Merge changes I97df02dd,Ia4c0b0b5

* changes:
  Apply Grpc Client to current VHal Implementation
  Grpc Vehicle Connectors

automotive/vehicle/2.0/default/Android.bp

@@ -82,6 +82,20 @@ cc_library_static {
     ],
 }
 
+// VHal virtualization utils
+cc_library_static {
+    name: "android.hardware.automotive.vehicle@2.0-virtualization-utils",
+    vendor: true,
+    defaults: ["vhal_v2_0_defaults"],
+    srcs: [
+        "impl/vhal_v2_0/virtualization/Utils.cpp",
+    ],
+    export_include_dirs: ["impl"],
+    shared_libs: [
+        "libbase",
+    ],
+}
+
 cc_test {
     name: "android.hardware.automotive.vehicle@2.0-manager-unit-tests",
     vendor: true,
@@ -133,3 +147,59 @@ cc_binary {
         "libqemu_pipe",
     ],
 }
+
+cc_binary {
+    name: "android.hardware.automotive.vehicle@2.0-virtualization-service",
+    defaults: ["vhal_v2_0_defaults"],
+    init_rc: ["android.hardware.automotive.vehicle@2.0-virtualization-service.rc"],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "impl/vhal_v2_0/virtualization/GrpcVehicleClient.cpp",
+        "VirtualizedVehicleService.cpp",
+    ],
+    shared_libs: [
+        "libbase",
+        "libcutils",
+        "libjsoncpp",
+        "libprotobuf-cpp-full",
+        "libgrpc++",
+    ],
+    static_libs: [
+        "android.hardware.automotive.vehicle@2.0-manager-lib",
+        "android.hardware.automotive.vehicle@2.0-default-impl-lib",
+        "android.hardware.automotive.vehicle@2.0-grpc",
+        "android.hardware.automotive.vehicle@2.0-virtualization-utils",
+        "libqemu_pipe",
+    ],
+    cflags: [
+        "-Wno-unused-parameter"
+    ],
+}
+
+cc_binary {
+    name: "android.hardware.automotive.vehicle@2.0-virtualization-grpc-server",
+    init_rc: ["android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc"],
+    defaults: ["vhal_v2_0_defaults"],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "impl/vhal_v2_0/virtualization/GrpcVehicleServer.cpp",
+        "VirtualizationGrpcServer.cpp",
+    ],
+    shared_libs: [
+        "libbase",
+        "libjsoncpp",
+        "libprotobuf-cpp-full",
+        "libgrpc++",
+    ],
+    static_libs: [
+        "android.hardware.automotive.vehicle@2.0-manager-lib",
+        "android.hardware.automotive.vehicle@2.0-default-impl-lib",
+        "android.hardware.automotive.vehicle@2.0-grpc",
+        "android.hardware.automotive.vehicle@2.0-virtualization-utils",
+    ],
+    cflags: [
+        "-Wno-unused-parameter"
+    ],
+}

automotive/vehicle/2.0/default/VirtualizationGrpcServer.cpp

@@ -0,0 +1,49 @@
+#include <android-base/logging.h>
+#include <getopt.h>
+#include <unistd.h>
+
+#include "vhal_v2_0/virtualization/GrpcVehicleServer.h"
+#include "vhal_v2_0/virtualization/Utils.h"
+
+int main(int argc, char* argv[]) {
+    namespace vhal_impl = android::hardware::automotive::vehicle::V2_0::impl;
+
+    vhal_impl::VsockServerInfo serverInfo;
+
+    // unique values to identify the options
+    constexpr int OPT_VHAL_SERVER_CID = 1001;
+    constexpr int OPT_VHAL_SERVER_PORT_NUMBER = 1002;
+
+    struct option longOptions[] = {
+            {"server_cid", 1, 0, OPT_VHAL_SERVER_CID},
+            {"server_port", 1, 0, OPT_VHAL_SERVER_PORT_NUMBER},
+            {nullptr, 0, nullptr, 0},
+    };
+
+    int optValue;
+    while ((optValue = getopt_long_only(argc, argv, ":", longOptions, 0)) != -1) {
+        switch (optValue) {
+            case OPT_VHAL_SERVER_CID:
+                serverInfo.serverCid = std::atoi(optarg);
+                LOG(DEBUG) << "Vehicle HAL server CID: " << serverInfo.serverCid;
+                break;
+            case OPT_VHAL_SERVER_PORT_NUMBER:
+                serverInfo.serverPort = std::atoi(optarg);
+                LOG(DEBUG) << "Vehicle HAL server port: " << serverInfo.serverPort;
+                break;
+            default:
+                // ignore other options
+                break;
+        }
+    }
+
+    if (serverInfo.serverCid == 0 || serverInfo.serverPort == 0) {
+        LOG(FATAL) << "Invalid server information, CID: " << serverInfo.serverCid
+                   << "; port: " << serverInfo.serverPort;
+        // Will abort after logging
+    }
+
+    auto server = vhal_impl::makeGrpcVehicleServer(vhal_impl::getVsockUri(serverInfo));
+    server->Start();
+    return 0;
+}

automotive/vehicle/2.0/default/VirtualizedVehicleService.cpp

@@ -0,0 +1,74 @@
+/*
+ * 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.
+ */
+
+#include <android-base/logging.h>
+#include <cutils/properties.h>
+#include <hidl/HidlTransportSupport.h>
+
+#include <vhal_v2_0/EmulatedVehicleConnector.h>
+#include <vhal_v2_0/EmulatedVehicleHal.h>
+#include <vhal_v2_0/VehicleHalManager.h>
+#include <vhal_v2_0/virtualization/GrpcVehicleClient.h>
+#include <vhal_v2_0/virtualization/Utils.h>
+
+using namespace android;
+using namespace android::hardware;
+using namespace android::hardware::automotive::vehicle::V2_0;
+
+int main(int argc, char* argv[]) {
+    constexpr const char* VHAL_SERVER_CID_PROPERTY_KEY = "ro.vendor.vehiclehal.server.cid";
+    constexpr const char* VHAL_SERVER_PORT_PROPERTY_KEY = "ro.vendor.vehiclehal.server.port";
+
+    auto property_get_uint = [](const char* key, unsigned int default_value) {
+        auto value = property_get_int64(key, default_value);
+        if (value < 0 || value > UINT_MAX) {
+            LOG(DEBUG) << key << ": " << value << " is out of bound, using default value '"
+                       << default_value << "' instead";
+            return default_value;
+        }
+        return static_cast<unsigned int>(value);
+    };
+
+    impl::VsockServerInfo serverInfo{property_get_uint(VHAL_SERVER_CID_PROPERTY_KEY, 0),
+                                     property_get_uint(VHAL_SERVER_PORT_PROPERTY_KEY, 0)};
+
+    if (serverInfo.serverCid == 0 || serverInfo.serverPort == 0) {
+        LOG(FATAL) << "Invalid server information, CID: " << serverInfo.serverCid
+                   << "; port: " << serverInfo.serverPort;
+        // Will abort after logging
+    }
+
+    auto store = std::make_unique<VehiclePropertyStore>();
+    auto connector = impl::makeGrpcVehicleClient(impl::getVsockUri(serverInfo));
+    auto hal = std::make_unique<impl::EmulatedVehicleHal>(store.get(), connector.get());
+    auto emulator = std::make_unique<impl::VehicleEmulator>(hal.get());
+    auto service = std::make_unique<VehicleHalManager>(hal.get());
+
+    configureRpcThreadpool(4, true /* callerWillJoin */);
+
+    LOG(INFO) << "Registering as service...";
+    status_t status = service->registerAsService();
+
+    if (status != OK) {
+        LOG(ERROR) << "Unable to register vehicle service (" << status << ")";
+        return 1;
+    }
+
+    LOG(INFO) << "Ready";
+    joinRpcThreadpool();
+
+    return 1;
+}

automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server.rc

@@ -0,0 +1,10 @@
+# It is an interim state to run GRPC server as an Android service.
+# Eventually it will run outside of Android (e.g., AGL),
+# so the command line arguments are expected, though not conventionally used in Android
+service vendor.vehicle-hal-2.0-server \
+        /vendor/bin/hw/android.hardware.automotive.vehicle@2.0-virtualization-grpc-server \
+        -server_cid ${ro.vendor.vehiclehal.server.cid:-0} \
+        -server_port ${ro.vendor.vehiclehal.server.port:-0}
+    class hal
+    user vehicle_network
+    group system inet

automotive/vehicle/2.0/default/android.hardware.automotive.vehicle@2.0-virtualization-service.rc

@@ -0,0 +1,4 @@
+service vendor.vehicle-hal-2.0 /vendor/bin/hw/android.hardware.automotive.vehicle@2.0-virtualization-service
+    class hal
+    user vehicle_network
+    group system inet

automotive/vehicle/2.0/default/impl/vhal_v2_0/proto/VehicleServer.proto

@@ -35,13 +35,23 @@ message VehicleHalCallStatus {
     VehicleHalStatusCode status_code    = 1;
 }
 
+message WrappedVehiclePropValue {
+    VehiclePropValue value              = 1;
+    // An indicator on whether we should update the status of the property
+    //   - true: if the value is generated by (emulated/real) car, or;
+    //           if the value is injected to 'fake' a on car event (for debugging purpose)
+    //   - false: if the value is set by VHal (public interface), since Android
+    //            cannot change status of property on a real car
+    bool update_status                  = 2;
+}
+
 service VehicleServer {
     rpc GetAllPropertyConfig(google.protobuf.Empty) returns (stream VehiclePropConfig) {}
 
     // Change the property value of the vehicle
-    rpc SetProperty(VehiclePropValue) returns (VehicleHalCallStatus) {}
+    rpc SetProperty(WrappedVehiclePropValue) returns (VehicleHalCallStatus) {}
 
     // Start a vehicle property value stream
-    rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream VehiclePropValue) {}
+    rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream WrappedVehiclePropValue) {}
 }
 

automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.cpp

@@ -0,0 +1,162 @@
+/*
+ * 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.
+ */
+#include "GrpcVehicleClient.h"
+
+#include <condition_variable>
+#include <mutex>
+
+#include <android-base/logging.h>
+#include <grpc++/grpc++.h>
+
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+#include "vhal_v2_0/ProtoMessageConverter.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+static std::shared_ptr<::grpc::ChannelCredentials> getChannelCredentials() {
+    // TODO(chenhaosjtuacm): get secured credentials here
+    return ::grpc::InsecureChannelCredentials();
+}
+
+class GrpcVehicleClientImpl : public EmulatedVehicleClient {
+  public:
+    GrpcVehicleClientImpl(const std::string& addr)
+        : mServiceAddr(addr),
+          mGrpcChannel(::grpc::CreateChannel(mServiceAddr, getChannelCredentials())),
+          mGrpcStub(vhal_proto::VehicleServer::NewStub(mGrpcChannel)) {
+        StartValuePollingThread();
+    }
+
+    ~GrpcVehicleClientImpl() {
+        mShuttingDownFlag.store(true);
+        mShutdownCV.notify_all();
+        if (mPollingThread.joinable()) {
+            mPollingThread.join();
+        }
+    }
+
+    // methods from IVehicleClient
+
+    std::vector<VehiclePropConfig> getAllPropertyConfig() const override;
+
+    StatusCode setProperty(const VehiclePropValue& value, bool updateStatus) override;
+
+  private:
+    void StartValuePollingThread();
+
+    // private data members
+
+    std::string mServiceAddr;
+    std::shared_ptr<::grpc::Channel> mGrpcChannel;
+    std::unique_ptr<vhal_proto::VehicleServer::Stub> mGrpcStub;
+    std::thread mPollingThread;
+
+    std::mutex mShutdownMutex;
+    std::condition_variable mShutdownCV;
+    std::atomic<bool> mShuttingDownFlag{false};
+};
+
+std::unique_ptr<EmulatedVehicleClient> makeGrpcVehicleClient(const std::string& addr) {
+    return std::make_unique<GrpcVehicleClientImpl>(addr);
+}
+
+std::vector<VehiclePropConfig> GrpcVehicleClientImpl::getAllPropertyConfig() const {
+    std::vector<VehiclePropConfig> configs;
+    ::grpc::ClientContext context;
+    auto config_stream = mGrpcStub->GetAllPropertyConfig(&context, ::google::protobuf::Empty());
+    vhal_proto::VehiclePropConfig protoConfig;
+    while (config_stream->Read(&protoConfig)) {
+        VehiclePropConfig config;
+        proto_msg_converter::fromProto(&config, protoConfig);
+        configs.emplace_back(std::move(config));
+    }
+    auto grpc_status = config_stream->Finish();
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__
+                   << ": GRPC GetAllPropertyConfig Failed: " << grpc_status.error_message();
+        configs.clear();
+    }
+
+    return configs;
+}
+
+StatusCode GrpcVehicleClientImpl::setProperty(const VehiclePropValue& value, bool updateStatus) {
+    ::grpc::ClientContext context;
+    vhal_proto::WrappedVehiclePropValue wrappedProtoValue;
+    vhal_proto::VehicleHalCallStatus vhal_status;
+    proto_msg_converter::toProto(wrappedProtoValue.mutable_value(), value);
+    wrappedProtoValue.set_update_status(updateStatus);
+
+    auto grpc_status = mGrpcStub->SetProperty(&context, wrappedProtoValue, &vhal_status);
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__ << ": GRPC SetProperty Failed: " << grpc_status.error_message();
+        return StatusCode::INTERNAL_ERROR;
+    }
+
+    return static_cast<StatusCode>(vhal_status.status_code());
+}
+
+void GrpcVehicleClientImpl::StartValuePollingThread() {
+    mPollingThread = std::thread([this]() {
+        while (!mShuttingDownFlag.load()) {
+            ::grpc::ClientContext context;
+
+            std::atomic<bool> rpc_ok{true};
+            std::thread shuttingdown_watcher([this, &rpc_ok, &context]() {
+                std::unique_lock<std::mutex> shutdownLock(mShutdownMutex);
+                mShutdownCV.wait(shutdownLock, [this, &rpc_ok]() {
+                    return !rpc_ok.load() || mShuttingDownFlag.load();
+                });
+                context.TryCancel();
+            });
+
+            auto value_stream =
+                    mGrpcStub->StartPropertyValuesStream(&context, ::google::protobuf::Empty());
+            vhal_proto::WrappedVehiclePropValue wrappedProtoValue;
+            while (!mShuttingDownFlag.load() && value_stream->Read(&wrappedProtoValue)) {
+                VehiclePropValue value;
+                proto_msg_converter::fromProto(&value, wrappedProtoValue.value());
+                onPropertyValue(value, wrappedProtoValue.update_status());
+            }
+
+            rpc_ok.store(false);
+            mShutdownCV.notify_all();
+            shuttingdown_watcher.join();
+
+            auto grpc_status = value_stream->Finish();
+            // never reach here until connection lost
+            LOG(ERROR) << __func__
+                       << ": GRPC Value Streaming Failed: " << grpc_status.error_message();
+
+            // try to reconnect
+        }
+    });
+}
+
+}  // namespace impl
+
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android

automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleClient.h

@@ -0,0 +1,40 @@
+/*
+ * 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_GrpcVehicleClient_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_virtialization_GrpcVehicleClient_H_
+
+#include "vhal_v2_0/EmulatedVehicleConnector.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+std::unique_ptr<EmulatedVehicleClient> makeGrpcVehicleClient(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_GrpcVehicleClient_H_

automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.cpp

@@ -0,0 +1,229 @@
+/*
+ * 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.
+ */
+#include "GrpcVehicleServer.h"
+
+#include <condition_variable>
+#include <mutex>
+#include <shared_mutex>
+
+#include <android-base/logging.h>
+#include <grpc++/grpc++.h>
+
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+#include "vhal_v2_0/ProtoMessageConverter.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+class GrpcVehicleServerImpl : public GrpcVehicleServer, public vhal_proto::VehicleServer::Service {
+  public:
+    GrpcVehicleServerImpl(const std::string& addr) : mServiceAddr(addr) {
+        setValuePool(&mValueObjectPool);
+    }
+
+    // method from GrpcVehicleServer
+    void Start() override;
+
+    // method from IVehicleServer
+    void onPropertyValueFromCar(const VehiclePropValue& value, bool updateStatus) override;
+
+    // methods from vhal_proto::VehicleServer::Service
+
+    ::grpc::Status GetAllPropertyConfig(
+            ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+            ::grpc::ServerWriter<vhal_proto::VehiclePropConfig>* stream) override;
+
+    ::grpc::Status SetProperty(::grpc::ServerContext* context,
+                               const vhal_proto::WrappedVehiclePropValue* wrappedPropValue,
+                               vhal_proto::VehicleHalCallStatus* status) override;
+
+    ::grpc::Status StartPropertyValuesStream(
+            ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+            ::grpc::ServerWriter<vhal_proto::WrappedVehiclePropValue>* stream) override;
+
+  private:
+    // We keep long-lasting connection for streaming the prop values.
+    // For us, each connection can be represented as a function to send the new value, and
+    // an ID to identify this connection
+    struct ConnectionDescriptor {
+        using ValueWriterType = std::function<bool(const vhal_proto::WrappedVehiclePropValue&)>;
+
+        ConnectionDescriptor(ValueWriterType&& value_writer)
+            : mValueWriter(std::move(value_writer)),
+              mConnectionID(CONNECTION_ID_COUNTER.fetch_add(1)) {}
+
+        ConnectionDescriptor(const ConnectionDescriptor&) = delete;
+
+        ConnectionDescriptor& operator=(const ConnectionDescriptor&) = delete;
+
+        // This move constructor is NOT THREAD-SAFE, which means it cannot be moved
+        // while using. Since the connection descriptors are pretected by mConnectionMutex
+        // then we are fine here
+        ConnectionDescriptor(ConnectionDescriptor&& cd)
+            : mValueWriter(std::move(cd.mValueWriter)),
+              mConnectionID(cd.mConnectionID),
+              mIsAlive(cd.mIsAlive.load()) {
+            cd.mIsAlive.store(false);
+        }
+
+        ValueWriterType mValueWriter;
+        uint64_t mConnectionID;
+        std::atomic<bool> mIsAlive{true};
+
+        static std::atomic<uint64_t> CONNECTION_ID_COUNTER;
+    };
+
+    std::string mServiceAddr;
+    VehiclePropValuePool mValueObjectPool;
+    mutable std::shared_mutex mConnectionMutex;
+    mutable std::shared_mutex mWriterMutex;
+    std::list<ConnectionDescriptor> mValueStreamingConnections;
+};
+
+std::atomic<uint64_t> GrpcVehicleServerImpl::ConnectionDescriptor::CONNECTION_ID_COUNTER = 0;
+
+static std::shared_ptr<::grpc::ServerCredentials> getServerCredentials() {
+    // TODO(chenhaosjtuacm): get secured credentials here
+    return ::grpc::InsecureServerCredentials();
+}
+
+GrpcVehicleServerPtr makeGrpcVehicleServer(const std::string& addr) {
+    return std::make_unique<GrpcVehicleServerImpl>(addr);
+}
+
+void GrpcVehicleServerImpl::Start() {
+    ::grpc::ServerBuilder builder;
+    builder.RegisterService(this);
+    builder.AddListeningPort(mServiceAddr, getServerCredentials());
+    std::unique_ptr<::grpc::Server> server(builder.BuildAndStart());
+
+    server->Wait();
+}
+
+void GrpcVehicleServerImpl::onPropertyValueFromCar(const VehiclePropValue& value,
+                                                   bool updateStatus) {
+    vhal_proto::WrappedVehiclePropValue wrappedPropValue;
+    proto_msg_converter::toProto(wrappedPropValue.mutable_value(), value);
+    wrappedPropValue.set_update_status(updateStatus);
+    std::shared_lock read_lock(mConnectionMutex);
+
+    bool has_terminated_connections = 0;
+
+    for (auto& connection : mValueStreamingConnections) {
+        auto writeOK = connection.mValueWriter(wrappedPropValue);
+        if (!writeOK) {
+            LOG(ERROR) << __func__ << ": Server Write failed, connection lost. ID: "
+                       << connection.mConnectionID;
+            has_terminated_connections = true;
+            connection.mIsAlive.store(false);
+        }
+    }
+
+    if (!has_terminated_connections) {
+        return;
+    }
+
+    read_lock.unlock();
+
+    std::unique_lock write_lock(mConnectionMutex);
+
+    for (auto itr = mValueStreamingConnections.begin(); itr != mValueStreamingConnections.end();) {
+        if (!itr->mIsAlive.load()) {
+            itr = mValueStreamingConnections.erase(itr);
+        } else {
+            ++itr;
+        }
+    }
+}
+
+::grpc::Status GrpcVehicleServerImpl::GetAllPropertyConfig(
+        ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+        ::grpc::ServerWriter<vhal_proto::VehiclePropConfig>* stream) {
+    auto configs = onGetAllPropertyConfig();
+    for (auto& config : configs) {
+        vhal_proto::VehiclePropConfig protoConfig;
+        proto_msg_converter::toProto(&protoConfig, config);
+        if (!stream->Write(protoConfig)) {
+            return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
+        }
+    }
+
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleServerImpl::SetProperty(
+        ::grpc::ServerContext* context, const vhal_proto::WrappedVehiclePropValue* wrappedPropValue,
+        vhal_proto::VehicleHalCallStatus* status) {
+    VehiclePropValue value;
+    proto_msg_converter::fromProto(&value, wrappedPropValue->value());
+
+    auto set_status = static_cast<int32_t>(onSetProperty(value, wrappedPropValue->update_status()));
+    if (!vhal_proto::VehicleHalStatusCode_IsValid(set_status)) {
+        return ::grpc::Status(::grpc::StatusCode::INTERNAL, "Unknown status code");
+    }
+
+    status->set_status_code(static_cast<vhal_proto::VehicleHalStatusCode>(set_status));
+
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleServerImpl::StartPropertyValuesStream(
+        ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+        ::grpc::ServerWriter<vhal_proto::WrappedVehiclePropValue>* stream) {
+    std::mutex terminateMutex;
+    std::condition_variable terminateCV;
+    std::unique_lock<std::mutex> terminateLock(terminateMutex);
+    bool terminated{false};
+
+    auto callBack = [stream, &terminateMutex, &terminateCV, &terminated,
+                     this](const vhal_proto::WrappedVehiclePropValue& value) {
+        std::unique_lock lock(mWriterMutex);
+        if (!stream->Write(value)) {
+            std::unique_lock<std::mutex> terminateLock(terminateMutex);
+            terminated = true;
+            terminateLock.unlock();
+            terminateCV.notify_all();
+            return false;
+        }
+        return true;
+    };
+
+    // Register connection
+    std::unique_lock lock(mConnectionMutex);
+    auto& conn = mValueStreamingConnections.emplace_back(std::move(callBack));
+    lock.unlock();
+
+    // Never stop until connection lost
+    terminateCV.wait(terminateLock, [&terminated]() { return terminated; });
+
+    LOG(ERROR) << __func__ << ": Stream lost, ID : " << conn.mConnectionID;
+
+    return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
+}
+
+}  // namespace impl
+
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android

automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/GrpcVehicleServer.h

@@ -0,0 +1,49 @@
+/*
+ * 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_

automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/Utils.cpp

@@ -0,0 +1,39 @@
+/*
+ * 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.
+ */
+
+#include "Utils.h"
+
+#include <sstream>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+namespace impl {
+
+std::string getVsockUri(const VsockServerInfo& serverInfo) {
+    std::stringstream uri_stream;
+    uri_stream << "vsock:" << serverInfo.serverCid << ":" << serverInfo.serverPort;
+    return uri_stream.str();
+}
+
+}  // namespace impl
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android

automotive/vehicle/2.0/default/impl/vhal_v2_0/virtualization/Utils.h

@@ -0,0 +1,43 @@
+/*
+ * 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_virtualization_Utils_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_virtualization_Utils_H_
+
+#include <string>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+namespace impl {
+
+struct VsockServerInfo {
+    unsigned int serverCid{0};
+    unsigned int serverPort{0};
+};
+
+std::string getVsockUri(const VsockServerInfo& serverInfo);
+
+}  // namespace impl
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+#endif  // android_hardware_automotive_vehicle_V2_0_impl_virtualization_Utils_H_