[SV HIDL] Adds HAL interfaces for surround view.
Bug: 148618804
Test: Build passed.
Change-Id: Ie5d8540258d456408394e9ac4256db764f6b3cd7
diff --git a/automotive/sv/1.0/Android.bp b/automotive/sv/1.0/Android.bp
new file mode 100644
index 0000000..769bdc6
--- /dev/null
+++ b/automotive/sv/1.0/Android.bp
@@ -0,0 +1,24 @@
+// This file is autogenerated by hidl-gen -Landroidbp.
+
+hidl_interface {
+ name: "android.hardware.automotive.sv@1.0",
+ root: "android.hardware",
+ vndk: {
+ enabled: true,
+ },
+ srcs: [
+ "types.hal",
+ "ISurroundViewStream.hal",
+ "ISurroundViewSession.hal",
+ "ISurroundView2dSession.hal",
+ "ISurroundView3dSession.hal",
+ "ISurroundViewService.hal",
+ ],
+ interfaces: [
+ "android.hidl.base@1.0",
+ "android.hardware.graphics.common@1.0",
+ "android.hardware.graphics.common@1.1",
+ "android.hardware.graphics.common@1.2",
+ ],
+ gen_java: true,
+}
diff --git a/automotive/sv/1.0/ISurroundView2dSession.hal b/automotive/sv/1.0/ISurroundView2dSession.hal
new file mode 100644
index 0000000..fa49674
--- /dev/null
+++ b/automotive/sv/1.0/ISurroundView2dSession.hal
@@ -0,0 +1,84 @@
+/*
+ * Copyright 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.automotive.sv@1.0;
+
+import ISurroundViewSession;
+
+/**
+ * Interface representing a surround view 2d session.
+ *
+ * Surround view 2d provides a top/bird's eye view of the car and its surroundings.
+ */
+interface ISurroundView2dSession extends ISurroundViewSession {
+
+ /**
+ * Gets mapping information for 2d surround view.
+ *
+ * Mapping information maps the output frame of 2d surround view to actual dimensions
+ * covered on the ground. Mapping information is fixed for a car and is based upon its camera
+ * coverage. Mapping information can be used for doing overlays of objects in 3d space
+ * onto the surround view 2d output frame.
+ *
+ * @param sv2dConfig Configuration to set.
+ * @return sv2dMappingInfo mapping information of the 2d surround view.
+ */
+ get2dMappingInfo() generates (Sv2dMappingInfo sv2dMappingInfo);
+
+ /**
+ * Sets the configuration of 2d surround view.
+ *
+ * Configuration is used for supported different target use-cases of the surround view eg.
+ * fullscreen or preview. Default configuration is FULLSCREEN.
+ * A set config call can be performed at any time (before or after startStream) of the session.
+ * Once config change is complete, a CONFIG_CHANGED event is sent, after which
+ * all frames received will be of the updated config.
+ *
+ * @param sv2dConfig Configuration to set.
+ * @return svResult Returns OK if successful, appropriate error result otherwise.
+ */
+ set2dConfig(Sv2dConfig sv2dConfig) generates (SvResult svResult);
+
+ /**
+ * Gets the current configuration of the 2d surround view.
+ *
+ * Configuration is used for supported different target use-cases of the surround view eg.
+ * fullscreen view or preview. Use setConfig call to set a configuration.
+ *
+ * @return sv2dConfig the active current configuration of the 2d session.
+ */
+ get2dConfig() generates (Sv2dConfig sv2dConfig);
+
+ /**
+ * Projects points on camera image to surround view 2d image.
+ *
+ * Useful for mapping points detected on individual camera frames onto the surround view 2d
+ * output frame.
+ *
+ * @param cameraPoints List of camera pixel points to be projected in range including (0, 0)
+ * and (width - 1, height -1) of camera frame. If point is outside camera
+ frame INVALID_ARG error is returned.
+ * @param cameraId Id of the EvsCamera to use for projecting points. Id must be one of the
+ * cameras as returned by getCameraIds() else INVALID_ARG error is returned
+ * @return points2d Returns a list of 2d pixel points projecting into surround view 2d
+ * frame in the same order as cameraPoints. Point projected maybe outside
+ * surround view frame i.e. outside (0, 0) and
+ * (sv_width - 1, sv_height - 1). Points that do not project to ground
+ * plane are set with inValid true.
+ */
+ projectCameraPoints(vec<Point2dInt> cameraPoints, string cameraId) generates (
+ vec<Point2dFloat> points2d);
+};
diff --git a/automotive/sv/1.0/ISurroundView3dSession.hal b/automotive/sv/1.0/ISurroundView3dSession.hal
new file mode 100644
index 0000000..d2b0c53
--- /dev/null
+++ b/automotive/sv/1.0/ISurroundView3dSession.hal
@@ -0,0 +1,113 @@
+/*
+ * Copyright 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.automotive.sv@1.0;
+
+import ISurroundViewSession;
+
+/**
+ * Interface representing a surround view 3d session.
+ *
+ * Surround view 3d provides a virtual view from any desired position in the 3d space around the
+ * car. Surround view 3d creates an approximate 3d surface around the car to match the surrounds
+ * and provides a virtual view as seen on this surface.
+ */
+interface ISurroundView3dSession extends ISurroundViewSession {
+
+ /**
+ * Sets the desired views of surround view 3d.
+ *
+ * Surround view 3d takes a list of desired virtual view points and provides an output frame
+ * for each view. Default view list is a single view from behind the car front facing in the
+ * front direction.
+ * A call to setViews() results in the views set by a previous call to be discarded.
+ * Each view set is identified by an Id which is returned with the corresponding output frame
+ * of that view.
+ * Clients can call setViews() at any stage of the session (before/after startStream). Client
+ * may continue to receive frames of previous views after setViews() call for a while and can
+ * identify updated set of views once effective using the view Id provided in the updated
+ * views frames.
+ *
+ * @param views List of desired views to generate output frames.
+ * @return svResult Returns OK if successful, appropriate error result otherwise.
+ */
+ setViews(vec<View3d> views) generates (SvResult svResult);
+
+ /**
+ * Sets the configuration of 3d surround view.
+ *
+ * Configuration is used for supported different target use-cases of the surround view eg.
+ * fullscreen view or preview. A set config call can be performed at anytime (before or after
+ * startStream) of the session.
+ * Once config change is complete, a CONFIG_CHANGED event is sent, after which
+ * all frames received will be of the updated config.
+ *
+ * @param sv3dConfig Configuration to set.
+ * @return svResult Returns OK if successful, appropriate error result otherwise.
+ */
+ set3dConfig(Sv3dConfig sv3dConfig) generates (SvResult svResult);
+
+ /**
+ * Gets the current configuration of the 3d surround view.
+ *
+ * Configuration is used for supported different target use-cases of the surround view eg.
+ * fullscreen view or preview. Use setConfig call to set a configuration.
+ *
+ * @return sv3dConfig The current active configuration of the 3d session.
+ */
+ get3dConfig() generates (Sv3dConfig sv3dConfig);
+
+ /**
+ * Updates 3d overlays in scene.
+ *
+ * updateOverlays() provides a way to set a 3d overlay object in the scene. An overlay is an
+ * 3d object in the scene which can be a visual indicator to provide additional information eg.
+ * parking sensor distance indicators or overlays for objects in scene.
+ *
+ * An overlay object is defined by a set of points (forming triangles) with some color and
+ * transparency values and each overlay is identified by an overlay Id.
+ * When an overlay with a new Id is passed, a new overlay is added to the scene.
+ * When an overlay with previous id is passed, its vertices/color are updated with passed data.
+ * If the overlay data is empty, the overlay is removed from the scene.
+ *
+ * @param overlaysData Object with shared memory containing overlays to add/update in the
+ * scene. Refer to OverlaysData structure for layout in shared memory.
+ * @return svResult Returns OK if successful, appropriate error result otherwise.
+ */
+ updateOverlays(OverlaysData overlaysData) generates (SvResult svResult);
+
+ /**
+ * Projects points on camera image to surround view 3D surface.
+ *
+ * Useful for mapping points detected on individual camera frames onto the surround view 3D
+ * surface, these 3d points can then be used to set overlays using the updateOverlays() for
+ * the detected objects in the scene.
+ * Note:
+ * 3d points returned are projected on an approximate 3d surface and do not provide the exact
+ * 3d location.
+ *
+ * @param cameraPoints List of camera pixel points to be projected in range including (0, 0)
+ * and (width - 1, height -1) of camera frame. If point is outside camera
+ frame INVALID_ARG error is returned.
+ * @param cameraId Id of the EvsCamera to use for projecting points. Id must be one of the
+ * cameras as returned by getCameraIds() else INVALID_ARG error is returned
+ * @return points3d Returns a list of 3d points on the approximate 3d surface in the
+ * automotive coordinate system in the same order as cameraPoints.
+ * Points that do not project to 3d surface are set with inValid true.
+ */
+ projectCameraPointsTo3dSurface(vec<Point2dInt> cameraPoints, string cameraId) generates (
+ vec<Point3dFloat> points3d);
+};
diff --git a/automotive/sv/1.0/ISurroundViewService.hal b/automotive/sv/1.0/ISurroundViewService.hal
new file mode 100644
index 0000000..7de0bd1
--- /dev/null
+++ b/automotive/sv/1.0/ISurroundViewService.hal
@@ -0,0 +1,71 @@
+/*
+ * Copyright 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.automotive.sv@1.0;
+
+import ISurroundView2dSession;
+import ISurroundView3dSession;
+
+/**
+ * Interface representing entry point for surround view.
+ *
+ * Surround view service has two types of sessions 2d and 3d. Refer to their respective interface
+ * for more details.
+ */
+interface ISurroundViewService {
+
+ /**
+ * Gets a list of camera ids that are used for generating surround view.
+ * For 4 camera configuration, the cameras ids are ordered in clockwise direction
+ * when viewed from top of the car starting with the front camera. i.e. FRONT, RIGHT, REAR and
+ * LEFT. All other configurations must follow clockwise order.
+ *
+ * @result cameraIds List of camera ids that matching the Id of EVS Cameras used by service.
+ */
+ getCameraIds() generates (vec<string> cameraIds);
+
+ /**
+ * Starts a surround view 2d session.
+ *
+ * @result sv2dSession Returns a new 2d session that was created.
+ * result Returns OK if successful, appropriate error result otherwise.
+ */
+ start2dSession() generates (ISurroundView2dSession sv2dSession, SvResult result);
+
+ /**
+ * Stops a surround view 2d session.
+ *
+ * @param sv2dSession Valid 2d session to be stopped.
+ * @return svResult Returns OK if successful, appropriate error result otherwise.
+ */
+ stop2dSession(ISurroundView2dSession sv2dSession) generates (SvResult result);
+
+ /**
+ * Starts a surround view 3d session.
+ *
+ * @result sv3dSession Returns a new 3d session that was created.
+ * result Returns OK if successful, appropriate error result otherwise.
+ */
+ start3dSession() generates (ISurroundView3dSession sv3dSession, SvResult result);
+
+ /**
+ * Stops a surround view 2d session.
+ *
+ * @param sv2dSession Valid 2d session to be stopped.
+ * @return svResult Returns OK if successful, appropriate error result otherwise.
+ */
+ stop3dSession(ISurroundView3dSession sv3dSession) generates (SvResult result);
+};
diff --git a/automotive/sv/1.0/ISurroundViewSession.hal b/automotive/sv/1.0/ISurroundViewSession.hal
new file mode 100644
index 0000000..62cfac0
--- /dev/null
+++ b/automotive/sv/1.0/ISurroundViewSession.hal
@@ -0,0 +1,51 @@
+/*
+ * Copyright 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.automotive.sv@1.0;
+
+import ISurroundViewStream;
+
+/**
+ * Common interface for surround view session extended by surround view 2d and 3d
+ * session.
+ */
+interface ISurroundViewSession {
+ /**
+ * Requests to start receiving surround view frames.
+ *
+ * For surround view 3d, setViews() must be set before calling startStream().
+ *
+ * @param stream Stream to receiving callbacks for the session.
+ * @return svResult Returns OK if successful, returns VIEW_NOT_SET if setViews() is not
+ * called for surround view 3d, appropriate error results otherwise.
+ */
+ startStream(ISurroundViewStream stream) generates (SvResult svResult);
+
+ /**
+ * Requests to stop stream.
+ *
+ * Frames may continue to arrive after call returns. Each must be returned until
+ * the closure of the stream is signaled by the ISurroundViewStream.
+ */
+ stopStream();
+
+ /**
+ * Signal from client that a frame, which was delivered by the stream, has been consumed.
+ *
+ * @param svFramesDesc Descriptor to signal done with frame.
+ */
+ oneway doneWithFrames(SvFramesDesc svFramesDesc);
+};
diff --git a/automotive/sv/1.0/ISurroundViewStream.hal b/automotive/sv/1.0/ISurroundViewStream.hal
new file mode 100644
index 0000000..22d610f
--- /dev/null
+++ b/automotive/sv/1.0/ISurroundViewStream.hal
@@ -0,0 +1,38 @@
+/*
+ * Copyright 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.automotive.sv@1.0;
+
+/**
+ * Interface representing a surround view stream.
+ *
+ * This interface is to be implemented by client to receive callback for output frames and events.
+ */
+interface ISurroundViewStream {
+ /**
+ * Receives callback of surround view 2d/3d frames.
+ *
+ * @param svFramesDesc Frames descriptor containing the output frames.
+ */
+ oneway receiveFrames(SvFramesDesc svFramesDesc);
+
+ /**
+ * Receives callback for surround view events.
+ *
+ * @param svEvent Surround view event.
+ */
+ oneway notify(SvEvent svEvent);
+};
diff --git a/automotive/sv/1.0/types.hal b/automotive/sv/1.0/types.hal
new file mode 100644
index 0000000..573bf11
--- /dev/null
+++ b/automotive/sv/1.0/types.hal
@@ -0,0 +1,351 @@
+/*
+ * Copyright 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.automotive.sv@1.0;
+
+import android.hardware.graphics.common@1.2::HardwareBuffer;
+
+/** Structure for translation with x, y and z units. */
+struct Translation {
+ float x;
+ float y;
+ float z;
+};
+
+/**
+ * Structure for rotation expressed as quaternions.
+ * Convention used: Unit quaternion with hamilton convention.
+ */
+struct RotationQuat {
+ float x;
+ float y;
+ float z;
+ float w;
+};
+
+/** Structure representing a 2D point with integers. Units are pixels. */
+struct Point2dInt {
+ uint32_t x;
+ uint32_t y;
+};
+
+/** Structure representing a 2D point with floats. */
+struct Point2dFloat {
+ /** Boolean flag to indicate the (x, y) data is valid. */
+ bool isValid;
+
+ /** (x, y) data is only valid if isValid is true. Units are pixels or milli-meters. */
+ float x;
+ float y;
+};
+
+/** Structure representing a 3D point with floats. */
+struct Point3dFloat {
+ /** Boolean flag to indicate the (x, y, z) data is valid. */
+ bool isValid;
+
+ /**
+ * (x, y, z) data is only valid if isValid is true. Units are milli-meters.
+ */
+ float x;
+ float y;
+ float z;
+};
+
+/**
+ * Structure defining the pose in 3D space.
+ */
+struct Pose {
+ /**
+ * Rotation part of the pose, expressed as a unit quaternion.
+ */
+ RotationQuat rotation;
+
+ /**
+ * Translation part of the pose, in (x, y, z) format with milli-meter units.
+ */
+ Translation translation;
+};
+
+/**
+ * Struct defining a virtual view in the 3d space around the car.
+ */
+struct View3d {
+ /**
+ * Id to identify each custom view, this is passed along in each result SvBuffer.
+ * Recommend client to have a unique id for each different view.
+ */
+ uint32_t viewId;
+
+ /**
+ * Pose of the view. Describes the orientation and location of a virtual view relative to the
+ * android automotive coordinate system:
+ * https://source.android.com/devices/sensors/sensor-types#auto_axes
+ * The virtual view axes are defined as +Y as look-at direction, +X as right direction and
+ * +Z as up direction.
+ * The rotation and translation of the virtual view axes w.r.t the android automotive axes is
+ * specified by the rotation and tranlation component of the pose respectively.
+ * Example: A virtual view points to the right face of the car, located on right side of
+ * the car at (4, 2, 0) and is upright w.r.t the ground :
+ * ______
+ * front | |
+ * | car | ↑X
+ * | ↑Y | Y←∘ view
+ * rear | ∘→X | (4,2)
+ * |(0,0) |
+ * |______|
+ *
+ * Here the view axes are rotated by 90 counter-clockwise w.r.t android automotive axes.
+ * For this example the rotation and translation will be:
+ * Rotation = + 90 degrees around Z axis = (0.7071, 0, 0, 0.7071) as a unit quaternion.
+ * Translation = (4, 2, 0) in meters = (2000, 4000, 0) in milli-meters.
+ */
+ Pose pose;
+
+ /**
+ * Horizontal field of view of the virtual view in degrees. Vertical fov is scaled accordingly
+ * to maintain the aspect ratio of the output frame. Must be in range (20,
+ */
+ float horizontalFov;
+};
+
+/**
+ * Memory Buffer that stores the output of a single view from 2d/3d surround view.
+ */
+struct SvBuffer {
+ /**
+ * viewId identifying the view as passed by the client in setViews() call for
+ * surround view 3d. Id value is 0 for 2d surround view frame.
+ */
+ uint32_t viewId;
+
+ /** Hardware buffer containing the surround view 2d/3d result. */
+ HardwareBuffer hardwareBuffer;
+};
+
+/**
+ * Structure describing a set of frames to be returned as output from 2d/3d surround view.
+ */
+struct SvFramesDesc {
+ /**
+ * Elapsed real-time nanoseconds of earliest camera frame from the set of camera
+ * frames used to generate the view.
+ */
+ uint64_t timestampNs;
+
+ /**
+ * Incremental counter for client to keep track of frames.
+ */
+ uint32_t sequenceId;
+
+ /**
+ * Frames generated with different views.
+ * 2d surround view has only a single svBuffer with Id 0.
+ */
+ vec<SvBuffer> svBuffers;
+};
+
+/**
+ * Enumerator for list of result returns by surround view .
+ */
+enum SvResult : uint32_t {
+ /** Operation was successful. */
+ OK = 0,
+
+ /** Invalid argument to function was provided. */
+ INVALID_ARG,
+
+ /** Error indicating the particular operation is not supported. */
+ NOT_SUPPORTED,
+
+ /** Error indicating view not set before starting stream. */
+ VIEW_NOT_SET,
+
+ /**
+ * Error indicating system does not currently have enough resources to
+ * allocate for a new requested session.
+ * Clients may retry request for session if resources become available.
+ */
+ NO_RESOURCE,
+
+ /** Internal error in surround view service. */
+ INTERNAL_ERROR,
+};
+
+/**
+ * Enumerator listing events for surround view.
+ */
+enum SvEvent : uint32_t {
+ STREAM_STARTED = 1,
+
+ STREAM_STOPPED,
+
+ /**
+ * Event sent after service switches to an updated config, all frames
+ * streamed after this event are of the updated config.
+ */
+ CONFIG_UPDATED,
+
+ /** Each frame dropped will be notified with this event. */
+ FRAME_DROPPED,
+
+ /**
+ * Timeout event occurs if any individual camera stream has a timeout.
+ * Frames will not be delivered and clients must stop the stream.
+ */
+ TIMEOUT,
+};
+
+/**
+ * Structure defining the mapping information for 2d surround view.
+ *
+ * Mapping information provides the area on ground (width and height) and
+ * position w.r.t the car that the surround view 2d covers. This can be used for
+ * mapping (linear transformation) with other sensors whose data is available in
+ * the car coordinate system (eg. Ultrasonics).
+ * Axes and origin are as per the android automotive axes:
+ * https://source.android.com/devices/sensors/sensor-types#auto_axes
+ */
+struct Sv2dMappingInfo {
+ /** Width in milli-meters of the 2d surround view along the ground plane. */
+ float width;
+
+ /** Height in milli-meters of the 2d surround view along the ground plane. */
+ float height;
+
+ /**
+ * Coordinates (x, y) of the center of the view in android automotive coordinate system on the
+ * ground plane. Units are milli-meters.
+ */
+ Point2dFloat center;
+};
+
+/**
+ * Enumerator for quality presets for 2d/3d surround view.
+ * Details of each preset are specified in the respective 2d/3d config structures.
+ */
+enum SvQuality : uint32_t {
+ HIGH = 0,
+ LOW,
+};
+
+/** Structure for surround view 2d configuration. */
+struct Sv2dConfig {
+ /**
+ * Desired output width in pixels. Must be in range (0, 4096].
+ * Height is computed keeping the aspect ratio of the mapping info,
+ * Example: If width = 1080 px and mapping_width = 5000 mm, mapping_height = 10000 mm.
+ * then, height = width * (mapping_height / mapping_width) = 2160 px.
+ * Height is set to the floor value in case of (mapping_height / mapping_width) is not integer.
+ * Mapping width, height is fixed for a car and is based on camera parameters and their ground
+ * coverage.
+ */
+ uint32_t width;
+
+ /**
+ * Blending quality preset to use.
+ * HIGH: High quality blending (eg. multiband blending) that consumes more resources.
+ * LOW: Low quality blending (eg. alpha blending) that consumes less resources.
+ */
+ SvQuality blending;
+};
+
+/** Structure for surround view 3d configuration. */
+struct Sv3dConfig {
+ /** Desired output width in pixels. Must be in range (0, 4096]. */
+ uint32_t width;
+
+ /** Desired output height in pixels. Must be in range (0, 4096]. */
+ uint32_t height;
+
+ /**
+ * Car model rendering details level.
+ * HIGH: Rendering includes shadows and reflections. Default option.
+ * LOW: Rendering with no shadows and reflections.
+ */
+ SvQuality carDetails;
+};
+
+/**
+ * Enumerator for a list of overlay primitives.
+ *
+ * Given a list of vertices for an overlay, a primitive type defines which vertices are used to form
+ * the surfaces of the overlay object.
+ */
+enum OverlayPrimitive : uint32_t {
+ /**
+ * Consecutive vertices picked in order 3 at a time form a triangle.
+ * Eg: In a list of vertices (V1, V2, V3, V4, V5, V6)
+ * (V1, V2, V3) form a triangle and (V4, V5, V6) form a triangle.
+ */
+ TRIANGLES = 0,
+
+ /**
+ * Every 3 consecutive vertices form a triangle.
+ * Example in a list of vertices V1, V2, V3, V4, V5, V6
+ * (V1, V2, V3), (V2, V3, V4), (V3, V4, V5) and (V4, V5, V6) form triangles.
+ */
+ TRIANGLES_STRIP,
+};
+
+/**
+ * Structure identifying an overlay and describing the size and arrangement of its data in
+ * shared memory.
+ */
+struct OverlayMemoryDesc {
+ /** Identifier of the overlay. */
+ uint16_t id;
+
+ /** Number of vertices in the overlay. */
+ uint32_t verticesCount;
+
+ /** Primitive for the overlay. */
+ OverlayPrimitive overlayPrimitive;
+};
+
+/**
+ * Structure containing the overlays data in shared memory.
+ */
+struct OverlaysData {
+ /** List of overlay memory descriptors, describing the data in the shared memory */
+ vec<OverlayMemoryDesc> overlaysMemoryDesc;
+
+ /**
+ * Shared memory object containing a list of vertices for each overlay as described by
+ * overlaysMemoryDesc.
+ *
+ * Each vertex comprises of:
+ * | PositionX | PositionY | PositionZ | RGBA |
+ * | float | float | float | 4 * uint8_t |
+ *
+ * Each vertex is of 3 floats and 4 bytes = 16 bytes.
+ *
+ * Layout of vertices in shared memory is in order:
+ *
+ * Bytes: | 0-1 | 2-18 | 19-34 | 35-50 | 51-66 | 67-68 | 69-84 | 85-100 | 101-116 |...
+ * Data: | id1 | V1 | V2 | V3 | V4 | id2 | V1 | V2 | V3 |...
+ * | overlay1 | overlay 2 |
+ *
+ * The order of overlays must match the order as specified in the overlaysMemoryDesc.
+ * The number of vertices each overlay has must match the verticesCount in overlaysMemoryDesc.
+ * The id must match the id specificed in the OverlayMemoryDesc. This is used for verification.
+ * For each overlay the number of vertices must be 3 or greater.
+ * For TRIANGLES primitive the number of vertices must be a multiple of 3.
+ * The overlay vertices are grouped as per the overlayPrimitive specified in overlaysMemoryDesc,
+ * eg: If primitive is TRIANGLES, (V1, V2, V3) and (V4, V5, V6) form a triangle.
+ */
+ memory overlaysMemory;
+};
diff --git a/compatibility_matrices/compatibility_matrix.current.xml b/compatibility_matrices/compatibility_matrix.current.xml
index f1db89d..de1ee84 100644
--- a/compatibility_matrices/compatibility_matrix.current.xml
+++ b/compatibility_matrices/compatibility_matrix.current.xml
@@ -56,6 +56,14 @@
</interface>
</hal>
<hal format="hidl" optional="true">
+ <name>android.hardware.automotive.sv</name>
+ <version>1.0</version>
+ <interface>
+ <name>ISurroundView</name>
+ <instance>default</instance>
+ </interface>
+ </hal>
+ <hal format="hidl" optional="true">
<name>android.hardware.automotive.vehicle</name>
<version>2.0</version>
<interface>