  protected:
-    /* Update Sim Card Status */
-    virtual ndk::ScopedAStatus updateSimCardStatus();
-
+class RadioSimTest : public ::testing::TestWithParam<std::string>, public RadioServiceTest {
   public:
     virtual void SetUp() override;
 
-    /* radio SIM service handle */
-    std::shared_ptr<IRadioSim> radio_sim;
+    /* Override updateSimCardStatus in RadioServiceTest to not call setResponseFunctions */
+    void updateSimCardStatus();
+
+    /* radio SIM service handle in RadioServiceTest */
     /* radio SIM response handle */
     std::shared_ptr<RadioSimResponse> radioRsp_sim;
     /* radio SIM indication handle */
diff --git a/radio/aidl/vts/radio_voice_indication.cpp b/radio/aidl/vts/radio_voice_indication.cpp
index 2c46817..d814c18 100644
--- a/radio/aidl/vts/radio_voice_indication.cpp
+++ b/radio/aidl/vts/radio_voice_indication.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_voice_utils.h"
 
-RadioVoiceIndication::RadioVoiceIndication(RadioVoiceTest& parent) : parent_voice(parent) {}
+RadioVoiceIndication::RadioVoiceIndication(RadioServiceTest& parent) : parent_voice(parent) {}
 
 ndk::ScopedAStatus RadioVoiceIndication::callRing(RadioIndicationType /*type*/, bool /*isGsm*/,
                                                   const CdmaSignalInfoRecord& /*record*/) {
diff --git a/radio/aidl/vts/radio_voice_response.cpp b/radio/aidl/vts/radio_voice_response.cpp
index ca350c6..a491613 100644
--- a/radio/aidl/vts/radio_voice_response.cpp
+++ b/radio/aidl/vts/radio_voice_response.cpp
@@ -16,7 +16,7 @@
 
 #include "radio_voice_utils.h"
 
-RadioVoiceResponse::RadioVoiceResponse(RadioResponseWaiter& parent) : parent_voice(parent) {}
+RadioVoiceResponse::RadioVoiceResponse(RadioServiceTest& parent) : parent_voice(parent) {}
 
 ndk::ScopedAStatus RadioVoiceResponse::acceptCallResponse(const RadioResponseInfo& /*info*/) {
     return ndk::ScopedAStatus::ok();
diff --git a/radio/aidl/vts/radio_voice_test.cpp b/radio/aidl/vts/radio_voice_test.cpp
index 201f14c..717f3f0 100644
--- a/radio/aidl/vts/radio_voice_test.cpp
+++ b/radio/aidl/vts/radio_voice_test.cpp
@@ -15,6 +15,7 @@
  */
 
 #include <aidl/android/hardware/radio/config/IRadioConfig.h>
+#include <aidl/android/hardware/radio/voice/EmergencyServiceCategory.h>
 #include <android-base/logging.h>
 #include <android/binder_manager.h>
 
@@ -44,12 +45,26 @@
 
     radio_voice->setResponseFunctions(radioRsp_voice, radioInd_voice);
 
+    // Assert IRadioSim exists and SIM is present before testing
+    radio_sim = sim::IRadioSim::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.sim.IRadioSim/slot1")));
+    ASSERT_NE(nullptr, radio_sim.get());
+    updateSimCardStatus();
+    EXPECT_EQ(CardStatus::STATE_PRESENT, cardStatus.cardState);
+
     // Assert IRadioConfig exists before testing
-    std::shared_ptr<aidl::android::hardware::radio::config::IRadioConfig> radioConfig =
-            aidl::android::hardware::radio::config::IRadioConfig::fromBinder(
-                    ndk::SpAIBinder(AServiceManager_waitForService(
-                            "android.hardware.radio.config.IRadioConfig/default")));
-    ASSERT_NE(nullptr, radioConfig.get());
+    radio_config = config::IRadioConfig::fromBinder(ndk::SpAIBinder(
+            AServiceManager_waitForService("android.hardware.radio.config.IRadioConfig/default")));
+    ASSERT_NE(nullptr, radio_config.get());
+
+    if (isDsDsEnabled() || isTsTsEnabled()) {
+        radio_network = IRadioNetwork::fromBinder(ndk::SpAIBinder(AServiceManager_waitForService(
+                "android.hardware.radio.network.IRadioNetwork/slot1")));
+        ASSERT_NE(nullptr, radio_network.get());
+        radioRsp_network = ndk::SharedRefBase::make<RadioNetworkResponse>(*this);
+        radioInd_network = ndk::SharedRefBase::make<RadioNetworkIndication>(*this);
+        radio_network->setResponseFunctions(radioRsp_network, radioInd_network);
+    }
 }
 
 ndk::ScopedAStatus RadioVoiceTest::clearPotentialEstablishedCalls() {
@@ -95,7 +110,7 @@
 
     Dial dialInfo;
     dialInfo.address = std::string("911");
-    EmergencyServiceCategory categories = EmergencyServiceCategory::UNSPECIFIED;
+    int32_t categories = static_cast<int32_t>(EmergencyServiceCategory::UNSPECIFIED);
     std::vector<std::string> urns = {""};
     EmergencyCallRouting routing = EmergencyCallRouting::UNKNOWN;
 
@@ -112,16 +127,13 @@
     // In DSDS or TSTS, we only check the result if the current slot is IN_SERVICE
     // or Emergency_Only.
     if (isDsDsEnabled() || isTsTsEnabled()) {
-        // TODO(b/210712359): maybe create a local RadioNetwork instance
-        /**
         serial = GetRandomSerialNumber();
-        radio_v1_6->getVoiceRegistrationState(serial);
+        radio_network->getVoiceRegistrationState(serial);
         EXPECT_EQ(std::cv_status::no_timeout, wait());
-        if (isVoiceEmergencyOnly(radioRsp_v1_6->voiceRegResp.regState) ||
-            isVoiceInService(radioRsp_v1_6->voiceRegResp.regState)) {
+        if (isVoiceEmergencyOnly(radioRsp_network->voiceRegResp.regState) ||
+            isVoiceInService(radioRsp_network->voiceRegResp.regState)) {
             EXPECT_EQ(RadioError::NONE, rspEmergencyDial);
         }
-        **/
     } else {
         EXPECT_EQ(RadioError::NONE, rspEmergencyDial);
     }
@@ -152,7 +164,7 @@
 
     Dial dialInfo;
     dialInfo.address = std::string("911");
-    EmergencyServiceCategory categories = EmergencyServiceCategory::AMBULANCE;
+    int32_t categories = static_cast<int32_t>(EmergencyServiceCategory::AMBULANCE);
     std::vector<std::string> urns = {"urn:service:sos.ambulance"};
     EmergencyCallRouting routing = EmergencyCallRouting::UNKNOWN;
 
@@ -170,16 +182,13 @@
     // In DSDS or TSTS, we only check the result if the current slot is IN_SERVICE
     // or Emergency_Only.
     if (isDsDsEnabled() || isTsTsEnabled()) {
-        // TODO(b/210712359): maybe create a local RadioNetwork instance
-        /**
         serial = GetRandomSerialNumber();
-        radio_v1_6->getVoiceRegistrationState_1_6(serial);
+        radio_network->getVoiceRegistrationState(serial);
         EXPECT_EQ(std::cv_status::no_timeout, wait());
-        if (isVoiceEmergencyOnly(radioRsp_v1_6->voiceRegResp.regState) ||
-            isVoiceInService(radioRsp_v1_6->voiceRegResp.regState)) {
+        if (isVoiceEmergencyOnly(radioRsp_network->voiceRegResp.regState) ||
+            isVoiceInService(radioRsp_network->voiceRegResp.regState)) {
             EXPECT_EQ(RadioError::NONE, rspEmergencyDial);
         }
-        **/
     } else {
         EXPECT_EQ(RadioError::NONE, rspEmergencyDial);
     }
@@ -209,7 +218,7 @@
 
     Dial dialInfo;
     dialInfo.address = std::string("911");
-    EmergencyServiceCategory categories = EmergencyServiceCategory::UNSPECIFIED;
+    int32_t categories = static_cast<int32_t>(EmergencyServiceCategory::UNSPECIFIED);
     std::vector<std::string> urns = {""};
     EmergencyCallRouting routing = EmergencyCallRouting::EMERGENCY;
 
@@ -227,16 +236,13 @@
     // In DSDS or TSTS, we only check the result if the current slot is IN_SERVICE
     // or Emergency_Only.
     if (isDsDsEnabled() || isTsTsEnabled()) {
-        // TODO(b/210712359): maybe create a local RadioNetwork instance
-        /**
         serial = GetRandomSerialNumber();
-        radio_v1_6->getVoiceRegistrationState_1_6(serial);
+        radio_network->getVoiceRegistrationState(serial);
         EXPECT_EQ(std::cv_status::no_timeout, wait());
-        if (isVoiceEmergencyOnly(radioRsp_v1_6->voiceRegResp.regState) ||
-            isVoiceInService(radioRsp_v1_6->voiceRegResp.regState)) {
+        if (isVoiceEmergencyOnly(radioRsp_network->voiceRegResp.regState) ||
+            isVoiceInService(radioRsp_network->voiceRegResp.regState)) {
             EXPECT_EQ(RadioError::NONE, rspEmergencyDial);
         }
-        **/
     } else {
         EXPECT_EQ(RadioError::NONE, rspEmergencyDial);
     }
diff --git a/radio/aidl/vts/radio_voice_utils.h b/radio/aidl/vts/radio_voice_utils.h
index a676a7f..d61bf1e 100644
--- a/radio/aidl/vts/radio_voice_utils.h
+++ b/radio/aidl/vts/radio_voice_utils.h
@@ -21,6 +21,7 @@
 #include <aidl/android/hardware/radio/voice/IRadioVoice.h>
 
 #include "radio_aidl_hal_utils.h"
+#include "radio_network_utils.h"
 
 using namespace aidl::android::hardware::radio::voice;
 
@@ -29,10 +30,10 @@
 /* Callback class for radio voice response */
 class RadioVoiceResponse : public BnRadioVoiceResponse {
   protected:
-    RadioResponseWaiter& parent_voice;
+    RadioServiceTest& parent_voice;
 
   public:
-    RadioVoiceResponse(RadioResponseWaiter& parent_voice);
+    RadioVoiceResponse(RadioServiceTest& parent_voice);
     virtual ~RadioVoiceResponse() = default;
 
     RadioResponseInfo rspInfo;
@@ -130,10 +131,10 @@
 /* Callback class for radio voice indication */
 class RadioVoiceIndication : public BnRadioVoiceIndication {
   protected:
-    RadioVoiceTest& parent_voice;
+    RadioServiceTest& parent_voice;
 
   public:
-    RadioVoiceIndication(RadioVoiceTest& parent_voice);
+    RadioVoiceIndication(RadioServiceTest& parent_voice);
     virtual ~RadioVoiceIndication() = default;
 
     virtual ndk::ScopedAStatus callRing(RadioIndicationType type, bool isGsm,
@@ -175,10 +176,13 @@
 };
 
 // The main test class for Radio AIDL Voice.
-class RadioVoiceTest : public ::testing::TestWithParam<std::string>, public RadioResponseWaiter {
+class RadioVoiceTest : public ::testing::TestWithParam<std::string>, public RadioServiceTest {
   protected:
     /* Clear Potential Established Calls */
     virtual ndk::ScopedAStatus clearPotentialEstablishedCalls();
+    std::shared_ptr<network::IRadioNetwork> radio_network;
+    std::shared_ptr<RadioNetworkResponse> radioRsp_network;
+    std::shared_ptr<RadioNetworkIndication> radioInd_network;
 
   public:
     virtual void SetUp() override;
diff --git a/security/keymint/aidl/vts/functional/KeyMintAidlTestBase.cpp b/security/keymint/aidl/vts/functional/KeyMintAidlTestBase.cpp
index 3695f1e..02462fc 100644
--- a/security/keymint/aidl/vts/functional/KeyMintAidlTestBase.cpp
+++ b/security/keymint/aidl/vts/functional/KeyMintAidlTestBase.cpp
@@ -537,6 +537,9 @@
     Status result;
     if (!output) return ErrorCode::UNEXPECTED_NULL_POINTER;
 
+    EXPECT_NE(op_, nullptr);
+    if (!op_) return ErrorCode::UNEXPECTED_NULL_POINTER;
+
     std::vector<uint8_t> o_put;
     result = op_->update(vector<uint8_t>(input.begin(), input.end()), {}, {}, &o_put);
 
diff --git a/sensors/aidl/Android.bp b/sensors/aidl/Android.bp
new file mode 100644
index 0000000..fd1ac44
--- /dev/null
+++ b/sensors/aidl/Android.bp
@@ -0,0 +1,25 @@
+// This is the expected build file, but it may not be right in all cases
+
+aidl_interface {
+    name: "android.hardware.sensors",
+    vendor_available: true,
+    srcs: ["android/hardware/sensors/*.aidl"],
+    imports: [
+        "android.hardware.common-V2",
+        "android.hardware.common.fmq-V1",
+    ],
+    stability: "vintf",
+    backend: {
+        cpp: {
+            enabled: false,
+        },
+        java: {
+            enabled: false,
+        },
+        ndk: {
+            vndk: {
+                enabled: true,
+            },
+        },
+    },
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/AdditionalInfo.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/AdditionalInfo.aidl
new file mode 100644
index 0000000..5184723
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/AdditionalInfo.aidl
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@FixedSize @VintfStability
+parcelable AdditionalInfo {
+  android.hardware.sensors.AdditionalInfo.AdditionalInfoType type;
+  int serial;
+  android.hardware.sensors.AdditionalInfo.AdditionalInfoPayload payload;
+  @FixedSize @VintfStability
+  union AdditionalInfoPayload {
+    android.hardware.sensors.AdditionalInfo.AdditionalInfoPayload.Int32Values dataInt32;
+    android.hardware.sensors.AdditionalInfo.AdditionalInfoPayload.FloatValues dataFloat;
+    @FixedSize @VintfStability
+    parcelable Int32Values {
+      int[14] values;
+    }
+    @FixedSize @VintfStability
+    parcelable FloatValues {
+      float[14] values;
+    }
+  }
+  @Backing(type="int") @VintfStability
+  enum AdditionalInfoType {
+    AINFO_BEGIN = 0,
+    AINFO_END = 1,
+    AINFO_UNTRACKED_DELAY = 65536,
+    AINFO_INTERNAL_TEMPERATURE = 65537,
+    AINFO_VEC3_CALIBRATION = 65538,
+    AINFO_SENSOR_PLACEMENT = 65539,
+    AINFO_SAMPLING = 65540,
+    AINFO_CHANNEL_NOISE = 131072,
+    AINFO_CHANNEL_SAMPLER = 131073,
+    AINFO_CHANNEL_FILTER = 131074,
+    AINFO_CHANNEL_LINEAR_TRANSFORM = 131075,
+    AINFO_CHANNEL_NONLINEAR_MAP = 131076,
+    AINFO_CHANNEL_RESAMPLER = 131077,
+    AINFO_LOCAL_GEOMAGNETIC_FIELD = 196608,
+    AINFO_LOCAL_GRAVITY = 196609,
+    AINFO_DOCK_STATE = 196610,
+    AINFO_HIGH_PERFORMANCE_MODE = 196611,
+    AINFO_MAGNETIC_FIELD_CALIBRATION = 196612,
+    AINFO_CUSTOM_START = 268435456,
+    AINFO_DEBUGGING_START = 1073741824,
+  }
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/DynamicSensorInfo.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/DynamicSensorInfo.aidl
new file mode 100644
index 0000000..0c9a493
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/DynamicSensorInfo.aidl
@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@FixedSize @VintfStability
+parcelable DynamicSensorInfo {
+  boolean connected;
+  int sensorHandle;
+  android.hardware.sensors.DynamicSensorInfo.Uuid uuid;
+  @FixedSize @VintfStability
+  parcelable Uuid {
+    byte[16] values;
+  }
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
new file mode 100644
index 0000000..186b2be
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
@@ -0,0 +1,99 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@FixedSize @VintfStability
+parcelable Event {
+  long timestamp;
+  int sensorHandle;
+  android.hardware.sensors.SensorType sensorType;
+  android.hardware.sensors.Event.EventPayload payload;
+  @FixedSize @VintfStability
+  union EventPayload {
+    android.hardware.sensors.Event.EventPayload.Vec3 vec3;
+    android.hardware.sensors.Event.EventPayload.Vec4 vec4;
+    android.hardware.sensors.Event.EventPayload.Uncal uncal;
+    android.hardware.sensors.Event.EventPayload.MetaData meta;
+    float scalar;
+    long stepCount;
+    android.hardware.sensors.Event.EventPayload.HeartRate heartRate;
+    android.hardware.sensors.Event.EventPayload.Pose6Dof pose6DOF;
+    android.hardware.sensors.DynamicSensorInfo dynamic;
+    android.hardware.sensors.AdditionalInfo additional;
+    android.hardware.sensors.Event.EventPayload.Data data;
+    @FixedSize @VintfStability
+    parcelable Vec4 {
+      float x;
+      float y;
+      float z;
+      float w;
+    }
+    @FixedSize @VintfStability
+    parcelable Vec3 {
+      float x;
+      float y;
+      float z;
+      android.hardware.sensors.SensorStatus status;
+    }
+    @FixedSize @VintfStability
+    parcelable Uncal {
+      float x;
+      float y;
+      float z;
+      float xBias;
+      float yBias;
+      float zBias;
+    }
+    @FixedSize @VintfStability
+    parcelable HeartRate {
+      float bpm;
+      android.hardware.sensors.SensorStatus status;
+    }
+    @FixedSize @VintfStability
+    parcelable MetaData {
+      android.hardware.sensors.Event.EventPayload.MetaData.MetaDataEventType what;
+      @Backing(type="int") @VintfStability
+      enum MetaDataEventType {
+        META_DATA_FLUSH_COMPLETE = 1,
+      }
+    }
+    @FixedSize @VintfStability
+    parcelable Pose6Dof {
+      float[15] values;
+    }
+    @FixedSize @VintfStability
+    parcelable Data {
+      float[16] values;
+    }
+  }
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/ISensors.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/ISensors.aidl
new file mode 100644
index 0000000..f60f5bb
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/ISensors.aidl
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@VintfStability
+interface ISensors {
+  void activate(in int sensorHandle, in boolean enabled);
+  void batch(in int sensorHandle, in long samplingPeriodNs, in long maxReportLatencyNs);
+  int configDirectReport(in int sensorHandle, in int channelHandle, in android.hardware.sensors.ISensors.RateLevel rate);
+  void flush(in int sensorHandle);
+  android.hardware.sensors.SensorInfo[] getSensorsList();
+  void initialize(in android.hardware.common.fmq.MQDescriptor<android.hardware.sensors.Event,android.hardware.common.fmq.SynchronizedReadWrite> eventQueueDescriptor, in android.hardware.common.fmq.MQDescriptor<int,android.hardware.common.fmq.SynchronizedReadWrite> wakeLockDescriptor, in android.hardware.sensors.ISensorsCallback sensorsCallback);
+  void injectSensorData(in android.hardware.sensors.Event event);
+  int registerDirectChannel(in android.hardware.sensors.ISensors.SharedMemInfo mem);
+  void setOperationMode(in android.hardware.sensors.ISensors.OperationMode mode);
+  void unregisterDirectChannel(in int channelHandle);
+  const int ERROR_NO_MEMORY = -12;
+  const int ERROR_BAD_VALUE = -22;
+  const int WAKE_LOCK_TIMEOUT_SECONDS = 1;
+  const int EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS = 1;
+  const int EVENT_QUEUE_FLAG_BITS_EVENTS_READ = 2;
+  const int WAKE_LOCK_QUEUE_FLAG_BITS_DATA_WRITTEN = 1;
+  const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_FIELD = 0;
+  const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_REPORT_TOKEN = 4;
+  const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_SENSOR_TYPE = 8;
+  const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_ATOMIC_COUNTER = 12;
+  const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_TIMESTAMP = 16;
+  const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_DATA = 24;
+  const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_RESERVED = 88;
+  const int DIRECT_REPORT_SENSOR_EVENT_TOTAL_LENGTH = 104;
+  @Backing(type="int") @VintfStability
+  enum RateLevel {
+    STOP = 0,
+    NORMAL = 1,
+    FAST = 2,
+    VERY_FAST = 3,
+  }
+  @Backing(type="int") @VintfStability
+  enum OperationMode {
+    NORMAL = 0,
+    DATA_INJECTION = 1,
+  }
+  @VintfStability
+  parcelable SharedMemInfo {
+    android.hardware.sensors.ISensors.SharedMemInfo.SharedMemType type;
+    android.hardware.sensors.ISensors.SharedMemInfo.SharedMemFormat format;
+    int size;
+    android.hardware.common.NativeHandle memoryHandle;
+    @Backing(type="int") @VintfStability
+    enum SharedMemFormat {
+      SENSORS_EVENT = 1,
+    }
+    @Backing(type="int") @VintfStability
+    enum SharedMemType {
+      ASHMEM = 1,
+      GRALLOC = 2,
+    }
+  }
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/ISensorsCallback.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/ISensorsCallback.aidl
new file mode 100644
index 0000000..78ab567
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/ISensorsCallback.aidl
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@VintfStability
+interface ISensorsCallback {
+  void onDynamicSensorsConnected(in android.hardware.sensors.SensorInfo[] sensorInfos);
+  void onDynamicSensorsDisconnected(in int[] sensorHandles);
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorInfo.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorInfo.aidl
new file mode 100644
index 0000000..996be3d
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorInfo.aidl
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@VintfStability
+parcelable SensorInfo {
+  int sensorHandle;
+  String name;
+  String vendor;
+  int version;
+  android.hardware.sensors.SensorType type;
+  String typeAsString;
+  float maxRange;
+  float resolution;
+  float power;
+  int minDelayUs;
+  int fifoReservedEventCount;
+  int fifoMaxEventCount;
+  String requiredPermission;
+  int maxDelayUs;
+  int flags;
+  const int SENSOR_FLAG_BITS_WAKE_UP = 1;
+  const int SENSOR_FLAG_BITS_CONTINUOUS_MODE = 0;
+  const int SENSOR_FLAG_BITS_ON_CHANGE_MODE = 2;
+  const int SENSOR_FLAG_BITS_ONE_SHOT_MODE = 4;
+  const int SENSOR_FLAG_BITS_SPECIAL_REPORTING_MODE = 6;
+  const int SENSOR_FLAG_BITS_DATA_INJECTION = 16;
+  const int SENSOR_FLAG_BITS_DYNAMIC_SENSOR = 32;
+  const int SENSOR_FLAG_BITS_ADDITIONAL_INFO = 64;
+  const int SENSOR_FLAG_BITS_DIRECT_CHANNEL_ASHMEM = 1024;
+  const int SENSOR_FLAG_BITS_DIRECT_CHANNEL_GRALLOC = 2048;
+  const int SENSOR_FLAG_BITS_MASK_REPORTING_MODE = 14;
+  const int SENSOR_FLAG_BITS_MASK_DIRECT_REPORT = 896;
+  const int SENSOR_FLAG_BITS_MASK_DIRECT_CHANNEL = 3072;
+  const int SENSOR_FLAG_SHIFT_REPORTING_MODE = 1;
+  const int SENSOR_FLAG_SHIFT_DATA_INJECTION = 4;
+  const int SENSOR_FLAG_SHIFT_DYNAMIC_SENSOR = 5;
+  const int SENSOR_FLAG_SHIFT_ADDITIONAL_INFO = 6;
+  const int SENSOR_FLAG_SHIFT_DIRECT_REPORT = 7;
+  const int SENSOR_FLAG_SHIFT_DIRECT_CHANNEL = 10;
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorStatus.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorStatus.aidl
new file mode 100644
index 0000000..4521710
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorStatus.aidl
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@Backing(type="byte") @VintfStability
+enum SensorStatus {
+  NO_CONTACT = -1,
+  UNRELIABLE = 0,
+  ACCURACY_LOW = 1,
+  ACCURACY_MEDIUM = 2,
+  ACCURACY_HIGH = 3,
+}
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
new file mode 100644
index 0000000..4f3b5b2
--- /dev/null
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.sensors;
+@Backing(type="int") @VintfStability
+enum SensorType {
+  META_DATA = 0,
+  ACCELEROMETER = 1,
+  MAGNETIC_FIELD = 2,
+  ORIENTATION = 3,
+  GYROSCOPE = 4,
+  LIGHT = 5,
+  PRESSURE = 6,
+  PROXIMITY = 8,
+  GRAVITY = 9,
+  LINEAR_ACCELERATION = 10,
+  ROTATION_VECTOR = 11,
+  RELATIVE_HUMIDITY = 12,
+  AMBIENT_TEMPERATURE = 13,
+  MAGNETIC_FIELD_UNCALIBRATED = 14,
+  GAME_ROTATION_VECTOR = 15,
+  GYROSCOPE_UNCALIBRATED = 16,
+  SIGNIFICANT_MOTION = 17,
+  STEP_DETECTOR = 18,
+  STEP_COUNTER = 19,
+  GEOMAGNETIC_ROTATION_VECTOR = 20,
+  HEART_RATE = 21,
+  TILT_DETECTOR = 22,
+  WAKE_GESTURE = 23,
+  GLANCE_GESTURE = 24,
+  PICK_UP_GESTURE = 25,
+  WRIST_TILT_GESTURE = 26,
+  DEVICE_ORIENTATION = 27,
+  POSE_6DOF = 28,
+  STATIONARY_DETECT = 29,
+  MOTION_DETECT = 30,
+  HEART_BEAT = 31,
+  DYNAMIC_SENSOR_META = 32,
+  ADDITIONAL_INFO = 33,
+  LOW_LATENCY_OFFBODY_DETECT = 34,
+  ACCELEROMETER_UNCALIBRATED = 35,
+  HINGE_ANGLE = 36,
+  DEVICE_PRIVATE_BASE = 65536,
+}
diff --git a/sensors/aidl/android/hardware/sensors/AdditionalInfo.aidl b/sensors/aidl/android/hardware/sensors/AdditionalInfo.aidl
new file mode 100644
index 0000000..9fe2d39
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/AdditionalInfo.aidl
@@ -0,0 +1,234 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+@FixedSize
+@VintfStability
+parcelable AdditionalInfo {
+    /**
+     * type of payload data, see AdditionalInfoType
+     */
+    AdditionalInfoType type;
+
+    /**
+     * sequence number of this frame for this type
+     */
+    int serial;
+
+    AdditionalInfoPayload payload;
+
+    @FixedSize
+    @VintfStability
+    union AdditionalInfoPayload {
+        Int32Values dataInt32;
+        FloatValues dataFloat;
+
+        @FixedSize
+        @VintfStability
+        parcelable Int32Values {
+            int[14] values;
+        }
+
+        @FixedSize
+        @VintfStability
+        parcelable FloatValues {
+            float[14] values;
+        }
+    }
+
+    @VintfStability
+    @Backing(type="int")
+    enum AdditionalInfoType {
+        /**
+         * Marks the beginning of additional information frames
+         */
+        AINFO_BEGIN = 0,
+
+        /**
+         * Marks the end of additional information frames
+         */
+        AINFO_END = 1,
+
+        /**
+         * Estimation of the delay that is not tracked by sensor timestamps. This
+         * includes delay introduced by sensor front-end filtering, data transport,
+         * etc.
+         * float[2]: delay in seconds, standard deviation of estimated value
+         */
+        AINFO_UNTRACKED_DELAY = 0x10000,
+
+        /**
+         * float: Celsius temperature
+         */
+        AINFO_INTERNAL_TEMPERATURE,
+
+        /**
+         * First three rows of a homogeneous matrix, which represents calibration to
+         * a three-element vector raw sensor reading.
+         * float[12]: 3x4 matrix in row major order
+         */
+        AINFO_VEC3_CALIBRATION,
+
+        /**
+         * Provides the orientation and location of the sensor element in terms of
+         * the Android coordinate system. This data is given as a 3x4 matrix
+         * consisting of a 3x3 rotation matrix (R) concatenated with a 3x1 location
+         * vector (t). The rotation matrix provides the orientation of the Android
+         * device coordinate frame relative to the local coordinate frame of the
+         * sensor. Note that assuming the axes conventions of the sensor are the
+         * same as Android, this is the inverse of the matrix applied to raw
+         * samples read from the sensor to convert them into the Android
+         * representation. The location vector represents the translation from the
+         * origin of the Android sensor coordinate system to the geometric center
+         * of the sensor, specified in millimeters (mm).
+         *
+         * float[12]: 3x4 matrix in row major order [R; t]
+         *
+         * Example:
+         *     This raw buffer: {0, 1, 0, 0, -1, 0, 0, 10, 0, 0, 1, -2.5}
+         *     Corresponds to this 3x4 matrix:
+         *         0 1 0    0
+         *        -1 0 0   10
+         *         0 0 1 -2.5
+         *     The sensor is oriented such that:
+         *         - the device X axis corresponds to the sensor's local -Y axis
+         *         - the device Y axis corresponds to the sensor's local X axis
+         *         - the device Z axis and sensor's local Z axis are equivalent
+         *     In other words, if viewing the origin of the Android coordinate
+         *     system from the positive Z direction, the device coordinate frame is
+         *     to be rotated 90 degrees counter-clockwise about the Z axis to align
+         *     with the sensor's local coordinate frame. Equivalently, a vector in
+         *     the Android coordinate frame may be multiplied with R to rotate it
+         *     90 degrees clockwise (270 degrees counter-clockwise), yielding its
+         *     representation in the sensor's coordinate frame.
+         *     Relative to the origin of the Android coordinate system, the physical
+         *     center of the sensor is located 10mm in the positive Y direction, and
+         *     2.5mm in the negative Z direction.
+         */
+        AINFO_SENSOR_PLACEMENT,
+
+        /**
+         * float[2]: raw sample period in seconds,
+         *           standard deviation of sampling period
+         */
+        AINFO_SAMPLING,
+
+        /**
+         * int32_t: noise type
+         * float[n]: parameters
+         */
+        AINFO_CHANNEL_NOISE = 0x20000,
+
+        /**
+         * float[3]: sample period, standard deviation of sample period,
+         * quantization unit
+         */
+        AINFO_CHANNEL_SAMPLER,
+
+        /**
+         * Represents a filter:
+         *   \sum_j a_j y[n-j] == \sum_i b_i x[n-i]
+         *
+         * int32_t[3]: number of feedforward coeffients M,
+         *             number of feedback coefficients N (for FIR filter, N = 1).
+         *             bit mask that represents which element the filter is applied
+         *             to. (bit 0==1 means this filter applies to vector element 0).
+         * float[M+N]: filter coefficients (b0, b1, ..., b_{M-1}), then
+         *             (a0, a1, ..., a_{N-1}), a0 is always 1.
+         *
+         * Multiple frames may be needed for higher number of taps.
+         */
+        AINFO_CHANNEL_FILTER,
+
+        /**
+         * int32_t[2]: size in (row, column) ... 1st frame
+         * float[n]: matrix element values in row major order.
+         */
+        AINFO_CHANNEL_LINEAR_TRANSFORM,
+
+        /**
+         * int32_t[2]: extrapolate method, interpolate method
+         * float[n]: mapping key points in pairs, (in, out)...
+         *           (may be used to model saturation).
+         */
+        AINFO_CHANNEL_NONLINEAR_MAP,
+
+        /**
+         * int32_t: resample method (0-th order, 1st order...)
+         * float[1]: resample ratio (upsampling if < 1.0, downsampling if > 1.0).
+         */
+        AINFO_CHANNEL_RESAMPLER,
+
+        /**
+         * Operation environment parameters section
+         * Types in the following section is sent down (instead of reported from)
+         * device as additional information to aid sensor operation. Data is sent
+         * via injectSensorData() function to sensor handle -1 denoting all sensors
+         * in device.
+         *
+         *
+         * Local geomagnetic field information based on device geo location. This
+         * type is primarily for for magnetic field calibration and rotation vector
+         * sensor fusion.
+         * float[3]: strength (uT), declination and inclination angle (rad).
+         */
+        AINFO_LOCAL_GEOMAGNETIC_FIELD = 0x30000,
+
+        /**
+         * Local gravitational acceleration strength at device geo location.
+         * float: gravitational acceleration norm in m/s^2.
+         */
+        AINFO_LOCAL_GRAVITY,
+
+        /**
+         * Device dock state.
+         * int32_t: dock state following Android API Intent.EXTRA_DOCK_STATE
+         * definition, undefined value is ignored.
+         */
+        AINFO_DOCK_STATE,
+
+        /**
+         * High performance mode hint. Device is able to use up more power and take
+         * more resources to improve throughput and latency in high performance mode.
+         * One possible use case is virtual reality, when sensor latency need to be
+         * carefully controlled.
+         * int32_t: 1 or 0, denote if device is in/out of high performance mode,
+         *          other values is ignored.
+         */
+        AINFO_HIGH_PERFORMANCE_MODE,
+
+        /**
+         * Magnetic field calibration hint. Device is notified when manually
+         * triggered magnetic field calibration procedure is started or stopped. The
+         * calibration procedure is assumed timed out after 1 minute from start,
+         * even if an explicit stop is not received.
+         *
+         * int32_t: 1 for start, 0 for stop, other value is ignored.
+         */
+        AINFO_MAGNETIC_FIELD_CALIBRATION,
+
+        /**
+         * Custom information
+         */
+        AINFO_CUSTOM_START = 0x10000000,
+
+        /**
+         * Debugging
+         */
+        AINFO_DEBUGGING_START = 0x40000000,
+    }
+}
diff --git a/sensors/aidl/android/hardware/sensors/DynamicSensorInfo.aidl b/sensors/aidl/android/hardware/sensors/DynamicSensorInfo.aidl
new file mode 100644
index 0000000..4b14ed0
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/DynamicSensorInfo.aidl
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+@VintfStability
+@FixedSize
+parcelable DynamicSensorInfo {
+    boolean connected;
+
+    int sensorHandle;
+
+    /**
+     * UUID of a dynamic sensor (using RFC 4122 byte order)
+     * For UUID 12345678-90AB-CDEF-1122-334455667788 the uuid field is
+     * initialized as:
+     *   {0x12, 0x34, 0x56, 0x78, 0x90, 0xAB, 0xCD, 0xEF, 0x11, ...}
+     */
+    Uuid uuid;
+
+    @FixedSize
+    @VintfStability
+    parcelable Uuid {
+        byte[16] values;
+    }
+}
diff --git a/sensors/aidl/android/hardware/sensors/Event.aidl b/sensors/aidl/android/hardware/sensors/Event.aidl
new file mode 100644
index 0000000..6ef9acb
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/Event.aidl
@@ -0,0 +1,198 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+import android.hardware.sensors.AdditionalInfo;
+import android.hardware.sensors.DynamicSensorInfo;
+import android.hardware.sensors.SensorStatus;
+import android.hardware.sensors.SensorType;
+
+@VintfStability
+@FixedSize
+parcelable Event {
+    /**
+     * Time measured in nanoseconds, in "elapsedRealtimeNano()'s" timebase.
+     */
+    long timestamp;
+
+    /**
+     * sensor identifier
+     */
+    int sensorHandle;
+
+    SensorType sensorType;
+
+    /**
+     * Union discriminated on sensorType
+     */
+    EventPayload payload;
+
+    /*
+     * acceleration values are in meter per second per second (m/s^2)
+     * magnetic vector values are in micro-Tesla (uT)
+     * orientation values are in degrees
+     * gyroscope values are in rad/s
+     * temperature is in degrees centigrade (Celsius)
+     * distance in centimeters
+     * light in SI lux units
+     * pressure in hectopascal (hPa)
+     * relative humidity in percent
+     */
+    @VintfStability
+    @FixedSize
+    union EventPayload {
+        /**
+         * SensorType::ACCELEROMETER, SensorType::MAGNETIC_FIELD,
+         * SensorType::ORIENTATION, SensorType::GYROSCOPE, SensorType::GRAVITY,
+         * SensorType::LINEAR_ACCELERATION
+         */
+        Vec3 vec3;
+
+        /**
+         * SensorType::GAME_ROTATION_VECTOR
+         */
+        Vec4 vec4;
+
+        /**
+         * SensorType::MAGNETIC_FIELD_UNCALIBRATED,
+         * SensorType::GYROSCOPE_UNCALIBRATED
+         * SensorType::ACCELEROMETER_UNCALIBRATED
+         */
+        Uncal uncal;
+
+        /**
+         * SensorType::META_DATA
+         */
+        MetaData meta;
+
+        /**
+         * SensorType::DEVICE_ORIENTATION, SensorType::LIGHT, SensorType::PRESSURE,
+         * SensorType::TEMPERATURE, SensorType::PROXIMITY,
+         * SensorType::RELATIVE_HUMIDITY, SensorType::AMBIENT_TEMPERATURE,
+         * SensorType::SIGNIFICANT_MOTION, SensorType::STEP_DETECTOR,
+         * SensorType::TILT_DETECTOR, SensorType::WAKE_GESTURE,
+         * SensorType::GLANCE_GESTURE, SensorType::PICK_UP_GESTURE,
+         * SensorType::WRIST_TILT_GESTURE, SensorType::STATIONARY_DETECT,
+         * SensorType::MOTION_DETECT, SensorType::HEART_BEAT,
+         * SensorType::LOW_LATENCY_OFFBODY_DETECT
+         */
+        float scalar;
+
+        /**
+         * SensorType::STEP_COUNTER
+         */
+        long stepCount;
+
+        /**
+         * SensorType::HEART_RATE
+         */
+        HeartRate heartRate;
+
+        /**
+         * SensorType::POSE_6DOF
+         */
+        Pose6Dof pose6DOF;
+
+        /**
+         * SensorType::DYNAMIC_SENSOR_META
+         */
+        DynamicSensorInfo dynamic;
+
+        /**
+         * SensorType::ADDITIONAL_INFO
+         */
+        AdditionalInfo additional;
+
+        /**
+         * The following sensors should use the data field:
+         * - Undefined/custom sensor type >= SensorType::DEVICE_PRIVATE_BASE
+         * - SensorType::ROTATION_VECTOR, SensorType::GEOMAGNETIC_ROTATION_VECTOR:
+         *   - These are Vec4 types with an additional float accuracy field,
+         *     where data[4] is the estimated heading accuracy in radians
+         *     (-1 if unavailable, and invalid if not in the range (0, 2 * pi]).
+         */
+        Data data;
+
+        @FixedSize
+        @VintfStability
+        parcelable Vec4 {
+            float x;
+            float y;
+            float z;
+            float w;
+        }
+
+        @FixedSize
+        @VintfStability
+        parcelable Vec3 {
+            float x;
+            float y;
+            float z;
+            SensorStatus status;
+        }
+
+        @FixedSize
+        @VintfStability
+        parcelable Uncal {
+            float x;
+            float y;
+            float z;
+            float xBias;
+            float yBias;
+            float zBias;
+        }
+
+        @FixedSize
+        @VintfStability
+        parcelable HeartRate {
+            /**
+             * Heart rate in beats per minute.
+             * Set to 0 when status is SensorStatus::UNRELIABLE or
+             * SensorStatus::NO_CONTACT
+             */
+            float bpm;
+            /**
+             * Status of the heart rate sensor for this reading.
+             */
+            SensorStatus status;
+        }
+
+        @FixedSize
+        @VintfStability
+        parcelable MetaData {
+            MetaDataEventType what;
+
+            @VintfStability
+            @Backing(type="int")
+            enum MetaDataEventType {
+                META_DATA_FLUSH_COMPLETE = 1,
+            }
+        }
+
+        @FixedSize
+        @VintfStability
+        parcelable Pose6Dof {
+            float[15] values;
+        }
+
+        @FixedSize
+        @VintfStability
+        parcelable Data {
+            float[16] values;
+        }
+    }
+}
diff --git a/sensors/aidl/android/hardware/sensors/ISensors.aidl b/sensors/aidl/android/hardware/sensors/ISensors.aidl
new file mode 100644
index 0000000..2ac1884
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/ISensors.aidl
@@ -0,0 +1,375 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+import android.hardware.common.NativeHandle;
+import android.hardware.common.fmq.MQDescriptor;
+import android.hardware.common.fmq.SynchronizedReadWrite;
+import android.hardware.sensors.Event;
+import android.hardware.sensors.ISensorsCallback;
+import android.hardware.sensors.SensorInfo;
+
+@VintfStability
+interface ISensors {
+    /**
+     * Activate/de-activate one sensor.
+     *
+     * After sensor de-activation, existing sensor events that have not
+     * been written to the event queue must be abandoned immediately so that
+     * subsequent activations do not get stale sensor events (events
+     * that are generated prior to the latter activation).
+     *
+     * @param sensorHandle is the handle of the sensor to change.
+     * @param enabled set to true to enable, or false to disable the sensor.
+     * @return Status::ok on success
+     *         EX_ILLEGAL_ARGUMENT if the sensorHandle is invalid.
+     */
+    void activate(in int sensorHandle, in boolean enabled);
+
+    /**
+     * Sets a sensor’s parameters, including sampling frequency and maximum
+     * report latency. This function can be called while the sensor is
+     * activated, in which case it must not cause any sensor measurements to
+     * be lost: transitioning from one sampling rate to the other cannot cause
+     * lost events, nor can transitioning from a high maximum report latency to
+     * a low maximum report latency.
+     *
+     * @param sensorHandle handle of sensor to be changed.
+     * @param samplingPeriodNs specifies sensor sample period in nanoseconds.
+     * @param maxReportLatencyNs allowed delay time before an event is sampled
+     *     to time of report.
+     * @return Status::ok on success
+     *         EX_ILLEGAL_ARGUMENT if any parameters are invalid.
+     */
+    void batch(in int sensorHandle, in long samplingPeriodNs, in long maxReportLatencyNs);
+
+    /**
+     * Configure direct sensor event report in direct channel.
+     *
+     * This function start, modify rate or stop direct report of a sensor in a
+     * certain direct channel.
+     *
+     * @param sensorHandle handle of sensor to be configured. When combined
+     *     with STOP rate, sensorHandle can be -1 to denote all active sensors
+     *     in the direct channel specified by channel Handle.
+     * @param channelHandle handle of direct channel to be configured.
+     * @param rate rate level, see RateLevel enum.
+     * @param out reportToken The report token, ignored if rate is STOP.
+     *     See SharedMemFormat.
+     * @return The direct report token to identify multiple sensors of the same type in a single
+     *         direct channel.
+     * @return Status::ok on success
+     *         EX_ILLEGAL_ARGUMENT if the parameter is invalid (e.g. unsupported rate level
+     *          for sensor, channelHandle does not exist, etc).
+     *         EX_UNSUPPORTED_OPERATION if this functionality is unsupported.
+     */
+    int configDirectReport(in int sensorHandle, in int channelHandle, in RateLevel rate);
+
+    /**
+     * Trigger a flush of internal FIFO.
+     *
+     * Flush adds a FLUSH_COMPLETE metadata event to the end of the "batch mode"
+     * FIFO for the specified sensor and flushes the FIFO.  If the FIFO is empty
+     * or if the sensor doesn't support batching (FIFO size zero), return
+     * SUCCESS and add a trivial FLUSH_COMPLETE event added to the event stream.
+     * This applies to all sensors other than one-shot sensors. If the sensor
+     * is a one-shot sensor, flush must return EX_ILLEGAL_ARGUMENT and not generate any
+     * flush complete metadata.  If the sensor is not active at the time flush()
+     * is called, flush() return EX_ILLEGAL_ARGUMENT.
+     *
+     * @param sensorHandle handle of sensor to be flushed.
+     * @return Status::ok on success
+     *         EX_ILLEGAL_ARGUMENT if the sensorHandle is invalid.
+     */
+    void flush(in int sensorHandle);
+
+    /**
+     * Enumerate all available (static) sensors.
+     *
+     * The SensorInfo for each sensor returned by getSensorsList must be stable
+     * from the initial call to getSensorsList after a device boot until the
+     * entire system restarts. The SensorInfo for each sensor must not change
+     * between subsequent calls to getSensorsList, even across restarts of the
+     * HAL and its dependencies (for example, the sensor handle for a given
+     * sensor must not change across HAL restarts).
+     */
+    SensorInfo[] getSensorsList();
+
+    /**
+     * Initialize the Sensors HAL's Fast Message Queues (FMQ) and callback.
+     *
+     * The Fast Message Queues (FMQ) that are used to send data between the
+     * framework and the HAL. The callback is used by the HAL to notify the
+     * framework of asynchronous events, such as a dynamic sensor connection.
+     *
+     * The Event FMQ is used to transport sensor events from the HAL to the
+     * framework. The Event FMQ is created using the eventQueueDescriptor.
+     * Data may only be written to the Event FMQ. Data must not be read from
+     * the Event FMQ since the framework is the only reader. Upon receiving
+     * sensor events, the HAL writes the sensor events to the Event FMQ.
+     *
+     * Once the HAL is finished writing sensor events to the Event FMQ, the HAL
+     * must notify the framework that sensor events are available to be read and
+     * processed. This is accomplished by either:
+     *     1) Calling the Event FMQ’s EventFlag::wake() function with
+     * EventQueueFlagBits::READ_AND_PROCESS
+     *     2) Setting the write notification in the Event FMQ’s writeBlocking()
+     *        function to EventQueueFlagBits::READ_AND_PROCESS.
+     *
+     * If the Event FMQ’s writeBlocking() function is used, the read
+     * notification must be set to EventQueueFlagBits::EVENTS_READ in order to
+     * be notified and unblocked when the framework has successfully read events
+     * from the Event FMQ.
+     *
+     * The Wake Lock FMQ is used by the framework to notify the HAL when it is
+     * safe to release its wake_lock. When the framework receives WAKE_UP events
+     * from the Event FMQ and the framework has acquired a wake_lock, the
+     * framework must write the number of WAKE_UP events processed to the Wake
+     * Lock FMQ. When the HAL reads the data from the Wake Lock FMQ, the HAL
+     * decrements its current count of unprocessed WAKE_UP events and releases
+     * its wake_lock if the current count of unprocessed WAKE_UP events is
+     * zero. It is important to note that the HAL must acquire the wake lock and
+     * update its internal state regarding the number of outstanding WAKE_UP
+     * events _before_ posting the event to the Wake Lock FMQ, in order to avoid
+     * a race condition that can lead to loss of wake lock synchronization with
+     * the framework.
+     *
+     * The framework must use the WAKE_LOCK_QUEUE_FLAG_BITS_DATA_WRITTEN value to
+     * notify the HAL that data has been written to the Wake Lock FMQ and must
+     * be read by HAL.
+     *
+     * The ISensorsCallback is used by the HAL to notify the framework of
+     * asynchronous events, such as a dynamic sensor connection.
+     *
+     * The name of any wake_lock acquired by the Sensors HAL for WAKE_UP events
+     * must begin with "SensorsHAL_WAKEUP".
+     *
+     * If WAKE_LOCK_TIMEOUT_SECONDS has elapsed since the most recent WAKE_UP
+     * event was written to the Event FMQ without receiving a message on the
+     * Wake Lock FMQ, then any held wake_lock for WAKE_UP events must be
+     * released.
+     *
+     * If either the Event FMQ or the Wake Lock FMQ is already initialized when
+     * initialize is invoked, then both existing FMQs must be discarded and the
+     * new descriptors must be used to create new FMQs within the HAL. The
+     * number of outstanding WAKE_UP events should also be reset to zero, and
+     * any outstanding wake_locks held as a result of WAKE_UP events should be
+     * released.
+     *
+     * All active sensor requests and direct channels must be closed and
+     * properly cleaned up when initialize is called in order to ensure that the
+     * HAL and framework's state is consistent (e.g. after a runtime restart).
+     *
+     * initialize must be thread safe and prevent concurrent calls
+     * to initialize from simultaneously modifying state.
+     *
+     * @param eventQueueDescriptor Fast Message Queue descriptor that is used to
+     *     create the Event FMQ which is where sensor events are written. The
+     *     descriptor is obtained from the framework's FMQ that is used to read
+     *     sensor events.
+     * @param wakeLockDescriptor Fast Message Queue descriptor that is used to
+     *     create the Wake Lock FMQ which is where wake_lock events are read
+     *     from. The descriptor is obtained from the framework's FMQ that is
+     *     used to write wake_lock events.
+     * @param sensorsCallback sensors callback that receives asynchronous data
+     *     from the Sensors HAL.
+     * @return Status::ok on success
+     *         EX_ILLEGAL_ARGUMENT if the descriptor is invalid (such as null).
+     */
+    void initialize(in MQDescriptor<Event, SynchronizedReadWrite> eventQueueDescriptor,
+            in MQDescriptor<int, SynchronizedReadWrite> wakeLockDescriptor,
+            in ISensorsCallback sensorsCallback);
+
+    /**
+     * Inject a single sensor event or push operation environment parameters to
+     * device.
+     *
+     * When device is in NORMAL mode, this function is called to push operation
+     * environment data to device. In this operation, Event is always of
+     * SensorType::AdditionalInfo type. See operation environment parameters
+     * section in AdditionalInfoType.
+     *
+     * When device is in DATA_INJECTION mode, this function is also used for
+     * injecting sensor events.
+     *
+     * Regardless of OperationMode, injected SensorType::ADDITIONAL_INFO
+     * type events should not be routed back to the sensor event queue.
+     *
+     * @see AdditionalInfoType
+     * @see OperationMode
+     * @param event sensor event to be injected
+     * @return Status::ok on success
+     *         EX_UNSUPPORTED_OPERATION if this functionality is unsupported.
+     *         EX_SECURITY if the operation is not allowed.
+     *         EX_SERVICE_SPECIFIC on error
+     *         - ERROR_BAD_VALUE if the sensor event cannot be injected.
+     */
+    void injectSensorData(in Event event);
+
+    /**
+     * Register direct report channel.
+     *
+     * Register a direct channel with supplied shared memory information. Upon
+     * return, the sensor hardware is responsible for resetting the memory
+     * content to initial value (depending on memory format settings).
+     *
+     * @param mem shared memory info data structure.
+     * @param out channelHandle The registered channel handle.
+     * @return The direct channel handle, which is positive if successfully registered, and -1
+     *         otherwise.
+     * @return Status::ok on success
+     *         EX_ILLEGAL_ARGUMENT if the shared memory information is not consistent.
+     *         EX_UNSUPPORTED_OPERATION if this functionality is unsupported.
+     *         EX_SERVICE_SPECIFIC on error
+     *         - ERROR_NO_MEMORY if shared memory cannot be used by sensor system.
+     */
+    int registerDirectChannel(in SharedMemInfo mem);
+
+    /**
+     * Place the module in a specific mode.
+     *
+     * @see OperationMode
+     * @param mode The operation mode.
+     * @return Status::ok on success
+     *         EX_UNSUPPORTED_OPERATION if requested mode is not supported.
+     *         EX_SECURITY if the operation is not allowed.
+     */
+    void setOperationMode(in OperationMode mode);
+
+    /**
+     * Unregister direct report channel.
+     *
+     * Unregister a direct channel previously registered using
+     * registerDirectChannel, and remove all active sensor report configured in
+     * still active sensor report configured in the direct channel.
+     *
+     * @param channelHandle handle of direct channel to be unregistered.
+     * @return Status::ok on success
+     *         EX_UNSUPPORTED_OPERATION if direct report is not supported.
+     */
+    void unregisterDirectChannel(in int channelHandle);
+
+    /**
+     * Direct report rate level definition. Except for SENSOR_DIRECT_RATE_STOP, each
+     * rate level covers the range (55%, 220%] * nominal report rate. For example,
+     * if config direct report specify a rate level SENSOR_DIRECT_RATE_FAST, it is
+     * legal for sensor hardware to report event at a rate greater than 110Hz, and
+     * less or equal to 440Hz. Note that rate has to remain steady without variation
+     * before new rate level is configured, i.e. if a sensor is configured to
+     * SENSOR_DIRECT_RATE_FAST and starts to report event at 256Hz, it cannot
+     * change rate to 128Hz after a few seconds of running even if 128Hz is also in
+     * the legal range of SENSOR_DIRECT_RATE_FAST. Thus, it is recommended to
+     * associate report rate with RateLvel statically for single sensor.
+     */
+    @VintfStability
+    @Backing(type="int")
+    enum RateLevel {
+        STOP,
+        NORMAL,
+        FAST,
+        VERY_FAST,
+    }
+
+    @VintfStability
+    @Backing(type="int")
+    enum OperationMode {
+        // Normal operation. Default state of the module.
+        NORMAL = 0,
+        // Loopback mode. Data is injected for the supported sensors by the sensor service in this
+        // mode.
+        DATA_INJECTION = 1,
+    }
+
+    @VintfStability
+    parcelable SharedMemInfo {
+        SharedMemType type;
+        SharedMemFormat format;
+        int size;
+        NativeHandle memoryHandle;
+
+        @VintfStability
+        @Backing(type="int")
+        enum SharedMemFormat {
+            SENSORS_EVENT = 1,
+        }
+
+        @VintfStability
+        @Backing(type="int")
+        enum SharedMemType {
+            ASHMEM = 1,
+            GRALLOC,
+        }
+    }
+
+    /**
+     * Error codes that are used as service specific errors with the AIDL return
+     * value EX_SERVICE_SPECIFIC.
+     */
+    const int ERROR_NO_MEMORY = -12;
+    const int ERROR_BAD_VALUE = -22;
+
+    /**
+     * The maximum number of seconds to wait for a message on the Wake Lock FMQ
+     * before automatically releasing any wake_lock held for a WAKE_UP event.
+     */
+    const int WAKE_LOCK_TIMEOUT_SECONDS = 1;
+
+    /**
+     * Used to notify the Event FMQ that events should be read and processed.
+     */
+    const int EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS = 1 << 0;
+
+    /**
+     * Used by the framework to signal to the HAL when events have been
+     * successfully read from the Event FMQ.
+     *
+     * If the MessageQueue::writeBlocking function is being used to write sensor
+     * events to the Event FMQ, then the readNotification parameter must be set
+     * to EVENTS_READ.
+     */
+    const int EVENT_QUEUE_FLAG_BITS_EVENTS_READ = 1 << 1;
+
+    /**
+     * Used to notify the HAL that the framework has written data to the Wake
+     * Lock FMQ.
+     */
+    const int WAKE_LOCK_QUEUE_FLAG_BITS_DATA_WRITTEN = 1 << 0;
+
+    /**
+     * Constants related to direct sensor events. The following table illustrates the
+     * data format.
+     *
+     * Offset   Type        Name
+     * -----------------------------------
+     * 0x0000   int32_t     Size (always DIRECT_REPORT_SENSOR_EVENT_TOTAL_LENGTH)
+     * 0x0004   int32_t     Sensor report token
+     * 0x0008   int32_t     Type (see SensorType.aidl)
+     * 0x000C   uint32_t    Atomic counter
+     * 0x0010   int64_t     Timestamp (see Event.aidl)
+     * 0x0018   float[16]/  Data
+     *          int64_t[8]
+     * 0x0058   int32_t[4]  Reserved (set to zero)
+     */
+    const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_FIELD = 0x0;
+    const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_REPORT_TOKEN = 0x4;
+    const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_SENSOR_TYPE = 0x8;
+    const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_ATOMIC_COUNTER = 0xC;
+    const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_TIMESTAMP = 0x10;
+    const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_DATA = 0x18;
+    const int DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_RESERVED = 0x58;
+    const int DIRECT_REPORT_SENSOR_EVENT_TOTAL_LENGTH = 104;
+}
diff --git a/sensors/aidl/android/hardware/sensors/ISensorsCallback.aidl b/sensors/aidl/android/hardware/sensors/ISensorsCallback.aidl
new file mode 100644
index 0000000..01bae52
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/ISensorsCallback.aidl
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+import android.hardware.sensors.SensorInfo;
+
+@VintfStability
+interface ISensorsCallback {
+    /**
+     * Notify the framework that new dynamic sensors have been connected.
+     *
+     * If a dynamic sensor was previously connected and has not been
+     * disconnected, then that sensor must not be included in sensorInfos.
+     *
+     * @param sensorInfos vector of SensorInfo for each dynamic sensor that
+     *     was connected.
+     */
+    void onDynamicSensorsConnected(in SensorInfo[] sensorInfos);
+
+    /**
+     * Notify the framework that previously connected dynamic sensors have been
+     * disconnected.
+     *
+     * If a dynamic sensor was previously disconnected and has not been
+     * reconnected, then that sensor must not be included in sensorHandles.
+     *
+     * The HAL must ensure that all sensor events from departing dynamic
+     * sensors have been written to the Event FMQ before calling
+     * onDynamicSensorsDisconnected.
+     *
+     * @param sensorHandles vector of sensor handles for each dynamic sensors
+     *     that was disconnected.
+     */
+    void onDynamicSensorsDisconnected(in int[] sensorHandles);
+}
diff --git a/sensors/aidl/android/hardware/sensors/SensorInfo.aidl b/sensors/aidl/android/hardware/sensors/SensorInfo.aidl
new file mode 100644
index 0000000..35caf8b
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/SensorInfo.aidl
@@ -0,0 +1,217 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+import android.hardware.sensors.SensorType;
+
+@VintfStability
+parcelable SensorInfo {
+    /**
+     * handle that identifies this sensors. This handle is used to reference
+     * this sensor throughout the HAL API.
+     */
+    int sensorHandle;
+
+    /**
+     * Name of this sensor.
+     * All sensors of the same "type" must have a different "name".
+     */
+    String name;
+
+    /**
+     * vendor of the hardware part
+     */
+    String vendor;
+
+    /**
+     * version of the hardware part + driver. The value of this field
+     * must increase when the driver is updated in a way that changes the
+     * output of this sensor. This is important for fused sensors when the
+     * fusion algorithm is updated.
+     */
+    int version;
+
+    /**
+     * this sensor's type.
+     */
+    SensorType type;
+
+    /**
+     * type of this sensor as a string.
+     *
+     * When defining an OEM specific sensor or sensor manufacturer specific
+     * sensor, use your reserve domain name as a prefix.
+     * e.g. com.google.glass.onheaddetector
+     *
+     * For sensors of known type defined in SensorType (value <
+     * SensorType::DEVICE_PRIVATE_BASE), this can be an empty string.
+     */
+    String typeAsString;
+
+    /**
+     * maximum range of this sensor's value in SI units
+     */
+    float maxRange;
+
+    /**
+     * smallest difference between two values reported by this sensor
+     */
+    float resolution;
+
+    /**
+     * rough estimate of this sensor's power consumption in mA
+     */
+    float power;
+
+    /**
+     * this value depends on the reporting mode:
+     *
+     *   continuous: minimum sample period allowed in microseconds
+     *   on-change : 0
+     *   one-shot  :-1
+     *   special   : 0, unless otherwise noted
+     */
+    int minDelayUs;
+
+    /**
+     * number of events reserved for this sensor in the batch mode FIFO.
+     * If there is a dedicated FIFO for this sensor, then this is the
+     * size of this FIFO. If the FIFO is shared with other sensors,
+     * this is the size reserved for that sensor and it can be zero.
+     */
+    int fifoReservedEventCount;
+
+    /**
+     * maximum number of events of this sensor that could be batched.
+     * This is especially relevant when the FIFO is shared between
+     * several sensors; this value is then set to the size of that FIFO.
+     */
+    int fifoMaxEventCount;
+
+    /**
+     * permission required to see this sensor, register to it and receive data.
+     * Set to "" if no permission is required. Some sensor types like the
+     * heart rate monitor have a mandatory require_permission.
+     * For sensors that always require a specific permission, like the heart
+     * rate monitor, the android framework might overwrite this string
+     * automatically.
+     */
+    String requiredPermission;
+
+    /**
+     * This value is defined only for continuous mode and on-change sensors.
+     * It is the delay between two sensor events corresponding to the lowest
+     * frequency that this sensor supports. When lower frequencies are requested
+     * through batch()/setDelay() the events will be generated at this frequency
+     * instead.
+     * It can be used by the framework or applications to estimate when the
+     * batch FIFO may be full.
+     *
+     * continuous, on-change: maximum sampling period allowed in microseconds.
+     * one-shot, special : 0
+     */
+    int maxDelayUs;
+
+    /**
+     * Bitmasks defined in SENSOR_FLAG_BITS_* below.
+     */
+    int flags;
+
+    /**
+     * Whether this sensor wakes up the AP from suspend mode when data is
+     * available.  Whenever sensor events are delivered from a wake_up sensor,
+     * the driver needs to hold a wake_lock till the events are read by the
+     * SensorService i.e. till ISensors::poll() is called the next time.
+     * Once poll is called again it means events have been read by the
+     * SensorService, the driver can safely release the wake_lock. SensorService
+     * will continue to hold a wake_lock till the app actually reads the events.
+     */
+    const int SENSOR_FLAG_BITS_WAKE_UP = 1;
+
+    /**
+     * Reporting modes for various sensors. Each sensor will have exactly one of
+     * these modes set.
+     * The least significant 2nd, 3rd and 4th bits are used to represent four
+     * possible reporting modes.
+     */
+    const int SENSOR_FLAG_BITS_CONTINUOUS_MODE = 0;
+    const int SENSOR_FLAG_BITS_ON_CHANGE_MODE = 2;
+    const int SENSOR_FLAG_BITS_ONE_SHOT_MODE = 4;
+    const int SENSOR_FLAG_BITS_SPECIAL_REPORTING_MODE = 6;
+
+    /**
+     * Set this flag if the sensor supports data_injection mode and allows data
+     * to be injected from the SensorService. When in data_injection ONLY
+     * sensors with this flag set are injected sensor data and only sensors with
+     * this flag set are activated. Eg: Accelerometer and Step Counter sensors
+     * can be set with this flag and SensorService will inject accelerometer
+     * data and read the corresponding step counts.
+     */
+    const int SENSOR_FLAG_BITS_DATA_INJECTION = 0x10;
+
+    /**
+     * Set this flag if the sensor is a dynamically connected sensor. See
+     * DynamicSensorInfo and DYNAMIC_SENSOR_META for details.
+     */
+    const int SENSOR_FLAG_BITS_DYNAMIC_SENSOR = 0x20;
+
+    /**
+     * Set this flag if sensor additional information is supported.
+     * See ADDITIONAL_INFO and AdditionalInfo for details.
+     */
+    const int SENSOR_FLAG_BITS_ADDITIONAL_INFO = 0x40;
+
+    /**
+     * Set this flag if sensor suppor direct channel backed by ashmem.
+     * See SharedMemType and registerDirectChannel for more details.
+     */
+    const int SENSOR_FLAG_BITS_DIRECT_CHANNEL_ASHMEM = 0x400;
+
+    /**
+     * Set this flag if sensor suppor direct channel backed by gralloc HAL memory.
+     * See SharedMemType and registerDirectChannel for more details.
+     */
+    const int SENSOR_FLAG_BITS_DIRECT_CHANNEL_GRALLOC = 0x800;
+
+    /**
+     * Flags mask for reporting mode of sensor.
+     */
+    const int SENSOR_FLAG_BITS_MASK_REPORTING_MODE = 0xE;
+
+    /**
+     * Flags mask for direct report maximum rate level support.
+     * See RateLevel.
+     */
+    const int SENSOR_FLAG_BITS_MASK_DIRECT_REPORT = 0x380;
+
+    /**
+     * Flags mask for all direct channel support bits.
+     * See SharedMemType.
+     */
+    const int SENSOR_FLAG_BITS_MASK_DIRECT_CHANNEL = 0xC00;
+
+    /**
+     * Defines the number of bits different pieces of information are shifted in the
+     * SENSOR_FLAG_BITS_* bitmask.
+     */
+    const int SENSOR_FLAG_SHIFT_REPORTING_MODE = 1;
+    const int SENSOR_FLAG_SHIFT_DATA_INJECTION = 4;
+    const int SENSOR_FLAG_SHIFT_DYNAMIC_SENSOR = 5;
+    const int SENSOR_FLAG_SHIFT_ADDITIONAL_INFO = 6;
+    const int SENSOR_FLAG_SHIFT_DIRECT_REPORT = 7;
+    const int SENSOR_FLAG_SHIFT_DIRECT_CHANNEL = 10;
+}
diff --git a/sensors/aidl/android/hardware/sensors/SensorStatus.aidl b/sensors/aidl/android/hardware/sensors/SensorStatus.aidl
new file mode 100644
index 0000000..0fd8697
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/SensorStatus.aidl
@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+@VintfStability
+@Backing(type="byte")
+enum SensorStatus {
+    NO_CONTACT = -1,
+    UNRELIABLE = 0,
+    ACCURACY_LOW = 1,
+    ACCURACY_MEDIUM = 2,
+    ACCURACY_HIGH = 3,
+}
diff --git a/sensors/aidl/android/hardware/sensors/SensorType.aidl b/sensors/aidl/android/hardware/sensors/SensorType.aidl
new file mode 100644
index 0000000..95c7a6a
--- /dev/null
+++ b/sensors/aidl/android/hardware/sensors/SensorType.aidl
@@ -0,0 +1,641 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors;
+
+@VintfStability
+@Backing(type="int")
+enum SensorType {
+    /**
+     * META_DATA is a special event type used to populate the MetaData
+     * structure. It doesn't correspond to a physical sensor. Events of this
+     * type exist only inside the HAL, their primary purpose is to signal the
+     * completion of a flush request.
+     */
+    META_DATA = 0,
+
+    /**
+     * ACCELEROMETER
+     * reporting-mode: continuous
+     *
+     * All values are in SI units (m/s^2) and measure the acceleration of the
+     * device minus the acceleration due to gravity.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    ACCELEROMETER = 1,
+
+    /**
+     * MAGNETIC_FIELD
+     * reporting-mode: continuous
+     *
+     * All values are in micro-Tesla (uT) and measure the geomagnetic
+     * field in the X, Y and Z axis.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    MAGNETIC_FIELD = 2,
+
+    /**
+     * ORIENTATION
+     * reporting-mode: continuous
+     *
+     * All values are angles in degrees.
+     *
+     * Orientation sensors return sensor events for all 3 axes at a constant
+     * rate defined by setDelay().
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    ORIENTATION = 3,
+
+    /**
+     * GYROSCOPE
+     * reporting-mode: continuous
+     *
+     * All values are in radians/second and measure the rate of rotation
+     * around the X, Y and Z axis.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    GYROSCOPE = 4,
+
+    /**
+     * LIGHT
+     * reporting-mode: on-change
+     *
+     * The light sensor value is returned in SI lux units.
+     *
+     * Both wake-up and non wake-up versions are useful.
+     */
+    LIGHT = 5,
+
+    /**
+     * PRESSURE
+     * reporting-mode: continuous
+     *
+     * The pressure sensor return the athmospheric pressure in hectopascal (hPa)
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    PRESSURE = 6,
+
+    /**
+     * PROXIMITY
+     * reporting-mode: on-change
+     *
+     * The proximity sensor which turns the screen off and back on during calls
+     * is the wake-up proximity sensor. Implement wake-up proximity sensor
+     * before implementing a non wake-up proximity sensor. For the wake-up
+     * proximity sensor set the flag SENSOR_FLAG_WAKE_UP.
+     * The value corresponds to the distance to the nearest object in
+     * centimeters.
+     */
+    PROXIMITY = 8,
+
+    /**
+     * GRAVITY
+     * reporting-mode: continuous
+     *
+     * A gravity output indicates the direction of and magnitude of gravity in
+     * the devices's coordinates.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    GRAVITY = 9,
+
+    /**
+     * LINEAR_ACCELERATION
+     * reporting-mode: continuous
+     *
+     * Indicates the linear acceleration of the device in device coordinates,
+     * not including gravity.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    LINEAR_ACCELERATION = 10,
+
+    /**
+     * ROTATION_VECTOR
+     * reporting-mode: continuous
+     *
+     * The rotation vector symbolizes the orientation of the device relative to
+     * the East-North-Up coordinates frame.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    ROTATION_VECTOR = 11,
+
+    /**
+     * RELATIVE_HUMIDITY
+     * reporting-mode: on-change
+     *
+     * A relative humidity sensor measures relative ambient air humidity and
+     * returns a value in percent.
+     *
+     * Both wake-up and non wake-up versions are useful.
+     */
+    RELATIVE_HUMIDITY = 12,
+
+    /**
+     * AMBIENT_TEMPERATURE
+     * reporting-mode: on-change
+     *
+     * The ambient (room) temperature in degree Celsius.
+     *
+     * Both wake-up and non wake-up versions are useful.
+     */
+    AMBIENT_TEMPERATURE = 13,
+
+    /**
+     * MAGNETIC_FIELD_UNCALIBRATED
+     * reporting-mode: continuous
+     *
+     * Similar to MAGNETIC_FIELD, but the hard iron calibration is
+     * reported separately instead of being included in the measurement.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    MAGNETIC_FIELD_UNCALIBRATED = 14,
+
+    /**
+     * GAME_ROTATION_VECTOR
+     * reporting-mode: continuous
+     *
+     * Similar to ROTATION_VECTOR, but not using the geomagnetic
+     * field.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    GAME_ROTATION_VECTOR = 15,
+
+    /**
+     * GYROSCOPE_UNCALIBRATED
+     * reporting-mode: continuous
+     *
+     * All values are in radians/second and measure the rate of rotation
+     * around the X, Y and Z axis.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    GYROSCOPE_UNCALIBRATED = 16,
+
+    /**
+     * SIGNIFICANT_MOTION
+     * reporting-mode: one-shot
+     *
+     * A sensor of this type triggers an event each time significant motion
+     * is detected and automatically disables itself.
+     * For Significant Motion sensor to be useful, it must be defined as a
+     * wake-up sensor. (set SENSOR_FLAG_WAKE_UP). Implement the wake-up
+     * significant motion sensor. A non wake-up version is not useful.
+     * The only allowed value to return is 1.0.
+     */
+    SIGNIFICANT_MOTION = 17,
+
+    /**
+     * STEP_DETECTOR
+     * reporting-mode: special
+     *
+     * A sensor of this type triggers an event each time a step is taken
+     * by the user. The only allowed value to return is 1.0 and an event
+     * is generated for each step.
+     *
+     * Both wake-up and non wake-up versions are useful.
+     */
+    STEP_DETECTOR = 18,
+
+    /**
+     * STEP_COUNTER
+     * reporting-mode: on-change
+     *
+     * A sensor of this type returns the number of steps taken by the user since
+     * the last reboot while activated. The value is returned as a uint64_t and
+     * is reset to zero only on a system / android reboot.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    STEP_COUNTER = 19,
+
+    /**
+     * GEOMAGNETIC_ROTATION_VECTOR
+     * reporting-mode: continuous
+     *
+     *  Similar to ROTATION_VECTOR, but using a magnetometer instead
+     *  of using a gyroscope.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    GEOMAGNETIC_ROTATION_VECTOR = 20,
+
+    /**
+     * HEART_RATE
+     * reporting-mode: on-change
+     *
+     *  A sensor of this type returns the current heart rate.
+     *  The events contain the current heart rate in beats per minute (BPM) and
+     *  the status of the sensor during the measurement. See "HeartRate" below
+     *  for more details.
+     *
+     *  Because this sensor is on-change, events must be generated when and only
+     *  when heart_rate.bpm or heart_rate.status have changed since the last
+     *  event. In particular, upon the first activation, unless the device is
+     *  known to not be on the body, the status field of the first event must be
+     *  set to SensorStatus::UNRELIABLE. The event should be generated no faster
+     *  than every period_ns passed to setDelay() or to batch().
+     *  See the definition of the on-change reporting mode for more information.
+     *
+     *  SensorInfo.requiredPermission must be set to
+     *  SENSOR_PERMISSION_BODY_SENSORS.
+     *
+     *  Both wake-up and non wake-up versions are useful.
+     */
+    HEART_RATE = 21,
+
+    /**
+     * WAKE_UP_TILT_DETECTOR
+     * reporting-mode: special (setDelay has no impact)
+     *
+     * A sensor of this type generates an event each time a tilt event is
+     * detected. A tilt event must be generated if the direction of the
+     * 2-seconds window average gravity changed by at least 35 degrees since the
+     * activation or the last trigger of the sensor.
+     *
+     *  reference_estimated_gravity = average of accelerometer measurements over
+     *  the first 1 second after activation or the estimated gravity at the last
+     *  trigger.
+     *
+     *  current_estimated_gravity = average of accelerometer measurements over
+     *  the last 2 seconds.
+     *
+     *  trigger when
+     *     angle(reference_estimated_gravity, current_estimated_gravity)
+     *       > 35 degrees
+     *
+     * Large accelerations without a change in phone orientation must not
+     * trigger a tilt event.
+     * For example, a sharp turn or strong acceleration while driving a car
+     * must not trigger a tilt event, even though the angle of the average
+     * acceleration might vary by more than 35 degrees.
+     *
+     * Typically, this sensor is implemented with the help of only an
+     * accelerometer. Other sensors can be used as well if they do not increase
+     * the power consumption significantly. This is a low power sensor that
+     * must allow the AP to go into suspend mode. Do not emulate this sensor
+     * in the HAL.
+     * Like other wake up sensors, the driver is expected to a hold a wake_lock
+     * with a timeout of 200 ms while reporting this event. The only allowed
+     * return value is 1.0.
+     *
+     * Implement only the wake-up version of this sensor.
+     */
+    TILT_DETECTOR = 22,
+
+    /**
+     * WAKE_GESTURE
+     * reporting-mode: one-shot
+     *
+     * A sensor enabling waking up the device based on a device specific motion.
+     *
+     * When this sensor triggers, the device behaves as if the power button was
+     * pressed, turning the screen on. This behavior (turning on the screen when
+     * this sensor triggers) might be deactivated by the user in the device
+     * settings. Changes in settings do not impact the behavior of the sensor:
+     * only whether the framework turns the screen on when it triggers.
+     *
+     * The actual gesture to be detected is not specified, and can be chosen by
+     * the manufacturer of the device.
+     * This sensor must be low power, as it is likely to be activated 24/7.
+     * The only allowed value to return is 1.0.
+     *
+     * Implement only the wake-up version of this sensor.
+     */
+    WAKE_GESTURE = 23,
+
+    /**
+     * GLANCE_GESTURE
+     * reporting-mode: one-shot
+     *
+     * A sensor enabling briefly turning the screen on to enable the user to
+     * glance content on screen based on a specific motion.  The device must
+     * turn the screen off after a few moments.
+     *
+     * When this sensor triggers, the device turns the screen on momentarily
+     * to allow the user to glance notifications or other content while the
+     * device remains locked in a non-interactive state (dozing). This behavior
+     * (briefly turning on the screen when this sensor triggers) might be
+     * deactivated by the user in the device settings.
+     * Changes in settings do not impact the behavior of the sensor: only
+     * whether the framework briefly turns the screen on when it triggers.
+     *
+     * The actual gesture to be detected is not specified, and can be chosen by
+     * the manufacturer of the device.
+     * This sensor must be low power, as it is likely to be activated 24/7.
+     * The only allowed value to return is 1.0.
+     *
+     * Implement only the wake-up version of this sensor.
+     */
+    GLANCE_GESTURE = 24,
+
+    /**
+     * PICK_UP_GESTURE
+     * reporting-mode: one-shot
+     *
+     * A sensor of this type triggers when the device is picked up regardless of
+     * wherever is was before (desk, pocket, bag). The only allowed return value
+     * is 1.0. This sensor de-activates itself immediately after it triggers.
+     *
+     * Implement only the wake-up version of this sensor.
+     */
+    PICK_UP_GESTURE = 25,
+
+    /**
+     * WRIST_TILT_GESTURE
+     * trigger-mode: special
+     * wake-up sensor: yes
+     *
+     * A sensor of this type triggers an event each time a tilt of the
+     * wrist-worn device is detected.
+     *
+     * This sensor must be low power, as it is likely to be activated 24/7.
+     * The only allowed value to return is 1.0.
+     *
+     * Implement only the wake-up version of this sensor.
+     */
+    WRIST_TILT_GESTURE = 26,
+
+    /**
+     * DEVICE_ORIENTATION
+     * reporting-mode: on-change
+     *
+     * The current orientation of the device. The value is reported in
+     * the "scalar" element of the EventPayload in Event. The
+     * only values that can be reported are (please refer to Android Sensor
+     * Coordinate System to understand the X and Y axis direction with respect
+     * to default orientation):
+     *  - 0: device is in default orientation (Y axis is vertical and points up)
+     *  - 1: device is rotated 90 degrees counter-clockwise from default
+     *       orientation (X axis is vertical and points up)
+     *  - 2: device is rotated 180 degrees from default orientation (Y axis is
+     *       vertical and points down)
+     *  - 3: device is rotated 90 degrees clockwise from default orientation
+     *       (X axis is vertical and points down)
+     *
+     * Moving the device to an orientation where the Z axis is vertical (either
+     * up or down) must not cause a new event to be reported.
+     *
+     * To improve the user experience of this sensor, it is recommended to
+     * implement some physical (i.e., rotation angle) and temporal (i.e., delay)
+     * hysteresis. In other words, minor or transient rotations must not cause
+     * a new event to be reported.
+     *
+     * This is a low power sensor that intended to reduce interrupts of
+     * application processor and thus allow it to go sleep. Use hardware
+     * implementation based on low power consumption sensors, such as
+     * accelerometer. Device must not emulate this sensor in the HAL.
+     *
+     * Both wake-up and non wake-up versions are useful.
+     */
+    DEVICE_ORIENTATION = 27,
+
+    /**
+     * POSE_6DOF
+     * trigger-mode: continuous
+     *
+     * A sensor of this type returns the pose of the device.
+     * Pose of the device is defined as the orientation of the device from a
+     * Earth Centered Earth Fixed frame and the translation from an arbitrary
+     * point at subscription.
+     *
+     * This sensor can be high power. It can use any and all of the following
+     *           . Accelerometer
+     *           . Gyroscope
+     *           . Camera
+     *           . Depth Camera
+     *
+     */
+    POSE_6DOF = 28,
+
+    /**
+     * STATIONARY_DETECT
+     * trigger mode: one shot
+     *
+     * A sensor of this type returns an event if the device is still/stationary
+     * for a while. The period of time to monitor for stationarity must be
+     * greater than 5 seconds. The latency must be less than 10 seconds.
+     *
+     * Stationarity here refers to absolute stationarity. eg: device on desk.
+     *
+     * The only allowed value to return is 1.0.
+     */
+    STATIONARY_DETECT = 29,
+
+    /**
+     * MOTION_DETECT
+     * trigger mode: one shot
+     *
+     * A sensor of this type returns an event if the device is not still for
+     * for a while. The period of time to monitor for stationarity must be
+     * greater than 5 seconds. The latency must be less than 10 seconds.
+     *
+     * Motion here refers to any mechanism in which the device is causes to be
+     * moved in its inertial frame. eg: Pickin up the device and walking with it
+     * to a nearby room may trigger motion wherewas keeping the device on a
+     * table on a smooth train moving at constant velocity may not trigger
+     * motion.
+     *
+     * The only allowed value to return is 1.0.
+     */
+    MOTION_DETECT = 30,
+
+    /**
+     * HEART_BEAT
+     * trigger mode: continuous
+     *
+     * A sensor of this type returns an event everytime a hear beat peak is
+     * detected.
+     *
+     * Peak here ideally corresponds to the positive peak in the QRS complex of
+     * and ECG signal.
+     *
+     * The sensor is not expected to be optimized for latency. As a guide, a
+     * latency of up to 10 seconds is acceptable. However, the timestamp attached
+     * to the event must be accuratly correspond to the time the peak occurred.
+     *
+     * The sensor event contains a parameter for the confidence in the detection
+     * of the peak where 0.0 represent no information at all, and 1.0 represents
+     * certainty.
+     */
+    HEART_BEAT = 31,
+
+    /**
+     * DYNAMIC_SENSOR_META
+     * trigger-mode: special
+     * wake-up sensor: yes
+     *
+     * A sensor event of this type is received when a dynamic sensor is added to
+     * or removed from the system. At most one sensor of this type can be
+     * present in one sensor HAL implementation and presence of a sensor of this
+     * type in sensor HAL implementation indicates that this sensor HAL supports
+     * dynamic sensor feature. Operations, such as batch, activate and setDelay,
+     * to this special purpose sensor must be treated as no-op and return
+     * successful; flush() also has to generate flush complete event as if this
+     * is a sensor that does not support batching.
+     *
+     * A dynamic sensor connection indicates connection of a physical device or
+     * instantiation of a virtual sensor backed by algorithm; and a dynamic
+     * sensor disconnection indicates the opposite. A sensor event of
+     * DYNAMIC_SENSOR_META type should be delivered regardless of
+     * the activation status of the sensor in the event of dynamic sensor
+     * connection and disconnection. In the sensor event, besides the common
+     * data entries, "dynamic_sensor_meta", which includes fields for connection
+     * status, handle of the sensor involved, pointer to sensor_t structure and
+     * a uuid field, must be populated.
+     *
+     * At a dynamic sensor connection event, fields of sensor_t structure
+     * referenced by a pointer in dynamic_sensor_meta must be filled as if it
+     * was regular sensors. Sensor HAL is responsible for recovery of memory if
+     * the corresponding data is dynamicially allocated. However, the
+     * pointer must be valid until the first activate call to the sensor
+     * reported in this connection event. At a dynamic sensor disconnection,
+     * the sensor_t pointer must be NULL.
+     *
+     * The sensor handle assigned to dynamic sensors must never be the same as
+     * that of any regular static sensors, and must be unique until next boot.
+     * In another word, if a handle h is used for a dynamic sensor A, that same
+     * number cannot be used for the same dynamic sensor A or another dynamic
+     * sensor B even after disconnection of A until reboot.
+     *
+     * The UUID field will be used for identifying the sensor in addition to
+     * name, vendor and version and type. For physical sensors of the same
+     * model, all sensors will have the same values in sensor_t, but the UUID
+     * must be unique and persistent for each individual unit. An all zero
+     * UUID indicates it is not possible to differentiate individual sensor
+     * unit.
+     *
+     */
+    DYNAMIC_SENSOR_META = 32,
+
+    /**
+     * ADDITIONAL_INFO
+     * reporting-mode: N/A
+     *
+     * This sensor type is for delivering additional sensor information aside
+     * from sensor event data.
+     * Additional information may include sensor front-end group delay, internal
+     * calibration parameters, noise level metrics, device internal temperature,
+     * etc.
+     *
+     * This type will never bind to a sensor. In other words, no sensor in the
+     * sensor list can have the type SENSOR_TYPE_ADDITIONAL_INFO. If a
+     * sensor HAL supports sensor additional information feature, it reports
+     * sensor_event_t with "sensor" field set to handle of the reporting sensor
+     * and "type" field set to ADDITIONAL_INFO. Delivery of
+     * additional information events is triggered under two conditions: an
+     * enable activate() call or a flush() call to the corresponding sensor.
+     * Besides, time varying parameters can update infrequently without being
+     * triggered. Device is responsible to control update rate. The recommend
+     * update rate is less than 1/1000 of sensor event rate or less than once
+     * per minute in average.
+     *
+     * A single additional information report consists of multiple frames.
+     * Sequences of these frames are ordered using timestamps, which means the
+     * timestamps of sequential frames have to be at least 1 nanosecond apart
+     * from each other. Each frame is a sensor_event_t delivered through the HAL
+     * interface, with related data stored in the "additional_info" field, which
+     * is of type additional_info_event_t.
+     * The "type" field of additional_info_event_t denotes the nature of the
+     * payload data (see additional_info_type_t).
+     * The "serial" field is used to keep the sequence of payload data that
+     * spans multiple frames. The first frame of the entire report is always of
+     * type AINFO_BEGIN, and the last frame is always AINFO_END.
+     *
+     * If flush() was triggering the report, all additional information frames
+     * must be delivered after flush complete event.
+     */
+    ADDITIONAL_INFO = 33,
+
+    /**
+     * LOW_LATENCY_OFFBODY_DETECT
+     * trigger-mode: on-change
+     * wake-up sensor: yes
+     *
+     * A sensor of this type is defined for devices that are supposed to be worn
+     * by the user in the normal use case (such as a watch, wristband, etc) and
+     * is not yet defined for other device.
+     *
+     * A sensor of this type triggers an event each time the wearable device
+     * is removed from the body and each time it's put back onto the body.
+     * It must be low-latency and be able to detect the on-body to off-body
+     * transition within one second (event delivery time included),
+     * and 3-second latency to determine the off-body to on-body transition
+     * (event delivery time included).
+     *
+     * There are only two valid event values for the sensor to return :
+     *    0.0 for off-body
+     *    1.0 for on-body
+     *
+     */
+    LOW_LATENCY_OFFBODY_DETECT = 34,
+
+    /**
+     * ACCELEROMETER_UNCALIBRATED
+     * reporting-mode: continuous
+     *
+     * All values are in SI units (m/s^2) and measure the acceleration of the
+     * device minus the acceleration due to gravity.
+     *
+     * Implement the non-wake-up version of this sensor and implement the
+     * wake-up version if the system possesses a wake up fifo.
+     */
+    ACCELEROMETER_UNCALIBRATED = 35,
+
+    /**
+     * HINGE_ANGLE
+     * reporting-mode: on-change
+     * wake-up sensor: yes
+     *
+     * A sensor of this type measures the angle, in degrees, between two
+     * integral parts of the device. Movement of a hinge measured by this sensor
+     * type is expected to alter the ways in which the user may interact with
+     * the device, for example by unfolding or revealing a display.
+     *
+     * Sensor data is output using EventPayload.scalar.
+     *
+     * Implement wake-up proximity sensor before implementing a non wake-up
+     * proximity sensor.
+     */
+    HINGE_ANGLE = 36,
+
+    /**
+     * Base for device manufacturers private sensor types.
+     * These sensor types can't be exposed in the SDK.
+     */
+    DEVICE_PRIVATE_BASE = 0x10000,
+}
diff --git a/sensors/aidl/default/Android.bp b/sensors/aidl/default/Android.bp
new file mode 100644
index 0000000..49841a4
--- /dev/null
+++ b/sensors/aidl/default/Android.bp
@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_library_static {
+    name: "libsensorsexampleimpl",
+    vendor: true,
+    shared_libs: [
+        "libbase",
+        "libfmq",
+        "libpower",
+        "libbinder_ndk",
+        "android.hardware.sensors-V1-ndk",
+    ],
+    export_include_dirs: ["include"],
+    srcs: [
+        "Sensors.cpp",
+        "Sensor.cpp",
+    ],
+    visibility: [
+        ":__subpackages__",
+        "//hardware/interfaces/tests/extension/sensors:__subpackages__",
+    ],
+}
+
+cc_binary {
+    name: "android.hardware.sensors-service.example",
+    relative_install_path: "hw",
+    init_rc: ["sensors-default.rc"],
+    vintf_fragments: ["sensors-default.xml"],
+    vendor: true,
+    shared_libs: [
+        "libbase",
+        "libbinder_ndk",
+        "libfmq",
+        "libpower",
+        "libcutils",
+        "liblog",
+        "libutils",
+        "android.hardware.sensors-V1-ndk",
+    ],
+    static_libs: [
+        "libsensorsexampleimpl",
+    ],
+    srcs: ["main.cpp"],
+}
diff --git a/sensors/aidl/default/Sensor.cpp b/sensors/aidl/default/Sensor.cpp
new file mode 100644
index 0000000..50d8841
--- /dev/null
+++ b/sensors/aidl/default/Sensor.cpp
@@ -0,0 +1,434 @@
+/*
+ * Copyright (C) 2021 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 "sensors-impl/Sensor.h"
+
+#include "utils/SystemClock.h"
+
+#include <cmath>
+
+using ::ndk::ScopedAStatus;
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+
+static constexpr int32_t kDefaultMaxDelayUs = 10 * 1000 * 1000;
+
+Sensor::Sensor(ISensorsEventCallback* callback)
+    : mIsEnabled(false),
+      mSamplingPeriodNs(0),
+      mLastSampleTimeNs(0),
+      mCallback(callback),
+      mMode(OperationMode::NORMAL) {
+    mRunThread = std::thread(startThread, this);
+}
+
+Sensor::~Sensor() {
+    std::unique_lock<std::mutex> lock(mRunMutex);
+    mStopThread = true;
+    mIsEnabled = false;
+    mWaitCV.notify_all();
+    lock.release();
+    mRunThread.join();
+}
+
+const SensorInfo& Sensor::getSensorInfo() const {
+    return mSensorInfo;
+}
+
+void Sensor::batch(int64_t samplingPeriodNs) {
+    if (samplingPeriodNs < mSensorInfo.minDelayUs * 1000ll) {
+        samplingPeriodNs = mSensorInfo.minDelayUs * 1000ll;
+    } else if (samplingPeriodNs > mSensorInfo.maxDelayUs * 1000ll) {
+        samplingPeriodNs = mSensorInfo.maxDelayUs * 1000ll;
+    }
+
+    if (mSamplingPeriodNs != samplingPeriodNs) {
+        mSamplingPeriodNs = samplingPeriodNs;
+        // Wake up the 'run' thread to check if a new event should be generated now
+        mWaitCV.notify_all();
+    }
+}
+
+void Sensor::activate(bool enable) {
+    if (mIsEnabled != enable) {
+        std::unique_lock<std::mutex> lock(mRunMutex);
+        mIsEnabled = enable;
+        mWaitCV.notify_all();
+    }
+}
+
+ScopedAStatus Sensor::flush() {
+    // Only generate a flush complete event if the sensor is enabled and if the sensor is not a
+    // one-shot sensor.
+    if (!mIsEnabled ||
+        (mSensorInfo.flags & static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE))) {
+        return ScopedAStatus::fromServiceSpecificError(
+                static_cast<int32_t>(BnSensors::ERROR_BAD_VALUE));
+    }
+
+    // Note: If a sensor supports batching, write all of the currently batched events for the sensor
+    // to the Event FMQ prior to writing the flush complete event.
+    Event ev;
+    ev.sensorHandle = mSensorInfo.sensorHandle;
+    ev.sensorType = SensorType::META_DATA;
+    EventPayload::MetaData meta = {
+            .what = MetaDataEventType::META_DATA_FLUSH_COMPLETE,
+    };
+    ev.payload.set<EventPayload::Tag::meta>(meta);
+    std::vector<Event> evs{ev};
+    mCallback->postEvents(evs, isWakeUpSensor());
+
+    return ScopedAStatus::ok();
+}
+
+void Sensor::startThread(Sensor* sensor) {
+    sensor->run();
+}
+
+void Sensor::run() {
+    std::unique_lock<std::mutex> runLock(mRunMutex);
+    constexpr int64_t kNanosecondsInSeconds = 1000 * 1000 * 1000;
+
+    while (!mStopThread) {
+        if (!mIsEnabled || mMode == OperationMode::DATA_INJECTION) {
+            mWaitCV.wait(runLock, [&] {
+                return ((mIsEnabled && mMode == OperationMode::NORMAL) || mStopThread);
+            });
+        } else {
+            timespec curTime;
+            clock_gettime(CLOCK_BOOTTIME, &curTime);
+            int64_t now = (curTime.tv_sec * kNanosecondsInSeconds) + curTime.tv_nsec;
+            int64_t nextSampleTime = mLastSampleTimeNs + mSamplingPeriodNs;
+
+            if (now >= nextSampleTime) {
+                mLastSampleTimeNs = now;
+                nextSampleTime = mLastSampleTimeNs + mSamplingPeriodNs;
+                mCallback->postEvents(readEvents(), isWakeUpSensor());
+            }
+
+            mWaitCV.wait_for(runLock, std::chrono::nanoseconds(nextSampleTime - now));
+        }
+    }
+}
+
+bool Sensor::isWakeUpSensor() {
+    return mSensorInfo.flags & static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_WAKE_UP);
+}
+
+std::vector<Event> Sensor::readEvents() {
+    std::vector<Event> events;
+    Event event;
+    event.sensorHandle = mSensorInfo.sensorHandle;
+    event.sensorType = mSensorInfo.type;
+    event.timestamp = ::android::elapsedRealtimeNano();
+    memset(&event.payload, 0, sizeof(event.payload));
+    readEventPayload(event.payload);
+    events.push_back(event);
+    return events;
+}
+
+void Sensor::setOperationMode(OperationMode mode) {
+    if (mMode != mode) {
+        std::unique_lock<std::mutex> lock(mRunMutex);
+        mMode = mode;
+        mWaitCV.notify_all();
+    }
+}
+
+bool Sensor::supportsDataInjection() const {
+    return mSensorInfo.flags & static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_DATA_INJECTION);
+}
+
+ScopedAStatus Sensor::injectEvent(const Event& event) {
+    if (event.sensorType == SensorType::ADDITIONAL_INFO) {
+        return ScopedAStatus::ok();
+        // When in OperationMode::NORMAL, SensorType::ADDITIONAL_INFO is used to push operation
+        // environment data into the device.
+    }
+
+    if (!supportsDataInjection()) {
+        return ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
+    }
+
+    if (mMode == OperationMode::DATA_INJECTION) {
+        mCallback->postEvents(std::vector<Event>{event}, isWakeUpSensor());
+        return ScopedAStatus::ok();
+    }
+
+    return ScopedAStatus::fromServiceSpecificError(
+            static_cast<int32_t>(BnSensors::ERROR_BAD_VALUE));
+}
+
+OnChangeSensor::OnChangeSensor(ISensorsEventCallback* callback)
+    : Sensor(callback), mPreviousEventSet(false) {}
+
+void OnChangeSensor::activate(bool enable) {
+    Sensor::activate(enable);
+    if (!enable) {
+        mPreviousEventSet = false;
+    }
+}
+
+std::vector<Event> OnChangeSensor::readEvents() {
+    std::vector<Event> events = Sensor::readEvents();
+    std::vector<Event> outputEvents;
+
+    for (auto iter = events.begin(); iter != events.end(); ++iter) {
+        Event ev = *iter;
+        if (!mPreviousEventSet ||
+            memcmp(&mPreviousEvent.payload, &ev.payload, sizeof(ev.payload)) != 0) {
+            outputEvents.push_back(ev);
+            mPreviousEvent = ev;
+            mPreviousEventSet = true;
+        }
+    }
+    return outputEvents;
+}
+
+AccelSensor::AccelSensor(int32_t sensorHandle, ISensorsEventCallback* callback) : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Accel Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::ACCELEROMETER;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 78.4f;  // +/- 8g
+    mSensorInfo.resolution = 1.52e-5;
+    mSensorInfo.power = 0.001f;          // mA
+    mSensorInfo.minDelayUs = 10 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_DATA_INJECTION);
+};
+
+void AccelSensor::readEventPayload(EventPayload& payload) {
+    EventPayload::Vec3 vec3 = {
+            .x = 0,
+            .y = 0,
+            .z = -9.8,
+            .status = SensorStatus::ACCURACY_HIGH,
+    };
+    payload.set<EventPayload::Tag::vec3>(vec3);
+}
+
+PressureSensor::PressureSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Pressure Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::PRESSURE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 1100.0f;       // hPa
+    mSensorInfo.resolution = 0.005f;      // hPa
+    mSensorInfo.power = 0.001f;           // mA
+    mSensorInfo.minDelayUs = 100 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = 0;
+};
+
+void PressureSensor::readEventPayload(EventPayload& payload) {
+    payload.set<EventPayload::Tag::scalar>(1013.25f);
+}
+
+MagnetometerSensor::MagnetometerSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Magnetic Field Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::MAGNETIC_FIELD;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 1300.0f;
+    mSensorInfo.resolution = 0.01f;
+    mSensorInfo.power = 0.001f;          // mA
+    mSensorInfo.minDelayUs = 20 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = 0;
+};
+
+void MagnetometerSensor::readEventPayload(EventPayload& payload) {
+    EventPayload::Vec3 vec3 = {
+            .x = 100.0,
+            .y = 0,
+            .z = 50.0,
+            .status = SensorStatus::ACCURACY_HIGH,
+    };
+    payload.set<EventPayload::Tag::vec3>(vec3);
+}
+
+LightSensor::LightSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Light Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::LIGHT;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 43000.0f;
+    mSensorInfo.resolution = 10.0f;
+    mSensorInfo.power = 0.001f;           // mA
+    mSensorInfo.minDelayUs = 200 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE);
+};
+
+void LightSensor::readEventPayload(EventPayload& payload) {
+    payload.set<EventPayload::Tag::scalar>(80.0f);
+}
+
+ProximitySensor::ProximitySensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Proximity Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::PROXIMITY;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 5.0f;
+    mSensorInfo.resolution = 1.0f;
+    mSensorInfo.power = 0.012f;           // mA
+    mSensorInfo.minDelayUs = 200 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE |
+                                              SensorInfo::SENSOR_FLAG_BITS_WAKE_UP);
+};
+
+void ProximitySensor::readEventPayload(EventPayload& payload) {
+    payload.set<EventPayload::Tag::scalar>(2.5f);
+}
+
+GyroSensor::GyroSensor(int32_t sensorHandle, ISensorsEventCallback* callback) : Sensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Gyro Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::GYROSCOPE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 1000.0f * M_PI / 180.0f;
+    mSensorInfo.resolution = 1000.0f * M_PI / (180.0f * 32768.0f);
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelayUs = 10 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = 0;
+};
+
+void GyroSensor::readEventPayload(EventPayload& payload) {
+    EventPayload::Vec3 vec3 = {
+            .x = 0,
+            .y = 0,
+            .z = 0,
+            .status = SensorStatus::ACCURACY_HIGH,
+    };
+    payload.set<EventPayload::Tag::vec3>(vec3);
+}
+
+AmbientTempSensor::AmbientTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Ambient Temp Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::AMBIENT_TEMPERATURE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 80.0f;
+    mSensorInfo.resolution = 0.01f;
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelayUs = 40 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE);
+};
+
+void AmbientTempSensor::readEventPayload(EventPayload& payload) {
+    payload.set<EventPayload::Tag::scalar>(40.0f);
+}
+
+RelativeHumiditySensor::RelativeHumiditySensor(int32_t sensorHandle,
+                                               ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Relative Humidity Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::RELATIVE_HUMIDITY;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 100.0f;
+    mSensorInfo.resolution = 0.1f;
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelayUs = 40 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE);
+}
+
+void RelativeHumiditySensor::readEventPayload(EventPayload& payload) {
+    payload.set<EventPayload::Tag::scalar>(50.0f);
+}
+
+HingeAngleSensor::HingeAngleSensor(int32_t sensorHandle, ISensorsEventCallback* callback)
+    : OnChangeSensor(callback) {
+    mSensorInfo.sensorHandle = sensorHandle;
+    mSensorInfo.name = "Hinge Angle Sensor";
+    mSensorInfo.vendor = "Vendor String";
+    mSensorInfo.version = 1;
+    mSensorInfo.type = SensorType::HINGE_ANGLE;
+    mSensorInfo.typeAsString = "";
+    mSensorInfo.maxRange = 360.0f;
+    mSensorInfo.resolution = 1.0f;
+    mSensorInfo.power = 0.001f;
+    mSensorInfo.minDelayUs = 40 * 1000;  // microseconds
+    mSensorInfo.maxDelayUs = kDefaultMaxDelayUs;
+    mSensorInfo.fifoReservedEventCount = 0;
+    mSensorInfo.fifoMaxEventCount = 0;
+    mSensorInfo.requiredPermission = "";
+    mSensorInfo.flags = static_cast<uint32_t>(SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE |
+                                              SensorInfo::SENSOR_FLAG_BITS_WAKE_UP |
+                                              SensorInfo::SENSOR_FLAG_BITS_DATA_INJECTION);
+}
+
+void HingeAngleSensor::readEventPayload(EventPayload& payload) {
+    payload.set<EventPayload::Tag::scalar>(180.0f);
+}
+
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/default/Sensors.cpp b/sensors/aidl/default/Sensors.cpp
new file mode 100644
index 0000000..65dd304
--- /dev/null
+++ b/sensors/aidl/default/Sensors.cpp
@@ -0,0 +1,157 @@
+/*
+ * Copyright (C) 2021 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 "sensors-impl/Sensors.h"
+
+#include <aidl/android/hardware/common/fmq/SynchronizedReadWrite.h>
+
+using ::aidl::android::hardware::common::fmq::MQDescriptor;
+using ::aidl::android::hardware::common::fmq::SynchronizedReadWrite;
+using ::aidl::android::hardware::sensors::Event;
+using ::aidl::android::hardware::sensors::ISensors;
+using ::aidl::android::hardware::sensors::ISensorsCallback;
+using ::aidl::android::hardware::sensors::SensorInfo;
+using ::ndk::ScopedAStatus;
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+
+ScopedAStatus Sensors::activate(int32_t in_sensorHandle, bool in_enabled) {
+    auto sensor = mSensors.find(in_sensorHandle);
+    if (sensor != mSensors.end()) {
+        sensor->second->activate(in_enabled);
+        return ScopedAStatus::ok();
+    }
+
+    return ScopedAStatus::fromExceptionCode(EX_ILLEGAL_ARGUMENT);
+}
+
+ScopedAStatus Sensors::batch(int32_t in_sensorHandle, int64_t in_samplingPeriodNs,
+                             int64_t /* in_maxReportLatencyNs */) {
+    auto sensor = mSensors.find(in_sensorHandle);
+    if (sensor != mSensors.end()) {
+        sensor->second->batch(in_samplingPeriodNs);
+        return ScopedAStatus::ok();
+    }
+
+    return ScopedAStatus::fromExceptionCode(EX_ILLEGAL_ARGUMENT);
+}
+
+ScopedAStatus Sensors::configDirectReport(int32_t /* in_sensorHandle */,
+                                          int32_t /* in_channelHandle */,
+                                          ISensors::RateLevel /* in_rate */,
+                                          int32_t* _aidl_return) {
+    *_aidl_return = EX_UNSUPPORTED_OPERATION;
+
+    return ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
+}
+
+ScopedAStatus Sensors::flush(int32_t in_sensorHandle) {
+    auto sensor = mSensors.find(in_sensorHandle);
+    if (sensor != mSensors.end()) {
+        return sensor->second->flush();
+    }
+
+    return ScopedAStatus::fromExceptionCode(EX_ILLEGAL_ARGUMENT);
+}
+
+ScopedAStatus Sensors::getSensorsList(std::vector<SensorInfo>* _aidl_return) {
+    for (const auto& sensor : mSensors) {
+        _aidl_return->push_back(sensor.second->getSensorInfo());
+    }
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Sensors::initialize(
+        const MQDescriptor<Event, SynchronizedReadWrite>& in_eventQueueDescriptor,
+        const MQDescriptor<int32_t, SynchronizedReadWrite>& in_wakeLockDescriptor,
+        const std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback>&
+                in_sensorsCallback) {
+    ScopedAStatus result = ScopedAStatus::ok();
+
+    mEventQueue = std::make_unique<AidlMessageQueue<Event, SynchronizedReadWrite>>(
+            in_eventQueueDescriptor, true /* resetPointers */);
+
+    // Ensure that all sensors are disabled.
+    for (auto sensor : mSensors) {
+        sensor.second->activate(false);
+    }
+
+    // Stop the Wake Lock thread if it is currently running
+    if (mReadWakeLockQueueRun.load()) {
+        mReadWakeLockQueueRun = false;
+        mWakeLockThread.join();
+    }
+
+    // Save a reference to the callback
+    mCallback = in_sensorsCallback;
+
+    // Ensure that any existing EventFlag is properly deleted
+    deleteEventFlag();
+
+    // Create the EventFlag that is used to signal to the framework that sensor events have been
+    // written to the Event FMQ
+    if (EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag) != OK) {
+        result = ScopedAStatus::fromExceptionCode(EX_ILLEGAL_ARGUMENT);
+    }
+
+    // Create the Wake Lock FMQ that is used by the framework to communicate whenever WAKE_UP
+    // events have been successfully read and handled by the framework.
+    mWakeLockQueue = std::make_unique<AidlMessageQueue<int32_t, SynchronizedReadWrite>>(
+            in_wakeLockDescriptor, true /* resetPointers */);
+
+    if (!mCallback || !mEventQueue || !mWakeLockQueue || mEventQueueFlag == nullptr) {
+        result = ScopedAStatus::fromExceptionCode(EX_ILLEGAL_ARGUMENT);
+    }
+
+    // Start the thread to read events from the Wake Lock FMQ
+    mReadWakeLockQueueRun = true;
+    mWakeLockThread = std::thread(startReadWakeLockThread, this);
+    return result;
+}
+
+ScopedAStatus Sensors::injectSensorData(const Event& in_event) {
+    auto sensor = mSensors.find(in_event.sensorHandle);
+    if (sensor != mSensors.end()) {
+        return sensor->second->injectEvent(in_event);
+    }
+    return ScopedAStatus::fromServiceSpecificError(static_cast<int32_t>(ERROR_BAD_VALUE));
+}
+
+ScopedAStatus Sensors::registerDirectChannel(const ISensors::SharedMemInfo& /* in_mem */,
+                                             int32_t* _aidl_return) {
+    *_aidl_return = EX_UNSUPPORTED_OPERATION;
+
+    return ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
+}
+
+ScopedAStatus Sensors::setOperationMode(OperationMode in_mode) {
+    for (auto sensor : mSensors) {
+        sensor.second->setOperationMode(in_mode);
+    }
+    return ScopedAStatus::ok();
+}
+
+ScopedAStatus Sensors::unregisterDirectChannel(int32_t /* in_channelHandle */) {
+    return ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
+}
+
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/default/include/sensors-impl/Sensor.h b/sensors/aidl/default/include/sensors-impl/Sensor.h
new file mode 100644
index 0000000..e6cd3e6
--- /dev/null
+++ b/sensors/aidl/default/include/sensors-impl/Sensor.h
@@ -0,0 +1,168 @@
+/*
+ * Copyright (C) 2021 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 <thread>
+
+#include <aidl/android/hardware/sensors/BnSensors.h>
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+
+class ISensorsEventCallback {
+  public:
+    using Event = ::aidl::android::hardware::sensors::Event;
+
+    virtual ~ISensorsEventCallback(){};
+    virtual void postEvents(const std::vector<Event>& events, bool wakeup) = 0;
+};
+
+class Sensor {
+  public:
+    using OperationMode = ::aidl::android::hardware::sensors::ISensors::OperationMode;
+    using Event = ::aidl::android::hardware::sensors::Event;
+    using EventPayload = ::aidl::android::hardware::sensors::Event::EventPayload;
+    using SensorInfo = ::aidl::android::hardware::sensors::SensorInfo;
+    using SensorType = ::aidl::android::hardware::sensors::SensorType;
+    using MetaDataEventType =
+            ::aidl::android::hardware::sensors::Event::EventPayload::MetaData::MetaDataEventType;
+
+    Sensor(ISensorsEventCallback* callback);
+    virtual ~Sensor();
+
+    const SensorInfo& getSensorInfo() const;
+    void batch(int64_t samplingPeriodNs);
+    virtual void activate(bool enable);
+    ndk::ScopedAStatus flush();
+
+    void setOperationMode(OperationMode mode);
+    bool supportsDataInjection() const;
+    ndk::ScopedAStatus injectEvent(const Event& event);
+
+  protected:
+    void run();
+    virtual std::vector<Event> readEvents();
+    virtual void readEventPayload(EventPayload&) = 0;
+    static void startThread(Sensor* sensor);
+
+    bool isWakeUpSensor();
+
+    bool mIsEnabled;
+    int64_t mSamplingPeriodNs;
+    int64_t mLastSampleTimeNs;
+    SensorInfo mSensorInfo;
+
+    std::atomic_bool mStopThread;
+    std::condition_variable mWaitCV;
+    std::mutex mRunMutex;
+    std::thread mRunThread;
+
+    ISensorsEventCallback* mCallback;
+
+    OperationMode mMode;
+};
+
+class OnChangeSensor : public Sensor {
+  public:
+    OnChangeSensor(ISensorsEventCallback* callback);
+
+    virtual void activate(bool enable) override;
+
+  protected:
+    virtual std::vector<Event> readEvents() override;
+
+  protected:
+    Event mPreviousEvent;
+    bool mPreviousEventSet;
+};
+
+class AccelSensor : public Sensor {
+  public:
+    AccelSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class GyroSensor : public Sensor {
+  public:
+    GyroSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class AmbientTempSensor : public OnChangeSensor {
+  public:
+    AmbientTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class PressureSensor : public Sensor {
+  public:
+    PressureSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class MagnetometerSensor : public Sensor {
+  public:
+    MagnetometerSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class LightSensor : public OnChangeSensor {
+  public:
+    LightSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class ProximitySensor : public OnChangeSensor {
+  public:
+    ProximitySensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class RelativeHumiditySensor : public OnChangeSensor {
+  public:
+    RelativeHumiditySensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+class HingeAngleSensor : public OnChangeSensor {
+  public:
+    HingeAngleSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
+
+  protected:
+    virtual void readEventPayload(EventPayload& payload) override;
+};
+
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/default/include/sensors-impl/Sensors.h b/sensors/aidl/default/include/sensors-impl/Sensors.h
new file mode 100644
index 0000000..e270d96
--- /dev/null
+++ b/sensors/aidl/default/include/sensors-impl/Sensors.h
@@ -0,0 +1,216 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/common/fmq/SynchronizedReadWrite.h>
+#include <aidl/android/hardware/sensors/BnSensors.h>
+#include <fmq/AidlMessageQueue.h>
+#include <hardware_legacy/power.h>
+#include <map>
+#include "Sensor.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+
+using aidl::android::hardware::common::fmq::SynchronizedReadWrite;
+using ::android::AidlMessageQueue;
+using ::android::OK;
+using ::android::status_t;
+using ::android::hardware::EventFlag;
+
+class Sensors : public BnSensors, public ISensorsEventCallback {
+    static constexpr const char* kWakeLockName = "SensorsHAL_WAKEUP";
+
+  public:
+    Sensors()
+        : mEventQueueFlag(nullptr),
+          mNextHandle(1),
+          mOutstandingWakeUpEvents(0),
+          mReadWakeLockQueueRun(false),
+          mAutoReleaseWakeLockTime(0),
+          mHasWakeLock(false) {
+        AddSensor<AccelSensor>();
+        AddSensor<GyroSensor>();
+        AddSensor<AmbientTempSensor>();
+        AddSensor<PressureSensor>();
+        AddSensor<MagnetometerSensor>();
+        AddSensor<LightSensor>();
+        AddSensor<ProximitySensor>();
+        AddSensor<RelativeHumiditySensor>();
+        AddSensor<HingeAngleSensor>();
+    }
+
+    virtual ~Sensors() {
+        deleteEventFlag();
+        mReadWakeLockQueueRun = false;
+        mWakeLockThread.join();
+    }
+
+    ::ndk::ScopedAStatus activate(int32_t in_sensorHandle, bool in_enabled) override;
+    ::ndk::ScopedAStatus batch(int32_t in_sensorHandle, int64_t in_samplingPeriodNs,
+                               int64_t in_maxReportLatencyNs) override;
+    ::ndk::ScopedAStatus configDirectReport(
+            int32_t in_sensorHandle, int32_t in_channelHandle,
+            ::aidl::android::hardware::sensors::ISensors::RateLevel in_rate,
+            int32_t* _aidl_return) override;
+    ::ndk::ScopedAStatus flush(int32_t in_sensorHandle) override;
+    ::ndk::ScopedAStatus getSensorsList(
+            std::vector<::aidl::android::hardware::sensors::SensorInfo>* _aidl_return) override;
+    ::ndk::ScopedAStatus initialize(
+            const ::aidl::android::hardware::common::fmq::MQDescriptor<
+                    ::aidl::android::hardware::sensors::Event,
+                    ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>&
+                    in_eventQueueDescriptor,
+            const ::aidl::android::hardware::common::fmq::MQDescriptor<
+                    int32_t, ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>&
+                    in_wakeLockDescriptor,
+            const std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback>&
+                    in_sensorsCallback) override;
+    ::ndk::ScopedAStatus injectSensorData(
+            const ::aidl::android::hardware::sensors::Event& in_event) override;
+    ::ndk::ScopedAStatus registerDirectChannel(
+            const ::aidl::android::hardware::sensors::ISensors::SharedMemInfo& in_mem,
+            int32_t* _aidl_return) override;
+    ::ndk::ScopedAStatus setOperationMode(
+            ::aidl::android::hardware::sensors::ISensors::OperationMode in_mode) override;
+    ::ndk::ScopedAStatus unregisterDirectChannel(int32_t in_channelHandle) override;
+
+    void postEvents(const std::vector<Event>& events, bool wakeup) override {
+        std::lock_guard<std::mutex> lock(mWriteLock);
+        if (mEventQueue == nullptr) {
+            return;
+        }
+        if (mEventQueue->write(&events.front(), events.size())) {
+            mEventQueueFlag->wake(
+                    static_cast<uint32_t>(BnSensors::EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS));
+
+            if (wakeup) {
+                // Keep track of the number of outstanding WAKE_UP events in order to properly hold
+                // a wake lock until the framework has secured a wake lock
+                updateWakeLock(events.size(), 0 /* eventsHandled */);
+            }
+        }
+    }
+
+  protected:
+    // Add a new sensor
+    template <class SensorType>
+    void AddSensor() {
+        std::shared_ptr<SensorType> sensor =
+                std::make_shared<SensorType>(mNextHandle++ /* sensorHandle */, this /* callback */);
+        mSensors[sensor->getSensorInfo().sensorHandle] = sensor;
+    }
+
+    // Utility function to delete the Event Flag
+    void deleteEventFlag() {
+        if (mEventQueueFlag != nullptr) {
+            status_t status = EventFlag::deleteEventFlag(&mEventQueueFlag);
+            if (status != OK) {
+                ALOGI("Failed to delete event flag: %d", status);
+            }
+        }
+    }
+
+    static void startReadWakeLockThread(Sensors* sensors) { sensors->readWakeLockFMQ(); }
+
+    // Function to read the Wake Lock FMQ and release the wake lock when appropriate
+    void readWakeLockFMQ() {
+        while (mReadWakeLockQueueRun.load()) {
+            constexpr int64_t kReadTimeoutNs = 500 * 1000 * 1000;  // 500 ms
+            int32_t eventsHandled = 0;
+
+            // Read events from the Wake Lock FMQ. Timeout after a reasonable amount of time to
+            // ensure that any held wake lock is able to be released if it is held for too long.
+            mWakeLockQueue->readBlocking(
+                    &eventsHandled, 1 /* count */, 0 /* readNotification */,
+                    static_cast<uint32_t>(WAKE_LOCK_QUEUE_FLAG_BITS_DATA_WRITTEN), kReadTimeoutNs);
+            updateWakeLock(0 /* eventsWritten */, eventsHandled);
+        }
+    }
+
+    /**
+     * Responsible for acquiring and releasing a wake lock when there are unhandled WAKE_UP events
+     */
+    void updateWakeLock(int32_t eventsWritten, int32_t eventsHandled) {
+        std::lock_guard<std::mutex> lock(mWakeLockLock);
+        int32_t newVal = mOutstandingWakeUpEvents + eventsWritten - eventsHandled;
+        if (newVal < 0) {
+            mOutstandingWakeUpEvents = 0;
+        } else {
+            mOutstandingWakeUpEvents = newVal;
+        }
+
+        if (eventsWritten > 0) {
+            // Update the time at which the last WAKE_UP event was sent
+            mAutoReleaseWakeLockTime = ::android::uptimeMillis() +
+                                       static_cast<uint32_t>(WAKE_LOCK_TIMEOUT_SECONDS) * 1000;
+        }
+
+        if (!mHasWakeLock && mOutstandingWakeUpEvents > 0 &&
+            acquire_wake_lock(PARTIAL_WAKE_LOCK, kWakeLockName) == 0) {
+            mHasWakeLock = true;
+        } else if (mHasWakeLock) {
+            // Check if the wake lock should be released automatically if
+            // SensorTimeout::WAKE_LOCK_SECONDS has elapsed since the last WAKE_UP event was written
+            // to the Wake Lock FMQ.
+            if (::android::uptimeMillis() > mAutoReleaseWakeLockTime) {
+                ALOGD("No events read from wake lock FMQ for %d seconds, auto releasing wake lock",
+                      WAKE_LOCK_TIMEOUT_SECONDS);
+                mOutstandingWakeUpEvents = 0;
+            }
+
+            if (mOutstandingWakeUpEvents == 0 && release_wake_lock(kWakeLockName) == 0) {
+                mHasWakeLock = false;
+            }
+        }
+    }
+
+  private:
+    // The Event FMQ where sensor events are written
+    std::unique_ptr<AidlMessageQueue<Event, SynchronizedReadWrite>> mEventQueue;
+    // The Wake Lock FMQ that is read to determine when the framework has handled WAKE_UP events
+    std::unique_ptr<AidlMessageQueue<int32_t, SynchronizedReadWrite>> mWakeLockQueue;
+    // Event Flag to signal to the framework when sensor events are available to be read
+    EventFlag* mEventQueueFlag;
+    // Callback for asynchronous events, such as dynamic sensor connections.
+    std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback> mCallback;
+    // A map of the available sensors.
+    std::map<int32_t, std::shared_ptr<Sensor>> mSensors;
+    // The next available sensor handle.
+    int32_t mNextHandle;
+    // Lock to protect writes to the FMQs.
+    std::mutex mWriteLock;
+    // Lock to protect acquiring and releasing the wake lock
+    std::mutex mWakeLockLock;
+    // Track the number of WAKE_UP events that have not been handled by the framework
+    uint32_t mOutstandingWakeUpEvents;
+    // A thread to read the Wake Lock FMQ
+    std::thread mWakeLockThread;
+    // Flag to indicate that the Wake Lock Thread should continue to run
+    std::atomic_bool mReadWakeLockQueueRun;
+    // Track the time when the wake lock should automatically be released
+    int64_t mAutoReleaseWakeLockTime;
+    // Flag to indicate if a wake lock has been acquired
+    bool mHasWakeLock;
+};
+
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/default/main.cpp b/sensors/aidl/default/main.cpp
new file mode 100644
index 0000000..8a5a7de
--- /dev/null
+++ b/sensors/aidl/default/main.cpp
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2021 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 "sensors-impl/Sensors.h"
+
+#include <android-base/logging.h>
+#include <android/binder_manager.h>
+#include <android/binder_process.h>
+
+using aidl::android::hardware::sensors::Sensors;
+
+int main() {
+    ABinderProcess_setThreadPoolMaxThreadCount(0);
+
+    // Make a default sensors service
+    auto sensor = ndk::SharedRefBase::make<Sensors>();
+    const std::string sensorName = std::string() + Sensors::descriptor + "/default";
+    binder_status_t status =
+            AServiceManager_addService(sensor->asBinder().get(), sensorName.c_str());
+    CHECK_EQ(status, STATUS_OK);
+
+    ABinderProcess_joinThreadPool();
+    return EXIT_FAILURE;  // should not reach
+}
diff --git a/sensors/aidl/default/sensors-default.rc b/sensors/aidl/default/sensors-default.rc
new file mode 100644
index 0000000..96da85d
--- /dev/null
+++ b/sensors/aidl/default/sensors-default.rc
@@ -0,0 +1,5 @@
+service vendor.sensors-default /vendor/bin/hw/android.hardware.sensors-service.example
+    class hal
+    user system
+    group system
+    rlimit rtprio 10 10
diff --git a/sensors/aidl/default/sensors-default.xml b/sensors/aidl/default/sensors-default.xml
new file mode 100644
index 0000000..7898a6b
--- /dev/null
+++ b/sensors/aidl/default/sensors-default.xml
@@ -0,0 +1,7 @@
+<manifest version="1.0" type="device">
+    <hal format="aidl">
+        <name>android.hardware.sensors</name>
+        <version>1</version>
+        <fqname>ISensors/default</fqname>
+    </hal>
+</manifest>
diff --git a/sensors/aidl/vts/Android.bp b/sensors/aidl/vts/Android.bp
new file mode 100644
index 0000000..5a519a5
--- /dev/null
+++ b/sensors/aidl/vts/Android.bp
@@ -0,0 +1,49 @@
+// Copyright 2021 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_test {
+    name: "VtsAidlHalSensorsTargetTest",
+    defaults: [
+        "VtsHalTargetTestDefaults",
+        "use_libaidlvintf_gtest_helper_static",
+    ],
+    srcs: [
+        "VtsAidlHalSensorsTargetTest.cpp",
+        "SensorsAidlEnvironment.cpp",
+    ],
+    shared_libs: [
+        "libbinder",
+        "libbinder_ndk",
+        "libfmq",
+        "android.hardware.common-V2-ndk",
+        "android.hardware.common.fmq-V1-ndk",
+    ],
+    static_libs: [
+        "android.hardware.sensors-V1-ndk",
+        "VtsHalSensorsTargetTestUtils",
+    ],
+    test_suites: [
+        "general-tests",
+        "vts",
+    ],
+}
diff --git a/sensors/aidl/vts/OWNERS b/sensors/aidl/vts/OWNERS
new file mode 100644
index 0000000..90c2330
--- /dev/null
+++ b/sensors/aidl/vts/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
diff --git a/sensors/aidl/vts/SensorsAidlEnvironment.cpp b/sensors/aidl/vts/SensorsAidlEnvironment.cpp
new file mode 100644
index 0000000..e71251f
--- /dev/null
+++ b/sensors/aidl/vts/SensorsAidlEnvironment.cpp
@@ -0,0 +1,164 @@
+/*
+ * Copyright (C) 2021 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 "SensorsAidlEnvironment.h"
+
+#include <android/binder_manager.h>
+#include <log/log.h>
+
+#include <aidl/android/hardware/sensors/BnSensorsCallback.h>
+
+using aidl::android::hardware::sensors::BnSensorsCallback;
+using aidl::android::hardware::sensors::SensorInfo;
+using android::hardware::EventFlag;
+using ndk::ScopedAStatus;
+using ndk::SpAIBinder;
+
+namespace {
+
+void serviceDied(void* /* cookie */) {
+    ALOGE("Sensors HAL died (likely crashed) during test");
+    FAIL() << "Sensors HAL died during test";
+}
+
+class NoOpSensorsCallback : public BnSensorsCallback {
+  public:
+    ScopedAStatus onDynamicSensorsConnected(
+            const std::vector<SensorInfo>& /* sensorInfos */) override {
+        return ScopedAStatus::ok();
+    }
+
+    ScopedAStatus onDynamicSensorsDisconnected(
+            const std::vector<int32_t>& /* sensorHandles */) override {
+        return ScopedAStatus::ok();
+    }
+};
+
+}  // anonymous namespace
+
+SensorsAidlEnvironment::SensorsAidlEnvironment(const std::string& service_name)
+    : SensorsVtsEnvironmentBase(service_name),
+      mCallback(ndk::SharedRefBase::make<NoOpSensorsCallback>()),
+      mDeathRecipient(AIBinder_DeathRecipient_new(serviceDied)) {}
+
+bool SensorsAidlEnvironment::resetHal() {
+    bool succeed = false;
+    do {
+        mSensors = ISensors::fromBinder(
+                SpAIBinder(AServiceManager_waitForService(mServiceName.c_str())));
+        if (mSensors == nullptr) {
+            break;
+        }
+
+        AIBinder_linkToDeath(mSensors->asBinder().get(), mDeathRecipient.get(), this);
+
+        // Initialize FMQs
+        mWakeLockQueue = std::make_unique<WakeLockQueue>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
+                                                         true /* configureEventFlagWord */);
+        mEventQueue = std::make_unique<EventQueue>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
+                                                   true /* configureEventFlagWord */);
+
+        if (mWakeLockQueue == nullptr || mEventQueue == nullptr) {
+            break;
+        }
+
+        EventFlag::deleteEventFlag(&mEventQueueFlag);
+        EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag);
+        if (mEventQueueFlag == nullptr) {
+            break;
+        }
+
+        mSensors->initialize(mEventQueue->dupeDesc(), mWakeLockQueue->dupeDesc(), mCallback);
+
+        std::vector<SensorInfo> sensorList;
+        if (!mSensors->getSensorsList(&sensorList).isOk()) {
+            break;
+        }
+
+        // stop each sensor individually
+        bool ok = true;
+        for (const auto& i : sensorList) {
+            if (!mSensors->activate(i.sensorHandle, false).isOk()) {
+                ok = false;
+                break;
+            }
+        }
+
+        if (!ok) {
+            break;
+        }
+
+        // mark it done
+        succeed = true;
+    } while (0);
+
+    if (!succeed) {
+        mSensors = nullptr;
+    }
+
+    return succeed;
+}
+
+void SensorsAidlEnvironment::TearDown() {
+    mStopThread = true;
+
+    if (mEventQueueFlag != nullptr) {
+        // Wake up the event queue so the poll thread can exit
+        mEventQueueFlag->wake(ISensors::EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS);
+        if (mPollThread.joinable()) {
+            mPollThread.join();
+        }
+
+        EventFlag::deleteEventFlag(&mEventQueueFlag);
+    }
+}
+
+void SensorsAidlEnvironment::startPollingThread() {
+    mStopThread = false;
+    mEvents.reserve(MAX_RECEIVE_BUFFER_EVENT_COUNT);
+    mPollThread = std::thread(pollingThread, this);
+}
+
+void SensorsAidlEnvironment::readEvents() {
+    size_t availableEvents = mEventQueue->availableToRead();
+
+    if (availableEvents == 0) {
+        uint32_t eventFlagState = 0;
+
+        mEventQueueFlag->wait(ISensors::EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS, &eventFlagState);
+        availableEvents = mEventQueue->availableToRead();
+    }
+
+    size_t eventsToRead = std::min(availableEvents, mEventBuffer.size());
+    if (eventsToRead > 0) {
+        if (mEventQueue->read(mEventBuffer.data(), eventsToRead)) {
+            mEventQueueFlag->wake(ISensors::EVENT_QUEUE_FLAG_BITS_EVENTS_READ);
+            for (size_t i = 0; i < eventsToRead; i++) {
+                addEvent(mEventBuffer[i]);
+            }
+        }
+    }
+}
+
+void SensorsAidlEnvironment::pollingThread(SensorsAidlEnvironment* env) {
+    ALOGD("polling thread start");
+
+    while (!env->mStopThread.load()) {
+        env->readEvents();
+    }
+
+    ALOGD("polling thread end");
+}
diff --git a/sensors/aidl/vts/SensorsAidlEnvironment.h b/sensors/aidl/vts/SensorsAidlEnvironment.h
new file mode 100644
index 0000000..2f5f287
--- /dev/null
+++ b/sensors/aidl/vts/SensorsAidlEnvironment.h
@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2021 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_AIDL_ENVIRONMENT_H
+#define ANDROID_SENSORS_AIDL_ENVIRONMENT_H
+
+#include "sensors-vts-utils/SensorsVtsEnvironmentBase.h"
+
+#include <atomic>
+#include <memory>
+#include <mutex>
+#include <thread>
+#include <vector>
+
+#include <aidl/android/hardware/sensors/ISensors.h>
+#include <fmq/AidlMessageQueue.h>
+
+using aidl::android::hardware::common::fmq::SynchronizedReadWrite;
+using aidl::android::hardware::sensors::Event;
+using aidl::android::hardware::sensors::ISensors;
+using aidl::android::hardware::sensors::ISensorsCallback;
+
+static constexpr size_t MAX_RECEIVE_BUFFER_EVENT_COUNT = 256;
+
+class SensorsAidlTest;
+
+class SensorsAidlEnvironment : public SensorsVtsEnvironmentBase<Event> {
+  public:
+    virtual void TearDown() override;
+
+  protected:
+    friend SensorsAidlTest;
+    SensorsAidlEnvironment(const std::string& service_name);
+
+    /**
+     * Resets the HAL with new FMQs and a new Event Flag
+     *
+     * @return bool true if successful, false otherwise
+     */
+    bool resetHal() override;
+
+    /**
+     * Starts the polling thread that reads sensor events from the Event FMQ
+     */
+    void startPollingThread() override;
+
+    /**
+     * Thread responsible for calling functions to read Event FMQ
+     *
+     * @param env SensorEnvironment to being polling for events on
+     */
+    static void pollingThread(SensorsAidlEnvironment* env);
+
+    /**
+     * Reads and saves sensor events from the Event FMQ
+     */
+    void readEvents();
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(SensorsAidlEnvironment);
+
+    /**
+     * Pointer to the Sensors HAL Interface that allows the test to call HAL functions.
+     */
+    std::shared_ptr<ISensors> mSensors;
+    std::shared_ptr<ISensorsCallback> mCallback;
+
+    ndk::ScopedAIBinder_DeathRecipient mDeathRecipient;
+
+    /**
+     * Type used to simplify the creation of the Wake Lock FMQ
+     */
+    typedef android::AidlMessageQueue<int32_t, SynchronizedReadWrite> WakeLockQueue;
+    typedef android::AidlMessageQueue<Event, SynchronizedReadWrite> EventQueue;
+
+    /**
+     * The Wake Lock FMQ is used by the test to notify the Sensors HAL whenever it has processed
+     * WAKE_UP sensor events.
+     */
+    std::unique_ptr<WakeLockQueue> mWakeLockQueue;
+    std::unique_ptr<EventQueue> mEventQueue;
+
+    /**
+     * The Event Queue Flag notifies the test framework when sensor events have been written to the
+     * Event FMQ by the Sensors HAL.
+     */
+    ::android::hardware::EventFlag* mEventQueueFlag;
+
+    std::atomic_bool mStopThread;
+    std::thread mPollThread;
+
+    /**
+     * An array that is used to store sensor events read from the Event FMQ
+     */
+    std::array<Event, MAX_RECEIVE_BUFFER_EVENT_COUNT> mEventBuffer;
+};
+
+#endif  // ANDROID_SENSORS_AIDL_ENVIRONMENT_H
diff --git a/sensors/aidl/vts/VtsAidlHalSensorsTargetTest.cpp b/sensors/aidl/vts/VtsAidlHalSensorsTargetTest.cpp
new file mode 100644
index 0000000..33645b2
--- /dev/null
+++ b/sensors/aidl/vts/VtsAidlHalSensorsTargetTest.cpp
@@ -0,0 +1,871 @@
+/*
+ * Copyright (C) 2021 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 <aidl/Gtest.h>
+#include <aidl/Vintf.h>
+
+#include <aidl/android/hardware/sensors/BnSensors.h>
+#include <aidl/android/hardware/sensors/ISensors.h>
+#include <android/binder_manager.h>
+#include <binder/IServiceManager.h>
+#include <binder/ProcessState.h>
+#include <hardware/sensors.h>
+#include <log/log.h>
+#include <utils/SystemClock.h>
+
+#include "SensorsAidlEnvironment.h"
+#include "sensors-vts-utils/SensorsVtsEnvironmentBase.h"
+
+#include <cinttypes>
+#include <condition_variable>
+#include <map>
+#include <unordered_map>
+#include <unordered_set>
+#include <vector>
+
+using aidl::android::hardware::sensors::Event;
+using aidl::android::hardware::sensors::ISensors;
+using aidl::android::hardware::sensors::SensorInfo;
+using aidl::android::hardware::sensors::SensorStatus;
+using aidl::android::hardware::sensors::SensorType;
+using android::ProcessState;
+using std::chrono::duration_cast;
+
+namespace {
+
+static void assertTypeMatchStringType(SensorType type, const std::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(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
+    }
+}
+
+int 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::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 SensorInfo::SENSOR_FLAG_BITS_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 SensorInfo::SENSOR_FLAG_BITS_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 SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE;
+
+        case SensorType::STEP_DETECTOR:
+        case SensorType::TILT_DETECTOR:
+        case SensorType::WRIST_TILT_GESTURE:
+        case SensorType::DYNAMIC_SENSOR_META:
+            return SensorInfo::SENSOR_FLAG_BITS_SPECIAL_REPORTING_MODE;
+
+        default:
+            ALOGW("Type %d is not implemented in expectedReportModeForType", (int)type);
+            return INT32_MAX;
+    }
+}
+
+void assertTypeMatchReportMode(SensorType type, int reportMode) {
+    if (type >= SensorType::DEVICE_PRIVATE_BASE) {
+        return;
+    }
+
+    int expected = expectedReportModeForType(type);
+
+    ASSERT_TRUE(expected == INT32_MAX || expected == reportMode)
+            << "reportMode=" << static_cast<int>(reportMode)
+            << "expected=" << static_cast<int>(expected);
+}
+
+void assertDelayMatchReportMode(int32_t minDelayUs, int32_t maxDelayUs, int reportMode) {
+    switch (reportMode) {
+        case SensorInfo::SENSOR_FLAG_BITS_CONTINUOUS_MODE:
+            ASSERT_LT(0, minDelayUs);
+            ASSERT_LE(0, maxDelayUs);
+            break;
+        case SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE:
+            ASSERT_LE(0, minDelayUs);
+            ASSERT_LE(0, maxDelayUs);
+            break;
+        case SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE:
+            ASSERT_EQ(-1, minDelayUs);
+            ASSERT_EQ(0, maxDelayUs);
+            break;
+        case SensorInfo::SENSOR_FLAG_BITS_SPECIAL_REPORTING_MODE:
+            // do not enforce anything for special reporting mode
+            break;
+        default:
+            FAIL() << "Report mode " << static_cast<int>(reportMode) << " not checked";
+    }
+}
+
+void checkIsOk(ndk::ScopedAStatus status) {
+    ASSERT_TRUE(status.isOk());
+}
+
+}  // namespace
+
+class EventCallback : public IEventCallback<Event> {
+  public:
+    void reset() {
+        mFlushMap.clear();
+        mEventMap.clear();
+    }
+
+    void onEvent(const Event& event) override {
+        if (event.sensorType == SensorType::META_DATA &&
+            event.payload.get<Event::EventPayload::Tag::meta>().what ==
+                    Event::EventPayload::MetaData::MetaDataEventType::META_DATA_FLUSH_COMPLETE) {
+            std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
+            mFlushMap[event.sensorHandle]++;
+            mFlushCV.notify_all();
+        } else if (event.sensorType != SensorType::ADDITIONAL_INFO) {
+            std::unique_lock<std::recursive_mutex> lock(mEventMutex);
+            mEventMap[event.sensorHandle].push_back(event);
+            mEventCV.notify_all();
+        }
+    }
+
+    int32_t getFlushCount(int32_t sensorHandle) {
+        std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
+        return mFlushMap[sensorHandle];
+    }
+
+    void waitForFlushEvents(const std::vector<SensorInfo>& sensorsToWaitFor,
+                            int32_t numCallsToFlush, std::chrono::milliseconds timeout) {
+        std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
+        mFlushCV.wait_for(lock, timeout,
+                          [&] { return flushesReceived(sensorsToWaitFor, numCallsToFlush); });
+    }
+
+    const std::vector<Event> getEvents(int32_t sensorHandle) {
+        std::unique_lock<std::recursive_mutex> lock(mEventMutex);
+        return mEventMap[sensorHandle];
+    }
+
+    void waitForEvents(const std::vector<SensorInfo>& sensorsToWaitFor,
+                       std::chrono::milliseconds timeout) {
+        std::unique_lock<std::recursive_mutex> lock(mEventMutex);
+        mEventCV.wait_for(lock, timeout, [&] { return eventsReceived(sensorsToWaitFor); });
+    }
+
+  protected:
+    bool flushesReceived(const std::vector<SensorInfo>& sensorsToWaitFor, int32_t numCallsToFlush) {
+        for (const SensorInfo& sensor : sensorsToWaitFor) {
+            if (getFlushCount(sensor.sensorHandle) < numCallsToFlush) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    bool eventsReceived(const std::vector<SensorInfo>& sensorsToWaitFor) {
+        for (const SensorInfo& sensor : sensorsToWaitFor) {
+            if (getEvents(sensor.sensorHandle).size() == 0) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    std::map<int32_t, int32_t> mFlushMap;
+    std::recursive_mutex mFlushMutex;
+    std::condition_variable_any mFlushCV;
+
+    std::map<int32_t, std::vector<Event>> mEventMap;
+    std::recursive_mutex mEventMutex;
+    std::condition_variable_any mEventCV;
+};
+
+class SensorsAidlTest : public testing::TestWithParam<std::string> {
+  public:
+    virtual void SetUp() override {
+        mEnvironment = new SensorsAidlEnvironment(GetParam());
+        mEnvironment->SetUp();
+
+        // Ensure that we have a valid environment before performing tests
+        ASSERT_NE(getSensors(), nullptr);
+    }
+
+    virtual void TearDown() override {
+        for (int32_t handle : mSensorHandles) {
+            activate(handle, false);
+        }
+        mSensorHandles.clear();
+
+        mEnvironment->TearDown();
+        delete mEnvironment;
+        mEnvironment = nullptr;
+    }
+
+  protected:
+    std::vector<SensorInfo> getNonOneShotSensors();
+    std::vector<SensorInfo> getNonOneShotAndNonSpecialSensors();
+    std::vector<SensorInfo> getNonOneShotAndNonOnChangeAndNonSpecialSensors();
+    std::vector<SensorInfo> getOneShotSensors();
+    std::vector<SensorInfo> getInjectEventSensors();
+
+    inline std::shared_ptr<ISensors>& getSensors() { return mEnvironment->mSensors; }
+
+    inline SensorsAidlEnvironment* getEnvironment() { return mEnvironment; }
+
+    inline bool isValidType(SensorType sensorType) { return (int)sensorType > 0; }
+
+    std::vector<SensorInfo> getSensorsList();
+
+    int32_t getInvalidSensorHandle() {
+        // Find a sensor handle that does not exist in the sensor list
+        int32_t maxHandle = 0;
+        for (const SensorInfo& sensor : getSensorsList()) {
+            maxHandle = std::max(maxHandle, sensor.sensorHandle);
+        }
+        return maxHandle + 1;
+    }
+
+    ndk::ScopedAStatus activate(int32_t sensorHandle, bool enable);
+    void activateAllSensors(bool enable);
+
+    ndk::ScopedAStatus batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                             int64_t maxReportLatencyNs) {
+        return getSensors()->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
+    }
+
+    ndk::ScopedAStatus flush(int32_t sensorHandle) { return getSensors()->flush(sensorHandle); }
+
+    void runSingleFlushTest(const std::vector<SensorInfo>& sensors, bool activateSensor,
+                            int32_t expectedFlushCount, bool expectedResult);
+
+    void runFlushTest(const std::vector<SensorInfo>& sensors, bool activateSensor,
+                      int32_t flushCalls, int32_t expectedFlushCount, bool expectedResult);
+
+    inline static int32_t extractReportMode(int32_t flag) {
+        return (flag & (SensorInfo::SENSOR_FLAG_BITS_CONTINUOUS_MODE |
+                        SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE |
+                        SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE |
+                        SensorInfo::SENSOR_FLAG_BITS_SPECIAL_REPORTING_MODE));
+    }
+
+    // All sensors and direct channnels used
+    std::unordered_set<int32_t> mSensorHandles;
+    std::unordered_set<int32_t> mDirectChannelHandles;
+
+  private:
+    SensorsAidlEnvironment* mEnvironment;
+};
+
+std::vector<SensorInfo> SensorsAidlTest::getSensorsList() {
+    std::vector<SensorInfo> sensorInfoList;
+    checkIsOk(getSensors()->getSensorsList(&sensorInfoList));
+    return sensorInfoList;
+}
+
+ndk::ScopedAStatus SensorsAidlTest::activate(int32_t sensorHandle, bool enable) {
+    // 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
+    // check the return value of deactivation. Deactivating a sensor more than once does not have
+    // negative effect.
+    if (enable) {
+        mSensorHandles.insert(sensorHandle);
+    }
+    return getSensors()->activate(sensorHandle, enable);
+}
+
+void SensorsAidlTest::activateAllSensors(bool enable) {
+    for (const SensorInfo& sensorInfo : getSensorsList()) {
+        if (isValidType(sensorInfo.type)) {
+            checkIsOk(batch(sensorInfo.sensorHandle, sensorInfo.minDelayUs,
+                            0 /* maxReportLatencyNs */));
+            checkIsOk(activate(sensorInfo.sensorHandle, enable));
+        }
+    }
+}
+
+std::vector<SensorInfo> SensorsAidlTest::getNonOneShotSensors() {
+    std::vector<SensorInfo> sensors;
+    for (const SensorInfo& info : getSensorsList()) {
+        if (extractReportMode(info.flags) != SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+std::vector<SensorInfo> SensorsAidlTest::getNonOneShotAndNonSpecialSensors() {
+    std::vector<SensorInfo> sensors;
+    for (const SensorInfo& info : getSensorsList()) {
+        int reportMode = extractReportMode(info.flags);
+        if (reportMode != SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE &&
+            reportMode != SensorInfo::SENSOR_FLAG_BITS_SPECIAL_REPORTING_MODE) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+std::vector<SensorInfo> SensorsAidlTest::getNonOneShotAndNonOnChangeAndNonSpecialSensors() {
+    std::vector<SensorInfo> sensors;
+    for (const SensorInfo& info : getSensorsList()) {
+        int reportMode = extractReportMode(info.flags);
+        if (reportMode != SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE &&
+            reportMode != SensorInfo::SENSOR_FLAG_BITS_ON_CHANGE_MODE &&
+            reportMode != SensorInfo::SENSOR_FLAG_BITS_SPECIAL_REPORTING_MODE) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+std::vector<SensorInfo> SensorsAidlTest::getOneShotSensors() {
+    std::vector<SensorInfo> sensors;
+    for (const SensorInfo& info : getSensorsList()) {
+        if (extractReportMode(info.flags) == SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+std::vector<SensorInfo> SensorsAidlTest::getInjectEventSensors() {
+    std::vector<SensorInfo> out;
+    std::vector<SensorInfo> sensorInfoList = getSensorsList();
+    for (const SensorInfo& info : sensorInfoList) {
+        if (info.flags & SensorInfo::SENSOR_FLAG_BITS_DATA_INJECTION) {
+            out.push_back(info);
+        }
+    }
+    return out;
+}
+
+void SensorsAidlTest::runSingleFlushTest(const std::vector<SensorInfo>& sensors,
+                                         bool activateSensor, int32_t expectedFlushCount,
+                                         bool expectedResult) {
+    runFlushTest(sensors, activateSensor, 1 /* flushCalls */, expectedFlushCount, expectedResult);
+}
+
+void SensorsAidlTest::runFlushTest(const std::vector<SensorInfo>& sensors, bool activateSensor,
+                                   int32_t flushCalls, int32_t expectedFlushCount,
+                                   bool expectedResult) {
+    EventCallback callback;
+    getEnvironment()->registerCallback(&callback);
+
+    for (const SensorInfo& sensor : sensors) {
+        // Configure and activate the sensor
+        batch(sensor.sensorHandle, sensor.maxDelayUs, 0 /* maxReportLatencyNs */);
+        activate(sensor.sensorHandle, activateSensor);
+
+        // Flush the sensor
+        for (int32_t i = 0; i < flushCalls; i++) {
+            SCOPED_TRACE(::testing::Message()
+                         << "Flush " << i << "/" << flushCalls << ": "
+                         << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                         << sensor.sensorHandle << std::dec
+                         << " type=" << static_cast<int>(sensor.type) << " name=" << sensor.name);
+
+            EXPECT_EQ(flush(sensor.sensorHandle).isOk(), expectedResult);
+        }
+    }
+
+    // Wait up to one second for the flush events
+    callback.waitForFlushEvents(sensors, flushCalls, std::chrono::milliseconds(1000) /* timeout */);
+
+    // Deactivate all sensors after waiting for flush events so pending flush events are not
+    // abandoned by the HAL.
+    for (const SensorInfo& sensor : sensors) {
+        activate(sensor.sensorHandle, false);
+    }
+    getEnvironment()->unregisterCallback();
+
+    // Check that the correct number of flushes are present for each sensor
+    for (const SensorInfo& sensor : sensors) {
+        SCOPED_TRACE(::testing::Message()
+                     << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                     << sensor.sensorHandle << std::dec << " type=" << static_cast<int>(sensor.type)
+                     << " name=" << sensor.name);
+        ASSERT_EQ(callback.getFlushCount(sensor.sensorHandle), expectedFlushCount);
+    }
+}
+
+TEST_P(SensorsAidlTest, SensorListValid) {
+    std::vector<SensorInfo> sensorInfoList = getSensorsList();
+    std::unordered_map<int32_t, std::vector<std::string>> sensorTypeNameMap;
+    for (size_t i = 0; i < sensorInfoList.size(); ++i) {
+        const SensorInfo& info = sensorInfoList[i];
+        SCOPED_TRACE(::testing::Message()
+                     << i << "/" << sensorInfoList.size() << ": "
+                     << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                     << info.sensorHandle << std::dec << " type=" << static_cast<int>(info.type)
+                     << " name=" << info.name);
+
+        // Test type string non-empty only for private sensor typeinfo.
+        if (info.type >= SensorType::DEVICE_PRIVATE_BASE) {
+            EXPECT_FALSE(info.typeAsString.empty());
+        } else if (!info.typeAsString.empty()) {
+            // Test type string matches framework string if specified for non-private typeinfo.
+            EXPECT_NO_FATAL_FAILURE(assertTypeMatchStringType(info.type, info.typeAsString));
+        }
+
+        // Test if all sensor has name and vendor
+        EXPECT_FALSE(info.name.empty());
+        EXPECT_FALSE(info.vendor.empty());
+
+        // Make sure that sensors of the same type have a unique name.
+        std::vector<std::string>& v = sensorTypeNameMap[static_cast<int32_t>(info.type)];
+        bool isUniqueName = std::find(v.begin(), v.end(), info.name) == v.end();
+        EXPECT_TRUE(isUniqueName) << "Duplicate sensor Name: " << info.name;
+        if (isUniqueName) {
+            v.push_back(info.name);
+        }
+
+        EXPECT_LE(0, info.power);
+        EXPECT_LT(0, info.maxRange);
+
+        // Info type, should have no sensor
+        EXPECT_FALSE(info.type == SensorType::ADDITIONAL_INFO ||
+                     info.type == SensorType::META_DATA);
+
+        EXPECT_GE(info.fifoMaxEventCount, info.fifoReservedEventCount);
+
+        // Test Reporting mode valid
+        EXPECT_NO_FATAL_FAILURE(
+                assertTypeMatchReportMode(info.type, extractReportMode(info.flags)));
+
+        // Test min max are in the right order
+        EXPECT_LE(info.minDelayUs, info.maxDelayUs);
+        // Test min/max delay matches reporting mode
+        EXPECT_NO_FATAL_FAILURE(assertDelayMatchReportMode(info.minDelayUs, info.maxDelayUs,
+                                                           extractReportMode(info.flags)));
+    }
+}
+
+TEST_P(SensorsAidlTest, SetOperationMode) {
+    if (getInjectEventSensors().size() > 0) {
+        ASSERT_TRUE(getSensors()->setOperationMode(ISensors::OperationMode::NORMAL).isOk());
+        ASSERT_TRUE(getSensors()->setOperationMode(ISensors::OperationMode::DATA_INJECTION).isOk());
+        ASSERT_TRUE(getSensors()->setOperationMode(ISensors::OperationMode::NORMAL).isOk());
+    } else {
+        ASSERT_EQ(getSensors()
+                          ->setOperationMode(ISensors::OperationMode::DATA_INJECTION)
+                          .getExceptionCode(),
+                  EX_UNSUPPORTED_OPERATION);
+    }
+}
+
+TEST_P(SensorsAidlTest, InjectSensorEventData) {
+    std::vector<SensorInfo> sensors = getInjectEventSensors();
+    if (sensors.size() == 0) {
+        return;
+    }
+
+    ASSERT_TRUE(getSensors()->setOperationMode(ISensors::OperationMode::DATA_INJECTION).isOk());
+
+    EventCallback callback;
+    getEnvironment()->registerCallback(&callback);
+
+    // AdditionalInfo event should not be sent to Event FMQ
+    Event additionalInfoEvent;
+    additionalInfoEvent.sensorType = SensorType::ADDITIONAL_INFO;
+    additionalInfoEvent.timestamp = android::elapsedRealtimeNano();
+
+    Event injectedEvent;
+    injectedEvent.timestamp = android::elapsedRealtimeNano();
+    Event::EventPayload::Vec3 data = {1, 2, 3, SensorStatus::ACCURACY_HIGH};
+    injectedEvent.payload.set<Event::EventPayload::Tag::vec3>(data);
+
+    for (const auto& s : sensors) {
+        additionalInfoEvent.sensorHandle = s.sensorHandle;
+        ASSERT_TRUE(getSensors()->injectSensorData(additionalInfoEvent).isOk());
+
+        injectedEvent.sensorType = s.type;
+        injectedEvent.sensorHandle = s.sensorHandle;
+        ASSERT_TRUE(getSensors()->injectSensorData(injectedEvent).isOk());
+    }
+
+    // Wait for events to be written back to the Event FMQ
+    callback.waitForEvents(sensors, std::chrono::milliseconds(1000) /* timeout */);
+    getEnvironment()->unregisterCallback();
+
+    for (const auto& s : sensors) {
+        auto events = callback.getEvents(s.sensorHandle);
+        if (events.empty()) {
+            FAIL() << "Received no events";
+        } else {
+            auto lastEvent = events.back();
+            SCOPED_TRACE(::testing::Message()
+                         << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                         << s.sensorHandle << std::dec << " type=" << static_cast<int>(s.type)
+                         << " name=" << s.name);
+
+            // Verify that only a single event has been received
+            ASSERT_EQ(events.size(), 1);
+
+            // Verify that the event received matches the event injected and is not the additional
+            // info event
+            ASSERT_EQ(lastEvent.sensorType, s.type);
+            ASSERT_EQ(lastEvent.timestamp, injectedEvent.timestamp);
+            ASSERT_EQ(lastEvent.payload.get<Event::EventPayload::Tag::vec3>().x,
+                      injectedEvent.payload.get<Event::EventPayload::Tag::vec3>().x);
+            ASSERT_EQ(lastEvent.payload.get<Event::EventPayload::Tag::vec3>().y,
+                      injectedEvent.payload.get<Event::EventPayload::Tag::vec3>().y);
+            ASSERT_EQ(lastEvent.payload.get<Event::EventPayload::Tag::vec3>().z,
+                      injectedEvent.payload.get<Event::EventPayload::Tag::vec3>().z);
+            ASSERT_EQ(lastEvent.payload.get<Event::EventPayload::Tag::vec3>().status,
+                      injectedEvent.payload.get<Event::EventPayload::Tag::vec3>().status);
+        }
+    }
+
+    ASSERT_TRUE(getSensors()->setOperationMode(ISensors::OperationMode::NORMAL).isOk());
+}
+
+TEST_P(SensorsAidlTest, CallInitializeTwice) {
+    // Create a helper class so that a second environment is able to be instantiated
+    class SensorsAidlEnvironmentTest : public SensorsAidlEnvironment {
+      public:
+        SensorsAidlEnvironmentTest(const std::string& service_name)
+            : SensorsAidlEnvironment(service_name) {}
+    };
+
+    if (getSensorsList().size() == 0) {
+        // No sensors
+        return;
+    }
+
+    constexpr useconds_t kCollectionTimeoutUs = 1000 * 1000;  // 1s
+    constexpr int32_t kNumEvents = 1;
+
+    // Create a new environment that calls initialize()
+    std::unique_ptr<SensorsAidlEnvironmentTest> newEnv =
+            std::make_unique<SensorsAidlEnvironmentTest>(GetParam());
+    newEnv->SetUp();
+    if (HasFatalFailure()) {
+        return;  // Exit early if setting up the new environment failed
+    }
+
+    activateAllSensors(true);
+    // Verify that the old environment does not receive any events
+    EXPECT_EQ(getEnvironment()->collectEvents(kCollectionTimeoutUs, kNumEvents).size(), 0);
+    // Verify that the new event queue receives sensor events
+    EXPECT_GE(newEnv.get()->collectEvents(kCollectionTimeoutUs, kNumEvents).size(), kNumEvents);
+    activateAllSensors(false);
+
+    // Cleanup the test environment
+    newEnv->TearDown();
+
+    // Restore the test environment for future tests
+    getEnvironment()->TearDown();
+    getEnvironment()->SetUp();
+    if (HasFatalFailure()) {
+        return;  // Exit early if resetting the environment failed
+    }
+
+    // Ensure that the original environment is receiving events
+    activateAllSensors(true);
+    EXPECT_GE(getEnvironment()->collectEvents(kCollectionTimeoutUs, kNumEvents).size(), kNumEvents);
+    activateAllSensors(false);
+}
+
+TEST_P(SensorsAidlTest, CleanupConnectionsOnInitialize) {
+    activateAllSensors(true);
+
+    // Verify that events are received
+    constexpr useconds_t kCollectionTimeoutUs = 1000 * 1000;  // 1s
+    constexpr int32_t kNumEvents = 1;
+    ASSERT_GE(getEnvironment()->collectEvents(kCollectionTimeoutUs, kNumEvents).size(), kNumEvents);
+
+    // Clear the active sensor handles so they are not disabled during TearDown
+    auto handles = mSensorHandles;
+    mSensorHandles.clear();
+    getEnvironment()->TearDown();
+    getEnvironment()->SetUp();
+    if (HasFatalFailure()) {
+        return;  // Exit early if resetting the environment failed
+    }
+
+    // Verify no events are received until sensors are re-activated
+    ASSERT_EQ(getEnvironment()->collectEvents(kCollectionTimeoutUs, kNumEvents).size(), 0);
+    activateAllSensors(true);
+    ASSERT_GE(getEnvironment()->collectEvents(kCollectionTimeoutUs, kNumEvents).size(), kNumEvents);
+
+    // Disable sensors
+    activateAllSensors(false);
+
+    // Restore active sensors prior to clearing the environment
+    mSensorHandles = handles;
+}
+
+TEST_P(SensorsAidlTest, FlushSensor) {
+    std::vector<SensorInfo> sensors = getNonOneShotSensors();
+    if (sensors.size() == 0) {
+        return;
+    }
+
+    constexpr int32_t kFlushes = 5;
+    runSingleFlushTest(sensors, true /* activateSensor */, 1 /* expectedFlushCount */,
+                       true /* expectedResult */);
+    runFlushTest(sensors, true /* activateSensor */, kFlushes, kFlushes, true /* expectedResult */);
+}
+
+TEST_P(SensorsAidlTest, FlushOneShotSensor) {
+    // Find a sensor that is a one-shot sensor
+    std::vector<SensorInfo> sensors = getOneShotSensors();
+    if (sensors.size() == 0) {
+        return;
+    }
+
+    runSingleFlushTest(sensors, true /* activateSensor */, 0 /* expectedFlushCount */,
+                       false /* expectedResult */);
+}
+
+TEST_P(SensorsAidlTest, FlushInactiveSensor) {
+    // Attempt to find a non-one shot sensor, then a one-shot sensor if necessary
+    std::vector<SensorInfo> sensors = getNonOneShotSensors();
+    if (sensors.size() == 0) {
+        sensors = getOneShotSensors();
+        if (sensors.size() == 0) {
+            return;
+        }
+    }
+
+    runSingleFlushTest(sensors, false /* activateSensor */, 0 /* expectedFlushCount */,
+                       false /* expectedResult */);
+}
+
+TEST_P(SensorsAidlTest, Batch) {
+    if (getSensorsList().size() == 0) {
+        return;
+    }
+
+    activateAllSensors(false /* enable */);
+    for (const SensorInfo& sensor : getSensorsList()) {
+        SCOPED_TRACE(::testing::Message()
+                     << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                     << sensor.sensorHandle << std::dec << " type=" << static_cast<int>(sensor.type)
+                     << " name=" << sensor.name);
+
+        // Call batch on inactive sensor
+        // One shot sensors have minDelay set to -1 which is an invalid
+        // parameter. Use 0 instead to avoid errors.
+        int64_t samplingPeriodNs =
+                extractReportMode(sensor.flags) == SensorInfo::SENSOR_FLAG_BITS_ONE_SHOT_MODE
+                        ? 0
+                        : sensor.minDelayUs;
+        checkIsOk(batch(sensor.sensorHandle, samplingPeriodNs, 0 /* maxReportLatencyNs */));
+
+        // Activate the sensor
+        activate(sensor.sensorHandle, true /* enabled */);
+
+        // Call batch on an active sensor
+        checkIsOk(batch(sensor.sensorHandle, sensor.maxDelayUs, 0 /* maxReportLatencyNs */));
+    }
+    activateAllSensors(false /* enable */);
+
+    // Call batch on an invalid sensor
+    SensorInfo sensor = getSensorsList().front();
+    sensor.sensorHandle = getInvalidSensorHandle();
+    ASSERT_EQ(batch(sensor.sensorHandle, sensor.minDelayUs, 0 /* maxReportLatencyNs */)
+                      .getExceptionCode(),
+              EX_ILLEGAL_ARGUMENT);
+}
+
+TEST_P(SensorsAidlTest, Activate) {
+    if (getSensorsList().size() == 0) {
+        return;
+    }
+
+    // Verify that sensor events are generated when activate is called
+    for (const SensorInfo& sensor : getSensorsList()) {
+        SCOPED_TRACE(::testing::Message()
+                     << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                     << sensor.sensorHandle << std::dec << " type=" << static_cast<int>(sensor.type)
+                     << " name=" << sensor.name);
+
+        checkIsOk(batch(sensor.sensorHandle, sensor.minDelayUs, 0 /* maxReportLatencyNs */));
+        checkIsOk(activate(sensor.sensorHandle, true));
+
+        // Call activate on a sensor that is already activated
+        checkIsOk(activate(sensor.sensorHandle, true));
+
+        // Deactivate the sensor
+        checkIsOk(activate(sensor.sensorHandle, false));
+
+        // Call deactivate on a sensor that is already deactivated
+        checkIsOk(activate(sensor.sensorHandle, false));
+    }
+
+    // Attempt to activate an invalid sensor
+    int32_t invalidHandle = getInvalidSensorHandle();
+    ASSERT_EQ(activate(invalidHandle, true).getExceptionCode(), EX_ILLEGAL_ARGUMENT);
+    ASSERT_EQ(activate(invalidHandle, false).getExceptionCode(), EX_ILLEGAL_ARGUMENT);
+}
+
+TEST_P(SensorsAidlTest, NoStaleEvents) {
+    constexpr std::chrono::milliseconds kFiveHundredMs(500);
+    constexpr std::chrono::milliseconds kOneSecond(1000);
+
+    // Register the callback to receive sensor events
+    EventCallback callback;
+    getEnvironment()->registerCallback(&callback);
+
+    // This test is not valid for one-shot, on-change or special-report-mode sensors
+    const std::vector<SensorInfo> sensors = getNonOneShotAndNonOnChangeAndNonSpecialSensors();
+    std::chrono::milliseconds maxMinDelay(0);
+    for (const SensorInfo& sensor : sensors) {
+        std::chrono::milliseconds minDelay = duration_cast<std::chrono::milliseconds>(
+                std::chrono::microseconds(sensor.minDelayUs));
+        maxMinDelay = std::chrono::milliseconds(std::max(maxMinDelay.count(), minDelay.count()));
+    }
+
+    // Activate the sensors so that they start generating events
+    activateAllSensors(true);
+
+    // According to the CDD, the first sample must be generated within 400ms + 2 * sample_time
+    // and the maximum reporting latency is 100ms + 2 * sample_time. Wait a sufficient amount
+    // of time to guarantee that a sample has arrived.
+    callback.waitForEvents(sensors, kFiveHundredMs + (5 * maxMinDelay));
+    activateAllSensors(false);
+
+    // Save the last received event for each sensor
+    std::map<int32_t, int64_t> lastEventTimestampMap;
+    for (const SensorInfo& sensor : sensors) {
+        SCOPED_TRACE(::testing::Message()
+                     << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                     << sensor.sensorHandle << std::dec << " type=" << static_cast<int>(sensor.type)
+                     << " name=" << sensor.name);
+
+        if (callback.getEvents(sensor.sensorHandle).size() >= 1) {
+            lastEventTimestampMap[sensor.sensorHandle] =
+                    callback.getEvents(sensor.sensorHandle).back().timestamp;
+        }
+    }
+
+    // Allow some time to pass, reset the callback, then reactivate the sensors
+    usleep(duration_cast<std::chrono::microseconds>(kOneSecond + (5 * maxMinDelay)).count());
+    callback.reset();
+    activateAllSensors(true);
+    callback.waitForEvents(sensors, kFiveHundredMs + (5 * maxMinDelay));
+    activateAllSensors(false);
+
+    getEnvironment()->unregisterCallback();
+
+    for (const SensorInfo& sensor : sensors) {
+        SCOPED_TRACE(::testing::Message()
+                     << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                     << sensor.sensorHandle << std::dec << " type=" << static_cast<int>(sensor.type)
+                     << " name=" << sensor.name);
+
+        // Skip sensors that did not previously report an event
+        if (lastEventTimestampMap.find(sensor.sensorHandle) == lastEventTimestampMap.end()) {
+            continue;
+        }
+
+        // Ensure that the first event received is not stale by ensuring that its timestamp is
+        // sufficiently different from the previous event
+        const Event newEvent = callback.getEvents(sensor.sensorHandle).front();
+        std::chrono::milliseconds delta =
+                duration_cast<std::chrono::milliseconds>(std::chrono::nanoseconds(
+                        newEvent.timestamp - lastEventTimestampMap[sensor.sensorHandle]));
+        std::chrono::milliseconds sensorMinDelay = duration_cast<std::chrono::milliseconds>(
+                std::chrono::microseconds(sensor.minDelayUs));
+        ASSERT_GE(delta, kFiveHundredMs + (3 * sensorMinDelay));
+    }
+}
+
+TEST_P(SensorsAidlTest, DirectChannelAshmem) {
+    // TODO(b/195593357): Implement this
+}
+
+TEST_P(SensorsAidlTest, DirectChannelGralloc) {
+    // TODO(b/195593357): Implement this
+}
+
+GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(SensorsAidlTest);
+INSTANTIATE_TEST_SUITE_P(Sensors, SensorsAidlTest,
+                         testing::ValuesIn(android::getAidlHalInstanceNames(ISensors::descriptor)),
+                         android::PrintInstanceNameToString);
+
+int main(int argc, char** argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    ProcessState::self()->setThreadPoolMaxThreadCount(1);
+    ProcessState::self()->startThreadPool();
+    return RUN_ALL_TESTS();
+}
diff --git a/wifi/1.5/default/Android.bp b/wifi/1.5/default/Android.bp
new file mode 100644
index 0000000..6333b6e
--- /dev/null
+++ b/wifi/1.5/default/Android.bp
@@ -0,0 +1,105 @@
+// Copyright (C) 2021 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package {
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+filegroup {
+    name: "android.hardware.wifi@1.0-service_srcs",
+    srcs: ["service.cpp"],
+}
+
+cc_defaults {
+    name: "android.hardware.wifi@1.0-service_default",
+    srcs: [":android.hardware.wifi@1.0-service_srcs"],
+    relative_install_path: "hw",
+    soc_specific: true,
+    shared_libs: [
+        "android.hardware.wifi@1.0",
+        "android.hardware.wifi@1.1",
+        "android.hardware.wifi@1.2",
+        "android.hardware.wifi@1.3",
+        "android.hardware.wifi@1.4",
+        "android.hardware.wifi@1.5",
+        "libbase",
+        "libcutils",
+        "libhidlbase",
+        "liblog",
+        "libnl",
+        "libutils",
+        "libwifi-system-iface",
+        "libxml2",
+    ],
+    cppflags: [
+        "-Wall",
+        "-Werror",
+        "-Wextra",
+    ],
+}
+
+filegroup {
+    name: "android.hardware.wifi@1.0-service-lib_srcs",
+    srcs: [
+        "hidl_struct_util.cpp",
+        "hidl_sync_util.cpp",
+        "ringbuffer.cpp",
+        "wifi.cpp",
+        "wifi_ap_iface.cpp",
+        "wifi_chip.cpp",
+        "wifi_feature_flags.cpp",
+        "wifi_iface_util.cpp",
+        "wifi_legacy_hal.cpp",
+        "wifi_legacy_hal_factory.cpp",
+        "wifi_legacy_hal_stubs.cpp",
+        "wifi_mode_controller.cpp",
+        "wifi_nan_iface.cpp",
+        "wifi_p2p_iface.cpp",
+        "wifi_rtt_controller.cpp",
+        "wifi_sta_iface.cpp",
+        "wifi_status_util.cpp",
+    ],
+}
+
+cc_defaults {
+    name: "android.hardware.wifi@1.0-service-lib_defaults",
+    srcs: [":android.hardware.wifi@1.0-service-lib_srcs"],
+    relative_install_path: "hw",
+    soc_specific: true,
+    shared_libs: [
+        "android.hardware.wifi@1.0",
+        "android.hardware.wifi@1.1",
+        "android.hardware.wifi@1.2",
+        "android.hardware.wifi@1.3",
+        "android.hardware.wifi@1.4",
+        "android.hardware.wifi@1.5",
+        "libbase",
+        "libcutils",
+        "libhidlbase",
+        "liblog",
+        "libnl",
+        "libutils",
+        "libwifi-system-iface",
+        "libxml2",
+    ],
+    // Generated by building android.hardware.wifi@1.0-service-lib and printing LOCAL_CPPFLAGS.
+    cppflags: [
+        "-Wall",
+        "-Werror",
+        "-Wextra",
+        "-DWIFI_HIDL_FEATURE_DUAL_INTERFACE",
+    ],
+    export_include_dirs: ["."],
+    include_dirs: ["external/libxml2/include"],
+}
diff --git a/wifi/supplicant/aidl/Android.bp b/wifi/supplicant/aidl/Android.bp
index c97a6f9..d00dd21 100644
--- a/wifi/supplicant/aidl/Android.bp
+++ b/wifi/supplicant/aidl/Android.bp
@@ -12,6 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
 aidl_interface {
     name: "android.hardware.wifi.supplicant",
     vendor_available: true,