New health check in VHAL
- VHAL will not be a client to car watchdog.
- Instead, VHAL updates VHAL_HEARTBEAT periodically and car watchdog
determines VHAL's health based on it.
Bug: 165861394
Test: manual test
Change-Id: If84979ad4ed4dd60c18810b8ae17d6ed8e9bb132
diff --git a/automotive/vehicle/2.0/default/VehicleService.cpp b/automotive/vehicle/2.0/default/VehicleService.cpp
index 47133fd..62a4f20 100644
--- a/automotive/vehicle/2.0/default/VehicleService.cpp
+++ b/automotive/vehicle/2.0/default/VehicleService.cpp
@@ -20,13 +20,10 @@
#include <iostream>
-#include <android/binder_process.h>
-#include <utils/Looper.h>
#include <vhal_v2_0/EmulatedUserHal.h>
#include <vhal_v2_0/EmulatedVehicleConnector.h>
#include <vhal_v2_0/EmulatedVehicleHal.h>
#include <vhal_v2_0/VehicleHalManager.h>
-#include <vhal_v2_0/WatchdogClient.h>
using namespace android;
using namespace android::hardware;
@@ -41,7 +38,7 @@
auto service = std::make_unique<VehicleHalManager>(hal.get());
connector->setValuePool(hal->getValuePool());
- configureRpcThreadpool(4, false /* callerWillJoin */);
+ configureRpcThreadpool(4, true /* callerWillJoin */);
ALOGI("Registering as service...");
status_t status = service->registerAsService();
@@ -51,22 +48,8 @@
return 1;
}
- // Setup a binder thread pool to be a car watchdog client.
- ABinderProcess_setThreadPoolMaxThreadCount(1);
- ABinderProcess_startThreadPool();
- sp<Looper> looper(Looper::prepare(0 /* opts */));
- std::shared_ptr<WatchdogClient> watchdogClient =
- ndk::SharedRefBase::make<WatchdogClient>(looper, service.get());
- // The current health check is done in the main thread, so it falls short of capturing the real
- // situation. Checking through HAL binder thread should be considered.
- if (!watchdogClient->initialize()) {
- ALOGE("Failed to initialize car watchdog client");
- return 1;
- }
ALOGI("Ready");
- while (true) {
- looper->pollAll(-1 /* timeoutMillis */);
- }
+ joinRpcThreadpool();
return 1;
}
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp
index a0b566d..c83e2de 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.cpp
@@ -15,11 +15,13 @@
*/
#define LOG_TAG "DefaultVehicleHal_v2_0"
+#include <android-base/chrono_utils.h>
#include <android-base/macros.h>
#include <android-base/properties.h>
#include <android/log.h>
#include <dirent.h>
#include <sys/system_properties.h>
+#include <utils/SystemClock.h>
#include <fstream>
#include <regex>
@@ -36,6 +38,8 @@
namespace impl {
+static constexpr std::chrono::nanoseconds kHeartBeatIntervalNs = 3s;
+
static std::unique_ptr<Obd2SensorStore> fillDefaultObd2Frame(size_t numVendorIntegerSensors,
size_t numVendorFloatSensors) {
std::unique_ptr<Obd2SensorStore> sensorStore(
@@ -342,6 +346,8 @@
initObd2FreezeFrame(*mPropStore->getConfigOrDie(OBD2_FREEZE_FRAME));
mInEmulator = isInEmulator();
ALOGD("mInEmulator=%s", mInEmulator ? "true" : "false");
+ mRecurrentTimer.registerRecurrentEvent(kHeartBeatIntervalNs,
+ static_cast<int32_t>(VehicleProperty::VHAL_HEARTBEAT));
}
std::vector<VehiclePropConfig> EmulatedVehicleHal::listProperties() {
@@ -359,6 +365,10 @@
if (internalPropValue != nullptr) {
v = pool.obtain(*internalPropValue);
}
+ } else if (property == static_cast<int32_t>(VehicleProperty::VHAL_HEARTBEAT)) {
+ // VHAL_HEARTBEAT is not a continuous value, but it needs to be updated periodically.
+ // So, the update is done through onContinuousPropertyTimer.
+ v = doInternalHealthCheck();
} else {
ALOGE("Unexpected onContinuousPropertyTimer for property: 0x%x", property);
}
@@ -512,6 +522,31 @@
return StatusCode::OK;
}
+VehicleHal::VehiclePropValuePtr EmulatedVehicleHal::doInternalHealthCheck() {
+ VehicleHal::VehiclePropValuePtr v = nullptr;
+
+ // This is an example of very simpe health checking. VHAL is considered healthy if we can read
+ // PERF_VEHICLE_SPEED. The more comprehensive health checking is required.
+ VehiclePropValue propValue = {
+ .prop = static_cast<int32_t>(VehicleProperty::PERF_VEHICLE_SPEED),
+ };
+ auto internalPropValue = mPropStore->readValueOrNull(propValue);
+ if (internalPropValue != nullptr) {
+ v = createVhalHeartBeatProp();
+ } else {
+ ALOGW("VHAL health check failed");
+ }
+ return v;
+}
+
+VehicleHal::VehiclePropValuePtr EmulatedVehicleHal::createVhalHeartBeatProp() {
+ VehicleHal::VehiclePropValuePtr v = getValuePool()->obtainInt64(uptimeMillis());
+ v->prop = static_cast<int32_t>(VehicleProperty::VHAL_HEARTBEAT);
+ v->areaId = 0;
+ v->status = VehiclePropertyStatus::AVAILABLE;
+ return v;
+}
+
} // impl
} // namespace V2_0
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h
index eb38d7d..5c67641 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/EmulatedVehicleHal.h
@@ -82,6 +82,8 @@
VehiclePropValue* outValue);
StatusCode fillObd2DtcInfo(VehiclePropValue* outValue);
StatusCode clearObd2FreezeFrames(const VehiclePropValue& propValue);
+ VehicleHal::VehiclePropValuePtr doInternalHealthCheck();
+ VehicleHal::VehiclePropValuePtr createVhalHeartBeatProp();
/* Private members */
VehiclePropertyStore* mPropStore;