Add ULTRASONICS_SENSOR_ORIENTATION to HAL layer.
Bug: 292141998
Test: atest VtsHalAutomotiveVehicle_TargetTest
Test: atest CtsCarTestCases:CarPropertyManagerTest
Test: atest CtsCarTestCases:VehiclePropertyIdsTest
Change-Id: I5b40cb5ce27a0d4e2b2b67c0a94b47aafa3ebd5c
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 4f24b9c..ab471fb 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -199,6 +199,7 @@
{VehicleProperty::VEHICLE_MAP_SERVICE, VehiclePropertyAccess::READ_WRITE},
{VehicleProperty::LOCATION_CHARACTERIZATION, VehiclePropertyAccess::READ},
{VehicleProperty::ULTRASONICS_SENSOR_POSITION, VehiclePropertyAccess::READ},
+ {VehicleProperty::ULTRASONICS_SENSOR_ORIENTATION, VehiclePropertyAccess::READ},
{VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyAccess::READ},
{VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyAccess::READ},
{VehicleProperty::OBD2_FREEZE_FRAME_INFO, VehiclePropertyAccess::READ},
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index cd53977..d499451 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -199,6 +199,7 @@
{VehicleProperty::VEHICLE_MAP_SERVICE, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::LOCATION_CHARACTERIZATION, VehiclePropertyChangeMode::STATIC},
{VehicleProperty::ULTRASONICS_SENSOR_POSITION, VehiclePropertyChangeMode::STATIC},
+ {VehicleProperty::ULTRASONICS_SENSOR_ORIENTATION, VehiclePropertyChangeMode::STATIC},
{VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::OBD2_FREEZE_FRAME_INFO, VehiclePropertyChangeMode::ON_CHANGE},
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index 0478131..f0de5ac 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -191,6 +191,7 @@
Map.entry(VehicleProperty.VEHICLE_MAP_SERVICE, VehiclePropertyAccess.READ_WRITE),
Map.entry(VehicleProperty.LOCATION_CHARACTERIZATION, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.ULTRASONICS_SENSOR_POSITION, VehiclePropertyAccess.READ),
+ Map.entry(VehicleProperty.ULTRASONICS_SENSOR_ORIENTATION, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME_INFO, VehiclePropertyAccess.READ),
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index 2745d42..bcaa3b1 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -191,6 +191,7 @@
Map.entry(VehicleProperty.VEHICLE_MAP_SERVICE, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.LOCATION_CHARACTERIZATION, VehiclePropertyChangeMode.STATIC),
Map.entry(VehicleProperty.ULTRASONICS_SENSOR_POSITION, VehiclePropertyChangeMode.STATIC),
+ Map.entry(VehicleProperty.ULTRASONICS_SENSOR_ORIENTATION, VehiclePropertyChangeMode.STATIC),
Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME_INFO, VehiclePropertyChangeMode.ON_CHANGE),
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 89c1061..27e56e6 100644
--- a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -197,6 +197,7 @@
VEHICLE_MAP_SERVICE = (((0x0C00 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299895808 */,
LOCATION_CHARACTERIZATION = (((0x0C10 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289410064 */,
ULTRASONICS_SENSOR_POSITION = (((0x0C20 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916128 */,
+ ULTRASONICS_SENSOR_ORIENTATION = (((0x0C21 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916129 */,
OBD2_LIVE_FRAME = (((0x0D00 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896064 */,
OBD2_FREEZE_FRAME = (((0x0D01 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896065 */,
OBD2_FREEZE_FRAME_INFO = (((0x0D02 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896066 */,
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 9e8e676..c3dd7dd 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -3334,6 +3334,37 @@
+ VehiclePropertyType.INT32_VEC,
/**
+ * Static data for the orientation of each ultrasonic sensor installed on the vehicle.
+ *
+ * Each individual sensor is identified by its VehicleAreaConfig#areaId and returns the sensor's
+ * orientation formatted as [qw, qx, qy, qz] where:
+ *
+ * int32Values[0] = qw, the quaternion coefficient w within the quaterinion (w + xi + yj +
+ * zk) describing the rotation of the sensor relative to the Android
+ * Automotive sensor coordinate frame.
+ * int32Values[1] = qx, the quaternion coefficient x within the quaterinion (w + xi + yj +
+ * zk) describing the rotation of the sensor relative to the Android
+ * Automotive sensor coordinate frame.
+ * int32Values[2] = qy, the quaternion coefficient y within the quaterinion (w + xi + yj +
+ * zk) describing the rotation of the sensor relative to the Android
+ * Automotive sensor coordinate frame.
+ * int32Values[3] = qz, the quaternion coefficient z within the quaterinion (w + xi + yj +
+ * zk) describing the rotation of the sensor relative to the Android
+ * Automotive sensor coordinate frame.
+ *
+ * This assumes each sensor uses the same axes conventions as Android Automotive.
+ *
+ * If the data is aggregated by another ECU, then OEMs have the option of reporting the same
+ * reading across all included sensors or reporting a virtual representation of all the included
+ * sensors as if they were one sensor.
+ *
+ * @change_mode VehiclePropertyChangeMode.STATIC
+ * @access VehiclePropertyAccess.READ
+ */
+ ULTRASONICS_SENSOR_ORIENTATION = 0x0C21 + VehiclePropertyGroup.SYSTEM + VehicleArea.VENDOR
+ + VehiclePropertyType.INT32_VEC,
+
+ /**
* OBD2 Live Sensor Data
*
* Reports a snapshot of the current (live) values of the OBD2 sensors available.
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index efbeb8e..7fe3904 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -554,6 +554,12 @@
VehicleArea::VENDOR, VehiclePropertyType::INT32_VEC);
}
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyUltrasonicsSensorOrientationConfig) {
+ verifyProperty(VehicleProperty::ULTRASONICS_SENSOR_ORIENTATION, VehiclePropertyAccess::READ,
+ VehiclePropertyChangeMode::STATIC, VehiclePropertyGroup::SYSTEM,
+ VehicleArea::VENDOR, VehiclePropertyType::INT32_VEC);
+}
+
TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyEmergencyLaneKeepAssistEnabledConfig) {
verifyProperty(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED,
VehiclePropertyAccess::READ_WRITE, VehiclePropertyChangeMode::ON_CHANGE,