Android Automotive
Android Automotive 是Android Oreo中的一個新的特色功能,從AOSP的代碼上來看,Android O中已經包含有了從Application到Framework 到HAL的整體框架,這一章節,我們簡單的過以下Android Vehicle 的框架,以及重點看下 Vehicle HAL的東西。總體結構大約是以下這個樣子:
上圖的結構應該是Android Oreo當中比較通用的框架結構了,從Application 到Framework到HAL,跟之前的Android版本相比,之前Framework要不通過binder聯繫上一個Daemon,這個Daemon再去load 相關的HAL,要不就是這些Framework的service直接通過JNI去load 這些個HAL 庫。而現在的Android Oreo則是Framework 與HAL之間直接採用HIDL來做聯絡溝通了。接下來我們從下往上的來把Android Vehicle的框架捋一下吧。首先來分析下Vehicle HAL,通過這個來複習並且實踐下之前研究學習過的Android HIDL.
Android Vehicle HAL
types.hal 定義的是一些數據結構,IVehicle.hal定義的是從Framework往HAL調用的接口,而IVehicleCallback.hal則是HAL往Framework 上報回調的接口。看起來還是挺清晰的吧。
而IVehicle.hal的接口也不是很多,
package [email protected];
import IVehicleCallback;
interface IVehicle {
/**
* Returns a list of all property configurations supported by this vehicle
* HAL.
*/
getAllPropConfigs() generates (vec<VehiclePropConfig> propConfigs);
/**
* Returns a list of property configurations for given properties.
*
* If requested VehicleProperty wasn't found it must return
* StatusCode::INVALID_ARG, otherwise a list of vehicle property
* configurations with StatusCode::OK
*/
getPropConfigs(vec<int32_t> props)
generates (StatusCode status, vec<VehiclePropConfig> propConfigs);
/**
* Get a vehicle property value.
*
* For VehiclePropertyChangeMode::STATIC properties, this method must always
* return the same value always.
* For VehiclePropertyChangeMode::ON_CHANGE properties, it must return the
* latest available value.
*
* Some properties like AUDIO_VOLUME requires to pass additional data in
* GET request in VehiclePropValue object.
*
* If there is no data available yet, which can happen during initial stage,
* this call must return immediately with an error code of
* StatusCode::TRY_AGAIN.
*/
get(VehiclePropValue requestedPropValue)
generates (StatusCode status, VehiclePropValue propValue);
/**
* Set a vehicle property value.
*
* Timestamp of data must be ignored for set operation.
*
* Setting some properties require having initial state available. If initial
* data is not available yet this call must return StatusCode::TRY_AGAIN.
* For a property with separate power control this call must return
* StatusCode::NOT_AVAILABLE error if property is not powered on.
*/
set(VehiclePropValue propValue) generates (StatusCode status);
/**
* Subscribes to property events.
*
* Clients must be able to subscribe to multiple properties at a time
* depending on data provided in options argument.
*
* @param listener This client must be called on appropriate event.
* @param options List of options to subscribe. SubscribeOption contains
* information such as property Id, area Id, sample rate, etc.
*/
subscribe(IVehicleCallback callback, vec<SubscribeOptions> options)
generates (StatusCode status);
/**
* Unsubscribes from property events.
*
* If this client wasn't subscribed to the given property, this method
* must return StatusCode::INVALID_ARG.
*/
unsubscribe(IVehicleCallback callback, int32_t propId)
generates (StatusCode status);
/**
* Print out debugging state for the vehicle hal.
*
* The text must be in ASCII encoding only.
*
* Performance requirements:
*
* The HAL must return from this call in less than 10ms. This call must avoid
* deadlocks, as it may be called at any point of operation. Any synchronization
* primitives used (such as mutex locks or semaphores) must be acquired
* with a timeout.
*
*/
debugDump() generates (string s);
};
而IVehicle.hal則就更少了:
package [email protected];
interface IVehicleCallback {
/**
* Event callback happens whenever a variable that the API user has
* subscribed to needs to be reported. This may be based purely on
* threshold and frequency (a regular subscription, see subscribe call's
* arguments) or when the IVehicle#set method was called and the actual
* change needs to be reported.
*
* These callbacks are chunked.
*
* @param values that has been updated.
*/
oneway onPropertyEvent(vec<VehiclePropValue> propValues);
/**
* This method gets called if the client was subscribed to a property using
* SubscribeFlags::SET_CALL flag and IVehicle#set(...) method was called.
*
* These events must be delivered to subscriber immediately without any
* batching.
*
* @param value Value that was set by a client.
*/
oneway onPropertySet(VehiclePropValue propValue);
/**
* Set property value is usually asynchronous operation. Thus even if
* client received StatusCode::OK from the IVehicle::set(...) this
* doesn't guarantee that the value was successfully propagated to the
* vehicle network. If such rare event occurs this method must be called.
*
* @param errorCode - any value from StatusCode enum.
* @param property - a property where error has happened.
* @param areaId - bitmask that specifies in which areas the problem has
* occurred, must be 0 for global properties
*/
oneway onPropertySetError(StatusCode errorCode,
int32_t propId,
int32_t areaId);
};
比較好奇的是這麼些接口就能實現Android 車機的這麼些功能?先還是這麼看看吧,後續仔細研究研究。
Android Vehicle HAL 的編譯
按照我們之前的研究來看看這麼些Android Vehicle HAL被怎麼編譯,編譯成什麼東西。先看.hal文件編譯生成的頭文件:
.hal 文件生成的CPP文件:
.h 文件我們之前也都做過分析,Bp/Bn/Bs 代表啥意思相信都沒忘記吧,在這裏就不多贅述了,而VehicleAll.cpp/VehicleCallbackAll.cpp 裏其實就是那些生成的.h文件中所定義的C++ Class 文件的實現,這些相關實現都是寫在這些.cpp文件當中。
這些.cpp文件/.h文件最終會生成一個名叫[email protected]的庫,詳情請參考hardware/interfaces/automotive/vehicle/2.0/Android.bp。
另外參考hardware/interfaces/automotive/vehicle/2.0/default/Android.mk,
hardware/interfaces/automotive/vehicle/2.0/default/impl/目錄下會被編譯出名叫[email protected]的靜態庫,而hardware/interfaces/automotive/vehicle/2.0/default/common/目錄會被編譯出一個名叫[email protected]的靜態庫,而這兩個靜態庫都會去鏈接上面生成的[email protected]動態庫。
而最終會被編譯成一個可執行程序:
include $(CLEAR_VARS)
LOCAL_MODULE := $(vhal_v2_0)-service
LOCAL_INIT_RC := $(vhal_v2_0)-service.rc
LOCAL_PROPRIETARY_MODULE := true
LOCAL_MODULE_RELATIVE_PATH := hw
LOCAL_SRC_FILES := \
VehicleService.cpp
LOCAL_SHARED_LIBRARIES := \
libbase \
libhidlbase \
libhidltransport \
liblog \
libprotobuf-cpp-lite \
libutils \
$(vhal_v2_0) \
LOCAL_STATIC_LIBRARIES := \
$(vhal_v2_0)-manager-lib \
$(vhal_v2_0)-default-impl-lib \
$(vhal_v2_0)-libproto-native \
LOCAL_CFLAGS += -Wall -Wextra -Werror
include $(BUILD_EXECUTABLE)
而這個可執行程序會被Init 系統在開機的時候啓動,成爲一個Daemon:
service vehicle-hal-2.0 /vendor/bin/hw/[email protected]
class hal
user vehicle_network
group system inet
Android Vehicle HAL 的使用
東西都編譯出來後,我們看看Vehicle HAL怎麼來使用。
1) Android Vehicle HAL Service 端使用:
我們來看下hardware/interfaces/automotive/vehicle/2.0/default/VehicleService.cpp文件:
int main(int /* argc */, char* /* argv */ []) {
auto store = std::make_unique<VehiclePropertyStore>();
auto hal = std::make_unique<impl::EmulatedVehicleHal>(store.get());
auto emulator = std::make_unique<impl::VehicleEmulator>(hal.get());
auto service = std::make_unique<VehicleHalManager>(hal.get());
configureRpcThreadpool(4, true /* callerWillJoin */);
ALOGI("Registering as service...");
service->registerAsService();
ALOGI("Ready");
joinRpcThreadpool();
}
說實話,剛看到這段代碼的我是一臉懵逼的,auto是個什麼鬼, std::make_unique是個什麼鬼,這幾年弄的都是JAVA/Android,像這些C++的新規範,新東西越來越層出不窮了,真的是一天不學習就得落伍了哈。
幸虧這個也很簡單, std::make_unique就先等同與new吧,auto的意思就是變量類型在聲明的時候先不確定,等變量被定義的時候根據實際情況來確定變量類型。
其中最關鍵的是這兩句:
auto service = std::make_unique<VehicleHalManager>(hal.get());
ALOGI("Registering as service...");
service->registerAsService();
我們看下 VehicleHalManager的定義:
class VehicleHalManager : public IVehicle
VehicleHalManager類是由 IVehicle類派生出來,而IVehicle則是從我們上面介紹的.hal文件裏編譯出來的。
我們繼續來看下下面這句:
service->registerAsService();
我們從.hal文件編譯出來的.cpp文件來看下,這個中間生成的cpp文件所在目錄爲:out/soong/.intermediates/hardware/interfaces/automotive/vehicle/2.0/[email protected]_genc++/gen/android/hardware/automotive/vehicle/2.0/VehicleAll.cpp
該函數的具體實現爲:
::android::status_t IVehicle::registerAsService(const std::string &serviceName) {
::android::hardware::details::onRegistration("[email protected]", "IVehicle", serviceName);
const ::android::sp<::android::hidl::manager::V1_0::IServiceManager> sm
= ::android::hardware::defaultServiceManager();
// 獲取到默認的service manager,非常類似於 Binder機制中。有時間的話可以深入研究下。
if (sm == nullptr) {
return ::android::INVALID_OPERATION;
}
::android::hardware::Return<bool> ret = sm->add(serviceName.c_str(), this);
//往service manager 中添加service, 跟Binder機制也是一樣一樣的。
return ret.isOk() && ret ? ::android::OK : ::android::UNKNOWN_ERROR;
}
但是比較奇怪的是add 進去是this 指針,也就是應該是 IVehicle對象,也就是VehicleHalManager的對象。不應該是Bnxxxx的對象麼????我這裏有一臉懵逼。這是第一個懵點,第二個懵點則來的更加不可思議:
const char* IVehicle::descriptor("[email protected]::IVehicle");
__attribute__((constructor))static void static_constructor() {
::android::hardware::details::gBnConstructorMap.set(IVehicle::descriptor,
[](void *iIntf) -> ::android::sp<::android::hardware::IBinder> {
return new BnHwVehicle(static_cast<IVehicle *>(iIntf));
});
::android::hardware::details::gBsConstructorMap.set(IVehicle::descriptor,
[](void *iIntf) -> ::android::sp<::android::hidl::base::V1_0::IBase> {
return new BsVehicle(static_cast<IVehicle *>(iIntf));
});
};
我們來看看這段代碼,首先attribute((constructor))也是gcc 的一個機制,大致意思是在main函數被調用之前 static_constructor函數會被調用。
::android::hardware::details::gBnConstructorMap.set(IVehicle::descriptor,
[](void *iIntf) -> ::android::sp<::android::hardware::IBinder> {
return new BnHwVehicle(static_cast<IVehicle *>(iIntf));
});
這段代碼意思是指在 gBnConstructorMap中插入一個key/value,這個value 值是
[](void *iIntf) -> ::android::sp<::android::hardware::IBinder> {
return new BnHwVehicle(static_cast<IVehicle *>(iIntf));
}
這又是什麼鬼啊???搜了下應該是拉曼達表達式,但是懵點是 void *iIntf 這個是參數,這個參數是怎麼傳遞進來的?我都搜了半天都沒找到參數怎麼傳遞進來的。但是看了下BnHwVehicle這個類的定義,明顯是使用了 IVehicle類。
BnHwVehicle::BnHwVehicle(const ::android::sp<IVehicle> &_hidl_impl)
: ::android::hidl::base::V1_0::BnHwBase(_hidl_impl, "[email protected]", "IVehicle") {
_hidl_mImpl = _hidl_impl;
auto prio = ::android::hardware::details::gServicePrioMap.get(_hidl_impl, {SCHED_NORMAL, 0});
mSchedPolicy = prio.sched_policy;
mSchedPriority = prio.prio;
}
::android::status_t BnHwVehicle::onTransact(
uint32_t _hidl_code,
const ::android::hardware::Parcel &_hidl_data,
::android::hardware::Parcel *_hidl_reply,
uint32_t _hidl_flags,
TransactCallback _hidl_cb) {
::android::status_t _hidl_err = ::android::OK;
switch (_hidl_code) {
case 1 /* getAllPropConfigs */:
{
if (!_hidl_data.enforceInterface(IVehicle::descriptor)) {
_hidl_err = ::android::BAD_TYPE;
break;
}
…………………
………………...
bool _hidl_callbackCalled = false;
_hidl_mImpl->getAllPropConfigs([&](const auto &_hidl_out_propConfigs) {
…………………….
…………………...
break;
}
從BnHwVehicle這個類來看,它確實承擔的是HIDL Service的工作,從BnHwVehicle裏會來調用IVehicle類,IVehicle類會被繼承成爲真正的實現操作類。這個懵點2,到目前還沒有找到怎麼解決點。
到這裏,我們來簡單總結service端:
1) 從Ixxxx類中會派生出新的類,這個類會作爲真正的操作類。
2) 從Ixxxx類的派生類中調用 registerAsService 去把自己註冊進hw service manager中。
3) 目前看起來,如果有client 發出請求的話,BnXXXXX會相應,BnXXXXX會調用自己的Ixxxx的實現函數來完成某一個操作請求。
1) Android Vehicle HAL Client 端使用:
這個Client端存在Android Framework的Car Service當中
在onCreate 函數當中:
“`
@Override
public void onCreate() {
Log.i(CarLog.TAG_SERVICE, “Service onCreate”);
mCanBusErrorNotifier = new CanBusErrorNotifier(this /* context */);
mVehicle = getVehicle(null /* Any Vehicle HAL interface name */);
if (mVehicle == null) {
throw new IllegalStateException("Vehicle HAL service is not available.");
}
try {
mVehicleInterfaceName = mVehicle.interfaceDescriptor();
} catch (RemoteException e) {
throw new IllegalStateException("Unable to get Vehicle HAL interface descriptor", e);
}
Log.i(CarLog.TAG_SERVICE, "Connected to " + mVehicleInterfaceName);
mICarImpl = new ICarImpl(this, mVehicle, SystemInterface.getDefault(this),
mCanBusErrorNotifier);
mICarImpl.init();
SystemProperties.set("boot.car_service_created", "1");
linkToDeath(mVehicle, mVehicleDeathRecipient);
super.onCreate();
}
mVehicle = getVehicle(null /* Any Vehicle HAL interface name */);
獲取到Vehicle HAL.
@Nullable
private static IVehicle getVehicle(@Nullable String interfaceName) {
try {
boolean anyVersion = interfaceName == null || interfaceName.isEmpty();
IVehicle vehicle = null;
if (ENABLE_VEHICLE_HAL_V2_1 && (anyVersion || IVHAL_21.equals(interfaceName))) {
vehicle = android.hardware.automotive.vehicle.V2_1.IVehicle
.getService();
}
if (vehicle == null && (anyVersion || IVHAL_20.equals(interfaceName))) {
vehicle = android.hardware.automotive.vehicle.V2_0.IVehicle
.getService();
}
return vehicle;
} catch (RemoteException e) {
Log.e(CarLog.TAG_SERVICE, "Failed to get IVehicle service", e);
} catch (NoSuchElementException e) {
Log.e(CarLog.TAG_SERVICE, "IVehicle service not registered yet");
}
return null;
}
理論上拿到IVehicle vehicle 對象後,就應該能夠來做對Vehicle HAL做相關調用了。這一部分就先到這裏完結吧。