commit 908101a9d9c1544a20c12924374d11b68142a321
author Eric Jeong <ericjeong@google.com> Thu Apr 23 09:43:55 2020 -0700
committer Eric Jeong <ericjeong@google.com> Thu May 07 15:10:43 2020 -0700
tree 7773495cf91db859ec08b92329d689a38057ff42
parent 2023afbe667855760a8985fe701e4f733e8cef48

Register VHAL to car watchdog

- For health checking, the car watchdog client attemps to get
PERF_VEHICLE_SPEED.
- If successful, it regards VHAL is healhty and responds to the car
watchdog daemon. Otherwise, VHAL will be killed by the daemon.

Bug: 154367059
Bug: 154262220
Test: dumpsys android.automotive.watchdog.ICarWatchdog/default and check
if vehicle hal is registered as a client

Change-Id: I2eb466550c56f25ba550ebbd35dc8fde9681ea59

automotive/vehicle/2.0/default/VehicleService.cpp

diff --git a/automotive/vehicle/2.0/default/VehicleService.cpp b/automotive/vehicle/2.0/default/VehicleService.cpp
index 127eb98..32e5e70 100644
--- a/automotive/vehicle/2.0/default/VehicleService.cpp
+++ b/automotive/vehicle/2.0/default/VehicleService.cpp
@@ -20,9 +20,12 @@
 
 #include <iostream>
 
+#include <android/binder_process.h>
+#include <utils/Looper.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;
@@ -36,7 +39,7 @@
     auto service = std::make_unique<VehicleHalManager>(hal.get());
     connector->setValuePool(hal->getValuePool());
 
-    configureRpcThreadpool(4, true /* callerWillJoin */);
+    configureRpcThreadpool(4, false /* callerWillJoin */);
 
     ALOGI("Registering as service...");
     status_t status = service->registerAsService();
@@ -46,8 +49,22 @@
         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");
-    joinRpcThreadpool();
+    while (true) {
+        looper->pollAll(-1 /* timeoutMillis */);
+    }
 
     return 1;
 }