Merge "AIDL VHAL GRPC Client" into udc-dev

7 files changed, 609 insertions, 0 deletions

diff --git a/automotive/vehicle/aidl/impl/grpc/Android.bp b/automotive/vehicle/aidl/impl/grpc/Android.bp
new file mode 100644
index 0000000000..e8f0970c4d
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/Android.bp
@@ -0,0 +1,102 @@
+// Copyright (C) 2023 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.
+
+package {
+    default_applicable_licenses: ["Android-Apache-2.0"],
+}
+
+genrule {
+    name: "VehicleServerProtoStub_h@default-grpc",
+    tools: [
+        "aprotoc",
+        "protoc-gen-grpc-cpp-plugin",
+    ],
+    cmd: "$(location aprotoc) -I$$(dirname $(in)) -Ihardware/interfaces/automotive/vehicle/aidl/impl/proto -Iexternal/protobuf/src --plugin=protoc-gen-grpc=$(location protoc-gen-grpc-cpp-plugin) $(in) --grpc_out=$(genDir) --cpp_out=$(genDir)",
+    srcs: [
+        "proto/VehicleServer.proto",
+    ],
+    out: [
+        "VehicleServer.pb.h",
+        "VehicleServer.grpc.pb.h",
+    ],
+    visibility: ["//visibility:private"],
+}
+
+genrule {
+    name: "VehicleServerProtoStub_cc@default-grpc",
+    tools: [
+        "aprotoc",
+        "protoc-gen-grpc-cpp-plugin",
+    ],
+    cmd: "$(location aprotoc) -I$$(dirname $(in)) -Ihardware/interfaces/automotive/vehicle/aidl/impl/proto -Iexternal/protobuf/src --plugin=protoc-gen-grpc=$(location protoc-gen-grpc-cpp-plugin) $(in) --grpc_out=$(genDir) --cpp_out=$(genDir)",
+    srcs: [
+        "proto/VehicleServer.proto",
+    ],
+    out: [
+        "VehicleServer.pb.cc",
+        "VehicleServer.grpc.pb.cc",
+    ],
+    visibility: ["//visibility:private"],
+}
+
+cc_library_static {
+    name: "android.hardware.automotive.vehicle@default-grpc-libgrpc",
+    vendor: true,
+    host_supported: true,
+    include_dirs: [
+        "external/protobuf/src",
+    ],
+    generated_headers: [
+        "VehicleServerProtoStub_h@default-grpc",
+    ],
+    export_generated_headers: [
+        "VehicleServerProtoStub_h@default-grpc",
+    ],
+    generated_sources: [
+        "VehicleServerProtoStub_cc@default-grpc",
+    ],
+    whole_static_libs: [
+        "VehicleHalProtos",
+    ],
+    shared_libs: [
+        "libgrpc++",
+    ],
+    cflags: [
+        "-Wno-unused-parameter",
+    ],
+}
+
+cc_library_static {
+    name: "android.hardware.automotive.vehicle@default-grpc-hardware-lib",
+    defaults: ["VehicleHalDefaults"],
+    vendor: true,
+    srcs: [
+        "GRPCVehicleHardware.cpp",
+    ],
+    whole_static_libs: [
+        "android.hardware.automotive.vehicle@default-grpc-libgrpc",
+        "VehicleHalProtoMessageConverter",
+    ],
+    header_libs: [
+        "IVehicleHardware",
+    ],
+    shared_libs: [
+        "libgrpc++",
+        "libprotobuf-cpp-full",
+    ],
+    export_include_dirs: ["."],
+    cflags: [
+        "-Wno-unused-parameter",
+    ],
+}
diff --git a/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.cpp b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.cpp
new file mode 100644
index 0000000000..015157d425
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.cpp
@@ -0,0 +1,221 @@
+/*
+ * Copyright (C) 2023 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 <GRPCVehicleHardware.h>
+
+#include "ProtoMessageConverter.h"
+
+#include <android-base/logging.h>
+#include <grpc++/grpc++.h>
+
+#include <cstdlib>
+#include <mutex>
+#include <shared_mutex>
+#include <utility>
+
+namespace android::hardware::automotive::vehicle::virtualization {
+
+static std::shared_ptr<::grpc::ChannelCredentials> getChannelCredentials() {
+    // TODO(chenhaosjtuacm): get secured credentials here
+    return ::grpc::InsecureChannelCredentials();
+}
+
+GRPCVehicleHardware::GRPCVehicleHardware(std::string service_addr)
+    : mServiceAddr(std::move(service_addr)),
+      mGrpcChannel(::grpc::CreateChannel(mServiceAddr, getChannelCredentials())),
+      mGrpcStub(proto::VehicleServer::NewStub(mGrpcChannel)),
+      mValuePollingThread([this] { ValuePollingLoop(); }) {}
+
+GRPCVehicleHardware::~GRPCVehicleHardware() {
+    {
+        std::lock_guard lck(mShutdownMutex);
+        mShuttingDownFlag.store(true);
+    }
+    mShutdownCV.notify_all();
+    mValuePollingThread.join();
+}
+
+std::vector<aidlvhal::VehiclePropConfig> GRPCVehicleHardware::getAllPropertyConfigs() const {
+    std::vector<aidlvhal::VehiclePropConfig> configs;
+    ::grpc::ClientContext context;
+    auto config_stream = mGrpcStub->GetAllPropertyConfig(&context, ::google::protobuf::Empty());
+    proto::VehiclePropConfig protoConfig;
+    while (config_stream->Read(&protoConfig)) {
+        aidlvhal::VehiclePropConfig config;
+        proto_msg_converter::protoToAidl(protoConfig, &config);
+        configs.push_back(std::move(config));
+    }
+    auto grpc_status = config_stream->Finish();
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__
+                   << ": GRPC GetAllPropertyConfig Failed: " << grpc_status.error_message();
+    }
+    return configs;
+}
+
+aidlvhal::StatusCode GRPCVehicleHardware::setValues(
+        std::shared_ptr<const SetValuesCallback> callback,
+        const std::vector<aidlvhal::SetValueRequest>& requests) {
+    ::grpc::ClientContext context;
+    proto::VehiclePropValueRequests protoRequests;
+    proto::SetValueResults protoResults;
+    for (const auto& request : requests) {
+        auto& protoRequest = *protoRequests.add_requests();
+        protoRequest.set_request_id(request.requestId);
+        proto_msg_converter::aidlToProto(request.value, protoRequest.mutable_value());
+    }
+    // TODO(chenhaosjtuacm): Make it Async.
+    auto grpc_status = mGrpcStub->SetValues(&context, protoRequests, &protoResults);
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__ << ": GRPC SetValues Failed: " << grpc_status.error_message();
+        {
+            std::shared_lock lck(mCallbackMutex);
+            // TODO(chenhaosjtuacm): call on-set-error callback.
+        }
+        return aidlvhal::StatusCode::INTERNAL_ERROR;
+    }
+    std::vector<aidlvhal::SetValueResult> results;
+    for (const auto& protoResult : protoResults.results()) {
+        auto& result = results.emplace_back();
+        result.requestId = protoResult.request_id();
+        result.status = static_cast<aidlvhal::StatusCode>(protoResult.status());
+        // TODO(chenhaosjtuacm): call on-set-error callback.
+    }
+    (*callback)(std::move(results));
+
+    return aidlvhal::StatusCode::OK;
+}
+
+aidlvhal::StatusCode GRPCVehicleHardware::getValues(
+        std::shared_ptr<const GetValuesCallback> callback,
+        const std::vector<aidlvhal::GetValueRequest>& requests) const {
+    ::grpc::ClientContext context;
+    proto::VehiclePropValueRequests protoRequests;
+    proto::GetValueResults protoResults;
+    for (const auto& request : requests) {
+        auto& protoRequest = *protoRequests.add_requests();
+        protoRequest.set_request_id(request.requestId);
+        proto_msg_converter::aidlToProto(request.prop, protoRequest.mutable_value());
+    }
+    // TODO(chenhaosjtuacm): Make it Async.
+    auto grpc_status = mGrpcStub->GetValues(&context, protoRequests, &protoResults);
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__ << ": GRPC GetValues Failed: " << grpc_status.error_message();
+        return aidlvhal::StatusCode::INTERNAL_ERROR;
+    }
+    std::vector<aidlvhal::GetValueResult> results;
+    for (const auto& protoResult : protoResults.results()) {
+        auto& result = results.emplace_back();
+        result.requestId = protoResult.request_id();
+        result.status = static_cast<aidlvhal::StatusCode>(protoResult.status());
+        if (protoResult.has_value()) {
+            aidlvhal::VehiclePropValue value;
+            proto_msg_converter::protoToAidl(protoResult.value(), &value);
+            result.prop = std::move(value);
+        }
+    }
+    (*callback)(std::move(results));
+
+    return aidlvhal::StatusCode::OK;
+}
+
+void GRPCVehicleHardware::registerOnPropertyChangeEvent(
+        std::unique_ptr<const PropertyChangeCallback> callback) {
+    std::lock_guard lck(mCallbackMutex);
+    if (mOnPropChange) {
+        LOG(ERROR) << __func__ << " must only be called once.";
+        return;
+    }
+    mOnPropChange = std::move(callback);
+}
+
+void GRPCVehicleHardware::registerOnPropertySetErrorEvent(
+        std::unique_ptr<const PropertySetErrorCallback> callback) {
+    std::lock_guard lck(mCallbackMutex);
+    if (mOnSetErr) {
+        LOG(ERROR) << __func__ << " must only be called once.";
+        return;
+    }
+    mOnSetErr = std::move(callback);
+}
+
+DumpResult GRPCVehicleHardware::dump(const std::vector<std::string>& /* options */) {
+    // TODO(chenhaosjtuacm): To be implemented.
+    return {};
+}
+
+aidlvhal::StatusCode GRPCVehicleHardware::checkHealth() {
+    // TODO(chenhaosjtuacm): To be implemented.
+    return aidlvhal::StatusCode::OK;
+}
+
+aidlvhal::StatusCode GRPCVehicleHardware::updateSampleRate(int32_t /* propId */,
+                                                           int32_t /* areaId */,
+                                                           float /* sampleRate */) {
+    // TODO(chenhaosjtuacm): To be implemented.
+    return aidlvhal::StatusCode::OK;
+}
+
+bool GRPCVehicleHardware::waitForConnected(std::chrono::milliseconds waitTime) {
+    return mGrpcChannel->WaitForConnected(gpr_time_add(
+            gpr_now(GPR_CLOCK_MONOTONIC), gpr_time_from_millis(waitTime.count(), GPR_TIMESPAN)));
+}
+
+void GRPCVehicleHardware::ValuePollingLoop() {
+    while (!mShuttingDownFlag.load()) {
+        ::grpc::ClientContext context;
+
+        bool rpc_stopped{false};
+        std::thread shuttingdown_watcher([this, &rpc_stopped, &context]() {
+            std::unique_lock<std::mutex> lck(mShutdownMutex);
+            mShutdownCV.wait(lck, [this, &rpc_stopped]() {
+                return rpc_stopped || mShuttingDownFlag.load();
+            });
+            context.TryCancel();
+        });
+
+        auto value_stream =
+                mGrpcStub->StartPropertyValuesStream(&context, ::google::protobuf::Empty());
+        LOG(INFO) << __func__ << ": GRPC Value Streaming Started";
+        proto::VehiclePropValues protoValues;
+        while (!mShuttingDownFlag.load() && value_stream->Read(&protoValues)) {
+            std::vector<aidlvhal::VehiclePropValue> values;
+            for (const auto protoValue : protoValues.values()) {
+                values.push_back(aidlvhal::VehiclePropValue());
+                proto_msg_converter::protoToAidl(protoValue, &values.back());
+            }
+            std::shared_lock lck(mCallbackMutex);
+            if (mOnPropChange) {
+                (*mOnPropChange)(values);
+            }
+        }
+
+        {
+            std::lock_guard lck(mShutdownMutex);
+            rpc_stopped = true;
+        }
+        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 android::hardware::automotive::vehicle::virtualization
diff --git a/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.h b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.h
new file mode 100644
index 0000000000..90588aa375
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+
+#pragma once
+
+#include <IVehicleHardware.h>
+#include <VehicleHalTypes.h>
+#include <VehicleUtils.h>
+#include <android-base/result.h>
+
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <memory>
+#include <shared_mutex>
+#include <string>
+#include <thread>
+#include <vector>
+
+namespace android::hardware::automotive::vehicle::virtualization {
+
+namespace aidlvhal = ::aidl::android::hardware::automotive::vehicle;
+
+class GRPCVehicleHardware : public IVehicleHardware {
+  public:
+    explicit GRPCVehicleHardware(std::string service_addr);
+
+    ~GRPCVehicleHardware();
+
+    // Get all the property configs.
+    std::vector<aidlvhal::VehiclePropConfig> getAllPropertyConfigs() const override;
+
+    // Set property values asynchronously. Server could return before the property set requests
+    // are sent to vehicle bus or before property set confirmation is received. The callback is
+    // safe to be called after the function returns and is safe to be called in a different thread.
+    aidlvhal::StatusCode setValues(std::shared_ptr<const SetValuesCallback> callback,
+                                   const std::vector<aidlvhal::SetValueRequest>& requests) override;
+
+    // Get property values asynchronously. Server could return before the property values are ready.
+    // The callback is safe to be called after the function returns and is safe to be called in a
+    // different thread.
+    aidlvhal::StatusCode getValues(
+            std::shared_ptr<const GetValuesCallback> callback,
+            const std::vector<aidlvhal::GetValueRequest>& requests) const override;
+
+    // Dump debug information in the server.
+    DumpResult dump(const std::vector<std::string>& options) override;
+
+    // Check whether the system is healthy, return {@code StatusCode::OK} for healthy.
+    aidlvhal::StatusCode checkHealth() override;
+
+    // Register a callback that would be called when there is a property change event from vehicle.
+    void registerOnPropertyChangeEvent(
+            std::unique_ptr<const PropertyChangeCallback> callback) override;
+
+    // Register a callback that would be called when there is a property set error event from
+    // vehicle.
+    void registerOnPropertySetErrorEvent(
+            std::unique_ptr<const PropertySetErrorCallback> callback) override;
+
+    // Update the sample rate for the [propId, areaId] pair.
+    aidlvhal::StatusCode updateSampleRate(int32_t propId, int32_t areaId,
+                                          float sampleRate) override;
+
+    bool waitForConnected(std::chrono::milliseconds waitTime);
+
+  private:
+    void ValuePollingLoop();
+
+    std::string mServiceAddr;
+    std::shared_ptr<::grpc::Channel> mGrpcChannel;
+    std::unique_ptr<proto::VehicleServer::Stub> mGrpcStub;
+    std::thread mValuePollingThread;
+
+    std::shared_mutex mCallbackMutex;
+    std::unique_ptr<const PropertyChangeCallback> mOnPropChange;
+    std::unique_ptr<const PropertySetErrorCallback> mOnSetErr;
+
+    std::mutex mShutdownMutex;
+    std::condition_variable mShutdownCV;
+    std::atomic<bool> mShuttingDownFlag{false};
+};
+
+}  // namespace android::hardware::automotive::vehicle::virtualization
diff --git a/automotive/vehicle/aidl/impl/grpc/OWNERS b/automotive/vehicle/aidl/impl/grpc/OWNERS
new file mode 100644
index 0000000000..7a96f236d1
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/OWNERS
@@ -0,0 +1,3 @@
+shanyu@google.com
+chenhaosjtuacm@google.com
+egranata@google.com
diff --git a/automotive/vehicle/aidl/impl/grpc/proto/VehicleServer.proto b/automotive/vehicle/aidl/impl/grpc/proto/VehicleServer.proto
new file mode 100644
index 0000000000..349019595b
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/proto/VehicleServer.proto
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+
+syntax = "proto3";
+
+package android.hardware.automotive.vehicle.proto;
+
+import "android/hardware/automotive/vehicle/StatusCode.proto";
+import "android/hardware/automotive/vehicle/VehiclePropConfig.proto";
+import "android/hardware/automotive/vehicle/VehiclePropValue.proto";
+import "android/hardware/automotive/vehicle/VehiclePropValueRequest.proto";
+import "google/protobuf/empty.proto";
+
+message VehicleHalCallStatus {
+    StatusCode status_code = 1;
+}
+
+message VehiclePropValues {
+    repeated VehiclePropValue values = 1;
+}
+
+service VehicleServer {
+    rpc GetAllPropertyConfig(google.protobuf.Empty) returns (stream VehiclePropConfig) {}
+
+    rpc SetValues(VehiclePropValueRequests) returns (SetValueResults) {}
+
+    rpc GetValues(VehiclePropValueRequests) returns (GetValueResults) {}
+
+    rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream VehiclePropValues) {}
+}
diff --git a/automotive/vehicle/aidl/impl/grpc/test/Android.bp b/automotive/vehicle/aidl/impl/grpc/test/Android.bp
new file mode 100644
index 0000000000..efdf4ca3c1
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/test/Android.bp
@@ -0,0 +1,46 @@
+// Copyright (C) 2023 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.
+
+package {
+    default_applicable_licenses: ["Android-Apache-2.0"],
+}
+
+cc_test {
+    name: "GRPCVehicleHardwareUnitTest",
+    vendor: true,
+    srcs: ["GRPCVehicleHardwareUnitTest.cpp"],
+    whole_static_libs: [
+        "android.hardware.automotive.vehicle@default-grpc-hardware-lib",
+    ],
+    header_libs: [
+        "IVehicleHardware",
+    ],
+    static_libs: [
+        "libgtest",
+        "libgmock",
+    ],
+    shared_libs: [
+        "libgrpc++",
+        "libprotobuf-cpp-full",
+    ],
+    // libgrpc++.so is installed as root, require root to access it.
+    require_root: true,
+    defaults: [
+        "VehicleHalDefaults",
+    ],
+    cflags: [
+        "-Wno-unused-parameter",
+    ],
+    test_suites: ["device-tests"],
+}
diff --git a/automotive/vehicle/aidl/impl/grpc/test/GRPCVehicleHardwareUnitTest.cpp b/automotive/vehicle/aidl/impl/grpc/test/GRPCVehicleHardwareUnitTest.cpp
new file mode 100644
index 0000000000..f578021f1b
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/test/GRPCVehicleHardwareUnitTest.cpp
@@ -0,0 +1,94 @@
+// Copyright (C) 2023 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 "GRPCVehicleHardware.h"
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+
+#include <gmock/gmock.h>
+#include <grpc++/grpc++.h>
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <memory>
+#include <string>
+
+namespace android::hardware::automotive::vehicle::virtualization {
+
+const std::string kFakeServerAddr = "0.0.0.0:54321";
+
+class FakeVehicleServer : public proto::VehicleServer::Service {
+  public:
+    ::grpc::Status StartPropertyValuesStream(
+            ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+            ::grpc::ServerWriter<proto::VehiclePropValues>* stream) override {
+        stream->Write(proto::VehiclePropValues());
+        // A fake disconnection.
+        return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
+    }
+
+    // Functions that we do not care.
+    ::grpc::Status GetAllPropertyConfig(
+            ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+            ::grpc::ServerWriter<proto::VehiclePropConfig>* stream) override {
+        return ::grpc::Status::OK;
+    }
+
+    ::grpc::Status SetValues(::grpc::ServerContext* context,
+                             const proto::VehiclePropValueRequests* requests,
+                             proto::SetValueResults* results) override {
+        return ::grpc::Status::OK;
+    }
+
+    ::grpc::Status GetValues(::grpc::ServerContext* context,
+                             const proto::VehiclePropValueRequests* requests,
+                             proto::GetValueResults* results) override {
+        return ::grpc::Status::OK;
+    }
+};
+
+TEST(GRPCVehicleHardwareUnitTest, Reconnect) {
+    auto receivedUpdate = std::make_shared<std::atomic<int>>(0);
+    auto vehicleHardware = std::make_unique<GRPCVehicleHardware>(kFakeServerAddr);
+    vehicleHardware->registerOnPropertyChangeEvent(
+            std::make_unique<const IVehicleHardware::PropertyChangeCallback>(
+                    [receivedUpdate](const auto&) { receivedUpdate->fetch_add(1); }));
+
+    constexpr size_t kServerRestartTimes = 5;
+    for (size_t serverStart = 0; serverStart < kServerRestartTimes; ++serverStart) {
+        EXPECT_EQ(receivedUpdate->load(), 0);
+        auto fakeServer = std::make_unique<FakeVehicleServer>();
+        ::grpc::ServerBuilder builder;
+        builder.RegisterService(fakeServer.get());
+        builder.AddListeningPort(kFakeServerAddr, ::grpc::InsecureServerCredentials());
+        auto grpcServer = builder.BuildAndStart();
+
+        // Wait until the vehicle hardware received the second update (after one fake
+        // disconnection).
+        constexpr auto kMaxWaitTime = std::chrono::seconds(5);
+        auto startTime = std::chrono::steady_clock::now();
+        while (receivedUpdate->load() <= 1 &&
+               std::chrono::steady_clock::now() - startTime < kMaxWaitTime)
+            ;
+
+        grpcServer->Shutdown();
+        grpcServer->Wait();
+        EXPECT_GT(receivedUpdate->load(), 1);
+
+        // Reset for the next round.
+        receivedUpdate->store(0);
+    }
+}
+
+}  // namespace android::hardware::automotive::vehicle::virtualization