vibrator/aidl/vts/VtsHalVibratorTargetTest.cpp

/*
 * Copyright (C) 2019 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 <aidl/Gtest.h>
#include <aidl/Vintf.h>

#include <android/hardware/vibrator/BnVibratorCallback.h>
#include <android/hardware/vibrator/IVibrator.h>
#include <android/hardware/vibrator/IVibratorManager.h>
#include <binder/IServiceManager.h>
#include <binder/ProcessState.h>

#include <cmath>
#include <future>

using android::ProcessState;
using android::sp;
using android::String16;
using android::binder::Status;
using android::hardware::vibrator::BnVibratorCallback;
using android::hardware::vibrator::CompositeEffect;
using android::hardware::vibrator::CompositePrimitive;
using android::hardware::vibrator::Effect;
using android::hardware::vibrator::EffectStrength;
using android::hardware::vibrator::IVibrator;
using android::hardware::vibrator::IVibratorManager;
using std::chrono::high_resolution_clock;

const std::vector<Effect> kEffects{android::enum_range<Effect>().begin(),
                                   android::enum_range<Effect>().end()};
const std::vector<EffectStrength> kEffectStrengths{android::enum_range<EffectStrength>().begin(),
                                                   android::enum_range<EffectStrength>().end()};

const std::vector<Effect> kInvalidEffects = {
        static_cast<Effect>(static_cast<int32_t>(kEffects.front()) - 1),
        static_cast<Effect>(static_cast<int32_t>(kEffects.back()) + 1),
};

const std::vector<EffectStrength> kInvalidEffectStrengths = {
        static_cast<EffectStrength>(static_cast<int8_t>(kEffectStrengths.front()) - 1),
        static_cast<EffectStrength>(static_cast<int8_t>(kEffectStrengths.back()) + 1),
};

const std::vector<CompositePrimitive> kCompositePrimitives{
        android::enum_range<CompositePrimitive>().begin(),
        android::enum_range<CompositePrimitive>().end()};

const std::vector<CompositePrimitive> kOptionalPrimitives = {
        CompositePrimitive::THUD,
        CompositePrimitive::SPIN,
};

const std::vector<CompositePrimitive> kInvalidPrimitives = {
        static_cast<CompositePrimitive>(static_cast<int32_t>(kCompositePrimitives.front()) - 1),
        static_cast<CompositePrimitive>(static_cast<int32_t>(kCompositePrimitives.back()) + 1),
};

class CompletionCallback : public BnVibratorCallback {
  public:
    CompletionCallback(const std::function<void()>& callback) : mCallback(callback) {}
    Status onComplete() override {
        mCallback();
        return Status::ok();
    }

  private:
    std::function<void()> mCallback;
};

class VibratorAidl : public testing::TestWithParam<std::tuple<int32_t, int32_t>> {
  public:
    virtual void SetUp() override {
        int32_t managerIdx = std::get<0>(GetParam());
        int32_t vibratorId = std::get<1>(GetParam());
        auto managerAidlNames = android::getAidlHalInstanceNames(IVibratorManager::descriptor);

        if (managerIdx < 0) {
            // Testing a unmanaged vibrator, using vibratorId as index from registered HALs
            auto vibratorAidlNames = android::getAidlHalInstanceNames(IVibrator::descriptor);
            ASSERT_LT(vibratorId, vibratorAidlNames.size());
            auto vibratorName = String16(vibratorAidlNames[vibratorId].c_str());
            vibrator = android::waitForDeclaredService<IVibrator>(vibratorName);
        } else {
            // Testing a managed vibrator, using vibratorId to retrieve it from the manager
            ASSERT_LT(managerIdx, managerAidlNames.size());
            auto managerName = String16(managerAidlNames[managerIdx].c_str());
            auto vibratorManager = android::waitForDeclaredService<IVibratorManager>(managerName);
            auto vibratorResult = vibratorManager->getVibrator(vibratorId, &vibrator);
            ASSERT_TRUE(vibratorResult.isOk());
        }

        ASSERT_NE(vibrator, nullptr);
        ASSERT_TRUE(vibrator->getCapabilities(&capabilities).isOk());
    }

    sp<IVibrator> vibrator;
    int32_t capabilities;
};

TEST_P(VibratorAidl, OnThenOffBeforeTimeout) {
    EXPECT_TRUE(vibrator->on(2000, nullptr /*callback*/).isOk());
    sleep(1);
    EXPECT_TRUE(vibrator->off().isOk());
}

TEST_P(VibratorAidl, OnWithCallback) {
    if (!(capabilities & IVibrator::CAP_ON_CALLBACK)) return;

    std::promise<void> completionPromise;
    std::future<void> completionFuture{completionPromise.get_future()};
    sp<CompletionCallback> callback =
            new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
    uint32_t durationMs = 250;
    std::chrono::milliseconds timeout{durationMs * 2};
    EXPECT_TRUE(vibrator->on(durationMs, callback).isOk());
    EXPECT_EQ(completionFuture.wait_for(timeout), std::future_status::ready);
    EXPECT_TRUE(vibrator->off().isOk());
}

TEST_P(VibratorAidl, OnCallbackNotSupported) {
    if (!(capabilities & IVibrator::CAP_ON_CALLBACK)) {
        sp<CompletionCallback> callback = new CompletionCallback([] {});
        EXPECT_EQ(Status::EX_UNSUPPORTED_OPERATION, vibrator->on(250, callback).exceptionCode());
    }
}

TEST_P(VibratorAidl, ValidateEffect) {
    std::vector<Effect> supported;
    ASSERT_TRUE(vibrator->getSupportedEffects(&supported).isOk());

    for (Effect effect : kEffects) {
        bool isEffectSupported =
                std::find(supported.begin(), supported.end(), effect) != supported.end();

        for (EffectStrength strength : kEffectStrengths) {
            int32_t lengthMs = 0;
            Status status = vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs);

            if (isEffectSupported) {
                EXPECT_TRUE(status.isOk()) << toString(effect) << " " << toString(strength);
                EXPECT_GT(lengthMs, 0);
                usleep(lengthMs * 1000);
            } else {
                EXPECT_EQ(status.exceptionCode(), Status::EX_UNSUPPORTED_OPERATION)
                        << toString(effect) << " " << toString(strength);
            }
        }
    }
}

TEST_P(VibratorAidl, ValidateEffectWithCallback) {
    if (!(capabilities & IVibrator::CAP_PERFORM_CALLBACK)) return;

    std::vector<Effect> supported;
    ASSERT_TRUE(vibrator->getSupportedEffects(&supported).isOk());

    for (Effect effect : kEffects) {
        bool isEffectSupported =
                std::find(supported.begin(), supported.end(), effect) != supported.end();

        for (EffectStrength strength : kEffectStrengths) {
            std::promise<void> completionPromise;
            std::future<void> completionFuture{completionPromise.get_future()};
            sp<CompletionCallback> callback =
                    new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
            int lengthMs = 0;
            Status status = vibrator->perform(effect, strength, callback, &lengthMs);

            if (isEffectSupported) {
                EXPECT_TRUE(status.isOk());
                EXPECT_GT(lengthMs, 0);
            } else {
                EXPECT_EQ(status.exceptionCode(), Status::EX_UNSUPPORTED_OPERATION);
            }

            if (!status.isOk()) continue;

            std::chrono::milliseconds timeout{lengthMs * 2};
            EXPECT_EQ(completionFuture.wait_for(timeout), std::future_status::ready);
        }
    }
}

TEST_P(VibratorAidl, ValidateEffectWithCallbackNotSupported) {
    if (capabilities & IVibrator::CAP_PERFORM_CALLBACK) return;

    for (Effect effect : kEffects) {
        for (EffectStrength strength : kEffectStrengths) {
            sp<CompletionCallback> callback = new CompletionCallback([] {});
            int lengthMs;
            Status status = vibrator->perform(effect, strength, callback, &lengthMs);
            EXPECT_EQ(Status::EX_UNSUPPORTED_OPERATION, status.exceptionCode());
        }
    }
}

TEST_P(VibratorAidl, InvalidEffectsUnsupported) {
    for (Effect effect : kInvalidEffects) {
        for (EffectStrength strength : kEffectStrengths) {
            int32_t lengthMs;
            Status status = vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs);
            EXPECT_EQ(status.exceptionCode(), Status::EX_UNSUPPORTED_OPERATION)
                    << toString(effect) << " " << toString(strength);
        }
    }
    for (Effect effect : kEffects) {
        for (EffectStrength strength : kInvalidEffectStrengths) {
            int32_t lengthMs;
            Status status = vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs);
            EXPECT_EQ(status.exceptionCode(), Status::EX_UNSUPPORTED_OPERATION)
                    << toString(effect) << " " << toString(strength);
        }
    }
}

TEST_P(VibratorAidl, ChangeVibrationAmplitude) {
    if (capabilities & IVibrator::CAP_AMPLITUDE_CONTROL) {
        EXPECT_EQ(Status::EX_NONE, vibrator->setAmplitude(0.1f).exceptionCode());
        EXPECT_TRUE(vibrator->on(2000, nullptr /*callback*/).isOk());
        EXPECT_EQ(Status::EX_NONE, vibrator->setAmplitude(0.5f).exceptionCode());
        sleep(1);
        EXPECT_EQ(Status::EX_NONE, vibrator->setAmplitude(1.0f).exceptionCode());
        sleep(1);
    }
}

TEST_P(VibratorAidl, AmplitudeOutsideRangeFails) {
    if (capabilities & IVibrator::CAP_AMPLITUDE_CONTROL) {
        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->setAmplitude(-1).exceptionCode());
        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->setAmplitude(0).exceptionCode());
        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->setAmplitude(1.1).exceptionCode());
    }
}

TEST_P(VibratorAidl, AmplitudeReturnsUnsupportedMatchingCapabilities) {
    if ((capabilities & IVibrator::CAP_AMPLITUDE_CONTROL) == 0) {
        EXPECT_EQ(Status::EX_UNSUPPORTED_OPERATION, vibrator->setAmplitude(1).exceptionCode());
    }
}

TEST_P(VibratorAidl, ChangeVibrationExternalControl) {
    if (capabilities & IVibrator::CAP_EXTERNAL_CONTROL) {
        EXPECT_TRUE(vibrator->setExternalControl(true).isOk());
        sleep(1);
        EXPECT_TRUE(vibrator->setExternalControl(false).isOk());
        sleep(1);
    }
}

TEST_P(VibratorAidl, ExternalAmplitudeControl) {
    const bool supportsExternalAmplitudeControl =
            (capabilities & IVibrator::CAP_EXTERNAL_AMPLITUDE_CONTROL) > 0;

    if (capabilities & IVibrator::CAP_EXTERNAL_CONTROL) {
        EXPECT_TRUE(vibrator->setExternalControl(true).isOk());

        Status amplitudeStatus = vibrator->setAmplitude(0.5);
        if (supportsExternalAmplitudeControl) {
            EXPECT_TRUE(amplitudeStatus.isOk());
        } else {
            EXPECT_EQ(amplitudeStatus.exceptionCode(), Status::EX_UNSUPPORTED_OPERATION);
        }
        EXPECT_TRUE(vibrator->setExternalControl(false).isOk());
    } else {
        EXPECT_FALSE(supportsExternalAmplitudeControl);
    }
}

TEST_P(VibratorAidl, ExternalControlUnsupportedMatchingCapabilities) {
    if ((capabilities & IVibrator::CAP_EXTERNAL_CONTROL) == 0) {
        EXPECT_EQ(Status::EX_UNSUPPORTED_OPERATION,
                  vibrator->setExternalControl(true).exceptionCode());
    }
}

TEST_P(VibratorAidl, GetSupportedPrimitives) {
    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        std::vector<CompositePrimitive> supported;

        EXPECT_EQ(Status::EX_NONE, vibrator->getSupportedPrimitives(&supported).exceptionCode());

        for (auto primitive : kCompositePrimitives) {
            bool isPrimitiveSupported =
                    std::find(supported.begin(), supported.end(), primitive) != supported.end();
            bool isPrimitiveOptional =
                    std::find(kOptionalPrimitives.begin(), kOptionalPrimitives.end(), primitive) !=
                    kOptionalPrimitives.end();

            EXPECT_TRUE(isPrimitiveSupported || isPrimitiveOptional) << toString(primitive);
        }
    }
}

TEST_P(VibratorAidl, GetPrimitiveDuration) {
    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        std::vector<CompositePrimitive> supported;
        ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());

        for (auto primitive : kCompositePrimitives) {
            bool isPrimitiveSupported =
                    std::find(supported.begin(), supported.end(), primitive) != supported.end();
            int32_t duration;

            Status status = vibrator->getPrimitiveDuration(primitive, &duration);

            if (isPrimitiveSupported) {
                EXPECT_EQ(Status::EX_NONE, status.exceptionCode());
            } else {
                EXPECT_EQ(Status::EX_UNSUPPORTED_OPERATION, status.exceptionCode());
            }
        }
    }
}

TEST_P(VibratorAidl, ComposeValidPrimitives) {
    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        std::vector<CompositePrimitive> supported;
        int32_t maxDelay, maxSize;

        ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());
        EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionDelayMax(&maxDelay).exceptionCode());
        EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionSizeMax(&maxSize).exceptionCode());

        std::vector<CompositeEffect> composite;

        for (auto primitive : supported) {
            CompositeEffect effect;

            effect.delayMs = std::rand() % (maxDelay + 1);
            effect.primitive = primitive;
            effect.scale = static_cast<float>(std::rand()) / RAND_MAX;
            composite.emplace_back(effect);

            if (composite.size() == maxSize) {
                EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
                composite.clear();
                vibrator->off();
            }
        }

        if (composite.size() != 0) {
            EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
            vibrator->off();
        }
    }
}

TEST_P(VibratorAidl, ComposeUnsupportedPrimitives) {
    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        auto unsupported = kInvalidPrimitives;
        std::vector<CompositePrimitive> supported;

        ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());

        for (auto primitive : kCompositePrimitives) {
            bool isPrimitiveSupported =
                    std::find(supported.begin(), supported.end(), primitive) != supported.end();

            if (!isPrimitiveSupported) {
                unsupported.push_back(primitive);
            }
        }

        for (auto primitive : unsupported) {
            std::vector<CompositeEffect> composite(1);

            for (auto& effect : composite) {
                effect.delayMs = 0;
                effect.primitive = primitive;
                effect.scale = 1.0f;
            }
            EXPECT_EQ(Status::EX_UNSUPPORTED_OPERATION,
                      vibrator->compose(composite, nullptr).exceptionCode());
            vibrator->off();
        }
    }
}

TEST_P(VibratorAidl, ComposeScaleBoundary) {
    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        std::vector<CompositeEffect> composite(1);
        CompositeEffect& effect = composite[0];

        effect.delayMs = 0;
        effect.primitive = CompositePrimitive::CLICK;

        effect.scale = std::nextafter(0.0f, -1.0f);
        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
                  vibrator->compose(composite, nullptr).exceptionCode());

        effect.scale = 0.0f;
        EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());

        effect.scale = 1.0f;
        EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());

        effect.scale = std::nextafter(1.0f, 2.0f);
        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
                  vibrator->compose(composite, nullptr).exceptionCode());

        vibrator->off();
    }
}

TEST_P(VibratorAidl, ComposeDelayBoundary) {
    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        int32_t maxDelay;

        EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionDelayMax(&maxDelay).exceptionCode());

        std::vector<CompositeEffect> composite(1);
        CompositeEffect effect;

        effect.delayMs = 1;
        effect.primitive = CompositePrimitive::CLICK;
        effect.scale = 1.0f;

        std::fill(composite.begin(), composite.end(), effect);
        EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());

        effect.delayMs = maxDelay + 1;

        std::fill(composite.begin(), composite.end(), effect);
        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
                  vibrator->compose(composite, nullptr).exceptionCode());
        vibrator->off();
    }
}

TEST_P(VibratorAidl, ComposeSizeBoundary) {
    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        int32_t maxSize;

        EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionSizeMax(&maxSize).exceptionCode());

        std::vector<CompositeEffect> composite(maxSize);
        CompositeEffect effect;

        effect.delayMs = 1;
        effect.primitive = CompositePrimitive::CLICK;
        effect.scale = 1.0f;

        std::fill(composite.begin(), composite.end(), effect);
        EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());

        composite.emplace_back(effect);
        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
                  vibrator->compose(composite, nullptr).exceptionCode());
        vibrator->off();
    }
}

TEST_P(VibratorAidl, ComposeCallback) {
    constexpr std::chrono::milliseconds allowedLatency{10};

    if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
        std::vector<CompositePrimitive> supported;

        ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());

        for (auto primitive : supported) {
            if (primitive == CompositePrimitive::NOOP) {
                continue;
            }

            std::promise<void> completionPromise;
            std::future<void> completionFuture{completionPromise.get_future()};
            sp<CompletionCallback> callback =
                    new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
            CompositeEffect effect;
            std::vector<CompositeEffect> composite;
            int32_t durationMs;
            std::chrono::milliseconds duration;
            std::chrono::time_point<high_resolution_clock> start, end;
            std::chrono::milliseconds elapsed;

            effect.delayMs = 0;
            effect.primitive = primitive;
            effect.scale = 1.0f;
            composite.emplace_back(effect);

            EXPECT_EQ(Status::EX_NONE,
                      vibrator->getPrimitiveDuration(primitive, &durationMs).exceptionCode())
                    << toString(primitive);
            duration = std::chrono::milliseconds(durationMs);

            EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, callback).exceptionCode())
                    << toString(primitive);
            start = high_resolution_clock::now();

            EXPECT_EQ(completionFuture.wait_for(duration + allowedLatency),
                      std::future_status::ready)
                    << toString(primitive);
            end = high_resolution_clock::now();

            elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(end - start);
            EXPECT_LE(elapsed.count(), (duration + allowedLatency).count()) << toString(primitive);
            EXPECT_GE(elapsed.count(), (duration - allowedLatency).count()) << toString(primitive);
        }
    }
}

TEST_P(VibratorAidl, AlwaysOn) {
    if (capabilities & IVibrator::CAP_ALWAYS_ON_CONTROL) {
        std::vector<Effect> supported;
        ASSERT_TRUE(vibrator->getSupportedAlwaysOnEffects(&supported).isOk());

        for (Effect effect : kEffects) {
            bool isEffectSupported =
                    std::find(supported.begin(), supported.end(), effect) != supported.end();

            for (EffectStrength strength : kEffectStrengths) {
                Status status = vibrator->alwaysOnEnable(0, effect, strength);

                if (isEffectSupported) {
                    EXPECT_EQ(Status::EX_NONE, status.exceptionCode())
                            << toString(effect) << " " << toString(strength);
                } else {
                    EXPECT_EQ(Status::EX_UNSUPPORTED_OPERATION, status.exceptionCode())
                            << toString(effect) << " " << toString(strength);
                }
            }
        }

        EXPECT_EQ(Status::EX_NONE, vibrator->alwaysOnDisable(0).exceptionCode());
    }
}

TEST_P(VibratorAidl, GetResonantFrequency) {
    float resonantFrequency;
    Status status = vibrator->getResonantFrequency(&resonantFrequency);
    if (capabilities & IVibrator::CAP_GET_RESONANT_FREQUENCY) {
        ASSERT_NE(resonantFrequency, 0);
        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
    } else {
        EXPECT_EQ(status.exceptionCode(), Status::EX_UNSUPPORTED_OPERATION);
    }
}

TEST_P(VibratorAidl, GetQFactor) {
    float qFactor;
    Status status = vibrator->getQFactor(&qFactor);
    if (capabilities & IVibrator::CAP_GET_Q_FACTOR) {
        ASSERT_NE(qFactor, 0);
        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
    } else {
        EXPECT_EQ(status.exceptionCode(), Status::EX_UNSUPPORTED_OPERATION);
    }
}

std::vector<std::tuple<int32_t, int32_t>> GenerateVibratorMapping() {
    std::vector<std::tuple<int32_t, int32_t>> tuples;
    auto managerAidlNames = android::getAidlHalInstanceNames(IVibratorManager::descriptor);
    std::vector<int32_t> vibratorIds;

    for (int i = 0; i < managerAidlNames.size(); i++) {
        auto managerName = String16(managerAidlNames[i].c_str());
        auto vibratorManager = android::waitForDeclaredService<IVibratorManager>(managerName);
        if (vibratorManager->getVibratorIds(&vibratorIds).isOk()) {
            for (auto& vibratorId : vibratorIds) {
                tuples.push_back(std::make_tuple(i, vibratorId));
            }
        }
    }

    auto vibratorAidlNames = android::getAidlHalInstanceNames(IVibrator::descriptor);
    for (int i = 0; i < vibratorAidlNames.size(); i++) {
        tuples.push_back(std::make_tuple(-1, i));
    }

    return tuples;
}

std::string PrintGeneratedTest(const testing::TestParamInfo<VibratorAidl::ParamType>& info) {
    const auto& [managerIdx, vibratorId] = info.param;
    if (managerIdx < 0) {
        return std::string("TOP_LEVEL_VIBRATOR_") + std::to_string(vibratorId);
    }
    return std::string("MANAGER_") + std::to_string(managerIdx) + "_VIBRATOR_ID_" +
           std::to_string(vibratorId);
}

GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(VibratorAidl);
INSTANTIATE_TEST_SUITE_P(Vibrator, VibratorAidl, testing::ValuesIn(GenerateVibratorMapping()),
                         PrintGeneratedTest);

int main(int argc, char** argv) {
    ::testing::InitGoogleTest(&argc, argv);
    ProcessState::self()->setThreadPoolMaxThreadCount(1);
    ProcessState::self()->startThreadPool();
    return RUN_ALL_TESTS();
}