Android Automotive（六） HAL数据结构
Andorid Automotiv中，硬件抽象层和系统框架层是通信通过HIDL语言定义接口的。我们前面知道了IVehicle.hal定义操作的接口，IVehicleCallback.hal处理回调的事件。其实还有一个文件types.hal定义了操作数据的数据结构。
代码路径：hardware/interfaces/automotive/vehicle/2.0/types.hal
VehiclePropertyType
车辆属性支持的数据类型
enum VehiclePropertyType : int32_t {
STRING = 0x00100000,
BOOLEAN = 0x00200000,
INT32 = 0x00400000,
INT32_VEC = 0x00410000,
INT64 = 0x00500000,
INT64_VEC = 0x00510000,
FLOAT = 0x00600000,
FLOAT_VEC = 0x00610000,
BYTES = 0x00700000,
/**
* Any combination of scalar or vector types. The exact format must be
* provided in the description of the property.
*
* For vendor MIXED type properties, configArray needs to be formatted in this
* structure.
* configArray[0], 1 indicates the property has a String value
* configArray[1], 1 indicates the property has a Boolean value .
* configArray[2], 1 indicates the property has an Integer value.
* configArray[3], the number indicates the size of Integer[] in the property.
* configArray[4], 1 indicates the property has a Long value.
* configArray[5], the number indicates the size of Long[] in the property.
* configArray[6], 1 indicates the property has a Float value.
* configArray[7], the number indicates the size of Float[] in the property.
* configArray[8], the number indicates the size of byte[] in the property.
* For example:
* {@code configArray = {1, 1, 1, 3, 0, 0, 0, 0, 0}} indicates the property has
* a String value, a Boolean value, an Integer value and an array with 3 integers.
*/
MIXED = 0x00e00000,
MASK = 0x00ff0000
};
VehicleArea
车辆属性的区域
enum VehicleArea : int32_t {
GLOBAL = 0x01000000,
/** WINDOW maps to enum VehicleAreaWindow */
WINDOW = 0x03000000,
/** MIRROR maps to enum VehicleAreaMirror */
MIRROR = 0x04000000,
/** SEAT maps to enum VehicleAreaSeat */
SEAT = 0x05000000,
/** DOOR maps to enum VehicleAreaDoor */
DOOR = 0x06000000,
/** WHEEL maps to enum VehicleAreaWheel */
WHEEL = 0x07000000,
MASK = 0x0f000000,
};
VehiclePropertyGroup
车辆属性的所属组
enum VehiclePropertyGroup : int32_t {
/**
* Properties declared in AOSP must use this flag.
*/
SYSTEM = 0x10000000,
/**
* Properties declared by vendors must use this flag.
*/
VENDOR = 0x20000000,
MASK = 0xf0000000,
};
VehicleProperty
车辆属性配置，这里有很多值的配置，表示不同的功能。
/** Undefined property. */
INVALID = 0x00000000,
/**
* VIN of vehicle
*
* @change_mode VehiclePropertyChangeMode:STATIC
* @access VehiclePropertyAccess:READ
*/
INFO_VIN = (
0x0100
| VehiclePropertyGroup:SYSTEM
| VehiclePropertyType:STRING
| VehicleArea:GLOBAL),
......
VehicleVendorPermission
定义车辆属性使用所需要的权限
enum VehicleVendorPermission : int32_t {
PERMISSION_DEFAULT = 0x00000000,
// permissions for the property related with window
PERMISSION_SET_VENDOR_CATEGORY_WINDOW= 0X00000001,
PERMISSION_GET_VENDOR_CATEGORY_WINDOW = 0x00000002,
// permissions for the property related with door
PERMISSION_SET_VENDOR_CATEGORY_DOOR = 0x00000003,
PERMISSION_GET_VENDOR_CATEGORY_DOOR = 0x00000004,
// permissions for the property related with seat
PERMISSION_SET_VENDOR_CATEGORY_SEAT = 0x00000005,
PERMISSION_GET_VENDOR_CATEGORY_SEAT = 0x00000006,
// permissions for the property related with mirror
PERMISSION_SET_VENDOR_CATEGORY_MIRROR= 0x00000007,
PERMISSION_GET_VENDOR_CATEGORY_MIRROR = 0x00000008,
// permissions for the property related with car's information
PERMISSION_SET_VENDOR_CATEGORY_INFO = 0x00000009,
PERMISSION_GET_VENDOR_CATEGORY_INFO = 0x0000000A,
// permissions for the property related with car's engine
PERMISSION_SET_VENDOR_CATEGORY_ENGINE= 0x0000000B,
PERMISSION_GET_VENDOR_CATEGORY_ENGINE = 0x0000000C,
// permissions for the property related with car's HVAC
PERMISSION_SET_VENDOR_CATEGORY_HVAC = 0x0000000D,
PERMISSION_GET_VENDOR_CATEGORY_HVAC = 0x0000000E,
// permissions for the property related with car's light
PERMISSION_SET_VENDOR_CATEGORY_LIGHT = 0x0000000F,
PERMISSION_GET_VENDOR_CATEGORY_LIGHT = 0x00000010,
// permissions reserved for other vendor permission
PERMISSION_SET_VENDOR_CATEGORY_1 = 0x00010000,
PERMISSION_GET_VENDOR_CATEGORY_1 = 0x00011000,
PERMISSION_SET_VENDOR_CATEGORY_2 = 0x00020000,
PERMISSION_GET_VENDOR_CATEGORY_2 = 0x00021000,
PERMISSION_SET_VENDOR_CATEGORY_3 = 0x00030000,
PERMISSION_GET_VENDOR_CATEGORY_3 = 0x00031000,
PERMISSION_SET_VENDOR_CATEGORY_4 = 0x00040000,
PERMISSION_GET_VENDOR_CATEGORY_4 = 0x00041000,
PERMISSION_SET_VENDOR_CATEGORY_5 = 0x00050000,
PERMISSION_GET_VENDOR_CATEGORY_5 = 0x00051000,
PERMISSION_SET_VENDOR_CATEGORY_6 = 0x00060000,
PERMISSION_GET_VENDOR_CATEGORY_6 = 0x00061000,
PERMISSION_SET_VENDOR_CATEGORY_7 = 0x00070000,
PERMISSION_GET_VENDOR_CATEGORY_7 = 0x00071000,
PERMISSION_SET_VENDOR_CATEGORY_8 = 0x00080000,
PERMISSION_GET_VENDOR_CATEGORY_8 = 0x00081000,
PERMISSION_SET_VENDOR_CATEGORY_9 = 0x00090000,
PERMISSION_GET_VENDOR_CATEGORY_9 = 0x00091000,
PERMISSION_SET_VENDOR_CATEGORY_10 = 0x000A0000,
PERMISSION_GET_VENDOR_CATEGORY_10 = 0x000A1000,
// Indicate not available for android to access.
PERMISSION_NOT_ACCESSIBLE = 0xF0000000
};
VehicleUnit
车辆属性使用的国际单位
enum VehicleUnit : int32_t {
SHOULD_NOT_USE = 0x000,
METER_PER_SEC = 0x01,
RPM = 0x02,
HERTZ = 0x03,
PERCENTILE = 0x10,
MILLIMETER = 0x20,
METER = 0x21,
KILOMETER = 0x23,
MILE = 0x24,
CELSIUS = 0x30,
FAHRENHEIT = 0x31,
KELVIN = 0x32,
MILLILITER = 0x40,
LITER = 0x41,
/** deprecated. Use US_GALLON instead. */
GALLON = 0x42,
US_GALLON = 0x42,
IMPERIAL_GALLON = 0x43,
NANO_SECS = 0x50,
SECS = 0x53,
YEAR = 0x59,
// Electrical Units
WATT_HOUR = 0x60,
MILLIAMPERE = 0x61,
MILLIVOLT = 0x62,
MILLIWATTS = 0x63,
AMPERE_HOURS = 0x64,
KILOWATT_HOUR = 0x65,
KILOPASCAL = 0x70,
PSI = 0x71,
BAR = 0x72,
DEGREES = 0x80,
MILES_PER_HOUR = 0x90,
KILOMETERS_PER_HOUR = 0x91,
};
VehiclePropertyChangeMode
车辆属性的变化类型
enum VehiclePropertyChangeMode : int32_t {
/**
* Property of this type must never be changed. Subscription is not supported
* for these properties.
*/
STATIC = 0x00,
/**
* Properties of this type must report when there is a change.
* IVehicle#get call must return the current value.
* Set operation for this property is assumed to be asynchronous. When the
* property is read (using IVehicle#get) after IVehicle#set, it may still
* return old value until underlying H/W backing this property has actually
* changed the state. Once state is changed, the property must dispatch
* changed value as event.
*/
ON_CHANGE = 0x01,
/**
* Properties of this type change continuously and require a fixed rate of
* sampling to retrieve the data. Implementers may choose to send extra
* notifications on significant value changes.
*/
CONTINUOUS = 0x02,
};
VehiclePropertyAccess
车辆属性的读写性质
enum VehiclePropertyAccess : int32_t {
NONE = 0x00,
READ = 0x01,
WRITE = 0x02,
READ_WRITE = 0x03,
};
VehiclePropertyStatus
车辆属性的状态
enum VehiclePropertyStatus : int32_t {
/** Property is available and behaving normally */
AVAILABLE = 0x00,
/**
* A property in this state is not available for reading and writing. This
* is a transient state that depends on the availability of the underlying
* implementation (e.g. hardware or driver). It MUST NOT be used to
* represent features that this vehicle is always incapable of. A get() of
* a property in this state MAY return an undefined value, but MUST
* correctly describe its status as UNAVAILABLE A set() of a property in
* this state MAY return NOT_AVAILABLE. The HAL implementation MUST ignore
* the value of the status field when writing a property value coming from
* Android.
*/
UNAVAILABLE = 0x01,
/** There is an error with this property. */
ERROR = 0x02,
};
VehicleAreaSeat
座椅的区域定义
enum VehicleAreaSeat : int32_t {
ROW_1_LEFT = 0x0001,
ROW_1_CENTER = 0x0002,
ROW_1_RIGHT = 0x0004,
ROW_2_LEFT = 0x0010,
ROW_2_CENTER = 0x0020,
ROW_2_RIGHT = 0x0040,
ROW_3_LEFT = 0x0100,
ROW_3_CENTER = 0x0200,
ROW_3_RIGHT = 0x0400
}
VehicleAreaWindow
窗户的区域定义
enum VehicleAreaWindow : int32_t {
FRONT_WINDSHIELD = 0x00000001,
REAR_WINDSHIELD = 0x00000002,
ROW_1_LEFT = 0x00000010,
ROW_1_RIGHT = 0x00000040,
ROW_2_LEFT = 0x00000100,
ROW_2_RIGHT = 0x00000400,
ROW_3_LEFT = 0x00001000,
ROW_3_RIGHT = 0x00004000,
ROOF_TOP_1 = 0x00010000,
ROOF_TOP_2 = 0x00020000,
};
VehicleAreaDoor
门的区域定义
enum VehicleAreaDoor : int32_t {
ROW_1_LEFT = 0x00000001,
ROW_1_RIGHT = 0x00000004,
ROW_2_LEFT = 0x00000010,
ROW_2_RIGHT = 0x00000040,
ROW_3_LEFT = 0x00000100,
ROW_3_RIGHT = 0x00000400,
HOOD = 0x10000000,
REAR = 0x20000000,
};
VehicleAreaMirror
镜子的区域定义
enum VehicleAreaMirror : int32_t {
DRIVER_LEFT = 0x00000001,
DRIVER_RIGHT = 0x00000002,
DRIVER_CENTER = 0x00000004,
};
VehicleAreaWheel
轮子的区域定义
enum VehicleAreaWheel : int32_t {
UNKNOWN = 0x0,
LEFT_FRONT = 0x1,
RIGHT_FRONT = 0x2,
LEFT_REAR = 0x4,
RIGHT_REAR = 0x8,
};
SubscribeFlags
订阅的类型
enum SubscribeFlags : int32_t {
UNDEFINED = 0x0,
/**
* Subscribe to event that was originated in vehicle HAL
* (most likely this event came from the vehicle itself).
*/
EVENTS_FROM_CAR = 0x1,
/**
* Use this flag to subscribe on events when IVehicle#set(...) was called by
* vehicle HAL's client (e.g. Car Service).
*/
EVENTS_FROM_ANDROID = 0x2,
};
StatusCode
状态码，作为一些操作的返回值
enum StatusCode : int32_t {
OK = 0,
/** Try again. */
TRY_AGAIN = 1,
/** Invalid argument provided. */
INVALID_ARG = 2,
/**
* This code must be returned when device that associated with the vehicle
* property is not available. For example, when client tries to set HVAC
* temperature when the whole HVAC unit is turned OFF.
*/
NOT_AVAILABLE = 3,
/** Access denied */
ACCESS_DENIED = 4,
/** Something unexpected has happened in Vehicle HAL */
INTERNAL_ERROR = 5,
};
枚举常量
处理上面这些固定的常量，还有一些用来定义车辆属性返回值的枚举。
VehicleGear
车辆档位定义
enum VehicleGear : int32_t {
GEAR_UNKNOWN = 0x0000,
GEAR_NEUTRAL = 0x0001,
GEAR_REVERSE = 0x0002,
GEAR_PARK = 0x0004,
GEAR_DRIVE = 0x0008,
GEAR_1 = 0x0010,
GEAR_2 = 0x0020,
GEAR_3 = 0x0040,
GEAR_4 = 0x0080,
GEAR_5 = 0x0100,
GEAR_6 = 0x0200,
GEAR_7 = 0x0400,
GEAR_8 = 0x0800,
GEAR_9 = 0x1000,
};
数据结构
VehicleAreaConfig
定义车辆属性区域的配置
struct VehicleAreaConfig {
/**
* Area id is ignored for VehiclePropertyGroup:GLOBAL properties.
*/
int32_t areaId;
/**
* If the property has @data_enum, leave the range to zero.
*
* Range will be ignored in the following cases:
* - The VehiclePropertyType is not INT32, INT64 or FLOAT.
* - Both of min value and max value are zero.
*/
int32_t minInt32Value;
int32_t maxInt32Value;
int64_t minInt64Value;
int64_t maxInt64Value;
float minFloatValue;
float maxFloatValue;
};
VehiclePropConfig
定义车辆属性的配置
struct VehiclePropConfig {
/** Property identifier */
int32_t prop;
/**
* Defines if the property is read or write or both.
*/
VehiclePropertyAccess access;
/**
* Defines the change mode of the property.
*/
VehiclePropertyChangeMode changeMode;
/**
* Contains per-area configuration.
*/
vec<VehicleAreaConfig> areaConfigs;
/** Contains additional configuration parameters */
vec<int32_t> configArray;
/**
* Some properties may require additional information passed over this
* string. Most properties do not need to set this.
*/
string configString;
/**
* Min sample rate in Hz.
* Must be defined for VehiclePropertyChangeMode::CONTINUOUS
*/
float minSampleRate;
/**
* Must be defined for VehiclePropertyChangeMode::CONTINUOUS
* Max sample rate in Hz.
*/
float maxSampleRate;
};
VehiclePropValue
定义车辆属性的值
struct VehiclePropValue {
/** Time is elapsed nanoseconds since boot */
int64_t timestamp;
/**
* Area type(s) for non-global property it must be one of the value from
* VehicleArea* enums or 0 for global properties.
*/
int32_t areaId;
/** Property identifier */
int32_t prop;
/** Status of the property */
VehiclePropertyStatus status;
/**
* Contains value for a single property. Depending on property data type of
* this property (VehiclePropetyType) one field of this structure must be filled in.
*/
struct RawValue {
/**
* This is used for properties of types VehiclePropertyType#INT
* and VehiclePropertyType#INT_VEC
*/
vec<int32_t> int32Values;
/**
* This is used for properties of types VehiclePropertyType#FLOAT
* and VehiclePropertyType#FLOAT_VEC
*/
vec<float> floatValues;
/** This is used for properties of type VehiclePropertyType#INT64 */
vec<int64_t> int64Values;
/** This is used for properties of type VehiclePropertyType#BYTES */
vec<uint8_t> bytes;
/** This is used for properties of type VehiclePropertyType#STRING */
string stringValue;
};
RawValue value;
};
SubscribeOptions
订阅的配置
struct SubscribeOptions {
/** Property to subscribe */
int32_t propId;
/**
* Sample rate in Hz.
*
* Must be provided for properties with
* VehiclePropertyChangeMode::CONTINUOUS. The value must be within
* VehiclePropConfig#minSamplingRate .. VehiclePropConfig#maxSamplingRate
* for a given property.
* This value indicates how many updates per second client wants to receive.
*/
float sampleRate;
/** Flags that indicate to which event sources to listen. */
SubscribeFlags flags;
};