diff --git a/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp b/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp
index cde8048..b31795b 100644
--- a/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp
+++ b/automotive/evs/1.1/vts/functional/VtsHalEvsV1_1TargetTest.cpp
@@ -38,16 +38,15 @@
 
 #include <hidl/HidlTransportSupport.h>
 #include <hwbinder/ProcessState.h>
-#include <log/log.h>
 #include <utils/Errors.h>
 #include <utils/StrongPointer.h>
 
-#include <android/log.h>
 #include <android/hardware/automotive/evs/1.1/IEvsCamera.h>
 #include <android/hardware/automotive/evs/1.1/IEvsCameraStream.h>
 #include <android/hardware/automotive/evs/1.1/IEvsEnumerator.h>
 #include <android/hardware/automotive/evs/1.1/IEvsDisplay.h>
 #include <android/hardware/camera/device/3.2/ICameraDevice.h>
+#include <android-base/logging.h>
 #include <system/camera_metadata.h>
 #include <ui/DisplayConfig.h>
 #include <ui/DisplayState.h>
@@ -120,11 +119,12 @@
         // Get the camera list
         pEnumerator->getCameraList_1_1(
             [this](hidl_vec <CameraDesc> cameraList) {
-                ALOGI("Camera list callback received %zu cameras",
-                      cameraList.size());
+                LOG(INFO) << "Camera list callback received "
+                          << cameraList.size()
+                          << " cameras";
                 cameraInfo.reserve(cameraList.size());
                 for (auto&& cam: cameraList) {
-                    ALOGI("Found camera %s", cam.v1.cameraId.c_str());
+                    LOG(INFO) << "Found camera " << cam.v1.cameraId;
                     cameraInfo.push_back(cam);
                 }
             }
@@ -137,10 +137,12 @@
 
         // Get the ultrasonics array list
         pEnumerator->getUltrasonicsArrayList([this](hidl_vec<UltrasonicsArrayDesc> ultraList) {
-            ALOGI("Ultrasonics array list callback received %zu arrays", ultraList.size());
+            LOG(INFO) << "Ultrasonics array list callback received "
+                      << ultraList.size()
+                      << " arrays";
             ultrasonicsArraysInfo.reserve(ultraList.size());
             for (auto&& ultraArray : ultraList) {
-                ALOGI("Found ultrasonics array %s", ultraArray.ultrasonicsArrayId.c_str());
+                LOG(INFO) << "Found ultrasonics array " << ultraArray.ultrasonicsArrayId;
                 ultrasonicsArraysInfo.push_back(ultraArray);
             }
         });
@@ -195,7 +197,7 @@
         if (!flag) {
             // EVS assumes that the device w/o a valid metadata is a physical
             // device.
-            ALOGI("%s is not a logical camera device.", id.c_str());
+            LOG(INFO) << id << " is not a logical camera device.";
             physicalCameras.emplace(id);
             return physicalCameras;
         }
@@ -205,7 +207,9 @@
         int rc = find_camera_metadata_ro_entry(metadata,
                                                ANDROID_LOGICAL_MULTI_CAMERA_PHYSICAL_IDS,
                                                &entry);
-        ALOGE_IF(rc, "No physical camera ID is found for a logical camera device");
+        if (rc != 0) {
+            LOG(ERROR) << "No physical camera ID is found for a logical camera device";
+        }
 
         const uint8_t *ids = entry.data.u8;
         size_t start = 0;
@@ -219,7 +223,10 @@
             }
         }
 
-        ALOGI("%s consists of %d physical camera devices.", id.c_str(), (int)physicalCameras.size());
+        LOG(INFO) << id
+                  << " consists of "
+                  << physicalCameras.size()
+                  << " physical camera devices";
         return physicalCameras;
     }
 
@@ -247,7 +254,7 @@
  * call to closeCamera.  Then repeats the test to ensure all cameras can be reopened.
  */
 TEST_P(EvsHidlTest, CameraOpenClean) {
-    ALOGI("Starting CameraOpenClean test");
+    LOG(INFO) << "Starting CameraOpenClean test";
 
     // Get the camera list
     loadCameraList();
@@ -261,7 +268,7 @@
         bool isLogicalCam = false;
         auto devices = getPhysicalCameraIds(cam.v1.cameraId, isLogicalCam);
         if (mIsHwModule && isLogicalCam) {
-            ALOGI("Skip a logical device %s for HW module", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device, " << cam.v1.cameraId << " for HW target.";
             continue;
         }
 
@@ -286,7 +293,7 @@
 
             // Verify that this camera self-identifies correctly
             pCam->getCameraInfo_1_1([&cam](CameraDesc desc) {
-                                        ALOGD("Found camera %s", desc.v1.cameraId.c_str());
+                                        LOG(DEBUG) << "Found camera " << desc.v1.cameraId;
                                         EXPECT_EQ(cam.v1.cameraId, desc.v1.cameraId);
                                     }
             );
@@ -316,7 +323,7 @@
  * the system to be tolerant of shutdown/restart race conditions.
  */
 TEST_P(EvsHidlTest, CameraOpenAggressive) {
-    ALOGI("Starting CameraOpenAggressive test");
+    LOG(INFO) << "Starting CameraOpenAggressive test";
 
     // Get the camera list
     loadCameraList();
@@ -330,7 +337,7 @@
         bool isLogicalCam = false;
         getPhysicalCameraIds(cam.v1.cameraId, isLogicalCam);
         if (mIsHwModule && isLogicalCam) {
-            ALOGI("Skip a logical device %s for HW module", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device, " << cam.v1.cameraId << " for HW target.";
             continue;
         }
 
@@ -345,7 +352,7 @@
 
         // Verify that this camera self-identifies correctly
         pCam->getCameraInfo_1_1([&cam](CameraDesc desc) {
-                                    ALOGD("Found camera %s", desc.v1.cameraId.c_str());
+                                    LOG(DEBUG) << "Found camera " << desc.v1.cameraId;
                                     EXPECT_EQ(cam.v1.cameraId, desc.v1.cameraId);
                                 }
         );
@@ -374,7 +381,7 @@
 
         // Verify that the second camera instance self-identifies correctly
         pCam2->getCameraInfo_1_1([&cam](CameraDesc desc) {
-                                     ALOGD("Found camera %s", desc.v1.cameraId.c_str());
+                                     LOG(DEBUG) << "Found camera " << desc.v1.cameraId;
                                      EXPECT_EQ(cam.v1.cameraId, desc.v1.cameraId);
                                  }
         );
@@ -393,7 +400,7 @@
  * Measure and qualify the stream start up time and streaming frame rate of each reported camera
  */
 TEST_P(EvsHidlTest, CameraStreamPerformance) {
-    ALOGI("Starting CameraStreamPerformance test");
+    LOG(INFO) << "Starting CameraStreamPerformance test";
 
     // Get the camera list
     loadCameraList();
@@ -407,7 +414,7 @@
         bool isLogicalCam = false;
         auto devices = getPhysicalCameraIds(cam.v1.cameraId, isLogicalCam);
         if (mIsHwModule && isLogicalCam) {
-            ALOGI("Skip a logical device %s", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device " << cam.v1.cameraId;
             continue;
         }
 
@@ -444,8 +451,10 @@
                   kMaxStreamStartMilliseconds * devices.size());
         printf("%s: Measured time to first frame %0.2f ms\n",
                cam.v1.cameraId.c_str(), timeToFirstFrame * kNanoToMilliseconds);
-        ALOGI("%s: Measured time to first frame %0.2f ms",
-              cam.v1.cameraId.c_str(), timeToFirstFrame * kNanoToMilliseconds);
+        LOG(INFO) << cam.v1.cameraId
+                  << ": Measured time to first frame "
+                  << std::scientific << timeToFirstFrame * kNanoToMilliseconds
+                  << " ms.";
 
         // Check aspect ratio
         unsigned width = 0, height = 0;
@@ -468,7 +477,9 @@
         nsecs_t runTime = end - firstFrame;
         float framesPerSecond = framesReceived / (runTime * kNanoToSeconds);
         printf("Measured camera rate %3.2f fps\n", framesPerSecond);
-        ALOGI("Measured camera rate %3.2f fps", framesPerSecond);
+        LOG(INFO) << "Measured camera rate "
+                  << std::scientific << framesPerSecond
+                  << " fps.";
         EXPECT_GE(framesPerSecond, kMinimumFramesPerSecond);
 
         // Explicitly release the camera
@@ -483,7 +494,7 @@
  * than one frame time.  The camera must cleanly skip frames until the client is ready again.
  */
 TEST_P(EvsHidlTest, CameraStreamBuffering) {
-    ALOGI("Starting CameraStreamBuffering test");
+    LOG(INFO) << "Starting CameraStreamBuffering test";
 
     // Arbitrary constant (should be > 1 and less than crazy)
     static const unsigned int kBuffersToHold = 6;
@@ -500,7 +511,7 @@
         bool isLogicalCam = false;
         getPhysicalCameraIds(cam.v1.cameraId, isLogicalCam);
         if (mIsHwModule && isLogicalCam) {
-            ALOGI("Skip a logical device %s for HW module", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device " << cam.v1.cameraId << " for HW target.";
             continue;
         }
 
@@ -568,7 +579,7 @@
  * which a human could observe to see the operation of the system on the physical display.
  */
 TEST_P(EvsHidlTest, CameraToDisplayRoundTrip) {
-    ALOGI("Starting CameraToDisplayRoundTrip test");
+    LOG(INFO) << "Starting CameraToDisplayRoundTrip test";
 
     // Get the camera list
     loadCameraList();
@@ -587,14 +598,14 @@
     // Request exclusive access to the first EVS display
     sp<IEvsDisplay_1_1> pDisplay = pEnumerator->openDisplay_1_1(targetDisplayId);
     ASSERT_NE(pDisplay, nullptr);
-    ALOGI("Display %d is in use.", targetDisplayId);
+    LOG(INFO) << "Display " << targetDisplayId << " is alreay in use.";
 
     // Get the display descriptor
     pDisplay->getDisplayInfo_1_1([](const auto& config, const auto& state) {
         android::DisplayConfig* pConfig = (android::DisplayConfig*)config.data();
         const auto width = pConfig->resolution.getWidth();
         const auto height = pConfig->resolution.getHeight();
-        ALOGI("    Resolution: %dx%d", width, height);
+        LOG(INFO) << "    Resolution: " << width << "x" << height;
         ASSERT_GT(width, 0);
         ASSERT_GT(height, 0);
 
@@ -607,7 +618,7 @@
         bool isLogicalCam = false;
         getPhysicalCameraIds(cam.v1.cameraId, isLogicalCam);
         if (mIsHwModule && isLogicalCam) {
-            ALOGI("Skip a logical device %s for HW module", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device " << cam.v1.cameraId << " for HW target.";
             continue;
         }
 
@@ -667,7 +678,7 @@
  * underlying camera.
  */
 TEST_P(EvsHidlTest, MultiCameraStream) {
-    ALOGI("Starting MultiCameraStream test");
+    LOG(INFO) << "Starting MultiCameraStream test";
 
     if (mIsHwModule) {
         // This test is not for HW module implementation.
@@ -735,7 +746,9 @@
         nsecs_t runTime = end - firstFrame;
         float framesPerSecond0 = framesReceived0 / (runTime * kNanoToSeconds);
         float framesPerSecond1 = framesReceived1 / (runTime * kNanoToSeconds);
-        ALOGI("Measured camera rate %3.2f fps and %3.2f fps", framesPerSecond0, framesPerSecond1);
+        LOG(INFO) << "Measured camera rate "
+                  << std::scientific << framesPerSecond0 << " fps and "
+                  << framesPerSecond1 << " fps";
         EXPECT_GE(framesPerSecond0, kMinimumFramesPerSecond);
         EXPECT_GE(framesPerSecond1, kMinimumFramesPerSecond);
 
@@ -774,7 +787,7 @@
  * Verify that a client can adjust a camera parameter.
  */
 TEST_P(EvsHidlTest, CameraParameter) {
-    ALOGI("Starting CameraParameter test");
+    LOG(INFO) << "Starting CameraParameter test";
 
     // Get the camera list
     loadCameraList();
@@ -791,7 +804,7 @@
         if (isLogicalCam) {
             // TODO(b/145465724): Support camera parameter programming on
             // logical devices.
-            ALOGI("Skip a logical device %s", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device " << cam.v1.cameraId;
             continue;
         }
 
@@ -918,7 +931,7 @@
  * terminates or releases a role.
  */
 TEST_P(EvsHidlTest, CameraMasterRelease) {
-    ALOGI("Starting CameraMasterRelease test");
+    LOG(INFO) << "Starting CameraMasterRelease test";
 
     if (mIsHwModule) {
         // This test is not for HW module implementation.
@@ -939,7 +952,7 @@
         if (isLogicalCam) {
             // TODO(b/145465724): Support camera parameter programming on
             // logical devices.
-            ALOGI("Skip a logical device %s", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device " << cam.v1.cameraId;
             continue;
         }
 
@@ -1012,7 +1025,7 @@
                 EvsEventDesc aTargetEvent;
                 aTargetEvent.aType = EvsEventType::MASTER_RELEASED;
                 if (!frameHandlerNonMaster->waitForEvent(aTargetEvent, aNotification, true)) {
-                    ALOGW("A timer is expired before a target event is fired.");
+                    LOG(WARNING) << "A timer is expired before a target event is fired.";
                 }
 
             }
@@ -1057,7 +1070,7 @@
                 EvsEventDesc aTargetEvent;
                 aTargetEvent.aType = EvsEventType::MASTER_RELEASED;
                 if (!frameHandlerMaster->waitForEvent(aTargetEvent, aNotification, true)) {
-                    ALOGW("A timer is expired before a target event is fired.");
+                    LOG(WARNING) << "A timer is expired before a target event is fired.";
                 }
 
             }
@@ -1099,7 +1112,7 @@
  * camera parameters.
  */
 TEST_P(EvsHidlTest, MultiCameraParameter) {
-    ALOGI("Starting MultiCameraParameter test");
+    LOG(INFO) << "Starting MultiCameraParameter test";
 
     if (mIsHwModule) {
         // This test is not for HW module implementation.
@@ -1120,7 +1133,7 @@
         if (isLogicalCam) {
             // TODO(b/145465724): Support camera parameter programming on
             // logical devices.
-            ALOGI("Skip a logical device %s", cam.v1.cameraId.c_str());
+            LOG(INFO) << "Skip a logical device " << cam.v1.cameraId;
             continue;
         }
 
@@ -1256,7 +1269,7 @@
                     aTargetEvent.payload[0] = static_cast<uint32_t>(cmd);
                     aTargetEvent.payload[1] = val0;
                     if (!frameHandlerMaster->waitForEvent(aTargetEvent, aNotification0)) {
-                        ALOGW("A timer is expired before a target event is fired.");
+                        LOG(WARNING) << "A timer is expired before a target event is fired.";
                     }
                 }
             );
@@ -1273,7 +1286,7 @@
                     aTargetEvent.payload[0] = static_cast<uint32_t>(cmd);
                     aTargetEvent.payload[1] = val0;
                     if (!frameHandlerNonMaster->waitForEvent(aTargetEvent, aNotification1)) {
-                        ALOGW("A timer is expired before a target event is fired.");
+                        LOG(WARNING) << "A timer is expired before a target event is fired.";
                     }
                 }
             );
@@ -1374,7 +1387,7 @@
                 EvsEventDesc aTargetEvent;
                 aTargetEvent.aType = EvsEventType::MASTER_RELEASED;
                 if (!frameHandlerNonMaster->waitForEvent(aTargetEvent, aNotification0, true)) {
-                    ALOGW("A timer is expired before a target event is fired.");
+                    LOG(WARNING) << "A timer is expired before a target event is fired.";
                 }
             }
         );
@@ -1466,7 +1479,7 @@
                     aTargetEvent.payload[0] = static_cast<uint32_t>(cmd);
                     aTargetEvent.payload[1] = val0;
                     if (!frameHandlerMaster->waitForEvent(aTargetEvent, aNotification0)) {
-                        ALOGW("A timer is expired before a target event is fired.");
+                        LOG(WARNING) << "A timer is expired before a target event is fired.";
                     }
                 }
             );
@@ -1482,7 +1495,7 @@
                     aTargetEvent.payload[0] = static_cast<uint32_t>(cmd);
                     aTargetEvent.payload[1] = val0;
                     if (!frameHandlerNonMaster->waitForEvent(aTargetEvent, aNotification1)) {
-                        ALOGW("A timer is expired before a target event is fired.");
+                        LOG(WARNING) << "A timer is expired before a target event is fired.";
                     }
                 }
             );
@@ -1572,7 +1585,7 @@
  * a master role from other EVS clients without the display.
  */
 TEST_P(EvsHidlTest, HighPriorityCameraClient) {
-    ALOGI("Starting HighPriorityCameraClient test");
+    LOG(INFO) << "Starting HighPriorityCameraClient test";
 
     if (mIsHwModule) {
         // This test is not for HW module implementation.
@@ -1687,7 +1700,7 @@
                     aTargetEvent.payload[0] = static_cast<uint32_t>(CameraParam::AUTO_FOCUS);
                     aTargetEvent.payload[1] = 0;
                     if (!frameHandler0->waitForEvent(aTargetEvent, aNotification)) {
-                        ALOGW("A timer is expired before a target event is fired.");
+                        LOG(WARNING) << "A timer is expired before a target event is fired.";
                     }
                 }
             );
@@ -1740,7 +1753,7 @@
                 aTargetEvent.payload[0] = static_cast<uint32_t>(cam1Cmds[0]);
                 aTargetEvent.payload[1] = val0;
                 if (!frameHandler1->waitForEvent(aTargetEvent, aNotification)) {
-                    ALOGW("A timer is expired before a target event is fired.");
+                    LOG(WARNING) << "A timer is expired before a target event is fired.";
                 }
             }
         );
@@ -1791,7 +1804,7 @@
                 EvsEventDesc aTargetEvent;
                 aTargetEvent.aType = EvsEventType::MASTER_RELEASED;
                 if (!frameHandler1->waitForEvent(aTargetEvent, aNotification, true)) {
-                    ALOGW("A timer is expired before a target event is fired.");
+                    LOG(WARNING) << "A timer is expired before a target event is fired.";
                 }
             }
         );
@@ -1833,7 +1846,7 @@
                     aTargetEvent.payload[0] = static_cast<uint32_t>(CameraParam::AUTO_FOCUS);
                     aTargetEvent.payload[1] = 0;
                     if (!frameHandler1->waitForEvent(aTargetEvent, aNotification)) {
-                        ALOGW("A timer is expired before a target event is fired.");
+                        LOG(WARNING) << "A timer is expired before a target event is fired.";
                     }
                 }
             );
@@ -1882,7 +1895,7 @@
                 aTargetEvent.payload[0] = static_cast<uint32_t>(cam0Cmds[0]);
                 aTargetEvent.payload[1] = val0;
                 if (!frameHandler0->waitForEvent(aTargetEvent, aNotification)) {
-                    ALOGW("A timer is expired before a target event is fired.");
+                    LOG(WARNING) << "A timer is expired before a target event is fired.";
                 }
             }
         );
@@ -1945,7 +1958,7 @@
  * configurations from EVS and uses one of them to start a video stream.
  */
 TEST_P(EvsHidlTest, CameraUseStreamConfigToDisplay) {
-    ALOGI("Starting CameraUseStreamConfigToDisplay test");
+    LOG(INFO) << "Starting CameraUseStreamConfigToDisplay test";
 
     // Get the camera list
     loadCameraList();
@@ -2049,7 +2062,7 @@
  * underlying camera with same configuration.
  */
 TEST_P(EvsHidlTest, MultiCameraStreamUseConfig) {
-    ALOGI("Starting MultiCameraStream test");
+    LOG(INFO) << "Starting MultiCameraStream test";
 
     if (mIsHwModule) {
         // This test is not for HW module implementation.
@@ -2094,9 +2107,8 @@
             static_cast<PixelFormat>(HAL_PIXEL_FORMAT_RGBA_8888);
 
         if (!foundCfg) {
-            ALOGI("Device %s does not provide a list of supported stream configurations, skipped",
-                  cam.v1.cameraId.c_str());
-
+            LOG(INFO) << "Device " << cam.v1.cameraId
+                      << " does not provide a list of supported stream configurations, skipped";
             continue;
         }
 
@@ -2162,7 +2174,9 @@
         nsecs_t runTime = end - firstFrame;
         float framesPerSecond0 = framesReceived0 / (runTime * kNanoToSeconds);
         float framesPerSecond1 = framesReceived1 / (runTime * kNanoToSeconds);
-        ALOGI("Measured camera rate %3.2f fps and %3.2f fps", framesPerSecond0, framesPerSecond1);
+        LOG(INFO) << "Measured camera rate "
+                  << std::scientific << framesPerSecond0 << " fps and "
+                  << framesPerSecond1 << " fps";
         EXPECT_GE(framesPerSecond0, kMinimumFramesPerSecond);
         EXPECT_GE(framesPerSecond1, kMinimumFramesPerSecond);
 
@@ -2198,7 +2212,7 @@
  * identifiers.
  */
 TEST_P(EvsHidlTest, LogicalCameraMetadata) {
-    ALOGI("Starting LogicalCameraMetadata test");
+    LOG(INFO) << "Starting LogicalCameraMetadata test";
 
     // Get the camera list
     loadCameraList();
@@ -2222,7 +2236,7 @@
  * can be reopened.
  */
 TEST_P(EvsHidlTest, UltrasonicsArrayOpenClean) {
-    ALOGI("Starting UltrasonicsArrayOpenClean test");
+    LOG(INFO) << "Starting UltrasonicsArrayOpenClean test";
 
     // Get the ultrasonics array list
     loadUltrasonicsArrayList();
@@ -2236,7 +2250,7 @@
 
             // Verify that this ultrasonics array self-identifies correctly
             pUltrasonicsArray->getUltrasonicArrayInfo([&ultraInfo](UltrasonicsArrayDesc desc) {
-                ALOGD("Found ultrasonics array %s", ultraInfo.ultrasonicsArrayId.c_str());
+                LOG(DEBUG) << "Found ultrasonics array " << ultraInfo.ultrasonicsArrayId;
                 EXPECT_EQ(ultraInfo.ultrasonicsArrayId, desc.ultrasonicsArrayId);
             });
 
@@ -2249,14 +2263,14 @@
 
 // Starts a stream and verifies all data received is valid.
 TEST_P(EvsHidlTest, UltrasonicsVerifyStreamData) {
-    ALOGI("Starting UltrasonicsVerifyStreamData");
+    LOG(INFO) << "Starting UltrasonicsVerifyStreamData";
 
     // Get the ultrasonics array list
     loadUltrasonicsArrayList();
 
     // For each ultrasonics array.
     for (auto&& ultraInfo : ultrasonicsArraysInfo) {
-        ALOGD("Testing ultrasonics array: %s", ultraInfo.ultrasonicsArrayId.c_str());
+        LOG(DEBUG) << "Testing ultrasonics array: " << ultraInfo.ultrasonicsArrayId;
 
         sp<IEvsUltrasonicsArray> pUltrasonicsArray =
                 pEnumerator->openUltrasonicsArray(ultraInfo.ultrasonicsArrayId);
@@ -2285,14 +2299,14 @@
 
 // Sets frames in flight before and after start of stream and verfies success.
 TEST_P(EvsHidlTest, UltrasonicsSetFramesInFlight) {
-    ALOGI("Starting UltrasonicsSetFramesInFlight");
+    LOG(INFO) << "Starting UltrasonicsSetFramesInFlight";
 
     // Get the ultrasonics array list
     loadUltrasonicsArrayList();
 
     // For each ultrasonics array.
     for (auto&& ultraInfo : ultrasonicsArraysInfo) {
-        ALOGD("Testing ultrasonics array: %s", ultraInfo.ultrasonicsArrayId.c_str());
+        LOG(DEBUG) << "Testing ultrasonics array: " << ultraInfo.ultrasonicsArrayId;
 
         sp<IEvsUltrasonicsArray> pUltrasonicsArray =
                 pEnumerator->openUltrasonicsArray(ultraInfo.ultrasonicsArrayId);