Add SENSOR_TYPE_WHEEL_DISTANCE + friends

Bug: 62876582
Test: Embedded Kitchen Sink works with VHAL emulator
Change-Id: I8b47e11850d5a8c4beab4b6fb579c6fc33cba5de

22 files changed, 512 insertions, 61 deletions

diff --git a/car-lib/api/current.txt b/car-lib/api/current.txt
index fb94b19ead..a461995fb9 100644
--- a/car-lib/api/current.txt
+++ b/car-lib/api/current.txt
@@ -18,6 +18,7 @@ package android.car {
     field public static final java.lang.String PERMISSION_FUEL = "android.car.permission.CAR_FUEL";
     field public static final java.lang.String PERMISSION_MILEAGE = "android.car.permission.CAR_MILEAGE";
     field public static final java.lang.String PERMISSION_SPEED = "android.car.permission.CAR_SPEED";
+    field public static final java.lang.String PERMISSION_VEHICLE_DYNAMICS_STATE = "android.car.permission.VEHICLE_DYNAMICS_STATE";
     field public static final java.lang.String SENSOR_SERVICE = "sensor";
     field public static final int VERSION = 2; // 0x2
   }
@@ -213,8 +214,14 @@ package android.car.hardware {
     field public static final int INDEX_FUEL_LEVEL_IN_DISTANCE = 1; // 0x1
     field public static final int INDEX_FUEL_LEVEL_IN_PERCENTILE = 0; // 0x0
     field public static final int INDEX_FUEL_LOW_WARNING = 0; // 0x0
+    field public static final int INDEX_WHEEL_DISTANCE_FRONT_LEFT = 1; // 0x1
+    field public static final int INDEX_WHEEL_DISTANCE_FRONT_RIGHT = 2; // 0x2
+    field public static final int INDEX_WHEEL_DISTANCE_REAR_LEFT = 4; // 0x4
+    field public static final int INDEX_WHEEL_DISTANCE_REAR_RIGHT = 3; // 0x3
+    field public static final int INDEX_WHEEL_DISTANCE_RESET_COUNT = 0; // 0x0
     field public final float[] floatValues;
     field public final int[] intValues;
+    field public final long[] longValues;
     field public int sensorType;
     field public long timestamp;
   }
@@ -237,6 +244,7 @@ package android.car.hardware {
     field public static final int SENSOR_RATE_FASTEST = 0; // 0x0
     field public static final int SENSOR_RATE_NORMAL = 3; // 0x3
     field public static final int SENSOR_RATE_UI = 2; // 0x2
+    field public static final int SENSOR_TYPE_ABS_ACTIVE = 24; // 0x18
     field public static final int SENSOR_TYPE_CAR_SPEED = 2; // 0x2
     field public static final int SENSOR_TYPE_DRIVING_STATUS = 11; // 0xb
     field public static final int SENSOR_TYPE_ENVIRONMENT = 12; // 0xc
@@ -247,7 +255,9 @@ package android.car.hardware {
     field public static final int SENSOR_TYPE_ODOMETER = 4; // 0x4
     field public static final int SENSOR_TYPE_PARKING_BRAKE = 6; // 0x6
     field public static final int SENSOR_TYPE_RPM = 3; // 0x3
+    field public static final int SENSOR_TYPE_TRACTION_CONTROL_ACTIVE = 25; // 0x19
     field public static final int SENSOR_TYPE_VENDOR_EXTENSION_END = 1879048191; // 0x6fffffff
+    field public static final int SENSOR_TYPE_WHEEL_TICK_DISTANCE = 23; // 0x17
   }
 
   public static abstract interface CarSensorManager.OnSensorChangedListener {
diff --git a/car-lib/api/system-current.txt b/car-lib/api/system-current.txt
index 722d90040b..989b4cdd31 100644
--- a/car-lib/api/system-current.txt
+++ b/car-lib/api/system-current.txt
@@ -27,6 +27,7 @@ package android.car {
     field public static final java.lang.String PERMISSION_MILEAGE = "android.car.permission.CAR_MILEAGE";
     field public static final deprecated java.lang.String PERMISSION_MOCK_VEHICLE_HAL = "android.car.permission.CAR_MOCK_VEHICLE_HAL";
     field public static final java.lang.String PERMISSION_SPEED = "android.car.permission.CAR_SPEED";
+    field public static final java.lang.String PERMISSION_VEHICLE_DYNAMICS_STATE = "android.car.permission.VEHICLE_DYNAMICS_STATE";
     field public static final java.lang.String PERMISSION_VENDOR_EXTENSION = "android.car.permission.CAR_VENDOR_EXTENSION";
     field public static final java.lang.String PROJECTION_SERVICE = "projection";
     field public static final java.lang.String RADIO_SERVICE = "radio";
@@ -75,10 +76,10 @@ package android.car {
 
   public final class CarProjectionManager {
     method public void onCarDisconnected();
-    method public void registerProjectionRunner(android.content.Intent) throws android.car.CarNotConnectedException;
     method public void registerProjectionListener(android.car.CarProjectionManager.CarProjectionListener, int) throws android.car.CarNotConnectedException;
-    method public void unregisterProjectionRunner(android.content.Intent);
+    method public void registerProjectionRunner(android.content.Intent) throws android.car.CarNotConnectedException;
     method public void unregisterProjectionListener();
+    method public void unregisterProjectionRunner(android.content.Intent);
     field public static final int PROJECTION_LONG_PRESS_VOICE_SEARCH = 2; // 0x2
     field public static final int PROJECTION_VOICE_SEARCH = 1; // 0x1
   }
@@ -446,8 +447,14 @@ package android.car.hardware {
     field public static final int INDEX_FUEL_LEVEL_IN_DISTANCE = 1; // 0x1
     field public static final int INDEX_FUEL_LEVEL_IN_PERCENTILE = 0; // 0x0
     field public static final int INDEX_FUEL_LOW_WARNING = 0; // 0x0
+    field public static final int INDEX_WHEEL_DISTANCE_FRONT_LEFT = 1; // 0x1
+    field public static final int INDEX_WHEEL_DISTANCE_FRONT_RIGHT = 2; // 0x2
+    field public static final int INDEX_WHEEL_DISTANCE_REAR_LEFT = 4; // 0x4
+    field public static final int INDEX_WHEEL_DISTANCE_REAR_RIGHT = 3; // 0x3
+    field public static final int INDEX_WHEEL_DISTANCE_RESET_COUNT = 0; // 0x0
     field public final float[] floatValues;
     field public final int[] intValues;
+    field public final long[] longValues;
     field public int sensorType;
     field public long timestamp;
   }
@@ -470,6 +477,7 @@ package android.car.hardware {
     field public static final int SENSOR_RATE_FASTEST = 0; // 0x0
     field public static final int SENSOR_RATE_NORMAL = 3; // 0x3
     field public static final int SENSOR_RATE_UI = 2; // 0x2
+    field public static final int SENSOR_TYPE_ABS_ACTIVE = 24; // 0x18
     field public static final int SENSOR_TYPE_CAR_SPEED = 2; // 0x2
     field public static final int SENSOR_TYPE_DRIVING_STATUS = 11; // 0xb
     field public static final int SENSOR_TYPE_ENVIRONMENT = 12; // 0xc
@@ -480,7 +488,9 @@ package android.car.hardware {
     field public static final int SENSOR_TYPE_ODOMETER = 4; // 0x4
     field public static final int SENSOR_TYPE_PARKING_BRAKE = 6; // 0x6
     field public static final int SENSOR_TYPE_RPM = 3; // 0x3
+    field public static final int SENSOR_TYPE_TRACTION_CONTROL_ACTIVE = 25; // 0x19
     field public static final int SENSOR_TYPE_VENDOR_EXTENSION_END = 1879048191; // 0x6fffffff
+    field public static final int SENSOR_TYPE_WHEEL_TICK_DISTANCE = 23; // 0x17
   }
 
   public static abstract interface CarSensorManager.OnSensorChangedListener {
diff --git a/car-lib/src/android/car/Car.java b/car-lib/src/android/car/Car.java
index 6ed5d73d98..1e05b8229f 100644
--- a/car-lib/src/android/car/Car.java
+++ b/car-lib/src/android/car/Car.java
@@ -143,6 +143,10 @@ public final class Car {
     /** Permission necessary to access car's speed. */
     public static final String PERMISSION_SPEED = "android.car.permission.CAR_SPEED";
 
+    /** Permission necessary to access car's dynamics state. */
+    public static final String PERMISSION_VEHICLE_DYNAMICS_STATE =
+        "android.car.permission.VEHICLE_DYNAMICS_STATE";
+
     /**
      * Permission necessary to change car audio volume through {@link CarAudioManager}.
      */
diff --git a/car-lib/src/android/car/hardware/CarSensorEvent.java b/car-lib/src/android/car/hardware/CarSensorEvent.java
index 680b9ab762..52f363d980 100644
--- a/car-lib/src/android/car/hardware/CarSensorEvent.java
+++ b/car-lib/src/android/car/hardware/CarSensorEvent.java
@@ -137,6 +137,17 @@ public class CarSensorEvent implements Parcelable {
      * Pressure in kPa.
      */
     public static final int INDEX_ENVIRONMENT_PRESSURE = 1;
+    /**
+     * Index for {@link CarSensorManager#SENSOR_TYPE_WHEEL_TICK_DISTANCE} in longValues. RESET_COUNT
+     * is incremented whenever the HAL detects that a sensor reset has occurred.  It represents to
+     * the upper layer that the WHEEL_DISTANCE values will not be contiguous with other values
+     * reported with a different RESET_COUNT.
+     */
+    public static final int INDEX_WHEEL_DISTANCE_RESET_COUNT = 0;
+    public static final int INDEX_WHEEL_DISTANCE_FRONT_LEFT = 1;
+    public static final int INDEX_WHEEL_DISTANCE_FRONT_RIGHT = 2;
+    public static final int INDEX_WHEEL_DISTANCE_REAR_RIGHT = 3;
+    public static final int INDEX_WHEEL_DISTANCE_REAR_LEFT = 4;
 
     private static final long MILLI_IN_NANOS = 1000000L;
 
@@ -144,8 +155,8 @@ public class CarSensorEvent implements Parcelable {
     public int sensorType;
 
     /**
-     * When this data was acquired in car or received from car. It is elapsed real-time of data
-     * reception from car in nanoseconds since system boot.
+     * When this data was received from car. It is elapsed real-time of data reception from car in
+     * nanoseconds since system boot.
      */
     public long timestamp;
     /**
@@ -154,6 +165,8 @@ public class CarSensorEvent implements Parcelable {
     public final float[] floatValues;
     /** array holding int type of sensor data */
     public final int[] intValues;
+    /** array holding long int type of sensor data */
+    public final long[] longValues;
 
     /** @hide */
     public CarSensorEvent(Parcel in) {
@@ -166,6 +179,9 @@ public class CarSensorEvent implements Parcelable {
         intValues = new int[len];
         in.readIntArray(intValues);
         // version 1 up to here
+        len = in.readInt();
+        longValues = new long[len];
+        in.readLongArray(longValues);
     }
 
     @Override
@@ -181,6 +197,8 @@ public class CarSensorEvent implements Parcelable {
         dest.writeFloatArray(floatValues);
         dest.writeInt(intValues.length);
         dest.writeIntArray(intValues);
+        dest.writeInt(longValues.length);
+        dest.writeLongArray(longValues);
     }
 
     public static final Parcelable.Creator<CarSensorEvent> CREATOR
@@ -195,19 +213,23 @@ public class CarSensorEvent implements Parcelable {
     };
 
     /** @hide */
-    public CarSensorEvent(int sensorType, long timestamp, int floatValueSize, int intValueSize) {
+    public CarSensorEvent(int sensorType, long timestamp, int floatValueSize, int intValueSize,
+                          int longValueSize) {
         this.sensorType = sensorType;
         this.timestamp = timestamp;
         floatValues = new float[floatValueSize];
         intValues = new int[intValueSize];
+        longValues = new long[longValueSize];
     }
 
     /** @hide */
-    CarSensorEvent(int sensorType, long timestamp, float[] floatValues, int[] intValues) {
+    CarSensorEvent(int sensorType, long timestamp, float[] floatValues, int[] intValues,
+                   long[] longValues) {
         this.sensorType = sensorType;
         this.timestamp = timestamp;
         this.floatValues = floatValues;
         this.intValues = intValues;
+        this.longValues = longValues;
     }
 
     private void checkType(int type) {
@@ -493,6 +515,100 @@ public class CarSensorEvent implements Parcelable {
     }
 
     /** @hide */
+    public static class CarWheelTickDistanceData {
+        public long timestamp;
+        public long sensorResetCount;
+        public long frontLeftWheelDistanceMm;
+        public long frontRightWheelDistanceMm;
+        public long rearRightWheelDistanceMm;
+        public long rearLeftWheelDistanceMm;
+
+        /** @hide */
+        private CarWheelTickDistanceData() {};
+    }
+
+    /**
+     * Convenience method for obtaining a {@link CarWheelTickDistanceData} object from a
+     * CarSensorEvent object with type {@link CarSensorManager#SENSOR_TYPE_WHEEL_TICK_DISTANCE}.
+     *
+     * @param data an optional output parameter which, if non-null, will be used by this method
+     *     instead of a newly created object.
+     * @return CarWheelTickDistanceData object corresponding to data contained in the CarSensorEvent
+     * @hide
+     */
+    public CarWheelTickDistanceData getCarWheelTickDistanceData(CarWheelTickDistanceData data) {
+        checkType(CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE);
+        if (data == null) {
+            data = new CarWheelTickDistanceData();
+        }
+        data.timestamp = timestamp;
+        data.sensorResetCount = longValues[INDEX_WHEEL_DISTANCE_RESET_COUNT];
+        data.frontLeftWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_FRONT_LEFT];
+        data.frontRightWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_FRONT_RIGHT];
+        data.rearRightWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_REAR_RIGHT];
+        data.rearLeftWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_REAR_LEFT];
+        return data;
+    }
+
+    /** @hide */
+    public static class CarAbsActiveData {
+        public long timestamp;
+        public boolean absIsActive;
+
+        /** @hide */
+        private CarAbsActiveData() {};
+    }
+
+    /**
+     * Convenience method for obtaining a {@link CarAbsActiveData} object from a CarSensorEvent
+     * object with type {@link CarSensorManager#SENSOR_TYPE_ABS_ACTIVE}.
+     *
+     * @param data an optional output parameter which, if non-null, will be used by this method
+     *     instead of a newly created object.
+     * @return a CarAbsActiveData object corresponding to data contained in the CarSensorEvent.
+     * @hide
+     */
+    public CarAbsActiveData getCarAbsActiveData(CarAbsActiveData data) {
+        checkType(CarSensorManager.SENSOR_TYPE_ABS_ACTIVE);
+        if (data == null) {
+            data = new CarAbsActiveData();
+        }
+        data.timestamp = timestamp;
+        data.absIsActive = intValues[0] == 1;
+        return data;
+    }
+
+    /** @hide */
+    public static class CarTractionControlActiveData {
+        public long timestamp;
+        public boolean tractionControlIsActive;
+
+        /** @hide */
+        private CarTractionControlActiveData() {};
+    }
+
+    /**
+     * Convenience method for obtaining a {@link CarTractionControlActiveData} object from a
+     * CarSensorEvent object with type {@link CarSensorManager#SENSOR_TYPE_TRACTION_CONTROL_ACTIVE}.
+     *
+     * @param data an optional output parameter which, if non-null, will be used by this method
+     *     instead of a newly created object.
+     * @return a CarTractionControlActiveData object corresponding to data contained in the
+     *     CarSensorEvent.
+     * @hide
+     */
+    public CarTractionControlActiveData getCarTractionControlActiveData(
+            CarTractionControlActiveData data) {
+        checkType(CarSensorManager.SENSOR_TYPE_TRACTION_CONTROL_ACTIVE);
+        if (data == null) {
+            data = new CarTractionControlActiveData();
+        }
+        data.timestamp = timestamp;
+        data.tractionControlIsActive = intValues[0] == 1;
+        return data;
+    }
+
+    /** @hide */
     @Override
     public String toString() {
         StringBuilder sb = new StringBuilder();
@@ -510,6 +626,12 @@ public class CarSensorEvent implements Parcelable {
                 sb.append(" " + v);
             }
         }
+        if (longValues != null && longValues.length > 0) {
+            sb.append(" long values:");
+            for (long v: longValues) {
+                sb.append(" " + v);
+            }
+        }
         sb.append("]");
         return sb.toString();
     }
diff --git a/car-lib/src/android/car/hardware/CarSensorManager.java b/car-lib/src/android/car/hardware/CarSensorManager.java
index 4fbc2cd619..796da7f978 100644
--- a/car-lib/src/android/car/hardware/CarSensorManager.java
+++ b/car-lib/src/android/car/hardware/CarSensorManager.java
@@ -48,22 +48,22 @@ import java.util.function.Consumer;
  */
 public final class CarSensorManager implements CarManagerBase {
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED1           = 1;
+    public static final int SENSOR_TYPE_RESERVED1                   = 1;
     /**
      * This sensor represents vehicle speed in m/s.
      * Sensor data in {@link CarSensorEvent} is a float which will be >= 0.
      * This requires {@link Car#PERMISSION_SPEED} permission.
      */
-    public static final int SENSOR_TYPE_CAR_SPEED         = 2;
+    public static final int SENSOR_TYPE_CAR_SPEED                   = 2;
     /**
      * Represents engine RPM of the car. Sensor data in {@link CarSensorEvent} is a float.
      */
-    public static final int SENSOR_TYPE_RPM               = 3;
+    public static final int SENSOR_TYPE_RPM                         = 3;
     /**
      * Total travel distance of the car in Kilometer. Sensor data is a float.
      * This requires {@link Car#PERMISSION_MILEAGE} permission.
      */
-    public static final int SENSOR_TYPE_ODOMETER          = 4;
+    public static final int SENSOR_TYPE_ODOMETER                    = 4;
     /**
      * Indicates fuel level of the car.
      * In {@link CarSensorEvent}, floatValues[{@link CarSensorEvent#INDEX_FUEL_LEVEL_IN_PERCENTILE}]
@@ -74,67 +74,84 @@ public final class CarSensorManager implements CarManagerBase {
      * condition.
      * This requires {@link Car#PERMISSION_FUEL} permission.
      */
-    public static final int SENSOR_TYPE_FUEL_LEVEL        = 5;
+    public static final int SENSOR_TYPE_FUEL_LEVEL                  = 5;
     /**
      * Represents the current status of parking brake. Sensor data in {@link CarSensorEvent} is an
      * intValues[0]. Value of 1 represents parking brake applied while 0 means the other way
      * around. For this sensor, rate in {@link #registerListener(OnSensorChangedListener, int, int)}
      * will be ignored and all changes will be notified.
      */
-    public static final int SENSOR_TYPE_PARKING_BRAKE     = 6;
+    public static final int SENSOR_TYPE_PARKING_BRAKE               = 6;
     /**
      * This represents the current position of transmission gear. Sensor data in
      * {@link CarSensorEvent} is an intValues[0]. For the meaning of the value, check
      * {@link CarSensorEvent#GEAR_NEUTRAL} and other GEAR_*.
      */
-    public static final int SENSOR_TYPE_GEAR              = 7;
+    public static final int SENSOR_TYPE_GEAR                        = 7;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED8         = 8;
+    public static final int SENSOR_TYPE_RESERVED8                   = 8;
     /**
      * Day/night sensor. Sensor data is intValues[0].
      */
-    public static final int SENSOR_TYPE_NIGHT             = 9;
+    public static final int SENSOR_TYPE_NIGHT                       = 9;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED10        = 10;
+    public static final int SENSOR_TYPE_RESERVED10                  = 10;
     /**
      * Represents the current driving status of car. Different user interaction should be used
      * depending on the current driving status. Driving status is intValues[0].
      */
-    public static final int SENSOR_TYPE_DRIVING_STATUS    = 11;
+    public static final int SENSOR_TYPE_DRIVING_STATUS              = 11;
     /**
      * Environment like temperature and pressure.
      */
-    public static final int SENSOR_TYPE_ENVIRONMENT       = 12;
+    public static final int SENSOR_TYPE_ENVIRONMENT                 = 12;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED13        = 13;
+    public static final int SENSOR_TYPE_RESERVED13                  = 13;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED14        = 14;
+    public static final int SENSOR_TYPE_RESERVED14                  = 14;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED15        = 15;
+    public static final int SENSOR_TYPE_RESERVED15                  = 15;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED16        = 16;
+    public static final int SENSOR_TYPE_RESERVED16                  = 16;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED17        = 17;
+    public static final int SENSOR_TYPE_RESERVED17                  = 17;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED18        = 18;
+    public static final int SENSOR_TYPE_RESERVED18                  = 18;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED19        = 19;
+    public static final int SENSOR_TYPE_RESERVED19                  = 19;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED20        = 20;
+    public static final int SENSOR_TYPE_RESERVED20                  = 20;
     /** @hide */
-    public static final int SENSOR_TYPE_RESERVED21        = 21;
-
+    public static final int SENSOR_TYPE_RESERVED21                  = 21;
     /**
      * Represents ignition state. The value should be one of the constants that starts with
      * IGNITION_STATE_* in {@link CarSensorEvent}.
      */
-    public static final int SENSOR_TYPE_IGNITION_STATE    = 22;
+    public static final int SENSOR_TYPE_IGNITION_STATE              = 22;
+    /**
+     * Represents wheel distance in millimeters.  Some cars may not have individual sensors on each
+     * wheel.  If a value is not available, Long.MAX_VALUE will be reported.  The wheel distance
+     * accumulates over time.  It increments on forward movement, and decrements on reverse.  Wheel
+     * distance shall be reset to zero each time a vehicle is started by the user.
+     * This requires {@link Car#PERMISSION_SPEED} permission.
+     */
+    public static final int SENSOR_TYPE_WHEEL_TICK_DISTANCE         = 23;
+    /**
+     * Set to true when ABS is active.  This sensor is event driven.
+     * This requires {@link Car#PERMISSION_VEHICLE_DYNAMICS_STATE} permission.
+     */
+    public static final int SENSOR_TYPE_ABS_ACTIVE                  = 24;
+    /**
+     * Set to true when traction control is active.  This sensor is event driven.
+     * This requires {@link Car#PERMISSION_VEHICLE_DYNAMICS_STATE} permission.
+     */
+    public static final int SENSOR_TYPE_TRACTION_CONTROL_ACTIVE     = 25;
 
     /**
      * Sensor type bigger than this is invalid. Always update this after adding a new sensor.
      * @hide
      */
-    private static final int SENSOR_TYPE_MAX = SENSOR_TYPE_IGNITION_STATE;
+    private static final int SENSOR_TYPE_MAX = SENSOR_TYPE_TRACTION_CONTROL_ACTIVE;
 
     /**
      * Sensors defined in this range [{@link #SENSOR_TYPE_VENDOR_EXTENSION_START},
@@ -162,6 +179,9 @@ public final class CarSensorManager implements CarManagerBase {
         SENSOR_TYPE_DRIVING_STATUS,
         SENSOR_TYPE_ENVIRONMENT,
         SENSOR_TYPE_IGNITION_STATE,
+        SENSOR_TYPE_WHEEL_TICK_DISTANCE,
+        SENSOR_TYPE_ABS_ACTIVE,
+        SENSOR_TYPE_TRACTION_CONTROL_ACTIVE,
     })
     @Retention(RetentionPolicy.SOURCE)
     public @interface SensorType {}
@@ -291,9 +311,11 @@ public final class CarSensorManager implements CarManagerBase {
      * If the same listener is registered again for the same sensor, it will be either ignored or
      * updated depending on the rate.
      * <p>
-     * Requires {@link Car#PERMISSION_SPEED} for {@link #SENSOR_TYPE_CAR_SPEED},
-     *  {@link Car#PERMISSION_MILEAGE} for {@link #SENSOR_TYPE_ODOMETER},
-     *  or {@link Car#PERMISSION_FUEL} for {@link #SENSOR_TYPE_FUEL_LEVEL}.
+     * Requires {@link Car#PERMISSION_SPEED} for {@link #SENSOR_TYPE_CAR_SPEED} and
+     *  {@link #SENSOR_TYPE_WHEEL_TICK_DISTANCE}, {@link Car#PERMISSION_MILEAGE} for
+     *  {@link #SENSOR_TYPE_ODOMETER}, {@link Car#PERMISSION_FUEL} for
+     *  {@link #SENSOR_TYPE_FUEL_LEVEL}, or {@link Car#PERMISSION_VEHICLE_DYNAMICS_STATE} for
+     *  {@link #SENSOR_TYPE_ABS_ACTIVE} and {@link #SENSOR_TYPE_TRACTION_CONTROL_ACTIVE}
      *
      * @param listener
      * @param sensorType sensor type to subscribe.
@@ -310,7 +332,8 @@ public final class CarSensorManager implements CarManagerBase {
      * @throws SecurityException if missing the appropriate permission
      */
     @RequiresPermission(anyOf={Manifest.permission.ACCESS_FINE_LOCATION, Car.PERMISSION_SPEED,
-            Car.PERMISSION_MILEAGE, Car.PERMISSION_FUEL}, conditional=true)
+            Car.PERMISSION_MILEAGE, Car.PERMISSION_FUEL, Car.PERMISSION_VEHICLE_DYNAMICS_STATE},
+            conditional=true)
     public boolean registerListener(OnSensorChangedListener listener, @SensorType int sensorType,
             @SensorRate int rate) throws CarNotConnectedException, IllegalArgumentException {
         assertSensorType(sensorType);
diff --git a/car-support-lib/api/current.txt b/car-support-lib/api/current.txt
index 89122655ad..4777c43ddb 100644
--- a/car-support-lib/api/current.txt
+++ b/car-support-lib/api/current.txt
@@ -100,8 +100,14 @@ package android.support.car.hardware {
     field public static final int INDEX_COMPASS_BEARING = 0; // 0x0
     field public static final int INDEX_COMPASS_PITCH = 1; // 0x1
     field public static final int INDEX_COMPASS_ROLL = 2; // 0x2
+    field public static final int INDEX_WHEEL_DISTANCE_FRONT_LEFT = 1; // 0x1
+    field public static final int INDEX_WHEEL_DISTANCE_FRONT_RIGHT = 2; // 0x2
+    field public static final int INDEX_WHEEL_DISTANCE_REAR_LEFT = 4; // 0x4
+    field public static final int INDEX_WHEEL_DISTANCE_REAR_RIGHT = 3; // 0x3
+    field public static final int INDEX_WHEEL_DISTANCE_RESET_COUNT = 0; // 0x0
     field public final float[] floatValues;
     field public final int[] intValues;
+    field public final long[] longValues;
     field public final int sensorType;
     field public final long timestamp;
   }
@@ -144,10 +150,13 @@ package android.support.car.hardware {
     method public abstract void removeListener(android.support.car.hardware.CarSensorManager.OnSensorChangedListener, int);
     field public static final int SENSOR_RATE_FASTEST = 0; // 0x0
     field public static final int SENSOR_RATE_NORMAL = 3; // 0x3
+    field public static final int SENSOR_TYPE_ABS_ACTIVE = 24; // 0x18
     field public static final int SENSOR_TYPE_COMPASS = 1; // 0x1
     field public static final int SENSOR_TYPE_DRIVING_STATUS = 11; // 0xb
     field public static final int SENSOR_TYPE_NIGHT = 9; // 0x9
     field public static final int SENSOR_TYPE_PARKING_BRAKE = 6; // 0x6
+    field public static final int SENSOR_TYPE_TRACTION_CONTROL_ACTIVE = 25; // 0x19
+    field public static final int SENSOR_TYPE_WHEEL_TICK_DISTANCE = 23; // 0x17
   }
 
   public static abstract interface CarSensorManager.OnSensorChangedListener {
diff --git a/car-support-lib/proguard-release.flags b/car-support-lib/proguard-release.flags
index daccb0dc52..6ec8b3c969 100644
--- a/car-support-lib/proguard-release.flags
+++ b/car-support-lib/proguard-release.flags
@@ -5227,8 +5227,14 @@
     public static int INDEX_COMPASS_BEARING;
     public static int INDEX_COMPASS_PITCH;
     public static int INDEX_COMPASS_ROLL;
+    public static int INDEX_WHEEL_DISTANCE_FRONT_LEFT;
+    public static int INDEX_WHEEL_DISTANCE_FRONT_RIGHT;
+    public static int INDEX_WHEEL_DISTANCE_REAR_LEFT;
+    public static int INDEX_WHEEL_DISTANCE_REAR_RIGHT;
+    public static int INDEX_WHEEL_DISTANCE_RESET_COUNT;
     public float[] floatValues;
     public int[] intValues;
+    public long[] longValues;
     public int sensorType;
     public long timestamp;
 }
@@ -5286,10 +5292,13 @@
 
     public static int SENSOR_RATE_FASTEST;
     public static int SENSOR_RATE_NORMAL;
+    public static int SENSOR_TYPE_ABS_ACTIVE;
     public static int SENSOR_TYPE_COMPASS;
     public static int SENSOR_TYPE_DRIVING_STATUS;
     public static int SENSOR_TYPE_NIGHT;
     public static int SENSOR_TYPE_PARKING_BRAKE;
+    public static int SENSOR_TYPE_TRACTION_CONTROL_ACTIVE;
+    public static int SENSOR_TYPE_WHEEL_TICK_DISTANCE;
 }
 
 -keep class android.support.car.hardware.CarSensorManager$OnSensorChangedListener {
diff --git a/car-support-lib/src/android/support/car/Car.java b/car-support-lib/src/android/support/car/Car.java
index c47b6508d8..a374d87cac 100644
--- a/car-support-lib/src/android/support/car/Car.java
+++ b/car-support-lib/src/android/support/car/Car.java
@@ -178,6 +178,12 @@ public class Car {
      */
     public static final String PERMISSION_SPEED = "android.car.permission.CAR_SPEED";
     /**
+     * Permission necessary to access car dynamics state.
+     * @hide
+     */
+    public static final String PERMISSION_VEHICLE_DYNAMICS_STATE =
+            "android.car.permission.VEHICLE_DYNAMICS_STATE";
+    /**
      * Permission necessary to access a car-specific communication channel.
      */
     public static final String PERMISSION_VENDOR_EXTENSION =
diff --git a/car-support-lib/src/android/support/car/hardware/CarSensorEvent.java b/car-support-lib/src/android/support/car/hardware/CarSensorEvent.java
index 215cddf9ce..f7b4dba22b 100644
--- a/car-support-lib/src/android/support/car/hardware/CarSensorEvent.java
+++ b/car-support-lib/src/android/support/car/hardware/CarSensorEvent.java
@@ -88,6 +88,15 @@ public class CarSensorEvent {
     public static final int INDEX_COMPASS_ROLL    = 2;
 
 
+    /**
+     * Index for {@link CarSensorManager#SENSOR_TYPE_WHEEL_TICK_DISTANCE} in longValues.
+     */
+    public static final int INDEX_WHEEL_DISTANCE_RESET_COUNT = 0;
+    public static final int INDEX_WHEEL_DISTANCE_FRONT_LEFT = 1;
+    public static final int INDEX_WHEEL_DISTANCE_FRONT_RIGHT = 2;
+    public static final int INDEX_WHEEL_DISTANCE_REAR_RIGHT = 3;
+    public static final int INDEX_WHEEL_DISTANCE_REAR_LEFT = 4;
+
     private static final long MILLI_IN_NANOS = 1000000L;
 
     /** Sensor type for this event, such as {@link CarSensorManager#SENSOR_TYPE_COMPASS}. */
@@ -104,9 +113,12 @@ public class CarSensorEvent {
     public final float[] floatValues;
     /** Array holding int type of sensor data. */
     public final int[] intValues;
+    /** array holding long int type of sensor data */
+    public final long[] longValues;
 
     private static final float[] EMPTY_FLOAT_ARRAY = {};
     private static final int[] EMPTY_INT_ARRAY = {};
+    private static final long[] EMPTY_LONG_ARRAY = {};
 
     /**
      * Constructs a {@link CarSensorEvent} from integer values. Handled by
@@ -115,11 +127,13 @@ public class CarSensorEvent {
      * @hide
      */
     @RestrictTo(GROUP_ID)
-    public CarSensorEvent(int sensorType, long timestamp, int floatValueSize, int intValueSize) {
+    public CarSensorEvent(int sensorType, long timestamp, int floatValueSize, int intValueSize,
+                          int longValueSize) {
         this.sensorType = sensorType;
         this.timestamp = timestamp;
         floatValues = new float[floatValueSize];
         intValues = new int[intValueSize];
+        longValues = new long[longValueSize];
     }
 
     /**
@@ -128,14 +142,17 @@ public class CarSensorEvent {
      * @param timestamp time since system start in nanoseconds
      * @param floatValues {@code null} will be converted to an empty array
      * @param intValues {@code null} will be converted to an empty array
+     * @param longValues {@code null} will be converted to an empty array
      * @hide
      */
     @RestrictTo(GROUP_ID)
-    public CarSensorEvent(int sensorType, long timestamp, float[] floatValues, int[] intValues) {
+    public CarSensorEvent(int sensorType, long timestamp, float[] floatValues, int[] intValues,
+                          long[] longValues) {
         this.sensorType = sensorType;
         this.timestamp = timestamp;
         this.floatValues = (floatValues == null) ? EMPTY_FLOAT_ARRAY : floatValues;
         this.intValues = (intValues == null) ? EMPTY_INT_ARRAY : intValues;
+        this.longValues = (longValues == null) ? EMPTY_LONG_ARRAY : longValues;
     }
 
     /**
@@ -145,10 +162,12 @@ public class CarSensorEvent {
      * @param floatValues {@code null} will be converted to an empty array
      * @param byteValues bytes will be converted into the intValues array. {@code null} will be
      * converted to an empty array.
+     * @param longValues {@code null} will be converted to an empty array
      * @hide
      */
     @RestrictTo(GROUP_ID)
-    public CarSensorEvent(int sensorType, long timestamp, float[] floatValues, byte[] byteValues) {
+    public CarSensorEvent(int sensorType, long timestamp, float[] floatValues, byte[] byteValues,
+                          long[] longValues) {
         this.sensorType = sensorType;
         this.timestamp = timestamp;
         this.floatValues = (floatValues == null) ? EMPTY_FLOAT_ARRAY : floatValues;
@@ -160,6 +179,7 @@ public class CarSensorEvent {
                 this.intValues[i] = byteValues[i];
             }
         }
+        this.longValues = (longValues == null) ? EMPTY_LONG_ARRAY : longValues;
     }
 
     private void checkType(int type) {
@@ -920,6 +940,104 @@ public class CarSensorEvent {
     }
 
     /** @hide */
+    public static class CarWheelTickDistanceData {
+        public final long timestamp;
+        public final long sensorResetCount;
+        public final long frontLeftWheelDistanceMm;
+        public final long frontRightWheelDistanceMm;
+        public final long rearRightWheelDistanceMm;
+        public final long rearLeftWheelDistanceMm;
+
+        /** @hide */
+        @RestrictTo(GROUP_ID)
+        public CarWheelTickDistanceData(long timestamp, long sensorResetCount,
+                                    long frontLeftWheelDistanceMm, long frontRightWheelDistanceMm,
+                                    long rearRightWheelDistanceMm, long rearLeftWheelDistanceMm) {
+            this.timestamp = timestamp;
+            this.sensorResetCount = sensorResetCount;
+            this.frontLeftWheelDistanceMm = frontLeftWheelDistanceMm;
+            this.frontRightWheelDistanceMm = frontRightWheelDistanceMm;
+            this.rearRightWheelDistanceMm = rearRightWheelDistanceMm;
+            this.rearLeftWheelDistanceMm = rearLeftWheelDistanceMm;
+        }
+    }
+
+    /**
+     * Convenience method for obtaining a {@link CarWheelTickDistanceData} object from a
+     * CarSensorEvent object with type {@link CarSensorManager#SENSOR_TYPE_WHEEL_TICK_DISTANCE}.
+     *
+     * @return CarWheelTickDistanceData object corresponding to data contained in the CarSensorEvent
+     * @hide
+     */
+    public CarWheelTickDistanceData getCarWheelTickDistanceData() {
+        checkType(CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE);
+        long sensorResetCount = longValues[INDEX_WHEEL_DISTANCE_RESET_COUNT];
+        long frontLeftWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_FRONT_LEFT];
+        long frontRightWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_FRONT_RIGHT];
+        long rearRightWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_REAR_RIGHT];
+        long rearLeftWheelDistanceMm = longValues[INDEX_WHEEL_DISTANCE_REAR_LEFT];
+        return new CarWheelTickDistanceData(timestamp, sensorResetCount, frontLeftWheelDistanceMm,
+            frontRightWheelDistanceMm, rearRightWheelDistanceMm, rearLeftWheelDistanceMm);
+    }
+
+    /** @hide */
+    public static class CarAbsActiveData {
+        public final long timestamp;
+        public final boolean absIsActive;
+
+        /** @hide */
+        @RestrictTo(GROUP_ID)
+        public CarAbsActiveData(long timestamp, boolean absIsActive) {
+            this.timestamp = timestamp;
+            this.absIsActive = absIsActive;
+        };
+    }
+
+    /**
+     * Convenience method for obtaining a {@link CarAbsActiveData} object from a CarSensorEvent
+     * object with type {@link CarSensorManager#SENSOR_TYPE_ABS_ACTIVE}.
+     *
+     * @param data an optional output parameter which, if non-null, will be used by this method
+     *     instead of a newly created object.
+     * @return a CarAbsActiveData object corresponding to data contained in the CarSensorEvent.
+     * @hide
+     */
+    public CarAbsActiveData getCarAbsActiveData() {
+        checkType(CarSensorManager.SENSOR_TYPE_ABS_ACTIVE);
+        boolean absIsActive = intValues[0] == 1;
+        return new CarAbsActiveData(timestamp, absIsActive);
+    }
+
+    /** @hide */
+    public static class CarTractionControlActiveData {
+        public final long timestamp;
+        public final boolean tractionControlIsActive;
+
+        /** @hide */
+        @RestrictTo(GROUP_ID)
+        public CarTractionControlActiveData(long timestamp, boolean tractionControlIsActive) {
+            this.timestamp = timestamp;
+            this.tractionControlIsActive = tractionControlIsActive;
+        };
+    }
+
+    /**
+     * Convenience method for obtaining a {@link CarTractionControlActiveData} object from a
+     * CarSensorEvent object with type {@link CarSensorManager#SENSOR_TYPE_TRACTION_CONTROL_ACTIVE}.
+     *
+     * @param data an optional output parameter which, if non-null, will be used by this method
+     *     instead of a newly created object.
+     * @return a CarTractionControlActiveData object corresponding to data contained in the
+     *     CarSensorEvent.
+     * @hide
+     */
+    public CarTractionControlActiveData getCarTractionControlActiveData() {
+        checkType(CarSensorManager.SENSOR_TYPE_TRACTION_CONTROL_ACTIVE);
+        boolean tractionControlIsActive = intValues[0] == 1;
+        return new CarTractionControlActiveData(timestamp, tractionControlIsActive);
+    }
+
+    /** @hide */
     @Override
     public String toString() {
         StringBuilder sb = new StringBuilder();
@@ -937,6 +1055,12 @@ public class CarSensorEvent {
                 sb.append(" " + v);
             }
         }
+        if (longValues != null && longValues.length > 0) {
+            sb.append(" long values:");
+            for (long v: longValues) {
+                sb.append(" " + v);
+            }
+        }
         sb.append("]");
         return sb.toString();
     }
diff --git a/car-support-lib/src/android/support/car/hardware/CarSensorManager.java b/car-support-lib/src/android/support/car/hardware/CarSensorManager.java
index adc976ce22..f705a9f4e3 100644
--- a/car-support-lib/src/android/support/car/hardware/CarSensorManager.java
+++ b/car-support-lib/src/android/support/car/hardware/CarSensorManager.java
@@ -124,6 +124,23 @@ public abstract class CarSensorManager implements CarManagerBase {
     public static final int SENSOR_TYPE_RESERVED21 = 21;
     /** @hide */
     public static final int SENSOR_TYPE_RESERVED22 = 22;
+    /**
+     * Represents wheel distance in millimeters.  Some cars may not have individual sensors on each
+     * wheel.  If a value is not available, -1 will be reported.  The wheel distance accumulates
+     * over time.
+     * Requires {@link Car#PERMISSION_MILEAGE} permission.
+     */
+    public static final int SENSOR_TYPE_WHEEL_TICK_DISTANCE         = 23;
+    /**
+     * Set to true when ABS is active.  This sensor is event driven.
+     * Requires {@link Car#PERMISSION_VEHICLE_DYNAMICS_STATE} permission.
+     */
+    public static final int SENSOR_TYPE_ABS_ACTIVE                  = 24;
+    /**
+     * Set to true when traction control is active.  This sensor is event driven.
+     * Requires {@link Car#PERMISSION_VEHICLE_DYNAMICS_STATE} permission.
+     */
+    public static final int SENSOR_TYPE_TRACTION_CONTROL_ACTIVE     = 25;
 
     /**
      * Sensors defined in this range [{@link #SENSOR_TYPE_VENDOR_EXTENSION_START},
@@ -155,7 +172,10 @@ public abstract class CarSensorManager implements CarManagerBase {
         SENSOR_TYPE_ENVIRONMENT,
         SENSOR_TYPE_ACCELEROMETER,
         SENSOR_TYPE_GPS_SATELLITE,
-        SENSOR_TYPE_GYROSCOPE
+        SENSOR_TYPE_GYROSCOPE,
+        SENSOR_TYPE_WHEEL_TICK_DISTANCE,
+        SENSOR_TYPE_ABS_ACTIVE,
+        SENSOR_TYPE_TRACTION_CONTROL_ACTIVE
     })
     @Retention(RetentionPolicy.SOURCE)
     public @interface SensorType {}
@@ -230,7 +250,8 @@ public abstract class CarSensorManager implements CarManagerBase {
      * @throws SecurityException if missing the appropriate permission.
      */
     @RequiresPermission(anyOf={Manifest.permission.ACCESS_FINE_LOCATION, Car.PERMISSION_SPEED,
-            Car.PERMISSION_MILEAGE, Car.PERMISSION_FUEL}, conditional=true)
+            Car.PERMISSION_MILEAGE, Car.PERMISSION_FUEL, Car.PERMISSION_VEHICLE_DYNAMICS_STATE},
+            conditional=true)
     public abstract boolean addListener(OnSensorChangedListener listener,
             @SensorType int sensorType, @SensorRate int rate)
                     throws CarNotConnectedException, IllegalArgumentException;
diff --git a/car-support-lib/src/android/support/car/hardware/CarSensorManagerEmbedded.java b/car-support-lib/src/android/support/car/hardware/CarSensorManagerEmbedded.java
index 2692267b09..5fa207cc9f 100644
--- a/car-support-lib/src/android/support/car/hardware/CarSensorManagerEmbedded.java
+++ b/car-support-lib/src/android/support/car/hardware/CarSensorManagerEmbedded.java
@@ -173,7 +173,7 @@ public class CarSensorManagerEmbedded extends CarSensorManager {
             return null;
         }
         return new CarSensorEvent(event.sensorType, event.timestamp, event.floatValues,
-                event.intValues);
+                event.intValues, event.longValues);
     }
 
     private static class OnSensorChangedListenerProxy
diff --git a/car-support-lib/src/android/support/car/hardware/CarSensorsProxy.java b/car-support-lib/src/android/support/car/hardware/CarSensorsProxy.java
index a0eb482d8e..e110d0792f 100644
--- a/car-support-lib/src/android/support/car/hardware/CarSensorsProxy.java
+++ b/car-support-lib/src/android/support/car/hardware/CarSensorsProxy.java
@@ -322,7 +322,7 @@ class CarSensorsProxy {
                 case CarSensorManager.SENSOR_TYPE_COMPASS:
                     if (mLastMagneticFieldDataTime != 0 && mLastAccelerometerDataTime != 0) {
                         event = new CarSensorEvent(sensorType, Math.max(mLastMagneticFieldDataTime,
-                                mLastAccelerometerDataTime), 3, 0);
+                                mLastAccelerometerDataTime), 3, 0, 0);
                         SensorManager.getRotationMatrix(mR, mI, mLastAccelerometerData,
                                 mLastMagneticFieldData);
                         SensorManager.getOrientation(mR, mOrientation);
@@ -336,13 +336,13 @@ class CarSensorsProxy {
                     break;
                 case CarSensorManager.SENSOR_TYPE_LOCATION:
                     if (mLastLocationTime != 0) {
-                        event = new CarSensorEvent(sensorType, mLastLocationTime, 6, 3);
+                        event = new CarSensorEvent(sensorType, mLastLocationTime, 6, 3, 0);
                         populateLocationCarSensorEvent(event, mLastLocation);
                     }
                     break;
                 case CarSensorManager.SENSOR_TYPE_ACCELEROMETER:
                     if (mLastAccelerometerDataTime != 0) {
-                        event = new CarSensorEvent(sensorType, mLastAccelerometerDataTime, 3, 0);
+                        event = new CarSensorEvent(sensorType, mLastAccelerometerDataTime, 3, 0, 0);
                         event.floatValues[CarSensorEvent.INDEX_ACCELEROMETER_X] =
                                 mLastAccelerometerData[0];
                         event.floatValues[CarSensorEvent.INDEX_ACCELEROMETER_Y] =
@@ -358,7 +358,7 @@ class CarSensorsProxy {
                     break;
                 case CarSensorManager.SENSOR_TYPE_GYROSCOPE:
                     if (mLastGyroscopeDataTime != 0) {
-                        event = new CarSensorEvent(sensorType, mLastGyroscopeDataTime, 3, 0);
+                        event = new CarSensorEvent(sensorType, mLastGyroscopeDataTime, 3, 0, 0);
                         event.floatValues[CarSensorEvent.INDEX_GYROSCOPE_X] = mLastGyroscopeData[0];
                         event.floatValues[CarSensorEvent.INDEX_GYROSCOPE_Y] = mLastGyroscopeData[1];
                         event.floatValues[CarSensorEvent.INDEX_GYROSCOPE_Z] = mLastGyroscopeData[2];
@@ -430,7 +430,7 @@ class CarSensorsProxy {
         int intValuesSize = CarSensorEvent.INDEX_GPS_SATELLITE_ARRAY_INT_INTERVAL * numberInView
                 + CarSensorEvent.INDEX_GPS_SATELLITE_ARRAY_INT_OFFSET;
         event = new CarSensorEvent(CarSensorManager.SENSOR_TYPE_GPS_SATELLITE, mLastGpsStatusTime,
-                floatValuesSize, intValuesSize);
+                floatValuesSize, intValuesSize, 0);
         event.intValues[CarSensorEvent.INDEX_GPS_SATELLITE_NUMBER_IN_USE] = numberInUse;
         event.intValues[CarSensorEvent.INDEX_GPS_SATELLITE_NUMBER_IN_VIEW] = numberInView;
         int i = 0;
diff --git a/service/AndroidManifest.xml b/service/AndroidManifest.xml
index 175a8bb091..5fa6072af2 100644
--- a/service/AndroidManifest.xml
+++ b/service/AndroidManifest.xml
@@ -61,6 +61,12 @@
         android:label="@string/car_permission_label_speed"
         android:description="@string/car_permission_desc_speed" />
     <permission
+        android:name="android.car.permission.VEHICLE_DYNAMICS_STATE"
+        android:permissionGroup="android.permission-group.CAR_INFORMATION"
+        android:protectionLevel="dangerous"
+        android:label="@string/car_permission_label_vehicle_dynamics_state"
+        android:description="@string/car_permission_desc_vehicle_dynamics_state" />
+    <permission
         android:name="android.car.permission.CAR_VENDOR_EXTENSION"
         android:protectionLevel="system|signature"
         android:label="@string/car_permission_label_vendor_extension"
diff --git a/service/res/values/strings.xml b/service/res/values/strings.xml
index 1cd53ca1d8..e17b53367d 100644
--- a/service/res/values/strings.xml
+++ b/service/res/values/strings.xml
@@ -44,6 +44,10 @@
     <string name="car_permission_label_speed">Car speed</string>
     <!-- Permission text: can access your car's speed [CHAR LIMIT=NONE] -->
     <string name="car_permission_desc_speed">Access your car\'s speed.</string>
+    <!-- Permission text: can access your car's dynamics state [CHAR LIMIT=NONE] -->
+    <string name="car_permission_label_vehicle_dynamics_state">Vehicle dynamics state</string>
+    <!-- Permission text: can access your car's dynamic state [CHAR LIMIT=NONE] -->
+    <string name="car_permission_desc_vehicle_dynamics_state">Access your car\'s dynamics state</string>
     <!-- Permission text: apps can access car-manufacturer specific data [CHAR LIMIT=NONE] -->
     <string name="car_permission_label_vendor_extension">Car vendor channel</string>
     <!-- Permission text: apps can access car-manufacturer specific data [CHAR LIMIT=NONE] -->
diff --git a/service/src/com/android/car/CarSensorEventFactory.java b/service/src/com/android/car/CarSensorEventFactory.java
index fbae0edfe1..6497e16be9 100644
--- a/service/src/com/android/car/CarSensorEventFactory.java
+++ b/service/src/com/android/car/CarSensorEventFactory.java
@@ -17,29 +17,50 @@
 package com.android.car;
 
 import android.car.hardware.CarSensorEvent;
+import android.hardware.automotive.vehicle.V2_0.VehiclePropValue;
 
 //TODO add memory pool and recycling
 public class CarSensorEventFactory {
 
     public static CarSensorEvent createBooleanEvent(int sensorType, long timestamp,
             boolean value) {
-        CarSensorEvent event = new CarSensorEvent(sensorType, timestamp, 0, 1);
+        CarSensorEvent event = new CarSensorEvent(sensorType, timestamp, 0, 1, 0);
         event.intValues[0] = value ? 1 : 0;
         return event;
     }
 
     public static CarSensorEvent createIntEvent(int sensorType, long timestamp, int value) {
-        CarSensorEvent event = new CarSensorEvent(sensorType, timestamp, 0, 1);
+        CarSensorEvent event = new CarSensorEvent(sensorType, timestamp, 0, 1, 0);
         event.intValues[0] = value;
         return event;
     }
 
     public static CarSensorEvent createFloatEvent(int sensorType, long timestamp, float value) {
-        CarSensorEvent event = new CarSensorEvent(sensorType, timestamp, 1, 0);
+        CarSensorEvent event = new CarSensorEvent(sensorType, timestamp, 1, 0, 0);
         event.floatValues[0] = value;
         return event;
     }
 
+    public static CarSensorEvent createComplexEvent(int sensorType, long timestamp,
+                                                    VehiclePropValue v) {
+        int numFloats = v.value.floatValues.size();
+        int numInts = v.value.int32Values.size();
+        int numLongs = v.value.int64Values.size();
+        CarSensorEvent event = new CarSensorEvent(sensorType, timestamp, numFloats, numInts,
+            numLongs);
+        // Copy arraylist elements into final arrays
+        for (int i=0; i<numFloats; i++) {
+            event.floatValues[i] = v.value.floatValues.get(i);
+        }
+        for (int i=0; i<numInts; i++) {
+            event.intValues[i] = v.value.int32Values.get(i);
+        }
+        for (int i=0; i<numLongs; i++) {
+            event.longValues[i] = v.value.int64Values.get(i);
+        }
+        return event;
+    }
+
     public static void returnToPool(CarSensorEvent event) {
         //TODO
     }
diff --git a/service/src/com/android/car/CarSensorService.java b/service/src/com/android/car/CarSensorService.java
index ffb13ca946..44a33b4bae 100644
--- a/service/src/com/android/car/CarSensorService.java
+++ b/service/src/com/android/car/CarSensorService.java
@@ -420,6 +420,7 @@ public class CarSensorService extends ICarSensor.Stub
         switch (sensorType) {
             case CarSensorManager.SENSOR_TYPE_CAR_SPEED:
             case CarSensorManager.SENSOR_TYPE_RPM:
+            case CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE:
                 return true;
             case CarSensorManager.SENSOR_TYPE_ODOMETER:
             case CarSensorManager.SENSOR_TYPE_FUEL_LEVEL:
@@ -454,6 +455,7 @@ public class CarSensorService extends ICarSensor.Stub
         String permission = null;
         switch (sensorType) {
             case CarSensorManager.SENSOR_TYPE_CAR_SPEED:
+            case CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE:
                 permission = Car.PERMISSION_SPEED;
                 break;
             case CarSensorManager.SENSOR_TYPE_ODOMETER:
@@ -462,6 +464,10 @@ public class CarSensorService extends ICarSensor.Stub
             case CarSensorManager.SENSOR_TYPE_FUEL_LEVEL:
                 permission = Car.PERMISSION_FUEL;
                 break;
+            case CarSensorManager.SENSOR_TYPE_ABS_ACTIVE:
+            case CarSensorManager.SENSOR_TYPE_TRACTION_CONTROL_ACTIVE:
+                permission = Car.PERMISSION_VEHICLE_DYNAMICS_STATE;
+                break;
             default:
                 break;
         }
diff --git a/service/src/com/android/car/DayNightModePolicy.java b/service/src/com/android/car/DayNightModePolicy.java
index dae9a141f8..48072ebc8b 100644
--- a/service/src/com/android/car/DayNightModePolicy.java
+++ b/service/src/com/android/car/DayNightModePolicy.java
@@ -86,7 +86,7 @@ public class DayNightModePolicy extends CarSensorService.LogicalSensor {
 
     private static CarSensorEvent createEvent(boolean isNight, long timestamp) {
         CarSensorEvent event = new CarSensorEvent(CarSensorManager.SENSOR_TYPE_NIGHT,
-                timestamp, 0, 1);
+                timestamp, 0, 1, 0);
         event.intValues[0] = isNight ? 1 : 0;
         return event;
     }
diff --git a/service/src/com/android/car/DrivingStatePolicy.java b/service/src/com/android/car/DrivingStatePolicy.java
index ce81209b0e..37bbbc09fe 100644
--- a/service/src/com/android/car/DrivingStatePolicy.java
+++ b/service/src/com/android/car/DrivingStatePolicy.java
@@ -204,7 +204,8 @@ public class DrivingStatePolicy extends CarSensorService.LogicalSensor {
                 CarSensorManager.SENSOR_TYPE_DRIVING_STATUS,
                 timestamp,
                 0 /* float values */,
-                1 /* int values */);
+                1 /* int values */,
+                0 /* long values */);
         event.intValues[0] = drivingState;
         return event;
     }
diff --git a/service/src/com/android/car/hal/SensorHalService.java b/service/src/com/android/car/hal/SensorHalService.java
index a4fd77d2e4..2b84fc4ecf 100644
--- a/service/src/com/android/car/hal/SensorHalService.java
+++ b/service/src/com/android/car/hal/SensorHalService.java
@@ -25,7 +25,7 @@ import android.hardware.automotive.vehicle.V2_0.VehicleGear;
 import android.hardware.automotive.vehicle.V2_0.VehicleIgnitionState;
 import android.hardware.automotive.vehicle.V2_0.VehiclePropConfig;
 import android.hardware.automotive.vehicle.V2_0.VehiclePropValue;
-import android.hardware.automotive.vehicle.V2_0.VehicleProperty;
+import android.hardware.automotive.vehicle.V2_1.VehicleProperty;
 import android.hardware.automotive.vehicle.V2_0.VehiclePropertyAccess;
 import android.hardware.automotive.vehicle.V2_0.VehiclePropertyChangeMode;
 import android.hardware.automotive.vehicle.V2_0.VehiclePropertyType;
@@ -66,7 +66,12 @@ public class SensorHalService extends SensorHalServiceBase {
                     CarSensorManager.SENSOR_TYPE_PARKING_BRAKE, VehicleProperty.PARKING_BRAKE_ON,
                     CarSensorManager.SENSOR_TYPE_DRIVING_STATUS, VehicleProperty.DRIVING_STATUS,
                     CarSensorManager.SENSOR_TYPE_FUEL_LEVEL, VehicleProperty.FUEL_LEVEL_LOW,
-                    CarSensorManager.SENSOR_TYPE_IGNITION_STATE, VehicleProperty.IGNITION_STATE);
+                    CarSensorManager.SENSOR_TYPE_IGNITION_STATE, VehicleProperty.IGNITION_STATE,
+                    CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE, VehicleProperty.WHEEL_TICK,
+                    CarSensorManager.SENSOR_TYPE_ABS_ACTIVE, VehicleProperty.ABS_ACTIVE,
+                    CarSensorManager.SENSOR_TYPE_TRACTION_CONTROL_ACTIVE,
+                        VehicleProperty.TRACTION_CONTROL_ACTIVE
+                );
 
     private final static SparseIntArray mMgrGearToHalMap = initSparseIntArray(
             VehicleGear.GEAR_NEUTRAL, CarSensorEvent.GEAR_NEUTRAL,
@@ -93,6 +98,24 @@ public class SensorHalService extends SensorHalServiceBase {
 
     private SensorListener mSensorListener;
 
+    private int[] mMicrometersPerWheelTick = {0, 0, 0, 0};
+
+    @Override
+    public void init() {
+        // Populate internal values if available
+        VehiclePropConfig config = mSensorToPropConfig.get(
+            CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE);
+        if (config == null) {
+            Log.e(TAG, "init:  unable to get property config for SENSOR_TYPE_WHEEL_TICK_DISTANCE");
+        } else {
+            for (int i=0; i<4; i++) {
+                // ConfigArray starts with Wheels enum at idx 0
+                mMicrometersPerWheelTick[i] = config.configArray.get(i+1);
+            }
+        }
+        super.init();
+    }
+
     public SensorHalService(VehicleHal hal) {
         super(hal);
     }
@@ -156,27 +179,45 @@ public class SensorHalService extends SensorHalServiceBase {
         if (sensorType == SENSOR_TYPE_INVALID) {
             throw new RuntimeException("no sensor defined for property 0x" + toHexString(property));
         }
-
+        // Handle the valid sensor
         int dataType = property & VehiclePropertyType.MASK;
-
         CarSensorEvent event = null;
         switch (dataType) {
             case VehiclePropertyType.BOOLEAN:
                 event = CarSensorEventFactory.createBooleanEvent(sensorType, v.timestamp,
-                        v.value.int32Values.get(0) == 1);
+                    v.value.int32Values.get(0) == 1);
+                break;
+            case VehiclePropertyType.COMPLEX:
+                event = CarSensorEventFactory.createComplexEvent(sensorType, v.timestamp, v);
                 break;
             case VehiclePropertyType.INT32:
                 Integer mgrVal = mapHalEnumValueToMgr(property, v.value.int32Values.get(0));
                 event =  mgrVal == null ? null
-                        : CarSensorEventFactory.createIntEvent(sensorType, v.timestamp, mgrVal);
+                    : CarSensorEventFactory.createIntEvent(sensorType, v.timestamp, mgrVal);
                 break;
-            case VehiclePropertyType.FLOAT: {
+            case VehiclePropertyType.FLOAT:
                 event = CarSensorEventFactory.createFloatEvent(sensorType, v.timestamp,
-                        v.value.floatValues.get(0));
+                    v.value.floatValues.get(0));
                 break;
-            }
             default:
                 Log.w(TAG, "createCarSensorEvent: unsupported type: 0x" + toHexString(dataType));
+                break;
+        }
+        // Perform property specific actions
+        switch (property) {
+            case VehicleProperty.WHEEL_TICK:
+                // Apply the um/tick scaling factor, then divide by 1000 to generate mm
+                for (int i = 0; i < 4; i++) {
+                    // ResetCounts is at longValues[0]
+                    if (event.longValues[i + CarSensorEvent.INDEX_WHEEL_DISTANCE_FRONT_LEFT] !=
+                        Long.MAX_VALUE) {
+                        event.longValues[i + CarSensorEvent.INDEX_WHEEL_DISTANCE_FRONT_LEFT] *=
+                            mMicrometersPerWheelTick[i];
+                        event.longValues[i + CarSensorEvent.INDEX_WHEEL_DISTANCE_FRONT_LEFT] /=
+                            1000;
+                    }
+                }
+                break;
         }
         if (DBG_EVENTS) Log.i(TAG, "Sensor event created: " + event);
         return event;
@@ -225,6 +266,9 @@ public class SensorHalService extends SensorHalServiceBase {
         for (int i = 0; i < mSensorToPropConfig.size(); i++) {
             writer.println(mSensorToPropConfig.valueAt(i).toString());
         }
+        for (int i = 0; i < mMicrometersPerWheelTick.length; i++) {
+            writer.println("mMicrometersPerWheelTick[" + i + "] = " + mMicrometersPerWheelTick[i]);
+        }
     }
 
     private static SparseIntArray initSparseIntArray(int... keyValuePairs) {
diff --git a/tests/EmbeddedKitchenSinkApp/AndroidManifest.xml b/tests/EmbeddedKitchenSinkApp/AndroidManifest.xml
index 4d29276ee3..dc10d2b824 100644
--- a/tests/EmbeddedKitchenSinkApp/AndroidManifest.xml
+++ b/tests/EmbeddedKitchenSinkApp/AndroidManifest.xml
@@ -31,6 +31,7 @@
     <uses-permission android:name="android.car.permission.CAR_CAMERA" />
     <uses-permission android:name="android.car.permission.CAR_NAVIGATION_MANAGER"/>
     <uses-permission android:name="android.car.permission.CAR_CONTROL_AUDIO_VOLUME"/>
+    <uses-permission android:name="android.car.permission.VEHICLE_DYNAMICS_STATE"/>
     <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
     <uses-permission android:name="android.permission.MANAGE_USB" />
     <uses-permission android:name="android.permission.WRITE_SETTINGS" />
diff --git a/tests/EmbeddedKitchenSinkApp/res/values/strings.xml b/tests/EmbeddedKitchenSinkApp/res/values/strings.xml
index 4837decfe9..66ff16d608 100644
--- a/tests/EmbeddedKitchenSinkApp/res/values/strings.xml
+++ b/tests/EmbeddedKitchenSinkApp/res/values/strings.xml
@@ -163,7 +163,7 @@
     <string name="sensor_night">Night[%1$s]: isNight=%2$s</string>
     <string name="sensor_gear">Gear[%1$s]: gear=%2$s</string>
     <string name="sensor_parking_brake">Parking brake[%1$s]: isEngaged=%2$s</string>
-    <string name="sensor_fuel_level">Fuel level[%1$s]: lebel=%2$s, range=%3$s, lowFuelWarning=%4$s</string>
+    <string name="sensor_fuel_level">Fuel level[%1$s]: level=%2$s, range=%3$s, lowFuelWarning=%4$s</string>
     <string name="sensor_odometer">Odometer[%1$s]: kms=%2$s</string>
     <string name="sensor_rpm">RPM[%1$s]: rpm=%2$s</string>
     <string name="sensor_speed">Speed[%1$s]: speed=%2$s</string>
@@ -174,6 +174,9 @@
     <string name="sensor_location">Location[%1$s]: lat=%2$s, lon=%3$s, accuracy=%4$s, altitude=%5$s, speed=%6$s, bearing=%7$s</string>
     <string name="sensor_gps">GPS Satellites[%1$s]: inView: %2$s, inUse: %3$s. %4$s</string>
     <string name="sensor_single_gps_satellite">(%1$s): usedInFix: %2$s, prn: %3$s, snr: %4$s, azimuth: %5$s, elevation: %6$s</string>
+    <string name="sensor_wheel_ticks">Wheel Distance[%1$s]: reset=%2$s, FL=%3$s, FR=%4$s, RL=%5$s, RR=%6$s</string>
+    <string name="sensor_abs_is_active">ABS[%1$s]: isActive=%2$s</string>
+    <string name="sensor_traction_control_is_active">Traction Control[%1$s]: isActive=%2$s</string>
 
     <string name="volume_test">Volume Test</string>
     <string name="volume_up_logical">Vol +</string>
diff --git a/tests/EmbeddedKitchenSinkApp/src/com/google/android/car/kitchensink/sensor/SensorsTestFragment.java b/tests/EmbeddedKitchenSinkApp/src/com/google/android/car/kitchensink/sensor/SensorsTestFragment.java
index 3c3f57df08..082a3f0a6b 100644
--- a/tests/EmbeddedKitchenSinkApp/src/com/google/android/car/kitchensink/sensor/SensorsTestFragment.java
+++ b/tests/EmbeddedKitchenSinkApp/src/com/google/android/car/kitchensink/sensor/SensorsTestFragment.java
@@ -58,7 +58,8 @@ public class SensorsTestFragment extends Fragment {
         Manifest.permission.ACCESS_COARSE_LOCATION,
         Car.PERMISSION_MILEAGE,
         Car.PERMISSION_FUEL,
-        Car.PERMISSION_SPEED
+        Car.PERMISSION_SPEED,
+        Car.PERMISSION_VEHICLE_DYNAMICS_STATE
     };
 
     private final CarSensorManager.OnSensorChangedListener mOnSensorChangedListener =
@@ -271,6 +272,32 @@ public class SensorsTestFragment extends Fragment {
                     case CarSensorManager.SENSOR_TYPE_GYROSCOPE:
                         summary.add(getGyroscopeString(event));
                         break;
+                    case CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE:
+                        if(event != null) {
+                            CarSensorEvent.CarWheelTickDistanceData d =
+                                event.getCarWheelTickDistanceData();
+                            summary.add(getContext().getString(R.string.sensor_wheel_ticks,
+                                getTimestamp(event), d.sensorResetCount, d.frontLeftWheelDistanceMm,
+                                d.frontRightWheelDistanceMm, d.rearLeftWheelDistanceMm,
+                                d.rearRightWheelDistanceMm));
+                        } else {
+                            summary.add(getContext().getString(R.string.sensor_wheel_ticks,
+                                getTimestamp(event), mNaString, mNaString, mNaString, mNaString,
+                                mNaString));
+                        }
+                        break;
+                    case CarSensorManager.SENSOR_TYPE_ABS_ACTIVE:
+                        summary.add(getContext().getString(R.string.sensor_abs_is_active,
+                            getTimestamp(event), event == null ? mNaString :
+                            event.getCarAbsActiveData().absIsActive));
+                        break;
+
+                    case CarSensorManager.SENSOR_TYPE_TRACTION_CONTROL_ACTIVE:
+                        summary.add(
+                            getContext().getString(R.string.sensor_traction_control_is_active,
+                            getTimestamp(event), event == null ? mNaString :
+                            event.getCarTractionControlActiveData().tractionControlIsActive));
+                        break;
                     default:
                         // Should never happen.
                         Log.w(TAG, "Unrecognized event type: " + i);