1 /* 2 * Copyright (C) 2015 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #define LOG_TAG "vehicle_hw_default" 18 #define LOG_NDEBUG 1 19 #define RADIO_PRESET_NUM 6 20 21 #define UNUSED __attribute__((__unused__)) 22 23 #include <errno.h> 24 #include <inttypes.h> 25 #include <malloc.h> 26 #include <pthread.h> 27 #include <stdint.h> 28 #include <stdlib.h> 29 #include <string.h> 30 #include <sys/prctl.h> 31 #include <sys/time.h> 32 #include <time.h> 33 34 #include <log/log.h> 35 #include <system/radio.h> 36 #include <hardware/hardware.h> 37 #include <hardware/vehicle.h> 38 39 extern int64_t elapsedRealtimeNano(); 40 41 static char VEHICLE_MAKE[] = "android_car"; 42 43 typedef struct vehicle_device_impl { 44 vehicle_hw_device_t vehicle_device; 45 uint32_t initialized_; 46 vehicle_event_callback_fn event_fn_; 47 vehicle_error_callback_fn error_fn_; 48 } vehicle_device_impl_t ; 49 50 static pthread_mutex_t lock_; 51 52 typedef struct subscription { 53 // Each subscription has it's own thread. 54 pthread_t thread_id; 55 int32_t prop; 56 float sample_rate; 57 pthread_mutex_t lock; 58 // This field should be protected by the above mutex. 59 // TODO change this to something better as flag alone takes long time to finish. 60 uint32_t stop_thread; 61 vehicle_device_impl_t* impl; 62 pthread_t thread; 63 pthread_cond_t cond; 64 char name[100]; 65 } subscription_t; 66 67 static vehicle_prop_config_t CONFIGS[] = { 68 { 69 .prop = VEHICLE_PROPERTY_INFO_MAKE, 70 .access = VEHICLE_PROP_ACCESS_READ, 71 .change_mode = VEHICLE_PROP_CHANGE_MODE_STATIC, 72 .value_type = VEHICLE_VALUE_TYPE_STRING, 73 .min_sample_rate = 0, 74 .max_sample_rate = 0, 75 .hal_data = NULL, 76 }, 77 { 78 .prop = VEHICLE_PROPERTY_GEAR_SELECTION, 79 .access = VEHICLE_PROP_ACCESS_READ, 80 .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, 81 .value_type = VEHICLE_VALUE_TYPE_INT32, 82 .min_sample_rate = 0, 83 .max_sample_rate = 0, 84 .hal_data = NULL, 85 }, 86 { 87 .prop = VEHICLE_PROPERTY_DRIVING_STATUS, 88 .access = VEHICLE_PROP_ACCESS_READ, 89 .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, 90 .value_type = VEHICLE_VALUE_TYPE_INT32, 91 .min_sample_rate = 0, 92 .max_sample_rate = 0, 93 .hal_data = NULL, 94 }, 95 { 96 .prop = VEHICLE_PROPERTY_PARKING_BRAKE_ON, 97 .access = VEHICLE_PROP_ACCESS_READ, 98 .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, 99 .value_type = VEHICLE_VALUE_TYPE_BOOLEAN, 100 .min_sample_rate = 0, 101 .max_sample_rate = 0, 102 .hal_data = NULL, 103 }, 104 { 105 .prop = VEHICLE_PROPERTY_PERF_VEHICLE_SPEED, 106 .access = VEHICLE_PROP_ACCESS_READ, 107 .change_mode = VEHICLE_PROP_CHANGE_MODE_CONTINUOUS, 108 .value_type = VEHICLE_VALUE_TYPE_FLOAT, 109 .min_sample_rate = 0.1, 110 .max_sample_rate = 10.0, 111 .hal_data = NULL, 112 }, 113 { 114 .prop = VEHICLE_PROPERTY_RADIO_PRESET, 115 .access = VEHICLE_PROP_ACCESS_READ_WRITE, 116 .change_mode = VEHICLE_PROP_CHANGE_MODE_ON_CHANGE, 117 .value_type = VEHICLE_VALUE_TYPE_INT32_VEC4, 118 .vehicle_radio_num_presets = RADIO_PRESET_NUM, 119 .min_sample_rate = 0, 120 .max_sample_rate = 0, 121 .hal_data = NULL, 122 }, 123 }; 124 125 vehicle_prop_config_t* find_config(int prop) { 126 unsigned int i; 127 for (i = 0; i < sizeof(CONFIGS) / sizeof(vehicle_prop_config_t); i++) { 128 if (CONFIGS[i].prop == prop) { 129 return &CONFIGS[i]; 130 } 131 } 132 return NULL; 133 } 134 135 static int alloc_vehicle_str_from_cstr(const char* string, vehicle_str_t* vehicle_str) { 136 int len = strlen(string); 137 vehicle_str->data = (uint8_t*) malloc(len); 138 if (vehicle_str->data == NULL) { 139 return -ENOMEM; 140 } 141 memcpy(vehicle_str->data, string, len); 142 vehicle_str->len = len; 143 return 0; 144 } 145 146 static vehicle_prop_config_t const * vdev_list_properties(vehicle_hw_device_t* device UNUSED, 147 int* num_properties) { 148 ALOGD("vdev_list_properties."); 149 150 *num_properties = sizeof(CONFIGS) / sizeof(vehicle_prop_config_t); 151 return CONFIGS; 152 } 153 154 static int vdev_init(vehicle_hw_device_t* device, 155 vehicle_event_callback_fn event_callback_fn, 156 vehicle_error_callback_fn error_callback_fn) { 157 ALOGD("vdev_init."); 158 vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; 159 pthread_mutex_lock(&lock_); 160 if (impl->initialized_) { 161 ALOGE("vdev_init: Callback and Error functions are already existing."); 162 pthread_mutex_unlock(&lock_); 163 return -EEXIST; 164 } 165 166 impl->initialized_ = 1; 167 impl->event_fn_ = event_callback_fn; 168 impl->error_fn_ = error_callback_fn; 169 pthread_mutex_unlock(&lock_); 170 return 0; 171 } 172 173 static int vdev_release(vehicle_hw_device_t* device) { 174 vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; 175 pthread_mutex_lock(&lock_); 176 if (!impl->initialized_) { 177 ALOGD("vdev_release: Already released before, returning early."); 178 } else { 179 // unsubscribe_all() 180 impl->initialized_ = 0; 181 } 182 pthread_mutex_unlock(&lock_); 183 return 0; 184 } 185 186 static int vdev_get(vehicle_hw_device_t* device UNUSED, vehicle_prop_value_t* data) { 187 ALOGD("vdev_get."); 188 //TODO all data supporting read should support get 189 if (!data) { 190 ALOGE("vdev_get: Data cannot be null."); 191 return -EINVAL; 192 } 193 vehicle_prop_config_t* config = find_config(data->prop); 194 if (config == NULL) { 195 ALOGE("vdev_get: cannot find config 0x%x", data->prop); 196 return -EINVAL; 197 } 198 data->value_type = config->value_type; 199 // for STATIC type, time can be just 0 instead 200 data->timestamp = elapsedRealtimeNano(); 201 int r; 202 switch (data->prop) { 203 case VEHICLE_PROPERTY_INFO_MAKE: 204 r = alloc_vehicle_str_from_cstr(VEHICLE_MAKE, &(data->value.str_value)); 205 if (r != 0) { 206 ALOGE("vdev_get: alloc failed"); 207 return r; 208 } 209 break; 210 211 case VEHICLE_PROPERTY_RADIO_PRESET: { 212 int radio_preset = data->value.int32_array[0]; 213 if (radio_preset < VEHICLE_RADIO_PRESET_MIN_VALUE || 214 radio_preset >= RADIO_PRESET_NUM) { 215 ALOGE("%s Invalid radio preset: %d\n", __func__, radio_preset); 216 return -1; 217 } 218 ALOGD("%s Radio Preset number: %d", __func__, radio_preset); 219 int32_t selector = radio_preset % 2 == 0; 220 // Populate the channel and subchannel to be some variation of the 221 // preset number for mocking. 222 223 // Restore the preset number. 224 data->value.int32_array[0] = radio_preset; 225 // Channel type values taken from 226 // system/core/include/system/radio.h 227 data->value.int32_array[1] = selector ? RADIO_BAND_FM : RADIO_BAND_AM; 228 // For FM set a value in Mhz and for AM set a value in Khz range 229 // (channel). 230 data->value.int32_array[2] = selector ? 99000000 : 100000; 231 // For FM we have a sub-channel and we care about it, for AM pass 232 // a dummy value. 233 data->value.int32_array[3] = selector ? radio_preset : -1; 234 break; 235 } 236 237 default: 238 // actual implementation will be much complex than this. It should track proper last 239 // state. Here just fill with zero. 240 memset(&(data->value), 0, sizeof(data->value)); 241 break; 242 } 243 ALOGI("vdev_get, type 0x%x, time %" PRId64 ", value_type %d", data->prop, data->timestamp, 244 data->value_type); 245 return 0; 246 } 247 248 static void vdev_release_memory_from_get(struct vehicle_hw_device* device UNUSED, 249 vehicle_prop_value_t *data) { 250 switch (data->value_type) { 251 case VEHICLE_VALUE_TYPE_STRING: 252 case VEHICLE_VALUE_TYPE_BYTES: 253 free(data->value.str_value.data); 254 data->value.str_value.data = NULL; 255 break; 256 default: 257 ALOGW("release_memory_from_get for property 0x%x which is not string or bytes type 0x%x" 258 , data->prop, data->value_type); 259 break; 260 } 261 } 262 263 static int vdev_set(vehicle_hw_device_t* device UNUSED, const vehicle_prop_value_t* data) { 264 ALOGD("vdev_set."); 265 // Just print what data will be setting here. 266 ALOGD("Setting property %d with value type %d\n", data->prop, data->value_type); 267 vehicle_prop_config_t* config = find_config(data->prop); 268 if (config == NULL) { 269 ALOGE("vdev_set: cannot find config 0x%x", data->prop); 270 return -EINVAL; 271 } 272 if (config->value_type != data->value_type) { 273 ALOGE("vdev_set: type mismatch, passed 0x%x expecting 0x%x", data->value_type, 274 config->value_type); 275 return -EINVAL; 276 } 277 switch (data->value_type) { 278 case VEHICLE_VALUE_TYPE_FLOAT: 279 ALOGD("Value type: FLOAT\nValue: %f\n", data->value.float_value); 280 break; 281 case VEHICLE_VALUE_TYPE_INT32: 282 ALOGD("Value type: INT32\nValue: %" PRId32 "\n", data->value.int32_value); 283 break; 284 case VEHICLE_VALUE_TYPE_INT64: 285 ALOGD("Value type: INT64\nValue: %" PRId64 "\n", data->value.int64_value); 286 break; 287 case VEHICLE_VALUE_TYPE_BOOLEAN: 288 ALOGD("Value type: BOOLEAN\nValue: %d\n", data->value.boolean_value); 289 break; 290 case VEHICLE_VALUE_TYPE_STRING: 291 ALOGD("Value type: STRING\n Size: %d\n", data->value.str_value.len); 292 // NOTE: We only handle ASCII strings here. 293 // Print the UTF-8 string. 294 char *ascii_out = (char *) malloc ((data->value.str_value.len + 1) * sizeof (char)); 295 memcpy(ascii_out, data->value.str_value.data, data->value.str_value.len); 296 ascii_out[data->value.str_value.len] = '\0'; 297 ALOGD("Value: %s\n", ascii_out); 298 break; 299 case VEHICLE_VALUE_TYPE_INT32_VEC4: 300 ALOGD("Value type: INT32_VEC4\nValue[0]: %d Value[1] %d Value[2] %d Value[3] %d", 301 data->value.int32_array[0], data->value.int32_array[1], 302 data->value.int32_array[2], data->value.int32_array[3]); 303 break; 304 default: 305 ALOGD("Value type not yet handled: %d.\n", data->value_type); 306 } 307 return 0; 308 } 309 310 void print_subscribe_info(vehicle_device_impl_t* impl UNUSED) { 311 unsigned int i; 312 for (i = 0; i < sizeof(CONFIGS) / sizeof(vehicle_prop_config_t); i++) { 313 subscription_t* sub = (subscription_t*)CONFIGS[i].hal_data; 314 if (sub != NULL) { 315 ALOGD("prop: %d rate: %f", sub->prop, sub->sample_rate); 316 } 317 } 318 } 319 320 // This should be run in a separate thread always. 321 void fake_event_thread(struct subscription *sub) { 322 if (!sub) { 323 ALOGE("oops! subscription object cannot be NULL."); 324 exit(-1); 325 } 326 prctl(PR_SET_NAME, (unsigned long)sub->name, 0, 0, 0); 327 // Emit values in a loop, every 2 seconds. 328 while (1) { 329 // Create a random value depending on the property type. 330 vehicle_prop_value_t event; 331 event.prop = sub->prop; 332 event.timestamp = elapsedRealtimeNano(); 333 switch (sub->prop) { 334 case VEHICLE_PROPERTY_GEAR_SELECTION: 335 event.value_type = VEHICLE_VALUE_TYPE_INT32; 336 switch ((event.timestamp & 0x30000000)>>28) { 337 case 0: 338 event.value.gear_selection = VEHICLE_GEAR_PARK; 339 break; 340 case 1: 341 event.value.gear_selection = VEHICLE_GEAR_NEUTRAL; 342 break; 343 case 2: 344 event.value.gear_selection = VEHICLE_GEAR_DRIVE; 345 break; 346 case 3: 347 event.value.gear_selection = VEHICLE_GEAR_REVERSE; 348 break; 349 } 350 break; 351 case VEHICLE_PROPERTY_PARKING_BRAKE_ON: 352 event.value_type = VEHICLE_VALUE_TYPE_BOOLEAN; 353 if (event.timestamp & 0x20000000) { 354 event.value.parking_brake = VEHICLE_FALSE; 355 } else { 356 event.value.parking_brake = VEHICLE_TRUE; 357 } 358 break; 359 case VEHICLE_PROPERTY_PERF_VEHICLE_SPEED: 360 event.value_type = VEHICLE_VALUE_TYPE_FLOAT; 361 event.value.vehicle_speed = (float) ((event.timestamp & 0xff000000)>>24); 362 break; 363 case VEHICLE_PROPERTY_RADIO_PRESET: 364 event.value_type = VEHICLE_VALUE_TYPE_INT32_VEC4; 365 int presetInfo1[4] = {1 /* preset number */, 0 /* AM Band */, 1000, 0}; 366 int presetInfo2[4] = {2 /* preset number */, 1 /* FM Band */, 1000, 0}; 367 if (event.timestamp & 0x20000000) { 368 memcpy(event.value.int32_array, presetInfo1, sizeof(presetInfo1)); 369 } else { 370 memcpy(event.value.int32_array, presetInfo2, sizeof(presetInfo2)); 371 } 372 break; 373 default: // unsupported 374 if (sub->impl == NULL) { 375 ALOGE("subscription impl NULL"); 376 return; 377 } 378 if (sub->impl->error_fn_ != NULL) { 379 sub->impl->error_fn_(-EINVAL, VEHICLE_PROPERTY_INVALID, 380 VEHICLE_OPERATION_GENERIC); 381 } else { 382 ALOGE("Error function is null"); 383 } 384 ALOGE("Unsupported prop 0x%x, quit", sub->prop); 385 return; 386 } 387 if (sub->impl->event_fn_ != NULL) { 388 sub->impl->event_fn_(&event); 389 } else { 390 ALOGE("Event function is null"); 391 return; 392 } 393 pthread_mutex_lock(&sub->lock); 394 if (sub->stop_thread) { 395 ALOGD("exiting subscription request here."); 396 // Do any cleanup here. 397 pthread_mutex_unlock(&sub->lock); 398 return; 399 } 400 struct timespec now; 401 clock_gettime(CLOCK_REALTIME, &now); 402 now.tv_sec += 1; // sleep for one sec 403 pthread_cond_timedwait(&sub->cond, &sub->lock, &now); 404 pthread_mutex_unlock(&sub->lock); 405 } 406 } 407 408 static int vdev_subscribe(vehicle_hw_device_t* device, int32_t prop, float sample_rate, 409 int32_t zones UNUSED) { 410 ALOGD("vdev_subscribe 0x%x, %f", prop, sample_rate); 411 vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; 412 // Check that the device is initialized. 413 pthread_mutex_lock(&lock_); 414 if (!impl->initialized_) { 415 pthread_mutex_unlock(&lock_); 416 ALOGE("vdev_subscribe: have you called init()?"); 417 return -EINVAL; 418 } 419 vehicle_prop_config_t* config = find_config(prop); 420 if (config == NULL) { 421 pthread_mutex_unlock(&lock_); 422 ALOGE("vdev_subscribe not supported property 0x%x", prop); 423 return -EINVAL; 424 } 425 if ((config->access != VEHICLE_PROP_ACCESS_READ) && 426 (config->access != VEHICLE_PROP_ACCESS_READ_WRITE)) { 427 pthread_mutex_unlock(&lock_); 428 ALOGE("vdev_subscribe read not supported on the property 0x%x", prop); 429 return -EINVAL; 430 } 431 if (config->change_mode == VEHICLE_PROP_CHANGE_MODE_STATIC) { 432 pthread_mutex_unlock(&lock_); 433 ALOGE("vdev_subscribe cannot subscribe static property 0x%x", prop); 434 return -EINVAL; 435 } 436 if ((config->change_mode == VEHICLE_PROP_CHANGE_MODE_ON_CHANGE) && (sample_rate != 0)) { 437 pthread_mutex_unlock(&lock_); 438 ALOGE("vdev_subscribe on change type should have 0 sample rate, property 0x%x, sample rate %f", 439 prop, sample_rate); 440 return -EINVAL; 441 } 442 if ((config->max_sample_rate < sample_rate) || (config->min_sample_rate > sample_rate)) { 443 444 ALOGE("vdev_subscribe property 0x%x, invalid sample rate %f, min:%f, max:%f", 445 prop, sample_rate, config->min_sample_rate, config->max_sample_rate); 446 pthread_mutex_unlock(&lock_); 447 return -EINVAL; 448 } 449 subscription_t* sub = (subscription_t*)config->hal_data; 450 if (sub == NULL) { 451 sub = calloc(1, sizeof(subscription_t)); 452 sub->prop = prop; 453 sub->sample_rate = sample_rate; 454 sub->stop_thread = 0; 455 sub->impl = impl; 456 pthread_mutex_init(&sub->lock, NULL); 457 pthread_cond_init(&sub->cond, NULL); 458 config->hal_data = sub; 459 sprintf(sub->name, "vhal0x%x", prop); 460 } else if (sub->sample_rate != sample_rate){ // sample rate changed 461 //TODO notify this to fake sensor thread 462 sub->sample_rate = sample_rate; 463 pthread_mutex_unlock(&lock_); 464 return 0; 465 } 466 int ret_code = pthread_create( 467 &sub->thread, NULL, (void *(*)(void*))fake_event_thread, sub); 468 print_subscribe_info(impl); 469 pthread_mutex_unlock(&lock_); 470 return 0; 471 } 472 473 static int vdev_unsubscribe(vehicle_hw_device_t* device, int32_t prop) { 474 ALOGD("vdev_unsubscribe 0x%x", prop); 475 vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; 476 pthread_mutex_lock(&lock_); 477 vehicle_prop_config_t* config = find_config(prop); 478 if (config == NULL) { 479 pthread_mutex_unlock(&lock_); 480 return -EINVAL; 481 } 482 subscription_t* sub = (subscription_t*)config->hal_data; 483 if (sub == NULL) { 484 pthread_mutex_unlock(&lock_); 485 return -EINVAL; 486 } 487 config->hal_data = NULL; 488 pthread_mutex_unlock(&lock_); 489 pthread_mutex_lock(&sub->lock); 490 sub->stop_thread = 1; 491 pthread_cond_signal(&sub->cond); 492 pthread_mutex_unlock(&sub->lock); 493 pthread_join(sub->thread, NULL); 494 pthread_cond_destroy(&sub->cond); 495 pthread_mutex_destroy(&sub->lock); 496 free(sub); 497 pthread_mutex_lock(&lock_); 498 print_subscribe_info(impl); 499 pthread_mutex_unlock(&lock_); 500 return 0; 501 } 502 503 static int vdev_close(hw_device_t* device) { 504 vehicle_device_impl_t* impl = (vehicle_device_impl_t*)device; 505 if (impl) { 506 free(impl); 507 return 0; 508 } else { 509 return -1; 510 } 511 } 512 513 static int vdev_dump(struct vehicle_hw_device* device UNUSED, int fd UNUSED) { 514 //TODO 515 return 0; 516 } 517 518 /* 519 * The open function is provided as an interface in harwdare.h which fills in 520 * all the information about specific implementations and version specific 521 * informations in hw_device_t structure. After calling open() the client should 522 * use the hw_device_t to execute any Vehicle HAL device specific functions. 523 */ 524 static int vdev_open(const hw_module_t* module, const char* name UNUSED, 525 hw_device_t** device) { 526 ALOGD("vdev_open"); 527 528 // Oops, out of memory! 529 vehicle_device_impl_t* vdev = calloc(1, sizeof(vehicle_device_impl_t)); 530 if (vdev == NULL) { 531 return -ENOMEM; 532 } 533 534 // Common functions provided by harware.h to access module and device(s). 535 vdev->vehicle_device.common.tag = HARDWARE_DEVICE_TAG; 536 vdev->vehicle_device.common.version = VEHICLE_DEVICE_API_VERSION_1_0; 537 vdev->vehicle_device.common.module = (hw_module_t *) module; 538 vdev->vehicle_device.common.close = vdev_close; 539 540 // Define the Vehicle HAL device specific functions. 541 vdev->vehicle_device.list_properties = vdev_list_properties; 542 vdev->vehicle_device.init = vdev_init; 543 vdev->vehicle_device.release = vdev_release; 544 vdev->vehicle_device.get = vdev_get; 545 vdev->vehicle_device.release_memory_from_get = vdev_release_memory_from_get; 546 vdev->vehicle_device.set = vdev_set; 547 vdev->vehicle_device.subscribe = vdev_subscribe; 548 vdev->vehicle_device.unsubscribe = vdev_unsubscribe; 549 vdev->vehicle_device.dump = vdev_dump; 550 551 *device = (hw_device_t *) vdev; 552 return 0; 553 } 554 555 static struct hw_module_methods_t hal_module_methods = { 556 .open = vdev_open, 557 }; 558 559 /* 560 * This structure is mandatory to be implemented by each HAL implementation. It 561 * exposes the open method (see hw_module_methods_t above) which opens a device. 562 * The vehicle HAL is supposed to be used as a single device HAL hence all the 563 * functions should be implemented inside of the vehicle_hw_device_t struct (see 564 * the vehicle.h in include/ folder. 565 */ 566 vehicle_module_t HAL_MODULE_INFO_SYM = { 567 .common = { 568 .tag = HARDWARE_MODULE_TAG, 569 .module_api_version = VEHICLE_MODULE_API_VERSION_1_0, 570 .hal_api_version = HARDWARE_HAL_API_VERSION, 571 .id = VEHICLE_HARDWARE_MODULE_ID, 572 .name = "Default vehicle HW HAL", 573 .author = "", 574 .methods = &hal_module_methods, 575 }, 576 }; 577
