Add pipe interface to DefaultVehicleHal
- Create base communications interface
- Refactor socket calls to use SocketComm class
Test: Use python scripts and custom emulator to test communications
Change-Id: Ia401587223035e748991516a2285cc31cb71a9c9
diff --git a/automotive/vehicle/2.0/default/Android.mk b/automotive/vehicle/2.0/default/Android.mk
index 324be51..c592165 100644
--- a/automotive/vehicle/2.0/default/Android.mk
+++ b/automotive/vehicle/2.0/default/Android.mk
@@ -76,6 +76,8 @@
LOCAL_MODULE:= $(vhal_v2_0)-default-impl-lib
LOCAL_SRC_FILES:= \
impl/vhal_v2_0/DefaultVehicleHal.cpp \
+ impl/vhal_v2_0/PipeComm.cpp \
+ impl/vhal_v2_0/SocketComm.cpp
LOCAL_C_INCLUDES := \
$(LOCAL_PATH)/impl/vhal_v2_0
@@ -87,6 +89,7 @@
$(vhal_v2_0)-manager-lib \
LOCAL_SHARED_LIBRARIES := \
+ libbase \
libbinder \
libhidlbase \
libhidltransport \
@@ -99,6 +102,8 @@
LOCAL_STATIC_LIBRARIES := \
$(vhal_v2_0)-libproto-native \
+LOCAL_CFLAGS += -Wall -Wextra -Werror
+
include $(BUILD_STATIC_LIBRARY)
@@ -148,6 +153,7 @@
VehicleService.cpp
LOCAL_SHARED_LIBRARIES := \
+ libbase \
libbinder \
libhidlbase \
libhidltransport \
@@ -162,4 +168,6 @@
$(vhal_v2_0)-default-impl-lib \
$(vhal_v2_0)-libproto-native \
+LOCAL_CFLAGS += -Wall -Wextra -Werror
+
include $(BUILD_EXECUTABLE)
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommBase.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommBase.h
new file mode 100644
index 0000000..6832ad3
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommBase.h
@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
+
+#include <string>
+#include <vector>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+/**
+ * This is the communications base class. It defines the interface used in DefaultVehicleHal to
+ * send and receive data to and from the emulator.
+ */
+class CommBase {
+public:
+ virtual ~CommBase() = default;
+
+ /**
+ * Closes a connection if it is open.
+ */
+ virtual void stop() {}
+
+ /**
+ * Creates a connection to the other side.
+ *
+ * @return int Returns fd or socket number if connection is successful.
+ * Otherwise, returns -1 if no connection is availble.
+ */
+ virtual int connect() { return 0; }
+
+ /**
+ * Opens the communications channel.
+ *
+ * @return int Returns 0 if channel is opened, else -errno if failed.
+ */
+ virtual int open() = 0;
+
+ /**
+ * Blocking call to read data from the connection.
+ *
+ * @return std::vector<uint8_t> Serialized protobuf data received from emulator. This will be
+ * an empty vector if the connection was closed or some other error occurred.
+ */
+ virtual std::vector<uint8_t> read() = 0;
+
+ /**
+ * Transmits a string of data to the emulator.
+ *
+ * @param data Serialized protobuf data to transmit.
+ *
+ * @return int Number of bytes transmitted, or -1 if failed.
+ */
+ virtual int write(const std::vector<uint8_t>& data) = 0;
+};
+
+} // impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
+
+#endif // android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
index d3d77b6..fca56c7 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
@@ -18,14 +18,14 @@
#include <android/log.h>
#include <algorithm>
-#include <netinet/in.h>
-#include <sys/socket.h>
+#include <android-base/properties.h>
+#include <cstdio>
#include "DefaultVehicleHal.h"
+#include "PipeComm.h"
+#include "SocketComm.h"
#include "VehicleHalProto.pb.h"
-#define DEBUG_SOCKET (33452)
-
namespace android {
namespace hardware {
namespace automotive {
@@ -293,34 +293,35 @@
void DefaultVehicleHal::parseRxProtoBuf(std::vector<uint8_t>& msg) {
emulator::EmulatorMessage rxMsg;
emulator::EmulatorMessage respMsg;
- std::string str(reinterpret_cast<const char*>(msg.data()), msg.size());
- rxMsg.ParseFromString(str);
+ if (rxMsg.ParseFromArray(msg.data(), msg.size())) {
+ switch (rxMsg.msg_type()) {
+ case emulator::GET_CONFIG_CMD:
+ doGetConfig(rxMsg, respMsg);
+ break;
+ case emulator::GET_CONFIG_ALL_CMD:
+ doGetConfigAll(rxMsg, respMsg);
+ break;
+ case emulator::GET_PROPERTY_CMD:
+ doGetProperty(rxMsg, respMsg);
+ break;
+ case emulator::GET_PROPERTY_ALL_CMD:
+ doGetPropertyAll(rxMsg, respMsg);
+ break;
+ case emulator::SET_PROPERTY_CMD:
+ doSetProperty(rxMsg, respMsg);
+ break;
+ default:
+ ALOGW("%s: Unknown message received, type = %d", __FUNCTION__, rxMsg.msg_type());
+ respMsg.set_status(emulator::ERROR_UNIMPLEMENTED_CMD);
+ break;
+ }
- switch (rxMsg.msg_type()) {
- case emulator::GET_CONFIG_CMD:
- doGetConfig(rxMsg, respMsg);
- break;
- case emulator::GET_CONFIG_ALL_CMD:
- doGetConfigAll(rxMsg, respMsg);
- break;
- case emulator::GET_PROPERTY_CMD:
- doGetProperty(rxMsg, respMsg);
- break;
- case emulator::GET_PROPERTY_ALL_CMD:
- doGetPropertyAll(rxMsg, respMsg);
- break;
- case emulator::SET_PROPERTY_CMD:
- doSetProperty(rxMsg, respMsg);
- break;
- default:
- ALOGW("%s: Unknown message received, type = %d", __FUNCTION__, rxMsg.msg_type());
- respMsg.set_status(emulator::ERROR_UNIMPLEMENTED_CMD);
- break;
+ // Send the reply
+ txMsg(respMsg);
+ } else {
+ ALOGE("%s: ParseFromString() failed. msgSize=%d", __FUNCTION__, static_cast<int>(msg.size()));
}
-
- // Send the reply
- txMsg(respMsg);
}
// Copies internal VehiclePropConfig data structure to protobuf VehiclePropConfig
@@ -415,94 +416,50 @@
}
}
-void DefaultVehicleHal::rxMsg(void) {
+void DefaultVehicleHal::rxMsg() {
int numBytes = 0;
- int32_t msgSize;
- do {
- // This is a variable length message.
- // Read the number of bytes to rx over the socket
- numBytes = read(mCurSocket, &msgSize, sizeof(msgSize));
- if (numBytes != sizeof(msgSize)) {
- // This happens when connection is closed
- ALOGD("%s: numBytes=%d, expected=4", __FUNCTION__, numBytes);
- break;
- }
+ while (mExit == 0) {
+ std::vector<uint8_t> msg = mComm->read();
- std::vector<uint8_t> msg = std::vector<uint8_t>(msgSize);
-
- numBytes = read(mCurSocket, msg.data(), msgSize);
-
- if ((numBytes == msgSize) && (msgSize > 0)) {
+ if (msg.size() > 0) {
// Received a message.
parseRxProtoBuf(msg);
} else {
// This happens when connection is closed
- ALOGD("%s: numBytes=%d, msgSize=%d", __FUNCTION__, numBytes, msgSize);
+ ALOGD("%s: numBytes=%d, msgSize=%d", __FUNCTION__, numBytes,
+ static_cast<int32_t>(msg.size()));
break;
}
- } while (mExit == 0);
+ }
}
-void DefaultVehicleHal::rxThread(void) {
- // Initialize the socket
- {
- int retVal;
- struct sockaddr_in servAddr;
+void DefaultVehicleHal::rxThread() {
+ bool isEmulator = android::base::GetBoolProperty("ro.kernel.qemu", false);
- mSocket = socket(AF_INET, SOCK_STREAM, 0);
- if (mSocket < 0) {
- ALOGE("%s: socket() failed, mSocket=%d, errno=%d", __FUNCTION__, mSocket, errno);
- mSocket = -1;
- return;
- }
-
- bzero(&servAddr, sizeof(servAddr));
- servAddr.sin_family = AF_INET;
- servAddr.sin_addr.s_addr = INADDR_ANY;
- servAddr.sin_port = htons(DEBUG_SOCKET);
-
- retVal = bind(mSocket, reinterpret_cast<struct sockaddr*>(&servAddr), sizeof(servAddr));
- if(retVal < 0) {
- ALOGE("%s: Error on binding: retVal=%d, errno=%d", __FUNCTION__, retVal, errno);
- close(mSocket);
- mSocket = -1;
- return;
- }
-
- listen(mSocket, 1);
-
- // Set the socket to be non-blocking so we can poll it continouously
- fcntl(mSocket, F_SETFL, O_NONBLOCK);
+ if (isEmulator) {
+ // Initialize pipe to Emulator
+ mComm.reset(new PipeComm);
+ } else {
+ // Initialize socket over ADB
+ mComm.reset(new SocketComm);
}
- while (mExit == 0) {
- struct sockaddr_in cliAddr;
- socklen_t cliLen = sizeof(cliAddr);
- int cSocket = accept(mSocket, reinterpret_cast<struct sockaddr*>(&cliAddr), &cliLen);
+ int retVal = mComm->open();
- if (cSocket >= 0) {
- {
- std::lock_guard<std::mutex> lock(mTxMutex);
- mCurSocket = cSocket;
+ if (retVal == 0) {
+ // Comms are properly opened
+ while (mExit == 0) {
+ retVal = mComm->connect();
+
+ if (retVal >= 0) {
+ rxMsg();
}
- ALOGD("%s: Incoming connection received on socket %d", __FUNCTION__, cSocket);
- rxMsg();
- ALOGD("%s: Connection terminated on socket %d", __FUNCTION__, cSocket);
- {
- std::lock_guard<std::mutex> lock(mTxMutex);
- mCurSocket = -1;
- }
+
+ // Check every 100ms for a new connection
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
-
- // TODO: Use a blocking socket?
- // Check every 100ms for a new socket connection
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
-
- // Shutdown the socket
- close(mSocket);
- mSocket = -1;
}
// This function sets the default value of a property if we are interested in setting it.
@@ -569,21 +526,15 @@
// Transmit a reply back to the emulator
void DefaultVehicleHal::txMsg(emulator::EmulatorMessage& txMsg) {
- std::string msgString;
+ int numBytes = txMsg.ByteSize();
+ std::vector<uint8_t> msg(numBytes);
- if (txMsg.SerializeToString(&msgString)) {
- int32_t msgLen = msgString.length();
+ if (txMsg.SerializeToArray(msg.data(), msg.size())) {
int retVal = 0;
- // TODO: Prepend the message length to the string without a copy
- msgString.insert(0, reinterpret_cast<char*>(&msgLen), 4);
-
// Send the message
- {
- std::lock_guard<std::mutex> lock(mTxMutex);
- if (mCurSocket != -1) {
- retVal = write(mCurSocket, msgString.data(), msgString.size());
- }
+ if (mExit == 0) {
+ mComm->write(msg);
}
if (retVal < 0) {
@@ -683,9 +634,7 @@
// Parse supported properties list and generate vector of property values to hold current values.
void DefaultVehicleHal::onCreate() {
// Initialize member variables
- mCurSocket = -1;
mExit = 0;
- mSocket = -1;
// Get the list of configurations supported by this HAL
std::vector<VehiclePropConfig> configs = listProperties();
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.h
index 51f7ba3..2df9514 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.h
@@ -23,6 +23,9 @@
#include <utils/SystemClock.h>
+#include "CommBase.h"
+#include "VehicleHalProto.pb.h"
+
#include <vhal_v2_0/VehicleHal.h>
#include <vhal_v2_0/Obd2SensorStore.h>
@@ -45,13 +48,7 @@
mExit = 1;
// Close emulator socket if it is open
- {
- std::lock_guard<std::mutex> lock(mTxMutex);
- if (mCurSocket != -1) {
- close(mCurSocket);
- mCurSocket = -1;
- }
- }
+ mComm->stop();
mThread.join();
}
@@ -94,8 +91,8 @@
void populateProtoVehiclePropValue(emulator::VehiclePropValue* protoVal,
const VehiclePropValue* val);
void setDefaultValue(VehiclePropValue* prop);
- void rxMsg(void);
- void rxThread(void);
+ void rxMsg();
+ void rxThread();
void txMsg(emulator::EmulatorMessage& txMsg);
StatusCode updateProperty(const VehiclePropValue& propValue);
StatusCode fillObd2LiveFrame(VehiclePropValue* v);
@@ -106,14 +103,12 @@
private:
// TODO: Use a hashtable to support indexing props
std::vector<std::unique_ptr<VehiclePropValue>> mProps;
- std::atomic<int> mCurSocket;
std::atomic<int> mExit;
std::unique_ptr<VehiclePropValue> mLiveObd2Frame {nullptr};
std::vector<std::unique_ptr<VehiclePropValue>> mFreezeObd2Frames;
std::mutex mPropsMutex;
- int mSocket;
- std::mutex mTxMutex;
std::thread mThread;
+ std::unique_ptr<CommBase> mComm{nullptr};
};
} // impl
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.cpp
new file mode 100644
index 0000000..6f219fa
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.cpp
@@ -0,0 +1,106 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "PipeComm"
+
+#include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
+#include <android/log.h>
+#include <system/qemu_pipe.h>
+
+#include "PipeComm.h"
+
+#define CAR_SERVICE_NAME "pipe:qemud:car"
+
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+PipeComm::PipeComm() {
+ // Initialize member vars
+ mPipeFd = -1;
+}
+
+
+int PipeComm::open() {
+ int fd = qemu_pipe_open(CAR_SERVICE_NAME);
+
+ if (fd < 0) {
+ ALOGE("%s: Could not open connection to service: %s %d", __FUNCTION__, strerror(errno), fd);
+ return -errno;
+ }
+
+ ALOGI("%s: OPENED PIPE, fd=%d", __FUNCTION__, fd);
+ mPipeFd = fd;
+ return 0;
+}
+
+std::vector<uint8_t> PipeComm::read() {
+ static constexpr int MAX_RX_MSG_SZ = 2048;
+ std::vector<uint8_t> msg = std::vector<uint8_t>(MAX_RX_MSG_SZ);
+ int numBytes;
+
+ numBytes = qemu_pipe_frame_recv(mPipeFd, msg.data(), msg.size());
+
+ if (numBytes == MAX_RX_MSG_SZ) {
+ ALOGE("%s: Received max size = %d", __FUNCTION__, MAX_RX_MSG_SZ);
+ } else if (numBytes > 0) {
+ msg.resize(numBytes);
+ return msg;
+ } else {
+ ALOGD("%s: Connection terminated on pipe %d, numBytes=%d", __FUNCTION__, mPipeFd, numBytes);
+ {
+ std::lock_guard<std::mutex> lock(mMutex);
+ mPipeFd = -1;
+ }
+ }
+
+ return std::vector<uint8_t>();
+}
+
+int PipeComm::write(const std::vector<uint8_t>& data) {
+ int retVal = 0;
+
+ {
+ std::lock_guard<std::mutex> lock(mMutex);
+ if (mPipeFd != -1) {
+ retVal = qemu_pipe_frame_send(mPipeFd, data.data(), data.size());
+ }
+ }
+
+ if (retVal < 0) {
+ retVal = -errno;
+ ALOGE("%s: send_cmd: (fd=%d): ERROR: %s", __FUNCTION__, mPipeFd, strerror(errno));
+ }
+
+ return retVal;
+}
+
+
+} // impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
+
+
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.h
new file mode 100644
index 0000000..bcd32d0
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_0_impl_PipeComm_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_PipeComm_H_
+
+#include <mutex>
+#include <vector>
+#include "CommBase.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+/**
+ * PipeComm uses a qemu pipe interface to connect to the Goldfish Emulator.
+ */
+class PipeComm : public CommBase {
+public:
+ PipeComm();
+
+ /**
+ * Opens a pipe and begins listening.
+ *
+ * @return int Returns 0 on success.
+ */
+ int open() override;
+
+ /**
+ * Blocking call to read data from the connection.
+ *
+ * @return std::vector<uint8_t> Serialized protobuf data received from emulator. This will be
+ * an empty vector if the connection was closed or some other error occurred.
+ */
+ std::vector<uint8_t> read() override;
+
+ /**
+ * Transmits a string of data to the emulator.
+ *
+ * @param data Serialized protobuf data to transmit.
+ *
+ * @return int Number of bytes transmitted, or -1 if failed.
+ */
+ int write(const std::vector<uint8_t>& data) override;
+
+private:
+ std::mutex mMutex;
+ int mPipeFd;
+};
+
+} // impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
+
+#endif // android_hardware_automotive_vehicle_V2_0_impl_PipeComm_H_
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.cpp
new file mode 100644
index 0000000..a3ef4b1
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.cpp
@@ -0,0 +1,190 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "SocketComm"
+
+#include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
+#include <android/log.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+
+#include "SocketComm.h"
+
+// Socket to use when communicating with Host PC
+static constexpr int DEBUG_SOCKET = 33452;
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+SocketComm::SocketComm() {
+ // Initialize member vars
+ mCurSockFd = -1;
+ mExit = 0;
+ mSockFd = -1;
+}
+
+
+SocketComm::~SocketComm() {
+ stop();
+}
+
+int SocketComm::connect() {
+ sockaddr_in cliAddr;
+ socklen_t cliLen = sizeof(cliAddr);
+ int cSockFd = accept(mSockFd, reinterpret_cast<struct sockaddr*>(&cliAddr), &cliLen);
+
+ if (cSockFd >= 0) {
+ {
+ std::lock_guard<std::mutex> lock(mMutex);
+ mCurSockFd = cSockFd;
+ }
+ ALOGD("%s: Incoming connection received on socket %d", __FUNCTION__, cSockFd);
+ } else {
+ cSockFd = -1;
+ }
+
+ return cSockFd;
+}
+
+int SocketComm::open() {
+ int retVal;
+ struct sockaddr_in servAddr;
+
+ mSockFd = socket(AF_INET, SOCK_STREAM, 0);
+ if (mSockFd < 0) {
+ ALOGE("%s: socket() failed, mSockFd=%d, errno=%d", __FUNCTION__, mSockFd, errno);
+ mSockFd = -1;
+ return -errno;
+ }
+
+ memset(&servAddr, 0, sizeof(servAddr));
+ servAddr.sin_family = AF_INET;
+ servAddr.sin_addr.s_addr = INADDR_ANY;
+ servAddr.sin_port = htons(DEBUG_SOCKET);
+
+ retVal = bind(mSockFd, reinterpret_cast<struct sockaddr*>(&servAddr), sizeof(servAddr));
+ if(retVal < 0) {
+ ALOGE("%s: Error on binding: retVal=%d, errno=%d", __FUNCTION__, retVal, errno);
+ close(mSockFd);
+ mSockFd = -1;
+ return -errno;
+ }
+
+ listen(mSockFd, 1);
+
+ // Set the socket to be non-blocking so we can poll it continouously
+ fcntl(mSockFd, F_SETFL, O_NONBLOCK);
+
+ return 0;
+}
+
+std::vector<uint8_t> SocketComm::read() {
+ int32_t msgSize;
+ int numBytes = 0;
+
+ // This is a variable length message.
+ // Read the number of bytes to rx over the socket
+ numBytes = ::read(mCurSockFd, &msgSize, sizeof(msgSize));
+ msgSize = ntohl(msgSize);
+
+ if (numBytes != sizeof(msgSize)) {
+ // This happens when connection is closed
+ ALOGD("%s: numBytes=%d, expected=4", __FUNCTION__, numBytes);
+ ALOGD("%s: Connection terminated on socket %d", __FUNCTION__, mCurSockFd);
+ {
+ std::lock_guard<std::mutex> lock(mMutex);
+ mCurSockFd = -1;
+ }
+
+ return std::vector<uint8_t>();
+ }
+
+ std::vector<uint8_t> msg = std::vector<uint8_t>(msgSize);
+
+ numBytes = ::read(mCurSockFd, msg.data(), msgSize);
+
+ if ((numBytes == msgSize) && (msgSize > 0)) {
+ // Received a message.
+ return msg;
+ } else {
+ // This happens when connection is closed
+ ALOGD("%s: numBytes=%d, msgSize=%d", __FUNCTION__, numBytes, msgSize);
+ ALOGD("%s: Connection terminated on socket %d", __FUNCTION__, mCurSockFd);
+ {
+ std::lock_guard<std::mutex> lock(mMutex);
+ mCurSockFd = -1;
+ }
+
+ return std::vector<uint8_t>();
+ }
+}
+
+void SocketComm::stop() {
+ if (mExit == 0) {
+ std::lock_guard<std::mutex> lock(mMutex);
+ mExit = 1;
+
+ // Close emulator socket if it is open
+ if (mCurSockFd != -1) {
+ close(mCurSockFd);
+ mCurSockFd = -1;
+ }
+
+ if (mSockFd != -1) {
+ close(mSockFd);
+ mSockFd = -1;
+ }
+ }
+}
+
+int SocketComm::write(const std::vector<uint8_t>& data) {
+ static constexpr int MSG_HEADER_LEN = 4;
+ int retVal = 0;
+ union {
+ uint32_t msgLen;
+ uint8_t msgLenBytes[MSG_HEADER_LEN];
+ };
+
+ // Prepare header for the message
+ msgLen = static_cast<uint32_t>(data.size());
+ msgLen = htonl(msgLen);
+
+ std::lock_guard<std::mutex> lock(mMutex);
+ if (mCurSockFd != -1) {
+ retVal = ::write(mCurSockFd, msgLenBytes, MSG_HEADER_LEN);
+
+ if (retVal == MSG_HEADER_LEN) {
+ retVal = ::write(mCurSockFd, data.data(), data.size());
+ }
+ }
+
+ return retVal;
+}
+
+
+} // impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.h
new file mode 100644
index 0000000..12cfb29
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.h
@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_0_impl_SocketComm_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_SocketComm_H_
+
+#include <mutex>
+#include <vector>
+#include "CommBase.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+/**
+ * SocketComm opens a socket via adb's TCP port forwarding to enable a Host PC to connect to
+ * the VehicleHAL.
+ */
+class SocketComm : public CommBase {
+public:
+ SocketComm();
+ virtual ~SocketComm();
+
+ /**
+ * Creates a connection to the other side.
+ *
+ * @return int Returns fd or socket number if connection is successful.
+ * Otherwise, returns -1 if no connection is availble.
+ */
+ int connect() override;
+
+ /**
+ * Opens a socket and begins listening.
+ *
+ * @return int Returns 0 on success.
+ */
+ int open() override;
+
+ /**
+ * Blocking call to read data from the connection.
+ *
+ * @return std::vector<uint8_t> Serialized protobuf data received from emulator. This will be
+ * an empty vector if the connection was closed or some other error occurred.
+ */
+ std::vector<uint8_t> read() override;
+
+ /**
+ * Closes a connection if it is open.
+ */
+ void stop() override;
+
+ /**
+ * Transmits a string of data to the emulator.
+ *
+ * @param data Serialized protobuf data to transmit.
+ *
+ * @return int Number of bytes transmitted, or -1 if failed.
+ */
+ int write(const std::vector<uint8_t>& data) override;
+
+private:
+ int mCurSockFd;
+ std::atomic<int> mExit;
+ std::mutex mMutex;
+ int mSockFd;
+};
+
+} // impl
+
+} // namespace V2_0
+} // namespace vehicle
+} // namespace automotive
+} // namespace hardware
+} // namespace android
+
+
+#endif // android_hardware_automotive_vehicle_V2_0_impl_SocketComm_H_