1 /*
2 * Copyright (C) 2019 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 #include <android-base/logging.h>
18 #include <android/binder_process.h>
19 #include <hidl/HidlTransportSupport.h>
20
21 #include <utils/Errors.h>
22 #include <utils/Looper.h>
23 #include <utils/StrongPointer.h>
24
25 #include <vhal_v2_0/EmulatedVehicleConnector.h>
26 #include <vhal_v2_0/EmulatedVehicleHal.h>
27 #include <vhal_v2_0/VehicleHalManager.h>
28
29 #include "GrpcVehicleClient.h"
30 #include "Utils.h"
31 #include "WatchdogClient.h"
32
33 using android::Looper;
34 using android::OK;
35 using android::status_t;
36 using android::hardware::configureRpcThreadpool;
37 using android::hardware::joinRpcThreadpool;
38 using android::hardware::automotive::vehicle::V2_0::VehicleHalManager;
39 using android::hardware::automotive::vehicle::V2_0::VehiclePropertyStore;
40
main(int argc,char * argv[])41 int main(int argc, char* argv[]) {
42 namespace vhal_impl = android::hardware::automotive::vehicle::V2_0::impl;
43
44 auto serverInfo = vhal_impl::VirtualizedVhalServerInfo::fromRoPropertyStore();
45 CHECK(serverInfo.has_value()) << "Invalid server CID/port combination";
46 LOG(INFO) << "Connecting to vsock server at " << serverInfo->vsock.str();
47
48 auto store = std::make_unique<VehiclePropertyStore>();
49 auto connector = vhal_impl::makeGrpcVehicleClient(serverInfo->getServerUri());
50 auto hal = std::make_unique<vhal_impl::EmulatedVehicleHal>(store.get(), connector.get());
51 auto emulator = std::make_unique<vhal_impl::VehicleEmulator>(hal.get());
52 auto service = std::make_unique<VehicleHalManager>(hal.get());
53
54 configureRpcThreadpool(4, true /* callerWillJoin */);
55
56 LOG(INFO) << "Registering as service...";
57 status_t status = service->registerAsService();
58
59 if (status != OK) {
60 LOG(ERROR) << "Unable to register vehicle service (" << status << ")";
61 return 1;
62 }
63
64 LOG(INFO) << "Ready";
65
66 // Setup a binder thread pool to be a car watchdog client.
67 ABinderProcess_setThreadPoolMaxThreadCount(1);
68 ABinderProcess_startThreadPool();
69 android::sp<Looper> looper(Looper::prepare(0 /* opts */));
70 auto watchdogClient =
71 ndk::SharedRefBase::make<vhal_impl::WatchdogClient>(looper, service.get());
72 if (!watchdogClient->initialize()) {
73 ALOGE("Failed to initialize car watchdog client");
74 return 1;
75 }
76
77 while (true) {
78 looper->pollAll(-1 /* timeoutMillis */);
79 }
80
81 // We don't ever actually expect to return, so return an error if we do get here
82 return 1;
83 }
84