diff --git a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleClient.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleClient.h
new file mode 100644
index 0000000..1e2f3ad
--- /dev/null
+++ b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleClient.h
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2020 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 <vector>
+
+#include <android/hardware/automotive/vehicle/2.0/types.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+/**
+ *  Vehicle HAL talks to the vehicle through a client, instead of accessing
+ *  the car bus directly, to give us more flexibility on the implementation.
+ *  Android OS do not need direct access to the vehicle, and the communication
+ *  channel is also customizable.
+ *
+ *  Client lives on the Android (HAL) side to talk to the vehicle
+ */
+class IVehicleClient {
+  public:
+    IVehicleClient() = default;
+
+    IVehicleClient(const IVehicleClient&) = delete;
+
+    IVehicleClient& operator=(const IVehicleClient&) = delete;
+
+    IVehicleClient(IVehicleClient&&) = default;
+
+    virtual ~IVehicleClient() = default;
+
+    // Get configuration of all properties from server
+    virtual std::vector<VehiclePropConfig> getAllPropertyConfig() const = 0;
+
+    // Send the set property request to server
+    // updateStatus indicate if VHal should change the status of the value
+    // it should be false except injecting values for e2e tests
+    virtual StatusCode setProperty(const VehiclePropValue& value, bool updateStatus) = 0;
+
+    // Receive a new property value from server
+    // updateStatus is true if and only if the value is
+    // generated by car (ECU/fake generator/injected)
+    virtual void onPropertyValue(const VehiclePropValue& value, bool updateStatus) = 0;
+
+    // Dump method forwarded from HIDL's debug()
+    // If implemented, it must return whether the caller should dump its state.
+    virtual bool dump(const hidl_handle& /* handle */, const hidl_vec<hidl_string>& /* options */) {
+        return true;
+    }
+};
+
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleConnector.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleConnector.h
index 00b5afe..2908a55 100644
--- a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleConnector.h
+++ b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleConnector.h
@@ -21,6 +21,9 @@
 
 #include <android/hardware/automotive/vehicle/2.0/types.h>
 
+#include "VehicleClient.h"
+#include "VehicleServer.h"
+
 namespace android {
 namespace hardware {
 namespace automotive {
@@ -34,85 +37,6 @@
  */
 
 /**
- *  Vehicle HAL talks to the vehicle through a client, instead of accessing
- *  the car bus directly, to give us more flexibility on the implementation.
- *  Android OS do not need direct access to the vehicle, and the communication
- *  channel is also customizable.
- *
- *  Client lives on the Android (HAL) side to talk to the vehicle
- */
-class IVehicleClient {
-  public:
-    IVehicleClient() = default;
-
-    IVehicleClient(const IVehicleClient&) = delete;
-
-    IVehicleClient& operator=(const IVehicleClient&) = delete;
-
-    IVehicleClient(IVehicleClient&&) = default;
-
-    virtual ~IVehicleClient() = default;
-
-    // Get configuration of all properties from server
-    virtual std::vector<VehiclePropConfig> getAllPropertyConfig() const = 0;
-
-    // Send the set property request to server
-    // updateStatus indicate if VHal should change the status of the value
-    // it should be false except injecting values for e2e tests
-    virtual StatusCode setProperty(const VehiclePropValue& value, bool updateStatus) = 0;
-
-    // Receive a new property value from server
-    // updateStatus is true if and only if the value is
-    // generated by car (ECU/fake generator/injected)
-    virtual void onPropertyValue(const VehiclePropValue& value, bool updateStatus) = 0;
-
-    // Dump method forwarded from HIDL's debug()
-    // If implemented, it must return whether the caller should dump its state.
-    virtual bool dump(const hidl_handle& /* handle */, const hidl_vec<hidl_string>& /* options */) {
-        return true;
-    }
-};
-
-/**
- *  Server lives on the vehicle side to talk to Android HAL
- */
-class IVehicleServer {
-  public:
-    IVehicleServer() = default;
-
-    IVehicleServer(const IVehicleServer&) = delete;
-
-    IVehicleServer& operator=(const IVehicleServer&) = delete;
-
-    IVehicleServer(IVehicleServer&&) = default;
-
-    virtual ~IVehicleServer() = default;
-
-    // Receive the get property configuration request from HAL.
-    // Return a list of all property config
-    virtual std::vector<VehiclePropConfig> onGetAllPropertyConfig() const = 0;
-
-    // Receive the set property request from HAL.
-    // Process the setting and return the status code
-    // updateStatus indicate if VHal should change the status of the value
-    // it should be false except injecting values for e2e tests
-    virtual StatusCode onSetProperty(const VehiclePropValue& value, bool updateStatus) = 0;
-
-    // Receive a new property value from car (via direct connection to the car bus or the emulator)
-    // and forward the value to HAL
-    // updateStatus is true if and only if the value is
-    // generated by car (ECU/fake generator/injected)
-    virtual void onPropertyValueFromCar(const VehiclePropValue& value, bool updateStatus) = 0;
-
-    // Dump method forwarded from HIDL's debug()
-    // If implemented, it must return whether the caller should dump its state.
-    virtual bool onDump(const hidl_handle& /* handle */,
-                        const hidl_vec<hidl_string>& /* options */) {
-        return true;
-    }
-};
-
-/**
  *  If Android has direct access to the vehicle, then the client and
  *  the server may act in passthrough mode to avoid extra IPC
  *
diff --git a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleServer.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleServer.h
new file mode 100644
index 0000000..27ebbee
--- /dev/null
+++ b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleServer.h
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2020 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 <vector>
+
+#include <android/hardware/automotive/vehicle/2.0/types.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+/**
+ *  Server lives on the vehicle side to talk to Android HAL.
+ *  Note that the server may not be run on Android
+ */
+class IVehicleServer {
+  public:
+    IVehicleServer() = default;
+
+    IVehicleServer(const IVehicleServer&) = delete;
+
+    IVehicleServer& operator=(const IVehicleServer&) = delete;
+
+    IVehicleServer(IVehicleServer&&) = default;
+
+    virtual ~IVehicleServer() = default;
+
+    // Receive the get property configuration request from HAL.
+    // Return a list of all property config
+    virtual std::vector<VehiclePropConfig> onGetAllPropertyConfig() const = 0;
+
+    // Receive the set property request from HAL.
+    // Process the setting and return the status code
+    // updateStatus indicate if VHal should change the status of the value
+    // it should be false except injecting values for e2e tests
+    virtual StatusCode onSetProperty(const VehiclePropValue& value, bool updateStatus) = 0;
+
+    // Receive a new property value from car (via direct connection to the car bus or the emulator)
+    // and forward the value to HAL
+    // updateStatus is true if and only if the value is
+    // generated by car (ECU/fake generator/injected)
+    virtual void onPropertyValueFromCar(const VehiclePropValue& value, bool updateStatus) = 0;
+
+    // TODO (chenhaosjtuacm): fix this since there are no HIDL in non-Android OS
+#ifdef __ANDROID__
+    // Dump method forwarded from HIDL's debug()
+    // If implemented, it must return whether the caller should dump its state.
+    virtual bool onDump(const hidl_handle& /* handle */,
+                        const hidl_vec<hidl_string>& /* options */) {
+        return true;
+    }
+#endif  // __ANDROID__
+};
+
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android