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 #include "DefaultVehicleHal.h"
18 #include "GRPCVehicleHardware.h"
19 #include "vsockinfo.h"
20
21 #include <android-base/logging.h>
22 #include <android/binder_manager.h>
23 #include <android/binder_process.h>
24 #include <cutils/properties.h>
25 #include <sys/socket.h>
26 #include <linux/vm_sockets.h>
27
28 #include <chrono>
29 #include <memory>
30 #include <utility>
31
32 using ::android::hardware::automotive::utils::VsockConnectionInfo;
33 using ::android::hardware::automotive::vehicle::DefaultVehicleHal;
34 using ::android::hardware::automotive::vehicle::virtualization::GRPCVehicleHardware;
35
main(int,char * [])36 int main(int /* argc */, char* /* argv */[]) {
37 LOG(INFO) << "Starting thread pool...";
38 if (!ABinderProcess_setThreadPoolMaxThreadCount(4)) {
39 LOG(ERROR) << "Failed to set thread pool max thread count.";
40 return 1;
41 }
42 ABinderProcess_startThreadPool();
43
44 auto vsock = VsockConnectionInfo::fromRoPropertyStore(
45 {
46 "ro.boot.vendor.vehiclehal.server.cid",
47 "ro.vendor.vehiclehal.server.cid",
48 },
49 {
50 "ro.boot.vendor.vehiclehal.server.port",
51 "ro.vendor.vehiclehal.server.port",
52 });
53 CHECK(vsock.has_value()) << "Cannot read VHAL server address.";
54
55 if (property_get_bool("ro.vendor.vehiclehal.server.use_local_fake_server",
56 /* default_value = */ false)) {
57 // When using the local fake server in the same VM, the CID read from the system properties
58 // will be ignored. We use the loopback CID instead.
59 LOG(INFO)
60 << "Using the local GRPC vehicle server that running on the same VM as the client.";
61 vsock->cid = VMADDR_CID_LOCAL;
62 }
63
64 LOG(INFO) << "Connecting to vsock server at " << vsock->str();
65
66 constexpr auto maxConnectWaitTime = std::chrono::seconds(5);
67 auto hardware = std::make_unique<GRPCVehicleHardware>(vsock->str());
68 if (hardware->waitForConnected(maxConnectWaitTime)) {
69 LOG(INFO) << "Connected to vsock server at " << vsock->str();
70 } else {
71 LOG(INFO) << "Failed to connect to vsock server at " << vsock->str()
72 << ", check if it is working, or maybe the server is coming up late.";
73 return 1;
74 }
75
76 auto vhal = ::ndk::SharedRefBase::make<DefaultVehicleHal>(std::move(hardware));
77 LOG(INFO) << "Registering as service...";
78 binder_exception_t err = AServiceManager_addService(
79 vhal->asBinder().get(), "android.hardware.automotive.vehicle.IVehicle/default");
80 if (err != EX_NONE) {
81 LOG(ERROR) << "Failed to register android.hardware.automotive.vehicle service, exception: "
82 << err << ".";
83 return 1;
84 }
85
86 LOG(INFO) << "Vehicle Service Ready.";
87
88 ABinderProcess_joinThreadPool();
89
90 LOG(INFO) << "Vehicle Service Exiting.";
91
92 return 0;
93 }
94