diff --git a/audio/core/all-versions/default/Android.bp b/audio/core/all-versions/default/Android.bp
index 901b7ee..392642d 100644
--- a/audio/core/all-versions/default/Android.bp
+++ b/audio/core/all-versions/default/Android.bp
@@ -48,6 +48,8 @@
         "libhidlbase",
         "liblog",
         "libmedia_helper",
+        "libmediautils_vendor",
+        "libmemunreachable",
         "libutils",
         "android.hardware.audio.common-util",
     ],
diff --git a/audio/core/all-versions/default/Device.cpp b/audio/core/all-versions/default/Device.cpp
index 130dfba..c33e6f3 100644
--- a/audio/core/all-versions/default/Device.cpp
+++ b/audio/core/all-versions/default/Device.cpp
@@ -30,6 +30,8 @@
 #include <algorithm>
 
 #include <android/log.h>
+#include <mediautils/MemoryLeakTrackUtil.h>
+#include <memunreachable/memunreachable.h>
 
 #include <HidlUtils.h>
 
@@ -456,9 +458,32 @@
 }
 #endif
 
-Return<void> Device::debug(const hidl_handle& fd, const hidl_vec<hidl_string>& /* options */) {
+Return<void> Device::debug(const hidl_handle& fd, const hidl_vec<hidl_string>& options) {
     if (fd.getNativeHandle() != nullptr && fd->numFds == 1) {
-        analyzeStatus("dump", mDevice->dump(mDevice, fd->data[0]));
+        const int fd0 = fd->data[0];
+        bool dumpMem = false;
+        bool unreachableMemory = false;
+        for (const auto& option : options) {
+            if (option == "-m") {
+                dumpMem = true;
+            } else if (option == "--unreachable") {
+                unreachableMemory = true;
+            }
+        }
+
+        if (dumpMem) {
+            dprintf(fd0, "\nDumping memory:\n");
+            std::string s = dumpMemoryAddresses(100 /* limit */);
+            write(fd0, s.c_str(), s.size());
+        }
+        if (unreachableMemory) {
+            dprintf(fd0, "\nDumping unreachable memory:\n");
+            // TODO - should limit be an argument parameter?
+            std::string s = GetUnreachableMemoryString(true /* contents */, 100 /* limit */);
+            write(fd0, s.c_str(), s.size());
+        }
+
+        analyzeStatus("dump", mDevice->dump(mDevice, fd0));
     }
     return Void();
 }
diff --git a/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h b/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h
index aa7fd8e..340903a 100644
--- a/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h
+++ b/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h
@@ -1390,6 +1390,9 @@
                 config.channelMask.value(channelMask);
                 auto ret = stream->setAudioProperties(config);
                 EXPECT_TRUE(ret.isOk());
+                if (ret == Result::NOT_SUPPORTED) {
+                    GTEST_SKIP() << "setAudioProperties is not supported";
+                }
                 EXPECT_EQ(Result::OK, ret)
                         << profile.format << "; " << sampleRate << "; " << channelMask;
             }
diff --git a/automotive/vehicle/2.0/default/Android.bp b/automotive/vehicle/2.0/default/Android.bp
index ffa0c13..0b49ef9 100644
--- a/automotive/vehicle/2.0/default/Android.bp
+++ b/automotive/vehicle/2.0/default/Android.bp
@@ -182,6 +182,7 @@
     ],
     shared_libs: [
         "libbase",
+        "libcutils",
     ],
     header_libs: ["libbase_headers"],
     test_suites: ["general-tests"],
diff --git a/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-service.rc b/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-service.rc
index c8c89dc..44f9134 100644
--- a/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-service.rc
+++ b/automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-service.rc
@@ -1,4 +1,4 @@
 service vendor.vehicle-hal-2.0 /vendor/bin/hw/android.hardware.automotive.vehicle@2.0-service
-    class hal
+    class early_hal
     user vehicle_network
     group system inet
diff --git a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHalManager.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHalManager.h
index fcfe761..6706258 100644
--- a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHalManager.h
+++ b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHalManager.h
@@ -76,6 +76,9 @@
     Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& options) override;
 
   private:
+    // Set unit test class as friend class to test private functions.
+    friend class VehicleHalManagerTestHelper;
+
     using VehiclePropValuePtr = VehicleHal::VehiclePropValuePtr;
     // Returns true if needs to call again shortly.
     using RetriableAction = std::function<bool()>;
@@ -105,14 +108,20 @@
     void cmdDumpOneProperty(int fd, int32_t prop, int32_t areaId);
     void cmdDumpOneProperty(int fd, int rowNumber, const VehiclePropConfig& config);
 
+    bool cmdSetOneProperty(int fd, const hidl_vec<hidl_string>& options);
+
     static bool checkArgumentsSize(int fd, const hidl_vec<hidl_string>& options, size_t minSize);
     static bool checkCallerHasWritePermissions(int fd);
-    static bool safelyParseInt(int fd, int index, std::string s, int* out);
+    template <typename T>
+    static bool safelyParseInt(int fd, int index, const std::string& s, T* out);
+    static bool safelyParseFloat(int fd, int index, const std::string& s, float* out);
+    // Parses "s" as a hex string and populate "*bytes". The hex string must be in the format of
+    // valid hex format, e.g. "0xABCD".
+    static bool parseHexString(int fd, const std::string& s, std::vector<uint8_t>* bytes);
     void cmdHelp(int fd) const;
     void cmdListAllProperties(int fd) const;
     void cmdDumpAllProperties(int fd);
     void cmdDumpSpecificProperties(int fd, const hidl_vec<hidl_string>& options);
-    void cmdSetOneProperty(int fd, const hidl_vec<hidl_string>& options);
 
     static bool isSubscribable(const VehiclePropConfig& config,
                                SubscribeFlags flags);
@@ -120,7 +129,18 @@
     static float checkSampleRate(const VehiclePropConfig& config,
                                  float sampleRate);
     static ClientId getClientId(const sp<IVehicleCallback>& callback);
-private:
+
+    // Parses the cmdline options for "--set" command. "*prop" would be populated with the
+    // the properties to be set. Returns true when the cmdline options are valid, false otherwise.
+    static bool parseSetPropOptions(int fd, const hidl_vec<hidl_string>& options,
+                                    VehiclePropValue* prop);
+    // Parses the options and get the values for the current option specified by "*index". "*index"
+    // would advance to the next option field (e.g., the next "-f"). Returns a list of values for
+    // the current option.
+    static std::vector<std::string> getOptionValues(const hidl_vec<hidl_string>& options,
+                                                    size_t* index);
+
+  private:
     VehicleHal* mHal;
     std::unique_ptr<VehiclePropConfigIndex> mConfigIndex;
     SubscriptionManager mSubscriptionManager;
diff --git a/automotive/vehicle/2.0/default/common/src/VehicleHalManager.cpp b/automotive/vehicle/2.0/default/common/src/VehicleHalManager.cpp
index dc5d3d3..e34e692 100644
--- a/automotive/vehicle/2.0/default/common/src/VehicleHalManager.cpp
+++ b/automotive/vehicle/2.0/default/common/src/VehicleHalManager.cpp
@@ -20,7 +20,9 @@
 
 #include <cmath>
 #include <fstream>
+#include <unordered_set>
 
+#include <android-base/parsedouble.h>
 #include <android-base/parseint.h>
 #include <android-base/strings.h>
 #include <android/hardware/automotive/vehicle/2.0/BpHwVehicleCallback.h>
@@ -44,15 +46,34 @@
 using ::android::hardware::hidl_handle;
 using ::android::hardware::hidl_string;
 
+namespace {
+
 constexpr std::chrono::milliseconds kHalEventBatchingTimeWindow(10);
 
 const VehiclePropValue kEmptyValue{};
 
+// A list of supported options for "--set" command.
+const std::unordered_set<std::string> kSetPropOptions = {
+        // integer.
+        "-i",
+        // 64bit integer.
+        "-i64",
+        // float.
+        "-f",
+        // string.
+        "-s",
+        // bytes in hex format, e.g. 0xDEADBEEF.
+        "-b",
+        // Area id in integer.
+        "-a"};
+
+}  // namespace
+
 /**
  * Indicates what's the maximum size of hidl_vec<VehiclePropValue> we want
  * to store in reusable object pool.
  */
-constexpr auto kMaxHidlVecOfVehiclPropValuePoolSize = 20;
+constexpr auto kMaxHidlVecOfVehiclePropValuePoolSize = 20;
 
 Return<void> VehicleHalManager::getAllPropConfigs(getAllPropConfigs_cb _hidl_cb) {
     ALOGI("getAllPropConfigs called");
@@ -213,6 +234,11 @@
     } else if (EqualsIgnoreCase(option, "--get")) {
         cmdDumpSpecificProperties(fd, options);
     } else if (EqualsIgnoreCase(option, "--set")) {
+        if (!checkCallerHasWritePermissions(fd)) {
+            dprintf(fd, "Caller does not have write permission\n");
+            return;
+        }
+        // Ignore the return value for this.
         cmdSetOneProperty(fd, options);
     } else {
         dprintf(fd, "Invalid option: %s\n", option.c_str());
@@ -239,7 +265,8 @@
     return false;
 }
 
-bool VehicleHalManager::safelyParseInt(int fd, int index, std::string s, int* out) {
+template <typename T>
+bool VehicleHalManager::safelyParseInt(int fd, int index, const std::string& s, T* out) {
     if (!android::base::ParseInt(s, out)) {
         dprintf(fd, "non-integer argument at index %d: %s\n", index, s.c_str());
         return false;
@@ -247,19 +274,27 @@
     return true;
 }
 
+bool VehicleHalManager::safelyParseFloat(int fd, int index, const std::string& s, float* out) {
+    if (!android::base::ParseFloat(s, out)) {
+        dprintf(fd, "non-float argument at index %d: %s\n", index, s.c_str());
+        return false;
+    }
+    return true;
+}
+
 void VehicleHalManager::cmdHelp(int fd) const {
     dprintf(fd, "Usage: \n\n");
     dprintf(fd, "[no args]: dumps (id and value) all supported properties \n");
     dprintf(fd, "--help: shows this help\n");
     dprintf(fd, "--list: lists the ids of all supported properties\n");
     dprintf(fd, "--get <PROP1> [PROP2] [PROPN]: dumps the value of specific properties \n");
-    // TODO: support other formats (int64, float, bytes)
     dprintf(fd,
-            "--set <PROP> <i|s> <VALUE_1> [<i|s> <VALUE_N>] [a AREA_ID] : sets the value of "
-            "property PROP, using arbitrary number of key/value parameters (i for int32, "
-            "s for string) and an optional area.\n"
-            "Notice that the string value can be set just once, while the other can have multiple "
-            "values (so they're used in the respective array)\n");
+            "--set <PROP> [-i INT_VALUE [INT_VALUE ...]] [-i64 INT64_VALUE [INT64_VALUE ...]] "
+            "[-f FLOAT_VALUE [FLOAT_VALUE ...]] [-s STR_VALUE] "
+            "[-b BYTES_VALUE] [-a AREA_ID] : sets the value of property PROP. "
+            "Notice that the string, bytes and area value can be set just once, while the other can"
+            " have multiple values (so they're used in the respective array), "
+            "BYTES_VALUE is in the form of 0xXXXX, e.g. 0xdeadbeef.\n");
 }
 
 void VehicleHalManager::cmdListAllProperties(int fd) const {
@@ -337,102 +372,49 @@
     VehiclePropValue input;
     input.prop = prop;
     input.areaId = areaId;
-    auto callback = [&](StatusCode status, const VehiclePropValue& output) {
+    auto callback = [&fd, &prop](StatusCode status, const VehiclePropValue& output) {
         if (status == StatusCode::OK) {
             dprintf(fd, "%s\n", toString(output).c_str());
         } else {
             dprintf(fd, "Could not get property %d. Error: %s\n", prop, toString(status).c_str());
         }
     };
-    get(input, callback);
+
+    StatusCode status;
+    auto value = mHal->get(input, &status);
+    callback(status, value.get() ? *value : kEmptyValue);
 }
 
-void VehicleHalManager::cmdSetOneProperty(int fd, const hidl_vec<hidl_string>& options) {
-    if (!checkCallerHasWritePermissions(fd) || !checkArgumentsSize(fd, options, 3)) return;
-
-    size_t size = options.size();
-
-    // Syntax is --set PROP Type1 Value1 TypeN ValueN, so number of arguments must be even
-    if (size % 2 != 0) {
-        dprintf(fd, "must pass even number of arguments (passed %zu)\n", size);
-        return;
+bool VehicleHalManager::cmdSetOneProperty(int fd, const hidl_vec<hidl_string>& options) {
+    if (!checkArgumentsSize(fd, options, 4)) {
+        dprintf(fd, "Requires at least 4 options, see help\n");
+        return false;
     }
-    int numberValues = (size - 2) / 2;
 
-    VehiclePropValue prop;
-    if (!safelyParseInt(fd, 1, options[1], &prop.prop)) return;
-    prop.timestamp = elapsedRealtimeNano();
-    prop.status = VehiclePropertyStatus::AVAILABLE;
-
-    // First pass: calculate sizes
-    int sizeInt32 = 0;
-    int stringIndex = 0;
-    int areaIndex = 0;
-    for (int i = 2, kv = 1; kv <= numberValues; kv++) {
-        // iterate through the kv=1..n key/value pairs, accessing indexes i / i+1 at each step
-        std::string type = options[i];
-        std::string value = options[i + 1];
-        if (EqualsIgnoreCase(type, "i")) {
-            sizeInt32++;
-        } else if (EqualsIgnoreCase(type, "s")) {
-            if (stringIndex != 0) {
-                dprintf(fd,
-                        "defining string value (%s) again at index %d (already defined at %d=%s"
-                        ")\n",
-                        value.c_str(), i, stringIndex, options[stringIndex + 1].c_str());
-                return;
-            }
-            stringIndex = i;
-        } else if (EqualsIgnoreCase(type, "a")) {
-            if (areaIndex != 0) {
-                dprintf(fd,
-                        "defining area value (%s) again at index %d (already defined at %d=%s"
-                        ")\n",
-                        value.c_str(), i, areaIndex, options[areaIndex + 1].c_str());
-                return;
-            }
-            areaIndex = i;
-        } else {
-            dprintf(fd, "invalid (%s) type at index %d\n", type.c_str(), i);
-            return;
-        }
-        i += 2;
-    }
-    prop.value.int32Values.resize(sizeInt32);
-
-    // Second pass: populate it
-    int indexInt32 = 0;
-    for (int i = 2, kv = 1; kv <= numberValues; kv++) {
-        // iterate through the kv=1..n key/value pairs, accessing indexes i / i+1 at each step
-        int valueIndex = i + 1;
-        std::string type = options[i];
-        std::string value = options[valueIndex];
-        if (EqualsIgnoreCase(type, "i")) {
-            int safeInt;
-            if (!safelyParseInt(fd, valueIndex, value, &safeInt)) return;
-            prop.value.int32Values[indexInt32++] = safeInt;
-        } else if (EqualsIgnoreCase(type, "s")) {
-            prop.value.stringValue = value;
-        } else if (EqualsIgnoreCase(type, "a")) {
-            if (!safelyParseInt(fd, valueIndex, value, &prop.areaId)) return;
-        }
-        i += 2;
+    VehiclePropValue prop = {};
+    if (!parseSetPropOptions(fd, options, &prop)) {
+        return false;
     }
     ALOGD("Setting prop %s", toString(prop).c_str());
-    auto status = set(prop);
+
+    // Do not use VehicleHalManager::set here because we don't want to check write permission.
+    // Caller should be able to use the debug interface to set read-only properties.
+    handlePropertySetEvent(prop);
+    auto status = mHal->set(prop);
+
     if (status == StatusCode::OK) {
         dprintf(fd, "Set property %s\n", toString(prop).c_str());
-    } else {
-        dprintf(fd, "Failed to set property %s: %s\n", toString(prop).c_str(),
-                toString(status).c_str());
+        return true;
     }
+    dprintf(fd, "Failed to set property %s: %s\n", toString(prop).c_str(),
+            toString(status).c_str());
+    return false;
 }
 
 void VehicleHalManager::init() {
     ALOGI("VehicleHalManager::init");
 
-    mHidlVecOfVehiclePropValuePool.resize(kMaxHidlVecOfVehiclPropValuePoolSize);
-
+    mHidlVecOfVehiclePropValuePool.resize(kMaxHidlVecOfVehiclePropValuePoolSize);
 
     mBatchingConsumer.run(&mEventQueue,
                           kHalEventBatchingTimeWindow,
@@ -486,7 +468,7 @@
     for (const HalClientValues& cv : clientValues) {
         auto vecSize = cv.values.size();
         hidl_vec<VehiclePropValue> vec;
-        if (vecSize < kMaxHidlVecOfVehiclPropValuePoolSize) {
+        if (vecSize < kMaxHidlVecOfVehiclePropValuePoolSize) {
             vec.setToExternal(&mHidlVecOfVehiclePropValuePool[0], vecSize);
         } else {
             vec.resize(vecSize);
@@ -595,6 +577,158 @@
     }
 }
 
+std::vector<std::string> VehicleHalManager::getOptionValues(const hidl_vec<hidl_string>& options,
+                                                            size_t* index) {
+    std::vector<std::string> values;
+    while (*index < options.size()) {
+        std::string option = options[*index];
+        if (kSetPropOptions.find(option) != kSetPropOptions.end()) {
+            return std::move(values);
+        }
+        values.push_back(option);
+        (*index)++;
+    }
+    return std::move(values);
+}
+
+bool VehicleHalManager::parseSetPropOptions(int fd, const hidl_vec<hidl_string>& options,
+                                            VehiclePropValue* prop) {
+    // Options format:
+    // --set PROP [-f f1 f2...] [-i i1 i2...] [-i64 i1 i2...] [-s s1 s2...] [-b b1 b2...] [-a a]
+    size_t optionIndex = 1;
+    int propValue;
+    if (!safelyParseInt(fd, optionIndex, options[optionIndex], &propValue)) {
+        dprintf(fd, "property value: \"%s\" is not a valid int\n", options[optionIndex].c_str());
+        return false;
+    }
+    prop->prop = propValue;
+    prop->timestamp = elapsedRealtimeNano();
+    prop->status = VehiclePropertyStatus::AVAILABLE;
+    optionIndex++;
+    std::unordered_set<std::string> parsedOptions;
+
+    while (optionIndex < options.size()) {
+        std::string type = options[optionIndex];
+        optionIndex++;
+        size_t currentIndex = optionIndex;
+        std::vector<std::string> values = getOptionValues(options, &optionIndex);
+        if (parsedOptions.find(type) != parsedOptions.end()) {
+            dprintf(fd, "duplicate \"%s\" options\n", type.c_str());
+            return false;
+        }
+        parsedOptions.insert(type);
+        if (EqualsIgnoreCase(type, "-i")) {
+            if (values.size() == 0) {
+                dprintf(fd, "no values specified when using \"-i\"\n");
+                return false;
+            }
+            prop->value.int32Values.resize(values.size());
+            for (size_t i = 0; i < values.size(); i++) {
+                int32_t safeInt;
+                if (!safelyParseInt(fd, currentIndex + i, values[i], &safeInt)) {
+                    dprintf(fd, "value: \"%s\" is not a valid int\n", values[i].c_str());
+                    return false;
+                }
+                prop->value.int32Values[i] = safeInt;
+            }
+        } else if (EqualsIgnoreCase(type, "-i64")) {
+            if (values.size() == 0) {
+                dprintf(fd, "no values specified when using \"-i64\"\n");
+                return false;
+            }
+            prop->value.int64Values.resize(values.size());
+            for (size_t i = 0; i < values.size(); i++) {
+                int64_t safeInt;
+                if (!safelyParseInt(fd, currentIndex + i, values[i], &safeInt)) {
+                    dprintf(fd, "value: \"%s\" is not a valid int64\n", values[i].c_str());
+                    return false;
+                }
+                prop->value.int64Values[i] = safeInt;
+            }
+        } else if (EqualsIgnoreCase(type, "-f")) {
+            if (values.size() == 0) {
+                dprintf(fd, "no values specified when using \"-f\"\n");
+                return false;
+            }
+            prop->value.floatValues.resize(values.size());
+            for (size_t i = 0; i < values.size(); i++) {
+                float safeFloat;
+                if (!safelyParseFloat(fd, currentIndex + i, values[i], &safeFloat)) {
+                    dprintf(fd, "value: \"%s\" is not a valid float\n", values[i].c_str());
+                    return false;
+                }
+                prop->value.floatValues[i] = safeFloat;
+            }
+        } else if (EqualsIgnoreCase(type, "-s")) {
+            if (values.size() != 1) {
+                dprintf(fd, "expect exact one value when using \"-s\"\n");
+                return false;
+            }
+            prop->value.stringValue = values[0];
+        } else if (EqualsIgnoreCase(type, "-b")) {
+            if (values.size() != 1) {
+                dprintf(fd, "expect exact one value when using \"-b\"\n");
+                return false;
+            }
+            std::vector<uint8_t> bytes;
+            if (!parseHexString(fd, values[0], &bytes)) {
+                dprintf(fd, "value: \"%s\" is not a valid hex string\n", values[0].c_str());
+                return false;
+            }
+            prop->value.bytes = bytes;
+        } else if (EqualsIgnoreCase(type, "-a")) {
+            if (values.size() != 1) {
+                dprintf(fd, "expect exact one value when using \"-a\"\n");
+                return false;
+            }
+            if (!safelyParseInt(fd, currentIndex, values[0], &(prop->areaId))) {
+                dprintf(fd, "area ID: \"%s\" is not a valid int\n", values[0].c_str());
+                return false;
+            }
+        } else {
+            dprintf(fd, "unknown option: %s\n", type.c_str());
+            return false;
+        }
+    }
+
+    return true;
+}
+
+bool VehicleHalManager::parseHexString(int fd, const std::string& s, std::vector<uint8_t>* bytes) {
+    if (s.size() % 2 != 0) {
+        dprintf(fd, "invalid hex string: %s, should have even size\n", s.c_str());
+        return false;
+    }
+    if (strncmp(s.substr(0, 2).c_str(), "0x", 2)) {
+        dprintf(fd, "hex string should start with \"0x\", got %s\n", s.c_str());
+        return false;
+    }
+    std::string subs = s.substr(2);
+    std::transform(subs.begin(), subs.end(), subs.begin(),
+                   [](unsigned char c) { return std::tolower(c); });
+
+    bool highDigit = true;
+    for (size_t i = 0; i < subs.size(); i++) {
+        char c = subs[i];
+        uint8_t v;
+        if (c >= '0' && c <= '9') {
+            v = c - '0';
+        } else if (c >= 'a' && c <= 'f') {
+            v = c - 'a' + 10;
+        } else {
+            dprintf(fd, "invalid character %c in hex string %s\n", c, subs.c_str());
+            return false;
+        }
+        if (highDigit) {
+            (*bytes).push_back(v * 16);
+        } else {
+            (*bytes)[bytes->size() - 1] += v;
+        }
+        highDigit = !highDigit;
+    }
+    return true;
+}
+
 }  // namespace V2_0
 }  // namespace vehicle
 }  // namespace automotive
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index f09d75b..7588f70 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -1032,14 +1032,6 @@
         {
                 .config =
                         {
-                                .prop = toInt(VehicleProperty::STORAGE_ENCRYPTION_BINDING_SEED),
-                                .access = VehiclePropertyAccess::READ_WRITE,
-                                .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
-                        },
-        },
-        {
-                .config =
-                        {
                                 .prop = toInt(VehicleProperty::WATCHDOG_ALIVE),
                                 .access = VehiclePropertyAccess::WRITE,
                                 .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
diff --git a/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp b/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp
index 0975071..bdf46fb 100644
--- a/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp
+++ b/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp
@@ -18,6 +18,7 @@
 #include <iostream>
 
 #include <android-base/macros.h>
+#include <cutils/native_handle.h>
 #include <utils/SystemClock.h>
 
 #include <gtest/gtest.h>
@@ -32,6 +33,18 @@
 namespace vehicle {
 namespace V2_0 {
 
+// A simple helper class to expose 'cmdSetOneProperty' to the unit tests.
+class VehicleHalManagerTestHelper {
+  public:
+    VehicleHalManagerTestHelper(VehicleHalManager* manager) { mManager = manager; }
+    bool cmdSetOneProperty(int fd, const hidl_vec<hidl_string>& options) {
+        return mManager->cmdSetOneProperty(fd, options);
+    }
+
+  public:
+    VehicleHalManager* mManager;
+};
+
 namespace {
 
 using namespace std::placeholders;
@@ -57,33 +70,21 @@
         auto property = static_cast<VehicleProperty>(requestedPropValue.prop);
         int32_t areaId = requestedPropValue.areaId;
 
-        switch (property) {
-            case VehicleProperty::INFO_MAKE:
-                pValue = getValuePool()->obtainString(kCarMake);
-                break;
-            case VehicleProperty::INFO_FUEL_CAPACITY:
-                if (fuelCapacityAttemptsLeft-- > 0) {
-                    // Emulate property not ready yet.
-                    *outStatus = StatusCode::TRY_AGAIN;
-                } else {
-                    pValue = getValuePool()->obtainFloat(42.42);
-                }
-                break;
-            default:
-                if (requestedPropValue.prop == kCustomComplexProperty) {
-                    pValue = getValuePool()->obtainComplex();
-                    pValue->value.int32Values = hidl_vec<int32_t> { 10, 20 };
-                    pValue->value.int64Values = hidl_vec<int64_t> { 30, 40 };
-                    pValue->value.floatValues = hidl_vec<float_t> { 1.1, 2.2 };
-                    pValue->value.bytes = hidl_vec<uint8_t> { 1, 2, 3 };
-                    pValue->value.stringValue = kCarMake;
-                    break;
-                }
-                auto key = makeKey(toInt(property), areaId);
-                if (mValues.count(key) == 0) {
-                    ALOGW("");
-                }
-                pValue = getValuePool()->obtain(mValues[key]);
+        if (property == VehicleProperty::INFO_FUEL_CAPACITY) {
+            if (fuelCapacityAttemptsLeft-- > 0) {
+                // Emulate property not ready yet.
+                *outStatus = StatusCode::TRY_AGAIN;
+            } else {
+                pValue = getValuePool()->obtainFloat(42.42);
+            }
+        } else {
+            auto key = makeKey(requestedPropValue);
+            if (mValues.count(key) == 0) {
+                ALOGW("key not found\n");
+                *outStatus = StatusCode::INVALID_ARG;
+                return pValue;
+            }
+            pValue = getValuePool()->obtain(mValues[key]);
         }
 
         if (*outStatus == StatusCode::OK && pValue.get() != nullptr) {
@@ -100,7 +101,6 @@
                 && mirrorFoldAttemptsLeft-- > 0) {
             return StatusCode::TRY_AGAIN;
         }
-
         mValues[makeKey(propValue)] = propValue;
         return StatusCode::OK;
     }
@@ -181,6 +181,18 @@
         actualStatusCode = refStatus;
     }
 
+    MockedVehicleHal::VehiclePropValuePtr getComplexProperty() {
+        auto pValue = objectPool->obtainComplex();
+        pValue->prop = kCustomComplexProperty;
+        pValue->areaId = 0;
+        pValue->value.int32Values = hidl_vec<int32_t>{10, 20};
+        pValue->value.int64Values = hidl_vec<int64_t>{30, 40};
+        pValue->value.floatValues = hidl_vec<float_t>{1.1, 2.2};
+        pValue->value.bytes = hidl_vec<uint8_t>{1, 2, 3};
+        pValue->value.stringValue = kCarMake;
+        return pValue;
+    }
+
 public:
     VehiclePropValue actualValue;
     StatusCode actualStatusCode;
@@ -308,6 +320,8 @@
 }
 
 TEST_F(VehicleHalManagerTest, get_Complex) {
+    ASSERT_EQ(StatusCode::OK, hal->set(*getComplexProperty().get()));
+
     invokeGet(kCustomComplexProperty, 0);
 
     ASSERT_EQ(StatusCode::OK, actualStatusCode);
@@ -334,6 +348,11 @@
 }
 
 TEST_F(VehicleHalManagerTest, get_StaticString) {
+    auto pValue = objectPool->obtainString(kCarMake);
+    pValue->prop = toInt(VehicleProperty::INFO_MAKE);
+    pValue->areaId = 0;
+    ASSERT_EQ(StatusCode::OK, hal->set(*pValue.get()));
+
     invokeGet(toInt(VehicleProperty::INFO_MAKE), 0);
 
     ASSERT_EQ(StatusCode::OK, actualStatusCode);
@@ -458,6 +477,138 @@
     ASSERT_TRUE(clients.isEmpty());
 }
 
+TEST_F(VehicleHalManagerTest, debug) {
+    hidl_handle fd = {};
+    fd.setTo(native_handle_create(/*numFds=*/1, /*numInts=*/0), /*shouldOwn=*/true);
+
+    // Because debug function returns void, so no way to check return value.
+    manager->debug(fd, {});
+    manager->debug(fd, {"--help"});
+    manager->debug(fd, {"--list"});
+    manager->debug(fd, {"--get"});
+    manager->debug(fd, {"--set"});
+    manager->debug(fd, {"invalid"});
+}
+
+struct SetPropTestCase {
+    std::string test_name;
+    const hidl_vec<hidl_string> configs;
+    bool success;
+};
+
+class VehicleHalManagerSetPropTest : public VehicleHalManagerTest,
+                                     public testing::WithParamInterface<SetPropTestCase> {};
+
+TEST_P(VehicleHalManagerSetPropTest, cmdSetOneProperty) {
+    const SetPropTestCase& tc = GetParam();
+    VehicleHalManagerTestHelper helper(manager.get());
+    ASSERT_EQ(tc.success, helper.cmdSetOneProperty(STDERR_FILENO, tc.configs));
+}
+
+std::vector<SetPropTestCase> GenSetPropParams() {
+    char infoMakeProperty[100] = {};
+    snprintf(infoMakeProperty, sizeof(infoMakeProperty), "%d", toInt(VehicleProperty::INFO_MAKE));
+    return {
+            {"success_set_string", {"--set", infoMakeProperty, "-s", kCarMake}, true},
+            {"success_set_bytes", {"--set", infoMakeProperty, "-b", "0xdeadbeef"}, true},
+            {"success_set_bytes_caps", {"--set", infoMakeProperty, "-b", "0xDEADBEEF"}, true},
+            {"success_set_int", {"--set", infoMakeProperty, "-i", "2147483647"}, true},
+            {"success_set_ints",
+             {"--set", infoMakeProperty, "-i", "2147483647", "0", "-2147483648"},
+             true},
+            {"success_set_int64",
+             {"--set", infoMakeProperty, "-i64", "-9223372036854775808"},
+             true},
+            {"success_set_int64s",
+             {"--set", infoMakeProperty, "-i64", "-9223372036854775808", "0",
+              "9223372036854775807"},
+             true},
+            {"success_set_float", {"--set", infoMakeProperty, "-f", "1.175494351E-38"}, true},
+            {"success_set_floats",
+             {"--set", infoMakeProperty, "-f", "-3.402823466E+38", "0", "3.402823466E+38"},
+             true},
+            {"success_set_area", {"--set", infoMakeProperty, "-a", "2147483647"}, true},
+            {"fail_no_options", {}, false},
+            {"fail_less_than_4_options", {"--set", infoMakeProperty, "-i"}, false},
+            {"fail_unknown_options", {"--set", infoMakeProperty, "-s", kCarMake, "-abcd"}, false},
+            {"fail_invalid_property", {"--set", "not valid", "-s", kCarMake}, false},
+            {"fail_duplicate_string",
+             {"--set", infoMakeProperty, "-s", kCarMake, "-s", kCarMake},
+             false},
+            {"fail_multiple_strings", {"--set", infoMakeProperty, "-s", kCarMake, kCarMake}, false},
+            {"fail_no_string_value", {"--set", infoMakeProperty, "-s", "-a", "1234"}, false},
+            {"fail_duplicate_bytes",
+             {"--set", infoMakeProperty, "-b", "0xdeadbeef", "-b", "0xdeadbeef"},
+             false},
+            {"fail_multiple_bytes",
+             {"--set", infoMakeProperty, "-b", "0xdeadbeef", "0xdeadbeef"},
+             false},
+            {"fail_invalid_bytes", {"--set", infoMakeProperty, "-b", "0xgood"}, false},
+            {"fail_invalid_bytes_no_prefix", {"--set", infoMakeProperty, "-b", "deadbeef"}, false},
+            {"fail_invalid_int", {"--set", infoMakeProperty, "-i", "abc"}, false},
+            {"fail_int_out_of_range", {"--set", infoMakeProperty, "-i", "2147483648"}, false},
+            {"fail_no_int_value", {"--set", infoMakeProperty, "-i", "-s", kCarMake}, false},
+            {"fail_invalid_int64", {"--set", infoMakeProperty, "-i64", "abc"}, false},
+            {"fail_int64_out_of_range",
+             {"--set", infoMakeProperty, "-i64", "-9223372036854775809"},
+             false},
+            {"fail_no_int64_value", {"--set", infoMakeProperty, "-i64", "-s", kCarMake}, false},
+            {"fail_invalid_float", {"--set", infoMakeProperty, "-f", "abc"}, false},
+            {"fail_float_out_of_range",
+             {"--set", infoMakeProperty, "-f", "-3.402823466E+39"},
+             false},
+            {"fail_no_float_value", {"--set", infoMakeProperty, "-f", "-s", kCarMake}, false},
+            {"fail_multiple_areas", {"--set", infoMakeProperty, "-a", "2147483648", "0"}, false},
+            {"fail_invalid_area", {"--set", infoMakeProperty, "-a", "abc"}, false},
+            {"fail_area_out_of_range", {"--set", infoMakeProperty, "-a", "2147483648"}, false},
+            {"fail_no_area_value", {"--set", infoMakeProperty, "-a", "-s", kCarMake}, false},
+    };
+}
+
+INSTANTIATE_TEST_SUITE_P(
+        VehicleHalManagerSetPropTests, VehicleHalManagerSetPropTest,
+        testing::ValuesIn(GenSetPropParams()),
+        [](const testing::TestParamInfo<VehicleHalManagerSetPropTest::ParamType>& info) {
+            return info.param.test_name;
+        });
+
+TEST_F(VehicleHalManagerTest, SetComplexPropTest) {
+    char infoMakeProperty[100] = {};
+    snprintf(infoMakeProperty, sizeof(infoMakeProperty), "%d", toInt(VehicleProperty::INFO_MAKE));
+    VehicleHalManagerTestHelper helper(manager.get());
+    ASSERT_TRUE(helper.cmdSetOneProperty(
+            STDERR_FILENO, {"--set", infoMakeProperty,      "-s",   kCarMake,
+                            "-b",    "0xdeadbeef",          "-i",   "2147483647",
+                            "0",     "-2147483648",         "-i64", "-9223372036854775808",
+                            "0",     "9223372036854775807", "-f",   "-3.402823466E+38",
+                            "0",     "3.402823466E+38",     "-a",   "123"}));
+    StatusCode status = StatusCode::OK;
+    VehiclePropValue requestProp;
+    requestProp.prop = toInt(VehicleProperty::INFO_MAKE);
+    requestProp.areaId = 123;
+    auto value = hal->get(requestProp, &status);
+    ASSERT_EQ(StatusCode::OK, status);
+    ASSERT_EQ(value->prop, toInt(VehicleProperty::INFO_MAKE));
+    ASSERT_EQ(value->areaId, 123);
+    ASSERT_STREQ(kCarMake, value->value.stringValue.c_str());
+    uint8_t bytes[] = {0xde, 0xad, 0xbe, 0xef};
+    ASSERT_FALSE(memcmp(bytes, value->value.bytes.data(), sizeof(bytes)));
+    ASSERT_EQ(3u, value->value.int32Values.size());
+    ASSERT_EQ(2147483647, value->value.int32Values[0]);
+    ASSERT_EQ(0, value->value.int32Values[1]);
+    ASSERT_EQ(-2147483648, value->value.int32Values[2]);
+    ASSERT_EQ(3u, value->value.int64Values.size());
+    // -9223372036854775808 is not a valid literal since '-' and '9223372036854775808' would be two
+    // tokens and the later does not fit in unsigned long long.
+    ASSERT_EQ(-9223372036854775807 - 1, value->value.int64Values[0]);
+    ASSERT_EQ(0, value->value.int64Values[1]);
+    ASSERT_EQ(9223372036854775807, value->value.int64Values[2]);
+    ASSERT_EQ(3u, value->value.floatValues.size());
+    ASSERT_EQ(-3.402823466E+38f, value->value.floatValues[0]);
+    ASSERT_EQ(0.0f, value->value.floatValues[1]);
+    ASSERT_EQ(3.402823466E+38f, value->value.floatValues[2]);
+}
+
 }  // namespace anonymous
 
 }  // namespace V2_0