Android Automotive架构与流程：VehicleHAL，CarService
case DYSENSOR_SERVICE: manager = new CarDYSensorManager(binder, mContext, mEventHandler);break;
case INFO_SERVICE: manager = new CarInfoManager(binder);break;
case APP_FOCUS_SERVICE: manager = new CarAppFocusManager(binder, mEventHandler);break;
case PACKAGE_SERVICE: manager = new CarPackageManager(binder, mContext);break;
case CAR_NAVIGATION_SERVICE: manager = new CarNavigationStatusManager(binder);break;
case CABIN_SERVICE: manager = new CarCabinManager(binder, mContext, mEventHandler);break;
case DIAGNOSTIC_SERVICE: manager = new CarDiagnosticManager(binder, mContext, mEventHandler);break;
case HVAC_SERVICE: manager = new CarHvacManager(binder, mContext, mEventHandler);break;
case DYHVAC_SERVICE: manager = new CarDYHvacManager(binder, mContext, mEventHandler);break;
case POWER_SERVICE: manager = new CarPowerManager(binder, mContext, mEventHandler);break;
case PROJECTION_SERVICE:manager = new CarProjectionManager(binder, mEventHandler);break;
case PROPERTY_SERVICE:
manager = new CarPropertyManager(binder, mEventHandler, false, “CarPropertyManager”);break;
case VENDOR_EXTENSION_SERVICE: manager = new CarVendorExtensionManager(binder, mEventHandler);break;
case CAR_INSTRUMENT_CLUSTER_SERVICE:
manager = new CarInstrumentClusterManager(binder, mEventHandler);break;
case TEST_SERVICE:
/* CarTestManager exist in static library. So instead of constructing it here,
- only pass binder wrapper so that CarTestManager can be constructed outside. */
manager = new CarTestManagerBinderWrapper(binder);break;
case VMS_SUBSCRIBER_SERVICE: manager = new VmsSubscriberManager(binder); break;
case BLUETOOTH_SERVICE: manager = new CarBluetoothManager(binder, mContext);break;
case TBOX_SERVICE: manager = TboxManager.getInstance(); break;
case STORAGE_MONITORING_SERVICE: manager = new CarStorageMonitoringManager(binder, mEventHandler); break;
case CAR_DRIVING_STATE_SERVICE:
manager = new CarDrivingStateManager(binder, mContext, mEventHandler);break;
case CAR_UX_RESTRICTION_SERVICE:
manager = new CarUxRestrictionsManager(binder, mContext, mEventHandler);break;
case CAR_CONFIGURATION_SERVICE: manager = new CarConfigurationManager(binder);break;
case CAR_MCU_SERVICE: manager = new CarMcuManager(binder, mContext, mEventHandler);break;
case DYCABIN_SERVICE: manager = new CarDYCabinManager(binder, mContext, mEventHandler);break;
default:break;
}
return manager;
}
- 具体的Manager -> 注册/反注册回调, set/get 属性CarProperty：
public final class CarHvacManager implements CarManagerBase {
private void handleOnChangeEvent(CarPropertyValue value) {
Collection callbacks;
synchronized (this) { callbacks = new ArraySet<>(mCallbacks); }
if (!callbacks.isEmpty()) {
for (CarHvacEventCallback l: callbacks) {
if (DBG) Log.d(TAG, “onChangeEvent value=” + value.toString());
l.onChangeEvent(value);
}
}
}
private void handleOnErrorEvent(int propertyId, int zone) {
Collection callbacks;
synchronized (this) { callbacks = new ArraySet<>(mCallbacks); }
if (!callbacks.isEmpty()) {
for (CarHvacEventCallback l: callbacks) {
l.onErrorEvent(propertyId, zone);
}
}
}
public CarHvacManager(IBinder service, Context context, Handler handler) {
mCarPropertyMgr = new CarPropertyManager(service, handler, DBG, TAG);
}
public synchronized void registerCallback(CarHvacEventCallback callback)
throws CarNotConnectedException {
if (mCallbacks.isEmpty()) mListenerToBase = new CarPropertyEventListenerToBase(this);
List configs = getPropertyList();
for (CarPropertyConfig c : configs) { // Register each individual propertyId
mCarPropertyMgr.registerListener(mListenerToBase, c.getPropertyId(), 0);
}
mCallbacks.add(callback);
}
pu
blic synchronized void unregisterCallback(CarHvacEventCallback callback) {
mCallbacks.remove(callback);
try {
List configs = getPropertyList();
for (CarPropertyConfig c : configs) { // Register each individual propertyId
mCarPropertyMgr.unregisterListener(mListenerToBase, c.getPropertyId());
}
} catch (Exception e) { Log.e(TAG, "getPropertyList exception ", e); }
if (mCallbacks.isEmpty()) {
mCarPropertyMgr.unregisterListener(mListenerToBase);
mListenerToBase = null;
}
}
public List getPropertyList() throws CarNotConnectedException {
return mCarPropertyMgr.getPropertyList(mHvacPropertyIds);
}
public boolean isPropertyAvailable(@PropertyId int propertyId, int area) throws CarNotConnectedException {
return mCarPropertyMgr.isPropertyAvailable(propertyId, area);
}
// GET
// getBooleanProperty -> mCarPropertyMgr.getBooleanProperty(propertyId, area);
// getFloatProperty -> mCarPropertyMgr.getFloatProperty(propertyId, area);
// getIntProperty -> mCarPropertyMgr.getIntProperty(propertyId, area);
public boolean getBooleanProperty(@PropertyId int propertyId, int area)
throws CarNotConnectedException {
return mCarPropertyMgr.getBooleanProperty(propertyId, area);
}
// SET
// setBooleanProperty -> mCarPropertyMgr.setBooleanProperty(propertyId, area, val);
// setFloatProperty -> mCarPropertyMgr.setFloatProperty(propertyId, area, val);
// setIntProperty -> mCarPropertyMgr.setIntProperty(propertyId, area, val);
public void setBooleanProperty(@PropertyId int propertyId, int area, boolean val)
throws CarNotConnectedException {
if (mHvacPropertyIds.contains(propertyId)) {
mCarPropertyMgr.setBooleanProperty(propertyId, area, val);
}
}
}
CarService
- ICarImpl初始化多个Service，可通过getCarService返回对应的Service
public class CarService extends Service {
IVehicle mVehicle = android.hardware.automotive.vehicle.V2_0.IVehicle.getService();
ICarImpl mICarImpl = new ICarImpl(this,
mVehicle,
SystemInterface.Builder.defaultSystemInterface(this).build(),
mCanBusErrorNotifier,
mVehicleInterfaceName);
mICarImpl.init();
}
public class ICarImpl extends ICar.Stub {
public ICarImpl(Context serviceContext, IVehicle vehicle, SystemInterface systemInterface,
CanBusErrorNotifier errorNotifier, String vehicleInterfaceName) {
mContext = serviceContext;
mSystemInterface = systemInterface;
mHal = new VehicleHal(vehicle);
mVehicleInterfaceName = vehicleInterfaceName;
mSystemActivityMonitoringService = new SystemActivityMonitoringService(serviceContext);
mCarPowerManagementService = new CarPowerManagementService(mContext, mHal.getPowerHal(), systemInterface);
mCarPropertyService = new CarPropertyService(serviceContext, mHal.getPropertyHal());
mCarDrivingStateService = new CarDrivingStateService(serviceContext, mCarPropertyService);
mCarUXRestrictionsService = new CarUxRestrictionsManagerService(serviceContext,
mCarDrivingStateService, mCarPropertyService);
mCarPackageManagerService = new CarPackageManagerService(serviceContext,
mCarUXRestrictionsService, mSystemActivityMonitoringService);
mCarInputService = new CarInputService(serviceContext, mHal.getInputHal());
mCarProjectionService = new CarProjectionService(serviceContext, mCarInputService);
mGarageModeService = new GarageModeService(mContext, mCarPowerManagementService);
mAppFocusService = new AppFocusService(serviceContext, mSystemActivityMonitoringService);
mCarAudioService = new CarAudioService(serviceContext, mCarPropertyService);
mCarNightService = new CarNightService(serviceContext, mCarPropertyService);
mInstrumentClusterService = new InstrumentClusterService(serviceContext, mAppFocusService, mCarInputService);
mSystemStateControllerService = new SystemStateControllerService(serviceContext,
mCarPowerManagementService, mCarAudioService, this);
mPerUserCarServiceHelper = new PerUserCarServiceHelper(serviceContext);
mCarBluetoothService = new CarBluetoothService(serviceContext, mCarPropertyService,
mPerUserCarServiceHelper, mCarUXRestrictionsService);
mVmsSubscriberService = new VmsSubscriberService(serviceContext, mHal.getVmsHal());
mVmsPublisherService = new VmsPublisherService(serviceContext, mHal.getVmsHal());
mCarDiagnosticService = new CarDiagnosticService(serviceContext, mHal.getDiagnosticHal());
mCarStorageMonitoringService = new CarStorageMonitoringService(serviceContext, systemInterface);
mCarConfigurationService = new CarConfigurationService(serviceContext, new JsonReaderImpl());
mUserManagerHelper = new CarUserManagerHelper(serviceContext);
mCarLocationService = new CarLocationService(mContext, mCarPowerManagementService,
mCarPropertyService, mUserManagerHelper);
addTboxService();
addUpgradeService();
// Be careful with order. Service depending on other service should be inited later.
List allServices = new ArrayList<>();
allServices.add(mSystemActivityMonitoringService);
allServices.add(mCarPowerManagementService);
allServices.add(mCarPropertyService); // ★ CarPropertyService
allServices.add(mCarDrivingStateService);
allServices.add(mCarUXRestrictionsService);
allServices.add(mCarPackageManagerService);
allServices.add(mCarInputService);
allServices.add(mGarageModeService);
allServices.add(mAppFocusService);
allServices.add(mCarAudioService);
allServices.add(mCarNightService);
allServices.add(mInstrumentClusterService);
allServices.add(mCarProjectionService);
allServices.add(mSystemStateControllerService);
allServices.add(mCarBluetoothService);
allServices.add(mCarDiagnosticService);
allServices.add(mPerUserCarServiceHelper);
allServices.add(mCarStorageMonitoringService);
allServices.add(mCarConfigurationService);
allServices.add(mVmsSubscriberService);
allServices.add(mVmsPublisherService);
if (mUserManagerHelper.isHeadlessSystemUser()) {
mCarUserService = new CarUserService(serviceContext, mUserManagerHelper);
allServices.add(mCarUserService);
}
allServices.add(mCarLocationService);
mAllServices = allServices.toArray(new CarServiceBase[allServices.size()]);
}
@MainThread
void init() {
traceBegin(“VehicleHal.init”);
mHal.init();
traceEnd();
traceBegin(“CarService.initAllServices”);
for (CarServiceBase service : mAllServices) {
service.init();
}
traceEnd();
}
@Override
public IBinder getCarService(String serviceName) {
switch (serviceName) {
case Car.AUDIO_SERVICE: return mCarAudioService;
case Car.APP_FOCUS_SERVICE: return mAppFocusService;
case Car.PACKAGE_SERVICE: return mCarPackageManagerService;
case Car.DIAGNOSTIC_SERVICE:
assertAnyDiagnosticPermission(mContext);
return mCarDiagnosticService;
case Car.POWER_SERVICE:
assertPowerPermission(mContext);
return mCarPowerManagementService;
case Car.CABIN_SERVICE:
case Car.HVAC_SERVICE:
case Car.INFO_SERVICE:
case Car.PROPERTY_SERVICE:
case Car.SENSOR_SERVICE:
case Car.VENDOR_EXTENSION_SERVICE:
case Car.DYHVAC_SERVICE:
case Car.CAR_MCU_SERVICE:
case Car.DYCABIN_SERVICE:
case Car.DYSENSOR_SERVICE:
return mCarPropertyService; // ★ CarPropertyService
… …
}
}
}
public class VehicleHal extends IVehicleCallback.Stub {
public VehicleHal(IVehicle vehicle) {
final HandlerThread mHandlerThread = new HandlerThread(“VEHICLE-HAL”);
mHandlerThread.start();
// passing this should be safe as long as it is just kept and not used in constructor
final PowerHalService mPowerHal = new PowerHalService(this);
final PropertyHalService mPropertyHal = new PropertyHalService(this); // ★ PropertyHalService
final InputHalService mInputHal = new InputHalService(this);
final VmsHalService mVmsHal = new VmsHalService(this);
DiagnosticHalService mDiagnosticHal = new DiagnosticHalService(this);
final ArrayList mAllServices = new ArrayList<>();
mAllServices.addAll(Arrays.asList(mPowerHal,
mInputHal,
mPropertyHal,
mDiagnosticHal,
mVmsHal));
volatile HalClient mHalClient = new HalClient(vehicle, mHandlerThread.getLooper(), this /IVehicleCallback/);
}
}
- PropertyHalService通过getProperty、setProperty、subscribeProperty、unsubscribeProperty调用 VehicleHal：
public class PropertyHalService extends HalServiceBase {
public Map
return mProps;
}
@Nullable
public CarPropertyValue getProperty(int mgrPropId, int areaId) {
int halPropId = managerToHalPropId(mgrPropId);
if (halPropId == NOT_SUPPORTED_PROPERTY) {
throw new IllegalArgumentException(“Invalid property Id : 0x” + toHexString(mgrPropId));
}
VehiclePropValue value = null;
try {
value = mVehicleHal.get(halPropId, areaId);
} catch (PropertyTimeoutException e) {
Log.e(CarLog.TAG_PROPERTY, “get, property not ready 0x” + toHexString(halPropId), e);
}
return value == null ? null : toCarPropertyValue(value, mgrPropId);
}
public void setProperty(CarPropertyValue prop) {
int halPropId = managerToHalPropId(prop.getPropertyId());
if (halPropId == NOT_SUPPORTED_PROPERTY) {
throw new IllegalArgumentException(“Invalid property Id : 0x” + toHexString(prop.getPropertyId()));
}
VehiclePropValue halProp = toVehiclePropValue(prop, halPropId);
try {
mVehicleHal.set(halProp);
} catch (PropertyTimeoutException e) {
Log.e(CarLog.TAG_PROPERTY, “set, property not ready 0x” + toHexString(halPropId), e);
throw new RuntimeException(e);
}
}
/**
- Subscribe to this property at the specified update rate.
*/
public void subscribeProperty(int propId, float rate) {
if (mDbg) Log.d(TAG, “subscribeProperty propId=0x” + toHexString(propId) + “, rate=” + rate);
int halPropId = managerToHalPropId(propId);
if (halPropId == NOT_SUPPORTED_PROPERTY) {
throw new IllegalArgumentException(“Invalid property Id : 0x” + toHexString(propId));
}
// Validate the min/max rate
CarPropertyConfig cfg = mProps.get(propId);
if (rate > cfg.getMaxSampleRate()) {
rate = cfg.getMaxSampleRate();
} else if (rate < cfg.getMinSampleRate()) {
rate = cfg.getMinSampleRate();
}
synchronized (mSubscribedPropIds) { mSubscribedPropIds.add(halPropId); }
mVehicleHal.subscribeProperty(this, halPropId, rate);
}
public void unsubscribeProperty(int propId) {
if (mDbg) Log.d(TAG, “unsubscribeProperty propId=0x” + toHexString(propId));
int halPropId = managerToHalPropId(propId);
if (halPropId == NOT_SUPPORTED_PROPERTY) {
throw new IllegalArgumentException(“Invalid property Id : 0x” + toHexString(propId));
}
synchronized (mSubscribedPropIds) {
if (mSubscribedPropIds.contains(halPropId)) {
mSubscribedPropIds.remove(halPropId);
mVehicleHal.unsubscribeProperty(this, halPropId);
}
}
}
@Override
public Collection takeSupportedProperties(Collection allProperties) {
List taken = new LinkedList<>();
for (VehiclePropConfig p : allProperties) {
if (mPropIds.isSupportedProperty(p.prop)) {
CarPropertyConfig config = CarPropertyUtils.toCarPropertyConfig(p, p.prop);
taken.add§;
mProps.put(p.prop, config);
}
}
if (mDbg) Log.d(TAG, “takeSupportedProperties() took " + taken.size() + " properties”);
return taken;
}
}
ubscribedPropIds.contains(halPropId)) {
mSubscribedPropIds.remove(halPropId);
mVehicleHal.unsubscribeProperty(this, halPropId);
}
}
}
@Override
public Collection takeSupportedProperties(Collection allProperties) {
List taken = new LinkedList<>();
for (VehiclePropConfig p : allProperties) {
if (mPropIds.isSupportedProperty(p.prop)) {
CarPropertyConfig config = CarPropertyUtils.toCarPropertyConfig(p, p.prop);
taken.add§;
mProps.put(p.prop, config);
}
}
if (mDbg) Log.d(TAG, “takeSupportedProperties() took " + taken.size() + " properties”);
return taken;
}
}