Grpc Vehicle Connectors
Test: Build; test with ag/9869095 Bug: b/141493212 Change-Id: Ia4c0b0b5b358b1c67aae43d8c64f781b83725329
This commit is contained in:
Hao Chen
parent
c9464216ec
commit
46df8f5909
5 changed files with 492 additions and 2 deletions
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@ -35,13 +35,23 @@ message VehicleHalCallStatus {
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VehicleHalStatusCode status_code = 1;
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}
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message WrappedVehiclePropValue {
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VehiclePropValue value = 1;
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// An indicator on whether we should update the status of the property
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// - true: if the value is generated by (emulated/real) car, or;
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// if the value is injected to 'fake' a on car event (for debugging purpose)
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// - false: if the value is set by VHal (public interface), since Android
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// cannot change status of property on a real car
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bool update_status = 2;
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}
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service VehicleServer {
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rpc GetAllPropertyConfig(google.protobuf.Empty) returns (stream VehiclePropConfig) {}
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// Change the property value of the vehicle
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rpc SetProperty(VehiclePropValue) returns (VehicleHalCallStatus) {}
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rpc SetProperty(WrappedVehiclePropValue) returns (VehicleHalCallStatus) {}
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// Start a vehicle property value stream
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rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream VehiclePropValue) {}
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rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream WrappedVehiclePropValue) {}
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}
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@ -0,0 +1,162 @@
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/*
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* Copyright (C) 2019 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "GrpcVehicleClient.h"
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#include <condition_variable>
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#include <mutex>
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#include <android-base/logging.h>
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#include <grpc++/grpc++.h>
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#include "VehicleServer.grpc.pb.h"
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#include "VehicleServer.pb.h"
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#include "vhal_v2_0/ProtoMessageConverter.h"
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namespace android {
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namespace hardware {
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namespace automotive {
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namespace vehicle {
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namespace V2_0 {
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namespace impl {
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static std::shared_ptr<::grpc::ChannelCredentials> getChannelCredentials() {
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// TODO(chenhaosjtuacm): get secured credentials here
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return ::grpc::InsecureChannelCredentials();
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}
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class GrpcVehicleClientImpl : public EmulatedVehicleClient {
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public:
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GrpcVehicleClientImpl(const std::string& addr)
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: mServiceAddr(addr),
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mGrpcChannel(::grpc::CreateChannel(mServiceAddr, getChannelCredentials())),
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mGrpcStub(vhal_proto::VehicleServer::NewStub(mGrpcChannel)) {
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StartValuePollingThread();
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}
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~GrpcVehicleClientImpl() {
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mShuttingDownFlag.store(true);
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mShutdownCV.notify_all();
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if (mPollingThread.joinable()) {
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mPollingThread.join();
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}
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}
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// methods from IVehicleClient
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std::vector<VehiclePropConfig> getAllPropertyConfig() const override;
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StatusCode setProperty(const VehiclePropValue& value, bool updateStatus) override;
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private:
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void StartValuePollingThread();
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// private data members
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std::string mServiceAddr;
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std::shared_ptr<::grpc::Channel> mGrpcChannel;
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std::unique_ptr<vhal_proto::VehicleServer::Stub> mGrpcStub;
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std::thread mPollingThread;
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std::mutex mShutdownMutex;
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std::condition_variable mShutdownCV;
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std::atomic<bool> mShuttingDownFlag{false};
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};
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std::unique_ptr<EmulatedVehicleClient> makeGrpcVehicleClient(const std::string& addr) {
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return std::make_unique<GrpcVehicleClientImpl>(addr);
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}
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std::vector<VehiclePropConfig> GrpcVehicleClientImpl::getAllPropertyConfig() const {
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std::vector<VehiclePropConfig> configs;
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::grpc::ClientContext context;
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auto config_stream = mGrpcStub->GetAllPropertyConfig(&context, ::google::protobuf::Empty());
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vhal_proto::VehiclePropConfig protoConfig;
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while (config_stream->Read(&protoConfig)) {
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VehiclePropConfig config;
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proto_msg_converter::fromProto(&config, protoConfig);
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configs.emplace_back(std::move(config));
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}
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auto grpc_status = config_stream->Finish();
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if (!grpc_status.ok()) {
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LOG(ERROR) << __func__
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<< ": GRPC GetAllPropertyConfig Failed: " << grpc_status.error_message();
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configs.clear();
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}
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return configs;
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}
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StatusCode GrpcVehicleClientImpl::setProperty(const VehiclePropValue& value, bool updateStatus) {
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::grpc::ClientContext context;
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vhal_proto::WrappedVehiclePropValue wrappedProtoValue;
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vhal_proto::VehicleHalCallStatus vhal_status;
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proto_msg_converter::toProto(wrappedProtoValue.mutable_value(), value);
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wrappedProtoValue.set_update_status(updateStatus);
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auto grpc_status = mGrpcStub->SetProperty(&context, wrappedProtoValue, &vhal_status);
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if (!grpc_status.ok()) {
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LOG(ERROR) << __func__ << ": GRPC SetProperty Failed: " << grpc_status.error_message();
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return StatusCode::INTERNAL_ERROR;
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}
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return static_cast<StatusCode>(vhal_status.status_code());
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}
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void GrpcVehicleClientImpl::StartValuePollingThread() {
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mPollingThread = std::thread([this]() {
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while (!mShuttingDownFlag.load()) {
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::grpc::ClientContext context;
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std::atomic<bool> rpc_ok{true};
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std::thread shuttingdown_watcher([this, &rpc_ok, &context]() {
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std::unique_lock<std::mutex> shutdownLock(mShutdownMutex);
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mShutdownCV.wait(shutdownLock, [this, &rpc_ok]() {
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return !rpc_ok.load() || mShuttingDownFlag.load();
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});
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context.TryCancel();
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});
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auto value_stream =
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mGrpcStub->StartPropertyValuesStream(&context, ::google::protobuf::Empty());
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vhal_proto::WrappedVehiclePropValue wrappedProtoValue;
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while (!mShuttingDownFlag.load() && value_stream->Read(&wrappedProtoValue)) {
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VehiclePropValue value;
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proto_msg_converter::fromProto(&value, wrappedProtoValue.value());
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onPropertyValue(value, wrappedProtoValue.update_status());
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}
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rpc_ok.store(false);
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mShutdownCV.notify_all();
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shuttingdown_watcher.join();
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auto grpc_status = value_stream->Finish();
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// never reach here until connection lost
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LOG(ERROR) << __func__
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<< ": GRPC Value Streaming Failed: " << grpc_status.error_message();
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// try to reconnect
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}
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});
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}
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} // namespace impl
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} // namespace V2_0
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} // namespace vehicle
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} // namespace automotive
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} // namespace hardware
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} // namespace android
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@ -0,0 +1,40 @@
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/*
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* Copyright (C) 2019 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleClient_H_
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#define android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleClient_H_
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#include "vhal_v2_0/EmulatedVehicleConnector.h"
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namespace android {
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namespace hardware {
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namespace automotive {
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namespace vehicle {
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namespace V2_0 {
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namespace impl {
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std::unique_ptr<EmulatedVehicleClient> makeGrpcVehicleClient(const std::string& addr);
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} // namespace impl
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} // namespace V2_0
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} // namespace vehicle
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} // namespace automotive
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} // namespace hardware
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} // namespace android
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#endif // android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleClient_H_
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@ -0,0 +1,229 @@
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/*
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* Copyright (C) 2019 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "GrpcVehicleServer.h"
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#include <condition_variable>
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#include <mutex>
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#include <shared_mutex>
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#include <android-base/logging.h>
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#include <grpc++/grpc++.h>
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#include "VehicleServer.grpc.pb.h"
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#include "VehicleServer.pb.h"
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#include "vhal_v2_0/ProtoMessageConverter.h"
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namespace android {
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namespace hardware {
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namespace automotive {
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namespace vehicle {
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namespace V2_0 {
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namespace impl {
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class GrpcVehicleServerImpl : public GrpcVehicleServer, public vhal_proto::VehicleServer::Service {
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public:
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GrpcVehicleServerImpl(const std::string& addr) : mServiceAddr(addr) {
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setValuePool(&mValueObjectPool);
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}
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// method from GrpcVehicleServer
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void Start() override;
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// method from IVehicleServer
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void onPropertyValueFromCar(const VehiclePropValue& value, bool updateStatus) override;
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// methods from vhal_proto::VehicleServer::Service
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::grpc::Status GetAllPropertyConfig(
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::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
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::grpc::ServerWriter<vhal_proto::VehiclePropConfig>* stream) override;
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::grpc::Status SetProperty(::grpc::ServerContext* context,
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const vhal_proto::WrappedVehiclePropValue* wrappedPropValue,
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vhal_proto::VehicleHalCallStatus* status) override;
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::grpc::Status StartPropertyValuesStream(
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::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
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::grpc::ServerWriter<vhal_proto::WrappedVehiclePropValue>* stream) override;
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private:
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// We keep long-lasting connection for streaming the prop values.
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// For us, each connection can be represented as a function to send the new value, and
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// an ID to identify this connection
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struct ConnectionDescriptor {
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using ValueWriterType = std::function<bool(const vhal_proto::WrappedVehiclePropValue&)>;
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ConnectionDescriptor(ValueWriterType&& value_writer)
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: mValueWriter(std::move(value_writer)),
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mConnectionID(CONNECTION_ID_COUNTER.fetch_add(1)) {}
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ConnectionDescriptor(const ConnectionDescriptor&) = delete;
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ConnectionDescriptor& operator=(const ConnectionDescriptor&) = delete;
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// This move constructor is NOT THREAD-SAFE, which means it cannot be moved
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// while using. Since the connection descriptors are pretected by mConnectionMutex
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// then we are fine here
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ConnectionDescriptor(ConnectionDescriptor&& cd)
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: mValueWriter(std::move(cd.mValueWriter)),
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mConnectionID(cd.mConnectionID),
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mIsAlive(cd.mIsAlive.load()) {
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cd.mIsAlive.store(false);
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}
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ValueWriterType mValueWriter;
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uint64_t mConnectionID;
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std::atomic<bool> mIsAlive{true};
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static std::atomic<uint64_t> CONNECTION_ID_COUNTER;
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};
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std::string mServiceAddr;
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VehiclePropValuePool mValueObjectPool;
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mutable std::shared_mutex mConnectionMutex;
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mutable std::shared_mutex mWriterMutex;
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std::list<ConnectionDescriptor> mValueStreamingConnections;
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};
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std::atomic<uint64_t> GrpcVehicleServerImpl::ConnectionDescriptor::CONNECTION_ID_COUNTER = 0;
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static std::shared_ptr<::grpc::ServerCredentials> getServerCredentials() {
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// TODO(chenhaosjtuacm): get secured credentials here
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return ::grpc::InsecureServerCredentials();
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}
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GrpcVehicleServerPtr makeGrpcVehicleServer(const std::string& addr) {
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return std::make_unique<GrpcVehicleServerImpl>(addr);
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}
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void GrpcVehicleServerImpl::Start() {
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::grpc::ServerBuilder builder;
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builder.RegisterService(this);
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builder.AddListeningPort(mServiceAddr, getServerCredentials());
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std::unique_ptr<::grpc::Server> server(builder.BuildAndStart());
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server->Wait();
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}
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void GrpcVehicleServerImpl::onPropertyValueFromCar(const VehiclePropValue& value,
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bool updateStatus) {
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vhal_proto::WrappedVehiclePropValue wrappedPropValue;
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proto_msg_converter::toProto(wrappedPropValue.mutable_value(), value);
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wrappedPropValue.set_update_status(updateStatus);
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std::shared_lock read_lock(mConnectionMutex);
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bool has_terminated_connections = 0;
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for (auto& connection : mValueStreamingConnections) {
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auto writeOK = connection.mValueWriter(wrappedPropValue);
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if (!writeOK) {
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LOG(ERROR) << __func__ << ": Server Write failed, connection lost. ID: "
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<< connection.mConnectionID;
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has_terminated_connections = true;
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connection.mIsAlive.store(false);
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}
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}
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if (!has_terminated_connections) {
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return;
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}
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read_lock.unlock();
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std::unique_lock write_lock(mConnectionMutex);
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for (auto itr = mValueStreamingConnections.begin(); itr != mValueStreamingConnections.end();) {
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if (!itr->mIsAlive.load()) {
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itr = mValueStreamingConnections.erase(itr);
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} else {
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++itr;
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}
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}
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}
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::grpc::Status GrpcVehicleServerImpl::GetAllPropertyConfig(
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::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
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::grpc::ServerWriter<vhal_proto::VehiclePropConfig>* stream) {
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auto configs = onGetAllPropertyConfig();
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for (auto& config : configs) {
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vhal_proto::VehiclePropConfig protoConfig;
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proto_msg_converter::toProto(&protoConfig, config);
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if (!stream->Write(protoConfig)) {
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return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
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}
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}
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return ::grpc::Status::OK;
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}
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::grpc::Status GrpcVehicleServerImpl::SetProperty(
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::grpc::ServerContext* context, const vhal_proto::WrappedVehiclePropValue* wrappedPropValue,
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vhal_proto::VehicleHalCallStatus* status) {
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VehiclePropValue value;
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proto_msg_converter::fromProto(&value, wrappedPropValue->value());
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auto set_status = static_cast<int32_t>(onSetProperty(value, wrappedPropValue->update_status()));
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if (!vhal_proto::VehicleHalStatusCode_IsValid(set_status)) {
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return ::grpc::Status(::grpc::StatusCode::INTERNAL, "Unknown status code");
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}
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status->set_status_code(static_cast<vhal_proto::VehicleHalStatusCode>(set_status));
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return ::grpc::Status::OK;
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}
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::grpc::Status GrpcVehicleServerImpl::StartPropertyValuesStream(
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::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
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::grpc::ServerWriter<vhal_proto::WrappedVehiclePropValue>* stream) {
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std::mutex terminateMutex;
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std::condition_variable terminateCV;
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std::unique_lock<std::mutex> terminateLock(terminateMutex);
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bool terminated{false};
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auto callBack = [stream, &terminateMutex, &terminateCV, &terminated,
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this](const vhal_proto::WrappedVehiclePropValue& value) {
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std::unique_lock lock(mWriterMutex);
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if (!stream->Write(value)) {
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std::unique_lock<std::mutex> terminateLock(terminateMutex);
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terminated = true;
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terminateLock.unlock();
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terminateCV.notify_all();
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return false;
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}
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return true;
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};
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// Register connection
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std::unique_lock lock(mConnectionMutex);
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auto& conn = mValueStreamingConnections.emplace_back(std::move(callBack));
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lock.unlock();
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// Never stop until connection lost
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terminateCV.wait(terminateLock, [&terminated]() { return terminated; });
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LOG(ERROR) << __func__ << ": Stream lost, ID : " << conn.mConnectionID;
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return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
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}
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} // namespace impl
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} // namespace V2_0
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} // namespace vehicle
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} // namespace automotive
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} // namespace hardware
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} // namespace android
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@ -0,0 +1,49 @@
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/*
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||||
* Copyright (C) 2019 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_virtialization_GrpcVehicleServer_H_
|
||||
#define android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleServer_H_
|
||||
|
||||
#include "vhal_v2_0/EmulatedVehicleConnector.h"
|
||||
|
||||
namespace android {
|
||||
namespace hardware {
|
||||
namespace automotive {
|
||||
namespace vehicle {
|
||||
namespace V2_0 {
|
||||
|
||||
namespace impl {
|
||||
|
||||
// Connect to the Vehicle Client via GRPC
|
||||
class GrpcVehicleServer : public EmulatedVehicleServer {
|
||||
public:
|
||||
// Start listening incoming calls, should never return if working normally
|
||||
virtual void Start() = 0;
|
||||
};
|
||||
|
||||
using GrpcVehicleServerPtr = std::unique_ptr<GrpcVehicleServer>;
|
||||
|
||||
GrpcVehicleServerPtr makeGrpcVehicleServer(const std::string& addr);
|
||||
|
||||
} // namespace impl
|
||||
|
||||
} // namespace V2_0
|
||||
} // namespace vehicle
|
||||
} // namespace automotive
|
||||
} // namespace hardware
|
||||
} // namespace android
|
||||
|
||||
#endif // android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleServer_H_
|
||||
Loading…
Reference in a new issue