Revert "Revert "uwb(hal): Implement UCI over serial in the defau..."
Revert submission 2528605-revert-2215484-pica_cf-BZDQSZLKEP
Reason for revert: revert^2
Reverted changes: /q/submissionid:2528605-revert-2215484-pica_cf-BZDQSZLKEP
Change-Id: I0c64b449c5da236a7cd63f88a605d48b9c471c67
diff --git a/uwb/aidl/default/Android.bp b/uwb/aidl/default/Android.bp
index 8c2b60e..9621f2c 100644
--- a/uwb/aidl/default/Android.bp
+++ b/uwb/aidl/default/Android.bp
@@ -7,29 +7,26 @@
default_applicable_licenses: ["hardware_interfaces_license"],
}
-cc_binary {
+rust_binary {
name: "android.hardware.uwb-service",
+ crate_name: "uwb_default_hal",
relative_install_path: "hw",
- init_rc: ["uwb-service.rc"],
vintf_fragments: ["uwb-service.xml"],
vendor: true,
- cflags: [
- "-Wall",
- "-Wextra",
- "-g",
+ rustlibs: [
+ "android.hardware.uwb-V1-rust",
+ "liblogger",
+ "liblog_rust",
+ "libbinder_rs",
+ "libbinder_tokio_rs",
+ "libtokio",
+ "libnix",
+ "libanyhow",
],
- shared_libs: [
- "liblog",
- "libbinder_ndk",
- ],
- static_libs: [
- "libbase",
- "libutils",
- "android.hardware.uwb-V1-ndk",
+ proc_macros: [
+ "libasync_trait",
],
srcs: [
- "service.cpp",
- "uwb.cpp",
- "uwb_chip.cpp",
+ "src/service.rs",
],
}
diff --git a/uwb/aidl/default/service.cpp b/uwb/aidl/default/service.cpp
deleted file mode 100644
index 007637f..0000000
--- a/uwb/aidl/default/service.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * Copyright 2021, 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 <android-base/logging.h>
-#include <android/binder_manager.h>
-#include <android/binder_process.h>
-#include <utils/StrongPointer.h>
-
-#include "uwb.h"
-
-using ::aidl::android::hardware::uwb::IUwb;
-using ::android::sp;
-using ::android::base::InitLogging;
-using ::android::base::StderrLogger;
-using ::android::hardware::uwb::impl::Uwb;
-
-int main(int /*argc*/, char* argv[]) {
- InitLogging(argv, StderrLogger);
- LOG(INFO) << "UWB HAL starting up";
-
- ABinderProcess_setThreadPoolMaxThreadCount(0);
- std::shared_ptr<IUwb> uwb = ndk::SharedRefBase::make<Uwb>();
- const std::string instance = std::string() + IUwb::descriptor + "/default";
- binder_status_t status = AServiceManager_addService(uwb->asBinder().get(), instance.c_str());
- CHECK(status == STATUS_OK);
-
- ABinderProcess_joinThreadPool();
- return EXIT_FAILURE; // should not reach
-}
diff --git a/uwb/aidl/default/src/service.rs b/uwb/aidl/default/src/service.rs
new file mode 100644
index 0000000..7d5c073
--- /dev/null
+++ b/uwb/aidl/default/src/service.rs
@@ -0,0 +1,47 @@
+use android_hardware_uwb::aidl::android::hardware::uwb::IUwb::{self, IUwb as _};
+use android_hardware_uwb::binder;
+
+use tokio::runtime::Runtime;
+
+use std::env;
+use std::panic;
+
+use log::Level;
+
+mod uwb;
+mod uwb_chip;
+
+fn main() -> anyhow::Result<()> {
+ logger::init(
+ logger::Config::default()
+ .with_min_level(Level::Debug)
+ .with_tag_on_device("android.hardware.uwb"),
+ );
+
+ // Redirect panic messages to logcat.
+ panic::set_hook(Box::new(|panic_info| {
+ log::error!("{}", panic_info);
+ }));
+
+ log::info!("UWB HAL starting up");
+
+ // Create the tokio runtime
+ let rt = Runtime::new()?;
+
+ let chips = env::args()
+ .skip(1) // Skip binary name
+ .enumerate()
+ .map(|(i, arg)| uwb_chip::UwbChip::new(i.to_string(), arg));
+
+ binder::add_service(
+ &format!("{}/default", IUwb::BpUwb::get_descriptor()),
+ IUwb::BnUwb::new_binder(
+ uwb::Uwb::from_chips(chips, rt.handle().clone()),
+ binder::BinderFeatures::default(),
+ )
+ .as_binder(),
+ )?;
+
+ binder::ProcessState::join_thread_pool();
+ Ok(())
+}
diff --git a/uwb/aidl/default/src/uwb.rs b/uwb/aidl/default/src/uwb.rs
new file mode 100644
index 0000000..428f08f
--- /dev/null
+++ b/uwb/aidl/default/src/uwb.rs
@@ -0,0 +1,53 @@
+use android_hardware_uwb::aidl::android::hardware::uwb::{IUwb, IUwbChip};
+use android_hardware_uwb::binder;
+use binder::{Result, Strong};
+use binder_tokio::TokioRuntime;
+use tokio::runtime::Handle as TokioHandle;
+
+use crate::uwb_chip;
+
+pub struct Uwb {
+ chips: Vec<Strong<dyn IUwbChip::IUwbChip>>,
+}
+
+impl Uwb {
+ pub fn from_chips(
+ chips: impl IntoIterator<Item = uwb_chip::UwbChip>,
+ handle: TokioHandle,
+ ) -> Self {
+ Self {
+ chips: chips
+ .into_iter()
+ .map(|chip| {
+ IUwbChip::BnUwbChip::new_async_binder(
+ chip,
+ TokioRuntime(handle.clone()),
+ binder::BinderFeatures::default(),
+ )
+ })
+ .collect(),
+ }
+ }
+}
+
+impl binder::Interface for Uwb {}
+
+impl IUwb::IUwb for Uwb {
+ fn getChips(&self) -> Result<Vec<String>> {
+ log::debug!("getChips");
+ self.chips.iter().map(|chip| chip.getName()).collect()
+ }
+
+ fn getChip(&self, name: &str) -> Result<Strong<dyn IUwbChip::IUwbChip>> {
+ log::debug!("getChip {}", name);
+ let chip = self
+ .chips
+ .iter()
+ .find(|chip| chip.getName().as_deref() == Ok(name));
+ if let Some(chip) = chip {
+ Ok(chip.clone())
+ } else {
+ Err(binder::ExceptionCode::ILLEGAL_ARGUMENT.into())
+ }
+ }
+}
diff --git a/uwb/aidl/default/src/uwb_chip.rs b/uwb/aidl/default/src/uwb_chip.rs
new file mode 100644
index 0000000..7c2c300
--- /dev/null
+++ b/uwb/aidl/default/src/uwb_chip.rs
@@ -0,0 +1,168 @@
+use android_hardware_uwb::aidl::android::hardware::uwb::{
+ IUwbChip::IUwbChipAsyncServer, IUwbClientCallback::IUwbClientCallback, UwbEvent::UwbEvent,
+ UwbStatus::UwbStatus,
+};
+use android_hardware_uwb::binder;
+use async_trait::async_trait;
+use binder::{Result, Strong};
+
+use tokio::fs::File;
+use tokio::io::{AsyncReadExt, AsyncWriteExt};
+use tokio::sync::Mutex;
+
+use std::os::fd::AsRawFd;
+
+use std::io;
+
+use nix::sys::termios;
+
+enum State {
+ Closed,
+ Opened {
+ callbacks: Strong<dyn IUwbClientCallback>,
+ #[allow(dead_code)]
+ tasks: tokio::task::JoinSet<()>,
+ write: File,
+ },
+}
+
+pub struct UwbChip {
+ name: String,
+ path: String,
+ state: Mutex<State>,
+}
+
+impl UwbChip {
+ pub fn new(name: String, path: String) -> Self {
+ Self {
+ name,
+ path,
+ state: Mutex::new(State::Closed),
+ }
+ }
+}
+
+pub fn makeraw(file: File) -> io::Result<File> {
+ let fd = file.as_raw_fd();
+
+ let mut attrs = termios::tcgetattr(fd)?;
+
+ termios::cfmakeraw(&mut attrs);
+
+ termios::tcsetattr(fd, termios::SetArg::TCSANOW, &attrs)?;
+
+ Ok(file)
+}
+
+impl binder::Interface for UwbChip {}
+
+#[async_trait]
+impl IUwbChipAsyncServer for UwbChip {
+ async fn getName(&self) -> Result<String> {
+ Ok(self.name.clone())
+ }
+
+ async fn open(&self, callbacks: &Strong<dyn IUwbClientCallback>) -> Result<()> {
+ log::debug!("open: {:?}", &self.path);
+
+ let serial = File::open(&self.path)
+ .await
+ .and_then(makeraw)
+ .map_err(|_| binder::StatusCode::UNKNOWN_ERROR)?;
+
+ let mut read = serial
+ .try_clone()
+ .await
+ .map_err(|_| binder::StatusCode::UNKNOWN_ERROR)?;
+ let write = serial;
+
+ let mut state = self.state.lock().await;
+
+ if let State::Closed = *state {
+ let client_callbacks = callbacks.clone();
+
+ let mut tasks = tokio::task::JoinSet::new();
+
+ tasks.spawn(async move {
+ loop {
+ const UWB_HEADER_SIZE: usize = 4;
+
+ let mut buffer = vec![0; UWB_HEADER_SIZE];
+ read.read_exact(&mut buffer[0..UWB_HEADER_SIZE])
+ .await
+ .unwrap();
+
+ let length = buffer[3] as usize + UWB_HEADER_SIZE;
+
+ buffer.resize(length, 0);
+ read.read_exact(&mut buffer[UWB_HEADER_SIZE..length])
+ .await
+ .unwrap();
+
+ client_callbacks.onUciMessage(&buffer[..]).unwrap();
+ }
+ });
+
+ callbacks.onHalEvent(UwbEvent::OPEN_CPLT, UwbStatus::OK)?;
+
+ *state = State::Opened {
+ callbacks: callbacks.clone(),
+ tasks,
+ write,
+ };
+
+ Ok(())
+ } else {
+ Err(binder::ExceptionCode::ILLEGAL_STATE.into())
+ }
+ }
+
+ async fn close(&self) -> Result<()> {
+ log::debug!("close");
+
+ let mut state = self.state.lock().await;
+
+ if let State::Opened { ref callbacks, .. } = *state {
+ callbacks.onHalEvent(UwbEvent::CLOSE_CPLT, UwbStatus::OK)?;
+ *state = State::Closed;
+ Ok(())
+ } else {
+ Err(binder::ExceptionCode::ILLEGAL_STATE.into())
+ }
+ }
+
+ async fn coreInit(&self) -> Result<()> {
+ log::debug!("coreInit");
+
+ if let State::Opened { ref callbacks, .. } = *self.state.lock().await {
+ callbacks.onHalEvent(UwbEvent::POST_INIT_CPLT, UwbStatus::OK)?;
+ Ok(())
+ } else {
+ Err(binder::ExceptionCode::ILLEGAL_STATE.into())
+ }
+ }
+
+ async fn sessionInit(&self, _id: i32) -> Result<()> {
+ log::debug!("sessionInit");
+
+ Ok(())
+ }
+
+ async fn getSupportedAndroidUciVersion(&self) -> Result<i32> {
+ Ok(1)
+ }
+
+ async fn sendUciMessage(&self, data: &[u8]) -> Result<i32> {
+ log::debug!("sendUciMessage");
+
+ if let State::Opened { write, .. } = &mut *self.state.lock().await {
+ write
+ .write(data)
+ .await
+ .map(|written| written as i32)
+ .map_err(|_| binder::StatusCode::UNKNOWN_ERROR.into())
+ } else {
+ Err(binder::ExceptionCode::ILLEGAL_STATE.into())
+ }
+ }
+}
diff --git a/uwb/aidl/default/uwb-service.rc b/uwb/aidl/default/uwb-service.rc
deleted file mode 100644
index e2c3825..0000000
--- a/uwb/aidl/default/uwb-service.rc
+++ /dev/null
@@ -1,3 +0,0 @@
-service vendor.uwb_hal /vendor/bin/hw/android.hardware.uwb-service
- class hal
- user uwb
diff --git a/uwb/aidl/default/uwb.cpp b/uwb/aidl/default/uwb.cpp
deleted file mode 100644
index 1e2ef4e..0000000
--- a/uwb/aidl/default/uwb.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * Copyright 2021, 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 <android-base/logging.h>
-
-#include "uwb.h"
-
-namespace {
-static constexpr char kDefaultChipName[] = "default";
-
-} // namespace
-
-namespace android {
-namespace hardware {
-namespace uwb {
-namespace impl {
-using namespace ::aidl::android::hardware::uwb;
-
-// The default implementation of the HAL assumes 1 chip on the device.
-Uwb::Uwb() : chips_({{kDefaultChipName, ndk::SharedRefBase::make<UwbChip>(kDefaultChipName)}}) {}
-
-Uwb::~Uwb() {}
-
-::ndk::ScopedAStatus Uwb::getChips(std::vector<std::string>* names) {
- for (const auto& chip : chips_) {
- names->push_back(chip.first);
- }
- return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus Uwb::getChip(const std::string& name, std::shared_ptr<IUwbChip>* chip) {
- const auto chip_found = chips_.find(name);
- if (chip_found == chips_.end()) {
- LOG(ERROR) << "Unknown chip name" << name;
- return ndk::ScopedAStatus::fromExceptionCode(EX_ILLEGAL_ARGUMENT);
- }
- *chip = chip_found->second;
- return ndk::ScopedAStatus::ok();
-}
-} // namespace impl
-} // namespace uwb
-} // namespace hardware
-} // namespace android
diff --git a/uwb/aidl/default/uwb.h b/uwb/aidl/default/uwb.h
deleted file mode 100644
index ec51fd8..0000000
--- a/uwb/aidl/default/uwb.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * Copyright 2021, 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.
- */
-#ifndef ANDROID_HARDWARE_UWB_UWB
-#define ANDROID_HARDWARE_UWB_UWB
-
-#include <map>
-#include <vector>
-
-#include <aidl/android/hardware/uwb/BnUwb.h>
-#include <aidl/android/hardware/uwb/IUwbChip.h>
-
-#include "uwb_chip.h"
-
-namespace android {
-namespace hardware {
-namespace uwb {
-namespace impl {
-using namespace ::aidl::android::hardware::uwb;
-// Default implementation mean't to be used on simulator targets.
-class Uwb : public BnUwb {
- public:
- Uwb();
- virtual ~Uwb();
-
- ::ndk::ScopedAStatus getChips(std::vector<std::string>* names) override;
- ::ndk::ScopedAStatus getChip(const std::string& name, std::shared_ptr<IUwbChip>* chip) override;
-
- private:
- std::map<std::string, std::shared_ptr<UwbChip>> chips_;
-};
-} // namespace impl
-} // namespace uwb
-} // namespace hardware
-} // namespace android
-
-#endif // ANDROID_HARDWARE_UWB_UWB
\ No newline at end of file
diff --git a/uwb/aidl/default/uwb_chip.cpp b/uwb/aidl/default/uwb_chip.cpp
deleted file mode 100644
index 41f14fd..0000000
--- a/uwb/aidl/default/uwb_chip.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- * Copyright 2021, 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 "uwb.h"
-
-namespace {
-constexpr static int32_t kAndroidUciVersion = 1;
-}
-
-namespace android {
-namespace hardware {
-namespace uwb {
-namespace impl {
-using namespace ::aidl::android::hardware::uwb;
-
-UwbChip::UwbChip(const std::string& name) : name_(name), mClientCallback(nullptr) {}
-UwbChip::~UwbChip() {}
-
-::ndk::ScopedAStatus UwbChip::getName(std::string* name) {
- *name = name_;
- return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus UwbChip::open(const std::shared_ptr<IUwbClientCallback>& clientCallback) {
- mClientCallback = clientCallback;
- mClientCallback->onHalEvent(UwbEvent::OPEN_CPLT, UwbStatus::OK);
- return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus UwbChip::close() {
- mClientCallback->onHalEvent(UwbEvent::CLOSE_CPLT, UwbStatus::OK);
- mClientCallback = nullptr;
- return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus UwbChip::coreInit() {
- return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus UwbChip::sessionInit(int /* sessionId */) {
- return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus UwbChip::getSupportedAndroidUciVersion(int32_t* version) {
- *version = kAndroidUciVersion;
- return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus UwbChip::sendUciMessage(const std::vector<uint8_t>& /* data */,
- int32_t* /* bytes_written */) {
- // TODO(b/195992658): Need emulator support for UCI stack.
- return ndk::ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
-}
-} // namespace impl
-} // namespace uwb
-} // namespace hardware
-} // namespace android
diff --git a/uwb/aidl/default/uwb_chip.h b/uwb/aidl/default/uwb_chip.h
deleted file mode 100644
index e900cbe..0000000
--- a/uwb/aidl/default/uwb_chip.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- * Copyright 2021, 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.
- */
-
-#ifndef ANDROID_HARDWARE_UWB_UWBCHIP
-#define ANDROID_HARDWARE_UWB_UWBCHIP
-
-#include <vector>
-
-#include <aidl/android/hardware/uwb/BnUwbChip.h>
-#include <aidl/android/hardware/uwb/IUwbClientCallback.h>
-
-namespace android {
-namespace hardware {
-namespace uwb {
-namespace impl {
-using namespace ::aidl::android::hardware::uwb;
-// Default implementation mean't to be used on simulator targets.
-class UwbChip : public BnUwbChip {
- public:
- UwbChip(const std::string& name);
- virtual ~UwbChip();
-
- ::ndk::ScopedAStatus getName(std::string* name) override;
- ::ndk::ScopedAStatus open(const std::shared_ptr<IUwbClientCallback>& clientCallback) override;
- ::ndk::ScopedAStatus close() override;
- ::ndk::ScopedAStatus coreInit() override;
- ::ndk::ScopedAStatus sessionInit(int sesionId) override;
- ::ndk::ScopedAStatus getSupportedAndroidUciVersion(int32_t* version) override;
- ::ndk::ScopedAStatus sendUciMessage(const std::vector<uint8_t>& data,
- int32_t* bytes_written) override;
-
- private:
- std::string name_;
- std::shared_ptr<IUwbClientCallback> mClientCallback;
-};
-} // namespace impl
-} // namespace uwb
-} // namespace hardware
-} // namespace android
-
-#endif // ANDROID_HARDWARE_UWB_UWBCHIP