Added LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE to HAL
Bug: 314795767
Test: atest VtsHalAutomotiveVehicle_TargetTest
FakeVehicleHardwareTest
Change-Id: Ib7189abbbd9d9f3870faed146d1c240b03820716
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 6cc7c78..042065a 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -295,6 +295,7 @@
{VehicleProperty::CROSS_TRAFFIC_MONITORING_ENABLED, VehiclePropertyAccess::READ_WRITE},
{VehicleProperty::CROSS_TRAFFIC_MONITORING_WARNING_STATE, VehiclePropertyAccess::READ},
{VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED, VehiclePropertyAccess::READ_WRITE},
+ {VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE, VehiclePropertyAccess::READ},
};
} // namespace vehicle
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index 2040867..758d851 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -295,6 +295,7 @@
{VehicleProperty::CROSS_TRAFFIC_MONITORING_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::CROSS_TRAFFIC_MONITORING_WARNING_STATE, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
+ {VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE, VehiclePropertyChangeMode::ON_CHANGE},
};
} // namespace vehicle
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index e846501..4aefae3 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -286,7 +286,8 @@
Map.entry(VehicleProperty.LOW_SPEED_COLLISION_WARNING_STATE, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.CROSS_TRAFFIC_MONITORING_ENABLED, VehiclePropertyAccess.READ_WRITE),
Map.entry(VehicleProperty.CROSS_TRAFFIC_MONITORING_WARNING_STATE, VehiclePropertyAccess.READ),
- Map.entry(VehicleProperty.LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED, VehiclePropertyAccess.READ_WRITE)
+ Map.entry(VehicleProperty.LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED, VehiclePropertyAccess.READ_WRITE),
+ Map.entry(VehicleProperty.LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE, VehiclePropertyAccess.READ)
);
}
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index 7a348b2..c9a8d1e 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -286,7 +286,8 @@
Map.entry(VehicleProperty.LOW_SPEED_COLLISION_WARNING_STATE, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.CROSS_TRAFFIC_MONITORING_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.CROSS_TRAFFIC_MONITORING_WARNING_STATE, VehiclePropertyChangeMode.ON_CHANGE),
- Map.entry(VehicleProperty.LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED, VehiclePropertyChangeMode.ON_CHANGE)
+ Map.entry(VehicleProperty.LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
+ Map.entry(VehicleProperty.LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE, VehiclePropertyChangeMode.ON_CHANGE)
);
}
diff --git a/automotive/vehicle/aidl/generated_lib/java/EnumForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/EnumForVehicleProperty.java
index b4f24a6..4b8060f 100644
--- a/automotive/vehicle/aidl/generated_lib/java/EnumForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/EnumForVehicleProperty.java
@@ -103,7 +103,8 @@
Map.entry(VehicleProperty.DRIVER_DISTRACTION_STATE, List.of(DriverDistractionState.class, ErrorState.class)),
Map.entry(VehicleProperty.DRIVER_DISTRACTION_WARNING, List.of(DriverDistractionWarning.class, ErrorState.class)),
Map.entry(VehicleProperty.LOW_SPEED_COLLISION_WARNING_STATE, List.of(LowSpeedCollisionWarningState.class, ErrorState.class)),
- Map.entry(VehicleProperty.CROSS_TRAFFIC_MONITORING_WARNING_STATE, List.of(CrossTrafficMonitoringWarningState.class, ErrorState.class))
+ Map.entry(VehicleProperty.CROSS_TRAFFIC_MONITORING_WARNING_STATE, List.of(CrossTrafficMonitoringWarningState.class, ErrorState.class)),
+ Map.entry(VehicleProperty.LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE, List.of(LowSpeedAutomaticEmergencyBrakingState.class, ErrorState.class))
);
}
diff --git a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
index 146da69..3e6e7dc 100644
--- a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
+++ b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
@@ -63,6 +63,7 @@
using ::aidl::android::hardware::automotive::vehicle::LaneDepartureWarningState;
using ::aidl::android::hardware::automotive::vehicle::LaneKeepAssistState;
using ::aidl::android::hardware::automotive::vehicle::LocationCharacterization;
+using ::aidl::android::hardware::automotive::vehicle::LowSpeedAutomaticEmergencyBrakingState;
using ::aidl::android::hardware::automotive::vehicle::LowSpeedCollisionWarningState;
using ::aidl::android::hardware::automotive::vehicle::RawPropValues;
using ::aidl::android::hardware::automotive::vehicle::VehicleAirbagLocation;
@@ -297,6 +298,8 @@
std::make_unique<ConstantParser<ElectronicStabilityControlState>>();
mConstantParsersByType["CrossTrafficMonitoringWarningState"] =
std::make_unique<ConstantParser<CrossTrafficMonitoringWarningState>>();
+ mConstantParsersByType["LowSpeedAutomaticEmergencyBrakingState"] =
+ std::make_unique<ConstantParser<LowSpeedAutomaticEmergencyBrakingState>>();
mConstantParsersByType["Constants"] = std::make_unique<LocalVariableParser>();
#ifdef ENABLE_VEHICLE_HAL_TEST_PROPERTIES
mConstantParsersByType["TestVendorProperty"] =
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index 559725f..56d8b4b 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -4212,6 +4212,28 @@
1
]
}
+ },
+ {
+ "property": "VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE",
+ "defaultValue": {
+ "int32Values": [
+ "LowSpeedAutomaticEmergencyBrakingState::ENABLED"
+ ]
+ },
+ "areas": [
+ {
+ "areaId": 0,
+ "supportedEnumValues": [
+ "ErrorState::NOT_AVAILABLE_SAFETY",
+ "ErrorState::NOT_AVAILABLE_POOR_VISIBILITY",
+ "ErrorState::NOT_AVAILABLE_SPEED_HIGH",
+ "ErrorState::NOT_AVAILABLE_DISABLED",
+ "LowSpeedAutomaticEmergencyBrakingState::ENABLED",
+ "LowSpeedAutomaticEmergencyBrakingState::ACTIVATED",
+ "LowSpeedAutomaticEmergencyBrakingState::USER_OVERRIDE"
+ ]
+ }
+ ]
}
]
}
diff --git a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
index dced624..385f616 100644
--- a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
+++ b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
@@ -246,6 +246,13 @@
toInt(VehicleProperty::CROSS_TRAFFIC_MONITORING_WARNING_STATE),
},
},
+ // LSAEB
+ {
+ toInt(VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
+ {
+ toInt(VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE),
+ },
+ },
};
} // namespace
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
index bbd88da..0c8ebbd 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
@@ -50,6 +50,7 @@
#include <aidl/android/hardware/automotive/vehicle/LaneDepartureWarningState.h>
#include <aidl/android/hardware/automotive/vehicle/LaneKeepAssistState.h>
#include <aidl/android/hardware/automotive/vehicle/LocationCharacterization.h>
+#include <aidl/android/hardware/automotive/vehicle/LowSpeedAutomaticEmergencyBrakingState.h>
#include <aidl/android/hardware/automotive/vehicle/LowSpeedCollisionWarningState.h>
#include <aidl/android/hardware/automotive/vehicle/Obd2CommonIgnitionMonitors.h>
#include <aidl/android/hardware/automotive/vehicle/Obd2FuelSystemStatus.h>
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LowSpeedAutomaticEmergencyBrakingState.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LowSpeedAutomaticEmergencyBrakingState.aidl
new file mode 100644
index 0000000..70014e1
--- /dev/null
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LowSpeedAutomaticEmergencyBrakingState.aidl
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE. //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+// the interface (from the latest frozen version), the build system will
+// prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.automotive.vehicle;
+@Backing(type="int") @VintfStability
+enum LowSpeedAutomaticEmergencyBrakingState {
+ OTHER = 0,
+ ENABLED = 1,
+ ACTIVATED = 2,
+ USER_OVERRIDE = 3,
+}
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 d3b7f18..560fb0e 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
@@ -293,4 +293,5 @@
CROSS_TRAFFIC_MONITORING_ENABLED = (((0x1023 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313955 */,
CROSS_TRAFFIC_MONITORING_WARNING_STATE = (((0x1024 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411108 */,
LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED = (((0x1025 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313957 */,
+ LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE = (((0x1026 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411110 */,
}
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LowSpeedAutomaticEmergencyBrakingState.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LowSpeedAutomaticEmergencyBrakingState.aidl
new file mode 100644
index 0000000..978da25
--- /dev/null
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LowSpeedAutomaticEmergencyBrakingState.aidl
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+
+package android.hardware.automotive.vehicle;
+
+/**
+ * Used to enumerate the state of Low Speed Automatic Emergency Braking.
+ */
+@VintfStability
+@Backing(type="int")
+enum LowSpeedAutomaticEmergencyBrakingState {
+
+ /**
+ * This state is used as an alternative to any LowSpeedAutomaticEmergencyBrakingState value that
+ * is not defined in the platform. Ideally, implementations of
+ * VehicleProperty#LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE should not use this state. The
+ * framework can use this field to remain backwards compatible if
+ * LowSpeedAutomaticEmergencyBrakingState is extended to include additional states.
+ */
+ OTHER = 0,
+ /**
+ * Low Speed Automatic Emergency Braking is enabled and monitoring safety, but brakes are not
+ * activated.
+ */
+ ENABLED = 1,
+ /**
+ * Low Speed Automatic Emergency Braking is enabled and currently has the brakes applied for the
+ * vehicle.
+ */
+ ACTIVATED = 2,
+ /**
+ * Many Low Speed Automatic Emergency Braking implementations allow the driver to override Low
+ * Speed Automatic Emergency Braking. This means that the car has determined it should brake,
+ * but a user decides to take over and do something else. This is often done for safety reasons
+ * and to ensure that the driver can always take control of the vehicle. This state should be
+ * set when the user is actively overriding the low speed automatic emergency braking system.
+ */
+ USER_OVERRIDE = 3,
+}
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 2f1f3df..999197e 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -4694,7 +4694,9 @@
*
* Returns the current state of AEB. This property must always return a valid state defined in
* AutomaticEmergencyBrakingState or ErrorState. It must not surface errors through StatusCode
- * and must use the supported error states instead.
+ * and must use the supported error states instead. This property should apply for higher speed
+ * applications only. For representing the state of the low speed automatic emergency braking
+ * system, LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE should be used.
*
* If AEB includes forward collision warnings before activating the brakes, those warnings must
* be surfaced through the Forward Collision Warning (FCW) properties.
@@ -5545,6 +5547,32 @@
LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_ENABLED =
0x1025 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.BOOLEAN,
+ /**
+ * Low Speed Automatic Emergency Braking state.
+ *
+ * Returns the current state of Low Speed Automatic Emergency Braking. This property must always
+ * return a valid state defined in LowSpeedAutomaticEmergencyBrakingState or ErrorState. It must
+ * not surface errors through StatusCode and must use the supported error states instead. This
+ * property is different from the pre-existing AUTOMATIC_EMERGENCY_BRAKING_STATE, which should
+ * apply to higher speed applications only. If the vehicle doesn't have a separate collision
+ * avoidance system for low speed environments, this property should not be implemented.
+ *
+ * If Low Speed Automatic Emergency Braking includes collision warnings before activating the
+ * brakes, those warnings must be surfaced through use of LOW_SPEED_COLLISION_WARNING_ENABLED
+ * and LOW_SPEED_COLLISION_WARNING_STATE.
+ *
+ * For the global area ID (0), the VehicleAreaConfig#supportedEnumValues array must be defined
+ * unless all states of both LowSpeedAutomaticEmergencyBrakingState (including OTHER, which is
+ * not recommended) and ErrorState are supported.
+ *
+ * @change_mode VehiclePropertyChangeMode.ON_CHANGE
+ * @access VehiclePropertyAccess.READ
+ * @data_enum LowSpeedAutomaticEmergencyBrakingState
+ * @data_enum ErrorState
+ */
+ LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE =
+ 0x1026 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
+
/***************************************************************************
* End of ADAS Properties
**************************************************************************/
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index b963d8e..68feea2 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -1023,6 +1023,12 @@
VehiclePropertyGroup::SYSTEM, VehicleArea::GLOBAL, VehiclePropertyType::BOOLEAN);
}
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyLowSpeedAutomaticEmergencyBrakingStateConfig) {
+ verifyProperty(VehicleProperty::LOW_SPEED_AUTOMATIC_EMERGENCY_BRAKING_STATE,
+ VehiclePropertyAccess::READ, VehiclePropertyChangeMode::ON_CHANGE,
+ VehiclePropertyGroup::SYSTEM, VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
bool VtsHalAutomotiveVehicleTargetTest::checkIsSupported(int32_t propertyId) {
auto result = mVhalClient->getPropConfigs({propertyId});
return result.ok();