hal/fakevhal/SimulationVehicleStub.java

/*
 * Copyright (C) 2024 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.
 */

package com.android.car.hal.fakevhal;

import static com.android.car.hal.property.HalPropertyDebugUtils.toValueString;
import static com.android.car.internal.ExcludeFromCodeCoverageGeneratedReport.DUMP_INFO;

import android.annotation.Nullable;
import android.car.builtin.util.Slogf;
import android.car.hardware.CarPropertyValue;
import android.hardware.automotive.vehicle.VehiclePropError;
import android.hardware.automotive.vehicle.VehiclePropValue;
import android.os.RemoteException;
import android.os.ServiceSpecificException;
import android.os.SystemClock;
import android.util.ArraySet;
import android.util.Pair;
import android.util.SparseArray;

import com.android.car.CarLog;
import com.android.car.VehicleStub;
import com.android.car.hal.HalPropConfig;
import com.android.car.hal.HalPropValue;
import com.android.car.hal.HalPropValueBuilder;
import com.android.car.hal.VehicleHalCallback;
import com.android.car.internal.ExcludeFromCodeCoverageGeneratedReport;
import com.android.car.internal.property.PropIdAreaId;
import com.android.car.internal.util.IndentingPrintWriter;
import com.android.car.internal.util.PairSparseArray;
import com.android.internal.annotations.GuardedBy;
import com.android.internal.annotations.VisibleForTesting;

import java.io.FileDescriptor;
import java.io.FileOutputStream;
import java.io.PrintWriter;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.TimeUnit;
import java.util.function.Consumer;
import java.util.function.Function;

public final class SimulationVehicleStub extends VehicleStubWrapper {

    private static final String TAG = CarLog.tagFor(SimulationVehicleStub.class);

    private final ArraySet<Integer> mPropertyIdsFromRealHardware;
    @GuardedBy("mLock")
    private final SparseArray<CarPropertyValue> mLastInjectedProperty;
    private ReplayingVehicleHalCallback mReplayingVehicleHalCallback;
    private final long mStartOfSimulationTime;
    private final Object mLock = new Object();

    public SimulationVehicleStub(VehicleStub stub, List<Integer> propertyIdsFromRealHardware,
            VehicleHalCallback realCallback)
            throws RemoteException {
        super(stub, getInitialPropValuesAndConfigs(stub));
        mPropertyIdsFromRealHardware = new ArraySet<>(propertyIdsFromRealHardware);
        mStartOfSimulationTime = SystemClock.elapsedRealtimeNanos();
        mReplayingVehicleHalCallback = new ReplayingVehicleHalCallback(realCallback,
                new ArraySet<>(propertyIdsFromRealHardware));
        mLastInjectedProperty = new SparseArray<>();
    }

    @VisibleForTesting
    /* package */ void setReplayingVehicleHalCallback(VehicleHalCallback callback,
            List<Integer> propertyIdsFromRealHardware) {
        mReplayingVehicleHalCallback = new ReplayingVehicleHalCallback(callback,
                new ArraySet<>(propertyIdsFromRealHardware));
    }

    private static Pair<SparseArray<HalPropConfig>, PairSparseArray<HalPropValue>>
            getInitialPropValuesAndConfigs(VehicleStub realVehicleStub) throws RemoteException {
        SparseArray<HalPropConfig> allProperties = getAllPropConfigSparseArray(realVehicleStub);
        PairSparseArray<HalPropValue> propValuesByPropIdAreaId = new PairSparseArray<>();
        for (int i = 0; i < allProperties.size(); i++) {
            HalPropConfig halPropconfig = allProperties.valueAt(i);
            int propId = halPropconfig.getPropId();
            List<Integer> supportedAreaIds = getAllSupportedAreaId(propId, allProperties);
            if (isPropertyGlobal(propId)) {
                supportedAreaIds = List.of(AREA_ID_GLOBAL);
            }
            // TODO(b/377378043): Make this a batched getAsync request.
            for (int j = 0; j < supportedAreaIds.size(); j++) {
                try {
                    HalPropValue propValueFromHardware = realVehicleStub.get(
                            realVehicleStub.getHalPropValueBuilder().build(
                                    propId, supportedAreaIds.get(j)));
                    if (propValueFromHardware == null) {
                        Slogf.w(TAG, "PropValueFromHardware is null for propId: %d, areaId: %d",
                                propId, supportedAreaIds.get(j));
                        continue;
                    }
                    propValuesByPropIdAreaId.put(propValueFromHardware.getPropId(),
                            propValueFromHardware.getAreaId(), propValueFromHardware);
                } catch (RemoteException | ServiceSpecificException e) {
                    Slogf.w(TAG, "Unable to get propId: %d, areaId: %d from real vehicle stub",
                            propId, supportedAreaIds.get(j), e);
                }
            }
        }
        return new Pair<>(allProperties, propValuesByPropIdAreaId);
    }

    @Override
    public boolean isAidlVhal() {
        return mRealVehicle.isAidlVhal();
    }

    @Override
    public HalPropValueBuilder getHalPropValueBuilder() {
        return mRealVehicle.getHalPropValueBuilder();
    }

    @Override
    public String getInterfaceDescriptor() throws IllegalStateException {
        return "com.android.car.hal.fakevhal.SimulationVehicleStub";
    }

    private static SparseArray<HalPropConfig> getAllPropConfigSparseArray(
            VehicleStub realVehicleStub) throws RemoteException {
        HalPropConfig[] halPropConfigs = realVehicleStub.getAllPropConfigs();
        SparseArray<HalPropConfig> sparseArray = new SparseArray<>();
        for (int i = 0; i < halPropConfigs.length; i++) {
            sparseArray.put(halPropConfigs[i].getPropId(), halPropConfigs[i]);
        }
        return sparseArray;
    }

    @Override
    public HalPropConfig[] getAllPropConfigs() throws RemoteException, ServiceSpecificException {
        return mRealVehicle.getAllPropConfigs();
    }

    @Override
    public SubscriptionClient newSubscriptionClient(VehicleHalCallback callback) {
        return mRealVehicle.newSubscriptionClient(mReplayingVehicleHalCallback);
    }

    @Nullable
    @Override
    public HalPropValue get(HalPropValue requestedPropValue)
            throws RemoteException, ServiceSpecificException {
        if (mPropertyIdsFromRealHardware.contains(requestedPropValue.getPropId())) {
            Slogf.d(TAG, "Get requestedPropValue from real hardware %s", requestedPropValue);
            return mRealVehicle.get(requestedPropValue);
        }
        int propId = requestedPropValue.getPropId();
        checkPropIdSupported(propId);
        int areaId = isPropertyGlobal(propId) ? AREA_ID_GLOBAL : requestedPropValue.getAreaId();
        checkAreaIdSupported(propId, areaId);
        verifyReadAccess(propId, areaId);
        HalPropValue halPropvalue = getFakeHalPropValue(propId, areaId);
        Slogf.d(TAG, "Returning fake value for propertyId: %d, returning prop value of: %s",
                propId, halPropvalue);
        return halPropvalue;
    }

    /**
     * Dumps VHAL debug information.
     *
     * @param fd The file descriptor to print output.
     * @param args Optional additional arguments for the debug command. Can be empty.
     * @throws RemoteException if the remote operation fails.
     * @throws ServiceSpecificException if VHAL returns service specific error.
     */
    @Override
    @ExcludeFromCodeCoverageGeneratedReport(reason = DUMP_INFO)
    public void dump(FileDescriptor fd, List<String> args) throws RemoteException,
            ServiceSpecificException {
        IndentingPrintWriter writer = new IndentingPrintWriter(new PrintWriter(
                new FileOutputStream(fd)));
        writer.println("Properties from realHardware: ");
        writer.increaseIndent();
        for (int i = 0; i < mPropertyIdsFromRealHardware.size(); i++) {
            writer.println("property: " + mPropertyIdsFromRealHardware.valueAt(i));
        }
        writer.decreaseIndent();
        super.dump(fd, args);
    }

    @Override
    public void set(HalPropValue propValue) throws RemoteException, ServiceSpecificException {
        if (mPropertyIdsFromRealHardware.contains(propValue.getPropId())) {
            Slogf.d(TAG, "Set requestedPropValue to real hardware %s", propValue);
            mRealVehicle.set(propValue);
            return;
        }
        Slogf.d(TAG, "Set requestedPropValue to fake stub %s", propValue);
        int propId = propValue.getPropId();
        checkPropIdSupported(propId);
        int areaId = isPropertyGlobal(propId) ? AREA_ID_GLOBAL : propValue.getAreaId();
        checkAreaIdSupported(propId, areaId);

        // Check access permission.
        verifyWriteAccess(propId, areaId);

        HalPropValue updatedValue = buildRawPropValueAndCheckRange(propValue);
        maybeInvokeCallback(updatedValue, propId, areaId);
    }

    private void buildHalPropValueAndMaybeInvokeCallback(CarPropertyValue carPropertyValue) {
        int propId = carPropertyValue.getPropertyId();
        int areaId = carPropertyValue.getAreaId();
        HalPropValue halPropValue = buildHalPropValue(carPropertyValue,
                carPropertyValue.getPropertyId(), SystemClock.elapsedRealtimeNanos());
        if (maybeInvokeCallback(halPropValue, propId, areaId)) {
            synchronized (mLock) {
                mLastInjectedProperty.put(propId, carPropertyValue);
            }
        }
    }

    private boolean maybeInvokeCallback(HalPropValue halPropValue, int propId, int areaId) {
        HalPropValue oldValue;
        // Need mLock in case of race condition E.G.
        // Thread 1 get returns 4
        // Thread 2 get returns 4
        // Thread 1 put 3
        // Thread 2 put 4
        // If lock is not present, thread 2 would not invoke onPropertyEvent change from 3 -> 4,
        // client would assume the propValue would be 3
        synchronized (mLock) {
            if (mReplayingVehicleHalCallback == null) {
                Slogf.w(TAG, "Replaying Vehicle Hal Callback is null");
                return false;
            }
            oldValue = getPropValue(propId, areaId);
            Slogf.d(TAG, "Fake value stored for propId: %d, areaId: %d, value: %s Storing "
                            + "new value %s", propId, areaId, oldValue, halPropValue);
            putPropValue(propId, areaId, halPropValue);
        }
        mReplayingVehicleHalCallback.getRealCallback().onInjectionPropertyEvent(List.of(
                halPropValue));
        return true;
    }

    /**
     * Filters a list of items based on a set of property IDs.
     *
     * <p>This method iterates through a list of items and applies a provided function to extract a
     * property ID from each item. It then checks if the extracted property ID exists within a
     * given set of valid property IDs. Only items whose property IDs are present in the valid set
     * are included in the returned filtered list.
     *
     * @param items The list of items to be filtered.
     * @param propIdExtractor A function that extracts the property ID from an item.
     * @param propertyIdsFromRealHardware A set of valid property IDs. Items with property IDs not
     *                                    present in this set will be filtered out.
     * @param <T> The type of items in the list.
     * @return A new list containing only the items whose property IDs are present in
     *         `propertyIdsFromRealHardware`.
     */
    public static <T> List<T> filterProperties(List<T> items, Function<T, Integer>
            propIdExtractor, ArraySet<Integer> propertyIdsFromRealHardware) {
        List<T> filteredItems = new ArrayList<>();
        for (int i = 0; i < items.size(); i++) {
            T item = items.get(i);
            int propId = propIdExtractor.apply(item);
            if (!propertyIdsFromRealHardware.contains(propId)) {
                Slogf.d(TAG, "Filtering out real hardware due to %s property not being in "
                        + "mPropertyIdsFromRealHardware", propId);
                continue;
            }
            filteredItems.add(item);
        }
        return filteredItems;
    }

    private static final class ReplayingVehicleHalCallback implements VehicleHalCallback {

        private final VehicleHalCallback mRealCallback;
        private final ArraySet<Integer> mPropertyIdsFromRealHardware;

        private ReplayingVehicleHalCallback(VehicleHalCallback realCallback,
                ArraySet<Integer> propertyFromRealHardware) {
            mRealCallback = realCallback;
            mPropertyIdsFromRealHardware = propertyFromRealHardware;
        }

        private <T> void filterAndInvokeCallback(List<T> items, Function<T, Integer>
                propIdExtractor, Consumer<List<T>> callback, String methodName) {
            List<T> filteredItems = filterProperties(items, propIdExtractor,
                    mPropertyIdsFromRealHardware);
            if (filteredItems.isEmpty()) {
                Slogf.d(TAG, "All properties were filtered, not running %s", methodName);
                return;
            }
            callback.accept(filteredItems);
        }

        @Override
        public void onPropertyEvent(List<HalPropValue> values) {
            filterAndInvokeCallback(values, HalPropValue::getPropId, mRealCallback::onPropertyEvent,
                    "onPropertyEvent");
        }

        @Override
        public void onPropertySetError(List<VehiclePropError> errors) {
            filterAndInvokeCallback(errors, (VehiclePropError err) -> err.propId,
                    mRealCallback::onPropertySetError, "onPropertySetError");
        }

        @Override
        public void onSupportedValuesChange(List<PropIdAreaId> propIdAreaIds) {
            filterAndInvokeCallback(propIdAreaIds, (PropIdAreaId propIdAreaId) ->
                            propIdAreaId.propId, mRealCallback::onSupportedValuesChange,
                    "onSupportedValuesChange");
        }

        @Override
        public void onInjectionPropertyEvent(List<HalPropValue> values) {
            mRealCallback.onInjectionPropertyEvent(values);
        }

        private VehicleHalCallback getRealCallback() {
            return mRealCallback;
        }
    }

    @Override
    public long getSimulationStartTimestampNanos() {
        return mStartOfSimulationTime;
    }

    @Override
    public boolean isSimulatedModeEnabled() {
        return true;
    }

    @Override
    public void injectVehicleProperties(List<CarPropertyValue> carPropertyValues) {
        for (int i = 0; i < carPropertyValues.size(); i++) {
            CarPropertyValue carPropertyValue = carPropertyValues.get(i);
            int propId = carPropertyValue.getPropertyId();
            int areaId = carPropertyValue.getAreaId();
            // Skip this CarPropertyValue if the propertyId or areaId is not supported
            try {
                checkPropIdSupported(propId);
                checkAreaIdSupported(propId, areaId);
            } catch (ServiceSpecificException e) {
                throw new IllegalArgumentException("PropertyId or areaId not supported", e);
            }
            // Skip this CarPropertyValue if value was not within range.
            HalPropValue halPropValue = buildHalPropValue(carPropertyValue,
                    carPropertyValue.getPropertyId(), 0);
            if (!isWithinRange(propId, areaId,
                    ((VehiclePropValue) halPropValue.toVehiclePropValue()).value)) {
                throw new IllegalArgumentException("The property value is not within range "
                        + toValueString(halPropValue));
            }
        }
        for (int i = 0; i < carPropertyValues.size(); i++) {
            CarPropertyValue carPropertyValue = carPropertyValues.get(i);
            // If timeToInject < 0, will post immediately
            long timeToInject = mStartOfSimulationTime + carPropertyValue.getTimestamp()
                    - SystemClock.elapsedRealtimeNanos();
            mHandler.postDelayed(() -> buildHalPropValueAndMaybeInvokeCallback(carPropertyValue),
                    TimeUnit.NANOSECONDS.toMillis(timeToInject));
        }
    }

    @Override
    @Nullable
    public CarPropertyValue getLastInjectedVehicleProperty(int propertyId) {
        synchronized (mLock) {
            return mLastInjectedProperty.get(propertyId);
        }
    }
}