94 lines
3.4 KiB
C++
94 lines
3.4 KiB
C++
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/*
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* Copyright (C) 2023 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "DefaultVehicleHal.h"
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#include "GRPCVehicleHardware.h"
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#include "vsockinfo.h"
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#include <android-base/logging.h>
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#include <android/binder_manager.h>
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#include <android/binder_process.h>
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#include <cutils/properties.h>
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#include <sys/socket.h>
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#include <linux/vm_sockets.h>
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#include <chrono>
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#include <memory>
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#include <utility>
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using ::android::hardware::automotive::utils::VsockConnectionInfo;
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using ::android::hardware::automotive::vehicle::DefaultVehicleHal;
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using ::android::hardware::automotive::vehicle::virtualization::GRPCVehicleHardware;
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int main(int /* argc */, char* /* argv */[]) {
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LOG(INFO) << "Starting thread pool...";
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if (!ABinderProcess_setThreadPoolMaxThreadCount(4)) {
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LOG(ERROR) << "Failed to set thread pool max thread count.";
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return 1;
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}
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ABinderProcess_startThreadPool();
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auto vsock = VsockConnectionInfo::fromRoPropertyStore(
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{
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"ro.boot.vendor.vehiclehal.server.cid",
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"ro.vendor.vehiclehal.server.cid",
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},
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{
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"ro.boot.vendor.vehiclehal.server.port",
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"ro.vendor.vehiclehal.server.port",
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});
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CHECK(vsock.has_value()) << "Cannot read VHAL server address.";
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if (property_get_bool("ro.vendor.vehiclehal.server.use_local_fake_server",
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/* default_value = */ false)) {
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// When using the local fake server in the same VM, the CID read from the system properties
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// will be ignored. We use the loopback CID instead.
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LOG(INFO)
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<< "Using the local GRPC vehicle server that running on the same VM as the client.";
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vsock->cid = VMADDR_CID_LOCAL;
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}
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LOG(INFO) << "Connecting to vsock server at " << vsock->str();
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constexpr auto maxConnectWaitTime = std::chrono::seconds(5);
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auto hardware = std::make_unique<GRPCVehicleHardware>(vsock->str());
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if (const auto connected = hardware->waitForConnected(maxConnectWaitTime)) {
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LOG(INFO) << "Connected to vsock server at " << vsock->str();
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} else {
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LOG(INFO) << "Failed to connect to vsock server at " << vsock->str()
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<< ", check if it is working, or maybe the server is coming up late.";
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return 1;
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}
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auto vhal = ::ndk::SharedRefBase::make<DefaultVehicleHal>(std::move(hardware));
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LOG(INFO) << "Registering as service...";
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binder_exception_t err = AServiceManager_addService(
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vhal->asBinder().get(), "android.hardware.automotive.vehicle.IVehicle/default");
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if (err != EX_NONE) {
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LOG(ERROR) << "Failed to register android.hardware.automotive.vehicle service, exception: "
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<< err << ".";
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return 1;
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}
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LOG(INFO) << "Vehicle Service Ready.";
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ABinderProcess_joinThreadPool();
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LOG(INFO) << "Vehicle Service Exiting.";
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return 0;
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}
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