【IVI】车载设备硬件抽象层VHAL

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最新推荐文章于 2024-07-05 15:42:09 发布

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分类专栏： Android Automotive OS 文章标签： IVI VHAL

本文为博主经验积累

本文链接：https://blog.csdn.net/qq_23452385/article/details/127153859

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【IVI】车载设备硬件抽象层VHAL

android12-release
Android Automotive OS知识体系
 Android 知识体系

1、概要

车载硬件抽象层 (HAL) 接口会定义原始设备制造商 (OEM) 可以实现的属性，并会包含属性元数据（例如，属性是否为 int 以及允许使用哪些更改模式）。VHAL 接口以对属性（特定功能的抽象表示）的访问（读取、写入、订阅）为基础。

2、HAL 接口

【IVI】VehicleService启动
在这里插入图片描述

2.1 VHAL 使用以下接口

hardware/interfaces/automotive/vehicle/2.0/IVehicle.hal

getAllPropConfigs() 会生成 (vecpropConfigs)
列出 VHAL 所支持的所有属性的配置。CarService 仅使用支持的属性。
getPropConfigs(vec<int32_t> props) 会生成 (StatusCode status,vec propConfigs);
返回所选属性的配置。
set(VehiclePropValue propValue) 会生成 (StatusCodestatus);
向属性写入一个值。写入的结果是按属性进行定义的。
subscribe(IVehicleCallback callback, vec options) 会生成 (StatusCode status);
开始监视属性值的变化。对于区域属性，unsubscribe(IVehicleCallback callback, int32_t propId) 会生成 (StatusCode status);

2.2 VHAL 使用以下回调接口

hardware/interfaces/automotive/vehicle/2.0/IVehicleCallback.hal

oneway onPropertyEvent(vecpropValues);
通知车辆属性值的变化。应只针对已订阅属性执行。
oneway onPropertySetError(StatusCode errorCode,int32_t propId,int32_tareaId);
返回全局 VHAL 级错误或每个属性的错误。全局错误会导致 HAL 重新启动，这可能会导致包括应用在内的其他组件重新启动。

2.3 Set 调用

set 调用属于异步操作，涉及所请求更改发生之后的事件通知。在通常的操作中，set 调用会导致在车辆网络中发出更改请求。某些 set 调用可能要求准备好初始数据，而这些数据在初始化期间可能尚不可用。在这种情况下，set 调用应返回 -EAGAIN。某些具有独立的电源开/关的属性应在属性关闭且无法设置时返回 -ESHUTDOWN。在 set 生效之前，get 不一定会返回所设置的值。例如：set HVAC Temperature。

在这里插入图片描述
（CS = CarService、VHAL = 车载 HAL）

2.4 Get 调用

在初始化期间，由于尚未收到匹配的车辆网络消息，属性的值可能不可用。在这种情况下，get 调用应返回 -EAGAIN。一些属性（例如 HVAC）具有独立的电源开/关属性。对此类属性调用 get（关闭电源时）应返回 UNAVAILABLE 状态，而不是返回错误。例如，get HVAC 温度

在这里插入图片描述
（CS = CarService、VHAL = 车载 HAL）

3、车辆属性

3.1 车辆属性

hardware/interfaces/automotive/vehicle/2.0/types.hal
属性可以为只读、只写（用于将信息传递到 VHAL 一级），也可以为读写（对大多数属性而言对读写的支持是可选的）。每个属性都由一个 int32 键唯一标识，且具有一个预定义的类型 (value_type)：

BYTES
BOOLEAN
EPOCH_TIME
FLOAT
FLOAT[]
INT32
INT32[]
INT64
INT64[]
STRING
MIXED

区域属性可能具有多个值，具体取决于属性所支持的区域数量。

/**
 * Enumerates supported data type for VehicleProperty.
 *
 * Used to create property ID in VehicleProperty enum.
 */
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
};

3.2 区域类型

区域类型	说明
GLOBAL	此属性是一个单例，不具备多个区域。
WINDOW	基于车窗的区域，使用 VehicleAreaWindow 枚举。
MIRROR	基于车镜的区域，使用 VehicleAreaMirror 枚举。
SEAT	基于座椅的区域，使用 VehicleAreaSeat 枚举。
DOOR	基于车门的区域，使用 VehicleAreaDoor 枚举。
WHEEL	基于车轮的区域，使用 VehicleAreaWheel 枚举。

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,
};

3.2.1 WINDOW区域类型 VehicleAreaWindow

/**
 * Various windshields/windows in the car.
 */
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,

};

3.2.2 MIRROR区域类型 VehicleAreaMirror

enum VehicleAreaMirror : int32_t {
    DRIVER_LEFT = 0x00000001,
    DRIVER_RIGHT = 0x00000002,
    DRIVER_CENTER = 0x00000004,
};

3.2.3 SEAT区域类型 VehicleAreaSeat

/**
 * Various Seats in the car.
 */
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
};

3.2.4 DOOR区域类型 VehicleAreaDoor

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,
};

3.2.5 WHEEL区域类型 VehicleAreaWheel

enum VehicleAreaWheel : int32_t {
    UNKNOWN = 0x0,

    LEFT_FRONT = 0x1,
    RIGHT_FRONT = 0x2,
    LEFT_REAR = 0x4,
    RIGHT_REAR = 0x8,
};

3.3 属性状态

每个属性值都有一个 VehiclePropertyStatus 值。该值指示相应属性的当前状态：

项目	说明
AVAILABLE	属性可用，且值有效。
UNAVAILABLE	属性值目前不可用。用于某个受支持属性的被暂时停用的功能。
ERROR	该属性有问题。

/**
 * Property status is a dynamic value that may change based on the vehicle state.
 */
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,
};

2.4 配置属性

使用 VehiclePropConfig 为每个属性提供配置信息。具体信息包括：

变量	说明
access	r、w、rw
changeMode	表示监视属性的方式：变化时监视或持续监视。
areaConfigs	areaId、min 和 max 值。
configArray	额外配置参数。
configString	以字符串形式传递的额外信息。
minSampleRate	maxSampleRate
prop	属性 ID，整数

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;
};

2.4.1 property可读、可写或读写

/**
 * Property config defines the capabilities of it. User of the API
 * must first get the property config to understand the output from get()
 * commands and also to ensure that set() or events commands are in sync with
 * the expected output.
 */
enum VehiclePropertyAccess : int32_t {
    NONE = 0x00,

    READ = 0x01,
    WRITE = 0x02,
    READ_WRITE = 0x03,
};

2.4.2 property改变模式

/**
 * This describes how value of property can change.
 */
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,
};