diff --git a/automotive/sv/1.0/default/Android.bp b/automotive/sv/1.0/default/Android.bp
index da974a0..82e11a8 100644
--- a/automotive/sv/1.0/default/Android.bp
+++ b/automotive/sv/1.0/default/Android.bp
@@ -29,9 +29,7 @@
     relative_install_path: "hw",
     srcs: [
         "service.cpp",
-        "SurroundViewService.cpp",
-        "SurroundView2dSession.cpp",
-        "SurroundView3dSession.cpp",
+        ":automotiveSvV1.0_sources",
     ],
     init_rc: ["android.hardware.automotive.sv@1.0-service.rc"],
     vintf_fragments: ["android.hardware.automotive.sv@1.0-service.xml"],
@@ -54,3 +52,17 @@
         "-g",
     ],
 }
+
+filegroup {
+    name: "automotiveSvV1.0_sources",
+    srcs: [
+        "SurroundViewService.cpp",
+        "SurroundView2dSession.cpp",
+        "SurroundView3dSession.cpp",
+    ],
+}
+
+cc_library_headers {
+    name: "automotiveSvV1.0_headers",
+    export_include_dirs: ["."],
+}
diff --git a/automotive/sv/1.0/default/tests/fuzzer/Android.bp b/automotive/sv/1.0/default/tests/fuzzer/Android.bp
new file mode 100644
index 0000000..c037723
--- /dev/null
+++ b/automotive/sv/1.0/default/tests/fuzzer/Android.bp
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+
+cc_fuzz {
+    name: "automotiveSvV1.0_fuzzer",
+    srcs: [
+        "AutomotiveSvV1_0Fuzzer.cpp",
+        "SurroundViewStream.cpp",
+        ":automotiveSvV1.0_sources",
+    ],
+    header_libs: [
+        "automotiveSvV1.0_headers",
+    ],
+    shared_libs: [
+        "android.hardware.automotive.sv@1.0",
+        "android.hidl.allocator@1.0",
+        "libhidlbase",
+        "libutils",
+        "libhidlmemory",
+        "liblog",
+    ],
+    fuzz_config: {
+        cc: [
+            "android-media-fuzzing-reports@google.com",
+        ],
+        componentid: 533764,
+    },
+}
diff --git a/automotive/sv/1.0/default/tests/fuzzer/AutomotiveSvV1_0Fuzzer.cpp b/automotive/sv/1.0/default/tests/fuzzer/AutomotiveSvV1_0Fuzzer.cpp
new file mode 100644
index 0000000..98834f5
--- /dev/null
+++ b/automotive/sv/1.0/default/tests/fuzzer/AutomotiveSvV1_0Fuzzer.cpp
@@ -0,0 +1,433 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+
+#include "AutomotiveSvV1_0Fuzzer.h"
+#include <SurroundViewStream.h>
+#include <android/hidl/allocator/1.0/IAllocator.h>
+#include <hidlmemory/mapping.h>
+
+namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer {
+
+using ::android::hardware::hidl_memory;
+using ::android::hardware::hidl_string;
+using ::android::hardware::hidl_vec;
+using ::android::hidl::allocator::V1_0::IAllocator;
+
+constexpr uint32_t kMinConfigDimension = 0;
+constexpr uint32_t kMaxConfigDimension = 4096;
+constexpr uint32_t kVertexByteSize = (3 * sizeof(float)) + 4;
+constexpr uint32_t kIdByteSize = 2;
+constexpr size_t kMaxCharacters = 30;
+constexpr size_t kMaxVertices = 10;
+constexpr size_t kMaxCameraPoints = 10;
+constexpr size_t kMaxViews = 10;
+constexpr size_t kMaxOverlays = 10;
+constexpr size_t kMinSvBuffers = 0;
+constexpr size_t kMaxSvBuffers = 10;
+
+void SurroundViewFuzzer::invoke2dSessionAPI() {
+    sp<ISurroundView2dSession> surroundView2dSession;
+
+    while (mFuzzedDataProvider.remaining_bytes() > 0) {
+        auto surroundView2dFunc = mFuzzedDataProvider.PickValueInArray<
+                const std::function<void()>>({
+                [&]() {
+                    mSurroundViewService->start2dSession(
+                            [&surroundView2dSession](const sp<ISurroundView2dSession>& session,
+                                                     SvResult result) {
+                                if (result == SvResult::OK) {
+                                    surroundView2dSession = session;
+                                }
+                            });
+                },
+                [&]() {
+                    if (surroundView2dSession) {
+                        sp<SurroundViewStream> handler =
+                                sp<SurroundViewStream>::make(surroundView2dSession);
+                        surroundView2dSession->startStream(handler);
+                        mIs2dStreamStarted = true;
+                    }
+                },
+                [&]() {
+                    if (surroundView2dSession) {
+                        surroundView2dSession->get2dMappingInfo(
+                                []([[maybe_unused]] Sv2dMappingInfo info) {});
+                    }
+                },
+                [&]() {
+                    if (surroundView2dSession) {
+                        Sv2dConfig config;
+                        config.width = mFuzzedDataProvider.ConsumeIntegralInRange<uint32_t>(
+                                kMinConfigDimension, kMaxConfigDimension);
+                        if (mFuzzedDataProvider.ConsumeBool()) {
+                            config.blending = static_cast<SvQuality>(
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>());
+                        } else {
+                            config.blending = mFuzzedDataProvider.ConsumeBool() ? (SvQuality::HIGH)
+                                                                                : (SvQuality::LOW);
+                        }
+                        surroundView2dSession->set2dConfig(config);
+                    }
+                },
+                [&]() {
+                    if (surroundView2dSession) {
+                        surroundView2dSession->get2dConfig([&](Sv2dConfig) {});
+                    }
+                },
+                [&]() {
+                    if (surroundView2dSession) {
+                        hidl_vec<Point2dInt> points2dCamera;
+                        const size_t camPoints = mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(
+                                1, kMaxCameraPoints);
+                        points2dCamera.resize(camPoints);
+                        for (size_t i = 0; i < camPoints; ++i) {
+                            points2dCamera[i].x = mFuzzedDataProvider.ConsumeFloatingPoint<float>();
+                            points2dCamera[i].y = mFuzzedDataProvider.ConsumeFloatingPoint<float>();
+                        }
+
+                        hidl_vec<hidl_string> cameraIds;
+                        mSurroundViewService->getCameraIds(
+                                [&cameraIds](const hidl_vec<hidl_string>& camIds) {
+                                    cameraIds = camIds;
+                                });
+                        hidl_string cameraId;
+                        if (cameraIds.size() > 0 && mFuzzedDataProvider.ConsumeBool()) {
+                            const size_t cameraIndex =
+                                    mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(
+                                            0, cameraIds.size() - 1);
+                            cameraId = cameraIds[cameraIndex];
+                        } else {
+                            cameraId =
+                                    mFuzzedDataProvider.ConsumeRandomLengthString(kMaxCharacters);
+                        }
+                        surroundView2dSession->projectCameraPoints(
+                                points2dCamera, cameraId,
+                                []([[maybe_unused]] const hidl_vec<Point2dFloat>& outPoints) {});
+                    }
+                },
+                [&]() {
+                    if (surroundView2dSession) {
+                        SvFramesDesc frames;
+                        frames.timestampNs = mFuzzedDataProvider.ConsumeIntegral<uint64_t>();
+                        frames.sequenceId = mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                        size_t numSvBuffers = mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(
+                                kMinSvBuffers, kMaxSvBuffers);
+                        frames.svBuffers.resize(numSvBuffers);
+                        for (int i = 0; i < numSvBuffers; ++i) {
+                            frames.svBuffers[i].viewId =
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                            frames.svBuffers[i].hardwareBuffer.nativeHandle = new native_handle_t();
+                            frames.svBuffers[i].hardwareBuffer.description[0] =
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                            frames.svBuffers[i].hardwareBuffer.description[1] =
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                        }
+                        surroundView2dSession->doneWithFrames(frames);
+                        for (int i = 0; i < numSvBuffers; ++i) {
+                            delete frames.svBuffers[i].hardwareBuffer.nativeHandle;
+                        }
+                    }
+                },
+                [&]() {
+                    if (surroundView2dSession) {
+                        surroundView2dSession->stopStream();
+                        mIs2dStreamStarted = false;
+                    }
+                },
+                [&]() {
+                    mSurroundViewService->stop2dSession(
+                            mFuzzedDataProvider.ConsumeBool() ? surroundView2dSession : nullptr);
+                },
+        });
+        surroundView2dFunc();
+    }
+
+    if (surroundView2dSession && mIs2dStreamStarted) {
+        surroundView2dSession->stopStream();
+    }
+}
+
+void SurroundViewFuzzer::invoke3dSessionAPI() {
+    sp<ISurroundView3dSession> surroundView3dSession;
+    while (mFuzzedDataProvider.remaining_bytes() > 0) {
+        auto surroundView3dFunc = mFuzzedDataProvider.PickValueInArray<
+                const std::function<void()>>({
+                [&]() {
+                    mSurroundViewService->start3dSession(
+                            [&surroundView3dSession](const sp<ISurroundView3dSession>& session,
+                                                     SvResult result) {
+                                if (result == SvResult::OK) {
+                                    surroundView3dSession = session;
+                                }
+                            });
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        sp<SurroundViewStream> handler =
+                                sp<SurroundViewStream>::make(surroundView3dSession);
+                        surroundView3dSession->startStream(handler);
+                        mIs3dStreamStarted = true;
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        const size_t numViews =
+                                mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(1, kMaxViews);
+                        std::vector<View3d> views(numViews);
+                        for (size_t i = 0; i < numViews; ++i) {
+                            views[i].viewId = mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                        }
+                        surroundView3dSession->setViews(views);
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        Sv3dConfig config;
+                        config.width = mFuzzedDataProvider.ConsumeIntegralInRange<uint32_t>(
+                                kMinConfigDimension, kMaxConfigDimension);
+                        config.height = mFuzzedDataProvider.ConsumeIntegralInRange<uint32_t>(
+                                kMinConfigDimension, kMaxConfigDimension);
+                        if (mFuzzedDataProvider.ConsumeBool()) {
+                            config.carDetails = static_cast<SvQuality>(
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>());
+                        } else {
+                            config.carDetails = mFuzzedDataProvider.ConsumeBool()
+                                                        ? (SvQuality::HIGH)
+                                                        : (SvQuality::LOW);
+                        }
+                        surroundView3dSession->set3dConfig(config);
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        surroundView3dSession->get3dConfig([&](Sv3dConfig) {});
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        Point2dInt cameraPoint;
+                        cameraPoint.x = mFuzzedDataProvider.ConsumeFloatingPoint<float>();
+                        cameraPoint.y = mFuzzedDataProvider.ConsumeFloatingPoint<float>();
+                        std::vector<Point2dInt> cameraPoints = {cameraPoint};
+                        hidl_vec<hidl_string> cameraIds;
+                        mSurroundViewService->getCameraIds(
+                                [&cameraIds](const hidl_vec<hidl_string>& camIds) {
+                                    cameraIds = camIds;
+                                });
+                        hidl_string cameraId;
+                        if (cameraIds.size() > 0 && mFuzzedDataProvider.ConsumeBool()) {
+                            const size_t cameraIndex =
+                                    mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(
+                                            0, cameraIds.size() - 1);
+                            cameraId = cameraIds[cameraIndex];
+                        } else {
+                            cameraId =
+                                    mFuzzedDataProvider.ConsumeRandomLengthString(kMaxCharacters);
+                        }
+                        std::vector<Point3dFloat> points3d;
+                        surroundView3dSession->projectCameraPointsTo3dSurface(
+                                cameraPoints, cameraId,
+                                [&points3d]([[maybe_unused]] const hidl_vec<Point3dFloat>&
+                                                    points3dproj) { points3d = points3dproj; });
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        // success case
+                        surroundView3dSession->updateOverlays(mOverlaysdata);
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        initSampleOverlaysData();
+                        // Fail with ID mismatch
+                        // Set id of second overlay in shared memory to 2 (expected is 1).
+                        auto& overlaysDescVector = mOverlaysdata.overlaysMemoryDesc;
+                        auto& pIMemory = mMemory;
+                        int32_t indexPosition = mFuzzedDataProvider.ConsumeIntegralInRange<int32_t>(
+                                0, mNumOverlays - 1);
+                        int32_t mismatchedValueIndex =
+                                mFuzzedDataProvider.ConsumeIntegralInRange<int32_t>(
+                                        0, mNumOverlays - 1);
+                        setIndexOfOverlaysMemory(overlaysDescVector, pIMemory, indexPosition,
+                                                 overlaysDescVector[mismatchedValueIndex].id);
+                        surroundView3dSession->updateOverlays(mOverlaysdata);
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        // Fail with NULL memory
+                        // Set shared memory to null.
+                        mOverlaysdata.overlaysMemory = hidl_memory();
+                        surroundView3dSession->updateOverlays(mOverlaysdata);
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        SvFramesDesc frames;
+                        frames.timestampNs = mFuzzedDataProvider.ConsumeIntegral<uint64_t>();
+                        frames.sequenceId = mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                        size_t numSvBuffers = mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(
+                                kMinSvBuffers, kMaxSvBuffers);
+                        frames.svBuffers.resize(numSvBuffers);
+                        for (int i = 0; i < numSvBuffers; ++i) {
+                            frames.svBuffers[i].viewId =
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                            frames.svBuffers[i].hardwareBuffer.nativeHandle = new native_handle_t();
+                            frames.svBuffers[i].hardwareBuffer.description[0] =
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                            frames.svBuffers[i].hardwareBuffer.description[1] =
+                                    mFuzzedDataProvider.ConsumeIntegral<uint32_t>();
+                        }
+                        surroundView3dSession->doneWithFrames(frames);
+                        for (int i = 0; i < numSvBuffers; ++i) {
+                            delete frames.svBuffers[i].hardwareBuffer.nativeHandle;
+                        }
+                    }
+                },
+                [&]() {
+                    if (surroundView3dSession) {
+                        surroundView3dSession->stopStream();
+                        mIs3dStreamStarted = false;
+                    }
+                },
+                [&]() {
+                    mSurroundViewService->stop3dSession(
+                            mFuzzedDataProvider.ConsumeBool() ? surroundView3dSession : nullptr);
+                },
+        });
+        surroundView3dFunc();
+    }
+    if (surroundView3dSession && mIs3dStreamStarted) {
+        surroundView3dSession->stopStream();
+    }
+}
+
+void SurroundViewFuzzer::process() {
+    mFuzzedDataProvider.ConsumeBool() ? invoke2dSessionAPI() : invoke3dSessionAPI();
+}
+
+std::pair<hidl_memory, sp<IMemory>> SurroundViewFuzzer::getMappedSharedMemory(int32_t bytesSize) {
+    const auto nullResult = std::make_pair(hidl_memory(), nullptr);
+
+    sp<IAllocator> ashmemAllocator = IAllocator::getService("ashmem");
+    if (ashmemAllocator.get() == nullptr) {
+        return nullResult;
+    }
+
+    // Allocate shared memory.
+    hidl_memory hidlMemory;
+    bool allocateSuccess = false;
+    Return<void> result =
+            ashmemAllocator->allocate(bytesSize, [&](bool success, const hidl_memory& hidlMem) {
+                if (!success) {
+                    return;
+                }
+                allocateSuccess = success;
+                hidlMemory = hidlMem;
+            });
+
+    // Check result of allocated memory.
+    if (!result.isOk() || !allocateSuccess) {
+        return nullResult;
+    }
+
+    // Map shared memory.
+    sp<IMemory> pIMemory = mapMemory(hidlMemory);
+    if (pIMemory.get() == nullptr) {
+        return nullResult;
+    }
+
+    return std::make_pair(hidlMemory, pIMemory);
+}
+
+void SurroundViewFuzzer::setIndexOfOverlaysMemory(
+        const std::vector<OverlayMemoryDesc>& overlaysMemDesc, sp<IMemory> pIMemory,
+        int32_t indexPosition, uint16_t indexValue) {
+    // Count the number of vertices until the index.
+    int32_t totalVerticesCount = 0;
+    for (int32_t i = 0; i < indexPosition; ++i) {
+        totalVerticesCount += overlaysMemDesc[i].verticesCount;
+    }
+
+    const int32_t indexBytePosition =
+            (indexPosition * kIdByteSize) + (kVertexByteSize * totalVerticesCount);
+
+    uint8_t* pSharedMemoryData = (uint8_t*)((void*)pIMemory->getPointer());
+    pSharedMemoryData += indexBytePosition;
+    uint16_t* pIndex16bit = (uint16_t*)pSharedMemoryData;
+
+    // Modify shared memory.
+    pIMemory->update();
+    *pIndex16bit = indexValue;
+    pIMemory->commit();
+}
+
+void SurroundViewFuzzer::initSampleOverlaysData() {
+    const size_t mNumOverlays =
+            mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(kMinOverlays, kMaxOverlays);
+    mOverlaysdata.overlaysMemoryDesc.resize(mNumOverlays);
+
+    int32_t sharedMemBytesSize = 0;
+    std::vector<OverlayMemoryDesc> overlaysDescVector = {};
+    OverlayMemoryDesc overlayMemDesc[mNumOverlays];
+    for (size_t i = 0; i < mNumOverlays; ++i) {
+        overlayMemDesc[i].id = i;
+        overlayMemDesc[i].verticesCount =
+                mFuzzedDataProvider.ConsumeIntegralInRange<size_t>(1, kMaxVertices);
+        overlayMemDesc[i].overlayPrimitive = mFuzzedDataProvider.ConsumeBool()
+                                                     ? (OverlayPrimitive::TRIANGLES)
+                                                     : (OverlayPrimitive::TRIANGLES_STRIP);
+        mOverlaysdata.overlaysMemoryDesc[i] = overlayMemDesc[i];
+
+        sharedMemBytesSize += kIdByteSize + kVertexByteSize * overlayMemDesc[i].verticesCount;
+        overlaysDescVector.push_back(overlayMemDesc[i]);
+    }
+
+    std::pair<hidl_memory, sp<IMemory>> sharedMem = getMappedSharedMemory(sharedMemBytesSize);
+    sp<IMemory> pIMemory = std::get<1>(sharedMem);
+    if (pIMemory.get() == nullptr) {
+        mOverlaysdata = OverlaysData();
+        mMemory = nullptr;
+        return;
+    }
+
+    // Get pointer to shared memory data and set all bytes to 0.
+    uint8_t* pSharedMemoryData = (uint8_t*)((void*)pIMemory->getPointer());
+    pIMemory->update();
+    memset(pSharedMemoryData, 0, sharedMemBytesSize);
+    pIMemory->commit();
+
+    // Set indexes in shared memory.
+    for (size_t i = 0; i < mNumOverlays; ++i) {
+        setIndexOfOverlaysMemory(overlaysDescVector, pIMemory, i, overlayMemDesc[i].id);
+    }
+
+    mOverlaysdata.overlaysMemoryDesc = overlaysDescVector;
+    mOverlaysdata.overlaysMemory = std::get<0>(sharedMem);
+    mMemory = pIMemory;
+}
+
+extern "C" int LLVMFuzzerTestOneInput(const uint8_t* data, size_t size) {
+    if (size < 1) {
+        return 0;
+    }
+    SurroundViewFuzzer surroundViewFuzzer(data, size);
+    surroundViewFuzzer.process();
+    return 0;
+}
+}  // namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer
diff --git a/automotive/sv/1.0/default/tests/fuzzer/AutomotiveSvV1_0Fuzzer.h b/automotive/sv/1.0/default/tests/fuzzer/AutomotiveSvV1_0Fuzzer.h
new file mode 100644
index 0000000..23e5a31
--- /dev/null
+++ b/automotive/sv/1.0/default/tests/fuzzer/AutomotiveSvV1_0Fuzzer.h
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+#pragma once
+#include <SurroundViewService.h>
+#include <android/hidl/memory/1.0/IMemory.h>
+#include <fuzzer/FuzzedDataProvider.h>
+
+namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer {
+
+using ::android::sp;
+using ::android::hidl::memory::V1_0::IMemory;
+
+constexpr size_t kMinOverlays = 2;
+
+class SurroundViewFuzzer {
+  public:
+    SurroundViewFuzzer(const uint8_t* data, size_t size) : mFuzzedDataProvider(data, size) {
+        mSurroundViewService = sp<SurroundViewService>::make();
+    }
+    ~SurroundViewFuzzer() = default;
+    void process();
+
+  private:
+    void invoke2dSessionAPI();
+    void invoke3dSessionAPI();
+    std::pair<hidl_memory, sp<IMemory>> getMappedSharedMemory(int32_t bytesSize);
+    void initSampleOverlaysData();
+    void setIndexOfOverlaysMemory(const std::vector<OverlayMemoryDesc>& overlaysMemDesc,
+                                  sp<IMemory> pIMemory, int32_t indexPosition, uint16_t indexValue);
+    OverlaysData mOverlaysdata = {};
+    size_t mNumOverlays = kMinOverlays;
+    sp<IMemory> mMemory = nullptr;
+    FuzzedDataProvider mFuzzedDataProvider;
+    sp<SurroundViewService> mSurroundViewService = nullptr;
+    bool mIs2dStreamStarted = false;
+    bool mIs3dStreamStarted = false;
+};
+}  // namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer
diff --git a/automotive/sv/1.0/default/tests/fuzzer/SurroundViewStream.cpp b/automotive/sv/1.0/default/tests/fuzzer/SurroundViewStream.cpp
new file mode 100644
index 0000000..b81a08c
--- /dev/null
+++ b/automotive/sv/1.0/default/tests/fuzzer/SurroundViewStream.cpp
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#include "SurroundViewStream.h"
+
+namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer {
+
+using std::lock_guard;
+
+SurroundViewStream::SurroundViewStream(sp<ISurroundViewSession> pSession)
+    : mSession(pSession), mReceiveFramesCount(0) {}
+
+Return<void> SurroundViewStream::notify(SvEvent svEvent) {
+    lock_guard<mutex> lock(mLock);
+    switch (svEvent) {
+        case SvEvent::STREAM_STARTED:
+        case SvEvent::CONFIG_UPDATED:
+        case SvEvent::STREAM_STOPPED:
+        case SvEvent::FRAME_DROPPED:
+        case SvEvent::TIMEOUT:
+            mReceivedEvents.emplace_back(svEvent);
+            break;
+        default:
+            break;
+    }
+
+    return android::hardware::Void();
+}
+
+Return<void> SurroundViewStream::receiveFrames(const SvFramesDesc& svFramesDesc) {
+    lock_guard<mutex> lock(mLock);
+    if ((mLastReceivedFrames.timestampNs >= svFramesDesc.timestampNs ||
+         mLastReceivedFrames.sequenceId >= svFramesDesc.sequenceId) &&
+        mReceiveFramesCount != 0) {
+        // The incoming frames are with invalid timestamp or sequenceId
+        mAllFramesValid = false;
+    }
+
+    for (int i = 0; i < svFramesDesc.svBuffers.size(); ++i) {
+        if (svFramesDesc.svBuffers[i].hardwareBuffer.nativeHandle == nullptr) {
+            mAllFramesValid = false;
+            // The incoming frames are with invalid nativeHandle
+            break;
+        }
+    }
+
+    ++mReceiveFramesCount;
+
+    // Store all the information except for the handle
+    mLastReceivedFrames.timestampNs = svFramesDesc.timestampNs;
+    mLastReceivedFrames.sequenceId = svFramesDesc.sequenceId;
+    mLastReceivedFrames.svBuffers.resize(svFramesDesc.svBuffers.size());
+    for (int i = 0; i < svFramesDesc.svBuffers.size(); ++i) {
+        mLastReceivedFrames.svBuffers[i].viewId = svFramesDesc.svBuffers[i].viewId;
+        mLastReceivedFrames.svBuffers[i].hardwareBuffer.description =
+                svFramesDesc.svBuffers[i].hardwareBuffer.description;
+    }
+
+    return android::hardware::Void();
+}
+}  // namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer
diff --git a/automotive/sv/1.0/default/tests/fuzzer/SurroundViewStream.h b/automotive/sv/1.0/default/tests/fuzzer/SurroundViewStream.h
new file mode 100644
index 0000000..8135bc1
--- /dev/null
+++ b/automotive/sv/1.0/default/tests/fuzzer/SurroundViewStream.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#pragma once
+
+#include <android/hardware/automotive/sv/1.0/ISurroundViewSession.h>
+#include <android/hardware/automotive/sv/1.0/ISurroundViewStream.h>
+#include <android/hardware/automotive/sv/1.0/types.h>
+
+#include <thread>
+#include <vector>
+
+namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer {
+
+using android::sp;
+using android::hardware::Return;
+using std::mutex;
+using std::vector;
+
+class SurroundViewStream : public ISurroundViewStream {
+  public:
+    SurroundViewStream(sp<ISurroundViewSession> session);
+
+    Return<void> notify(SvEvent svEvent) override;
+    Return<void> receiveFrames(const SvFramesDesc& svFramesDesc) override;
+
+    bool checkEventReceived(SvEvent svEvent);
+    SvFramesDesc getLastReceivedFrames();
+    int getReceiveFramesCount();
+    bool areAllFramesValid();
+    void setDoNotReturnFrames(bool flag);
+
+  private:
+    mutex mLock;
+
+    vector<SvEvent> mReceivedEvents;
+    sp<ISurroundViewSession> mSession;
+    SvFramesDesc mLastReceivedFrames;
+    int mReceiveFramesCount;
+    bool mAllFramesValid = true;
+};
+}  // namespace android::hardware::automotive::sv::V1_0::implementation::fuzzer
diff --git a/biometrics/fingerprint/aidl/default/tests/WorkerThreadTest.cpp b/biometrics/fingerprint/aidl/default/tests/WorkerThreadTest.cpp
index b2417bd..902fb40 100644
--- a/biometrics/fingerprint/aidl/default/tests/WorkerThreadTest.cpp
+++ b/biometrics/fingerprint/aidl/default/tests/WorkerThreadTest.cpp
@@ -71,7 +71,7 @@
 
 TEST(WorkerThreadTest, TasksExecuteInOrder) {
     constexpr int NUM_TASKS = 10000;
-    WorkerThread worker(NUM_TASKS);
+    WorkerThread worker(NUM_TASKS + 1);
 
     std::mutex mut;
     std::condition_variable cv;
diff --git a/compatibility_matrices/compatibility_matrix.current.xml b/compatibility_matrices/compatibility_matrix.current.xml
index 8b3830a..acee459 100644
--- a/compatibility_matrices/compatibility_matrix.current.xml
+++ b/compatibility_matrices/compatibility_matrix.current.xml
@@ -277,9 +277,9 @@
             <instance>default</instance>
         </interface>
     </hal>
-    <hal format="hidl" optional="false">
+    <hal format="hidl" optional="true">
         <name>android.hardware.graphics.allocator</name>
-        <!-- New, non-Go devices should use 4.0, tested in vts_treble_vintf_vendor_test -->
+        <!-- New, non-Go devices should use 4.0 or the AIDL hal. -->
         <version>2.0</version>
         <version>3.0</version>
         <version>4.0</version>
diff --git a/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerServiceWriter.h b/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerServiceWriter.h
new file mode 100644
index 0000000..34cda6a
--- /dev/null
+++ b/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerServiceWriter.h
@@ -0,0 +1,128 @@
+/*
+ * Copyright 2022 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.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/graphics/composer3/CommandResultPayload.h>
+#include <aidl/android/hardware/graphics/composer3/IComposerClient.h>
+#include <inttypes.h>
+#include <string.h>
+
+#include <algorithm>
+#include <limits>
+#include <memory>
+#include <vector>
+
+#include "Util.h"
+
+namespace aidl::android::hardware::graphics::composer3::impl {
+
+class ComposerServiceWriter {
+  public:
+    ComposerServiceWriter() { reset(); }
+
+    virtual ~ComposerServiceWriter() { reset(); }
+
+    void reset() { mCommandsResults.clear(); }
+
+    void setError(int32_t index, int32_t errorCode) {
+        CommandError error;
+        error.commandIndex = index;
+        error.errorCode = errorCode;
+        mCommandsResults.emplace_back(std::move(error));
+    }
+
+    void setPresentOrValidateResult(int64_t display, PresentOrValidate::Result result) {
+        PresentOrValidate presentOrValidate;
+        presentOrValidate.display = display;
+        presentOrValidate.result = result;
+        mCommandsResults.emplace_back(std::move(presentOrValidate));
+    }
+
+    void setChangedCompositionTypes(int64_t display, const std::vector<int64_t>& layers,
+                                    const std::vector<Composition>& types) {
+        ChangedCompositionTypes changedCompositionTypes;
+        changedCompositionTypes.display = display;
+        changedCompositionTypes.layers.reserve(layers.size());
+        for (int i = 0; i < layers.size(); i++) {
+            auto layer = ChangedCompositionLayer{.layer = layers[i], .composition = types[i]};
+            changedCompositionTypes.layers.emplace_back(std::move(layer));
+        }
+        mCommandsResults.emplace_back(std::move(changedCompositionTypes));
+    }
+
+    void setDisplayRequests(int64_t display, int32_t displayRequestMask,
+                            const std::vector<int64_t>& layers,
+                            const std::vector<int32_t>& layerRequestMasks) {
+        DisplayRequest displayRequest;
+        displayRequest.display = display;
+        displayRequest.mask = displayRequestMask;
+        displayRequest.layerRequests.reserve(layers.size());
+        for (int i = 0; i < layers.size(); i++) {
+            auto layerRequest =
+                    DisplayRequest::LayerRequest{.layer = layers[i], .mask = layerRequestMasks[i]};
+            displayRequest.layerRequests.emplace_back(std::move(layerRequest));
+        }
+        mCommandsResults.emplace_back(std::move(displayRequest));
+    }
+
+    void setPresentFence(int64_t display, ::ndk::ScopedFileDescriptor presentFence) {
+        if (presentFence.get() >= 0) {
+            PresentFence presentFenceCommand;
+            presentFenceCommand.fence = std::move(presentFence);
+            presentFenceCommand.display = display;
+            mCommandsResults.emplace_back(std::move(presentFenceCommand));
+        } else {
+            LOG(WARNING) << __func__ << ": invalid present fence " << presentFence.get();
+        }
+    }
+
+    void setReleaseFences(int64_t display, const std::vector<int64_t>& layers,
+                          std::vector<::ndk::ScopedFileDescriptor> releaseFences) {
+        ReleaseFences releaseFencesCommand;
+        releaseFencesCommand.display = display;
+        for (int i = 0; i < layers.size(); i++) {
+            if (releaseFences[i].get() >= 0) {
+                ReleaseFences::Layer layer;
+                layer.layer = layers[i];
+                layer.fence = std::move(releaseFences[i]);
+                releaseFencesCommand.layers.emplace_back(std::move(layer));
+            } else {
+                LOG(WARNING) << __func__ << ": invalid release fence " << releaseFences[i].get();
+            }
+        }
+        mCommandsResults.emplace_back(std::move(releaseFencesCommand));
+    }
+
+    void setClientTargetProperty(int64_t display, const ClientTargetProperty& clientTargetProperty,
+                                 float brightness, const DimmingStage& dimmingStage) {
+        ClientTargetPropertyWithBrightness clientTargetPropertyWithBrightness;
+        clientTargetPropertyWithBrightness.display = display;
+        clientTargetPropertyWithBrightness.clientTargetProperty = clientTargetProperty;
+        clientTargetPropertyWithBrightness.brightness = brightness;
+        clientTargetPropertyWithBrightness.dimmingStage = dimmingStage;
+        mCommandsResults.emplace_back(std::move(clientTargetPropertyWithBrightness));
+    }
+
+    std::vector<CommandResultPayload> getPendingCommandResults() {
+        return std::move(mCommandsResults);
+    }
+
+  private:
+    std::vector<CommandResultPayload> mCommandsResults;
+};
+
+}  // namespace aidl::android::hardware::graphics::composer3::impl
\ No newline at end of file
diff --git a/identity/aidl/vts/Android.bp b/identity/aidl/vts/Android.bp
index a471efb..fee58a4 100644
--- a/identity/aidl/vts/Android.bp
+++ b/identity/aidl/vts/Android.bp
@@ -57,6 +57,7 @@
         "general-tests",
         "vts",
     ],
+    require_root: true,
 }
 
 java_test_host {