diff --git a/automotive/evs/1.1/IEvsCamera.hal b/automotive/evs/1.1/IEvsCamera.hal
index fc68e60..38e6c42 100644
--- a/automotive/evs/1.1/IEvsCamera.hal
+++ b/automotive/evs/1.1/IEvsCamera.hal
@@ -178,4 +178,41 @@
      *                values as backing camera devices.
      */
     getIntParameter(CameraParam id) generates(EvsResult result, vec<int32_t> value);
+
+    /**
+     * Request driver specific information from the HAL implementation.
+     *
+     * The values allowed for opaqueIdentifier are driver specific,
+     * but no value passed in may crash the driver. The driver should
+     * return EvsResult::INVALID_ARG for any unrecognized opaqueIdentifier.
+     *
+     * @param  opaqueIdentifier An unique identifier of the information to
+     *                          request.
+     * @return result           EvsResult::OK if the driver recognizes a given
+     *                          identifier.
+     *                          EvsResult::INVALID_ARG, otherwise.
+     * @return value            Requested information.  Zero-size vector is
+     *                          returned if the driver does not recognize a
+     *                          given identifier.
+     */
+    getExtendedInfo_1_1(uint32_t opaqueIdentifier)
+        generates (EvsResult result, vec<uint8_t> value);
+
+    /**
+     * Send a driver specific value to the HAL implementation.
+     *
+     * This extension is provided to facilitate car specific
+     * extensions, but no HAL implementation may require this call
+     * in order to function in a default state.
+     * INVALID_ARG is returned if the opaqueValue is not meaningful to
+     * the driver implementation.
+     *
+     * @param  opaqueIdentifier An unique identifier of the information to
+     *                          program.
+     *         opaqueValue      A value to program.
+     * @return result           EvsResult::OK is returned if this call is successful.
+     *                          EvsResult::INVALID_ARG, otherwise.
+     */
+    setExtendedInfo_1_1(uint32_t opaqueIdentifier, vec<uint8_t> opaqueValue)
+        generates (EvsResult result);
 };
diff --git a/automotive/evs/1.1/default/EvsCamera.cpp b/automotive/evs/1.1/default/EvsCamera.cpp
index f9cdb88..5196c95 100644
--- a/automotive/evs/1.1/default/EvsCamera.cpp
+++ b/automotive/evs/1.1/default/EvsCamera.cpp
@@ -334,6 +334,27 @@
 }
 
 
+Return<EvsResult> EvsCamera::setExtendedInfo_1_1(uint32_t opaqueIdentifier,
+                                                 const hidl_vec<uint8_t>& opaqueValue) {
+    // Default implementation does not use an extended info.
+    (void)opaqueIdentifier;
+    (void)opaqueValue;
+    return EvsResult::INVALID_ARG;
+}
+
+
+Return<void> EvsCamera::getExtendedInfo_1_1(uint32_t opaqueIdentifier,
+                                            getExtendedInfo_1_1_cb _hidl_cb) {
+    // Default implementation does not use an extended info.
+    (void)opaqueIdentifier;
+
+    hidl_vec<uint8_t> value;
+    _hidl_cb(EvsResult::INVALID_ARG, value);
+    return Void();
+}
+
+
+
 bool EvsCamera::setAvailableFrames_Locked(unsigned bufferCount) {
     if (bufferCount < 1) {
         ALOGE("Ignoring request to set buffer count to zero");
diff --git a/automotive/evs/1.1/default/EvsCamera.h b/automotive/evs/1.1/default/EvsCamera.h
index a49db46..0fa83b4 100644
--- a/automotive/evs/1.1/default/EvsCamera.h
+++ b/automotive/evs/1.1/default/EvsCamera.h
@@ -78,6 +78,10 @@
                                       setIntParameter_cb _hidl_cb) override;
     Return<void>      getIntParameter(CameraParam id,
                                       getIntParameter_cb _hidl_cb) override;
+    Return<EvsResult> setExtendedInfo_1_1(uint32_t opaqueIdentifier,
+                                          const hidl_vec<uint8_t>& opaqueValue) override;
+    Return<void>      getExtendedInfo_1_1(uint32_t opaqueIdentifier,
+                                          getExtendedInfo_1_1_cb _hidl_cb) override;
 
     static sp<EvsCamera> Create(const char *deviceName);
     static sp<EvsCamera> Create(const char *deviceName,
diff --git a/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp b/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp
index ce02973..2c8c1e1 100644
--- a/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp
+++ b/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp
@@ -296,6 +296,17 @@
                                     }
             );
 
+            // Verify methods for extended info
+            const auto id = 0xFFFFFFFF; // meaningless id
+            hidl_vec<uint8_t> values;
+            auto err = pCam->setExtendedInfo_1_1(id, values);
+            ASSERT_EQ(EvsResult::INVALID_ARG, err);
+
+            pCam->getExtendedInfo_1_1(id, [](const auto& result, const auto& data) {
+                ASSERT_EQ(EvsResult::INVALID_ARG, result);
+                ASSERT_EQ(0, data.size());
+            });
+
             // Explicitly close the camera so resources are released right away
             pEnumerator->closeCamera(pCam);
         }
diff --git a/compatibility_matrices/compatibility_matrix.current.xml b/compatibility_matrices/compatibility_matrix.current.xml
index f8cec64..3c1a810 100644
--- a/compatibility_matrices/compatibility_matrix.current.xml
+++ b/compatibility_matrices/compatibility_matrix.current.xml
@@ -153,7 +153,7 @@
     </hal>
     <hal format="hidl" optional="true">
         <name>android.hardware.contexthub</name>
-        <version>1.0</version>
+        <version>1.0-1</version>
         <interface>
             <name>IContexthub</name>
             <instance>default</instance>
@@ -280,14 +280,6 @@
             <instance>strongbox</instance>
         </interface>
     </hal>
-    <hal format="hidl" optional="true">
-        <name>android.hardware.light</name>
-        <version>2.0</version>
-        <interface>
-            <name>ILight</name>
-            <instance>default</instance>
-        </interface>
-    </hal>
     <hal format="aidl" optional="true">
         <name>android.hardware.light</name>
         <interface>
@@ -416,7 +408,7 @@
     <hal format="hidl" optional="true">
         <name>android.hardware.sensors</name>
         <version>1.0</version>
-        <version>2.0</version>
+        <version>2.0-1</version>
         <interface>
             <name>ISensors</name>
             <instance>default</instance>
diff --git a/contexthub/1.0/vts/functional/Android.bp b/contexthub/1.0/vts/functional/Android.bp
index 9e99c33..d51c966 100644
--- a/contexthub/1.0/vts/functional/Android.bp
+++ b/contexthub/1.0/vts/functional/Android.bp
@@ -18,7 +18,10 @@
     name: "VtsHalContexthubV1_0TargetTest",
     defaults: ["VtsHalTargetTestDefaults"],
     srcs: ["VtsHalContexthubV1_0TargetTest.cpp"],
-    static_libs: ["android.hardware.contexthub@1.0"],
+    static_libs: [
+        "android.hardware.contexthub@1.0",
+        "VtsHalContexthubUtils",
+    ],
     test_suites: [
         "general-tests",
         "vts-core",
diff --git a/contexthub/1.0/vts/functional/VtsHalContexthubV1_0TargetTest.cpp b/contexthub/1.0/vts/functional/VtsHalContexthubV1_0TargetTest.cpp
index a1d173b..ada232b 100644
--- a/contexthub/1.0/vts/functional/VtsHalContexthubV1_0TargetTest.cpp
+++ b/contexthub/1.0/vts/functional/VtsHalContexthubV1_0TargetTest.cpp
@@ -16,6 +16,10 @@
 
 #define LOG_TAG "contexthub_hidl_hal_test"
 
+#include "ContexthubCallbackBase.h"
+#include "ContexthubHidlTestBase.h"
+#include "VtsHalContexthubUtils.h"
+
 #include <android-base/logging.h>
 #include <android/hardware/contexthub/1.0/IContexthub.h>
 #include <android/hardware/contexthub/1.0/IContexthubCallback.h>
@@ -23,17 +27,17 @@
 #include <android/log.h>
 #include <gtest/gtest.h>
 #include <hidl/GtestPrinter.h>
-#include <hidl/ServiceManagement.h>
 #include <log/log.h>
 
 #include <cinttypes>
 #include <future>
 #include <utility>
 
-using ::android::hardware::Return;
-using ::android::hardware::Void;
+using ::android::sp;
 using ::android::hardware::hidl_string;
 using ::android::hardware::hidl_vec;
+using ::android::hardware::Return;
+using ::android::hardware::Void;
 using ::android::hardware::contexthub::V1_0::AsyncEventType;
 using ::android::hardware::contexthub::V1_0::ContextHub;
 using ::android::hardware::contexthub::V1_0::ContextHubMsg;
@@ -43,10 +47,11 @@
 using ::android::hardware::contexthub::V1_0::NanoAppBinary;
 using ::android::hardware::contexthub::V1_0::Result;
 using ::android::hardware::contexthub::V1_0::TransactionResult;
-using ::android::sp;
-
-#define ASSERT_OK(result) ASSERT_EQ(result, Result::OK)
-#define EXPECT_OK(result) EXPECT_EQ(result, Result::OK)
+using ::android::hardware::contexthub::vts_utils::asBaseType;
+using ::android::hardware::contexthub::vts_utils::ContexthubCallbackBase;
+using ::android::hardware::contexthub::vts_utils::ContexthubHidlTestBase;
+using ::android::hardware::contexthub::vts_utils::getHalAndHubIdList;
+using ::android::hardware::contexthub::vts_utils::getHubsSync;
 
 namespace {
 
@@ -54,132 +59,37 @@
 // app ID is reserved and must never appear in the list of loaded apps.
 constexpr uint64_t kNonExistentAppId = 0x476f6f6754555555;
 
-// Helper that does explicit conversion of an enum class to its underlying/base
-// type. Useful for stream output of enum values.
-template<typename EnumType>
-constexpr typename std::underlying_type<EnumType>::type asBaseType(
-    EnumType value) {
-  return static_cast<typename std::underlying_type<EnumType>::type>(value);
-}
+const std::vector<std::tuple<std::string, std::string>> kTestParameters =
+        getHalAndHubIdList<IContexthub>();
 
-// Synchronously queries IContexthub::getHubs() and returns the result
-hidl_vec<ContextHub> getHubsSync(sp<IContexthub> hubApi) {
-  hidl_vec<ContextHub> hubList;
-  std::promise<void> barrier;
-
-  hubApi->getHubs([&hubList, &barrier](const hidl_vec<ContextHub>& hubs) {
-    hubList = hubs;
-    barrier.set_value();
-  });
-  barrier.get_future().wait_for(std::chrono::seconds(1));
-
-  return hubList;
-}
-
-// Gets a list of valid hub IDs in the system
-std::vector<std::string> getHubIds(const std::string& service_name) {
-    std::vector<std::string> hubIds;
-
-    sp<IContexthub> hubApi = IContexthub::getService(service_name);
-
-    if (hubApi != nullptr) {
-        for (const ContextHub& hub : getHubsSync(hubApi)) {
-            hubIds.push_back(std::to_string(hub.hubId));
-        }
-    }
-
-    ALOGD("Running tests against all %zu reported hubs for service %s", hubIds.size(),
-          service_name.c_str());
-    return hubIds;
-}
-
-// Test fixture parameterized by hub ID, initializes the HAL and makes the context hub API handle
-// available.
-class ContexthubHidlTest : public ::testing::TestWithParam<std::tuple<std::string, std::string>> {
-  public:
-    virtual void SetUp() override {
-        hubApi = IContexthub::getService(std::get<0>(GetParam()));
-        ASSERT_NE(hubApi, nullptr);
-
-        // getHubs() must be called at least once for proper initialization of the
-        // HAL implementation
-        getHubsSync(hubApi);
-    }
-
-    uint32_t getHubId() { return std::stoi(std::get<1>(GetParam())); }
-
-    Result registerCallback(sp<IContexthubCallback> cb) {
-        Result result = hubApi->registerCallback(getHubId(), cb);
-        ALOGD("Registered callback, result %" PRIu32, result);
-        return result;
-    }
-
-    sp<IContexthub> hubApi;
-};
-
-// Base callback implementation that just logs all callbacks by default
-class ContexthubCallbackBase : public IContexthubCallback {
- public:
-  virtual Return<void> handleClientMsg(const ContextHubMsg& /*msg*/) override {
-    ALOGD("Got client message callback");
-    return Void();
-  }
-
-  virtual Return<void> handleTxnResult(
-      uint32_t txnId, TransactionResult result) override {
-    ALOGD("Got transaction result callback for txnId %" PRIu32 " with result %"
-          PRId32, txnId, result);
-    return Void();
-  }
-
-  virtual Return<void> handleHubEvent(AsyncEventType evt) override {
-    ALOGD("Got hub event callback for event type %" PRIu32, evt);
-    return Void();
-  }
-
-  virtual Return<void> handleAppAbort(uint64_t appId, uint32_t abortCode)
-      override {
-    ALOGD("Got app abort notification for appId 0x%" PRIx64 " with abort code "
-          "0x%" PRIx32, appId, abortCode);
-    return Void();
-  }
-
-  virtual Return<void> handleAppsInfo(const hidl_vec<HubAppInfo>& /*appInfo*/)
-      override {
-    ALOGD("Got app info callback");
-    return Void();
-  }
-};
+class ContexthubHidlTest : public ContexthubHidlTestBase<IContexthub> {};
 
 // Wait for a callback to occur (signaled by the given future) up to the
 // provided timeout. If the future is invalid or the callback does not come
 // within the given time, returns false.
-template<class ReturnType>
-bool waitForCallback(
-    std::future<ReturnType> future,
-    ReturnType *result,
-    std::chrono::milliseconds timeout = std::chrono::seconds(5)) {
-  auto expiration = std::chrono::system_clock::now() + timeout;
+template <class ReturnType>
+bool waitForCallback(std::future<ReturnType> future, ReturnType* result,
+                     std::chrono::milliseconds timeout = std::chrono::seconds(5)) {
+    auto expiration = std::chrono::system_clock::now() + timeout;
 
-  EXPECT_NE(result, nullptr);
-  EXPECT_TRUE(future.valid());
-  if (result != nullptr && future.valid()) {
-    std::future_status status = future.wait_until(expiration);
-    EXPECT_NE(status, std::future_status::timeout)
-        << "Timed out waiting for callback";
+    EXPECT_NE(result, nullptr);
+    EXPECT_TRUE(future.valid());
+    if (result != nullptr && future.valid()) {
+        std::future_status status = future.wait_until(expiration);
+        EXPECT_NE(status, std::future_status::timeout) << "Timed out waiting for callback";
 
-    if (status == std::future_status::ready) {
-      *result = future.get();
-      return true;
+        if (status == std::future_status::ready) {
+            *result = future.get();
+            return true;
+        }
     }
-  }
 
-  return false;
+    return false;
 }
 
 // Ensures that the metadata reported in getHubs() is sane
 TEST_P(ContexthubHidlTest, TestGetHubs) {
-    hidl_vec<ContextHub> hubs = getHubsSync(hubApi);
+    hidl_vec<ContextHub> hubs = getHubsSync(hubApi.get());
     ALOGD("System reports %zu hubs", hubs.size());
 
     for (const ContextHub& hub : hubs) {
@@ -199,189 +109,158 @@
 }
 
 TEST_P(ContexthubHidlTest, TestRegisterCallback) {
-  ALOGD("TestRegisterCallback called, hubId %" PRIu32, getHubId());
-  ASSERT_OK(registerCallback(new ContexthubCallbackBase()));
+    ALOGD("TestRegisterCallback called, hubId %" PRIu32, getHubId());
+    ASSERT_OK(registerCallback(new ContexthubCallbackBase()));
 }
 
 TEST_P(ContexthubHidlTest, TestRegisterNullCallback) {
-  ALOGD("TestRegisterNullCallback called, hubId %" PRIu32, getHubId());
-  ASSERT_OK(registerCallback(nullptr));
+    ALOGD("TestRegisterNullCallback called, hubId %" PRIu32, getHubId());
+    ASSERT_OK(registerCallback(nullptr));
 }
 
 // Helper callback that puts the async appInfo callback data into a promise
 class QueryAppsCallback : public ContexthubCallbackBase {
- public:
-  virtual Return<void> handleAppsInfo(const hidl_vec<HubAppInfo>& appInfo)
-      override {
-    ALOGD("Got app info callback with %zu apps", appInfo.size());
-    promise.set_value(appInfo);
-    return Void();
-  }
+  public:
+    virtual Return<void> handleAppsInfo(const hidl_vec<HubAppInfo>& appInfo) override {
+        ALOGD("Got app info callback with %zu apps", appInfo.size());
+        promise.set_value(appInfo);
+        return Void();
+    }
 
-  std::promise<hidl_vec<HubAppInfo>> promise;
+    std::promise<hidl_vec<HubAppInfo>> promise;
 };
 
 // Calls queryApps() and checks the returned metadata
 TEST_P(ContexthubHidlTest, TestQueryApps) {
-  ALOGD("TestQueryApps called, hubId %u", getHubId());
-  sp<QueryAppsCallback> cb = new QueryAppsCallback();
-  ASSERT_OK(registerCallback(cb));
+    ALOGD("TestQueryApps called, hubId %u", getHubId());
+    sp<QueryAppsCallback> cb = new QueryAppsCallback();
+    ASSERT_OK(registerCallback(cb));
 
-  Result result = hubApi->queryApps(getHubId());
-  ASSERT_OK(result);
+    Result result = hubApi->queryApps(getHubId());
+    ASSERT_OK(result);
 
-  ALOGD("Waiting for app info callback");
-  hidl_vec<HubAppInfo> appList;
-  ASSERT_TRUE(waitForCallback(cb->promise.get_future(), &appList));
-  for (const HubAppInfo &appInfo : appList) {
-    EXPECT_NE(appInfo.appId, UINT64_C(0));
-    EXPECT_NE(appInfo.appId, kNonExistentAppId);
-  }
+    ALOGD("Waiting for app info callback");
+    hidl_vec<HubAppInfo> appList;
+    ASSERT_TRUE(waitForCallback(cb->promise.get_future(), &appList));
+    for (const HubAppInfo& appInfo : appList) {
+        EXPECT_NE(appInfo.appId, UINT64_C(0));
+        EXPECT_NE(appInfo.appId, kNonExistentAppId);
+    }
 }
 
 // Helper callback that puts the TransactionResult for the expectedTxnId into a
 // promise
 class TxnResultCallback : public ContexthubCallbackBase {
- public:
-  virtual Return<void> handleTxnResult(
-      uint32_t txnId, TransactionResult result) override {
-    ALOGD("Got transaction result callback for txnId %" PRIu32 " (expecting %"
-          PRIu32 ") with result %" PRId32, txnId, expectedTxnId, result);
-    if (txnId == expectedTxnId) {
-      promise.set_value(result);
+  public:
+    virtual Return<void> handleTxnResult(uint32_t txnId, TransactionResult result) override {
+        ALOGD("Got transaction result callback for txnId %" PRIu32 " (expecting %" PRIu32
+              ") with result %" PRId32,
+              txnId, expectedTxnId, result);
+        if (txnId == expectedTxnId) {
+            promise.set_value(result);
+        }
+        return Void();
     }
-    return Void();
-  }
 
-  uint32_t expectedTxnId = 0;
-  std::promise<TransactionResult> promise;
+    uint32_t expectedTxnId = 0;
+    std::promise<TransactionResult> promise;
 };
 
 // Parameterized fixture that sets the callback to TxnResultCallback
 class ContexthubTxnTest : public ContexthubHidlTest {
- public:
-  virtual void SetUp() override {
-    ContexthubHidlTest::SetUp();
-    ASSERT_OK(registerCallback(cb));
-  }
+  public:
+    virtual void SetUp() override {
+        ContexthubHidlTest::SetUp();
+        ASSERT_OK(registerCallback(cb));
+    }
 
-  sp<TxnResultCallback> cb = new TxnResultCallback();
+    sp<TxnResultCallback> cb = new TxnResultCallback();
 };
 
-
 // Checks cases where the hub implementation is expected to return an error, but
 // that error can be returned either synchronously or in the asynchronous
 // transaction callback. Returns an AssertionResult that can be used in
 // ASSERT/EXPECT_TRUE. Allows checking the sync result against 1 additional
 // allowed error code apart from OK and TRANSACTION_FAILED, which are always
 // allowed.
-::testing::AssertionResult checkFailureSyncOrAsync(
-    Result result, Result allowedSyncResult,
-    std::future<TransactionResult>&& future) {
-  if (result == Result::OK) {
-    // No error reported synchronously - this is OK, but then we should get an
-    // async callback with a failure status
-    TransactionResult asyncResult;
-    if (!waitForCallback(std::forward<std::future<TransactionResult>>(future),
-                         &asyncResult)) {
-      return ::testing::AssertionFailure()
-          << "Got successful sync result, then failed to receive async cb";
-    } else if (asyncResult == TransactionResult::SUCCESS) {
-      return ::testing::AssertionFailure()
-          << "Got successful sync result, then unexpected successful async "
-             "result";
+::testing::AssertionResult checkFailureSyncOrAsync(Result result, Result allowedSyncResult,
+                                                   std::future<TransactionResult>&& future) {
+    if (result == Result::OK) {
+        // No error reported synchronously - this is OK, but then we should get an
+        // async callback with a failure status
+        TransactionResult asyncResult;
+        if (!waitForCallback(std::forward<std::future<TransactionResult>>(future), &asyncResult)) {
+            return ::testing::AssertionFailure()
+                   << "Got successful sync result, then failed to receive async cb";
+        } else if (asyncResult == TransactionResult::SUCCESS) {
+            return ::testing::AssertionFailure()
+                   << "Got successful sync result, then unexpected successful async "
+                      "result";
+        }
+    } else if (result != allowedSyncResult && result != Result::TRANSACTION_FAILED) {
+        return ::testing::AssertionFailure()
+               << "Got sync result " << asBaseType(result) << ", expected TRANSACTION_FAILED or "
+               << asBaseType(allowedSyncResult);
     }
-  } else if (result != allowedSyncResult &&
-             result != Result::TRANSACTION_FAILED) {
-    return ::testing::AssertionFailure() << "Got sync result "
-        << asBaseType(result) << ", expected TRANSACTION_FAILED or "
-        << asBaseType(allowedSyncResult);
-  }
 
-  return ::testing::AssertionSuccess();
+    return ::testing::AssertionSuccess();
 }
 
 TEST_P(ContexthubTxnTest, TestSendMessageToNonExistentNanoApp) {
-  ContextHubMsg msg;
-  msg.appName = kNonExistentAppId;
-  msg.msgType = 1;
-  msg.msg.resize(4);
-  std::fill(msg.msg.begin(), msg.msg.end(), 0);
+    ContextHubMsg msg;
+    msg.appName = kNonExistentAppId;
+    msg.msgType = 1;
+    msg.msg.resize(4);
+    std::fill(msg.msg.begin(), msg.msg.end(), 0);
 
-  ALOGD("Sending message to non-existent nanoapp");
-  Result result = hubApi->sendMessageToHub(getHubId(), msg);
-  if (result != Result::OK &&
-      result != Result::BAD_PARAMS &&
-      result != Result::TRANSACTION_FAILED) {
-    FAIL() << "Got result " << asBaseType(result) << ", expected OK, BAD_PARAMS"
-        << ", or TRANSACTION_FAILED";
-  }
+    ALOGD("Sending message to non-existent nanoapp");
+    Result result = hubApi->sendMessageToHub(getHubId(), msg);
+    if (result != Result::OK && result != Result::BAD_PARAMS &&
+        result != Result::TRANSACTION_FAILED) {
+        FAIL() << "Got result " << asBaseType(result) << ", expected OK, BAD_PARAMS"
+               << ", or TRANSACTION_FAILED";
+    }
 }
 
 TEST_P(ContexthubTxnTest, TestLoadEmptyNanoApp) {
-  cb->expectedTxnId = 0123;
-  NanoAppBinary emptyApp;
+    cb->expectedTxnId = 0123;
+    NanoAppBinary emptyApp;
 
-  emptyApp.appId = kNonExistentAppId;
-  emptyApp.appVersion = 1;
-  emptyApp.flags = 0;
-  emptyApp.targetChreApiMajorVersion = 1;
-  emptyApp.targetChreApiMinorVersion = 0;
+    emptyApp.appId = kNonExistentAppId;
+    emptyApp.appVersion = 1;
+    emptyApp.flags = 0;
+    emptyApp.targetChreApiMajorVersion = 1;
+    emptyApp.targetChreApiMinorVersion = 0;
 
-  ALOGD("Loading empty nanoapp");
-  Result result = hubApi->loadNanoApp(getHubId(), emptyApp, cb->expectedTxnId);
-  EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS,
-                                      cb->promise.get_future()));
+    ALOGD("Loading empty nanoapp");
+    Result result = hubApi->loadNanoApp(getHubId(), emptyApp, cb->expectedTxnId);
+    EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS, cb->promise.get_future()));
 }
 
 TEST_P(ContexthubTxnTest, TestUnloadNonexistentNanoApp) {
-  cb->expectedTxnId = 1234;
+    cb->expectedTxnId = 1234;
 
-  ALOGD("Unloading nonexistent nanoapp");
-  Result result = hubApi->unloadNanoApp(getHubId(), kNonExistentAppId,
-                                        cb->expectedTxnId);
-  EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS,
-                                      cb->promise.get_future()));
+    ALOGD("Unloading nonexistent nanoapp");
+    Result result = hubApi->unloadNanoApp(getHubId(), kNonExistentAppId, cb->expectedTxnId);
+    EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS, cb->promise.get_future()));
 }
 
 TEST_P(ContexthubTxnTest, TestEnableNonexistentNanoApp) {
-  cb->expectedTxnId = 2345;
+    cb->expectedTxnId = 2345;
 
-  ALOGD("Enabling nonexistent nanoapp");
-  Result result = hubApi->enableNanoApp(getHubId(), kNonExistentAppId,
-                                        cb->expectedTxnId);
-  EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS,
-                                      cb->promise.get_future()));
+    ALOGD("Enabling nonexistent nanoapp");
+    Result result = hubApi->enableNanoApp(getHubId(), kNonExistentAppId, cb->expectedTxnId);
+    EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS, cb->promise.get_future()));
 }
 
 TEST_P(ContexthubTxnTest, TestDisableNonexistentNanoApp) {
-  cb->expectedTxnId = 3456;
+    cb->expectedTxnId = 3456;
 
-  ALOGD("Disabling nonexistent nanoapp");
-  Result result = hubApi->disableNanoApp(getHubId(), kNonExistentAppId,
-                                         cb->expectedTxnId);
-  EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS,
-                                      cb->promise.get_future()));
+    ALOGD("Disabling nonexistent nanoapp");
+    Result result = hubApi->disableNanoApp(getHubId(), kNonExistentAppId, cb->expectedTxnId);
+    EXPECT_TRUE(checkFailureSyncOrAsync(result, Result::BAD_PARAMS, cb->promise.get_future()));
 }
 
-// Return the test parameters of a vecter of tuples for all IContexthub services and each of its hub
-// id: <service name of IContexthub, hub id of the IContexthub service>
-static std::vector<std::tuple<std::string, std::string>> get_parameters() {
-    std::vector<std::tuple<std::string, std::string>> parameters;
-    std::vector<std::string> service_names =
-            android::hardware::getAllHalInstanceNames(IContexthub::descriptor);
-    for (const std::string& service_name : service_names) {
-        std::vector<std::string> ids = getHubIds(service_name);
-        for (const std::string& id : ids) {
-            parameters.push_back(std::make_tuple(service_name, id));
-        }
-    }
-
-    return parameters;
-}
-
-static std::vector<std::tuple<std::string, std::string>> kTestParameters = get_parameters();
-
 INSTANTIATE_TEST_SUITE_P(HubIdSpecificTests, ContexthubHidlTest, testing::ValuesIn(kTestParameters),
                          android::hardware::PrintInstanceTupleNameToString<>);
 
diff --git a/contexthub/1.1/Android.bp b/contexthub/1.1/Android.bp
new file mode 100644
index 0000000..649f1db
--- /dev/null
+++ b/contexthub/1.1/Android.bp
@@ -0,0 +1,18 @@
+// This file is autogenerated by hidl-gen -Landroidbp.
+
+hidl_interface {
+    name: "android.hardware.contexthub@1.1",
+    root: "android.hardware",
+    vndk: {
+        enabled: true,
+    },
+    srcs: [
+        "types.hal",
+        "IContexthub.hal",
+    ],
+    interfaces: [
+        "android.hardware.contexthub@1.0",
+        "android.hidl.base@1.0",
+    ],
+    gen_java: true,
+}
diff --git a/contexthub/1.1/IContexthub.hal b/contexthub/1.1/IContexthub.hal
new file mode 100644
index 0000000..842d4b7
--- /dev/null
+++ b/contexthub/1.1/IContexthub.hal
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2020 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.contexthub@1.1;
+
+import @1.0::IContexthub;
+import @1.0::Result;
+
+interface IContexthub extends @1.0::IContexthub {
+    /**
+     * Notification sent by the framework to indicate that the user
+     * has changed a setting.
+     *
+     * @param setting User setting that has been modified.
+     * @param newValue The update value of the user setting.
+     */
+    oneway onSettingChanged(Setting setting, SettingValue newValue);
+};
\ No newline at end of file
diff --git a/contexthub/1.1/default/Android.bp b/contexthub/1.1/default/Android.bp
new file mode 100644
index 0000000..86858c0
--- /dev/null
+++ b/contexthub/1.1/default/Android.bp
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+cc_binary {
+    name: "android.hardware.contexthub@1.1-service.mock",
+    defaults: ["hidl_defaults"],
+    vendor: true,
+    relative_install_path: "hw",
+    init_rc: ["android.hardware.contexthub@1.1-service.rc"],
+    srcs: [
+        "Contexthub.cpp",
+        "service.cpp",
+    ],
+    cflags: [
+        "-Wall",
+        "-Werror",
+    ],
+    shared_libs: [
+        "android.hardware.contexthub@1.0",
+        "android.hardware.contexthub@1.1",
+        "libbase",
+        "libcutils",
+        "libhardware",
+        "libhidlbase",
+        "liblog",
+        "libutils",
+    ],
+    vintf_fragments: ["android.hardware.contexthub@1.1.xml"],
+}
diff --git a/contexthub/1.1/default/Contexthub.cpp b/contexthub/1.1/default/Contexthub.cpp
new file mode 100644
index 0000000..19cc262
--- /dev/null
+++ b/contexthub/1.1/default/Contexthub.cpp
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2020 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 "Contexthub.h"
+
+#include <vector>
+
+namespace android {
+namespace hardware {
+namespace contexthub {
+namespace V1_1 {
+namespace implementation {
+
+using ::android::hardware::contexthub::V1_0::ContextHub;
+using ::android::hardware::contexthub::V1_0::HubAppInfo;
+using ::android::hardware::contexthub::V1_0::Result;
+
+namespace {
+
+constexpr uint32_t kMockHubId = 0;
+
+}  // anonymous namespace
+
+Return<void> Contexthub::getHubs(getHubs_cb _hidl_cb) {
+    ContextHub hub = {};
+    hub.name = "Mock Context Hub";
+    hub.vendor = "AOSP";
+    hub.toolchain = "n/a";
+    hub.platformVersion = 1;
+    hub.toolchainVersion = 1;
+    hub.hubId = kMockHubId;
+    hub.peakMips = 1;
+    hub.peakPowerDrawMw = 1;
+    hub.maxSupportedMsgLen = 4096;
+    hub.chrePlatformId = UINT64_C(0x476f6f6754000000);
+    hub.chreApiMajorVersion = 1;
+    hub.chreApiMinorVersion = 4;
+
+    // Report a single mock hub
+    std::vector<ContextHub> hubs;
+    hubs.push_back(hub);
+
+    _hidl_cb(hubs);
+    return Void();
+}
+
+Return<Result> Contexthub::registerCallback(uint32_t hubId, const sp<IContexthubCallback>& cb) {
+    if (hubId == kMockHubId) {
+        mCallback = cb;
+        return Result::OK;
+    }
+    return Result::BAD_PARAMS;
+}
+
+// We don't expose any nanoapps, therefore all nanoapp-related API calls return with BAD_PARAMS
+Return<Result> Contexthub::sendMessageToHub(uint32_t /*hubId*/, const ContextHubMsg& /*msg*/) {
+    return Result::BAD_PARAMS;
+}
+
+Return<Result> Contexthub::loadNanoApp(uint32_t /*hubId*/, const NanoAppBinary& /*appBinary*/,
+                                       uint32_t /*transactionId*/) {
+    return Result::BAD_PARAMS;
+}
+
+Return<Result> Contexthub::unloadNanoApp(uint32_t /*hubId*/, uint64_t /*appId*/,
+                                         uint32_t /*transactionId*/) {
+    return Result::BAD_PARAMS;
+}
+
+Return<Result> Contexthub::enableNanoApp(uint32_t /*hubId*/, uint64_t /*appId*/,
+                                         uint32_t /*transactionId*/) {
+    return Result::BAD_PARAMS;
+}
+
+Return<Result> Contexthub::disableNanoApp(uint32_t /*hubId*/, uint64_t /*appId*/,
+                                          uint32_t /*transactionId*/) {
+    return Result::BAD_PARAMS;
+}
+
+Return<Result> Contexthub::queryApps(uint32_t hubId) {
+    if (hubId == kMockHubId && mCallback != nullptr) {
+        std::vector<HubAppInfo> nanoapps;
+        mCallback->handleAppsInfo(nanoapps);
+        return Result::OK;
+    }
+    return Result::BAD_PARAMS;
+}
+
+Return<void> Contexthub::onSettingChanged(Setting /*setting*/, SettingValue /*newValue*/) {
+    return Void();
+}
+
+}  // namespace implementation
+}  // namespace V1_1
+}  // namespace contexthub
+}  // namespace hardware
+}  // namespace android
diff --git a/contexthub/1.1/default/Contexthub.h b/contexthub/1.1/default/Contexthub.h
new file mode 100644
index 0000000..0da61d1
--- /dev/null
+++ b/contexthub/1.1/default/Contexthub.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <android/hardware/contexthub/1.1/IContexthub.h>
+
+namespace android {
+namespace hardware {
+namespace contexthub {
+namespace V1_1 {
+namespace implementation {
+
+class Contexthub : public V1_1::IContexthub {
+    using ContextHubMsg = ::android::hardware::contexthub::V1_0::ContextHubMsg;
+    using IContexthubCallback = ::android::hardware::contexthub::V1_0::IContexthubCallback;
+    using NanoAppBinary = ::android::hardware::contexthub::V1_0::NanoAppBinary;
+    using Result = ::android::hardware::contexthub::V1_0::Result;
+
+  public:
+    // Methods from V1_0::IContexthub
+    Return<void> getHubs(getHubs_cb _hidl_cb) override;
+    Return<Result> registerCallback(uint32_t hubId,
+                                    const ::android::sp<IContexthubCallback>& cb) override;
+    Return<Result> sendMessageToHub(uint32_t hubId, const ContextHubMsg& msg) override;
+    Return<Result> loadNanoApp(uint32_t hubId, const NanoAppBinary& appBinary,
+                               uint32_t transactionId) override;
+    Return<Result> unloadNanoApp(uint32_t hubId, uint64_t appId, uint32_t transactionId) override;
+    Return<Result> enableNanoApp(uint32_t hubId, uint64_t appId, uint32_t transactionId) override;
+    Return<Result> disableNanoApp(uint32_t hubId, uint64_t appId, uint32_t transactionId) override;
+    Return<Result> queryApps(uint32_t hubId) override;
+
+    // Methods from V1_1::IContexthub
+    Return<void> onSettingChanged(Setting setting, SettingValue newValue) override;
+
+  private:
+    sp<IContexthubCallback> mCallback;
+};
+
+}  // namespace implementation
+}  // namespace V1_1
+}  // namespace contexthub
+}  // namespace hardware
+}  // namespace android
diff --git a/contexthub/1.1/default/OWNERS b/contexthub/1.1/default/OWNERS
new file mode 100644
index 0000000..90c2330
--- /dev/null
+++ b/contexthub/1.1/default/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
diff --git a/contexthub/1.1/default/android.hardware.contexthub@1.1-service.rc b/contexthub/1.1/default/android.hardware.contexthub@1.1-service.rc
new file mode 100644
index 0000000..9db00f9
--- /dev/null
+++ b/contexthub/1.1/default/android.hardware.contexthub@1.1-service.rc
@@ -0,0 +1,6 @@
+service vendor.contexthub-hal-1-1-mock /vendor/bin/hw/android.hardware.contexthub@1.1-service.mock
+    interface android.hardware.contexthub@1.0::IContexthub default
+    interface android.hardware.contexthub@1.1::IContexthub default
+    class hal
+    user system
+    group system
diff --git a/contexthub/1.1/default/android.hardware.contexthub@1.1.xml b/contexthub/1.1/default/android.hardware.contexthub@1.1.xml
new file mode 100644
index 0000000..388f781
--- /dev/null
+++ b/contexthub/1.1/default/android.hardware.contexthub@1.1.xml
@@ -0,0 +1,11 @@
+<manifest version="1.0" type="device">
+    <hal format="hidl">
+        <name>android.hardware.contexthub</name>
+        <transport>hwbinder</transport>
+        <version>1.1</version>
+        <interface>
+            <name>IContexthub</name>
+            <instance>default</instance>
+        </interface>
+    </hal>
+</manifest>
diff --git a/contexthub/1.1/default/service.cpp b/contexthub/1.1/default/service.cpp
new file mode 100644
index 0000000..c5643f1
--- /dev/null
+++ b/contexthub/1.1/default/service.cpp
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "android.hardware.contexthub@1.1-service"
+
+#include <android/hardware/contexthub/1.1/IContexthub.h>
+#include <hidl/HidlTransportSupport.h>
+#include <log/log.h>
+#include <utils/StrongPointer.h>
+#include "Contexthub.h"
+
+using ::android::hardware::configureRpcThreadpool;
+using ::android::hardware::joinRpcThreadpool;
+using ::android::hardware::contexthub::V1_1::IContexthub;
+using ::android::hardware::contexthub::V1_1::implementation::Contexthub;
+
+int main() {
+    configureRpcThreadpool(1, true /* callerWillJoin */);
+
+    ::android::sp<IContexthub> contexthub = new Contexthub();
+    if (contexthub->registerAsService() != ::android::OK) {
+        ALOGE("Failed to register Contexthub HAL instance");
+        return 1;
+    }
+
+    joinRpcThreadpool();
+    ALOGE("Service exited");
+    return 1;
+}
diff --git a/contexthub/1.1/types.hal b/contexthub/1.1/types.hal
new file mode 100644
index 0000000..885cf32
--- /dev/null
+++ b/contexthub/1.1/types.hal
@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2020 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.contexthub@1.1;
+
+/**
+ * Used to indicate the type of user setting that has changed.
+ */
+enum Setting : uint8_t {
+    LOCATION,
+};
+
+/**
+ * Used to indicate the value of a user setting.
+ */
+enum SettingValue : uint8_t  {
+    DISABLED,
+    ENABLED,
+};
\ No newline at end of file
diff --git a/contexthub/1.1/vts/functional/Android.bp b/contexthub/1.1/vts/functional/Android.bp
new file mode 100644
index 0000000..f1625a6
--- /dev/null
+++ b/contexthub/1.1/vts/functional/Android.bp
@@ -0,0 +1,30 @@
+//
+// Copyright (C) 2020 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+cc_test {
+    name: "VtsHalContexthubV1_1TargetTest",
+    defaults: ["VtsHalTargetTestDefaults"],
+    srcs: ["VtsHalContexthubV1_1TargetTest.cpp"],
+    static_libs: [
+        "android.hardware.contexthub@1.0",
+        "android.hardware.contexthub@1.1",
+        "VtsHalContexthubUtils",
+    ],
+    test_suites: [
+        "general-tests",
+        "vts-core",
+    ],
+}
diff --git a/contexthub/1.1/vts/functional/OWNERS b/contexthub/1.1/vts/functional/OWNERS
new file mode 100644
index 0000000..161b2f0
--- /dev/null
+++ b/contexthub/1.1/vts/functional/OWNERS
@@ -0,0 +1,8 @@
+#Context Hub team
+arthuri@google.com
+bduddie@google.com
+stange@google.com
+
+#VTS team
+dshi@google.com
+trong@google.com
diff --git a/contexthub/1.1/vts/functional/VtsHalContexthubV1_1TargetTest.cpp b/contexthub/1.1/vts/functional/VtsHalContexthubV1_1TargetTest.cpp
new file mode 100644
index 0000000..f2fcdfc
--- /dev/null
+++ b/contexthub/1.1/vts/functional/VtsHalContexthubV1_1TargetTest.cpp
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "contexthub_hidl_hal_test"
+
+#include "ContexthubCallbackBase.h"
+#include "ContexthubHidlTestBase.h"
+#include "VtsHalContexthubUtils.h"
+
+#include <android-base/logging.h>
+#include <android/hardware/contexthub/1.0/IContexthub.h>
+#include <android/hardware/contexthub/1.1/IContexthub.h>
+#include <android/log.h>
+#include <gtest/gtest.h>
+#include <hidl/GtestPrinter.h>
+#include <hidl/ServiceManagement.h>
+#include <log/log.h>
+
+#include <cinttypes>
+
+using ::android::hardware::contexthub::V1_1::IContexthub;
+using ::android::hardware::contexthub::V1_1::Setting;
+using ::android::hardware::contexthub::V1_1::SettingValue;
+using ::android::hardware::contexthub::vts_utils::ContexthubCallbackBase;
+using ::android::hardware::contexthub::vts_utils::ContexthubHidlTestBase;
+using ::android::hardware::contexthub::vts_utils::getHalAndHubIdList;
+
+namespace {
+
+const std::vector<std::tuple<std::string, std::string>> kTestParameters =
+        getHalAndHubIdList<IContexthub>();
+
+class ContexthubHidlTest : public ContexthubHidlTestBase<IContexthub> {};
+
+TEST_P(ContexthubHidlTest, TestOnSettingChanged) {
+    // In VTS, we only test that sending the values doesn't cause things to blow up - other test
+    // suites verify the expected E2E behavior in CHRE
+    ASSERT_OK(registerCallback(new ContexthubCallbackBase()));
+    hubApi->onSettingChanged(Setting::LOCATION, SettingValue::DISABLED);
+    hubApi->onSettingChanged(Setting::LOCATION, SettingValue::ENABLED);
+    ASSERT_OK(registerCallback(nullptr));
+}
+
+INSTANTIATE_TEST_SUITE_P(HubIdSpecificTests, ContexthubHidlTest, testing::ValuesIn(kTestParameters),
+                         android::hardware::PrintInstanceTupleNameToString<>);
+
+}  // anonymous namespace
diff --git a/contexthub/common/vts/Android.bp b/contexthub/common/vts/Android.bp
new file mode 100644
index 0000000..3d5196a
--- /dev/null
+++ b/contexthub/common/vts/Android.bp
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+cc_test_library {
+    name: "VtsHalContexthubUtils",
+    srcs: [
+        "VtsHalContexthubUtils.cpp",
+    ],
+    export_include_dirs: ["."],
+    shared_libs: [
+        "android.hardware.contexthub@1.0",
+        "libhardware",
+        "libhidlbase",
+        "liblog",
+        "libutils",
+    ],
+}
diff --git a/contexthub/common/vts/ContexthubCallbackBase.h b/contexthub/common/vts/ContexthubCallbackBase.h
new file mode 100644
index 0000000..124a116
--- /dev/null
+++ b/contexthub/common/vts/ContexthubCallbackBase.h
@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <android/hardware/contexthub/1.0/IContexthubCallback.h>
+#include <log/log.h>
+
+#include <cinttypes>
+
+namespace android {
+namespace hardware {
+namespace contexthub {
+namespace vts_utils {
+
+// Base callback implementation that just logs all callbacks by default, but
+// records a failure if
+class ContexthubCallbackBase : public V1_0::IContexthubCallback {
+  public:
+    virtual Return<void> handleClientMsg(const V1_0::ContextHubMsg& /*msg*/) override {
+        ALOGD("Got client message callback");
+        return Void();
+    }
+
+    virtual Return<void> handleTxnResult(uint32_t txnId, V1_0::TransactionResult result) override {
+        ALOGD("Got transaction result callback for txnId %" PRIu32 " with result %" PRId32, txnId,
+              result);
+        return Void();
+    }
+
+    virtual Return<void> handleHubEvent(V1_0::AsyncEventType evt) override {
+        ALOGD("Got hub event callback for event type %" PRIu32, evt);
+        return Void();
+    }
+
+    virtual Return<void> handleAppAbort(uint64_t appId, uint32_t abortCode) override {
+        ALOGD("Got app abort notification for appId 0x%" PRIx64 " with abort code 0x%" PRIx32,
+              appId, abortCode);
+        return Void();
+    }
+
+    virtual Return<void> handleAppsInfo(const hidl_vec<V1_0::HubAppInfo>& /*appInfo*/) override {
+        ALOGD("Got app info callback");
+        return Void();
+    }
+};
+
+}  // namespace vts_utils
+}  // namespace contexthub
+}  // namespace hardware
+}  // namespace android
diff --git a/contexthub/common/vts/ContexthubHidlTestBase.h b/contexthub/common/vts/ContexthubHidlTestBase.h
new file mode 100644
index 0000000..ee5b7d3
--- /dev/null
+++ b/contexthub/common/vts/ContexthubHidlTestBase.h
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <android/hardware/contexthub/1.0/IContexthubCallback.h>
+#include <gtest/gtest.h>
+
+#include <string>
+#include <tuple>
+
+namespace android {
+namespace hardware {
+namespace contexthub {
+namespace vts_utils {
+
+// Base fixture for Context Hub HAL tests. Parameterized by service name and hub ID.
+template <class IContexthubVersion>
+class ContexthubHidlTestBase
+    : public ::testing::TestWithParam<std::tuple<std::string, std::string>> {
+  public:
+    virtual void SetUp() override { fetchHubApi(); }
+
+    void fetchHubApi() {
+        hubApi = IContexthubVersion::getService(std::get<0>(GetParam()));
+        ASSERT_NE(hubApi, nullptr);
+    }
+
+    uint32_t getHubId() { return std::stoi(std::get<1>(GetParam())); }
+
+    V1_0::Result registerCallback(sp<V1_0::IContexthubCallback> cb) {
+        return hubApi->registerCallback(getHubId(), cb);
+    }
+
+    sp<IContexthubVersion> hubApi;
+};
+
+}  // namespace vts_utils
+}  // namespace contexthub
+}  // namespace hardware
+}  // namespace android
diff --git a/contexthub/common/vts/OWNERS b/contexthub/common/vts/OWNERS
new file mode 100644
index 0000000..161b2f0
--- /dev/null
+++ b/contexthub/common/vts/OWNERS
@@ -0,0 +1,8 @@
+#Context Hub team
+arthuri@google.com
+bduddie@google.com
+stange@google.com
+
+#VTS team
+dshi@google.com
+trong@google.com
diff --git a/contexthub/common/vts/VtsHalContexthubUtils.cpp b/contexthub/common/vts/VtsHalContexthubUtils.cpp
new file mode 100644
index 0000000..5033b41
--- /dev/null
+++ b/contexthub/common/vts/VtsHalContexthubUtils.cpp
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2020 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 "VtsHalContexthubUtils.h"
+
+#include <chrono>
+#include <future>
+
+namespace android {
+namespace hardware {
+namespace contexthub {
+namespace vts_utils {
+
+using ::android::hardware::contexthub::V1_0::ContextHub;
+using ::android::hardware::contexthub::V1_0::IContexthub;
+
+// Synchronously queries IContexthub::getHubs() and returns the result
+hidl_vec<ContextHub> getHubsSync(IContexthub* hubApi) {
+    hidl_vec<ContextHub> hubList;
+    std::promise<void> barrier;
+
+    hubApi->getHubs([&hubList, &barrier](const hidl_vec<ContextHub>& hubs) {
+        hubList = hubs;
+        barrier.set_value();
+    });
+    barrier.get_future().wait_for(std::chrono::seconds(1));
+
+    return hubList;
+}
+
+}  // namespace vts_utils
+}  // namespace contexthub
+}  // namespace hardware
+}  // namespace android
diff --git a/contexthub/common/vts/VtsHalContexthubUtils.h b/contexthub/common/vts/VtsHalContexthubUtils.h
new file mode 100644
index 0000000..8f9b694
--- /dev/null
+++ b/contexthub/common/vts/VtsHalContexthubUtils.h
@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <android/hardware/contexthub/1.0/IContexthub.h>
+#include <gtest/gtest.h>
+#include <hidl/HidlSupport.h>
+#include <hidl/ServiceManagement.h>
+#include <utils/StrongPointer.h>
+
+#include <chrono>
+#include <future>
+#include <vector>
+
+namespace android {
+namespace hardware {
+namespace contexthub {
+namespace vts_utils {
+
+#define ASSERT_OK(result) ASSERT_EQ(result, ::android::hardware::contexthub::V1_0::Result::OK)
+#define EXPECT_OK(result) EXPECT_EQ(result, ::android::hardware::contexthub::V1_0::Result::OK)
+
+// Helper that does explicit conversion of an enum class to its underlying/base
+// type. Useful for stream output of enum values.
+template <typename EnumType>
+inline constexpr typename std::underlying_type<EnumType>::type asBaseType(EnumType value) {
+    return static_cast<typename std::underlying_type<EnumType>::type>(value);
+}
+
+// Synchronously queries IContexthub::getHubs() and returns the result
+hidl_vec<V1_0::ContextHub> getHubsSync(V1_0::IContexthub* hubApi);
+
+// Create a vector of tuples that include each IContexthub service paired with each hub ID it
+// exposes via getHubs(). Each tuple represents a test target that we should run the VTS suite
+// against.
+template <class IContexthubVersion>
+static std::vector<std::tuple<std::string, std::string>> getHalAndHubIdList() {
+    std::vector<std::tuple<std::string, std::string>> parameters;
+    std::vector<std::string> serviceNames =
+            ::android::hardware::getAllHalInstanceNames(IContexthubVersion::descriptor);
+    for (const std::string& serviceName : serviceNames) {
+        sp<IContexthubVersion> hubApi = IContexthubVersion::getService(serviceName);
+        if (hubApi != nullptr) {
+            hidl_vec<V1_0::ContextHub> hubs = getHubsSync(hubApi.get());
+            for (const V1_0::ContextHub& hub : hubs) {
+                parameters.push_back(std::make_tuple(serviceName, std::to_string(hub.hubId)));
+            }
+        }
+    }
+
+    return parameters;
+}
+
+}  // namespace vts_utils
+}  // namespace contexthub
+}  // namespace hardware
+}  // namespace android
diff --git a/current.txt b/current.txt
index 4a4d379..8d14fa3 100644
--- a/current.txt
+++ b/current.txt
@@ -644,9 +644,11 @@
 9811f867def49b420d8c707f7e38d3bdd64f835244e1d2a5e9762ab9835672dc android.hardware.cas@1.2::ICasListener
 f18695dd36ee205640b8326a17453858a7b4596653aaa6ef0016b0aef1bd4dac android.hardware.cas@1.2::IMediaCasService
 4d85e814f94949dae4dc6cb82bbd7d6bb24ffafda6ddb2eac928d2a4fc2e21ce android.hardware.cas@1.2::types
+2a6b1a1202493f0a7c88d716da6e2cdd66bfd77a170621791fdf14997fdfcaf9 android.hardware.contexthub@1.1::IContexthub
+3581d0ba61663cdd45807494dcd697d01c074f27587df9140655f94346969cfe android.hardware.contexthub@1.1::types
 66931c2506fbb5af61f20138cb05e0a09e7bf67d6964c231d27c648933bb33ec android.hardware.drm@1.3::ICryptoFactory
 994d08ab27d613022c258a9ec48cece7adf2a305e92df5d76ef923e2c6665f64 android.hardware.drm@1.3::IDrmFactory
-446287268831f4ddfac4a51bb1c32ae1e48e47bccd535fccc2c4546d0e7c4013 android.hardware.dumpstate@1.1::types
+d9df99be0f59d8f33a9699fe316c67bfd11818aa69440bb1123ba43e717cea85 android.hardware.dumpstate@1.1::types
 186bc152ae189ab48f3a761a44ddf5edd0d483073c5b6ca1f802f8b50488b754 android.hardware.dumpstate@1.1::IDumpstateDevice
 769d346927a94fd40ee80a5a976d8d15cf022ef99c5900738f4a82f26c0ed229 android.hardware.gnss@2.1::types
 626db710bf917ecf551a0b0b1f25be10bf52758f43e0fc808b148b6aae2ef73e android.hardware.gnss@2.1::IGnss
@@ -693,6 +695,9 @@
 a2977755bc5f1ef47f04b7f2400632efda6218e1515dba847da487145cfabc4f android.hardware.radio.config@1.3::IRadioConfig
 742360c775313438b0f82256eac62fb5bbc76a6ae6f388573f3aa142fb2c1eea android.hardware.radio.config@1.3::IRadioConfigIndication
 0006ab8e8b0910cbd3bbb08d5f17d5fac7d65a2bdad5f2334e4851db9d1e6fa8 android.hardware.radio.config@1.3::IRadioConfigResponse
+3ca6616381080bdd6c08141ad12775a94ae868c58b02b1274ae3326f7de724ab android.hardware.sensors@2.1::ISensors
+3d4141c6373cd9ca02fe221a7d12343840de2255d032c38248fe8e35816b58b2 android.hardware.sensors@2.1::ISensorsCallback
+8051cc50fc90ed447f058a8b15d81f35a65f1bd9004b1de4f127edeb89b47978 android.hardware.sensors@2.1::types
 4a6517ea4ad807855428b0101d8e1a486497bd88ab4300ba3b2be43d46d32580 android.hardware.soundtrigger@2.3::types
-12d7533ff0754f45bf59ab300799074570a99a676545652c2c23abc73cb4515d android.hardware.soundtrigger@2.3::ISoundTriggerHw
+b37f78e3fdc79af8b32a545b2b426f1fd1355b359d9e7835f3bf1ed0aa4518d8 android.hardware.soundtrigger@2.3::ISoundTriggerHw
 7746fda1fbf9c7c132bae701cc5a161309e4f5e7f3e8065811045975ee86196d android.hardware.usb.gadget@1.1::IUsbGadget
diff --git a/dumpstate/1.1/types.hal b/dumpstate/1.1/types.hal
index f5cbade..c522f7c 100644
--- a/dumpstate/1.1/types.hal
+++ b/dumpstate/1.1/types.hal
@@ -55,6 +55,13 @@
      * This mode MUST be supported if the dumpstate HAL is implemented.
      */
     DEFAULT = 6,
+    /**
+     * Takes a report in protobuf.
+     *
+     * The content, if implemented, must be a binary protobuf message written to the first file
+     * descriptor of the native handle. The protobuf schema shall be defined by the vendor.
+     */
+    PROTO = 7,
 };
 
 /**
diff --git a/dumpstate/1.1/vts/functional/VtsHalDumpstateV1_1TargetTest.cpp b/dumpstate/1.1/vts/functional/VtsHalDumpstateV1_1TargetTest.cpp
index 51dce5e..cbdd87b 100644
--- a/dumpstate/1.1/vts/functional/VtsHalDumpstateV1_1TargetTest.cpp
+++ b/dumpstate/1.1/vts/functional/VtsHalDumpstateV1_1TargetTest.cpp
@@ -92,7 +92,8 @@
     TEST_FOR_DUMPSTATE_MODE(name, body, WEAR);         \
     TEST_FOR_DUMPSTATE_MODE(name, body, CONNECTIVITY); \
     TEST_FOR_DUMPSTATE_MODE(name, body, WIFI);         \
-    TEST_FOR_DUMPSTATE_MODE(name, body, DEFAULT);
+    TEST_FOR_DUMPSTATE_MODE(name, body, DEFAULT);      \
+    TEST_FOR_DUMPSTATE_MODE(name, body, PROTO);
 
 constexpr uint64_t kDefaultTimeoutMillis = 30 * 1000;  // 30 seconds
 
diff --git a/graphics/mapper/2.1/utils/passthrough/include/mapper-passthrough/2.1/Gralloc0Hal.h b/graphics/mapper/2.1/utils/passthrough/include/mapper-passthrough/2.1/Gralloc0Hal.h
index 8540068..13df3bc 100644
--- a/graphics/mapper/2.1/utils/passthrough/include/mapper-passthrough/2.1/Gralloc0Hal.h
+++ b/graphics/mapper/2.1/utils/passthrough/include/mapper-passthrough/2.1/Gralloc0Hal.h
@@ -49,7 +49,12 @@
                  mModule, bufferHandle, descriptorInfo.width, descriptorInfo.height,
                  static_cast<int32_t>(descriptorInfo.format),
                  static_cast<uint64_t>(descriptorInfo.usage), stride);
-         return static_cast<Error>(ret);
+         if (ret == -EINVAL) {
+             return Error::BAD_BUFFER;
+         } else if (ret < 0) {
+             return Error::BAD_VALUE;
+         }
+         return Error::NONE;
      }
      Error getTransportSize(const native_handle_t* bufferHandle, uint32_t* outNumFds,
                             uint32_t* outNumInts) override {
diff --git a/sensors/1.0/vts/functional/Android.bp b/sensors/1.0/vts/functional/Android.bp
index 1167fd4..aaefccb 100644
--- a/sensors/1.0/vts/functional/Android.bp
+++ b/sensors/1.0/vts/functional/Android.bp
@@ -20,7 +20,7 @@
     defaults: ["VtsHalTargetTestDefaults"],
     srcs: [
         "SensorsHidlEnvironmentV1_0.cpp",
-        "VtsHalSensorsV1_0TargetTest.cpp"
+        "VtsHalSensorsV1_0TargetTest.cpp",
     ],
     static_libs: [
         "android.hardware.graphics.allocator@2.0",
@@ -31,6 +31,8 @@
         "android.hardware.sensors@1.0",
         "VtsHalSensorsTargetTestUtils",
     ],
-    test_suites: ["general-tests", "vts-core"],
+    test_suites: [
+        "general-tests",
+        "vts-core",
+    ],
 }
-
diff --git a/sensors/1.0/vts/functional/SensorsHidlEnvironmentV1_0.h b/sensors/1.0/vts/functional/SensorsHidlEnvironmentV1_0.h
index 29bfa50..485ed1e 100644
--- a/sensors/1.0/vts/functional/SensorsHidlEnvironmentV1_0.h
+++ b/sensors/1.0/vts/functional/SensorsHidlEnvironmentV1_0.h
@@ -29,8 +29,9 @@
 using ::android::sp;
 
 class SensorsHidlTest;
-class SensorsHidlEnvironmentV1_0 : public SensorsHidlEnvironmentBase {
-   public:
+class SensorsHidlEnvironmentV1_0
+    : public SensorsHidlEnvironmentBase<::android::hardware::sensors::V1_0::Event> {
+  public:
     using Event = ::android::hardware::sensors::V1_0::Event;
     SensorsHidlEnvironmentV1_0(const std::string& service_name)
         : SensorsHidlEnvironmentBase(service_name) {}
diff --git a/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp b/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
index 2cad54d..e298651 100644
--- a/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
+++ b/sensors/1.0/vts/functional/VtsHalSensorsV1_0TargetTest.cpp
@@ -33,8 +33,7 @@
 using namespace ::android::hardware::sensors::V1_0;
 
 // The main test class for SENSORS HIDL HAL.
-
-class SensorsHidlTest : public SensorsHidlTestBase {
+class SensorsHidlTest : public SensorsHidlTestBase<SensorType, Event, SensorInfo> {
   public:
     virtual void SetUp() override {
         mEnvironment = new SensorsHidlEnvironmentV1_0(GetParam());
@@ -80,7 +79,7 @@
 
     inline sp<ISensors>& S() { return mEnvironment->sensors; }
 
-    SensorsHidlEnvironmentBase* getEnvironment() override { return mEnvironment; }
+    SensorsHidlEnvironmentBase<Event>* getEnvironment() override { return mEnvironment; }
 
   private:
     // Test environment for sensors HAL.
@@ -257,55 +256,55 @@
 // Test if sensor hal can do UI speed accelerometer streaming properly
 TEST_P(SensorsHidlTest, AccelerometerStreamingOperationSlow) {
     testStreamingOperation(SensorType::ACCELEROMETER, std::chrono::milliseconds(200),
-                           std::chrono::seconds(5), sAccelNormChecker);
+                           std::chrono::seconds(5), mAccelNormChecker);
 }
 
 // Test if sensor hal can do normal speed accelerometer streaming properly
 TEST_P(SensorsHidlTest, AccelerometerStreamingOperationNormal) {
     testStreamingOperation(SensorType::ACCELEROMETER, std::chrono::milliseconds(20),
-                           std::chrono::seconds(5), sAccelNormChecker);
+                           std::chrono::seconds(5), mAccelNormChecker);
 }
 
 // Test if sensor hal can do game speed accelerometer streaming properly
 TEST_P(SensorsHidlTest, AccelerometerStreamingOperationFast) {
     testStreamingOperation(SensorType::ACCELEROMETER, std::chrono::milliseconds(5),
-                           std::chrono::seconds(5), sAccelNormChecker);
+                           std::chrono::seconds(5), mAccelNormChecker);
 }
 
 // Test if sensor hal can do UI speed gyroscope streaming properly
 TEST_P(SensorsHidlTest, GyroscopeStreamingOperationSlow) {
     testStreamingOperation(SensorType::GYROSCOPE, std::chrono::milliseconds(200),
-                           std::chrono::seconds(5), sGyroNormChecker);
+                           std::chrono::seconds(5), mGyroNormChecker);
 }
 
 // Test if sensor hal can do normal speed gyroscope streaming properly
 TEST_P(SensorsHidlTest, GyroscopeStreamingOperationNormal) {
     testStreamingOperation(SensorType::GYROSCOPE, std::chrono::milliseconds(20),
-                           std::chrono::seconds(5), sGyroNormChecker);
+                           std::chrono::seconds(5), mGyroNormChecker);
 }
 
 // Test if sensor hal can do game speed gyroscope streaming properly
 TEST_P(SensorsHidlTest, GyroscopeStreamingOperationFast) {
     testStreamingOperation(SensorType::GYROSCOPE, std::chrono::milliseconds(5),
-                           std::chrono::seconds(5), sGyroNormChecker);
+                           std::chrono::seconds(5), mGyroNormChecker);
 }
 
 // Test if sensor hal can do UI speed magnetometer streaming properly
 TEST_P(SensorsHidlTest, MagnetometerStreamingOperationSlow) {
     testStreamingOperation(SensorType::MAGNETIC_FIELD, std::chrono::milliseconds(200),
-                           std::chrono::seconds(5), NullChecker());
+                           std::chrono::seconds(5), NullChecker<Event>());
 }
 
 // Test if sensor hal can do normal speed magnetometer streaming properly
 TEST_P(SensorsHidlTest, MagnetometerStreamingOperationNormal) {
     testStreamingOperation(SensorType::MAGNETIC_FIELD, std::chrono::milliseconds(20),
-                           std::chrono::seconds(5), NullChecker());
+                           std::chrono::seconds(5), NullChecker<Event>());
 }
 
 // Test if sensor hal can do game speed magnetometer streaming properly
 TEST_P(SensorsHidlTest, MagnetometerStreamingOperationFast) {
     testStreamingOperation(SensorType::MAGNETIC_FIELD, std::chrono::milliseconds(5),
-                           std::chrono::seconds(5), NullChecker());
+                           std::chrono::seconds(5), NullChecker<Event>());
 }
 
 // Test if sensor hal can do accelerometer sampling rate switch properly when sensor is active
@@ -344,109 +343,109 @@
 // Test sensor event direct report with ashmem for accel sensor at normal rate
 TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationNormal) {
     testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::ASHMEM, RateLevel::NORMAL,
-                              sAccelNormChecker);
+                              mAccelNormChecker);
 }
 
 // Test sensor event direct report with ashmem for accel sensor at fast rate
 TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationFast) {
     testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::ASHMEM, RateLevel::FAST,
-                              sAccelNormChecker);
+                              mAccelNormChecker);
 }
 
 // Test sensor event direct report with ashmem for accel sensor at very fast rate
 TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationVeryFast) {
     testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::ASHMEM,
-                              RateLevel::VERY_FAST, sAccelNormChecker);
+                              RateLevel::VERY_FAST, mAccelNormChecker);
 }
 
 // Test sensor event direct report with ashmem for gyro sensor at normal rate
 TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationNormal) {
     testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::NORMAL,
-                              sGyroNormChecker);
+                              mGyroNormChecker);
 }
 
 // Test sensor event direct report with ashmem for gyro sensor at fast rate
 TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationFast) {
     testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::FAST,
-                              sGyroNormChecker);
+                              mGyroNormChecker);
 }
 
 // Test sensor event direct report with ashmem for gyro sensor at very fast rate
 TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationVeryFast) {
     testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::VERY_FAST,
-                              sGyroNormChecker);
+                              mGyroNormChecker);
 }
 
 // Test sensor event direct report with ashmem for mag sensor at normal rate
 TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationNormal) {
     testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::ASHMEM, RateLevel::NORMAL,
-                              NullChecker());
+                              NullChecker<Event>());
 }
 
 // Test sensor event direct report with ashmem for mag sensor at fast rate
 TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationFast) {
     testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::ASHMEM, RateLevel::FAST,
-                              NullChecker());
+                              NullChecker<Event>());
 }
 
 // Test sensor event direct report with ashmem for mag sensor at very fast rate
 TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationVeryFast) {
     testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::ASHMEM,
-                              RateLevel::VERY_FAST, NullChecker());
+                              RateLevel::VERY_FAST, NullChecker<Event>());
 }
 
 // Test sensor event direct report with gralloc for accel sensor at normal rate
 TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationNormal) {
     testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::GRALLOC, RateLevel::NORMAL,
-                              sAccelNormChecker);
+                              mAccelNormChecker);
 }
 
 // Test sensor event direct report with gralloc for accel sensor at fast rate
 TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationFast) {
     testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::GRALLOC, RateLevel::FAST,
-                              sAccelNormChecker);
+                              mAccelNormChecker);
 }
 
 // Test sensor event direct report with gralloc for accel sensor at very fast rate
 TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationVeryFast) {
     testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::GRALLOC,
-                              RateLevel::VERY_FAST, sAccelNormChecker);
+                              RateLevel::VERY_FAST, mAccelNormChecker);
 }
 
 // Test sensor event direct report with gralloc for gyro sensor at normal rate
 TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationNormal) {
     testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::NORMAL,
-                              sGyroNormChecker);
+                              mGyroNormChecker);
 }
 
 // Test sensor event direct report with gralloc for gyro sensor at fast rate
 TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationFast) {
     testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::FAST,
-                              sGyroNormChecker);
+                              mGyroNormChecker);
 }
 
 // Test sensor event direct report with gralloc for gyro sensor at very fast rate
 TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationVeryFast) {
     testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::VERY_FAST,
-                              sGyroNormChecker);
+                              mGyroNormChecker);
 }
 
 // Test sensor event direct report with gralloc for mag sensor at normal rate
 TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationNormal) {
     testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::GRALLOC, RateLevel::NORMAL,
-                              NullChecker());
+                              NullChecker<Event>());
 }
 
 // Test sensor event direct report with gralloc for mag sensor at fast rate
 TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationFast) {
     testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::GRALLOC, RateLevel::FAST,
-                              NullChecker());
+                              NullChecker<Event>());
 }
 
 // Test sensor event direct report with gralloc for mag sensor at very fast rate
 TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationVeryFast) {
     testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::GRALLOC,
-                              RateLevel::VERY_FAST, NullChecker());
+                              RateLevel::VERY_FAST, NullChecker<Event>());
 }
 
 INSTANTIATE_TEST_SUITE_P(
diff --git a/sensors/2.0/default/Android.bp b/sensors/2.0/default/Android.bp
index 62c9487..bb38327 100644
--- a/sensors/2.0/default/Android.bp
+++ b/sensors/2.0/default/Android.bp
@@ -20,13 +20,17 @@
     relative_install_path: "hw",
     srcs: [
         "service.cpp",
-        "Sensor.cpp",
-        "Sensors.cpp",
     ],
     init_rc: ["android.hardware.sensors@2.0-service-mock.rc"],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
     shared_libs: [
         "android.hardware.sensors@1.0",
         "android.hardware.sensors@2.0",
+        // Needed to compile some shared utilities for both 2.0/2.1 impls, but
+        // isn't normally needed for a HAL that only supports 2.0.
+        "android.hardware.sensors@2.1",
         "libcutils",
         "libfmq",
         "libhidlbase",
@@ -34,5 +38,9 @@
         "libpower",
         "libutils",
     ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.X-shared-impl",
+    ],
     vintf_fragments: ["android.hardware.sensors@2.0.xml"],
 }
diff --git a/sensors/2.0/default/Sensors.cpp b/sensors/2.0/default/Sensors.cpp
deleted file mode 100644
index 23dd26b..0000000
--- a/sensors/2.0/default/Sensors.cpp
+++ /dev/null
@@ -1,259 +0,0 @@
-/*
- * Copyright (C) 2018 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "Sensors.h"
-
-#include <android/hardware/sensors/2.0/types.h>
-#include <log/log.h>
-
-namespace android {
-namespace hardware {
-namespace sensors {
-namespace V2_0 {
-namespace implementation {
-
-using ::android::hardware::sensors::V1_0::Event;
-using ::android::hardware::sensors::V1_0::OperationMode;
-using ::android::hardware::sensors::V1_0::RateLevel;
-using ::android::hardware::sensors::V1_0::Result;
-using ::android::hardware::sensors::V1_0::SharedMemInfo;
-using ::android::hardware::sensors::V2_0::SensorTimeout;
-using ::android::hardware::sensors::V2_0::WakeLockQueueFlagBits;
-
-constexpr const char* kWakeLockName = "SensorsHAL_WAKEUP";
-
-Sensors::Sensors()
-    : mEventQueueFlag(nullptr),
-      mNextHandle(1),
-      mOutstandingWakeUpEvents(0),
-      mReadWakeLockQueueRun(false),
-      mAutoReleaseWakeLockTime(0),
-      mHasWakeLock(false) {
-    AddSensor<AccelSensor>();
-    AddSensor<GyroSensor>();
-    AddSensor<AmbientTempSensor>();
-    AddSensor<DeviceTempSensor>();
-    AddSensor<PressureSensor>();
-    AddSensor<MagnetometerSensor>();
-    AddSensor<LightSensor>();
-    AddSensor<ProximitySensor>();
-    AddSensor<RelativeHumiditySensor>();
-}
-
-Sensors::~Sensors() {
-    deleteEventFlag();
-    mReadWakeLockQueueRun = false;
-    mWakeLockThread.join();
-}
-
-// Methods from ::android::hardware::sensors::V2_0::ISensors follow.
-Return<void> Sensors::getSensorsList(getSensorsList_cb _hidl_cb) {
-    std::vector<SensorInfo> sensors;
-    for (const auto& sensor : mSensors) {
-        sensors.push_back(sensor.second->getSensorInfo());
-    }
-
-    // Call the HIDL callback with the SensorInfo
-    _hidl_cb(sensors);
-
-    return Void();
-}
-
-Return<Result> Sensors::setOperationMode(OperationMode mode) {
-    for (auto sensor : mSensors) {
-        sensor.second->setOperationMode(mode);
-    }
-    return Result::OK;
-}
-
-Return<Result> Sensors::activate(int32_t sensorHandle, bool enabled) {
-    auto sensor = mSensors.find(sensorHandle);
-    if (sensor != mSensors.end()) {
-        sensor->second->activate(enabled);
-        return Result::OK;
-    }
-    return Result::BAD_VALUE;
-}
-
-Return<Result> Sensors::initialize(
-    const ::android::hardware::MQDescriptorSync<Event>& eventQueueDescriptor,
-    const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
-    const sp<ISensorsCallback>& sensorsCallback) {
-    Result result = Result::OK;
-
-    // Ensure that all sensors are disabled
-    for (auto sensor : mSensors) {
-        sensor.second->activate(false /* enable */);
-    }
-
-    // Stop the Wake Lock thread if it is currently running
-    if (mReadWakeLockQueueRun.load()) {
-        mReadWakeLockQueueRun = false;
-        mWakeLockThread.join();
-    }
-
-    // Save a reference to the callback
-    mCallback = sensorsCallback;
-
-    // Create the Event FMQ from the eventQueueDescriptor. Reset the read/write positions.
-    mEventQueue =
-        std::make_unique<EventMessageQueue>(eventQueueDescriptor, true /* resetPointers */);
-
-    // 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 = Result::BAD_VALUE;
-    }
-
-    // Create the Wake Lock FMQ that is used by the framework to communicate whenever WAKE_UP
-    // events have been successfully read and handled by the framework.
-    mWakeLockQueue =
-        std::make_unique<WakeLockMessageQueue>(wakeLockDescriptor, true /* resetPointers */);
-
-    if (!mCallback || !mEventQueue || !mWakeLockQueue || mEventQueueFlag == nullptr) {
-        result = Result::BAD_VALUE;
-    }
-
-    // Start the thread to read events from the Wake Lock FMQ
-    mReadWakeLockQueueRun = true;
-    mWakeLockThread = std::thread(startReadWakeLockThread, this);
-
-    return result;
-}
-
-Return<Result> Sensors::batch(int32_t sensorHandle, int64_t samplingPeriodNs,
-                              int64_t /* maxReportLatencyNs */) {
-    auto sensor = mSensors.find(sensorHandle);
-    if (sensor != mSensors.end()) {
-        sensor->second->batch(samplingPeriodNs);
-        return Result::OK;
-    }
-    return Result::BAD_VALUE;
-}
-
-Return<Result> Sensors::flush(int32_t sensorHandle) {
-    auto sensor = mSensors.find(sensorHandle);
-    if (sensor != mSensors.end()) {
-        return sensor->second->flush();
-    }
-    return Result::BAD_VALUE;
-}
-
-Return<Result> Sensors::injectSensorData(const Event& event) {
-    auto sensor = mSensors.find(event.sensorHandle);
-    if (sensor != mSensors.end()) {
-        return sensor->second->injectEvent(event);
-    }
-
-    return Result::BAD_VALUE;
-}
-
-Return<void> Sensors::registerDirectChannel(const SharedMemInfo& /* mem */,
-                                            registerDirectChannel_cb _hidl_cb) {
-    _hidl_cb(Result::INVALID_OPERATION, -1 /* channelHandle */);
-    return Return<void>();
-}
-
-Return<Result> Sensors::unregisterDirectChannel(int32_t /* channelHandle */) {
-    return Result::INVALID_OPERATION;
-}
-
-Return<void> Sensors::configDirectReport(int32_t /* sensorHandle */, int32_t /* channelHandle */,
-                                         RateLevel /* rate */, configDirectReport_cb _hidl_cb) {
-    _hidl_cb(Result::INVALID_OPERATION, 0 /* reportToken */);
-    return Return<void>();
-}
-
-void Sensors::postEvents(const std::vector<Event>& events, bool wakeup) {
-    std::lock_guard<std::mutex> lock(mWriteLock);
-    if (mEventQueue->write(events.data(), events.size())) {
-        mEventQueueFlag->wake(static_cast<uint32_t>(EventQueueFlagBits::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 */);
-        }
-    }
-}
-
-void Sensors::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>(SensorTimeout::WAKE_LOCK_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",
-                  SensorTimeout::WAKE_LOCK_SECONDS);
-            mOutstandingWakeUpEvents = 0;
-        }
-
-        if (mOutstandingWakeUpEvents == 0 && release_wake_lock(kWakeLockName) == 0) {
-            mHasWakeLock = false;
-        }
-    }
-}
-
-void Sensors::readWakeLockFMQ() {
-    while (mReadWakeLockQueueRun.load()) {
-        constexpr int64_t kReadTimeoutNs = 500 * 1000 * 1000;  // 500 ms
-        uint32_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>(WakeLockQueueFlagBits::DATA_WRITTEN),
-                                     kReadTimeoutNs);
-        updateWakeLock(0 /* eventsWritten */, eventsHandled);
-    }
-}
-
-void Sensors::startReadWakeLockThread(Sensors* sensors) {
-    sensors->readWakeLockFMQ();
-}
-
-void Sensors::deleteEventFlag() {
-    status_t status = EventFlag::deleteEventFlag(&mEventQueueFlag);
-    if (status != OK) {
-        ALOGI("Failed to delete event flag: %d", status);
-    }
-}
-
-}  // namespace implementation
-}  // namespace V2_0
-}  // namespace sensors
-}  // namespace hardware
-}  // namespace android
diff --git a/sensors/2.0/default/Sensors.h b/sensors/2.0/default/Sensors.h
deleted file mode 100644
index d06dd78..0000000
--- a/sensors/2.0/default/Sensors.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/*
- * Copyright (C) 2018 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ANDROID_HARDWARE_SENSORS_V2_0_SENSORS_H
-#define ANDROID_HARDWARE_SENSORS_V2_0_SENSORS_H
-
-#include "Sensor.h"
-
-#include <android/hardware/sensors/2.0/ISensors.h>
-#include <fmq/MessageQueue.h>
-#include <hardware_legacy/power.h>
-#include <hidl/MQDescriptor.h>
-#include <hidl/Status.h>
-
-#include <atomic>
-#include <memory>
-#include <thread>
-
-namespace android {
-namespace hardware {
-namespace sensors {
-namespace V2_0 {
-namespace implementation {
-
-using ::android::sp;
-using ::android::hardware::EventFlag;
-using ::android::hardware::hidl_array;
-using ::android::hardware::hidl_memory;
-using ::android::hardware::hidl_string;
-using ::android::hardware::hidl_vec;
-using ::android::hardware::MessageQueue;
-using ::android::hardware::MQDescriptor;
-using ::android::hardware::Return;
-using ::android::hardware::Void;
-
-struct Sensors : public ISensors, public ISensorsEventCallback {
-    using Event = ::android::hardware::sensors::V1_0::Event;
-    using OperationMode = ::android::hardware::sensors::V1_0::OperationMode;
-    using RateLevel = ::android::hardware::sensors::V1_0::RateLevel;
-    using Result = ::android::hardware::sensors::V1_0::Result;
-    using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
-
-    Sensors();
-    virtual ~Sensors();
-
-    // Methods from ::android::hardware::sensors::V2_0::ISensors follow.
-    Return<void> getSensorsList(getSensorsList_cb _hidl_cb) override;
-
-    Return<Result> setOperationMode(OperationMode mode) override;
-
-    Return<Result> activate(int32_t sensorHandle, bool enabled) override;
-
-    Return<Result> initialize(
-        const ::android::hardware::MQDescriptorSync<Event>& eventQueueDescriptor,
-        const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
-        const sp<ISensorsCallback>& sensorsCallback) override;
-
-    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
-                         int64_t maxReportLatencyNs) override;
-
-    Return<Result> flush(int32_t sensorHandle) override;
-
-    Return<Result> injectSensorData(const Event& event) override;
-
-    Return<void> registerDirectChannel(const SharedMemInfo& mem,
-                                       registerDirectChannel_cb _hidl_cb) override;
-
-    Return<Result> unregisterDirectChannel(int32_t channelHandle) override;
-
-    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
-                                    configDirectReport_cb _hidl_cb) override;
-
-    void postEvents(const std::vector<Event>& events, bool wakeup) override;
-
-   private:
-    /**
-     * 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();
-
-    /**
-     * Function to read the Wake Lock FMQ and release the wake lock when appropriate
-     */
-    void readWakeLockFMQ();
-
-    static void startReadWakeLockThread(Sensors* sensors);
-
-    /**
-     * Responsible for acquiring and releasing a wake lock when there are unhandled WAKE_UP events
-     */
-    void updateWakeLock(int32_t eventsWritten, int32_t eventsHandled);
-
-    using EventMessageQueue = MessageQueue<Event, kSynchronizedReadWrite>;
-    using WakeLockMessageQueue = MessageQueue<uint32_t, kSynchronizedReadWrite>;
-
-    /**
-     * The Event FMQ where sensor events are written
-     */
-    std::unique_ptr<EventMessageQueue> mEventQueue;
-
-    /**
-     * The Wake Lock FMQ that is read to determine when the framework has handled WAKE_UP events
-     */
-    std::unique_ptr<WakeLockMessageQueue> mWakeLockQueue;
-
-    /**
-     * Event Flag to signal to the framework when sensor events are available to be read
-     */
-    EventFlag* mEventQueueFlag;
-
-    /**
-     * Callback for asynchronous events, such as dynamic sensor connections.
-     */
-    sp<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 implementation
-}  // namespace V2_0
-}  // namespace sensors
-}  // namespace hardware
-}  // namespace android
-
-#endif  // ANDROID_HARDWARE_SENSORS_V2_0_SENSORS_H
diff --git a/sensors/2.0/default/SensorsV2_0.h b/sensors/2.0/default/SensorsV2_0.h
new file mode 100644
index 0000000..345835a
--- /dev/null
+++ b/sensors/2.0/default/SensorsV2_0.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_SENSORS_V2_0_H
+#define ANDROID_HARDWARE_SENSORS_V2_0_H
+
+#include "Sensors.h"
+
+#include <android/hardware/sensors/2.0/ISensors.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace implementation {
+
+struct SensorsV2_0 : public ::android::hardware::sensors::V2_X::implementation::Sensors<ISensors> {
+};
+
+}  // namespace implementation
+}  // namespace V2_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_0_H
\ No newline at end of file
diff --git a/sensors/2.0/default/service.cpp b/sensors/2.0/default/service.cpp
index 5c13e33..e20bf85 100644
--- a/sensors/2.0/default/service.cpp
+++ b/sensors/2.0/default/service.cpp
@@ -20,17 +20,17 @@
 #include <hidl/HidlTransportSupport.h>
 #include <log/log.h>
 #include <utils/StrongPointer.h>
-#include "Sensors.h"
+#include "SensorsV2_0.h"
 
 using android::hardware::configureRpcThreadpool;
 using android::hardware::joinRpcThreadpool;
 using android::hardware::sensors::V2_0::ISensors;
-using android::hardware::sensors::V2_0::implementation::Sensors;
+using android::hardware::sensors::V2_0::implementation::SensorsV2_0;
 
 int main(int /* argc */, char** /* argv */) {
     configureRpcThreadpool(1, true);
 
-    android::sp<ISensors> sensors = new Sensors();
+    android::sp<ISensors> sensors = new SensorsV2_0();
     if (sensors->registerAsService() != ::android::OK) {
         ALOGE("Failed to register Sensors HAL instance");
         return -1;
diff --git a/sensors/2.0/vts/functional/Android.bp b/sensors/2.0/vts/functional/Android.bp
index 4765fa2..22a5091 100644
--- a/sensors/2.0/vts/functional/Android.bp
+++ b/sensors/2.0/vts/functional/Android.bp
@@ -19,8 +19,10 @@
     cflags: ["-DLOG_TAG=\"sensors_hidl_hal_test\""],
     defaults: ["VtsHalTargetTestDefaults"],
     srcs: [
-        "SensorsHidlEnvironmentV2_0.cpp",
-        "VtsHalSensorsV2_0TargetTest.cpp"
+        "VtsHalSensorsV2_0TargetTest.cpp",
+    ],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
     ],
     static_libs: [
         "android.hardware.graphics.allocator@2.0",
@@ -29,9 +31,15 @@
         "android.hardware.graphics.mapper@2.1",
         "android.hardware.graphics.mapper@3.0",
         "android.hardware.sensors@1.0",
+        "android.hardware.sensors@1.0-convert",
         "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
         "libfmq",
         "VtsHalSensorsTargetTestUtils",
+        "VtsHalSensorsV2_XTargetTest",
+    ],
+    test_suites: [
+        "general-tests",
+        "vts-core",
     ],
 }
-
diff --git a/sensors/2.0/vts/functional/VtsHalSensorsV2_0TargetTest.cpp b/sensors/2.0/vts/functional/VtsHalSensorsV2_0TargetTest.cpp
index 540529d..8895350 100644
--- a/sensors/2.0/vts/functional/VtsHalSensorsV2_0TargetTest.cpp
+++ b/sensors/2.0/vts/functional/VtsHalSensorsV2_0TargetTest.cpp
@@ -14,1130 +14,19 @@
  * limitations under the License.
  */
 
-#include "SensorsHidlEnvironmentV2_0.h"
-#include "sensors-vts-utils/SensorsHidlTestBase.h"
-#include "sensors-vts-utils/SensorsTestSharedMemory.h"
+#include "VtsHalSensorsV2_XTargetTest.h"
 
-#include <android/hardware/sensors/2.0/ISensors.h>
-#include <android/hardware/sensors/2.0/types.h>
-#include <hidl/GtestPrinter.h>
-#include <hidl/ServiceManagement.h>
-#include <log/log.h>
-#include <utils/SystemClock.h>
-
-#include <cinttypes>
-#include <condition_variable>
-#include <cstring>
-#include <map>
-#include <vector>
-
-using ::android::sp;
-using ::android::hardware::Return;
-using ::android::hardware::Void;
-using ::android::hardware::sensors::V1_0::MetaDataEventType;
-using ::android::hardware::sensors::V1_0::OperationMode;
-using ::android::hardware::sensors::V1_0::SensorsEventFormatOffset;
-using ::android::hardware::sensors::V1_0::SensorStatus;
-using ::android::hardware::sensors::V1_0::SharedMemType;
-using ::android::hardware::sensors::V1_0::Vec3;
-using std::chrono::duration_cast;
-using std::chrono::microseconds;
-using std::chrono::milliseconds;
-using std::chrono::nanoseconds;
-
-constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
-
-class EventCallback : public IEventCallback {
-   public:
-    void reset() {
-        mFlushMap.clear();
-        mEventMap.clear();
-    }
-
-    void onEvent(const ::android::hardware::sensors::V1_0::Event& event) override {
-        if (event.sensorType == SensorType::META_DATA &&
-            event.u.meta.what == 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, 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, 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;
-};
-
-// The main test class for SENSORS HIDL HAL.
-
-class SensorsHidlTest : public SensorsHidlTestBase {
-  public:
-    virtual void SetUp() override {
-        mEnvironment = new SensorsHidlEnvironmentV2_0(GetParam());
-        mEnvironment->HidlSetUp();
-        // Ensure that we have a valid environment before performing tests
-        ASSERT_NE(getSensors(), nullptr);
-    }
-
-    virtual void TearDown() override { mEnvironment->HidlTearDown(); }
-
-  protected:
-    SensorInfo defaultSensorByType(SensorType type) override;
-    std::vector<SensorInfo> getSensorsList();
-    // implementation wrapper
-    Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) override {
-        return getSensors()->getSensorsList(_hidl_cb);
-    }
-
-    Return<Result> activate(int32_t sensorHandle, bool enabled) override;
-
-    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
-                         int64_t maxReportLatencyNs) override {
-        return getSensors()->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
-    }
-
-    Return<Result> flush(int32_t sensorHandle) override {
-        return getSensors()->flush(sensorHandle);
-    }
-
-    Return<Result> injectSensorData(const Event& event) override {
-        return getSensors()->injectSensorData(event);
-    }
-
-    Return<void> registerDirectChannel(const SharedMemInfo& mem,
-                                       ISensors::registerDirectChannel_cb _hidl_cb) override;
-
-    Return<Result> unregisterDirectChannel(int32_t channelHandle) override {
-        return getSensors()->unregisterDirectChannel(channelHandle);
-    }
-
-    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
-                                    ISensors::configDirectReport_cb _hidl_cb) override {
-        return getSensors()->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
-    }
-
-    inline sp<::android::hardware::sensors::V2_0::ISensors>& getSensors() {
-        return mEnvironment->mSensors;
-    }
-
-    SensorsHidlEnvironmentBase* getEnvironment() override { return mEnvironment; }
-
-    // Test helpers
-    void runSingleFlushTest(const std::vector<SensorInfo>& sensors, bool activateSensor,
-                            int32_t expectedFlushCount, Result expectedResponse);
-    void runFlushTest(const std::vector<SensorInfo>& sensors, bool activateSensor,
-                      int32_t flushCalls, int32_t expectedFlushCount, Result expectedResponse);
-
-    // Helper functions
-    void activateAllSensors(bool enable);
-    std::vector<SensorInfo> getNonOneShotSensors();
-    std::vector<SensorInfo> getNonOneShotAndNonSpecialSensors();
-    std::vector<SensorInfo> getOneShotSensors();
-    std::vector<SensorInfo> getInjectEventSensors();
-    int32_t getInvalidSensorHandle();
-    bool getDirectChannelSensor(SensorInfo* sensor, SharedMemType* memType, RateLevel* rate);
-    void verifyDirectChannel(SharedMemType memType);
-    void verifyRegisterDirectChannel(std::shared_ptr<SensorsTestSharedMemory> mem,
-                                     int32_t* directChannelHandle, bool supportsSharedMemType,
-                                     bool supportsAnyDirectChannel);
-    void verifyConfigure(const SensorInfo& sensor, SharedMemType memType,
-                         int32_t directChannelHandle, bool directChannelSupported);
-    void verifyUnregisterDirectChannel(int32_t directChannelHandle, bool directChannelSupported);
-    void checkRateLevel(const SensorInfo& sensor, int32_t directChannelHandle, RateLevel rateLevel);
-    void queryDirectChannelSupport(SharedMemType memType, bool* supportsSharedMemType,
-                                   bool* supportsAnyDirectChannel);
-
-  private:
-    // Test environment for sensors HAL.
-    SensorsHidlEnvironmentV2_0* mEnvironment;
-};
-
-Return<Result> SensorsHidlTest::activate(int32_t sensorHandle, bool enabled) {
-    // If activating a sensor, add the handle in a set so that when test fails it can be turned off.
-    // The handle is not removed when it is deactivating on purpose so that it is not necessary to
-    // check the return value of deactivation. Deactivating a sensor more than once does not have
-    // negative effect.
-    if (enabled) {
-        mSensorHandles.insert(sensorHandle);
-    }
-    return getSensors()->activate(sensorHandle, enabled);
-}
-
-Return<void> SensorsHidlTest::registerDirectChannel(const SharedMemInfo& mem,
-                                                    ISensors::registerDirectChannel_cb cb) {
-    // If registeration of a channel succeeds, add the handle of channel to a set so that it can be
-    // unregistered when test fails. Unregister a channel does not remove the handle on purpose.
-    // Unregistering a channel more than once should not have negative effect.
-    getSensors()->registerDirectChannel(mem, [&](auto result, auto channelHandle) {
-        if (result == Result::OK) {
-            mDirectChannelHandles.insert(channelHandle);
-        }
-        cb(result, channelHandle);
-    });
-    return Void();
-}
-
-SensorInfo SensorsHidlTest::defaultSensorByType(SensorType type) {
-    SensorInfo ret;
-
-    ret.type = (SensorType)-1;
-    getSensors()->getSensorsList([&](const auto& list) {
-        const size_t count = list.size();
-        for (size_t i = 0; i < count; ++i) {
-            if (list[i].type == type) {
-                ret = list[i];
-                return;
-            }
-        }
-    });
-
-    return ret;
-}
-
-std::vector<SensorInfo> SensorsHidlTest::getSensorsList() {
-    std::vector<SensorInfo> ret;
-
-    getSensors()->getSensorsList([&](const auto& list) {
-        const size_t count = list.size();
-        ret.reserve(list.size());
-        for (size_t i = 0; i < count; ++i) {
-            ret.push_back(list[i]);
-        }
-    });
-
-    return ret;
-}
-
-std::vector<SensorInfo> SensorsHidlTest::getNonOneShotSensors() {
-    std::vector<SensorInfo> sensors;
-    for (const SensorInfo& info : getSensorsList()) {
-        if (extractReportMode(info.flags) != SensorFlagBits::ONE_SHOT_MODE) {
-            sensors.push_back(info);
-        }
-    }
-    return sensors;
-}
-
-std::vector<SensorInfo> SensorsHidlTest::getNonOneShotAndNonSpecialSensors() {
-    std::vector<SensorInfo> sensors;
-    for (const SensorInfo& info : getSensorsList()) {
-        SensorFlagBits reportMode = extractReportMode(info.flags);
-        if (reportMode != SensorFlagBits::ONE_SHOT_MODE &&
-            reportMode != SensorFlagBits::SPECIAL_REPORTING_MODE) {
-            sensors.push_back(info);
-        }
-    }
-    return sensors;
-}
-
-std::vector<SensorInfo> SensorsHidlTest::getOneShotSensors() {
-    std::vector<SensorInfo> sensors;
-    for (const SensorInfo& info : getSensorsList()) {
-        if (extractReportMode(info.flags) == SensorFlagBits::ONE_SHOT_MODE) {
-            sensors.push_back(info);
-        }
-    }
-    return sensors;
-}
-
-std::vector<SensorInfo> SensorsHidlTest::getInjectEventSensors() {
-    std::vector<SensorInfo> sensors;
-    for (const SensorInfo& info : getSensorsList()) {
-        if (info.flags & static_cast<uint32_t>(SensorFlagBits::DATA_INJECTION)) {
-            sensors.push_back(info);
-        }
-    }
-    return sensors;
-}
-
-int32_t SensorsHidlTest::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;
-}
-
-// Test if sensor list returned is valid
-TEST_P(SensorsHidlTest, SensorListValid) {
+TEST_P(SensorsHidlTest, SensorListDoesntContainInvalidType) {
     getSensors()->getSensorsList([&](const auto& list) {
         const size_t count = list.size();
         for (size_t i = 0; i < count; ++i) {
             const auto& s = list[i];
-            SCOPED_TRACE(::testing::Message()
-                         << i << "/" << count << ": "
-                         << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
-                         << s.sensorHandle << std::dec << " type=" << static_cast<int>(s.type)
-                         << " name=" << s.name);
-
-            // Test non-empty type string
-            EXPECT_FALSE(s.typeAsString.empty());
-
-            // Test defined type matches defined string type
-            EXPECT_NO_FATAL_FAILURE(assertTypeMatchStringType(s.type, s.typeAsString));
-
-            // Test if all sensor has name and vendor
-            EXPECT_FALSE(s.name.empty());
-            EXPECT_FALSE(s.vendor.empty());
-
-            // Test power > 0, maxRange > 0
-            EXPECT_LE(0, s.power);
-            EXPECT_LT(0, s.maxRange);
-
-            // Info type, should have no sensor
-            EXPECT_FALSE(s.type == SensorType::ADDITIONAL_INFO || s.type == SensorType::META_DATA);
-
-            // Test fifoMax >= fifoReserved
-            EXPECT_GE(s.fifoMaxEventCount, s.fifoReservedEventCount)
-                << "max=" << s.fifoMaxEventCount << " reserved=" << s.fifoReservedEventCount;
-
-            // Test Reporting mode valid
-            EXPECT_NO_FATAL_FAILURE(assertTypeMatchReportMode(s.type, extractReportMode(s.flags)));
-
-            // Test min max are in the right order
-            EXPECT_LE(s.minDelay, s.maxDelay);
-            // Test min/max delay matches reporting mode
-            EXPECT_NO_FATAL_FAILURE(
-                assertDelayMatchReportMode(s.minDelay, s.maxDelay, extractReportMode(s.flags)));
+            EXPECT_FALSE(s.type == ::android::hardware::sensors::V2_1::SensorType::HINGE_ANGLE);
         }
     });
 }
 
-// Test that SetOperationMode returns the expected value
-TEST_P(SensorsHidlTest, SetOperationMode) {
-    std::vector<SensorInfo> sensors = getInjectEventSensors();
-    if (getInjectEventSensors().size() > 0) {
-        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
-        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
-        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
-    } else {
-        ASSERT_EQ(Result::BAD_VALUE, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
-    }
-}
-
-// Test that an injected event is written back to the Event FMQ
-TEST_P(SensorsHidlTest, InjectSensorEventData) {
-    std::vector<SensorInfo> sensors = getInjectEventSensors();
-    if (sensors.size() == 0) {
-        return;
-    }
-
-    ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
-
-    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();
-    Vec3 data = {1, 2, 3, SensorStatus::ACCURACY_HIGH};
-    injectedEvent.u.vec3 = data;
-
-    for (const auto& s : sensors) {
-        additionalInfoEvent.sensorHandle = s.sensorHandle;
-        EXPECT_EQ(Result::OK, getSensors()->injectSensorData(additionalInfoEvent));
-
-        injectedEvent.sensorType = s.type;
-        injectedEvent.sensorHandle = s.sensorHandle;
-        EXPECT_EQ(Result::OK, getSensors()->injectSensorData(injectedEvent));
-    }
-
-    // Wait for events to be written back to the Event FMQ
-    callback.waitForEvents(sensors, milliseconds(1000) /* timeout */);
-
-    for (const auto& s : sensors) {
-        auto events = callback.getEvents(s.sensorHandle);
-        auto lastEvent = events.back();
-
-        // 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.sensorType, s.type);
-        ASSERT_EQ(lastEvent.timestamp, injectedEvent.timestamp);
-        ASSERT_EQ(lastEvent.u.vec3.x, injectedEvent.u.vec3.x);
-        ASSERT_EQ(lastEvent.u.vec3.y, injectedEvent.u.vec3.y);
-        ASSERT_EQ(lastEvent.u.vec3.z, injectedEvent.u.vec3.z);
-        ASSERT_EQ(lastEvent.u.vec3.status, injectedEvent.u.vec3.status);
-    }
-
-    getEnvironment()->unregisterCallback();
-    ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
-}
-
-// Test if sensor hal can do UI speed accelerometer streaming properly
-TEST_P(SensorsHidlTest, AccelerometerStreamingOperationSlow) {
-    testStreamingOperation(SensorType::ACCELEROMETER, std::chrono::milliseconds(200),
-                           std::chrono::seconds(5), sAccelNormChecker);
-}
-
-// Test if sensor hal can do normal speed accelerometer streaming properly
-TEST_P(SensorsHidlTest, AccelerometerStreamingOperationNormal) {
-    testStreamingOperation(SensorType::ACCELEROMETER, std::chrono::milliseconds(20),
-                           std::chrono::seconds(5), sAccelNormChecker);
-}
-
-// Test if sensor hal can do game speed accelerometer streaming properly
-TEST_P(SensorsHidlTest, AccelerometerStreamingOperationFast) {
-    testStreamingOperation(SensorType::ACCELEROMETER, std::chrono::milliseconds(5),
-                           std::chrono::seconds(5), sAccelNormChecker);
-}
-
-// Test if sensor hal can do UI speed gyroscope streaming properly
-TEST_P(SensorsHidlTest, GyroscopeStreamingOperationSlow) {
-    testStreamingOperation(SensorType::GYROSCOPE, std::chrono::milliseconds(200),
-                           std::chrono::seconds(5), sGyroNormChecker);
-}
-
-// Test if sensor hal can do normal speed gyroscope streaming properly
-TEST_P(SensorsHidlTest, GyroscopeStreamingOperationNormal) {
-    testStreamingOperation(SensorType::GYROSCOPE, std::chrono::milliseconds(20),
-                           std::chrono::seconds(5), sGyroNormChecker);
-}
-
-// Test if sensor hal can do game speed gyroscope streaming properly
-TEST_P(SensorsHidlTest, GyroscopeStreamingOperationFast) {
-    testStreamingOperation(SensorType::GYROSCOPE, std::chrono::milliseconds(5),
-                           std::chrono::seconds(5), sGyroNormChecker);
-}
-
-// Test if sensor hal can do UI speed magnetometer streaming properly
-TEST_P(SensorsHidlTest, MagnetometerStreamingOperationSlow) {
-    testStreamingOperation(SensorType::MAGNETIC_FIELD, std::chrono::milliseconds(200),
-                           std::chrono::seconds(5), NullChecker());
-}
-
-// Test if sensor hal can do normal speed magnetometer streaming properly
-TEST_P(SensorsHidlTest, MagnetometerStreamingOperationNormal) {
-    testStreamingOperation(SensorType::MAGNETIC_FIELD, std::chrono::milliseconds(20),
-                           std::chrono::seconds(5), NullChecker());
-}
-
-// Test if sensor hal can do game speed magnetometer streaming properly
-TEST_P(SensorsHidlTest, MagnetometerStreamingOperationFast) {
-    testStreamingOperation(SensorType::MAGNETIC_FIELD, std::chrono::milliseconds(5),
-                           std::chrono::seconds(5), NullChecker());
-}
-
-// Test if sensor hal can do accelerometer sampling rate switch properly when sensor is active
-TEST_P(SensorsHidlTest, AccelerometerSamplingPeriodHotSwitchOperation) {
-    testSamplingRateHotSwitchOperation(SensorType::ACCELEROMETER);
-    testSamplingRateHotSwitchOperation(SensorType::ACCELEROMETER, false /*fastToSlow*/);
-}
-
-// Test if sensor hal can do gyroscope sampling rate switch properly when sensor is active
-TEST_P(SensorsHidlTest, GyroscopeSamplingPeriodHotSwitchOperation) {
-    testSamplingRateHotSwitchOperation(SensorType::GYROSCOPE);
-    testSamplingRateHotSwitchOperation(SensorType::GYROSCOPE, false /*fastToSlow*/);
-}
-
-// Test if sensor hal can do magnetometer sampling rate switch properly when sensor is active
-TEST_P(SensorsHidlTest, MagnetometerSamplingPeriodHotSwitchOperation) {
-    testSamplingRateHotSwitchOperation(SensorType::MAGNETIC_FIELD);
-    testSamplingRateHotSwitchOperation(SensorType::MAGNETIC_FIELD, false /*fastToSlow*/);
-}
-
-// Test if sensor hal can do accelerometer batching properly
-TEST_P(SensorsHidlTest, AccelerometerBatchingOperation) {
-    testBatchingOperation(SensorType::ACCELEROMETER);
-}
-
-// Test if sensor hal can do gyroscope batching properly
-TEST_P(SensorsHidlTest, GyroscopeBatchingOperation) {
-    testBatchingOperation(SensorType::GYROSCOPE);
-}
-
-// Test if sensor hal can do magnetometer batching properly
-TEST_P(SensorsHidlTest, MagnetometerBatchingOperation) {
-    testBatchingOperation(SensorType::MAGNETIC_FIELD);
-}
-
-// Test sensor event direct report with ashmem for accel sensor at normal rate
-TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationNormal) {
-    testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::ASHMEM, RateLevel::NORMAL,
-                              sAccelNormChecker);
-}
-
-// Test sensor event direct report with ashmem for accel sensor at fast rate
-TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationFast) {
-    testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::ASHMEM, RateLevel::FAST,
-                              sAccelNormChecker);
-}
-
-// Test sensor event direct report with ashmem for accel sensor at very fast rate
-TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationVeryFast) {
-    testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::ASHMEM,
-                              RateLevel::VERY_FAST, sAccelNormChecker);
-}
-
-// Test sensor event direct report with ashmem for gyro sensor at normal rate
-TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationNormal) {
-    testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::NORMAL,
-                              sGyroNormChecker);
-}
-
-// Test sensor event direct report with ashmem for gyro sensor at fast rate
-TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationFast) {
-    testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::FAST,
-                              sGyroNormChecker);
-}
-
-// Test sensor event direct report with ashmem for gyro sensor at very fast rate
-TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationVeryFast) {
-    testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::VERY_FAST,
-                              sGyroNormChecker);
-}
-
-// Test sensor event direct report with ashmem for mag sensor at normal rate
-TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationNormal) {
-    testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::ASHMEM, RateLevel::NORMAL,
-                              NullChecker());
-}
-
-// Test sensor event direct report with ashmem for mag sensor at fast rate
-TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationFast) {
-    testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::ASHMEM, RateLevel::FAST,
-                              NullChecker());
-}
-
-// Test sensor event direct report with ashmem for mag sensor at very fast rate
-TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationVeryFast) {
-    testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::ASHMEM,
-                              RateLevel::VERY_FAST, NullChecker());
-}
-
-// Test sensor event direct report with gralloc for accel sensor at normal rate
-TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationNormal) {
-    testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::GRALLOC, RateLevel::NORMAL,
-                              sAccelNormChecker);
-}
-
-// Test sensor event direct report with gralloc for accel sensor at fast rate
-TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationFast) {
-    testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::GRALLOC, RateLevel::FAST,
-                              sAccelNormChecker);
-}
-
-// Test sensor event direct report with gralloc for accel sensor at very fast rate
-TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationVeryFast) {
-    testDirectReportOperation(SensorType::ACCELEROMETER, SharedMemType::GRALLOC,
-                              RateLevel::VERY_FAST, sAccelNormChecker);
-}
-
-// Test sensor event direct report with gralloc for gyro sensor at normal rate
-TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationNormal) {
-    testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::NORMAL,
-                              sGyroNormChecker);
-}
-
-// Test sensor event direct report with gralloc for gyro sensor at fast rate
-TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationFast) {
-    testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::FAST,
-                              sGyroNormChecker);
-}
-
-// Test sensor event direct report with gralloc for gyro sensor at very fast rate
-TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationVeryFast) {
-    testDirectReportOperation(SensorType::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::VERY_FAST,
-                              sGyroNormChecker);
-}
-
-// Test sensor event direct report with gralloc for mag sensor at normal rate
-TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationNormal) {
-    testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::GRALLOC, RateLevel::NORMAL,
-                              NullChecker());
-}
-
-// Test sensor event direct report with gralloc for mag sensor at fast rate
-TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationFast) {
-    testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::GRALLOC, RateLevel::FAST,
-                              NullChecker());
-}
-
-// Test sensor event direct report with gralloc for mag sensor at very fast rate
-TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationVeryFast) {
-    testDirectReportOperation(SensorType::MAGNETIC_FIELD, SharedMemType::GRALLOC,
-                              RateLevel::VERY_FAST, NullChecker());
-}
-
-void SensorsHidlTest::activateAllSensors(bool enable) {
-    for (const SensorInfo& sensorInfo : getSensorsList()) {
-        if (isValidType(sensorInfo.type)) {
-            batch(sensorInfo.sensorHandle, sensorInfo.minDelay, 0 /* maxReportLatencyNs */);
-            activate(sensorInfo.sensorHandle, enable);
-        }
-    }
-}
-
-// Test that if initialize is called twice, then the HAL writes events to the FMQs from the second
-// call to the function.
-TEST_P(SensorsHidlTest, CallInitializeTwice) {
-    // Create a helper class so that a second environment is able to be instantiated
-    class SensorsHidlEnvironmentTest : public SensorsHidlEnvironmentV2_0 {
-      public:
-        SensorsHidlEnvironmentTest(const std::string& service_name)
-            : SensorsHidlEnvironmentV2_0(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<SensorsHidlEnvironmentTest> newEnv =
-            std::make_unique<SensorsHidlEnvironmentTest>(GetParam());
-    newEnv->HidlSetUp();
-    if (HasFatalFailure()) {
-        return;  // Exit early if setting up the new environment failed
-    }
-
-    activateAllSensors(true);
-    // Verify that the old environment does not receive any events
-    ASSERT_EQ(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), 0);
-    // Verify that the new event queue receives sensor events
-    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, newEnv.get()).size(), kNumEvents);
-    activateAllSensors(false);
-
-    // Cleanup the test environment
-    newEnv->HidlTearDown();
-
-    // Restore the test environment for future tests
-    getEnvironment()->HidlTearDown();
-    getEnvironment()->HidlSetUp();
-    if (HasFatalFailure()) {
-        return;  // Exit early if resetting the environment failed
-    }
-
-    // Ensure that the original environment is receiving events
-    activateAllSensors(true);
-    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents).size(), kNumEvents);
-    activateAllSensors(false);
-}
-
-TEST_P(SensorsHidlTest, CleanupConnectionsOnInitialize) {
-    activateAllSensors(true);
-
-    // Verify that events are received
-    constexpr useconds_t kCollectionTimeoutUs = 1000 * 1000;  // 1s
-    constexpr int32_t kNumEvents = 1;
-    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), kNumEvents);
-
-    // Clear the active sensor handles so they are not disabled during TearDown
-    auto handles = mSensorHandles;
-    mSensorHandles.clear();
-    getEnvironment()->HidlTearDown();
-    getEnvironment()->HidlSetUp();
-    if (HasFatalFailure()) {
-        return;  // Exit early if resetting the environment failed
-    }
-
-    // Verify no events are received until sensors are re-activated
-    ASSERT_EQ(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), 0);
-    activateAllSensors(true);
-    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), kNumEvents);
-
-    // Disable sensors
-    activateAllSensors(false);
-
-    // Restore active sensors prior to clearing the environment
-    mSensorHandles = handles;
-}
-
-void SensorsHidlTest::runSingleFlushTest(const std::vector<SensorInfo>& sensors,
-                                         bool activateSensor, int32_t expectedFlushCount,
-                                         Result expectedResponse) {
-    runFlushTest(sensors, activateSensor, 1 /* flushCalls */, expectedFlushCount, expectedResponse);
-}
-
-void SensorsHidlTest::runFlushTest(const std::vector<SensorInfo>& sensors, bool activateSensor,
-                                   int32_t flushCalls, int32_t expectedFlushCount,
-                                   Result expectedResponse) {
-    EventCallback callback;
-    getEnvironment()->registerCallback(&callback);
-
-    for (const SensorInfo& sensor : sensors) {
-        // Configure and activate the sensor
-        batch(sensor.sensorHandle, sensor.maxDelay, 0 /* maxReportLatencyNs */);
-        activate(sensor.sensorHandle, activateSensor);
-
-        // Flush the sensor
-        for (int32_t i = 0; i < flushCalls; i++) {
-            Result flushResult = flush(sensor.sensorHandle);
-            ASSERT_EQ(flushResult, expectedResponse);
-        }
-    }
-
-    // Wait up to one second for the flush events
-    callback.waitForFlushEvents(sensors, flushCalls, 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) {
-        ASSERT_EQ(callback.getFlushCount(sensor.sensorHandle), expectedFlushCount);
-    }
-}
-
-TEST_P(SensorsHidlTest, FlushSensor) {
-    // Find a sensor that is not a one-shot sensor
-    std::vector<SensorInfo> sensors = getNonOneShotSensors();
-    if (sensors.size() == 0) {
-        return;
-    }
-
-    constexpr int32_t kFlushes = 5;
-    runSingleFlushTest(sensors, true /* activateSensor */, 1 /* expectedFlushCount */, Result::OK);
-    runFlushTest(sensors, true /* activateSensor */, kFlushes, kFlushes, Result::OK);
-}
-
-TEST_P(SensorsHidlTest, 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 */,
-                       Result::BAD_VALUE);
-}
-
-TEST_P(SensorsHidlTest, 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 */,
-                       Result::BAD_VALUE);
-}
-
-TEST_P(SensorsHidlTest, FlushNonexistentSensor) {
-    SensorInfo sensor;
-    std::vector<SensorInfo> sensors = getNonOneShotSensors();
-    if (sensors.size() == 0) {
-        sensors = getOneShotSensors();
-        if (sensors.size() == 0) {
-            return;
-        }
-    }
-    sensor = sensors.front();
-    sensor.sensorHandle = getInvalidSensorHandle();
-    runSingleFlushTest(std::vector<SensorInfo>{sensor}, false /* activateSensor */,
-                       0 /* expectedFlushCount */, Result::BAD_VALUE);
-}
-
-TEST_P(SensorsHidlTest, Batch) {
-    if (getSensorsList().size() == 0) {
-        return;
-    }
-
-    activateAllSensors(false /* enable */);
-    for (const SensorInfo& sensor : getSensorsList()) {
-        // 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) == SensorFlagBits::ONE_SHOT_MODE
-                                           ? 0
-                                           : sensor.minDelay;
-        ASSERT_EQ(batch(sensor.sensorHandle, samplingPeriodNs, 0 /* maxReportLatencyNs */),
-                  Result::OK);
-
-        // Activate the sensor
-        activate(sensor.sensorHandle, true /* enabled */);
-
-        // Call batch on an active sensor
-        ASSERT_EQ(batch(sensor.sensorHandle, sensor.maxDelay, 0 /* maxReportLatencyNs */),
-                  Result::OK);
-    }
-    activateAllSensors(false /* enable */);
-
-    // Call batch on an invalid sensor
-    SensorInfo sensor = getSensorsList().front();
-    sensor.sensorHandle = getInvalidSensorHandle();
-    ASSERT_EQ(batch(sensor.sensorHandle, sensor.minDelay, 0 /* maxReportLatencyNs */),
-              Result::BAD_VALUE);
-}
-
-TEST_P(SensorsHidlTest, Activate) {
-    if (getSensorsList().size() == 0) {
-        return;
-    }
-
-    // Verify that sensor events are generated when activate is called
-    for (const SensorInfo& sensor : getSensorsList()) {
-        batch(sensor.sensorHandle, sensor.minDelay, 0 /* maxReportLatencyNs */);
-        ASSERT_EQ(activate(sensor.sensorHandle, true), Result::OK);
-
-        // Call activate on a sensor that is already activated
-        ASSERT_EQ(activate(sensor.sensorHandle, true), Result::OK);
-
-        // Deactivate the sensor
-        ASSERT_EQ(activate(sensor.sensorHandle, false), Result::OK);
-
-        // Call deactivate on a sensor that is already deactivated
-        ASSERT_EQ(activate(sensor.sensorHandle, false), Result::OK);
-    }
-
-    // Attempt to activate an invalid sensor
-    int32_t invalidHandle = getInvalidSensorHandle();
-    ASSERT_EQ(activate(invalidHandle, true), Result::BAD_VALUE);
-    ASSERT_EQ(activate(invalidHandle, false), Result::BAD_VALUE);
-}
-
-TEST_P(SensorsHidlTest, NoStaleEvents) {
-    constexpr milliseconds kFiveHundredMs(500);
-    constexpr milliseconds kOneSecond(1000);
-
-    // Register the callback to receive sensor events
-    EventCallback callback;
-    getEnvironment()->registerCallback(&callback);
-
-    // This test is not valid for one-shot or special-report-mode sensors
-    const std::vector<SensorInfo> sensors = getNonOneShotAndNonSpecialSensors();
-    milliseconds maxMinDelay(0);
-    for (const SensorInfo& sensor : sensors) {
-        milliseconds minDelay = duration_cast<milliseconds>(microseconds(sensor.minDelay));
-        maxMinDelay = 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) {
-        // Some on-change sensors may not report an event without stimulus
-        if (extractReportMode(sensor.flags) != SensorFlagBits::ON_CHANGE_MODE) {
-            ASSERT_GE(callback.getEvents(sensor.sensorHandle).size(), 1);
-        }
-        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<microseconds>(kOneSecond + (5 * maxMinDelay)).count());
-    callback.reset();
-    activateAllSensors(true);
-    callback.waitForEvents(sensors, kFiveHundredMs + (5 * maxMinDelay));
-    activateAllSensors(false);
-
-    for (const SensorInfo& sensor : sensors) {
-        // Skip sensors that did not previously report an event
-        if (lastEventTimestampMap.find(sensor.sensorHandle) == lastEventTimestampMap.end()) {
-            continue;
-        }
-        // Skip on-change sensors that do not consistently report an initial event
-        if (callback.getEvents(sensor.sensorHandle).size() < 1) {
-            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();
-        milliseconds delta = duration_cast<milliseconds>(
-                nanoseconds(newEvent.timestamp - lastEventTimestampMap[sensor.sensorHandle]));
-        milliseconds sensorMinDelay = duration_cast<milliseconds>(microseconds(sensor.minDelay));
-        ASSERT_GE(delta, kFiveHundredMs + (3 * sensorMinDelay));
-    }
-}
-
-void SensorsHidlTest::checkRateLevel(const SensorInfo& sensor, int32_t directChannelHandle,
-                                     RateLevel rateLevel) {
-    configDirectReport(sensor.sensorHandle, directChannelHandle, rateLevel,
-                       [&](Result result, int32_t reportToken) {
-                           if (isDirectReportRateSupported(sensor, rateLevel)) {
-                               ASSERT_EQ(result, Result::OK);
-                               if (rateLevel != RateLevel::STOP) {
-                                   ASSERT_GT(reportToken, 0);
-                               }
-                           } else {
-                               ASSERT_EQ(result, Result::BAD_VALUE);
-                           }
-                       });
-}
-
-void SensorsHidlTest::queryDirectChannelSupport(SharedMemType memType, bool* supportsSharedMemType,
-                                                bool* supportsAnyDirectChannel) {
-    *supportsSharedMemType = false;
-    *supportsAnyDirectChannel = false;
-    for (const SensorInfo& curSensor : getSensorsList()) {
-        if (isDirectChannelTypeSupported(curSensor, memType)) {
-            *supportsSharedMemType = true;
-        }
-        if (isDirectChannelTypeSupported(curSensor, SharedMemType::ASHMEM) ||
-            isDirectChannelTypeSupported(curSensor, SharedMemType::GRALLOC)) {
-            *supportsAnyDirectChannel = true;
-        }
-
-        if (*supportsSharedMemType && *supportsAnyDirectChannel) {
-            break;
-        }
-    }
-}
-
-void SensorsHidlTest::verifyRegisterDirectChannel(std::shared_ptr<SensorsTestSharedMemory> mem,
-                                                  int32_t* directChannelHandle,
-                                                  bool supportsSharedMemType,
-                                                  bool supportsAnyDirectChannel) {
-    char* buffer = mem->getBuffer();
-    memset(buffer, 0xff, mem->getSize());
-
-    registerDirectChannel(mem->getSharedMemInfo(), [&](Result result, int32_t channelHandle) {
-        if (supportsSharedMemType) {
-            ASSERT_EQ(result, Result::OK);
-            ASSERT_GT(channelHandle, 0);
-
-            // Verify that the memory has been zeroed
-            for (size_t i = 0; i < mem->getSize(); i++) {
-                ASSERT_EQ(buffer[i], 0x00);
-            }
-        } else {
-            Result expectedResult =
-                    supportsAnyDirectChannel ? Result::BAD_VALUE : Result::INVALID_OPERATION;
-            ASSERT_EQ(result, expectedResult);
-            ASSERT_EQ(channelHandle, -1);
-        }
-        *directChannelHandle = channelHandle;
-    });
-}
-
-void SensorsHidlTest::verifyConfigure(const SensorInfo& sensor, SharedMemType memType,
-                                      int32_t directChannelHandle, bool supportsAnyDirectChannel) {
-    if (isDirectChannelTypeSupported(sensor, memType)) {
-        // Verify that each rate level is properly supported
-        checkRateLevel(sensor, directChannelHandle, RateLevel::NORMAL);
-        checkRateLevel(sensor, directChannelHandle, RateLevel::FAST);
-        checkRateLevel(sensor, directChannelHandle, RateLevel::VERY_FAST);
-        checkRateLevel(sensor, directChannelHandle, RateLevel::STOP);
-
-        // Verify that a sensor handle of -1 is only acceptable when using RateLevel::STOP
-        configDirectReport(
-            -1 /* sensorHandle */, directChannelHandle, RateLevel::NORMAL,
-            [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::BAD_VALUE); });
-        configDirectReport(
-            -1 /* sensorHandle */, directChannelHandle, RateLevel::STOP,
-            [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::OK); });
-    } else {
-        // directChannelHandle will be -1 here, HAL should either reject it as a bad value if there
-        // is some level of direct channel report, otherwise return INVALID_OPERATION if direct
-        // channel is not supported at all
-        Result expectedResult =
-                supportsAnyDirectChannel ? Result::BAD_VALUE : Result::INVALID_OPERATION;
-        configDirectReport(sensor.sensorHandle, directChannelHandle, RateLevel::NORMAL,
-                           [expectedResult](Result result, int32_t /* reportToken */) {
-                               ASSERT_EQ(result, expectedResult);
-                           });
-    }
-}
-
-void SensorsHidlTest::verifyUnregisterDirectChannel(int32_t directChannelHandle,
-                                                    bool supportsAnyDirectChannel) {
-    Result expectedResult = supportsAnyDirectChannel ? Result::OK : Result::INVALID_OPERATION;
-    ASSERT_EQ(unregisterDirectChannel(directChannelHandle), expectedResult);
-}
-
-void SensorsHidlTest::verifyDirectChannel(SharedMemType memType) {
-    constexpr size_t kNumEvents = 1;
-    constexpr size_t kMemSize = kNumEvents * kEventSize;
-
-    std::shared_ptr<SensorsTestSharedMemory> mem(
-        SensorsTestSharedMemory::create(memType, kMemSize));
-    ASSERT_NE(mem, nullptr);
-
-    bool supportsSharedMemType;
-    bool supportsAnyDirectChannel;
-    queryDirectChannelSupport(memType, &supportsSharedMemType, &supportsAnyDirectChannel);
-
-    for (const SensorInfo& sensor : getSensorsList()) {
-        int32_t directChannelHandle = 0;
-        verifyRegisterDirectChannel(mem, &directChannelHandle, supportsSharedMemType,
-                                    supportsAnyDirectChannel);
-        verifyConfigure(sensor, memType, directChannelHandle, supportsAnyDirectChannel);
-        verifyUnregisterDirectChannel(directChannelHandle, supportsAnyDirectChannel);
-    }
-}
-
-TEST_P(SensorsHidlTest, DirectChannelAshmem) {
-    verifyDirectChannel(SharedMemType::ASHMEM);
-}
-
-TEST_P(SensorsHidlTest, DirectChannelGralloc) {
-    verifyDirectChannel(SharedMemType::GRALLOC);
-}
-
-bool SensorsHidlTest::getDirectChannelSensor(SensorInfo* sensor, SharedMemType* memType,
-                                             RateLevel* rate) {
-    bool found = false;
-    for (const SensorInfo& curSensor : getSensorsList()) {
-        if (isDirectChannelTypeSupported(curSensor, SharedMemType::ASHMEM)) {
-            *memType = SharedMemType::ASHMEM;
-            *sensor = curSensor;
-            found = true;
-            break;
-        } else if (isDirectChannelTypeSupported(curSensor, SharedMemType::GRALLOC)) {
-            *memType = SharedMemType::GRALLOC;
-            *sensor = curSensor;
-            found = true;
-            break;
-        }
-    }
-
-    if (found) {
-        // Find a supported rate level
-        constexpr int kNumRateLevels = 3;
-        RateLevel rates[kNumRateLevels] = {RateLevel::NORMAL, RateLevel::FAST,
-                                           RateLevel::VERY_FAST};
-        *rate = RateLevel::STOP;
-        for (int i = 0; i < kNumRateLevels; i++) {
-            if (isDirectReportRateSupported(*sensor, rates[i])) {
-                *rate = rates[i];
-            }
-        }
-
-        // At least one rate level must be supported
-        EXPECT_NE(*rate, RateLevel::STOP);
-    }
-    return found;
-}
-
-TEST_P(SensorsHidlTest, ConfigureDirectChannelWithInvalidHandle) {
-    SensorInfo sensor;
-    SharedMemType memType;
-    RateLevel rate;
-    if (!getDirectChannelSensor(&sensor, &memType, &rate)) {
-        return;
-    }
-
-    // Verify that an invalid channel handle produces a BAD_VALUE result
-    configDirectReport(sensor.sensorHandle, -1, rate, [](Result result, int32_t /* reportToken */) {
-        ASSERT_EQ(result, Result::BAD_VALUE);
-    });
-}
-
-TEST_P(SensorsHidlTest, CleanupDirectConnectionOnInitialize) {
-    constexpr size_t kNumEvents = 1;
-    constexpr size_t kMemSize = kNumEvents * kEventSize;
-
-    SensorInfo sensor;
-    SharedMemType memType;
-    RateLevel rate;
-
-    if (!getDirectChannelSensor(&sensor, &memType, &rate)) {
-        return;
-    }
-
-    std::shared_ptr<SensorsTestSharedMemory> mem(
-        SensorsTestSharedMemory::create(memType, kMemSize));
-    ASSERT_NE(mem, nullptr);
-
-    int32_t directChannelHandle = 0;
-    registerDirectChannel(mem->getSharedMemInfo(), [&](Result result, int32_t channelHandle) {
-        ASSERT_EQ(result, Result::OK);
-        directChannelHandle = channelHandle;
-    });
-
-    // Configure the channel and expect success
-    configDirectReport(
-        sensor.sensorHandle, directChannelHandle, rate,
-        [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::OK); });
-
-    // Call initialize() via the environment setup to cause the HAL to re-initialize
-    // Clear the active direct connections so they are not stopped during TearDown
-    auto handles = mDirectChannelHandles;
-    mDirectChannelHandles.clear();
-    getEnvironment()->HidlTearDown();
-    getEnvironment()->HidlSetUp();
-    if (HasFatalFailure()) {
-        return;  // Exit early if resetting the environment failed
-    }
-
-    // Attempt to configure the direct channel and expect it to fail
-    configDirectReport(
-        sensor.sensorHandle, directChannelHandle, rate,
-        [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::BAD_VALUE); });
-
-    // Restore original handles, though they should already be deactivated
-    mDirectChannelHandles = handles;
-}
-
 INSTANTIATE_TEST_SUITE_P(PerInstance, SensorsHidlTest,
                          testing::ValuesIn(android::hardware::getAllHalInstanceNames(
                                  android::hardware::sensors::V2_0::ISensors::descriptor)),
-                         android::hardware::PrintInstanceNameToString);
-// vim: set ts=2 sw=2
+                         android::hardware::PrintInstanceNameToString);
\ No newline at end of file
diff --git a/sensors/2.1/Android.bp b/sensors/2.1/Android.bp
new file mode 100644
index 0000000..8e80e1f
--- /dev/null
+++ b/sensors/2.1/Android.bp
@@ -0,0 +1,21 @@
+// This file is autogenerated by hidl-gen -Landroidbp.
+
+hidl_interface {
+    name: "android.hardware.sensors@2.1",
+    root: "android.hardware",
+    vndk: {
+        enabled: true,
+    },
+    srcs: [
+        "types.hal",
+        "ISensors.hal",
+        "ISensorsCallback.hal",
+    ],
+    interfaces: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hidl.base@1.0",
+    ],
+    gen_java: false,
+    gen_java_constants: true,
+}
diff --git a/sensors/2.1/ISensors.hal b/sensors/2.1/ISensors.hal
new file mode 100644
index 0000000..d401fa5
--- /dev/null
+++ b/sensors/2.1/ISensors.hal
@@ -0,0 +1,148 @@
+/*
+ * Copyright (C) 2020 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@2.1;
+
+import @1.0::Result;
+import @2.0::ISensors;
+import @2.1::ISensorsCallback;
+
+interface ISensors extends @2.0::ISensors {
+    /**
+     * 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).
+     */
+    getSensorsList_2_1() generates (vec<SensorInfo> list);
+
+    /**
+     * 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 WakeLockQueueFlagBits::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 result OK on success; BAD_VALUE if descriptor is invalid (such
+     *     as null)
+     */
+    @entry
+    @callflow(next = {"getSensorsList"})
+    initialize_2_1(fmq_sync<Event> eventQueueDescriptor,
+                   fmq_sync<uint32_t> wakeLockDescriptor,
+                   ISensorsCallback sensorsCallback)
+        generates
+              (Result result);
+
+    /**
+     * 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 evironment 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 result OK on success; PERMISSION_DENIED if operation is not
+     *     allowed; INVALID_OPERATION, if this functionality is unsupported;
+     *     BAD_VALUE if sensor event cannot be injected.
+     */
+    injectSensorData_2_1(Event event) generates (Result result);
+};
diff --git a/sensors/2.1/ISensorsCallback.hal b/sensors/2.1/ISensorsCallback.hal
new file mode 100644
index 0000000..de521d5
--- /dev/null
+++ b/sensors/2.1/ISensorsCallback.hal
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2020 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@2.1;
+
+import @2.0::ISensorsCallback;
+import @2.1::SensorInfo;
+
+interface ISensorsCallback extends @2.0::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.
+     */
+    oneway onDynamicSensorsConnected_2_1(vec<SensorInfo> sensorInfos);
+};
diff --git a/sensors/2.1/default/Android.bp b/sensors/2.1/default/Android.bp
new file mode 100644
index 0000000..27b439d
--- /dev/null
+++ b/sensors/2.1/default/Android.bp
@@ -0,0 +1,45 @@
+//
+// Copyright (C) 2018 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+cc_binary {
+    name: "android.hardware.sensors@2.1-service.mock",
+    defaults: ["hidl_defaults"],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "SensorsV2_1.cpp",
+        "service.cpp",
+    ],
+    init_rc: ["android.hardware.sensors@2.1-service-mock.rc"],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.X-shared-impl",
+    ],
+    vintf_fragments: ["android.hardware.sensors@2.1.xml"],
+}
diff --git a/sensors/2.1/default/OWNERS b/sensors/2.1/default/OWNERS
new file mode 100644
index 0000000..90c2330
--- /dev/null
+++ b/sensors/2.1/default/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
diff --git a/sensors/2.1/default/SensorsV2_1.cpp b/sensors/2.1/default/SensorsV2_1.cpp
new file mode 100644
index 0000000..2e3d315
--- /dev/null
+++ b/sensors/2.1/default/SensorsV2_1.cpp
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2020 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 "SensorsV2_1.h"
+
+#include "Sensor.h"
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+using V2_X::implementation::ISensorsEventCallback;
+using V2_X::implementation::OnChangeSensor;
+
+class HingeAngleSensor : public OnChangeSensor {
+  public:
+    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.minDelay = 40 * 1000;  // microseconds
+        mSensorInfo.maxDelay = V2_X::implementation::kDefaultMaxDelayUs;
+        mSensorInfo.fifoReservedEventCount = 0;
+        mSensorInfo.fifoMaxEventCount = 0;
+        mSensorInfo.requiredPermission = "";
+        mSensorInfo.flags = static_cast<uint32_t>(V1_0::SensorFlagBits::ON_CHANGE_MODE);
+    }
+};
+
+SensorsV2_1::SensorsV2_1() {
+    AddSensor<HingeAngleSensor>();
+}
+
+// Methods from ::android::hardware::sensors::V2_1::ISensors follow.
+Return<void> SensorsV2_1::getSensorsList_2_1(ISensors::getSensorsList_2_1_cb _hidl_cb) {
+    std::vector<SensorInfo> sensors;
+    for (const auto& sensor : mSensors) {
+        sensors.push_back(sensor.second->getSensorInfo());
+    }
+
+    // Call the HIDL callback with the SensorInfo
+    _hidl_cb(sensors);
+
+    return Void();
+}
+
+Return<Result> SensorsV2_1::initialize_2_1(
+        const ::android::hardware::MQDescriptorSync<V2_1::Event>& eventQueueDescriptor,
+        const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+        const sp<V2_1::ISensorsCallback>& sensorsCallback) {
+    auto eventQueue = std::make_unique<MessageQueue<V2_1::Event, kSynchronizedReadWrite>>(
+            eventQueueDescriptor, true /* resetPointers */);
+    std::unique_ptr<EventMessageQueueWrapperBase> wrapper =
+            std::make_unique<EventMessageQueueWrapperV2_1>(eventQueue);
+    mCallbackWrapper = new ISensorsCallbackWrapper(sensorsCallback);
+    return initializeBase(wrapper, wakeLockDescriptor, mCallbackWrapper);
+}
+
+Return<Result> SensorsV2_1::injectSensorData_2_1(const V2_1::Event& event) {
+    return injectSensorData(convertToOldEvent(event));
+}
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
\ No newline at end of file
diff --git a/sensors/2.1/default/SensorsV2_1.h b/sensors/2.1/default/SensorsV2_1.h
new file mode 100644
index 0000000..9f7fe04
--- /dev/null
+++ b/sensors/2.1/default/SensorsV2_1.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_SENSORS_V2_1_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_H
+
+#include "Sensors.h"
+
+#include "EventMessageQueueWrapper.h"
+
+#include <android/hardware/sensors/2.1/ISensors.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+using Result = ::android::hardware::sensors::V1_0::Result;
+using Sensors = ::android::hardware::sensors::V2_X::implementation::Sensors<ISensors>;
+
+class ISensorsCallbackWrapper : public V2_0::ISensorsCallback {
+  public:
+    ISensorsCallbackWrapper(const sp<V2_1::ISensorsCallback>& callback) : mCallback(callback) {}
+
+    Return<void> onDynamicSensorsConnected(const hidl_vec<V1_0::SensorInfo>& sensorInfos) override {
+        return mCallback->onDynamicSensorsConnected_2_1(convertToNewSensorInfos(sensorInfos));
+    }
+
+    Return<void> onDynamicSensorsDisconnected(const hidl_vec<int32_t>& sensorHandles) override {
+        return mCallback->onDynamicSensorsDisconnected(sensorHandles);
+    }
+
+  private:
+    sp<V2_1::ISensorsCallback> mCallback;
+};
+
+struct SensorsV2_1 : public Sensors {
+    SensorsV2_1();
+
+    // Methods from ::android::hardware::sensors::V2_1::ISensors follow.
+    Return<void> getSensorsList_2_1(ISensors::getSensorsList_2_1_cb _hidl_cb) override;
+
+    Return<Result> initialize_2_1(
+            const ::android::hardware::MQDescriptorSync<V2_1::Event>& eventQueueDescriptor,
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<V2_1::ISensorsCallback>& sensorsCallback) override;
+
+    Return<Result> injectSensorData_2_1(const V2_1::Event& event) override;
+
+  private:
+    sp<ISensorsCallbackWrapper> mCallbackWrapper;
+};
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_H
\ No newline at end of file
diff --git a/sensors/2.1/default/android.hardware.sensors@2.1-service-mock.rc b/sensors/2.1/default/android.hardware.sensors@2.1-service-mock.rc
new file mode 100644
index 0000000..d4147e7
--- /dev/null
+++ b/sensors/2.1/default/android.hardware.sensors@2.1-service-mock.rc
@@ -0,0 +1,7 @@
+service vendor.sensors-hal-2-1-mock /vendor/bin/hw/android.hardware.sensors@2.1-service.mock
+    interface android.hardware.sensors@2.0::ISensors default
+    interface android.hardware.sensors@2.1::ISensors default
+    class hal
+    user system
+    group system
+    rlimit rtprio 10 10
diff --git a/sensors/2.1/default/android.hardware.sensors@2.1.xml b/sensors/2.1/default/android.hardware.sensors@2.1.xml
new file mode 100644
index 0000000..18bd3ae
--- /dev/null
+++ b/sensors/2.1/default/android.hardware.sensors@2.1.xml
@@ -0,0 +1,11 @@
+<manifest version="1.0" type="device">
+    <hal format="hidl">
+        <name>android.hardware.sensors</name>
+        <transport>hwbinder</transport>
+        <version>2.1</version>
+        <interface>
+            <name>ISensors</name>
+            <instance>default</instance>
+        </interface>
+    </hal>
+</manifest>
diff --git a/sensors/2.1/default/service.cpp b/sensors/2.1/default/service.cpp
new file mode 100644
index 0000000..1f3087c
--- /dev/null
+++ b/sensors/2.1/default/service.cpp
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2018 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "android.hardware.sensors@2.1-service"
+
+#include <android/hardware/sensors/2.1/ISensors.h>
+#include <hidl/HidlTransportSupport.h>
+#include <log/log.h>
+#include <utils/StrongPointer.h>
+#include "SensorsV2_1.h"
+
+using android::hardware::configureRpcThreadpool;
+using android::hardware::joinRpcThreadpool;
+using android::hardware::sensors::V2_1::ISensors;
+using android::hardware::sensors::V2_1::implementation::SensorsV2_1;
+
+int main(int /* argc */, char** /* argv */) {
+    configureRpcThreadpool(1, true);
+
+    android::sp<ISensors> sensors = new SensorsV2_1();
+    if (sensors->registerAsService() != ::android::OK) {
+        ALOGE("Failed to register Sensors HAL instance");
+        return -1;
+    }
+
+    joinRpcThreadpool();
+    return 1;  // joinRpcThreadpool shouldn't exit
+}
diff --git a/sensors/2.1/types.hal b/sensors/2.1/types.hal
new file mode 100644
index 0000000..503bece
--- /dev/null
+++ b/sensors/2.1/types.hal
@@ -0,0 +1,160 @@
+/*
+ * Copyright (C) 2020 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@2.1;
+
+import @1.0::EventPayload;
+import @1.0::SensorType;
+import @1.0::SensorFlagBits;
+
+@export(name="", value_prefix="SENSOR_TYPE_")
+enum SensorType : @1.0::SensorType {
+    /**
+     * 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 @1.0::EventPayload.scalar.
+     *
+     * Implement wake-up proximity sensor before implementing a non wake-up
+     * proximity sensor.
+     */
+    HINGE_ANGLE                     = 36,
+};
+
+struct Event {
+    /** Time measured in nanoseconds, in "elapsedRealtimeNano()'s" timebase. */
+    int64_t timestamp;
+
+    /** sensor identifier */
+    int32_t sensorHandle;
+
+    @2.1::SensorType sensorType;
+
+    /** Union discriminated on sensorType */
+    EventPayload u;
+};
+
+struct SensorInfo {
+    /**
+     * handle that identifies this sensors. This handle is used to reference
+     * this sensor throughout the HAL API.
+     */
+    int32_t 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.
+     */
+    int32_t version;
+
+    /** this sensor's type. */
+    @2.1::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
+     */
+    int32_t minDelay;
+
+    /**
+     * 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.
+     */
+    uint32_t 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.
+     */
+    uint32_t 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.
+     *
+     * NOTE: periodNs is in nanoseconds where as maxDelay/minDelay are in
+     *       microseconds.
+     *
+     *       continuous, on-change: maximum sampling period allowed in
+     *                              microseconds.
+     *
+     *          one-shot, special : 0
+     */
+    int32_t maxDelay;
+
+    /** Bitmask of SensorFlagBits */
+    bitfield<SensorFlagBits> flags;
+};
\ No newline at end of file
diff --git a/sensors/2.1/vts/functional/Android.bp b/sensors/2.1/vts/functional/Android.bp
new file mode 100644
index 0000000..c92bab3
--- /dev/null
+++ b/sensors/2.1/vts/functional/Android.bp
@@ -0,0 +1,48 @@
+//
+// Copyright (C) 2018 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+cc_test {
+    name: "VtsHalSensorsV2_1TargetTest",
+    cflags: [
+        "-DLOG_TAG=\"sensors_hidl_hal_test\"",
+        "-DSENSORS_HAL_2_1",
+    ],
+    defaults: ["VtsHalTargetTestDefaults"],
+    srcs: [
+        "VtsHalSensorsV2_1TargetTest.cpp",
+    ],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    static_libs: [
+        "android.hardware.graphics.allocator@2.0",
+        "android.hardware.graphics.allocator@3.0",
+        "android.hardware.graphics.mapper@2.0",
+        "android.hardware.graphics.mapper@2.1",
+        "android.hardware.graphics.mapper@3.0",
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "libfmq",
+        "VtsHalSensorsTargetTestUtils",
+        "VtsHalSensorsV2_XTargetTest",
+    ],
+    test_suites: [
+        "general-tests",
+        "vts-core",
+    ],
+}
diff --git a/sensors/2.1/vts/functional/AndroidTest.xml b/sensors/2.1/vts/functional/AndroidTest.xml
new file mode 100644
index 0000000..0d8593e
--- /dev/null
+++ b/sensors/2.1/vts/functional/AndroidTest.xml
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2019 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+<configuration description="Runs VtsHalSensorsV2_1TargetTest.">
+    <option name="test-suite-tag" value="apct" />
+    <option name="test-suite-tag" value="apct-native" />
+
+    <target_preparer class="com.android.tradefed.targetprep.RootTargetPreparer">
+    </target_preparer>
+
+    <target_preparer class="com.android.tradefed.targetprep.RunCommandTargetPreparer">
+        <option name="run-command" value="stop"/>
+        <option name="teardown-command" value="start"/>
+    </target_preparer>
+
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push" value="VtsHalSensorsV2_1TargetTest->/data/local/tmp/VtsHalSensorsV2_1TargetTest" />
+    </target_preparer>
+
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-timeout" value="900000" />
+        <option name="runtime-hint" value="300000"/>
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="VtsHalSensorsV2_1TargetTest" />
+    </test>
+</configuration>
diff --git a/sensors/2.1/vts/functional/OWNERS b/sensors/2.1/vts/functional/OWNERS
new file mode 100644
index 0000000..892da15
--- /dev/null
+++ b/sensors/2.1/vts/functional/OWNERS
@@ -0,0 +1,8 @@
+# Sensors team
+arthuri@google.com
+bduddie@google.com
+stange@google.com
+
+# VTS team
+trong@google.com
+yim@google.com
diff --git a/sensors/2.1/vts/functional/VtsHalSensorsV2_1TargetTest.cpp b/sensors/2.1/vts/functional/VtsHalSensorsV2_1TargetTest.cpp
new file mode 100644
index 0000000..230bb6c
--- /dev/null
+++ b/sensors/2.1/vts/functional/VtsHalSensorsV2_1TargetTest.cpp
@@ -0,0 +1,22 @@
+/*
+ * Copyright (C) 2020 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 "VtsHalSensorsV2_XTargetTest.h"
+
+INSTANTIATE_TEST_SUITE_P(PerInstance, SensorsHidlTest,
+                         testing::ValuesIn(android::hardware::getAllHalInstanceNames(
+                                 android::hardware::sensors::V2_1::ISensors::descriptor)),
+                         android::hardware::PrintInstanceNameToString);
diff --git a/sensors/common/default/2.X/Android.bp b/sensors/common/default/2.X/Android.bp
new file mode 100644
index 0000000..8b0d52f
--- /dev/null
+++ b/sensors/common/default/2.X/Android.bp
@@ -0,0 +1,37 @@
+//
+// Copyright (C) 2020 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+cc_library_static {
+    name: "android.hardware.sensors@2.X-shared-impl",
+    vendor: true,
+    export_include_dirs: ["."],
+    srcs: [
+        "Sensor.cpp",
+    ],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+}
diff --git a/sensors/common/default/2.X/OWNERS b/sensors/common/default/2.X/OWNERS
new file mode 100644
index 0000000..90c2330
--- /dev/null
+++ b/sensors/common/default/2.X/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
diff --git a/sensors/2.0/default/Sensor.cpp b/sensors/common/default/2.X/Sensor.cpp
similarity index 94%
rename from sensors/2.0/default/Sensor.cpp
rename to sensors/common/default/2.X/Sensor.cpp
index c09173f..1841dff 100644
--- a/sensors/2.0/default/Sensor.cpp
+++ b/sensors/common/default/2.X/Sensor.cpp
@@ -23,14 +23,17 @@
 namespace android {
 namespace hardware {
 namespace sensors {
-namespace V2_0 {
+namespace V2_X {
 namespace implementation {
 
 using ::android::hardware::sensors::V1_0::MetaDataEventType;
+using ::android::hardware::sensors::V1_0::OperationMode;
+using ::android::hardware::sensors::V1_0::Result;
 using ::android::hardware::sensors::V1_0::SensorFlagBits;
 using ::android::hardware::sensors::V1_0::SensorStatus;
-
-static constexpr float kDefaultMaxDelayUs = 10 * 1000 * 1000;
+using ::android::hardware::sensors::V2_1::Event;
+using ::android::hardware::sensors::V2_1::SensorInfo;
+using ::android::hardware::sensors::V2_1::SensorType;
 
 Sensor::Sensor(ISensorsEventCallback* callback)
     : mIsEnabled(false),
@@ -204,8 +207,8 @@
     mSensorInfo.typeAsString = "";
     mSensorInfo.maxRange = 78.4f;  // +/- 8g
     mSensorInfo.resolution = 1.52e-5;
-    mSensorInfo.power = 0.001f;          // mA
-    mSensorInfo.minDelay = 20 * 1000;    // microseconds
+    mSensorInfo.power = 0.001f;        // mA
+    mSensorInfo.minDelay = 20 * 1000;  // microseconds
     mSensorInfo.maxDelay = kDefaultMaxDelayUs;
     mSensorInfo.fifoReservedEventCount = 0;
     mSensorInfo.fifoMaxEventCount = 0;
@@ -221,9 +224,9 @@
     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.maxRange = 1100.0f;     // hPa
+    mSensorInfo.resolution = 0.005f;    // hPa
+    mSensorInfo.power = 0.001f;         // mA
     mSensorInfo.minDelay = 100 * 1000;  // microseconds
     mSensorInfo.maxDelay = kDefaultMaxDelayUs;
     mSensorInfo.fifoReservedEventCount = 0;
@@ -242,7 +245,7 @@
     mSensorInfo.typeAsString = "";
     mSensorInfo.maxRange = 1300.0f;
     mSensorInfo.resolution = 0.01f;
-    mSensorInfo.power = 0.001f;       // mA
+    mSensorInfo.power = 0.001f;        // mA
     mSensorInfo.minDelay = 20 * 1000;  // microseconds
     mSensorInfo.maxDelay = kDefaultMaxDelayUs;
     mSensorInfo.fifoReservedEventCount = 0;
@@ -261,8 +264,8 @@
     mSensorInfo.typeAsString = "";
     mSensorInfo.maxRange = 43000.0f;
     mSensorInfo.resolution = 10.0f;
-    mSensorInfo.power = 0.001f;           // mA
-    mSensorInfo.minDelay = 200 * 1000;    // microseconds
+    mSensorInfo.power = 0.001f;         // mA
+    mSensorInfo.minDelay = 200 * 1000;  // microseconds
     mSensorInfo.maxDelay = kDefaultMaxDelayUs;
     mSensorInfo.fifoReservedEventCount = 0;
     mSensorInfo.fifoMaxEventCount = 0;
@@ -280,7 +283,7 @@
     mSensorInfo.typeAsString = "";
     mSensorInfo.maxRange = 5.0f;
     mSensorInfo.resolution = 1.0f;
-    mSensorInfo.power = 0.012f;  // mA
+    mSensorInfo.power = 0.012f;         // mA
     mSensorInfo.minDelay = 200 * 1000;  // microseconds
     mSensorInfo.maxDelay = kDefaultMaxDelayUs;
     mSensorInfo.fifoReservedEventCount = 0;
@@ -367,7 +370,7 @@
 }
 
 }  // namespace implementation
-}  // namespace V2_0
+}  // namespace V2_X
 }  // namespace sensors
 }  // namespace hardware
 }  // namespace android
diff --git a/sensors/2.0/default/Sensor.h b/sensors/common/default/2.X/Sensor.h
similarity index 79%
rename from sensors/2.0/default/Sensor.h
rename to sensors/common/default/2.X/Sensor.h
index 61900fa..2f8a143 100644
--- a/sensors/2.0/default/Sensor.h
+++ b/sensors/common/default/2.X/Sensor.h
@@ -14,10 +14,11 @@
  * limitations under the License.
  */
 
-#ifndef ANDROID_HARDWARE_SENSORS_V2_0_SENSOR_H
-#define ANDROID_HARDWARE_SENSORS_V2_0_SENSOR_H
+#ifndef ANDROID_HARDWARE_SENSORS_V2_X_SENSOR_H
+#define ANDROID_HARDWARE_SENSORS_V2_X_SENSOR_H
 
 #include <android/hardware/sensors/1.0/types.h>
+#include <android/hardware/sensors/2.1/types.h>
 
 #include <condition_variable>
 #include <memory>
@@ -25,26 +26,30 @@
 #include <thread>
 #include <vector>
 
-using ::android::hardware::sensors::V1_0::Event;
-using ::android::hardware::sensors::V1_0::OperationMode;
-using ::android::hardware::sensors::V1_0::Result;
-using ::android::hardware::sensors::V1_0::SensorInfo;
-using ::android::hardware::sensors::V1_0::SensorType;
-
 namespace android {
 namespace hardware {
 namespace sensors {
-namespace V2_0 {
+namespace V2_X {
 namespace implementation {
 
+static constexpr float kDefaultMaxDelayUs = 10 * 1000 * 1000;
+
 class ISensorsEventCallback {
-   public:
+  public:
+    using Event = ::android::hardware::sensors::V2_1::Event;
+
     virtual ~ISensorsEventCallback(){};
     virtual void postEvents(const std::vector<Event>& events, bool wakeup) = 0;
 };
 
 class Sensor {
-   public:
+  public:
+    using OperationMode = ::android::hardware::sensors::V1_0::OperationMode;
+    using Result = ::android::hardware::sensors::V1_0::Result;
+    using Event = ::android::hardware::sensors::V2_1::Event;
+    using SensorInfo = ::android::hardware::sensors::V2_1::SensorInfo;
+    using SensorType = ::android::hardware::sensors::V2_1::SensorType;
+
     Sensor(ISensorsEventCallback* callback);
     virtual ~Sensor();
 
@@ -57,7 +62,7 @@
     bool supportsDataInjection() const;
     Result injectEvent(const Event& event);
 
-   protected:
+  protected:
     void run();
     virtual std::vector<Event> readEvents();
     static void startThread(Sensor* sensor);
@@ -80,68 +85,68 @@
 };
 
 class OnChangeSensor : public Sensor {
-   public:
+  public:
     OnChangeSensor(ISensorsEventCallback* callback);
 
     virtual void activate(bool enable) override;
 
-   protected:
+  protected:
     virtual std::vector<Event> readEvents() override;
 
-   protected:
+  protected:
     Event mPreviousEvent;
     bool mPreviousEventSet;
 };
 
 class AccelSensor : public Sensor {
-   public:
+  public:
     AccelSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class GyroSensor : public Sensor {
-   public:
+  public:
     GyroSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class AmbientTempSensor : public OnChangeSensor {
-   public:
+  public:
     AmbientTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class DeviceTempSensor : public OnChangeSensor {
-   public:
+  public:
     DeviceTempSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class PressureSensor : public Sensor {
-   public:
+  public:
     PressureSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class MagnetometerSensor : public Sensor {
-   public:
+  public:
     MagnetometerSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class LightSensor : public OnChangeSensor {
-   public:
+  public:
     LightSensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class ProximitySensor : public OnChangeSensor {
-   public:
+  public:
     ProximitySensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 class RelativeHumiditySensor : public OnChangeSensor {
-   public:
+  public:
     RelativeHumiditySensor(int32_t sensorHandle, ISensorsEventCallback* callback);
 };
 
 }  // namespace implementation
-}  // namespace V2_0
+}  // namespace V2_X
 }  // namespace sensors
 }  // namespace hardware
 }  // namespace android
 
-#endif  // ANDROID_HARDWARE_SENSORS_V2_0_SENSOR_H
+#endif  // ANDROID_HARDWARE_SENSORS_V2_X_SENSOR_H
diff --git a/sensors/common/default/2.X/Sensors.h b/sensors/common/default/2.X/Sensors.h
new file mode 100644
index 0000000..ee8240d
--- /dev/null
+++ b/sensors/common/default/2.X/Sensors.h
@@ -0,0 +1,377 @@
+/*
+ * Copyright (C) 2018 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_SENSORS_V2_X_SENSORS_H
+#define ANDROID_HARDWARE_SENSORS_V2_X_SENSORS_H
+
+#include "EventMessageQueueWrapper.h"
+#include "Sensor.h"
+
+#include <android/hardware/sensors/2.0/ISensors.h>
+#include <android/hardware/sensors/2.0/types.h>
+#include <fmq/MessageQueue.h>
+#include <hardware_legacy/power.h>
+#include <hidl/MQDescriptor.h>
+#include <hidl/Status.h>
+#include <log/log.h>
+
+#include <atomic>
+#include <memory>
+#include <thread>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_X {
+namespace implementation {
+
+template <class ISensorsInterface>
+struct Sensors : public ISensorsInterface, public ISensorsEventCallback {
+    using Event = ::android::hardware::sensors::V1_0::Event;
+    using OperationMode = ::android::hardware::sensors::V1_0::OperationMode;
+    using RateLevel = ::android::hardware::sensors::V1_0::RateLevel;
+    using Result = ::android::hardware::sensors::V1_0::Result;
+    using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
+    using EventQueueFlagBits = ::android::hardware::sensors::V2_0::EventQueueFlagBits;
+    using SensorTimeout = ::android::hardware::sensors::V2_0::SensorTimeout;
+    using WakeLockQueueFlagBits = ::android::hardware::sensors::V2_0::WakeLockQueueFlagBits;
+    using ISensorsCallback = ::android::hardware::sensors::V2_0::ISensorsCallback;
+    using EventMessageQueue = MessageQueue<Event, kSynchronizedReadWrite>;
+    using WakeLockMessageQueue = MessageQueue<uint32_t, kSynchronizedReadWrite>;
+
+    static constexpr const char* kWakeLockName = "SensorsHAL_WAKEUP";
+
+    Sensors()
+        : mEventQueueFlag(nullptr),
+          mNextHandle(1),
+          mOutstandingWakeUpEvents(0),
+          mReadWakeLockQueueRun(false),
+          mAutoReleaseWakeLockTime(0),
+          mHasWakeLock(false) {
+        AddSensor<AccelSensor>();
+        AddSensor<GyroSensor>();
+        AddSensor<AmbientTempSensor>();
+        AddSensor<DeviceTempSensor>();
+        AddSensor<PressureSensor>();
+        AddSensor<MagnetometerSensor>();
+        AddSensor<LightSensor>();
+        AddSensor<ProximitySensor>();
+        AddSensor<RelativeHumiditySensor>();
+    }
+
+    virtual ~Sensors() {
+        deleteEventFlag();
+        mReadWakeLockQueueRun = false;
+        mWakeLockThread.join();
+    }
+
+    // Methods from ::android::hardware::sensors::V2_0::ISensors follow.
+    Return<void> getSensorsList(V2_0::ISensors::getSensorsList_cb _hidl_cb) override {
+        std::vector<V1_0::SensorInfo> sensors;
+        for (const auto& sensor : mSensors) {
+            sensors.push_back(
+                    V2_1::implementation::convertToOldSensorInfo(sensor.second->getSensorInfo()));
+        }
+
+        // Call the HIDL callback with the SensorInfo
+        _hidl_cb(sensors);
+
+        return Void();
+    }
+
+    Return<Result> setOperationMode(OperationMode mode) override {
+        for (auto sensor : mSensors) {
+            sensor.second->setOperationMode(mode);
+        }
+        return Result::OK;
+    }
+
+    Return<Result> activate(int32_t sensorHandle, bool enabled) override {
+        auto sensor = mSensors.find(sensorHandle);
+        if (sensor != mSensors.end()) {
+            sensor->second->activate(enabled);
+            return Result::OK;
+        }
+        return Result::BAD_VALUE;
+    }
+
+    Return<Result> initialize(
+            const ::android::hardware::MQDescriptorSync<Event>& eventQueueDescriptor,
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<ISensorsCallback>& sensorsCallback) override {
+        auto eventQueue =
+                std::make_unique<EventMessageQueue>(eventQueueDescriptor, true /* resetPointers */);
+        std::unique_ptr<V2_1::implementation::EventMessageQueueWrapperBase> wrapper =
+                std::make_unique<V2_1::implementation::EventMessageQueueWrapperV1_0>(eventQueue);
+        return initializeBase(wrapper, wakeLockDescriptor, sensorsCallback);
+    }
+
+    Return<Result> initializeBase(
+            std::unique_ptr<V2_1::implementation::EventMessageQueueWrapperBase>& eventQueue,
+            const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+            const sp<ISensorsCallback>& sensorsCallback) {
+        Result result = Result::OK;
+
+        // Ensure that all sensors are disabled
+        for (auto sensor : mSensors) {
+            sensor.second->activate(false /* enable */);
+        }
+
+        // Stop the Wake Lock thread if it is currently running
+        if (mReadWakeLockQueueRun.load()) {
+            mReadWakeLockQueueRun = false;
+            mWakeLockThread.join();
+        }
+
+        // Save a reference to the callback
+        mCallback = sensorsCallback;
+
+        // Save the event queue.
+        mEventQueue = std::move(eventQueue);
+
+        // 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 = Result::BAD_VALUE;
+        }
+
+        // Create the Wake Lock FMQ that is used by the framework to communicate whenever WAKE_UP
+        // events have been successfully read and handled by the framework.
+        mWakeLockQueue = std::make_unique<WakeLockMessageQueue>(wakeLockDescriptor,
+                                                                true /* resetPointers */);
+
+        if (!mCallback || !mEventQueue || !mWakeLockQueue || mEventQueueFlag == nullptr) {
+            result = Result::BAD_VALUE;
+        }
+
+        // Start the thread to read events from the Wake Lock FMQ
+        mReadWakeLockQueueRun = true;
+        mWakeLockThread = std::thread(startReadWakeLockThread, this);
+
+        return result;
+    }
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                         int64_t /* maxReportLatencyNs */) override {
+        auto sensor = mSensors.find(sensorHandle);
+        if (sensor != mSensors.end()) {
+            sensor->second->batch(samplingPeriodNs);
+            return Result::OK;
+        }
+        return Result::BAD_VALUE;
+    }
+
+    Return<Result> flush(int32_t sensorHandle) override {
+        auto sensor = mSensors.find(sensorHandle);
+        if (sensor != mSensors.end()) {
+            return sensor->second->flush();
+        }
+        return Result::BAD_VALUE;
+    }
+
+    Return<Result> injectSensorData(const Event& event) override {
+        auto sensor = mSensors.find(event.sensorHandle);
+        if (sensor != mSensors.end()) {
+            return sensor->second->injectEvent(V2_1::implementation::convertToNewEvent(event));
+        }
+
+        return Result::BAD_VALUE;
+    }
+
+    Return<void> registerDirectChannel(const SharedMemInfo& /* mem */,
+                                       V2_0::ISensors::registerDirectChannel_cb _hidl_cb) override {
+        _hidl_cb(Result::INVALID_OPERATION, -1 /* channelHandle */);
+        return Return<void>();
+    }
+
+    Return<Result> unregisterDirectChannel(int32_t /* channelHandle */) override {
+        return Result::INVALID_OPERATION;
+    }
+
+    Return<void> configDirectReport(int32_t /* sensorHandle */, int32_t /* channelHandle */,
+                                    RateLevel /* rate */,
+                                    V2_0::ISensors::configDirectReport_cb _hidl_cb) override {
+        _hidl_cb(Result::INVALID_OPERATION, 0 /* reportToken */);
+        return Return<void>();
+    }
+
+    void postEvents(const std::vector<V2_1::Event>& events, bool wakeup) override {
+        std::lock_guard<std::mutex> lock(mWriteLock);
+        if (mEventQueue->write(events)) {
+            mEventQueueFlag->wake(static_cast<uint32_t>(EventQueueFlagBits::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() {
+        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
+            uint32_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>(WakeLockQueueFlagBits::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>(SensorTimeout::WAKE_LOCK_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",
+                      SensorTimeout::WAKE_LOCK_SECONDS);
+                mOutstandingWakeUpEvents = 0;
+            }
+
+            if (mOutstandingWakeUpEvents == 0 && release_wake_lock(kWakeLockName) == 0) {
+                mHasWakeLock = false;
+            }
+        }
+    }
+
+    /**
+     * The Event FMQ where sensor events are written
+     */
+    std::unique_ptr<V2_1::implementation::EventMessageQueueWrapperBase> mEventQueue;
+
+    /**
+     * The Wake Lock FMQ that is read to determine when the framework has handled WAKE_UP events
+     */
+    std::unique_ptr<WakeLockMessageQueue> mWakeLockQueue;
+
+    /**
+     * Event Flag to signal to the framework when sensor events are available to be read
+     */
+    EventFlag* mEventQueueFlag;
+
+    /**
+     * Callback for asynchronous events, such as dynamic sensor connections.
+     */
+    sp<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 implementation
+}  // namespace V2_X
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_X_SENSORS_H
diff --git a/sensors/common/utils/Android.bp b/sensors/common/utils/Android.bp
new file mode 100644
index 0000000..aec6c4b
--- /dev/null
+++ b/sensors/common/utils/Android.bp
@@ -0,0 +1,36 @@
+//
+// Copyright (C) 2020 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+cc_library_headers {
+    name: "android.hardware.sensors@2.X-shared-utils",
+    vendor_available: true,
+    defaults: ["hidl_defaults"],
+    export_include_dirs: ["."],
+    shared_libs: [
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "libbinder",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+    ],
+}
diff --git a/sensors/common/utils/EventMessageQueueWrapper.h b/sensors/common/utils/EventMessageQueueWrapper.h
new file mode 100644
index 0000000..bf3261f
--- /dev/null
+++ b/sensors/common/utils/EventMessageQueueWrapper.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_SENSORS_V2_1_EVENTMESSAGEQUEUEWRAPPER_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_EVENTMESSAGEQUEUEWRAPPER_H
+
+#include "convertV2_1.h"
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <fmq/MessageQueue.h>
+#include <hidl/MQDescriptor.h>
+#include <hidl/Status.h>
+#include <log/log.h>
+
+#include <atomic>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+class EventMessageQueueWrapperBase : public RefBase {
+  public:
+    virtual ~EventMessageQueueWrapperBase() {}
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() = 0;
+    virtual size_t availableToRead() = 0;
+    virtual bool read(V2_1::Event* events, size_t numToRead) = 0;
+    virtual bool write(const std::vector<V2_1::Event>& events) = 0;
+};
+
+class EventMessageQueueWrapperV1_0 : public EventMessageQueueWrapperBase {
+  public:
+    using EventMessageQueue = MessageQueue<V1_0::Event, kSynchronizedReadWrite>;
+
+    EventMessageQueueWrapperV1_0(std::unique_ptr<EventMessageQueue>& queue)
+        : mQueue(std::move(queue)) {}
+
+    const ::android::hardware::MQDescriptorSync<V1_0::Event>* getDesc() {
+        return mQueue->getDesc();
+    }
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() override {
+        return mQueue->getEventFlagWord();
+    }
+
+    virtual size_t availableToRead() override { return mQueue->availableToRead(); }
+
+    virtual bool read(V2_1::Event* events, size_t numToRead) override {
+        return mQueue->read(reinterpret_cast<V1_0::Event*>(events), numToRead);
+    }
+
+    virtual bool write(const std::vector<V2_1::Event>& events) override {
+        const std::vector<V1_0::Event>& oldEvents = convertToOldEvents(events);
+        return mQueue->write(oldEvents.data(), oldEvents.size());
+    }
+
+  private:
+    std::unique_ptr<EventMessageQueue> mQueue;
+};
+
+class EventMessageQueueWrapperV2_1 : public EventMessageQueueWrapperBase {
+  public:
+    using EventMessageQueue = MessageQueue<V2_1::Event, kSynchronizedReadWrite>;
+
+    EventMessageQueueWrapperV2_1(std::unique_ptr<EventMessageQueue>& queue)
+        : mQueue(std::move(queue)) {}
+
+    const ::android::hardware::MQDescriptorSync<V2_1::Event>* getDesc() {
+        return mQueue->getDesc();
+    }
+
+    std::atomic<uint32_t>* getEventFlagWord() override { return mQueue->getEventFlagWord(); }
+
+    virtual size_t availableToRead() override { return mQueue->availableToRead(); }
+
+    virtual bool read(V2_1::Event* events, size_t numToRead) override {
+        return mQueue->read(events, numToRead);
+    }
+
+    bool write(const std::vector<V2_1::Event>& events) override {
+        return mQueue->write(events.data(), events.size());
+    }
+
+  private:
+    std::unique_ptr<EventMessageQueue> mQueue;
+};
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_EVENTMESSAGEQUEUEWRAPPER_H
\ No newline at end of file
diff --git a/sensors/common/utils/ISensorsWrapper.h b/sensors/common/utils/ISensorsWrapper.h
new file mode 100644
index 0000000..e9c22b1
--- /dev/null
+++ b/sensors/common/utils/ISensorsWrapper.h
@@ -0,0 +1,282 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_SENSORS_V2_1_ISENSORSWRAPPER_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_ISENSORSWRAPPER_H
+
+#include "EventMessageQueueWrapper.h"
+#include "ISensorsWrapper.h"
+
+#include "android/hardware/sensors/1.0/ISensors.h"
+#include "android/hardware/sensors/1.0/types.h"
+#include "android/hardware/sensors/2.0/ISensors.h"
+#include "android/hardware/sensors/2.0/ISensorsCallback.h"
+#include "android/hardware/sensors/2.1/ISensors.h"
+#include "android/hardware/sensors/2.1/ISensorsCallback.h"
+#include "android/hardware/sensors/2.1/types.h"
+
+#include <utils/LightRefBase.h>
+
+#include <cassert>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+using ::android::hardware::MessageQueue;
+using ::android::hardware::MQDescriptorSync;
+using ::android::hardware::Return;
+using ::android::hardware::sensors::V1_0::ISensors;
+using ::android::hardware::sensors::V1_0::OperationMode;
+using ::android::hardware::sensors::V1_0::RateLevel;
+using ::android::hardware::sensors::V1_0::Result;
+using ::android::hardware::sensors::V1_0::SharedMemInfo;
+using ::android::hardware::sensors::V2_1::Event;
+using ::android::hardware::sensors::V2_1::ISensorsCallback;
+
+// TODO: Look into providing this as a param if it needs to be a different value
+// than the framework.
+static constexpr size_t MAX_RECEIVE_BUFFER_EVENT_COUNT = 256;
+
+/*
+ * The ISensorsWrapper interface includes all function from supported Sensors HAL versions. This
+ * allows for the SensorDevice to use the ISensorsWrapper interface to interact with the Sensors
+ * HAL regardless of the current version of the Sensors HAL that is loaded. Each concrete
+ * instantiation of ISensorsWrapper must correspond to a specific Sensors HAL version. This design
+ * is beneficial because only the functions that change between Sensors HAL versions must be newly
+ * implemented, any previously implemented function that does not change may remain the same.
+ *
+ * Functions that exist across all versions of the Sensors HAL should be implemented as pure
+ * virtual functions which forces the concrete instantiations to implement the functions.
+ *
+ * Functions that do not exist across all versions of the Sensors HAL should include a default
+ * implementation that generates an error if called. The default implementation should never
+ * be called and must be overridden by Sensors HAL versions that support the function.
+ */
+class ISensorsWrapperBase : public VirtualLightRefBase {
+  public:
+    virtual bool supportsPolling() const = 0;
+
+    virtual bool supportsMessageQueues() const = 0;
+
+    virtual void linkToDeath(android::sp<android::hardware::hidl_death_recipient> deathRecipient,
+                             uint64_t cookie) = 0;
+
+    virtual Return<void> getSensorsList(
+            ::android::hardware::sensors::V2_1::ISensors::getSensorsList_2_1_cb _hidl_cb) = 0;
+
+    virtual Return<Result> setOperationMode(OperationMode mode) = 0;
+
+    virtual Return<Result> activate(int32_t sensorHandle, bool enabled) = 0;
+
+    virtual Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                                 int64_t maxReportLatencyNs) = 0;
+
+    virtual Return<Result> flush(int32_t sensorHandle) = 0;
+
+    virtual Return<Result> injectSensorData(const Event& event) = 0;
+
+    virtual Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                               ISensors::registerDirectChannel_cb _hidl_cb) = 0;
+
+    virtual Return<Result> unregisterDirectChannel(int32_t channelHandle) = 0;
+
+    virtual Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle,
+                                            RateLevel rate,
+                                            ISensors::configDirectReport_cb _hidl_cb) = 0;
+
+    virtual Return<void> poll(int32_t /* maxCount */, ISensors::poll_cb /* _hidl_cb */) {
+        // Enforce this method is never invoked as it should be overridden if it's meant to be used.
+        assert(false);
+        return Return<void>();
+    }
+
+    virtual EventMessageQueueWrapperBase* getEventQueue() { return nullptr; }
+
+    virtual Return<Result> initialize(const MQDescriptorSync<uint32_t>& /* wakeLockDesc */,
+                                      const ::android::sp<ISensorsCallback>& /* callback */) {
+        // Enforce this method is never invoked as it should be overridden if it's meant to be used.
+        assert(false);
+        return Result::INVALID_OPERATION;
+    }
+};
+
+template <typename T>
+class SensorsWrapperBase : public ISensorsWrapperBase {
+  public:
+    SensorsWrapperBase(sp<T> sensors) : mSensors(sensors){};
+
+    void linkToDeath(android::sp<android::hardware::hidl_death_recipient> deathRecipient,
+                     uint64_t cookie) override {
+        mSensors->linkToDeath(deathRecipient, cookie);
+    }
+
+    virtual Return<void> getSensorsList(
+            ::android::hardware::sensors::V2_1::ISensors::getSensorsList_2_1_cb _hidl_cb) override {
+        return mSensors->getSensorsList(
+                [&](const auto& list) { _hidl_cb(convertToNewSensorInfos(list)); });
+    }
+
+    Return<Result> setOperationMode(OperationMode mode) override {
+        return mSensors->setOperationMode(mode);
+    }
+
+    Return<Result> activate(int32_t sensorHandle, bool enabled) override {
+        return mSensors->activate(sensorHandle, enabled);
+    }
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                         int64_t maxReportLatencyNs) override {
+        return mSensors->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
+    }
+
+    Return<Result> flush(int32_t sensorHandle) override { return mSensors->flush(sensorHandle); }
+
+    virtual Return<Result> injectSensorData(const Event& event) override {
+        return mSensors->injectSensorData(convertToOldEvent(event));
+    }
+
+    Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                       ISensors::registerDirectChannel_cb _hidl_cb) override {
+        return mSensors->registerDirectChannel(mem, _hidl_cb);
+    }
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) override {
+        return mSensors->unregisterDirectChannel(channelHandle);
+    }
+
+    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+                                    ISensors::configDirectReport_cb _hidl_cb) override {
+        return mSensors->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
+    }
+
+  protected:
+    sp<T> mSensors;
+};
+
+class ISensorsWrapperV1_0 : public SensorsWrapperBase<hardware::sensors::V1_0::ISensors> {
+  public:
+    ISensorsWrapperV1_0(sp<hardware::sensors::V1_0::ISensors> sensors)
+        : SensorsWrapperBase(sensors){};
+
+    bool supportsPolling() const override { return true; }
+
+    bool supportsMessageQueues() const override { return false; }
+
+    Return<void> poll(int32_t maxCount,
+                      hardware::sensors::V1_0::ISensors::poll_cb _hidl_cb) override {
+        return mSensors->poll(maxCount, _hidl_cb);
+    }
+};
+
+class ISensorsWrapperV2_0 : public SensorsWrapperBase<hardware::sensors::V2_0::ISensors> {
+  public:
+    typedef MessageQueue<::android::hardware::sensors::V1_0::Event,
+                         ::android::hardware::kSynchronizedReadWrite>
+            EventMessageQueue;
+
+    ISensorsWrapperV2_0(sp<hardware::sensors::V2_0::ISensors> sensors)
+        : SensorsWrapperBase(sensors) {
+        auto eventQueue = std::make_unique<EventMessageQueue>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
+                                                              true /* configureEventFlagWord */);
+        mEventQueue = std::make_unique<EventMessageQueueWrapperV1_0>(eventQueue);
+    };
+
+    bool supportsPolling() const override { return false; }
+
+    bool supportsMessageQueues() const override { return true; }
+
+    EventMessageQueueWrapperBase* getEventQueue() override { return mEventQueue.get(); }
+
+    Return<Result> initialize(const MQDescriptorSync<uint32_t>& wakeLockDesc,
+                              const ::android::sp<ISensorsCallback>& callback) override {
+        return mSensors->initialize(*mEventQueue->getDesc(), wakeLockDesc, callback);
+    }
+
+  private:
+    std::unique_ptr<EventMessageQueueWrapperV1_0> mEventQueue;
+};
+
+class ISensorsWrapperV2_1 : public SensorsWrapperBase<hardware::sensors::V2_1::ISensors> {
+  public:
+    typedef MessageQueue<Event, ::android::hardware::kSynchronizedReadWrite> EventMessageQueueV2_1;
+
+    ISensorsWrapperV2_1(sp<hardware::sensors::V2_1::ISensors> sensors)
+        : SensorsWrapperBase(sensors) {
+        auto eventQueue = std::make_unique<EventMessageQueueV2_1>(
+                MAX_RECEIVE_BUFFER_EVENT_COUNT, true /* configureEventFlagWord */);
+        mEventQueue = std::make_unique<EventMessageQueueWrapperV2_1>(eventQueue);
+    };
+
+    bool supportsPolling() const override { return false; }
+
+    bool supportsMessageQueues() const override { return true; }
+
+    EventMessageQueueWrapperBase* getEventQueue() override { return mEventQueue.get(); }
+
+    Return<void> getSensorsList(
+            ::android::hardware::sensors::V2_1::ISensors::getSensorsList_2_1_cb _hidl_cb) override {
+        return mSensors->getSensorsList_2_1(_hidl_cb);
+    }
+
+    Return<Result> injectSensorData(const Event& event) override {
+        return mSensors->injectSensorData_2_1(event);
+    }
+
+    Return<Result> initialize(const MQDescriptorSync<uint32_t>& wakeLockDesc,
+                              const ::android::sp<ISensorsCallback>& callback) override {
+        return mSensors->initialize_2_1(*mEventQueue->getDesc(), wakeLockDesc, callback);
+    }
+
+  private:
+    std::unique_ptr<EventMessageQueueWrapperV2_1> mEventQueue;
+};
+
+inline sp<ISensorsWrapperV2_0> wrapISensors(sp<V2_0::ISensors> sensors) {
+    return new ISensorsWrapperV2_0(sensors);
+}
+
+inline sp<ISensorsWrapperV2_1> wrapISensors(sp<V2_1::ISensors> sensors) {
+    return new ISensorsWrapperV2_1(sensors);
+}
+
+class NoOpSensorsCallback : public ISensorsCallback {
+  public:
+    Return<void> onDynamicSensorsConnected(
+            const hidl_vec<V1_0::SensorInfo>& /* sensorInfos */) override {
+        return Return<void>();
+    }
+
+    Return<void> onDynamicSensorsDisconnected(
+            const hidl_vec<int32_t>& /* sensorHandles */) override {
+        return Return<void>();
+    }
+
+    Return<void> onDynamicSensorsConnected_2_1(
+            const hidl_vec<SensorInfo>& /* sensorInfos */) override {
+        return Return<void>();
+    }
+};
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_ISENSORSWRAPPER_H
\ No newline at end of file
diff --git a/sensors/common/utils/OWNERS b/sensors/common/utils/OWNERS
new file mode 100644
index 0000000..90c2330
--- /dev/null
+++ b/sensors/common/utils/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
diff --git a/sensors/common/utils/convertV2_1.h b/sensors/common/utils/convertV2_1.h
new file mode 100644
index 0000000..9231011
--- /dev/null
+++ b/sensors/common/utils/convertV2_1.h
@@ -0,0 +1,122 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_SENSORS_V2_1_CONVERT_H
+#define ANDROID_HARDWARE_SENSORS_V2_1_CONVERT_H
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <hardware/sensors.h>
+#include <sensors/convert.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_1 {
+namespace implementation {
+
+static_assert(sizeof(V1_0::Event) == sizeof(V2_1::Event),
+              "New and old Event types must have the same size");
+static_assert(sizeof(V1_0::SensorInfo) == sizeof(V2_1::SensorInfo),
+              "New and old SensorInfo types must have the same size");
+
+// The following conversion methods are safe as the only difference between
+// V1_0 and V2_1 for these types is an added enum value to SensorType which doesn't
+// change the memory layout of the types.
+inline const V1_0::Event& convertToOldEvent(const V2_1::Event& event) {
+    return reinterpret_cast<const V1_0::Event&>(event);
+}
+
+inline const std::vector<V1_0::Event>& convertToOldEvents(const std::vector<V2_1::Event>& events) {
+    return reinterpret_cast<const std::vector<V1_0::Event>&>(events);
+}
+
+inline V1_0::Event* convertToOldEvent(V2_1::Event* event) {
+    return reinterpret_cast<V1_0::Event*>(event);
+}
+
+inline const V2_1::SensorInfo& convertToNewSensorInfo(const V1_0::SensorInfo& info) {
+    return reinterpret_cast<const V2_1::SensorInfo&>(info);
+}
+
+inline const V1_0::SensorInfo& convertToOldSensorInfo(const V2_1::SensorInfo& info) {
+    return reinterpret_cast<const V1_0::SensorInfo&>(info);
+}
+
+inline const V2_1::Event& convertToNewEvent(const V1_0::Event& event) {
+    return reinterpret_cast<const V2_1::Event&>(event);
+}
+
+inline const std::vector<V2_1::Event>& convertToNewEvents(const std::vector<V1_0::Event>& events) {
+    return reinterpret_cast<const std::vector<V2_1::Event>&>(events);
+}
+
+inline const hidl_vec<V2_1::Event>& convertToNewEvents(const hidl_vec<V1_0::Event>& events) {
+    return reinterpret_cast<const hidl_vec<V2_1::Event>&>(events);
+}
+
+inline const hidl_vec<V2_1::SensorInfo>& convertToNewSensorInfos(
+        const hidl_vec<V1_0::SensorInfo>& infos) {
+    return reinterpret_cast<const hidl_vec<V2_1::SensorInfo>&>(infos);
+}
+
+inline const hidl_vec<V1_0::SensorInfo>& convertToOldSensorInfos(
+        const hidl_vec<V2_1::SensorInfo>& infos) {
+    return reinterpret_cast<const hidl_vec<V1_0::SensorInfo>&>(infos);
+}
+
+inline void convertFromSensorEvent(const sensors_event_t& src, V2_1::Event* dst) {
+    switch ((SensorType)src.type) {
+        case SensorType::HINGE_ANGLE:
+            // Only fill in values for hinge angle as other sensors
+            // will have it filled in by legacy code.
+            *dst = {
+                    .timestamp = src.timestamp,
+                    .sensorHandle = src.sensor,
+                    .sensorType = (SensorType)src.type,
+            };
+            dst->u.scalar = src.data[0];
+            break;
+        default:
+            V1_0::implementation::convertFromSensorEvent(src, convertToOldEvent(dst));
+            break;
+    }
+}
+
+inline void convertToSensorEvent(const V2_1::Event& src, sensors_event_t* dst) {
+    switch (src.sensorType) {
+        case SensorType::HINGE_ANGLE:
+            // Only fill in values for hinge angle as other sensors
+            // will have it filled in by legacy code.
+            *dst = {.version = sizeof(sensors_event_t),
+                    .sensor = src.sensorHandle,
+                    .type = (int32_t)src.sensorType,
+                    .reserved0 = 0,
+                    .timestamp = src.timestamp};
+            dst->data[0] = src.u.scalar;
+            break;
+        default:
+            V1_0::implementation::convertToSensorEvent(convertToOldEvent(src), dst);
+            break;
+    }
+}
+
+}  // namespace implementation
+}  // namespace V2_1
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // ANDROID_HARDWARE_SENSORS_V2_1_CONVERT_H
diff --git a/sensors/common/vts/2_X/Android.bp b/sensors/common/vts/2_X/Android.bp
new file mode 100644
index 0000000..8cf1486
--- /dev/null
+++ b/sensors/common/vts/2_X/Android.bp
@@ -0,0 +1,44 @@
+//
+// Copyright (C) 2018 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+cc_test_library {
+    name: "VtsHalSensorsV2_XTargetTest",
+    cflags: ["-DLOG_TAG=\"sensors_hidl_hal_test\""],
+    defaults: ["VtsHalTargetTestDefaults"],
+    srcs: [
+        "SensorsHidlEnvironmentV2_X.cpp",
+    ],
+    export_include_dirs: ["."],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    shared_libs: [
+        "libbinder",
+    ],
+    static_libs: [
+        "android.hardware.graphics.allocator@2.0",
+        "android.hardware.graphics.allocator@3.0",
+        "android.hardware.graphics.mapper@2.0",
+        "android.hardware.graphics.mapper@2.1",
+        "android.hardware.graphics.mapper@3.0",
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "libfmq",
+        "VtsHalSensorsTargetTestUtils",
+    ],
+}
diff --git a/sensors/2.0/vts/functional/SensorsHidlEnvironmentV2_0.cpp b/sensors/common/vts/2_X/SensorsHidlEnvironmentV2_X.cpp
similarity index 69%
rename from sensors/2.0/vts/functional/SensorsHidlEnvironmentV2_0.cpp
rename to sensors/common/vts/2_X/SensorsHidlEnvironmentV2_X.cpp
index 81db5a0..a8c2513 100644
--- a/sensors/2.0/vts/functional/SensorsHidlEnvironmentV2_0.cpp
+++ b/sensors/common/vts/2_X/SensorsHidlEnvironmentV2_X.cpp
@@ -14,9 +14,11 @@
  * limitations under the License.
  */
 
-#include "SensorsHidlEnvironmentV2_0.h"
+#include "SensorsHidlEnvironmentV2_X.h"
 
 #include <android/hardware/sensors/2.0/types.h>
+#include <android/hardware/sensors/2.1/types.h>
+
 #include <log/log.h>
 
 #include <algorithm>
@@ -26,18 +28,20 @@
 using ::android::hardware::hidl_vec;
 using ::android::hardware::Return;
 using ::android::hardware::sensors::V1_0::Result;
-using ::android::hardware::sensors::V1_0::SensorInfo;
 using ::android::hardware::sensors::V2_0::EventQueueFlagBits;
+using ::android::hardware::sensors::V2_1::SensorInfo;
+#ifdef SENSORS_HAL_2_1
+using ::android::hardware::sensors::V2_1::ISensors;
+#else
 using ::android::hardware::sensors::V2_0::ISensors;
-using ::android::hardware::sensors::V2_0::ISensorsCallback;
+#endif
+using ::android::hardware::sensors::V2_1::ISensorsCallback;
 
 template <typename EnumType>
 constexpr typename std::underlying_type<EnumType>::type asBaseType(EnumType value) {
     return static_cast<typename std::underlying_type<EnumType>::type>(value);
 }
 
-constexpr size_t SensorsHidlEnvironmentV2_0::MAX_RECEIVE_BUFFER_EVENT_COUNT;
-
 void SensorsHalDeathRecipient::serviceDied(
         uint64_t /* cookie */,
         const ::android::wp<::android::hidl::base::V1_0::IBase>& /* service */) {
@@ -45,48 +49,34 @@
     FAIL() << "Sensors HAL died during test";
 }
 
-struct SensorsCallback : ISensorsCallback {
-    Return<void> onDynamicSensorsConnected(const hidl_vec<SensorInfo>& /* sensorInfos */) {
-        return Return<void>();
-    }
-
-    Return<void> onDynamicSensorsDisconnected(const hidl_vec<int32_t>& /* sensorHandles */) {
-        return Return<void>();
-    }
-};
-
-bool SensorsHidlEnvironmentV2_0::resetHal() {
+bool SensorsHidlEnvironmentV2_X::resetHal() {
     bool succeed = false;
     do {
-        mSensors = ISensors::getService(mServiceName);
+        mSensors = wrapISensors(ISensors::getService(mServiceName));
         if (mSensors == nullptr) {
             break;
         }
         mSensors->linkToDeath(mDeathRecipient, 0 /* cookie */);
 
         // Initialize FMQs
-        mEventQueue = std::make_unique<EventMessageQueue>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
-                                                          true /* configureEventFlagWord */);
-
         mWakeLockQueue = std::make_unique<WakeLockQueue>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
                                                          true /* configureEventFlagWord */);
 
-        if (mEventQueue == nullptr || mWakeLockQueue == nullptr) {
+        if (mWakeLockQueue == nullptr) {
             break;
         }
 
         EventFlag::deleteEventFlag(&mEventQueueFlag);
-        EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag);
+        EventFlag::createEventFlag(mSensors->getEventQueue()->getEventFlagWord(), &mEventQueueFlag);
         if (mEventQueueFlag == nullptr) {
             break;
         }
 
-        mSensors->initialize(*mEventQueue->getDesc(), *mWakeLockQueue->getDesc(),
-                             new SensorsCallback());
+        mSensors->initialize(*mWakeLockQueue->getDesc(), new NoOpSensorsCallback());
 
         std::vector<SensorInfo> sensorList;
         if (!mSensors->getSensorsList([&](const hidl_vec<SensorInfo>& list) { sensorList = list; })
-                 .isOk()) {
+                     .isOk()) {
             break;
         }
 
@@ -113,7 +103,7 @@
     return succeed;
 }
 
-void SensorsHidlEnvironmentV2_0::HidlTearDown() {
+void SensorsHidlEnvironmentV2_X::HidlTearDown() {
     mStopThread = true;
 
     if (mEventQueueFlag != nullptr) {
@@ -127,25 +117,25 @@
     }
 }
 
-void SensorsHidlEnvironmentV2_0::startPollingThread() {
+void SensorsHidlEnvironmentV2_X::startPollingThread() {
     mStopThread = false;
     mEvents.reserve(MAX_RECEIVE_BUFFER_EVENT_COUNT);
     mPollThread = std::thread(pollingThread, this);
 }
 
-void SensorsHidlEnvironmentV2_0::readEvents() {
-    size_t availableEvents = mEventQueue->availableToRead();
+void SensorsHidlEnvironmentV2_X::readEvents() {
+    size_t availableEvents = mSensors->getEventQueue()->availableToRead();
 
     if (availableEvents == 0) {
         uint32_t eventFlagState = 0;
 
         mEventQueueFlag->wait(asBaseType(EventQueueFlagBits::READ_AND_PROCESS), &eventFlagState);
-        availableEvents = mEventQueue->availableToRead();
+        availableEvents = mSensors->getEventQueue()->availableToRead();
     }
 
     size_t eventsToRead = std::min(availableEvents, mEventBuffer.size());
     if (eventsToRead > 0) {
-        if (mEventQueue->read(mEventBuffer.data(), eventsToRead)) {
+        if (mSensors->getEventQueue()->read(mEventBuffer.data(), eventsToRead)) {
             mEventQueueFlag->wake(asBaseType(EventQueueFlagBits::EVENTS_READ));
             for (size_t i = 0; i < eventsToRead; i++) {
                 addEvent(mEventBuffer[i]);
@@ -154,7 +144,7 @@
     }
 }
 
-void SensorsHidlEnvironmentV2_0::pollingThread(SensorsHidlEnvironmentV2_0* env) {
+void SensorsHidlEnvironmentV2_X::pollingThread(SensorsHidlEnvironmentV2_X* env) {
     ALOGD("polling thread start");
 
     while (!env->mStopThread.load()) {
diff --git a/sensors/2.0/vts/functional/SensorsHidlEnvironmentV2_0.h b/sensors/common/vts/2_X/SensorsHidlEnvironmentV2_X.h
similarity index 68%
rename from sensors/2.0/vts/functional/SensorsHidlEnvironmentV2_0.h
rename to sensors/common/vts/2_X/SensorsHidlEnvironmentV2_X.h
index 819cdd4..01f451f 100644
--- a/sensors/2.0/vts/functional/SensorsHidlEnvironmentV2_0.h
+++ b/sensors/common/vts/2_X/SensorsHidlEnvironmentV2_X.h
@@ -14,13 +14,15 @@
  * limitations under the License.
  */
 
-#ifndef ANDROID_SENSORS_HIDL_ENVIRONMENT_V2_0_H
-#define ANDROID_SENSORS_HIDL_ENVIRONMENT_V2_0_H
+#ifndef ANDROID_SENSORS_HIDL_ENVIRONMENT_V2_X_H
+#define ANDROID_SENSORS_HIDL_ENVIRONMENT_V2_X_H
 
+#include "ISensorsWrapper.h"
 #include "sensors-vts-utils/SensorsHidlEnvironmentBase.h"
 
-#include <android/hardware/sensors/1.0/types.h>
-#include <android/hardware/sensors/2.0/ISensors.h>
+#include <android/hardware/sensors/2.1/ISensors.h>
+#include <android/hardware/sensors/2.1/types.h>
+
 #include <fmq/MessageQueue.h>
 #include <utils/StrongPointer.h>
 
@@ -30,6 +32,10 @@
 
 using ::android::sp;
 using ::android::hardware::MessageQueue;
+using ::android::hardware::sensors::V2_1::implementation::ISensorsWrapperBase;
+using ::android::hardware::sensors::V2_1::implementation::MAX_RECEIVE_BUFFER_EVENT_COUNT;
+using ::android::hardware::sensors::V2_1::implementation::NoOpSensorsCallback;
+using ::android::hardware::sensors::V2_1::implementation::wrapISensors;
 
 class SensorsHidlTest;
 
@@ -39,14 +45,14 @@
             const ::android::wp<::android::hidl::base::V1_0::IBase>& service) override;
 };
 
-class SensorsHidlEnvironmentV2_0 : public SensorsHidlEnvironmentBase {
-   public:
-    using Event = ::android::hardware::sensors::V1_0::Event;
+class SensorsHidlEnvironmentV2_X
+    : public SensorsHidlEnvironmentBase<::android::hardware::sensors::V2_1::Event> {
+  public:
     virtual void HidlTearDown() override;
 
-   protected:
+  protected:
     friend SensorsHidlTest;
-    SensorsHidlEnvironmentV2_0(const std::string& service_name)
+    SensorsHidlEnvironmentV2_X(const std::string& service_name)
         : SensorsHidlEnvironmentBase(service_name), mEventQueueFlag(nullptr) {}
 
     /**
@@ -66,19 +72,19 @@
      *
      * @param env SensorEnvironment to being polling for events on
      */
-    static void pollingThread(SensorsHidlEnvironmentV2_0* env);
+    static void pollingThread(SensorsHidlEnvironmentV2_X* env);
 
     /**
      * Reads and saves sensor events from the Event FMQ
      */
     void readEvents();
 
-    GTEST_DISALLOW_COPY_AND_ASSIGN_(SensorsHidlEnvironmentV2_0);
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(SensorsHidlEnvironmentV2_X);
 
     /**
      * Pointer to the Sensors HAL Interface that allows the test to call HAL functions.
      */
-    sp<android::hardware::sensors::V2_0::ISensors> mSensors;
+    sp<ISensorsWrapperBase> mSensors;
 
     /**
      * Monitors the HAL for crashes, triggering test failure if seen
@@ -86,22 +92,11 @@
     sp<SensorsHalDeathRecipient> mDeathRecipient = new SensorsHalDeathRecipient();
 
     /**
-     * Type used to simplify the creation of the Event FMQ
-     */
-    typedef MessageQueue<Event, ::android::hardware::kSynchronizedReadWrite> EventMessageQueue;
-
-    /**
      * Type used to simplify the creation of the Wake Lock FMQ
      */
     typedef MessageQueue<uint32_t, ::android::hardware::kSynchronizedReadWrite> WakeLockQueue;
 
     /**
-     * The Event FMQ where the test framework is able to read sensor events that the Sensors HAL
-     * has written.
-     */
-    std::unique_ptr<EventMessageQueue> mEventQueue;
-
-    /**
      * The Wake Lock FMQ is used by the test to notify the Sensors HAL whenever it has processed
      * WAKE_UP sensor events.
      */
@@ -114,14 +109,10 @@
     ::android::hardware::EventFlag* mEventQueueFlag;
 
     /**
-     * The maximum number of sensor events that can be read from the Event FMQ at one time.
-     */
-    static constexpr size_t MAX_RECEIVE_BUFFER_EVENT_COUNT = 128;
-
-    /**
      * An array that is used to store sensor events read from the Event FMQ
      */
-    std::array<Event, MAX_RECEIVE_BUFFER_EVENT_COUNT> mEventBuffer;
+    std::array<::android::hardware::sensors::V2_1::Event, MAX_RECEIVE_BUFFER_EVENT_COUNT>
+            mEventBuffer;
 };
 
-#endif  // ANDROID_SENSORS_HIDL_ENVIRONMENT_V2_0_H
+#endif  // ANDROID_SENSORS_HIDL_ENVIRONMENT_V2_X_H
diff --git a/sensors/common/vts/2_X/VtsHalSensorsV2_XTargetTest.h b/sensors/common/vts/2_X/VtsHalSensorsV2_XTargetTest.h
new file mode 100644
index 0000000..53ed259
--- /dev/null
+++ b/sensors/common/vts/2_X/VtsHalSensorsV2_XTargetTest.h
@@ -0,0 +1,1186 @@
+/*
+ * Copyright (C) 2018 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "SensorsHidlEnvironmentV2_X.h"
+#include "convertV2_1.h"
+#include "sensors-vts-utils/SensorsHidlTestBase.h"
+#include "sensors-vts-utils/SensorsTestSharedMemory.h"
+
+#include <android/hardware/sensors/2.1/ISensors.h>
+#include <android/hardware/sensors/2.1/types.h>
+
+#include <hidl/GtestPrinter.h>
+#include <hidl/ServiceManagement.h>
+#include <log/log.h>
+#include <utils/SystemClock.h>
+
+#include <cinttypes>
+#include <condition_variable>
+#include <cstring>
+#include <map>
+#include <vector>
+
+/**
+ * This file contains the core tests and test logic for both sensors HAL 2.0
+ * and 2.1. To make it easier to share the code between both VTS test suites,
+ * this is defined as a header so they can both include and use all pieces of
+ * code.
+ */
+
+using ::android::sp;
+using ::android::hardware::Return;
+using ::android::hardware::Void;
+using ::android::hardware::sensors::V1_0::MetaDataEventType;
+using ::android::hardware::sensors::V1_0::OperationMode;
+using ::android::hardware::sensors::V1_0::SensorsEventFormatOffset;
+using ::android::hardware::sensors::V1_0::SensorStatus;
+using ::android::hardware::sensors::V1_0::SharedMemType;
+using ::android::hardware::sensors::V1_0::Vec3;
+using ::android::hardware::sensors::V2_1::implementation::convertToOldSensorInfos;
+using std::chrono::duration_cast;
+using std::chrono::microseconds;
+using std::chrono::milliseconds;
+using std::chrono::nanoseconds;
+
+using EventV1_0 = ::android::hardware::sensors::V1_0::Event;
+using ISensorsType = ::android::hardware::sensors::V2_1::ISensors;
+using SensorTypeVersion = ::android::hardware::sensors::V2_1::SensorType;
+using EventType = ::android::hardware::sensors::V2_1::Event;
+using SensorInfoType = ::android::hardware::sensors::V2_1::SensorInfo;
+using SensorsHidlTestBaseV2_X = SensorsHidlTestBase<SensorTypeVersion, EventType, SensorInfoType>;
+
+constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
+
+class EventCallback : public IEventCallback<EventType> {
+  public:
+    void reset() {
+        mFlushMap.clear();
+        mEventMap.clear();
+    }
+
+    void onEvent(const EventType& event) override {
+        if (event.sensorType == SensorTypeVersion::META_DATA &&
+            event.u.meta.what == MetaDataEventType::META_DATA_FLUSH_COMPLETE) {
+            std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
+            mFlushMap[event.sensorHandle]++;
+            mFlushCV.notify_all();
+        } else if (event.sensorType != SensorTypeVersion::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<SensorInfoType>& sensorsToWaitFor,
+                            int32_t numCallsToFlush, milliseconds timeout) {
+        std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
+        mFlushCV.wait_for(lock, timeout,
+                          [&] { return flushesReceived(sensorsToWaitFor, numCallsToFlush); });
+    }
+
+    const std::vector<EventType> getEvents(int32_t sensorHandle) {
+        std::unique_lock<std::recursive_mutex> lock(mEventMutex);
+        return mEventMap[sensorHandle];
+    }
+
+    void waitForEvents(const std::vector<SensorInfoType>& sensorsToWaitFor, milliseconds timeout) {
+        std::unique_lock<std::recursive_mutex> lock(mEventMutex);
+        mEventCV.wait_for(lock, timeout, [&] { return eventsReceived(sensorsToWaitFor); });
+    }
+
+  protected:
+    bool flushesReceived(const std::vector<SensorInfoType>& sensorsToWaitFor,
+                         int32_t numCallsToFlush) {
+        for (const SensorInfoType& sensor : sensorsToWaitFor) {
+            if (getFlushCount(sensor.sensorHandle) < numCallsToFlush) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    bool eventsReceived(const std::vector<SensorInfoType>& sensorsToWaitFor) {
+        for (const SensorInfoType& 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<EventType>> mEventMap;
+    std::recursive_mutex mEventMutex;
+    std::condition_variable_any mEventCV;
+};
+
+/**
+ * Define the template specific versions of the static helper methods in
+ * SensorsHidlTestBase used to test that hinge angle is exposed properly.
+ */
+template <>
+SensorFlagBits expectedReportModeForType(::android::hardware::sensors::V2_1::SensorType type) {
+    switch (type) {
+        case ::android::hardware::sensors::V2_1::SensorType::HINGE_ANGLE:
+            return SensorFlagBits::ON_CHANGE_MODE;
+        default:
+            return expectedReportModeForType(
+                    static_cast<::android::hardware::sensors::V1_0::SensorType>(type));
+    }
+}
+
+template <>
+void assertTypeMatchStringType(::android::hardware::sensors::V2_1::SensorType type,
+                               const hidl_string& stringType) {
+    switch (type) {
+        case (::android::hardware::sensors::V2_1::SensorType::HINGE_ANGLE):
+            ASSERT_STREQ(SENSOR_STRING_TYPE_HINGE_ANGLE, stringType.c_str());
+            break;
+        default:
+            assertTypeMatchStringType(
+                    static_cast<::android::hardware::sensors::V1_0::SensorType>(type), stringType);
+            break;
+    }
+}
+
+// The main test class for SENSORS HIDL HAL.
+class SensorsHidlTest : public SensorsHidlTestBaseV2_X {
+  public:
+    virtual void SetUp() override {
+        mEnvironment = new SensorsHidlEnvironmentV2_X(GetParam());
+        mEnvironment->HidlSetUp();
+        // Ensure that we have a valid environment before performing tests
+        ASSERT_NE(getSensors(), nullptr);
+    }
+
+    virtual void TearDown() override { mEnvironment->HidlTearDown(); }
+
+  protected:
+    SensorInfoType defaultSensorByType(SensorTypeVersion type) override;
+    std::vector<SensorInfoType> getSensorsList();
+    // implementation wrapper
+
+    Return<void> getSensorsList(ISensorsType::getSensorsList_cb _hidl_cb) override {
+        return getSensors()->getSensorsList(
+                [&](const auto& list) { _hidl_cb(convertToOldSensorInfos(list)); });
+    }
+
+    Return<Result> activate(int32_t sensorHandle, bool enabled) override;
+
+    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+                         int64_t maxReportLatencyNs) override {
+        return getSensors()->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
+    }
+
+    Return<Result> flush(int32_t sensorHandle) override {
+        return getSensors()->flush(sensorHandle);
+    }
+
+    Return<Result> injectSensorData(const EventType& event) override {
+        return getSensors()->injectSensorData(event);
+    }
+
+    Return<void> registerDirectChannel(const SharedMemInfo& mem,
+                                       ISensorsType::registerDirectChannel_cb _hidl_cb) override;
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) override {
+        return getSensors()->unregisterDirectChannel(channelHandle);
+    }
+
+    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+                                    ISensorsType::configDirectReport_cb _hidl_cb) override {
+        return getSensors()->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
+    }
+
+    inline sp<ISensorsWrapperBase>& getSensors() { return mEnvironment->mSensors; }
+
+    SensorsHidlEnvironmentBase<EventType>* getEnvironment() override { return mEnvironment; }
+
+    // Test helpers
+    void runSingleFlushTest(const std::vector<SensorInfoType>& sensors, bool activateSensor,
+                            int32_t expectedFlushCount, Result expectedResponse);
+    void runFlushTest(const std::vector<SensorInfoType>& sensors, bool activateSensor,
+                      int32_t flushCalls, int32_t expectedFlushCount, Result expectedResponse);
+
+    // Helper functions
+    void activateAllSensors(bool enable);
+    std::vector<SensorInfoType> getNonOneShotSensors();
+    std::vector<SensorInfoType> getNonOneShotAndNonSpecialSensors();
+    std::vector<SensorInfoType> getOneShotSensors();
+    std::vector<SensorInfoType> getInjectEventSensors();
+    int32_t getInvalidSensorHandle();
+    bool getDirectChannelSensor(SensorInfoType* sensor, SharedMemType* memType, RateLevel* rate);
+    void verifyDirectChannel(SharedMemType memType);
+    void verifyRegisterDirectChannel(
+            std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem,
+            int32_t* directChannelHandle, bool supportsSharedMemType,
+            bool supportsAnyDirectChannel);
+    void verifyConfigure(const SensorInfoType& sensor, SharedMemType memType,
+                         int32_t directChannelHandle, bool directChannelSupported);
+    void verifyUnregisterDirectChannel(int32_t directChannelHandle, bool directChannelSupported);
+    void checkRateLevel(const SensorInfoType& sensor, int32_t directChannelHandle,
+                        RateLevel rateLevel);
+    void queryDirectChannelSupport(SharedMemType memType, bool* supportsSharedMemType,
+                                   bool* supportsAnyDirectChannel);
+
+  private:
+    // Test environment for sensors HAL.
+    SensorsHidlEnvironmentV2_X* mEnvironment;
+};
+
+Return<Result> SensorsHidlTest::activate(int32_t sensorHandle, bool enabled) {
+    // If activating a sensor, add the handle in a set so that when test fails it can be turned off.
+    // The handle is not removed when it is deactivating on purpose so that it is not necessary to
+    // check the return value of deactivation. Deactivating a sensor more than once does not have
+    // negative effect.
+    if (enabled) {
+        mSensorHandles.insert(sensorHandle);
+    }
+    return getSensors()->activate(sensorHandle, enabled);
+}
+
+Return<void> SensorsHidlTest::registerDirectChannel(const SharedMemInfo& mem,
+                                                    ISensors::registerDirectChannel_cb cb) {
+    // If registeration of a channel succeeds, add the handle of channel to a set so that it can be
+    // unregistered when test fails. Unregister a channel does not remove the handle on purpose.
+    // Unregistering a channel more than once should not have negative effect.
+    getSensors()->registerDirectChannel(mem, [&](auto result, auto channelHandle) {
+        if (result == Result::OK) {
+            mDirectChannelHandles.insert(channelHandle);
+        }
+        cb(result, channelHandle);
+    });
+    return Void();
+}
+
+SensorInfoType SensorsHidlTest::defaultSensorByType(SensorTypeVersion type) {
+    SensorInfoType ret;
+
+    ret.type = (SensorTypeVersion)-1;
+    getSensors()->getSensorsList([&](const auto& list) {
+        const size_t count = list.size();
+        for (size_t i = 0; i < count; ++i) {
+            if (list[i].type == type) {
+                ret = list[i];
+                return;
+            }
+        }
+    });
+
+    return ret;
+}
+
+std::vector<SensorInfoType> SensorsHidlTest::getSensorsList() {
+    std::vector<SensorInfoType> ret;
+
+    getSensors()->getSensorsList([&](const auto& list) {
+        const size_t count = list.size();
+        ret.reserve(list.size());
+        for (size_t i = 0; i < count; ++i) {
+            ret.push_back(list[i]);
+        }
+    });
+
+    return ret;
+}
+
+std::vector<SensorInfoType> SensorsHidlTest::getNonOneShotSensors() {
+    std::vector<SensorInfoType> sensors;
+    for (const SensorInfoType& info : getSensorsList()) {
+        if (extractReportMode(info.flags) != SensorFlagBits::ONE_SHOT_MODE) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+std::vector<SensorInfoType> SensorsHidlTest::getNonOneShotAndNonSpecialSensors() {
+    std::vector<SensorInfoType> sensors;
+    for (const SensorInfoType& info : getSensorsList()) {
+        SensorFlagBits reportMode = extractReportMode(info.flags);
+        if (reportMode != SensorFlagBits::ONE_SHOT_MODE &&
+            reportMode != SensorFlagBits::SPECIAL_REPORTING_MODE) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+std::vector<SensorInfoType> SensorsHidlTest::getOneShotSensors() {
+    std::vector<SensorInfoType> sensors;
+    for (const SensorInfoType& info : getSensorsList()) {
+        if (extractReportMode(info.flags) == SensorFlagBits::ONE_SHOT_MODE) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+std::vector<SensorInfoType> SensorsHidlTest::getInjectEventSensors() {
+    std::vector<SensorInfoType> sensors;
+    for (const SensorInfoType& info : getSensorsList()) {
+        if (info.flags & static_cast<uint32_t>(SensorFlagBits::DATA_INJECTION)) {
+            sensors.push_back(info);
+        }
+    }
+    return sensors;
+}
+
+int32_t SensorsHidlTest::getInvalidSensorHandle() {
+    // Find a sensor handle that does not exist in the sensor list
+    int32_t maxHandle = 0;
+    for (const SensorInfoType& sensor : getSensorsList()) {
+        maxHandle = std::max(maxHandle, sensor.sensorHandle);
+    }
+    return maxHandle + 1;
+}
+
+// Test if sensor list returned is valid
+TEST_P(SensorsHidlTest, SensorListValid) {
+    getSensors()->getSensorsList([&](const auto& list) {
+        const size_t count = list.size();
+        for (size_t i = 0; i < count; ++i) {
+            const auto& s = list[i];
+            SCOPED_TRACE(::testing::Message()
+                         << i << "/" << count << ": "
+                         << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                         << s.sensorHandle << std::dec << " type=" << static_cast<int>(s.type)
+                         << " name=" << s.name);
+
+            // Test non-empty type string
+            EXPECT_FALSE(s.typeAsString.empty());
+
+            // Test defined type matches defined string type
+            EXPECT_NO_FATAL_FAILURE(assertTypeMatchStringType(s.type, s.typeAsString));
+
+            // Test if all sensor has name and vendor
+            EXPECT_FALSE(s.name.empty());
+            EXPECT_FALSE(s.vendor.empty());
+
+            // Test power > 0, maxRange > 0
+            EXPECT_LE(0, s.power);
+            EXPECT_LT(0, s.maxRange);
+
+            // Info type, should have no sensor
+            EXPECT_FALSE(s.type == SensorTypeVersion::ADDITIONAL_INFO ||
+                         s.type == SensorTypeVersion::META_DATA);
+
+            // Test fifoMax >= fifoReserved
+            EXPECT_GE(s.fifoMaxEventCount, s.fifoReservedEventCount)
+                    << "max=" << s.fifoMaxEventCount << " reserved=" << s.fifoReservedEventCount;
+
+            // Test Reporting mode valid
+            EXPECT_NO_FATAL_FAILURE(assertTypeMatchReportMode(s.type, extractReportMode(s.flags)));
+
+            // Test min max are in the right order
+            EXPECT_LE(s.minDelay, s.maxDelay);
+            // Test min/max delay matches reporting mode
+            EXPECT_NO_FATAL_FAILURE(
+                    assertDelayMatchReportMode(s.minDelay, s.maxDelay, extractReportMode(s.flags)));
+        }
+    });
+}
+
+// Test that SetOperationMode returns the expected value
+TEST_P(SensorsHidlTest, SetOperationMode) {
+    std::vector<SensorInfoType> sensors = getInjectEventSensors();
+    if (getInjectEventSensors().size() > 0) {
+        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
+        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
+        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
+    } else {
+        ASSERT_EQ(Result::BAD_VALUE, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
+    }
+}
+
+// Test that an injected event is written back to the Event FMQ
+TEST_P(SensorsHidlTest, InjectSensorEventData) {
+    std::vector<SensorInfoType> sensors = getInjectEventSensors();
+    if (sensors.size() == 0) {
+        return;
+    }
+
+    ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
+
+    EventCallback callback;
+    getEnvironment()->registerCallback(&callback);
+
+    // AdditionalInfo event should not be sent to Event FMQ
+    EventType additionalInfoEvent;
+    additionalInfoEvent.sensorType = SensorTypeVersion::ADDITIONAL_INFO;
+    additionalInfoEvent.timestamp = android::elapsedRealtimeNano();
+
+    EventType injectedEvent;
+    injectedEvent.timestamp = android::elapsedRealtimeNano();
+    Vec3 data = {1, 2, 3, SensorStatus::ACCURACY_HIGH};
+    injectedEvent.u.vec3 = data;
+
+    for (const auto& s : sensors) {
+        additionalInfoEvent.sensorHandle = s.sensorHandle;
+        EXPECT_EQ(Result::OK, getSensors()->injectSensorData(additionalInfoEvent));
+
+        injectedEvent.sensorType = s.type;
+        injectedEvent.sensorHandle = s.sensorHandle;
+        EXPECT_EQ(Result::OK, getSensors()->injectSensorData(injectedEvent));
+    }
+
+    // Wait for events to be written back to the Event FMQ
+    callback.waitForEvents(sensors, milliseconds(1000) /* timeout */);
+
+    for (const auto& s : sensors) {
+        auto events = callback.getEvents(s.sensorHandle);
+        auto lastEvent = events.back();
+
+        // 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.sensorType, s.type);
+        ASSERT_EQ(lastEvent.timestamp, injectedEvent.timestamp);
+        ASSERT_EQ(lastEvent.u.vec3.x, injectedEvent.u.vec3.x);
+        ASSERT_EQ(lastEvent.u.vec3.y, injectedEvent.u.vec3.y);
+        ASSERT_EQ(lastEvent.u.vec3.z, injectedEvent.u.vec3.z);
+        ASSERT_EQ(lastEvent.u.vec3.status, injectedEvent.u.vec3.status);
+    }
+
+    getEnvironment()->unregisterCallback();
+    ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
+}
+
+// Test if sensor hal can do UI speed accelerometer streaming properly
+TEST_P(SensorsHidlTest, AccelerometerStreamingOperationSlow) {
+    testStreamingOperation(SensorTypeVersion::ACCELEROMETER, std::chrono::milliseconds(200),
+                           std::chrono::seconds(5), mAccelNormChecker);
+}
+
+// Test if sensor hal can do normal speed accelerometer streaming properly
+TEST_P(SensorsHidlTest, AccelerometerStreamingOperationNormal) {
+    testStreamingOperation(SensorTypeVersion::ACCELEROMETER, std::chrono::milliseconds(20),
+                           std::chrono::seconds(5), mAccelNormChecker);
+}
+
+// Test if sensor hal can do game speed accelerometer streaming properly
+TEST_P(SensorsHidlTest, AccelerometerStreamingOperationFast) {
+    testStreamingOperation(SensorTypeVersion::ACCELEROMETER, std::chrono::milliseconds(5),
+                           std::chrono::seconds(5), mAccelNormChecker);
+}
+
+// Test if sensor hal can do UI speed gyroscope streaming properly
+TEST_P(SensorsHidlTest, GyroscopeStreamingOperationSlow) {
+    testStreamingOperation(SensorTypeVersion::GYROSCOPE, std::chrono::milliseconds(200),
+                           std::chrono::seconds(5), mGyroNormChecker);
+}
+
+// Test if sensor hal can do normal speed gyroscope streaming properly
+TEST_P(SensorsHidlTest, GyroscopeStreamingOperationNormal) {
+    testStreamingOperation(SensorTypeVersion::GYROSCOPE, std::chrono::milliseconds(20),
+                           std::chrono::seconds(5), mGyroNormChecker);
+}
+
+// Test if sensor hal can do game speed gyroscope streaming properly
+TEST_P(SensorsHidlTest, GyroscopeStreamingOperationFast) {
+    testStreamingOperation(SensorTypeVersion::GYROSCOPE, std::chrono::milliseconds(5),
+                           std::chrono::seconds(5), mGyroNormChecker);
+}
+
+// Test if sensor hal can do UI speed magnetometer streaming properly
+TEST_P(SensorsHidlTest, MagnetometerStreamingOperationSlow) {
+    testStreamingOperation(SensorTypeVersion::MAGNETIC_FIELD, std::chrono::milliseconds(200),
+                           std::chrono::seconds(5), NullChecker<EventType>());
+}
+
+// Test if sensor hal can do normal speed magnetometer streaming properly
+TEST_P(SensorsHidlTest, MagnetometerStreamingOperationNormal) {
+    testStreamingOperation(SensorTypeVersion::MAGNETIC_FIELD, std::chrono::milliseconds(20),
+                           std::chrono::seconds(5), NullChecker<EventType>());
+}
+
+// Test if sensor hal can do game speed magnetometer streaming properly
+TEST_P(SensorsHidlTest, MagnetometerStreamingOperationFast) {
+    testStreamingOperation(SensorTypeVersion::MAGNETIC_FIELD, std::chrono::milliseconds(5),
+                           std::chrono::seconds(5), NullChecker<EventType>());
+}
+
+// Test if sensor hal can do accelerometer sampling rate switch properly when sensor is active
+TEST_P(SensorsHidlTest, AccelerometerSamplingPeriodHotSwitchOperation) {
+    testSamplingRateHotSwitchOperation(SensorTypeVersion::ACCELEROMETER);
+    testSamplingRateHotSwitchOperation(SensorTypeVersion::ACCELEROMETER, false /*fastToSlow*/);
+}
+
+// Test if sensor hal can do gyroscope sampling rate switch properly when sensor is active
+TEST_P(SensorsHidlTest, GyroscopeSamplingPeriodHotSwitchOperation) {
+    testSamplingRateHotSwitchOperation(SensorTypeVersion::GYROSCOPE);
+    testSamplingRateHotSwitchOperation(SensorTypeVersion::GYROSCOPE, false /*fastToSlow*/);
+}
+
+// Test if sensor hal can do magnetometer sampling rate switch properly when sensor is active
+TEST_P(SensorsHidlTest, MagnetometerSamplingPeriodHotSwitchOperation) {
+    testSamplingRateHotSwitchOperation(SensorTypeVersion::MAGNETIC_FIELD);
+    testSamplingRateHotSwitchOperation(SensorTypeVersion::MAGNETIC_FIELD, false /*fastToSlow*/);
+}
+
+// Test if sensor hal can do accelerometer batching properly
+TEST_P(SensorsHidlTest, AccelerometerBatchingOperation) {
+    testBatchingOperation(SensorTypeVersion::ACCELEROMETER);
+}
+
+// Test if sensor hal can do gyroscope batching properly
+TEST_P(SensorsHidlTest, GyroscopeBatchingOperation) {
+    testBatchingOperation(SensorTypeVersion::GYROSCOPE);
+}
+
+// Test if sensor hal can do magnetometer batching properly
+TEST_P(SensorsHidlTest, MagnetometerBatchingOperation) {
+    testBatchingOperation(SensorTypeVersion::MAGNETIC_FIELD);
+}
+
+// Test sensor event direct report with ashmem for accel sensor at normal rate
+TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationNormal) {
+    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::ASHMEM,
+                              RateLevel::NORMAL, mAccelNormChecker);
+}
+
+// Test sensor event direct report with ashmem for accel sensor at fast rate
+TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationFast) {
+    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::ASHMEM,
+                              RateLevel::FAST, mAccelNormChecker);
+}
+
+// Test sensor event direct report with ashmem for accel sensor at very fast rate
+TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationVeryFast) {
+    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::ASHMEM,
+                              RateLevel::VERY_FAST, mAccelNormChecker);
+}
+
+// Test sensor event direct report with ashmem for gyro sensor at normal rate
+TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationNormal) {
+    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::ASHMEM,
+                              RateLevel::NORMAL, mGyroNormChecker);
+}
+
+// Test sensor event direct report with ashmem for gyro sensor at fast rate
+TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationFast) {
+    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::FAST,
+                              mGyroNormChecker);
+}
+
+// Test sensor event direct report with ashmem for gyro sensor at very fast rate
+TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationVeryFast) {
+    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::ASHMEM,
+                              RateLevel::VERY_FAST, mGyroNormChecker);
+}
+
+// Test sensor event direct report with ashmem for mag sensor at normal rate
+TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationNormal) {
+    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::ASHMEM,
+                              RateLevel::NORMAL, NullChecker<EventType>());
+}
+
+// Test sensor event direct report with ashmem for mag sensor at fast rate
+TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationFast) {
+    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::ASHMEM,
+                              RateLevel::FAST, NullChecker<EventType>());
+}
+
+// Test sensor event direct report with ashmem for mag sensor at very fast rate
+TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationVeryFast) {
+    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::ASHMEM,
+                              RateLevel::VERY_FAST, NullChecker<EventType>());
+}
+
+// Test sensor event direct report with gralloc for accel sensor at normal rate
+TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationNormal) {
+    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::GRALLOC,
+                              RateLevel::NORMAL, mAccelNormChecker);
+}
+
+// Test sensor event direct report with gralloc for accel sensor at fast rate
+TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationFast) {
+    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::GRALLOC,
+                              RateLevel::FAST, mAccelNormChecker);
+}
+
+// Test sensor event direct report with gralloc for accel sensor at very fast rate
+TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationVeryFast) {
+    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::GRALLOC,
+                              RateLevel::VERY_FAST, mAccelNormChecker);
+}
+
+// Test sensor event direct report with gralloc for gyro sensor at normal rate
+TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationNormal) {
+    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::GRALLOC,
+                              RateLevel::NORMAL, mGyroNormChecker);
+}
+
+// Test sensor event direct report with gralloc for gyro sensor at fast rate
+TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationFast) {
+    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::FAST,
+                              mGyroNormChecker);
+}
+
+// Test sensor event direct report with gralloc for gyro sensor at very fast rate
+TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationVeryFast) {
+    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::GRALLOC,
+                              RateLevel::VERY_FAST, mGyroNormChecker);
+}
+
+// Test sensor event direct report with gralloc for mag sensor at normal rate
+TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationNormal) {
+    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::GRALLOC,
+                              RateLevel::NORMAL, NullChecker<EventType>());
+}
+
+// Test sensor event direct report with gralloc for mag sensor at fast rate
+TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationFast) {
+    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::GRALLOC,
+                              RateLevel::FAST, NullChecker<EventType>());
+}
+
+// Test sensor event direct report with gralloc for mag sensor at very fast rate
+TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationVeryFast) {
+    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::GRALLOC,
+                              RateLevel::VERY_FAST, NullChecker<EventType>());
+}
+
+void SensorsHidlTest::activateAllSensors(bool enable) {
+    for (const SensorInfoType& sensorInfo : getSensorsList()) {
+        if (isValidType(sensorInfo.type)) {
+            batch(sensorInfo.sensorHandle, sensorInfo.minDelay, 0 /* maxReportLatencyNs */);
+            activate(sensorInfo.sensorHandle, enable);
+        }
+    }
+}
+
+// Test that if initialize is called twice, then the HAL writes events to the FMQs from the second
+// call to the function.
+TEST_P(SensorsHidlTest, CallInitializeTwice) {
+    // Create a helper class so that a second environment is able to be instantiated
+    class SensorsHidlEnvironmentTest : public SensorsHidlEnvironmentV2_X {
+      public:
+        SensorsHidlEnvironmentTest(const std::string& service_name)
+            : SensorsHidlEnvironmentV2_X(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<SensorsHidlEnvironmentTest> newEnv =
+            std::make_unique<SensorsHidlEnvironmentTest>(GetParam());
+    newEnv->HidlSetUp();
+    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(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), 0);
+    // Verify that the new event queue receives sensor events
+    EXPECT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, newEnv.get(), newEnv.get()).size(),
+              kNumEvents);
+    activateAllSensors(false);
+
+    // Cleanup the test environment
+    newEnv->HidlTearDown();
+
+    // Restore the test environment for future tests
+    getEnvironment()->HidlTearDown();
+    getEnvironment()->HidlSetUp();
+    if (HasFatalFailure()) {
+        return;  // Exit early if resetting the environment failed
+    }
+
+    // Ensure that the original environment is receiving events
+    activateAllSensors(true);
+    EXPECT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents).size(), kNumEvents);
+    activateAllSensors(false);
+}
+
+TEST_P(SensorsHidlTest, CleanupConnectionsOnInitialize) {
+    activateAllSensors(true);
+
+    // Verify that events are received
+    constexpr useconds_t kCollectionTimeoutUs = 1000 * 1000;  // 1s
+    constexpr int32_t kNumEvents = 1;
+    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), kNumEvents);
+
+    // Clear the active sensor handles so they are not disabled during TearDown
+    auto handles = mSensorHandles;
+    mSensorHandles.clear();
+    getEnvironment()->HidlTearDown();
+    getEnvironment()->HidlSetUp();
+    if (HasFatalFailure()) {
+        return;  // Exit early if resetting the environment failed
+    }
+
+    // Verify no events are received until sensors are re-activated
+    ASSERT_EQ(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), 0);
+    activateAllSensors(true);
+    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), kNumEvents);
+
+    // Disable sensors
+    activateAllSensors(false);
+
+    // Restore active sensors prior to clearing the environment
+    mSensorHandles = handles;
+}
+
+void SensorsHidlTest::runSingleFlushTest(const std::vector<SensorInfoType>& sensors,
+                                         bool activateSensor, int32_t expectedFlushCount,
+                                         Result expectedResponse) {
+    runFlushTest(sensors, activateSensor, 1 /* flushCalls */, expectedFlushCount, expectedResponse);
+}
+
+void SensorsHidlTest::runFlushTest(const std::vector<SensorInfoType>& sensors, bool activateSensor,
+                                   int32_t flushCalls, int32_t expectedFlushCount,
+                                   Result expectedResponse) {
+    EventCallback callback;
+    getEnvironment()->registerCallback(&callback);
+
+    for (const SensorInfoType& sensor : sensors) {
+        // Configure and activate the sensor
+        batch(sensor.sensorHandle, sensor.maxDelay, 0 /* maxReportLatencyNs */);
+        activate(sensor.sensorHandle, activateSensor);
+
+        // Flush the sensor
+        for (int32_t i = 0; i < flushCalls; i++) {
+            Result flushResult = flush(sensor.sensorHandle);
+            ASSERT_EQ(flushResult, expectedResponse);
+        }
+    }
+
+    // Wait up to one second for the flush events
+    callback.waitForFlushEvents(sensors, flushCalls, milliseconds(1000) /* timeout */);
+
+    // Deactivate all sensors after waiting for flush events so pending flush events are not
+    // abandoned by the HAL.
+    for (const SensorInfoType& sensor : sensors) {
+        activate(sensor.sensorHandle, false);
+    }
+    getEnvironment()->unregisterCallback();
+
+    // Check that the correct number of flushes are present for each sensor
+    for (const SensorInfoType& sensor : sensors) {
+        ASSERT_EQ(callback.getFlushCount(sensor.sensorHandle), expectedFlushCount);
+    }
+}
+
+TEST_P(SensorsHidlTest, FlushSensor) {
+    // Find a sensor that is not a one-shot sensor
+    std::vector<SensorInfoType> sensors = getNonOneShotSensors();
+    if (sensors.size() == 0) {
+        return;
+    }
+
+    constexpr int32_t kFlushes = 5;
+    runSingleFlushTest(sensors, true /* activateSensor */, 1 /* expectedFlushCount */, Result::OK);
+    runFlushTest(sensors, true /* activateSensor */, kFlushes, kFlushes, Result::OK);
+}
+
+TEST_P(SensorsHidlTest, FlushOneShotSensor) {
+    // Find a sensor that is a one-shot sensor
+    std::vector<SensorInfoType> sensors = getOneShotSensors();
+    if (sensors.size() == 0) {
+        return;
+    }
+
+    runSingleFlushTest(sensors, true /* activateSensor */, 0 /* expectedFlushCount */,
+                       Result::BAD_VALUE);
+}
+
+TEST_P(SensorsHidlTest, FlushInactiveSensor) {
+    // Attempt to find a non-one shot sensor, then a one-shot sensor if necessary
+    std::vector<SensorInfoType> sensors = getNonOneShotSensors();
+    if (sensors.size() == 0) {
+        sensors = getOneShotSensors();
+        if (sensors.size() == 0) {
+            return;
+        }
+    }
+
+    runSingleFlushTest(sensors, false /* activateSensor */, 0 /* expectedFlushCount */,
+                       Result::BAD_VALUE);
+}
+
+TEST_P(SensorsHidlTest, FlushNonexistentSensor) {
+    SensorInfoType sensor;
+    std::vector<SensorInfoType> sensors = getNonOneShotSensors();
+    if (sensors.size() == 0) {
+        sensors = getOneShotSensors();
+        if (sensors.size() == 0) {
+            return;
+        }
+    }
+    sensor = sensors.front();
+    sensor.sensorHandle = getInvalidSensorHandle();
+    runSingleFlushTest(std::vector<SensorInfoType>{sensor}, false /* activateSensor */,
+                       0 /* expectedFlushCount */, Result::BAD_VALUE);
+}
+
+TEST_P(SensorsHidlTest, Batch) {
+    if (getSensorsList().size() == 0) {
+        return;
+    }
+
+    activateAllSensors(false /* enable */);
+    for (const SensorInfoType& sensor : getSensorsList()) {
+        // 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) == SensorFlagBits::ONE_SHOT_MODE
+                                           ? 0
+                                           : sensor.minDelay;
+        ASSERT_EQ(batch(sensor.sensorHandle, samplingPeriodNs, 0 /* maxReportLatencyNs */),
+                  Result::OK);
+
+        // Activate the sensor
+        activate(sensor.sensorHandle, true /* enabled */);
+
+        // Call batch on an active sensor
+        ASSERT_EQ(batch(sensor.sensorHandle, sensor.maxDelay, 0 /* maxReportLatencyNs */),
+                  Result::OK);
+    }
+    activateAllSensors(false /* enable */);
+
+    // Call batch on an invalid sensor
+    SensorInfoType sensor = getSensorsList().front();
+    sensor.sensorHandle = getInvalidSensorHandle();
+    ASSERT_EQ(batch(sensor.sensorHandle, sensor.minDelay, 0 /* maxReportLatencyNs */),
+              Result::BAD_VALUE);
+}
+
+TEST_P(SensorsHidlTest, Activate) {
+    if (getSensorsList().size() == 0) {
+        return;
+    }
+
+    // Verify that sensor events are generated when activate is called
+    for (const SensorInfoType& sensor : getSensorsList()) {
+        batch(sensor.sensorHandle, sensor.minDelay, 0 /* maxReportLatencyNs */);
+        ASSERT_EQ(activate(sensor.sensorHandle, true), Result::OK);
+
+        // Call activate on a sensor that is already activated
+        ASSERT_EQ(activate(sensor.sensorHandle, true), Result::OK);
+
+        // Deactivate the sensor
+        ASSERT_EQ(activate(sensor.sensorHandle, false), Result::OK);
+
+        // Call deactivate on a sensor that is already deactivated
+        ASSERT_EQ(activate(sensor.sensorHandle, false), Result::OK);
+    }
+
+    // Attempt to activate an invalid sensor
+    int32_t invalidHandle = getInvalidSensorHandle();
+    ASSERT_EQ(activate(invalidHandle, true), Result::BAD_VALUE);
+    ASSERT_EQ(activate(invalidHandle, false), Result::BAD_VALUE);
+}
+
+TEST_P(SensorsHidlTest, NoStaleEvents) {
+    constexpr milliseconds kFiveHundredMs(500);
+    constexpr milliseconds kOneSecond(1000);
+
+    // Register the callback to receive sensor events
+    EventCallback callback;
+    getEnvironment()->registerCallback(&callback);
+
+    // This test is not valid for one-shot or special-report-mode sensors
+    const std::vector<SensorInfoType> sensors = getNonOneShotAndNonSpecialSensors();
+    milliseconds maxMinDelay(0);
+    for (const SensorInfoType& sensor : sensors) {
+        milliseconds minDelay = duration_cast<milliseconds>(microseconds(sensor.minDelay));
+        maxMinDelay = 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 SensorInfoType& sensor : sensors) {
+        // Some on-change sensors may not report an event without stimulus
+        if (extractReportMode(sensor.flags) != SensorFlagBits::ON_CHANGE_MODE) {
+            ASSERT_GE(callback.getEvents(sensor.sensorHandle).size(), 1);
+        }
+        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<microseconds>(kOneSecond + (5 * maxMinDelay)).count());
+    callback.reset();
+    activateAllSensors(true);
+    callback.waitForEvents(sensors, kFiveHundredMs + (5 * maxMinDelay));
+    activateAllSensors(false);
+
+    for (const SensorInfoType& sensor : sensors) {
+        // Skip sensors that did not previously report an event
+        if (lastEventTimestampMap.find(sensor.sensorHandle) == lastEventTimestampMap.end()) {
+            continue;
+        }
+        // Skip on-change sensors that do not consistently report an initial event
+        if (callback.getEvents(sensor.sensorHandle).size() < 1) {
+            continue;
+        }
+        // Ensure that the first event received is not stale by ensuring that its timestamp is
+        // sufficiently different from the previous event
+        const EventType newEvent = callback.getEvents(sensor.sensorHandle).front();
+        milliseconds delta = duration_cast<milliseconds>(
+                nanoseconds(newEvent.timestamp - lastEventTimestampMap[sensor.sensorHandle]));
+        milliseconds sensorMinDelay = duration_cast<milliseconds>(microseconds(sensor.minDelay));
+        ASSERT_GE(delta, kFiveHundredMs + (3 * sensorMinDelay));
+    }
+}
+
+void SensorsHidlTest::checkRateLevel(const SensorInfoType& sensor, int32_t directChannelHandle,
+                                     RateLevel rateLevel) {
+    configDirectReport(sensor.sensorHandle, directChannelHandle, rateLevel,
+                       [&](Result result, int32_t reportToken) {
+                           if (isDirectReportRateSupported(sensor, rateLevel)) {
+                               ASSERT_EQ(result, Result::OK);
+                               if (rateLevel != RateLevel::STOP) {
+                                   ASSERT_GT(reportToken, 0);
+                               }
+                           } else {
+                               ASSERT_EQ(result, Result::BAD_VALUE);
+                           }
+                       });
+}
+
+void SensorsHidlTest::queryDirectChannelSupport(SharedMemType memType, bool* supportsSharedMemType,
+                                                bool* supportsAnyDirectChannel) {
+    *supportsSharedMemType = false;
+    *supportsAnyDirectChannel = false;
+    for (const SensorInfoType& curSensor : getSensorsList()) {
+        if (isDirectChannelTypeSupported(curSensor, memType)) {
+            *supportsSharedMemType = true;
+        }
+        if (isDirectChannelTypeSupported(curSensor, SharedMemType::ASHMEM) ||
+            isDirectChannelTypeSupported(curSensor, SharedMemType::GRALLOC)) {
+            *supportsAnyDirectChannel = true;
+        }
+
+        if (*supportsSharedMemType && *supportsAnyDirectChannel) {
+            break;
+        }
+    }
+}
+
+void SensorsHidlTest::verifyRegisterDirectChannel(
+        std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem,
+        int32_t* directChannelHandle, bool supportsSharedMemType, bool supportsAnyDirectChannel) {
+    char* buffer = mem->getBuffer();
+    memset(buffer, 0xff, mem->getSize());
+
+    registerDirectChannel(mem->getSharedMemInfo(), [&](Result result, int32_t channelHandle) {
+        if (supportsSharedMemType) {
+            ASSERT_EQ(result, Result::OK);
+            ASSERT_GT(channelHandle, 0);
+
+            // Verify that the memory has been zeroed
+            for (size_t i = 0; i < mem->getSize(); i++) {
+                ASSERT_EQ(buffer[i], 0x00);
+            }
+        } else {
+            Result expectedResult =
+                    supportsAnyDirectChannel ? Result::BAD_VALUE : Result::INVALID_OPERATION;
+            ASSERT_EQ(result, expectedResult);
+            ASSERT_EQ(channelHandle, -1);
+        }
+        *directChannelHandle = channelHandle;
+    });
+}
+
+void SensorsHidlTest::verifyConfigure(const SensorInfoType& sensor, SharedMemType memType,
+                                      int32_t directChannelHandle, bool supportsAnyDirectChannel) {
+    if (isDirectChannelTypeSupported(sensor, memType)) {
+        // Verify that each rate level is properly supported
+        checkRateLevel(sensor, directChannelHandle, RateLevel::NORMAL);
+        checkRateLevel(sensor, directChannelHandle, RateLevel::FAST);
+        checkRateLevel(sensor, directChannelHandle, RateLevel::VERY_FAST);
+        checkRateLevel(sensor, directChannelHandle, RateLevel::STOP);
+
+        // Verify that a sensor handle of -1 is only acceptable when using RateLevel::STOP
+        configDirectReport(-1 /* sensorHandle */, directChannelHandle, RateLevel::NORMAL,
+                           [](Result result, int32_t /* reportToken */) {
+                               ASSERT_EQ(result, Result::BAD_VALUE);
+                           });
+        configDirectReport(
+                -1 /* sensorHandle */, directChannelHandle, RateLevel::STOP,
+                [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::OK); });
+    } else {
+        // directChannelHandle will be -1 here, HAL should either reject it as a bad value if there
+        // is some level of direct channel report, otherwise return INVALID_OPERATION if direct
+        // channel is not supported at all
+        Result expectedResult =
+                supportsAnyDirectChannel ? Result::BAD_VALUE : Result::INVALID_OPERATION;
+        configDirectReport(sensor.sensorHandle, directChannelHandle, RateLevel::NORMAL,
+                           [expectedResult](Result result, int32_t /* reportToken */) {
+                               ASSERT_EQ(result, expectedResult);
+                           });
+    }
+}
+
+void SensorsHidlTest::verifyUnregisterDirectChannel(int32_t directChannelHandle,
+                                                    bool supportsAnyDirectChannel) {
+    Result expectedResult = supportsAnyDirectChannel ? Result::OK : Result::INVALID_OPERATION;
+    ASSERT_EQ(unregisterDirectChannel(directChannelHandle), expectedResult);
+}
+
+void SensorsHidlTest::verifyDirectChannel(SharedMemType memType) {
+    constexpr size_t kNumEvents = 1;
+    constexpr size_t kMemSize = kNumEvents * kEventSize;
+
+    std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem(
+            SensorsTestSharedMemory<SensorTypeVersion, EventType>::create(memType, kMemSize));
+    ASSERT_NE(mem, nullptr);
+
+    bool supportsSharedMemType;
+    bool supportsAnyDirectChannel;
+    queryDirectChannelSupport(memType, &supportsSharedMemType, &supportsAnyDirectChannel);
+
+    for (const SensorInfoType& sensor : getSensorsList()) {
+        int32_t directChannelHandle = 0;
+        verifyRegisterDirectChannel(mem, &directChannelHandle, supportsSharedMemType,
+                                    supportsAnyDirectChannel);
+        verifyConfigure(sensor, memType, directChannelHandle, supportsAnyDirectChannel);
+        verifyUnregisterDirectChannel(directChannelHandle, supportsAnyDirectChannel);
+    }
+}
+
+TEST_P(SensorsHidlTest, DirectChannelAshmem) {
+    verifyDirectChannel(SharedMemType::ASHMEM);
+}
+
+TEST_P(SensorsHidlTest, DirectChannelGralloc) {
+    verifyDirectChannel(SharedMemType::GRALLOC);
+}
+
+bool SensorsHidlTest::getDirectChannelSensor(SensorInfoType* sensor, SharedMemType* memType,
+                                             RateLevel* rate) {
+    bool found = false;
+    for (const SensorInfoType& curSensor : getSensorsList()) {
+        if (isDirectChannelTypeSupported(curSensor, SharedMemType::ASHMEM)) {
+            *memType = SharedMemType::ASHMEM;
+            *sensor = curSensor;
+            found = true;
+            break;
+        } else if (isDirectChannelTypeSupported(curSensor, SharedMemType::GRALLOC)) {
+            *memType = SharedMemType::GRALLOC;
+            *sensor = curSensor;
+            found = true;
+            break;
+        }
+    }
+
+    if (found) {
+        // Find a supported rate level
+        constexpr int kNumRateLevels = 3;
+        RateLevel rates[kNumRateLevels] = {RateLevel::NORMAL, RateLevel::FAST,
+                                           RateLevel::VERY_FAST};
+        *rate = RateLevel::STOP;
+        for (int i = 0; i < kNumRateLevels; i++) {
+            if (isDirectReportRateSupported(*sensor, rates[i])) {
+                *rate = rates[i];
+            }
+        }
+
+        // At least one rate level must be supported
+        EXPECT_NE(*rate, RateLevel::STOP);
+    }
+    return found;
+}
+
+TEST_P(SensorsHidlTest, ConfigureDirectChannelWithInvalidHandle) {
+    SensorInfoType sensor;
+    SharedMemType memType;
+    RateLevel rate;
+    if (!getDirectChannelSensor(&sensor, &memType, &rate)) {
+        return;
+    }
+
+    // Verify that an invalid channel handle produces a BAD_VALUE result
+    configDirectReport(sensor.sensorHandle, -1, rate, [](Result result, int32_t /* reportToken */) {
+        ASSERT_EQ(result, Result::BAD_VALUE);
+    });
+}
+
+TEST_P(SensorsHidlTest, CleanupDirectConnectionOnInitialize) {
+    constexpr size_t kNumEvents = 1;
+    constexpr size_t kMemSize = kNumEvents * kEventSize;
+
+    SensorInfoType sensor;
+    SharedMemType memType;
+    RateLevel rate;
+
+    if (!getDirectChannelSensor(&sensor, &memType, &rate)) {
+        return;
+    }
+
+    std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem(
+            SensorsTestSharedMemory<SensorTypeVersion, EventType>::create(memType, kMemSize));
+    ASSERT_NE(mem, nullptr);
+
+    int32_t directChannelHandle = 0;
+    registerDirectChannel(mem->getSharedMemInfo(), [&](Result result, int32_t channelHandle) {
+        ASSERT_EQ(result, Result::OK);
+        directChannelHandle = channelHandle;
+    });
+
+    // Configure the channel and expect success
+    configDirectReport(
+            sensor.sensorHandle, directChannelHandle, rate,
+            [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::OK); });
+
+    // Call initialize() via the environment setup to cause the HAL to re-initialize
+    // Clear the active direct connections so they are not stopped during TearDown
+    auto handles = mDirectChannelHandles;
+    mDirectChannelHandles.clear();
+    getEnvironment()->HidlTearDown();
+    getEnvironment()->HidlSetUp();
+    if (HasFatalFailure()) {
+        return;  // Exit early if resetting the environment failed
+    }
+
+    // Attempt to configure the direct channel and expect it to fail
+    configDirectReport(
+            sensor.sensorHandle, directChannelHandle, rate,
+            [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::BAD_VALUE); });
+
+    // Restore original handles, though they should already be deactivated
+    mDirectChannelHandles = handles;
+}
diff --git a/sensors/common/vts/utils/Android.bp b/sensors/common/vts/utils/Android.bp
index bb4d329..ca4346a 100644
--- a/sensors/common/vts/utils/Android.bp
+++ b/sensors/common/vts/utils/Android.bp
@@ -20,9 +20,6 @@
     cflags: ["-DLOG_TAG=\"sensors_hidl_hal_test\""],
     srcs: [
         "GrallocWrapper.cpp",
-        "SensorsHidlEnvironmentBase.cpp",
-        "SensorsHidlTestBase.cpp",
-        "SensorsTestSharedMemory.cpp",
     ],
     export_include_dirs: [
         "include",
@@ -30,6 +27,9 @@
     local_include_dirs: [
         "include/sensors-vts-utils",
     ],
+    shared_libs: [
+        "libutils",
+    ],
     static_libs: [
         "android.hardware.graphics.allocator@2.0",
         "android.hardware.graphics.allocator@3.0",
@@ -37,5 +37,7 @@
         "android.hardware.graphics.mapper@2.1",
         "android.hardware.graphics.mapper@3.0",
         "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
     ],
 }
diff --git a/sensors/common/vts/utils/SensorsHidlEnvironmentBase.cpp b/sensors/common/vts/utils/SensorsHidlEnvironmentBase.cpp
deleted file mode 100644
index fa0e2e9..0000000
--- a/sensors/common/vts/utils/SensorsHidlEnvironmentBase.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (C) 2018 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "SensorsHidlEnvironmentBase.h"
-
-void SensorsHidlEnvironmentBase::HidlSetUp() {
-    ASSERT_TRUE(resetHal()) << "could not get hidl service";
-
-    mCollectionEnabled = false;
-    startPollingThread();
-
-    // In case framework just stopped for test and there is sensor events in the pipe,
-    // wait some time for those events to be cleared to avoid them messing up the test.
-    std::this_thread::sleep_for(std::chrono::seconds(3));
-}
-
-void SensorsHidlEnvironmentBase::HidlTearDown() {
-    mStopThread = true;
-    if (mPollThread.joinable()) {
-        mPollThread.detach();
-    }
-}
-
-void SensorsHidlEnvironmentBase::catEvents(std::vector<Event>* output) {
-    std::lock_guard<std::mutex> lock(mEventsMutex);
-    if (output) {
-        output->insert(output->end(), mEvents.begin(), mEvents.end());
-    }
-    mEvents.clear();
-}
-
-void SensorsHidlEnvironmentBase::setCollection(bool enable) {
-    std::lock_guard<std::mutex> lock(mEventsMutex);
-    mCollectionEnabled = enable;
-}
-
-void SensorsHidlEnvironmentBase::addEvent(const Event& ev) {
-    std::lock_guard<std::mutex> lock(mEventsMutex);
-    if (mCollectionEnabled) {
-        mEvents.push_back(ev);
-    }
-
-    if (mCallback != nullptr) {
-        mCallback->onEvent(ev);
-    }
-}
-
-void SensorsHidlEnvironmentBase::registerCallback(IEventCallback* callback) {
-    std::lock_guard<std::mutex> lock(mEventsMutex);
-    mCallback = callback;
-}
-
-void SensorsHidlEnvironmentBase::unregisterCallback() {
-    std::lock_guard<std::mutex> lock(mEventsMutex);
-    mCallback = nullptr;
-}
\ No newline at end of file
diff --git a/sensors/common/vts/utils/SensorsHidlTestBase.cpp b/sensors/common/vts/utils/SensorsHidlTestBase.cpp
deleted file mode 100644
index 18549df..0000000
--- a/sensors/common/vts/utils/SensorsHidlTestBase.cpp
+++ /dev/null
@@ -1,584 +0,0 @@
-/*
- * Copyright (C) 2018 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "SensorsHidlTestBase.h"
-
-#include "sensors-vts-utils/GrallocWrapper.h"
-#include "sensors-vts-utils/SensorsTestSharedMemory.h"
-
-#include <hardware/sensors.h>  // for sensor type strings
-#include <log/log.h>
-#include <utils/SystemClock.h>
-
-#include <cinttypes>
-
-using ::android::sp;
-using ::android::hardware::hidl_string;
-using ::android::hardware::Return;
-using ::android::hardware::Void;
-using ::android::hardware::sensors::V1_0::SensorFlagShift;
-using ::android::hardware::sensors::V1_0::SensorsEventFormatOffset;
-
-const Vec3NormChecker SensorsHidlTestBase::sAccelNormChecker(
-    Vec3NormChecker::byNominal(GRAVITY_EARTH, 1.0f /*m/s^2*/));
-const Vec3NormChecker SensorsHidlTestBase::sGyroNormChecker(
-    Vec3NormChecker::byNominal(0.f, 0.1f /*rad/s*/));
-
-std::vector<Event> SensorsHidlTestBase::collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
-                                                      bool clearBeforeStart,
-                                                      bool changeCollection) {
-    return collectEvents(timeLimitUs, nEventLimit, getEnvironment(), clearBeforeStart,
-                         changeCollection);
-}
-
-std::vector<Event> SensorsHidlTestBase::collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
-                                                      SensorsHidlEnvironmentBase* environment,
-                                                      bool clearBeforeStart,
-                                                      bool changeCollection) {
-    std::vector<Event> events;
-    constexpr useconds_t SLEEP_GRANULARITY = 100 * 1000;  // granularity 100 ms
-
-    ALOGI("collect max of %zu events for %d us, clearBeforeStart %d", nEventLimit, timeLimitUs,
-          clearBeforeStart);
-
-    if (changeCollection) {
-        environment->setCollection(true);
-    }
-    if (clearBeforeStart) {
-        environment->catEvents(nullptr);
-    }
-
-    while (timeLimitUs > 0) {
-        useconds_t duration = std::min(SLEEP_GRANULARITY, timeLimitUs);
-        usleep(duration);
-        timeLimitUs -= duration;
-
-        environment->catEvents(&events);
-        if (events.size() >= nEventLimit) {
-            break;
-        }
-        ALOGV("time to go = %d, events to go = %d", (int)timeLimitUs,
-              (int)(nEventLimit - events.size()));
-    }
-
-    if (changeCollection) {
-        environment->setCollection(false);
-    }
-    return events;
-}
-
-void SensorsHidlTestBase::assertTypeMatchStringType(SensorType type,
-                                                    const hidl_string& stringType) {
-    if (type >= SensorType::DEVICE_PRIVATE_BASE) {
-        return;
-    }
-
-    switch (type) {
-#define CHECK_TYPE_STRING_FOR_SENSOR_TYPE(type)                      \
-    case SensorType::type:                                           \
-        ASSERT_STREQ(SENSOR_STRING_TYPE_##type, stringType.c_str()); \
-        break;
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER_UNCALIBRATED);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ADDITIONAL_INFO);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(AMBIENT_TEMPERATURE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DEVICE_ORIENTATION);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DYNAMIC_SENSOR_META);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GAME_ROTATION_VECTOR);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GEOMAGNETIC_ROTATION_VECTOR);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GLANCE_GESTURE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GRAVITY);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE_UNCALIBRATED);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_BEAT);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_RATE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LIGHT);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LINEAR_ACCELERATION);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LOW_LATENCY_OFFBODY_DETECT);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD_UNCALIBRATED);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MOTION_DETECT);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ORIENTATION);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PICK_UP_GESTURE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(POSE_6DOF);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PRESSURE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PROXIMITY);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(RELATIVE_HUMIDITY);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ROTATION_VECTOR);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(SIGNIFICANT_MOTION);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STATIONARY_DETECT);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_COUNTER);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_DETECTOR);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TEMPERATURE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TILT_DETECTOR);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WAKE_GESTURE);
-        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WRIST_TILT_GESTURE);
-        default:
-            FAIL() << "Type " << static_cast<int>(type)
-                   << " in android defined range is not checked, "
-                   << "stringType = " << stringType;
-#undef CHECK_TYPE_STRING_FOR_SENSOR_TYPE
-    }
-}
-
-void SensorsHidlTestBase::assertTypeMatchReportMode(SensorType type, SensorFlagBits reportMode) {
-    if (type >= SensorType::DEVICE_PRIVATE_BASE) {
-        return;
-    }
-
-    SensorFlagBits expected = expectedReportModeForType(type);
-
-    ASSERT_TRUE(expected == (SensorFlagBits)-1 || expected == reportMode)
-        << "reportMode=" << static_cast<int>(reportMode)
-        << "expected=" << static_cast<int>(expected);
-}
-
-void SensorsHidlTestBase::assertDelayMatchReportMode(int32_t minDelay, int32_t maxDelay,
-                                                     SensorFlagBits reportMode) {
-    switch (reportMode) {
-        case SensorFlagBits::CONTINUOUS_MODE:
-            ASSERT_LT(0, minDelay);
-            ASSERT_LE(0, maxDelay);
-            break;
-        case SensorFlagBits::ON_CHANGE_MODE:
-            ASSERT_LE(0, minDelay);
-            ASSERT_LE(0, maxDelay);
-            break;
-        case SensorFlagBits::ONE_SHOT_MODE:
-            ASSERT_EQ(-1, minDelay);
-            ASSERT_EQ(0, maxDelay);
-            break;
-        case SensorFlagBits::SPECIAL_REPORTING_MODE:
-            // do not enforce anything for special reporting mode
-            break;
-        default:
-            FAIL() << "Report mode " << static_cast<int>(reportMode) << " not checked";
-    }
-}
-
-// return -1 means no expectation for this type
-SensorFlagBits SensorsHidlTestBase::expectedReportModeForType(SensorType type) {
-    switch (type) {
-        case SensorType::ACCELEROMETER:
-        case SensorType::ACCELEROMETER_UNCALIBRATED:
-        case SensorType::GYROSCOPE:
-        case SensorType::MAGNETIC_FIELD:
-        case SensorType::ORIENTATION:
-        case SensorType::PRESSURE:
-        case SensorType::TEMPERATURE:
-        case SensorType::GRAVITY:
-        case SensorType::LINEAR_ACCELERATION:
-        case SensorType::ROTATION_VECTOR:
-        case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
-        case SensorType::GAME_ROTATION_VECTOR:
-        case SensorType::GYROSCOPE_UNCALIBRATED:
-        case SensorType::GEOMAGNETIC_ROTATION_VECTOR:
-        case SensorType::POSE_6DOF:
-        case SensorType::HEART_BEAT:
-            return SensorFlagBits::CONTINUOUS_MODE;
-
-        case SensorType::LIGHT:
-        case SensorType::PROXIMITY:
-        case SensorType::RELATIVE_HUMIDITY:
-        case SensorType::AMBIENT_TEMPERATURE:
-        case SensorType::HEART_RATE:
-        case SensorType::DEVICE_ORIENTATION:
-        case SensorType::STEP_COUNTER:
-        case SensorType::LOW_LATENCY_OFFBODY_DETECT:
-            return SensorFlagBits::ON_CHANGE_MODE;
-
-        case SensorType::SIGNIFICANT_MOTION:
-        case SensorType::WAKE_GESTURE:
-        case SensorType::GLANCE_GESTURE:
-        case SensorType::PICK_UP_GESTURE:
-        case SensorType::MOTION_DETECT:
-        case SensorType::STATIONARY_DETECT:
-            return SensorFlagBits::ONE_SHOT_MODE;
-
-        case SensorType::STEP_DETECTOR:
-        case SensorType::TILT_DETECTOR:
-        case SensorType::WRIST_TILT_GESTURE:
-        case SensorType::DYNAMIC_SENSOR_META:
-            return SensorFlagBits::SPECIAL_REPORTING_MODE;
-
-        default:
-            ALOGW("Type %d is not implemented in expectedReportModeForType", (int)type);
-            return (SensorFlagBits)-1;
-    }
-}
-
-bool SensorsHidlTestBase::isDirectReportRateSupported(SensorInfo sensor, RateLevel rate) {
-    unsigned int r = static_cast<unsigned int>(sensor.flags & SensorFlagBits::MASK_DIRECT_REPORT) >>
-                     static_cast<unsigned int>(SensorFlagShift::DIRECT_REPORT);
-    return r >= static_cast<unsigned int>(rate);
-}
-
-bool SensorsHidlTestBase::isDirectChannelTypeSupported(SensorInfo sensor, SharedMemType type) {
-    switch (type) {
-        case SharedMemType::ASHMEM:
-            return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_ASHMEM) != 0;
-        case SharedMemType::GRALLOC:
-            return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_GRALLOC) != 0;
-        default:
-            return false;
-    }
-}
-
-void SensorsHidlTestBase::testDirectReportOperation(SensorType type, SharedMemType memType,
-                                                    RateLevel rate,
-                                                    const SensorEventsChecker& checker) {
-    constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
-    constexpr size_t kNEvent = 4096;
-    constexpr size_t kMemSize = kEventSize * kNEvent;
-
-    constexpr float kNormalNominal = 50;
-    constexpr float kFastNominal = 200;
-    constexpr float kVeryFastNominal = 800;
-
-    constexpr float kNominalTestTimeSec = 1.f;
-    constexpr float kMaxTestTimeSec = kNominalTestTimeSec + 0.5f;  // 0.5 second for initialization
-
-    SensorInfo sensor = defaultSensorByType(type);
-
-    if (!isValidType(sensor.type)) {
-        // no default sensor of this type
-        return;
-    }
-
-    if (!isDirectReportRateSupported(sensor, rate)) {
-        return;
-    }
-
-    if (!isDirectChannelTypeSupported(sensor, memType)) {
-        return;
-    }
-
-    std::unique_ptr<SensorsTestSharedMemory> mem(
-        SensorsTestSharedMemory::create(memType, kMemSize));
-    ASSERT_NE(mem, nullptr);
-
-    char* buffer = mem->getBuffer();
-    // fill memory with data
-    for (size_t i = 0; i < kMemSize; ++i) {
-        buffer[i] = '\xcc';
-    }
-
-    int32_t channelHandle;
-    registerDirectChannel(mem->getSharedMemInfo(),
-                          [&channelHandle](auto result, auto channelHandle_) {
-                              ASSERT_EQ(result, Result::OK);
-                              channelHandle = channelHandle_;
-                          });
-
-    // check memory is zeroed
-    for (size_t i = 0; i < kMemSize; ++i) {
-        ASSERT_EQ(buffer[i], '\0');
-    }
-
-    int32_t eventToken;
-    configDirectReport(sensor.sensorHandle, channelHandle, rate,
-                       [&eventToken](auto result, auto token) {
-                           ASSERT_EQ(result, Result::OK);
-                           eventToken = token;
-                       });
-
-    usleep(static_cast<useconds_t>(kMaxTestTimeSec * 1e6f));
-    auto events = mem->parseEvents();
-
-    // find norminal rate
-    float nominalFreq = 0.f;
-    switch (rate) {
-        case RateLevel::NORMAL:
-            nominalFreq = kNormalNominal;
-            break;
-        case RateLevel::FAST:
-            nominalFreq = kFastNominal;
-            break;
-        case RateLevel::VERY_FAST:
-            nominalFreq = kVeryFastNominal;
-            break;
-        case RateLevel::STOP:
-            FAIL();
-    }
-
-    // allowed to be between 55% and 220% of nominal freq
-    ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * kNominalTestTimeSec));
-    ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * kMaxTestTimeSec));
-
-    int64_t lastTimestamp = 0;
-    bool typeErrorReported = false;
-    bool tokenErrorReported = false;
-    bool timestampErrorReported = false;
-    std::vector<Event> sensorEvents;
-    for (auto& e : events) {
-        if (!tokenErrorReported) {
-            EXPECT_EQ(eventToken, e.sensorHandle)
-                << (tokenErrorReported = true,
-                    "Event token does not match that retured from configDirectReport");
-        }
-
-        if (isMetaSensorType(e.sensorType)) {
-            continue;
-        }
-        sensorEvents.push_back(e);
-
-        if (!typeErrorReported) {
-            EXPECT_EQ(type, e.sensorType)
-                << (typeErrorReported = true,
-                    "Type in event does not match type of sensor registered.");
-        }
-        if (!timestampErrorReported) {
-            EXPECT_GT(e.timestamp, lastTimestamp)
-                << (timestampErrorReported = true, "Timestamp not monotonically increasing");
-        }
-        lastTimestamp = e.timestamp;
-    }
-
-    std::string s;
-    EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
-
-    // stop sensor and unregister channel
-    configDirectReport(sensor.sensorHandle, channelHandle, RateLevel::STOP,
-                       [](auto result, auto) { EXPECT_EQ(result, Result::OK); });
-    EXPECT_EQ(unregisterDirectChannel(channelHandle), Result::OK);
-}
-
-void SensorsHidlTestBase::testStreamingOperation(SensorType type,
-                                                 std::chrono::nanoseconds samplingPeriod,
-                                                 std::chrono::seconds duration,
-                                                 const SensorEventsChecker& checker) {
-    std::vector<Event> events;
-    std::vector<Event> sensorEvents;
-
-    const int64_t samplingPeriodInNs = samplingPeriod.count();
-    const int64_t batchingPeriodInNs = 0;  // no batching
-    const useconds_t minTimeUs = std::chrono::microseconds(duration).count();
-    const size_t minNEvent = duration / samplingPeriod;
-
-    SensorInfo sensor = defaultSensorByType(type);
-
-    if (!isValidType(sensor.type)) {
-        // no default sensor of this type
-        return;
-    }
-
-    if (std::chrono::microseconds(sensor.minDelay) > samplingPeriod) {
-        // rate not supported
-        return;
-    }
-
-    int32_t handle = sensor.sensorHandle;
-
-    ASSERT_EQ(batch(handle, samplingPeriodInNs, batchingPeriodInNs), Result::OK);
-    ASSERT_EQ(activate(handle, 1), Result::OK);
-    events = collectEvents(minTimeUs, minNEvent, true /*clearBeforeStart*/);
-    ASSERT_EQ(activate(handle, 0), Result::OK);
-
-    ALOGI("Collected %zu samples", events.size());
-
-    ASSERT_GT(events.size(), 0u);
-
-    bool handleMismatchReported = false;
-    bool metaSensorTypeErrorReported = false;
-    for (auto& e : events) {
-        if (e.sensorType == type) {
-            // avoid generating hundreds of error
-            if (!handleMismatchReported) {
-                EXPECT_EQ(e.sensorHandle, handle)
-                    << (handleMismatchReported = true,
-                        "Event of the same type must come from the sensor registered");
-            }
-            sensorEvents.push_back(e);
-        } else {
-            // avoid generating hundreds of error
-            if (!metaSensorTypeErrorReported) {
-                EXPECT_TRUE(isMetaSensorType(e.sensorType))
-                    << (metaSensorTypeErrorReported = true,
-                        "Only meta types are allowed besides the type registered");
-            }
-        }
-    }
-
-    std::string s;
-    EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
-
-    EXPECT_GE(sensorEvents.size(),
-              minNEvent / 2);  // make sure returned events are not all meta
-}
-
-void SensorsHidlTestBase::testSamplingRateHotSwitchOperation(SensorType type, bool fastToSlow) {
-    std::vector<Event> events1, events2;
-
-    constexpr int64_t batchingPeriodInNs = 0;          // no batching
-    constexpr int64_t collectionTimeoutUs = 60000000;  // 60s
-    constexpr size_t minNEvent = 50;
-
-    SensorInfo sensor = defaultSensorByType(type);
-
-    if (!isValidType(sensor.type)) {
-        // no default sensor of this type
-        return;
-    }
-
-    int32_t handle = sensor.sensorHandle;
-    int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
-    int64_t maxSamplingPeriodInNs = sensor.maxDelay * 1000ll;
-
-    if (minSamplingPeriodInNs == maxSamplingPeriodInNs) {
-        // only support single rate
-        return;
-    }
-
-    int64_t firstCollectionPeriod = fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
-    int64_t secondCollectionPeriod = !fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
-
-    // first collection
-    ASSERT_EQ(batch(handle, firstCollectionPeriod, batchingPeriodInNs), Result::OK);
-    ASSERT_EQ(activate(handle, 1), Result::OK);
-
-    usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
-    events1 = collectEvents(collectionTimeoutUs, minNEvent);
-
-    // second collection, without stop sensor
-    ASSERT_EQ(batch(handle, secondCollectionPeriod, batchingPeriodInNs), Result::OK);
-
-    usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
-    events2 = collectEvents(collectionTimeoutUs, minNEvent);
-
-    // end of collection, stop sensor
-    ASSERT_EQ(activate(handle, 0), Result::OK);
-
-    ALOGI("Collected %zu fast samples and %zu slow samples", events1.size(), events2.size());
-
-    ASSERT_GT(events1.size(), 0u);
-    ASSERT_GT(events2.size(), 0u);
-
-    int64_t minDelayAverageInterval, maxDelayAverageInterval;
-    std::vector<Event>& minDelayEvents(fastToSlow ? events1 : events2);
-    std::vector<Event>& maxDelayEvents(fastToSlow ? events2 : events1);
-
-    size_t nEvent = 0;
-    int64_t prevTimestamp = -1;
-    int64_t timestampInterval = 0;
-    for (auto& e : minDelayEvents) {
-        if (e.sensorType == type) {
-            ASSERT_EQ(e.sensorHandle, handle);
-            if (prevTimestamp > 0) {
-                timestampInterval += e.timestamp - prevTimestamp;
-            }
-            prevTimestamp = e.timestamp;
-            ++nEvent;
-        }
-    }
-    ASSERT_GT(nEvent, 2u);
-    minDelayAverageInterval = timestampInterval / (nEvent - 1);
-
-    nEvent = 0;
-    prevTimestamp = -1;
-    timestampInterval = 0;
-    for (auto& e : maxDelayEvents) {
-        if (e.sensorType == type) {
-            ASSERT_EQ(e.sensorHandle, handle);
-            if (prevTimestamp > 0) {
-                timestampInterval += e.timestamp - prevTimestamp;
-            }
-            prevTimestamp = e.timestamp;
-            ++nEvent;
-        }
-    }
-    ASSERT_GT(nEvent, 2u);
-    maxDelayAverageInterval = timestampInterval / (nEvent - 1);
-
-    // change of rate is significant.
-    ALOGI("min/maxDelayAverageInterval = %" PRId64 " %" PRId64, minDelayAverageInterval,
-          maxDelayAverageInterval);
-    EXPECT_GT((maxDelayAverageInterval - minDelayAverageInterval), minDelayAverageInterval / 10);
-
-    // fastest rate sampling time is close to spec
-    EXPECT_LT(std::abs(minDelayAverageInterval - minSamplingPeriodInNs),
-              minSamplingPeriodInNs / 10);
-
-    // slowest rate sampling time is close to spec
-    EXPECT_LT(std::abs(maxDelayAverageInterval - maxSamplingPeriodInNs),
-              maxSamplingPeriodInNs / 10);
-}
-
-void SensorsHidlTestBase::testBatchingOperation(SensorType type) {
-    std::vector<Event> events;
-
-    constexpr int64_t maxBatchingTestTimeNs = 30ull * 1000 * 1000 * 1000;
-    constexpr int64_t oneSecondInNs = 1ull * 1000 * 1000 * 1000;
-
-    SensorInfo sensor = defaultSensorByType(type);
-
-    if (!isValidType(sensor.type)) {
-        // no default sensor of this type
-        return;
-    }
-
-    int32_t handle = sensor.sensorHandle;
-    int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
-    uint32_t minFifoCount = sensor.fifoReservedEventCount;
-    int64_t batchingPeriodInNs = minFifoCount * minSamplingPeriodInNs;
-
-    if (batchingPeriodInNs < oneSecondInNs) {
-        // batching size too small to test reliably
-        return;
-    }
-
-    batchingPeriodInNs = std::min(batchingPeriodInNs, maxBatchingTestTimeNs);
-
-    ALOGI("Test batching for %d ms", (int)(batchingPeriodInNs / 1000 / 1000));
-
-    int64_t allowedBatchDeliverTimeNs = std::max(oneSecondInNs, batchingPeriodInNs / 10);
-
-    ASSERT_EQ(batch(handle, minSamplingPeriodInNs, INT64_MAX), Result::OK);
-    ASSERT_EQ(activate(handle, 1), Result::OK);
-
-    usleep(500000);  // sleep 0.5 sec to wait for initialization
-    ASSERT_EQ(flush(handle), Result::OK);
-
-    // wait for 80% of the reserved batching period
-    // there should not be any significant amount of events
-    // since collection is not enabled all events will go down the drain
-    usleep(batchingPeriodInNs / 1000 * 8 / 10);
-
-    getEnvironment()->setCollection(true);
-    // clean existing collections
-    collectEvents(0 /*timeLimitUs*/, 0 /*nEventLimit*/, true /*clearBeforeStart*/,
-                  false /*change collection*/);
-
-    // 0.8 + 0.2 times the batching period
-    usleep(batchingPeriodInNs / 1000 * 8 / 10);
-    ASSERT_EQ(flush(handle), Result::OK);
-
-    // plus some time for the event to deliver
-    events = collectEvents(allowedBatchDeliverTimeNs / 1000, minFifoCount,
-                           false /*clearBeforeStart*/, false /*change collection*/);
-
-    getEnvironment()->setCollection(false);
-    ASSERT_EQ(activate(handle, 0), Result::OK);
-
-    size_t nEvent = 0;
-    for (auto& e : events) {
-        if (e.sensorType == type && e.sensorHandle == handle) {
-            ++nEvent;
-        }
-    }
-
-    // at least reach 90% of advertised capacity
-    ASSERT_GT(nEvent, (size_t)(minFifoCount * 9 / 10));
-}
diff --git a/sensors/common/vts/utils/SensorsTestSharedMemory.cpp b/sensors/common/vts/utils/SensorsTestSharedMemory.cpp
deleted file mode 100644
index 3b068bd..0000000
--- a/sensors/common/vts/utils/SensorsTestSharedMemory.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-/*
- * Copyright (C) 2018 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "SensorsTestSharedMemory.h"
-
-#include <log/log.h>
-
-#include <sys/mman.h>
-#include <cinttypes>
-
-using namespace ::android::hardware::sensors::V1_0;
-
-SharedMemInfo SensorsTestSharedMemory::getSharedMemInfo() const {
-    SharedMemInfo mem = {.type = mType,
-                         .format = SharedMemFormat::SENSORS_EVENT,
-                         .size = static_cast<uint32_t>(mSize),
-                         .memoryHandle = mNativeHandle};
-    return mem;
-}
-
-char* SensorsTestSharedMemory::getBuffer() const {
-    return mBuffer;
-}
-
-size_t SensorsTestSharedMemory::getSize() const {
-    return mSize;
-}
-
-std::vector<Event> SensorsTestSharedMemory::parseEvents(int64_t lastCounter, size_t offset) const {
-    constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
-    constexpr size_t kOffsetSize = static_cast<size_t>(SensorsEventFormatOffset::SIZE_FIELD);
-    constexpr size_t kOffsetToken = static_cast<size_t>(SensorsEventFormatOffset::REPORT_TOKEN);
-    constexpr size_t kOffsetType = static_cast<size_t>(SensorsEventFormatOffset::SENSOR_TYPE);
-    constexpr size_t kOffsetAtomicCounter =
-        static_cast<size_t>(SensorsEventFormatOffset::ATOMIC_COUNTER);
-    constexpr size_t kOffsetTimestamp = static_cast<size_t>(SensorsEventFormatOffset::TIMESTAMP);
-    constexpr size_t kOffsetData = static_cast<size_t>(SensorsEventFormatOffset::DATA);
-
-    std::vector<Event> events;
-    std::vector<float> data(16);
-
-    while (offset + kEventSize <= mSize) {
-        int64_t atomicCounter =
-            *reinterpret_cast<uint32_t*>(mBuffer + offset + kOffsetAtomicCounter);
-        if (atomicCounter <= lastCounter) {
-            ALOGV("atomicCounter = %" PRId64 ", lastCounter = %" PRId64, atomicCounter,
-                  lastCounter);
-            break;
-        }
-
-        int32_t size = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetSize);
-        if (size != kEventSize) {
-            // unknown error, events parsed may be wrong, remove all
-            events.clear();
-            break;
-        }
-
-        int32_t token = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetToken);
-        int32_t type = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetType);
-        int64_t timestamp = *reinterpret_cast<int64_t*>(mBuffer + offset + kOffsetTimestamp);
-
-        ALOGV("offset = %zu, cnt %" PRId64 ", token %" PRId32 ", type %" PRId32
-              ", timestamp %" PRId64,
-              offset, atomicCounter, token, type, timestamp);
-
-        Event event = {
-            .timestamp = timestamp,
-            .sensorHandle = token,
-            .sensorType = static_cast<SensorType>(type),
-        };
-        event.u.data = android::hardware::hidl_array<float, 16>(
-            reinterpret_cast<float*>(mBuffer + offset + kOffsetData));
-
-        events.push_back(event);
-
-        lastCounter = atomicCounter;
-        offset += kEventSize;
-    }
-
-    return events;
-}
-
-SensorsTestSharedMemory::SensorsTestSharedMemory(SharedMemType type, size_t size)
-    : mType(type), mSize(0), mBuffer(nullptr) {
-    native_handle_t* handle = nullptr;
-    char* buffer = nullptr;
-    switch (type) {
-        case SharedMemType::ASHMEM: {
-            int fd;
-            handle = ::native_handle_create(1 /*nFds*/, 0 /*nInts*/);
-            if (handle != nullptr) {
-                handle->data[0] = fd = ::ashmem_create_region("SensorsTestSharedMemory", size);
-                if (handle->data[0] > 0) {
-                    // memory is pinned by default
-                    buffer = static_cast<char*>(
-                        ::mmap(NULL, size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
-                    if (buffer != reinterpret_cast<char*>(MAP_FAILED)) {
-                        break;
-                    }
-                    ::native_handle_close(handle);
-                }
-                ::native_handle_delete(handle);
-                handle = nullptr;
-            }
-            break;
-        }
-        case SharedMemType::GRALLOC: {
-            mGrallocWrapper = std::make_unique<::android::GrallocWrapper>();
-            if (!mGrallocWrapper->isInitialized()) {
-                break;
-            }
-
-            std::pair<native_handle_t*, void*> buf = mGrallocWrapper->allocate(size);
-            handle = buf.first;
-            buffer = static_cast<char*>(buf.second);
-            break;
-        }
-        default:
-            break;
-    }
-
-    if (buffer != nullptr) {
-        mNativeHandle = handle;
-        mSize = size;
-        mBuffer = buffer;
-    }
-}
-
-SensorsTestSharedMemory::~SensorsTestSharedMemory() {
-    switch (mType) {
-        case SharedMemType::ASHMEM: {
-            if (mSize != 0) {
-                ::munmap(mBuffer, mSize);
-                mBuffer = nullptr;
-
-                ::native_handle_close(mNativeHandle);
-                ::native_handle_delete(mNativeHandle);
-
-                mNativeHandle = nullptr;
-                mSize = 0;
-            }
-            break;
-        }
-        case SharedMemType::GRALLOC: {
-            if (mSize != 0) {
-                mGrallocWrapper->freeBuffer(mNativeHandle);
-                mNativeHandle = nullptr;
-                mSize = 0;
-            }
-            break;
-        }
-        default: {
-            if (mNativeHandle != nullptr || mSize != 0 || mBuffer != nullptr) {
-                ALOGE(
-                    "SensorsTestSharedMemory %p not properly destructed: "
-                    "type %d, native handle %p, size %zu, buffer %p",
-                    this, static_cast<int>(mType), mNativeHandle, mSize, mBuffer);
-            }
-            break;
-        }
-    }
-}
-
-SensorsTestSharedMemory* SensorsTestSharedMemory::create(SharedMemType type, size_t size) {
-    constexpr size_t kMaxSize = 128 * 1024 * 1024;  // sensor test should not need more than 128M
-    if (size == 0 || size >= kMaxSize) {
-        return nullptr;
-    }
-
-    auto m = new SensorsTestSharedMemory(type, size);
-    if (m->mSize != size || m->mBuffer == nullptr) {
-        delete m;
-        m = nullptr;
-    }
-    return m;
-}
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorEventsChecker.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorEventsChecker.h
index b5daccc..d6d3227 100644
--- a/sensors/common/vts/utils/include/sensors-vts-utils/SensorEventsChecker.h
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorEventsChecker.h
@@ -17,26 +17,26 @@
 #ifndef ANDROID_SENSOR_EVENTS_CHECKER_H
 #define ANDROID_SENSOR_EVENTS_CHECKER_H
 
-#include <android/hardware/sensors/1.0/types.h>
-
 #include <cmath>
 
+template <class EventType>
 class SensorEventsChecker {
-   public:
-    using Event = ::android::hardware::sensors::V1_0::Event;
-    virtual bool check(const std::vector<Event>& events, std::string* out) const = 0;
+  public:
+    virtual bool check(const std::vector<EventType>& events, std::string* out) const = 0;
     virtual ~SensorEventsChecker() {}
 };
 
-class NullChecker : public SensorEventsChecker {
-   public:
-    virtual bool check(const std::vector<Event>&, std::string*) const { return true; }
+template <class EventType>
+class NullChecker : public SensorEventsChecker<EventType> {
+  public:
+    virtual bool check(const std::vector<EventType>&, std::string*) const { return true; }
 };
 
-class SensorEventPerEventChecker : public SensorEventsChecker {
-   public:
-    virtual bool checkEvent(const Event& event, std::string* out) const = 0;
-    virtual bool check(const std::vector<Event>& events, std::string* out) const {
+template <class EventType>
+class SensorEventPerEventChecker : public SensorEventsChecker<EventType> {
+  public:
+    virtual bool checkEvent(const EventType& event, std::string* out) const = 0;
+    virtual bool check(const std::vector<EventType>& events, std::string* out) const {
         for (const auto& e : events) {
             if (!checkEvent(e, out)) {
                 return false;
@@ -46,14 +46,15 @@
     }
 };
 
-class Vec3NormChecker : public SensorEventPerEventChecker {
-   public:
+template <class EventType>
+class Vec3NormChecker : public SensorEventPerEventChecker<EventType> {
+  public:
     Vec3NormChecker(float min, float max) : mLowerLimit(min), mUpperLimit(max) {}
-    static Vec3NormChecker byNominal(float nominal, float allowedError) {
-        return Vec3NormChecker(nominal - allowedError, nominal + allowedError);
+    static Vec3NormChecker<EventType> byNominal(float nominal, float allowedError) {
+        return Vec3NormChecker<EventType>(nominal - allowedError, nominal + allowedError);
     }
 
-    virtual bool checkEvent(const Event& event, std::string* out) const {
+    virtual bool checkEvent(const EventType& event, std::string* out) const {
         android::hardware::sensors::V1_0::Vec3 v = event.u.vec3;
         float norm = std::sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
         if (norm < mLowerLimit || norm > mUpperLimit) {
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlEnvironmentBase.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlEnvironmentBase.h
index dbc9392..781427d 100644
--- a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlEnvironmentBase.h
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlEnvironmentBase.h
@@ -17,7 +17,6 @@
 #ifndef ANDROID_SENSORS_HIDL_ENVIRONMENT_BASE_H
 #define ANDROID_SENSORS_HIDL_ENVIRONMENT_BASE_H
 
-#include <android/hardware/sensors/1.0/types.h>
 #include <gtest/gtest.h>
 
 #include <atomic>
@@ -26,27 +25,59 @@
 #include <thread>
 #include <vector>
 
+template <class Event>
 class IEventCallback {
-   public:
+  public:
     virtual ~IEventCallback() = default;
-    virtual void onEvent(const ::android::hardware::sensors::V1_0::Event& event) = 0;
+    virtual void onEvent(const Event& event) = 0;
 };
 
+template <class Event>
 class SensorsHidlEnvironmentBase {
   public:
-    using Event = ::android::hardware::sensors::V1_0::Event;
-    virtual void HidlSetUp();
-    virtual void HidlTearDown();
+    virtual void HidlSetUp() {
+        ASSERT_TRUE(resetHal()) << "could not get hidl service";
+
+        mCollectionEnabled = false;
+        startPollingThread();
+
+        // In case framework just stopped for test and there is sensor events in the pipe,
+        // wait some time for those events to be cleared to avoid them messing up the test.
+        std::this_thread::sleep_for(std::chrono::seconds(3));
+    }
+
+    virtual void HidlTearDown() {
+        mStopThread = true;
+        if (mPollThread.joinable()) {
+            mPollThread.join();
+        }
+    }
 
     // Get and clear all events collected so far (like "cat" shell command).
     // If output is nullptr, it clears all collected events.
-    void catEvents(std::vector<Event>* output);
+    void catEvents(std::vector<Event>* output) {
+        std::lock_guard<std::mutex> lock(mEventsMutex);
+        if (output) {
+            output->insert(output->end(), mEvents.begin(), mEvents.end());
+        }
+        mEvents.clear();
+    }
 
     // set sensor event collection status
-    void setCollection(bool enable);
+    void setCollection(bool enable) {
+        std::lock_guard<std::mutex> lock(mEventsMutex);
+        mCollectionEnabled = enable;
+    }
 
-    void registerCallback(IEventCallback* callback);
-    void unregisterCallback();
+    void registerCallback(IEventCallback<Event>* callback) {
+        std::lock_guard<std::mutex> lock(mEventsMutex);
+        mCallback = callback;
+    }
+
+    void unregisterCallback() {
+        std::lock_guard<std::mutex> lock(mEventsMutex);
+        mCallback = nullptr;
+    }
 
    protected:
      SensorsHidlEnvironmentBase(const std::string& service_name)
@@ -55,7 +86,16 @@
      }
      virtual ~SensorsHidlEnvironmentBase(){};
 
-     void addEvent(const Event& ev);
+     void addEvent(const Event& ev) {
+         std::lock_guard<std::mutex> lock(mEventsMutex);
+         if (mCollectionEnabled) {
+             mEvents.push_back(ev);
+         }
+
+         if (mCallback != nullptr) {
+             mCallback->onEvent(ev);
+         }
+     }
 
      virtual void startPollingThread() = 0;
      virtual bool resetHal() = 0;
@@ -67,9 +107,9 @@
      std::vector<Event> mEvents;
      std::mutex mEventsMutex;
 
-     IEventCallback* mCallback;
+     IEventCallback<Event>* mCallback;
 
-     GTEST_DISALLOW_COPY_AND_ASSIGN_(SensorsHidlEnvironmentBase);
+     GTEST_DISALLOW_COPY_AND_ASSIGN_(SensorsHidlEnvironmentBase<Event>);
 };
 
 #endif  // ANDROID_SENSORS_HIDL_ENVIRONMENT_BASE_H
\ No newline at end of file
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
index 54e899b..03bec87 100644
--- a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
@@ -19,11 +19,15 @@
 
 #include "sensors-vts-utils/SensorEventsChecker.h"
 #include "sensors-vts-utils/SensorsHidlEnvironmentBase.h"
+#include "sensors-vts-utils/SensorsTestSharedMemory.h"
 
 #include <android/hardware/sensors/1.0/ISensors.h>
 #include <android/hardware/sensors/1.0/types.h>
 #include <gtest/gtest.h>
+#include <hardware/sensors.h>
+#include <log/log.h>
 
+#include <cinttypes>
 #include <unordered_set>
 #include <vector>
 
@@ -34,19 +38,130 @@
 
 using ::android::sp;
 using ::android::hardware::hidl_string;
-using ::android::hardware::sensors::V1_0::Event;
-using ::android::hardware::sensors::V1_0::ISensors;
 using ::android::hardware::sensors::V1_0::RateLevel;
 using ::android::hardware::sensors::V1_0::Result;
 using ::android::hardware::sensors::V1_0::SensorFlagBits;
-using ::android::hardware::sensors::V1_0::SensorInfo;
-using ::android::hardware::sensors::V1_0::SensorType;
+using ::android::hardware::sensors::V1_0::SensorFlagShift;
+using ::android::hardware::sensors::V1_0::SensorsEventFormatOffset;
 using ::android::hardware::sensors::V1_0::SharedMemInfo;
 using ::android::hardware::sensors::V1_0::SharedMemType;
 
+template <class SensorTypeT>
+static void assertTypeMatchStringType(SensorTypeT type, const hidl_string& stringType) {
+    if (type >= SensorTypeT::DEVICE_PRIVATE_BASE) {
+        return;
+    }
+
+    switch (type) {
+#define CHECK_TYPE_STRING_FOR_SENSOR_TYPE(type)                      \
+    case SensorTypeT::type:                                          \
+        ASSERT_STREQ(SENSOR_STRING_TYPE_##type, stringType.c_str()); \
+        break;
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER_UNCALIBRATED);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ADDITIONAL_INFO);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(AMBIENT_TEMPERATURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DEVICE_ORIENTATION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DYNAMIC_SENSOR_META);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GAME_ROTATION_VECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GEOMAGNETIC_ROTATION_VECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GLANCE_GESTURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GRAVITY);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE_UNCALIBRATED);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_BEAT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_RATE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LIGHT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LINEAR_ACCELERATION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LOW_LATENCY_OFFBODY_DETECT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD_UNCALIBRATED);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MOTION_DETECT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ORIENTATION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PICK_UP_GESTURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(POSE_6DOF);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PRESSURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PROXIMITY);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(RELATIVE_HUMIDITY);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ROTATION_VECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(SIGNIFICANT_MOTION);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STATIONARY_DETECT);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_COUNTER);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_DETECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TEMPERATURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TILT_DETECTOR);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WAKE_GESTURE);
+        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WRIST_TILT_GESTURE);
+        default:
+            FAIL() << "Type " << static_cast<int>(type)
+                   << " in android defined range is not checked, "
+                   << "stringType = " << stringType;
+#undef CHECK_TYPE_STRING_FOR_SENSOR_TYPE
+    }
+}
+
+template <class SensorTypeT>
+static SensorFlagBits expectedReportModeForType(SensorTypeT type) {
+    switch (type) {
+        case SensorTypeT::ACCELEROMETER:
+        case SensorTypeT::ACCELEROMETER_UNCALIBRATED:
+        case SensorTypeT::GYROSCOPE:
+        case SensorTypeT::MAGNETIC_FIELD:
+        case SensorTypeT::ORIENTATION:
+        case SensorTypeT::PRESSURE:
+        case SensorTypeT::TEMPERATURE:
+        case SensorTypeT::GRAVITY:
+        case SensorTypeT::LINEAR_ACCELERATION:
+        case SensorTypeT::ROTATION_VECTOR:
+        case SensorTypeT::MAGNETIC_FIELD_UNCALIBRATED:
+        case SensorTypeT::GAME_ROTATION_VECTOR:
+        case SensorTypeT::GYROSCOPE_UNCALIBRATED:
+        case SensorTypeT::GEOMAGNETIC_ROTATION_VECTOR:
+        case SensorTypeT::POSE_6DOF:
+        case SensorTypeT::HEART_BEAT:
+            return SensorFlagBits::CONTINUOUS_MODE;
+
+        case SensorTypeT::LIGHT:
+        case SensorTypeT::PROXIMITY:
+        case SensorTypeT::RELATIVE_HUMIDITY:
+        case SensorTypeT::AMBIENT_TEMPERATURE:
+        case SensorTypeT::HEART_RATE:
+        case SensorTypeT::DEVICE_ORIENTATION:
+        case SensorTypeT::STEP_COUNTER:
+        case SensorTypeT::LOW_LATENCY_OFFBODY_DETECT:
+            return SensorFlagBits::ON_CHANGE_MODE;
+
+        case SensorTypeT::SIGNIFICANT_MOTION:
+        case SensorTypeT::WAKE_GESTURE:
+        case SensorTypeT::GLANCE_GESTURE:
+        case SensorTypeT::PICK_UP_GESTURE:
+        case SensorTypeT::MOTION_DETECT:
+        case SensorTypeT::STATIONARY_DETECT:
+            return SensorFlagBits::ONE_SHOT_MODE;
+
+        case SensorTypeT::STEP_DETECTOR:
+        case SensorTypeT::TILT_DETECTOR:
+        case SensorTypeT::WRIST_TILT_GESTURE:
+        case SensorTypeT::DYNAMIC_SENSOR_META:
+            return SensorFlagBits::SPECIAL_REPORTING_MODE;
+
+        default:
+            ALOGW("Type %d is not implemented in expectedReportModeForType", (int)type);
+            return (SensorFlagBits)-1;
+    }
+}
+
+template <class SensorTypeVersion, class EventType, class SensorInfoType>
 class SensorsHidlTestBase : public testing::TestWithParam<std::string> {
   public:
-    virtual SensorsHidlEnvironmentBase* getEnvironment() = 0;
+    using ISensors = ::android::hardware::sensors::V1_0::ISensors;
+
+    SensorsHidlTestBase()
+        : mAccelNormChecker(Vec3NormChecker<EventType>::byNominal(GRAVITY_EARTH, 1.0f /*m/s^2*/)),
+          mGyroNormChecker(Vec3NormChecker<EventType>::byNominal(0.f, 0.1f /*rad/s*/)) {}
+
+    virtual SensorsHidlEnvironmentBase<EventType>* getEnvironment() = 0;
+
     virtual void SetUp() override {}
 
     virtual void TearDown() override {
@@ -66,16 +181,13 @@
     }
 
     // implementation wrapper
-    virtual SensorInfo defaultSensorByType(SensorType type) = 0;
+    virtual SensorInfoType defaultSensorByType(SensorTypeVersion type) = 0;
     virtual Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) = 0;
-
+    virtual Return<Result> injectSensorData(const EventType& event) = 0;
     virtual Return<Result> activate(int32_t sensorHandle, bool enabled) = 0;
-
     virtual Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
                                  int64_t maxReportLatencyNs) = 0;
-
     virtual Return<Result> flush(int32_t sensorHandle) = 0;
-    virtual Return<Result> injectSensorData(const Event& event) = 0;
     virtual Return<void> registerDirectChannel(const SharedMemInfo& mem,
                                                ISensors::registerDirectChannel_cb _hidl_cb) = 0;
     virtual Return<Result> unregisterDirectChannel(int32_t channelHandle) = 0;
@@ -83,12 +195,395 @@
                                             RateLevel rate,
                                             ISensors::configDirectReport_cb _hidl_cb) = 0;
 
-    std::vector<Event> collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
-                                     bool clearBeforeStart = true, bool changeCollection = true);
-    static std::vector<Event> collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
-                                            SensorsHidlEnvironmentBase* environment,
-                                            bool clearBeforeStart = true,
-                                            bool changeCollection = true);
+    std::vector<EventType> collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
+                                         bool clearBeforeStart = true,
+                                         bool changeCollection = true) {
+        return collectEvents(timeLimitUs, nEventLimit, getEnvironment(), clearBeforeStart,
+                             changeCollection);
+    }
+
+    std::vector<EventType> collectEvents(useconds_t timeLimitUs, size_t nEventLimit,
+                                         SensorsHidlEnvironmentBase<EventType>* environment,
+                                         bool clearBeforeStart = true,
+                                         bool changeCollection = true) {
+        std::vector<EventType> events;
+        constexpr useconds_t SLEEP_GRANULARITY = 100 * 1000;  // granularity 100 ms
+
+        ALOGI("collect max of %zu events for %d us, clearBeforeStart %d", nEventLimit, timeLimitUs,
+              clearBeforeStart);
+
+        if (changeCollection) {
+            environment->setCollection(true);
+        }
+        if (clearBeforeStart) {
+            environment->catEvents(nullptr);
+        }
+
+        while (timeLimitUs > 0) {
+            useconds_t duration = std::min(SLEEP_GRANULARITY, timeLimitUs);
+            usleep(duration);
+            timeLimitUs -= duration;
+
+            environment->catEvents(&events);
+            if (events.size() >= nEventLimit) {
+                break;
+            }
+            ALOGV("time to go = %d, events to go = %d", (int)timeLimitUs,
+                  (int)(nEventLimit - events.size()));
+        }
+
+        if (changeCollection) {
+            environment->setCollection(false);
+        }
+        return events;
+    }
+
+    void testStreamingOperation(SensorTypeVersion type, std::chrono::nanoseconds samplingPeriod,
+                                std::chrono::seconds duration,
+                                const SensorEventsChecker<EventType>& checker) {
+        std::vector<EventType> events;
+        std::vector<EventType> sensorEvents;
+
+        const int64_t samplingPeriodInNs = samplingPeriod.count();
+        const int64_t batchingPeriodInNs = 0;  // no batching
+        const useconds_t minTimeUs = std::chrono::microseconds(duration).count();
+        const size_t minNEvent = duration / samplingPeriod;
+
+        SensorInfoType sensor = defaultSensorByType(type);
+
+        if (!isValidType(sensor.type)) {
+            // no default sensor of this type
+            return;
+        }
+
+        if (std::chrono::microseconds(sensor.minDelay) > samplingPeriod) {
+            // rate not supported
+            return;
+        }
+
+        int32_t handle = sensor.sensorHandle;
+
+        ASSERT_EQ(batch(handle, samplingPeriodInNs, batchingPeriodInNs), Result::OK);
+        ASSERT_EQ(activate(handle, 1), Result::OK);
+        events = collectEvents(minTimeUs, minNEvent, getEnvironment(), true /*clearBeforeStart*/);
+        ASSERT_EQ(activate(handle, 0), Result::OK);
+
+        ALOGI("Collected %zu samples", events.size());
+
+        ASSERT_GT(events.size(), 0u);
+
+        bool handleMismatchReported = false;
+        bool metaSensorTypeErrorReported = false;
+        for (auto& e : events) {
+            if (e.sensorType == type) {
+                // avoid generating hundreds of error
+                if (!handleMismatchReported) {
+                    EXPECT_EQ(e.sensorHandle, handle)
+                            << (handleMismatchReported = true,
+                                "Event of the same type must come from the sensor registered");
+                }
+                sensorEvents.push_back(e);
+            } else {
+                // avoid generating hundreds of error
+                if (!metaSensorTypeErrorReported) {
+                    EXPECT_TRUE(isMetaSensorType(e.sensorType))
+                            << (metaSensorTypeErrorReported = true,
+                                "Only meta types are allowed besides the type registered");
+                }
+            }
+        }
+
+        std::string s;
+        EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
+
+        EXPECT_GE(sensorEvents.size(),
+                  minNEvent / 2);  // make sure returned events are not all meta
+    }
+
+    void testSamplingRateHotSwitchOperation(SensorTypeVersion type, bool fastToSlow = true) {
+        std::vector<EventType> events1, events2;
+
+        constexpr int64_t batchingPeriodInNs = 0;          // no batching
+        constexpr int64_t collectionTimeoutUs = 60000000;  // 60s
+        constexpr size_t minNEvent = 50;
+
+        SensorInfoType sensor = defaultSensorByType(type);
+
+        if (!isValidType(sensor.type)) {
+            // no default sensor of this type
+            return;
+        }
+
+        int32_t handle = sensor.sensorHandle;
+        int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
+        int64_t maxSamplingPeriodInNs = sensor.maxDelay * 1000ll;
+
+        if (minSamplingPeriodInNs == maxSamplingPeriodInNs) {
+            // only support single rate
+            return;
+        }
+
+        int64_t firstCollectionPeriod = fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
+        int64_t secondCollectionPeriod =
+                !fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
+
+        // first collection
+        ASSERT_EQ(batch(handle, firstCollectionPeriod, batchingPeriodInNs), Result::OK);
+        ASSERT_EQ(activate(handle, 1), Result::OK);
+
+        usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
+        events1 = collectEvents(collectionTimeoutUs, minNEvent, getEnvironment());
+
+        // second collection, without stop sensor
+        ASSERT_EQ(batch(handle, secondCollectionPeriod, batchingPeriodInNs), Result::OK);
+
+        usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
+        events2 = collectEvents(collectionTimeoutUs, minNEvent, getEnvironment());
+
+        // end of collection, stop sensor
+        ASSERT_EQ(activate(handle, 0), Result::OK);
+
+        ALOGI("Collected %zu fast samples and %zu slow samples", events1.size(), events2.size());
+
+        ASSERT_GT(events1.size(), 0u);
+        ASSERT_GT(events2.size(), 0u);
+
+        int64_t minDelayAverageInterval, maxDelayAverageInterval;
+        std::vector<EventType>& minDelayEvents(fastToSlow ? events1 : events2);
+        std::vector<EventType>& maxDelayEvents(fastToSlow ? events2 : events1);
+
+        size_t nEvent = 0;
+        int64_t prevTimestamp = -1;
+        int64_t timestampInterval = 0;
+        for (auto& e : minDelayEvents) {
+            if (e.sensorType == type) {
+                ASSERT_EQ(e.sensorHandle, handle);
+                if (prevTimestamp > 0) {
+                    timestampInterval += e.timestamp - prevTimestamp;
+                }
+                prevTimestamp = e.timestamp;
+                ++nEvent;
+            }
+        }
+        ASSERT_GT(nEvent, 2u);
+        minDelayAverageInterval = timestampInterval / (nEvent - 1);
+
+        nEvent = 0;
+        prevTimestamp = -1;
+        timestampInterval = 0;
+        for (auto& e : maxDelayEvents) {
+            if (e.sensorType == type) {
+                ASSERT_EQ(e.sensorHandle, handle);
+                if (prevTimestamp > 0) {
+                    timestampInterval += e.timestamp - prevTimestamp;
+                }
+                prevTimestamp = e.timestamp;
+                ++nEvent;
+            }
+        }
+        ASSERT_GT(nEvent, 2u);
+        maxDelayAverageInterval = timestampInterval / (nEvent - 1);
+
+        // change of rate is significant.
+        ALOGI("min/maxDelayAverageInterval = %" PRId64 " %" PRId64, minDelayAverageInterval,
+              maxDelayAverageInterval);
+        EXPECT_GT((maxDelayAverageInterval - minDelayAverageInterval),
+                  minDelayAverageInterval / 10);
+
+        // fastest rate sampling time is close to spec
+        EXPECT_LT(std::abs(minDelayAverageInterval - minSamplingPeriodInNs),
+                  minSamplingPeriodInNs / 10);
+
+        // slowest rate sampling time is close to spec
+        EXPECT_LT(std::abs(maxDelayAverageInterval - maxSamplingPeriodInNs),
+                  maxSamplingPeriodInNs / 10);
+    }
+
+    void testBatchingOperation(SensorTypeVersion type) {
+        std::vector<EventType> events;
+
+        constexpr int64_t maxBatchingTestTimeNs = 30ull * 1000 * 1000 * 1000;
+        constexpr int64_t oneSecondInNs = 1ull * 1000 * 1000 * 1000;
+
+        SensorInfoType sensor = defaultSensorByType(type);
+
+        if (!isValidType(sensor.type)) {
+            // no default sensor of this type
+            return;
+        }
+
+        int32_t handle = sensor.sensorHandle;
+        int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
+        uint32_t minFifoCount = sensor.fifoReservedEventCount;
+        int64_t batchingPeriodInNs = minFifoCount * minSamplingPeriodInNs;
+
+        if (batchingPeriodInNs < oneSecondInNs) {
+            // batching size too small to test reliably
+            return;
+        }
+
+        batchingPeriodInNs = std::min(batchingPeriodInNs, maxBatchingTestTimeNs);
+
+        ALOGI("Test batching for %d ms", (int)(batchingPeriodInNs / 1000 / 1000));
+
+        int64_t allowedBatchDeliverTimeNs = std::max(oneSecondInNs, batchingPeriodInNs / 10);
+
+        ASSERT_EQ(batch(handle, minSamplingPeriodInNs, INT64_MAX), Result::OK);
+        ASSERT_EQ(activate(handle, 1), Result::OK);
+
+        usleep(500000);  // sleep 0.5 sec to wait for initialization
+        ASSERT_EQ(flush(handle), Result::OK);
+
+        // wait for 80% of the reserved batching period
+        // there should not be any significant amount of events
+        // since collection is not enabled all events will go down the drain
+        usleep(batchingPeriodInNs / 1000 * 8 / 10);
+
+        getEnvironment()->setCollection(true);
+        // clean existing collections
+        collectEvents(0 /*timeLimitUs*/, 0 /*nEventLimit*/, true /*clearBeforeStart*/,
+                      false /*change collection*/);
+
+        // 0.8 + 0.2 times the batching period
+        usleep(batchingPeriodInNs / 1000 * 8 / 10);
+        ASSERT_EQ(flush(handle), Result::OK);
+
+        // plus some time for the event to deliver
+        events = collectEvents(allowedBatchDeliverTimeNs / 1000, minFifoCount,
+                               false /*clearBeforeStart*/, false /*change collection*/);
+
+        getEnvironment()->setCollection(false);
+        ASSERT_EQ(activate(handle, 0), Result::OK);
+
+        size_t nEvent = 0;
+        for (auto& e : events) {
+            if (e.sensorType == type && e.sensorHandle == handle) {
+                ++nEvent;
+            }
+        }
+
+        // at least reach 90% of advertised capacity
+        ASSERT_GT(nEvent, (size_t)(minFifoCount * 9 / 10));
+    }
+
+    void testDirectReportOperation(SensorTypeVersion type, SharedMemType memType, RateLevel rate,
+                                   const SensorEventsChecker<EventType>& checker) {
+        constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
+        constexpr size_t kNEvent = 4096;
+        constexpr size_t kMemSize = kEventSize * kNEvent;
+
+        constexpr float kNormalNominal = 50;
+        constexpr float kFastNominal = 200;
+        constexpr float kVeryFastNominal = 800;
+
+        constexpr float kNominalTestTimeSec = 1.f;
+        constexpr float kMaxTestTimeSec =
+                kNominalTestTimeSec + 0.5f;  // 0.5 second for initialization
+
+        SensorInfoType sensor = defaultSensorByType(type);
+
+        if (!isValidType(sensor.type)) {
+            // no default sensor of this type
+            return;
+        }
+
+        if (!isDirectReportRateSupported(sensor, rate)) {
+            return;
+        }
+
+        if (!isDirectChannelTypeSupported(sensor, memType)) {
+            return;
+        }
+
+        std::unique_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem(
+                SensorsTestSharedMemory<SensorTypeVersion, EventType>::create(memType, kMemSize));
+        ASSERT_NE(mem, nullptr);
+
+        char* buffer = mem->getBuffer();
+        // fill memory with data
+        for (size_t i = 0; i < kMemSize; ++i) {
+            buffer[i] = '\xcc';
+        }
+
+        int32_t channelHandle;
+        registerDirectChannel(mem->getSharedMemInfo(),
+                              [&channelHandle](auto result, auto channelHandle_) {
+                                  ASSERT_EQ(result, Result::OK);
+                                  channelHandle = channelHandle_;
+                              });
+
+        // check memory is zeroed
+        for (size_t i = 0; i < kMemSize; ++i) {
+            ASSERT_EQ(buffer[i], '\0');
+        }
+
+        int32_t eventToken;
+        configDirectReport(sensor.sensorHandle, channelHandle, rate,
+                           [&eventToken](auto result, auto token) {
+                               ASSERT_EQ(result, Result::OK);
+                               eventToken = token;
+                           });
+
+        usleep(static_cast<useconds_t>(kMaxTestTimeSec * 1e6f));
+        auto events = mem->parseEvents();
+
+        // find norminal rate
+        float nominalFreq = 0.f;
+        switch (rate) {
+            case RateLevel::NORMAL:
+                nominalFreq = kNormalNominal;
+                break;
+            case RateLevel::FAST:
+                nominalFreq = kFastNominal;
+                break;
+            case RateLevel::VERY_FAST:
+                nominalFreq = kVeryFastNominal;
+                break;
+            case RateLevel::STOP:
+                FAIL();
+        }
+
+        // allowed to be between 55% and 220% of nominal freq
+        ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * kNominalTestTimeSec));
+        ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * kMaxTestTimeSec));
+
+        int64_t lastTimestamp = 0;
+        bool typeErrorReported = false;
+        bool tokenErrorReported = false;
+        bool timestampErrorReported = false;
+        std::vector<EventType> sensorEvents;
+        for (auto& e : events) {
+            if (!tokenErrorReported) {
+                EXPECT_EQ(eventToken, e.sensorHandle)
+                        << (tokenErrorReported = true,
+                            "Event token does not match that retured from configDirectReport");
+            }
+
+            if (isMetaSensorType(e.sensorType)) {
+                continue;
+            }
+            sensorEvents.push_back(e);
+
+            if (!typeErrorReported) {
+                EXPECT_EQ(type, e.sensorType)
+                        << (typeErrorReported = true,
+                            "Type in event does not match type of sensor registered.");
+            }
+            if (!timestampErrorReported) {
+                EXPECT_GT(e.timestamp, lastTimestamp) << (timestampErrorReported = true,
+                                                          "Timestamp not monotonically increasing");
+            }
+            lastTimestamp = e.timestamp;
+        }
+
+        std::string s;
+        EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;
+
+        // stop sensor and unregister channel
+        configDirectReport(sensor.sensorHandle, channelHandle, RateLevel::STOP,
+                           [](auto result, auto) { EXPECT_EQ(result, Result::OK); });
+        EXPECT_EQ(unregisterDirectChannel(channelHandle), Result::OK);
+    }
 
     inline static SensorFlagBits extractReportMode(uint64_t flag) {
         return (SensorFlagBits)(flag & ((uint64_t)SensorFlagBits::CONTINUOUS_MODE |
@@ -97,32 +592,71 @@
                                         (uint64_t)SensorFlagBits::SPECIAL_REPORTING_MODE));
     }
 
-    inline static bool isMetaSensorType(SensorType type) {
-        return (type == SensorType::META_DATA || type == SensorType::DYNAMIC_SENSOR_META ||
-                type == SensorType::ADDITIONAL_INFO);
+    inline static bool isMetaSensorType(SensorTypeVersion type) {
+        return (type == SensorTypeVersion::META_DATA ||
+                type == SensorTypeVersion::DYNAMIC_SENSOR_META ||
+                type == SensorTypeVersion::ADDITIONAL_INFO);
     }
 
-    inline static bool isValidType(SensorType type) { return (int32_t)type > 0; }
+    inline static bool isValidType(SensorTypeVersion type) { return (int32_t)type > 0; }
 
-    void testStreamingOperation(SensorType type, std::chrono::nanoseconds samplingPeriod,
-                                std::chrono::seconds duration, const SensorEventsChecker& checker);
-    void testSamplingRateHotSwitchOperation(SensorType type, bool fastToSlow = true);
-    void testBatchingOperation(SensorType type);
-    void testDirectReportOperation(SensorType type, SharedMemType memType, RateLevel rate,
-                                   const SensorEventsChecker& checker);
-
-    static void assertTypeMatchStringType(SensorType type, const hidl_string& stringType);
-    static void assertTypeMatchReportMode(SensorType type, SensorFlagBits reportMode);
     static void assertDelayMatchReportMode(int32_t minDelay, int32_t maxDelay,
-                                           SensorFlagBits reportMode);
-    static SensorFlagBits expectedReportModeForType(SensorType type);
-    static bool isDirectReportRateSupported(SensorInfo sensor, RateLevel rate);
-    static bool isDirectChannelTypeSupported(SensorInfo sensor, SharedMemType type);
+                                           SensorFlagBits reportMode) {
+        switch (reportMode) {
+            case SensorFlagBits::CONTINUOUS_MODE:
+                ASSERT_LT(0, minDelay);
+                ASSERT_LE(0, maxDelay);
+                break;
+            case SensorFlagBits::ON_CHANGE_MODE:
+                ASSERT_LE(0, minDelay);
+                ASSERT_LE(0, maxDelay);
+                break;
+            case SensorFlagBits::ONE_SHOT_MODE:
+                ASSERT_EQ(-1, minDelay);
+                ASSERT_EQ(0, maxDelay);
+                break;
+            case SensorFlagBits::SPECIAL_REPORTING_MODE:
+                // do not enforce anything for special reporting mode
+                break;
+            default:
+                FAIL() << "Report mode " << static_cast<int>(reportMode) << " not checked";
+        }
+    }
 
-   protected:
-    // checkers
-    static const Vec3NormChecker sAccelNormChecker;
-    static const Vec3NormChecker sGyroNormChecker;
+  protected:
+    static void assertTypeMatchReportMode(SensorTypeVersion type, SensorFlagBits reportMode) {
+        if (type >= SensorTypeVersion::DEVICE_PRIVATE_BASE) {
+            return;
+        }
+
+        SensorFlagBits expected = expectedReportModeForType(type);
+
+        ASSERT_TRUE(expected == (SensorFlagBits)-1 || expected == reportMode)
+                << "reportMode=" << static_cast<int>(reportMode)
+                << "expected=" << static_cast<int>(expected);
+    }
+
+    static bool isDirectReportRateSupported(SensorInfoType sensor, RateLevel rate) {
+        unsigned int r =
+                static_cast<unsigned int>(sensor.flags & SensorFlagBits::MASK_DIRECT_REPORT) >>
+                static_cast<unsigned int>(SensorFlagShift::DIRECT_REPORT);
+        return r >= static_cast<unsigned int>(rate);
+    }
+
+    static bool isDirectChannelTypeSupported(SensorInfoType sensor, SharedMemType type) {
+        switch (type) {
+            case SharedMemType::ASHMEM:
+                return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_ASHMEM) != 0;
+            case SharedMemType::GRALLOC:
+                return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_GRALLOC) != 0;
+            default:
+                return false;
+        }
+    }
+
+    // Checkers
+    Vec3NormChecker<EventType> mAccelNormChecker;
+    Vec3NormChecker<EventType> mGyroNormChecker;
 
     // all sensors and direct channnels used
     std::unordered_set<int32_t> mSensorHandles;
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsTestSharedMemory.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsTestSharedMemory.h
index 002f42c..39084a4 100644
--- a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsTestSharedMemory.h
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsTestSharedMemory.h
@@ -20,25 +20,177 @@
 #include "GrallocWrapper.h"
 
 #include <android-base/macros.h>
-#include <android/hardware/sensors/1.0/types.h>
+#include <log/log.h>
+
+#include <sys/mman.h>
+#include <cinttypes>
 
 #include <cutils/ashmem.h>
 
+using namespace ::android::hardware::sensors::V1_0;
+
+template <class SensorTypeVersion, class EventType>
 class SensorsTestSharedMemory {
-    using SharedMemType = ::android::hardware::sensors::V1_0::SharedMemType;
-    using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
-    using Event = ::android::hardware::sensors::V1_0::Event;
+  public:
+    static SensorsTestSharedMemory* create(SharedMemType type, size_t size) {
+        constexpr size_t kMaxSize =
+                128 * 1024 * 1024;  // sensor test should not need more than 128M
+        if (size == 0 || size >= kMaxSize) {
+            return nullptr;
+        }
 
-   public:
-    static SensorsTestSharedMemory* create(SharedMemType type, size_t size);
-    SharedMemInfo getSharedMemInfo() const;
-    char* getBuffer() const;
-    size_t getSize() const;
-    std::vector<Event> parseEvents(int64_t lastCounter = -1, size_t offset = 0) const;
-    virtual ~SensorsTestSharedMemory();
+        auto m = new SensorsTestSharedMemory<SensorTypeVersion, EventType>(type, size);
+        if (m->mSize != size || m->mBuffer == nullptr) {
+            delete m;
+            m = nullptr;
+        }
+        return m;
+    }
 
-   private:
-    SensorsTestSharedMemory(SharedMemType type, size_t size);
+    SharedMemInfo getSharedMemInfo() const {
+        SharedMemInfo mem = {.type = mType,
+                             .format = SharedMemFormat::SENSORS_EVENT,
+                             .size = static_cast<uint32_t>(mSize),
+                             .memoryHandle = mNativeHandle};
+        return mem;
+    }
+    char* getBuffer() const { return mBuffer; }
+    size_t getSize() const { return mSize; }
+    std::vector<EventType> parseEvents(int64_t lastCounter = -1, size_t offset = 0) const {
+        constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
+        constexpr size_t kOffsetSize = static_cast<size_t>(SensorsEventFormatOffset::SIZE_FIELD);
+        constexpr size_t kOffsetToken = static_cast<size_t>(SensorsEventFormatOffset::REPORT_TOKEN);
+        constexpr size_t kOffsetType = static_cast<size_t>(SensorsEventFormatOffset::SENSOR_TYPE);
+        constexpr size_t kOffsetAtomicCounter =
+                static_cast<size_t>(SensorsEventFormatOffset::ATOMIC_COUNTER);
+        constexpr size_t kOffsetTimestamp =
+                static_cast<size_t>(SensorsEventFormatOffset::TIMESTAMP);
+        constexpr size_t kOffsetData = static_cast<size_t>(SensorsEventFormatOffset::DATA);
+
+        std::vector<EventType> events;
+        std::vector<float> data(16);
+
+        while (offset + kEventSize <= mSize) {
+            int64_t atomicCounter =
+                    *reinterpret_cast<uint32_t*>(mBuffer + offset + kOffsetAtomicCounter);
+            if (atomicCounter <= lastCounter) {
+                ALOGV("atomicCounter = %" PRId64 ", lastCounter = %" PRId64, atomicCounter,
+                      lastCounter);
+                break;
+            }
+
+            int32_t size = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetSize);
+            if (size != kEventSize) {
+                // unknown error, events parsed may be wrong, remove all
+                events.clear();
+                break;
+            }
+
+            int32_t token = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetToken);
+            int32_t type = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetType);
+            int64_t timestamp = *reinterpret_cast<int64_t*>(mBuffer + offset + kOffsetTimestamp);
+
+            ALOGV("offset = %zu, cnt %" PRId64 ", token %" PRId32 ", type %" PRId32
+                  ", timestamp %" PRId64,
+                  offset, atomicCounter, token, type, timestamp);
+
+            EventType event = {
+                    .timestamp = timestamp,
+                    .sensorHandle = token,
+                    .sensorType = static_cast<SensorTypeVersion>(type),
+            };
+            event.u.data = android::hardware::hidl_array<float, 16>(
+                    reinterpret_cast<float*>(mBuffer + offset + kOffsetData));
+
+            events.push_back(event);
+
+            lastCounter = atomicCounter;
+            offset += kEventSize;
+        }
+
+        return events;
+    }
+
+    virtual ~SensorsTestSharedMemory() {
+        switch (mType) {
+            case SharedMemType::ASHMEM: {
+                if (mSize != 0) {
+                    ::munmap(mBuffer, mSize);
+                    mBuffer = nullptr;
+
+                    ::native_handle_close(mNativeHandle);
+                    ::native_handle_delete(mNativeHandle);
+
+                    mNativeHandle = nullptr;
+                    mSize = 0;
+                }
+                break;
+            }
+            case SharedMemType::GRALLOC: {
+                if (mSize != 0) {
+                    mGrallocWrapper->freeBuffer(mNativeHandle);
+                    mNativeHandle = nullptr;
+                    mSize = 0;
+                }
+                break;
+            }
+            default: {
+                if (mNativeHandle != nullptr || mSize != 0 || mBuffer != nullptr) {
+                    ALOGE("SensorsTestSharedMemory %p not properly destructed: "
+                          "type %d, native handle %p, size %zu, buffer %p",
+                          this, static_cast<int>(mType), mNativeHandle, mSize, mBuffer);
+                }
+                break;
+            }
+        }
+    }
+
+  private:
+    SensorsTestSharedMemory(SharedMemType type, size_t size)
+        : mType(type), mSize(0), mBuffer(nullptr) {
+        native_handle_t* handle = nullptr;
+        char* buffer = nullptr;
+        switch (type) {
+            case SharedMemType::ASHMEM: {
+                int fd;
+                handle = ::native_handle_create(1 /*nFds*/, 0 /*nInts*/);
+                if (handle != nullptr) {
+                    handle->data[0] = fd = ::ashmem_create_region("SensorsTestSharedMemory", size);
+                    if (handle->data[0] > 0) {
+                        // memory is pinned by default
+                        buffer = static_cast<char*>(
+                                ::mmap(NULL, size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
+                        if (buffer != reinterpret_cast<char*>(MAP_FAILED)) {
+                            break;
+                        }
+                        ::native_handle_close(handle);
+                    }
+                    ::native_handle_delete(handle);
+                    handle = nullptr;
+                }
+                break;
+            }
+            case SharedMemType::GRALLOC: {
+                mGrallocWrapper = std::make_unique<::android::GrallocWrapper>();
+                if (!mGrallocWrapper->isInitialized()) {
+                    break;
+                }
+
+                std::pair<native_handle_t*, void*> buf = mGrallocWrapper->allocate(size);
+                handle = buf.first;
+                buffer = static_cast<char*>(buf.second);
+                break;
+            }
+            default:
+                break;
+        }
+
+        if (buffer != nullptr) {
+            mNativeHandle = handle;
+            mSize = size;
+            mBuffer = buffer;
+        }
+    }
 
     SharedMemType mType;
     native_handle_t* mNativeHandle;
diff --git a/soundtrigger/2.3/ISoundTriggerHw.hal b/soundtrigger/2.3/ISoundTriggerHw.hal
index 270b00e..3e761e5 100644
--- a/soundtrigger/2.3/ISoundTriggerHw.hal
+++ b/soundtrigger/2.3/ISoundTriggerHw.hal
@@ -114,8 +114,10 @@
      * @return status Operation completion status: 0 in case of success
      *                -ENODEV if the native service cannot be reached
      *                -EINVAL invalid input parameter
-     * @return retval ModelParameter structure indicating supported attributes
-     *                of the parameter for the given model handle
+     * @return retval OptionalModelParameterRange safe union structure wrapping
+     *                ModelParameterRange. This structure indicates supported attributes
+     *                of the parameter for the given model handle. If the parameter is not
+     *                supported the Monostate of the union is used.
      */
     queryParameter(SoundModelHandle modelHandle, ModelParameter modelParam)
             generates (int32_t status, OptionalModelParameterRange retval);
diff --git a/soundtrigger/2.3/default/SoundTriggerHw.cpp b/soundtrigger/2.3/default/SoundTriggerHw.cpp
index d3136b9..8fe3108 100644
--- a/soundtrigger/2.3/default/SoundTriggerHw.cpp
+++ b/soundtrigger/2.3/default/SoundTriggerHw.cpp
@@ -889,7 +889,7 @@
     int32_t status = mHwDevice->query_parameter(
             mHwDevice, client->getHalHandle(), convertModelParameterToHal(modelParam), &paramRange);
 
-    if (status == 0) {
+    if (status == 0 && paramRange.is_supported) {
         optionalParamRange.range({.start = paramRange.start, .end = paramRange.end});
     }
     _hidl_cb(status, optionalParamRange);