1 /* 2 * Copyright (C) 2023 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 #pragma once 18 19 #include <IVehicleHardware.h> 20 #include <VehicleHalTypes.h> 21 #include <VehicleUtils.h> 22 #include <android-base/result.h> 23 24 #include "VehicleServer.grpc.pb.h" 25 #include "VehicleServer.pb.h" 26 27 #include <atomic> 28 #include <chrono> 29 #include <condition_variable> 30 #include <memory> 31 #include <shared_mutex> 32 #include <string> 33 #include <thread> 34 #include <vector> 35 36 namespace android::hardware::automotive::vehicle::virtualization { 37 38 namespace aidlvhal = ::aidl::android::hardware::automotive::vehicle; 39 40 class GRPCVehicleHardware : public IVehicleHardware { 41 public: 42 explicit GRPCVehicleHardware(std::string service_addr); 43 44 ~GRPCVehicleHardware(); 45 46 // Get all the property configs. 47 std::vector<aidlvhal::VehiclePropConfig> getAllPropertyConfigs() const override; 48 49 // Set property values asynchronously. Server could return before the property set requests 50 // are sent to vehicle bus or before property set confirmation is received. The callback is 51 // safe to be called after the function returns and is safe to be called in a different thread. 52 aidlvhal::StatusCode setValues(std::shared_ptr<const SetValuesCallback> callback, 53 const std::vector<aidlvhal::SetValueRequest>& requests) override; 54 55 // Get property values asynchronously. Server could return before the property values are ready. 56 // The callback is safe to be called after the function returns and is safe to be called in a 57 // different thread. 58 aidlvhal::StatusCode getValues( 59 std::shared_ptr<const GetValuesCallback> callback, 60 const std::vector<aidlvhal::GetValueRequest>& requests) const override; 61 62 // Dump debug information in the server. 63 DumpResult dump(const std::vector<std::string>& options) override; 64 65 // Check whether the system is healthy, return {@code StatusCode::OK} for healthy. 66 aidlvhal::StatusCode checkHealth() override; 67 68 // Register a callback that would be called when there is a property change event from vehicle. 69 void registerOnPropertyChangeEvent( 70 std::unique_ptr<const PropertyChangeCallback> callback) override; 71 72 // Register a callback that would be called when there is a property set error event from 73 // vehicle. 74 void registerOnPropertySetErrorEvent( 75 std::unique_ptr<const PropertySetErrorCallback> callback) override; 76 77 // Update the sample rate for the [propId, areaId] pair. 78 aidlvhal::StatusCode updateSampleRate(int32_t propId, int32_t areaId, 79 float sampleRate) override; 80 81 bool waitForConnected(std::chrono::milliseconds waitTime); 82 83 private: 84 void ValuePollingLoop(); 85 86 std::string mServiceAddr; 87 std::shared_ptr<::grpc::Channel> mGrpcChannel; 88 std::unique_ptr<proto::VehicleServer::Stub> mGrpcStub; 89 std::thread mValuePollingThread; 90 91 std::shared_mutex mCallbackMutex; 92 std::unique_ptr<const PropertyChangeCallback> mOnPropChange; 93 std::unique_ptr<const PropertySetErrorCallback> mOnSetErr; 94 95 std::mutex mShutdownMutex; 96 std::condition_variable mShutdownCV; 97 std::atomic<bool> mShuttingDownFlag{false}; 98 }; 99 100 } // namespace android::hardware::automotive::vehicle::virtualization 101