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/*
* Copyright 2020 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 "FrameHandlerUltrasonics.h"
#include <android-base/logging.h>
#include <hidlmemory/mapping.h>
#include <android/hidl/memory/1.0/IMemory.h>
using ::android::hidl::memory::V1_0::IMemory;
using ::android::hardware::Return;
using ::android::sp;
using ::android::hardware::automotive::evs::V1_1::IEvsUltrasonicsArrayStream;
using ::android::hardware::automotive::evs::V1_1::IEvsUltrasonicsArray;
using ::android::hardware::automotive::evs::V1_1::UltrasonicsDataFrameDesc;
using ::android::hardware::automotive::evs::V1_1::EvsEventDesc;
using ::android::hardware::automotive::evs::V1_1::EvsEventType;
FrameHandlerUltrasonics::FrameHandlerUltrasonics(sp<IEvsUltrasonicsArray> pEvsUltrasonicsArray) :
mEvsUltrasonicsArray(pEvsUltrasonicsArray), mReceiveFramesCount(0) {
// Nothing but member initialization
}
Return<void> FrameHandlerUltrasonics::notify(const EvsEventDesc& evsEvent) {
switch (evsEvent.aType) {
case EvsEventType::STREAM_STARTED:
case EvsEventType::STREAM_STOPPED:
case EvsEventType::FRAME_DROPPED:
case EvsEventType::TIMEOUT:
mReceivedEvents.emplace_back(evsEvent);
break;
default:
LOG(ERROR) << "Received unexpected event";
}
return android::hardware::Void();
}
// Struct used by SerializeWaveformData().
struct WaveformData {
uint8_t receiverId;
std::vector<std::pair<float, float>> readings;
};
// De-serializes shared memory to vector of WaveformData.
// TODO(b/149950362): Add a common library for serialiazing and deserializing waveform data.
std::vector<WaveformData> DeSerializeWaveformData(std::vector<uint32_t> recvReadingsCountList,
uint8_t* pData) {
std::vector<WaveformData> waveformDataList(recvReadingsCountList.size());
for (int i = 0; i < waveformDataList.size(); i++) {
// Set Id
memcpy(&waveformDataList[i].receiverId, pData, sizeof(uint8_t));
pData += sizeof(uint8_t);
waveformDataList[i].readings.resize(recvReadingsCountList[i]);
for (auto& reading : waveformDataList[i].readings) {
// Set the time of flight.
memcpy(&reading.first, pData, sizeof(float));
pData += sizeof(float);
// Set the resonance.
memcpy(&reading.second, pData, sizeof(float));
pData += sizeof(float);
}
}
return waveformDataList;
}
bool DataFrameValidator(const UltrasonicsDataFrameDesc& dataFrameDesc) {
if (dataFrameDesc.receiversIdList.size() != dataFrameDesc.receiversReadingsCountList.size()) {
LOG(ERROR) << "Size mismatch of receiversIdList and receiversReadingsCountList";
return false;
}
if(!dataFrameDesc.waveformsData.valid()) {
LOG(ERROR) << "Data frame does not valid hidl memory";
return false;
}
// Check total bytes from dataFrameDesc are within the shared memory size.
int totalWaveformDataBytesSize = 0;
for (int i = 0; i < dataFrameDesc.receiversIdList.size(); i++) {
totalWaveformDataBytesSize = 1 + (4 * 2 * dataFrameDesc.receiversReadingsCountList[i]);
}
if (totalWaveformDataBytesSize > dataFrameDesc.waveformsData.size()) {
LOG(ERROR) << "Total waveform data bytes in desc exceed shared memory size";
return false;
}
sp<IMemory> pIMemory = mapMemory(dataFrameDesc.waveformsData);
if(pIMemory.get() == nullptr) {
LOG(ERROR) << "Failed to map hidl memory";
return false;
}
uint8_t* pData = (uint8_t*)((void*)pIMemory->getPointer());
if(pData == nullptr) {
LOG(ERROR) << "Failed getPointer from mapped shared memory";
return false;
}
const std::vector<WaveformData> waveformDataList = DeSerializeWaveformData(
dataFrameDesc.receiversReadingsCountList, pData);
// Verify the waveforms data.
for(int i = 0; i < waveformDataList.size(); i++) {
if (waveformDataList[i].receiverId != dataFrameDesc.receiversIdList[i]) {
LOG(ERROR) << "Receiver Id mismatch";
return false;
}
for(auto& reading : waveformDataList[i].readings) {
if (reading.second < 0.0f || reading.second > 1.0f) {
LOG(ERROR) << "Resonance reading is not in range [0, 1]";
return false;
}
}
}
return true;
}
Return<void> FrameHandlerUltrasonics::deliverDataFrame(
const UltrasonicsDataFrameDesc& dataFrameDesc) {
LOG(DEBUG) << "FrameHandlerUltrasonics::receiveFrames";
mReceiveFramesCount++;
mLastReceivedFrames = dataFrameDesc;
if(!DataFrameValidator(dataFrameDesc)) {
mAllFramesValid = false;
}
// Send done with data frame.
mEvsUltrasonicsArray->doneWithDataFrame(dataFrameDesc);
return android::hardware::Void();
}
bool FrameHandlerUltrasonics::checkEventReceived(EvsEventDesc evsEvent) {
LOG(DEBUG) << "FrameHandlerUltrasonics::checkEventReceived";
int size = mReceivedEvents.size(); // work around
LOG(DEBUG) << "Received event number: " << size;
auto iter = find(mReceivedEvents.begin(), mReceivedEvents.end(), evsEvent);
return iter != mReceivedEvents.end();
}
int FrameHandlerUltrasonics::getReceiveFramesCount() {
return mReceiveFramesCount;
}
bool FrameHandlerUltrasonics::areAllFramesValid() {
return mAllFramesValid;
}
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