service/src/com/android/car/hal/SensorHalService.java - platform/packages/services/Car - Gitiles

 /*
  * Copyright (C) 2015 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 com.android.car.hal;

 import static java.lang.Integer.toHexString;

 import android.annotation.Nullable;
 import android.car.hardware.CarSensorConfig;
 import android.car.hardware.CarSensorEvent;
 import android.car.hardware.CarSensorManager;
 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_0.VehiclePropertyAccess;
 import android.hardware.automotive.vehicle.V2_0.VehiclePropertyChangeMode;
 import android.hardware.automotive.vehicle.V2_0.VehiclePropertyType;
 import android.os.Bundle;
 import android.util.Log;
 import android.util.SparseIntArray;
 import com.android.car.CarLog;
 import com.android.car.CarSensorEventFactory;
 import java.io.PrintWriter;
 import java.util.ArrayList;
 import java.util.LinkedList;
 import java.util.List;

 /**
  * Sensor HAL implementation for physical sensors in car.
  */
 public class SensorHalService extends SensorHalServiceBase {
     private static final String TAG = CarLog.concatTag(CarLog.TAG_SENSOR, SensorHalService.class);
     private static final boolean DBG_EVENTS = false;

     /**
      * Listener for monitoring sensor event. Only sensor service will implement this.
      */
     public interface SensorListener {
         /**
          * Sensor events are available.
          *
          * @param events
          */
         void onSensorEvents(List<CarSensorEvent> events);
     }

     // Manager property Id to HAL property Id mapping.
     private final static ManagerToHalPropIdMap mManagerToHalPropIdMap =
         ManagerToHalPropIdMap.create(
             CarSensorManager.SENSOR_TYPE_CAR_SPEED, VehicleProperty.PERF_VEHICLE_SPEED,
             CarSensorManager.SENSOR_TYPE_RPM, VehicleProperty.ENGINE_RPM,
             CarSensorManager.SENSOR_TYPE_ODOMETER, VehicleProperty.PERF_ODOMETER,
             CarSensorManager.SENSOR_TYPE_GEAR, VehicleProperty.GEAR_SELECTION,
             CarSensorManager.SENSOR_TYPE_NIGHT, VehicleProperty.NIGHT_MODE,
             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_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,
         VehicleGear.GEAR_REVERSE, CarSensorEvent.GEAR_REVERSE,
         VehicleGear.GEAR_PARK, CarSensorEvent.GEAR_PARK,
         VehicleGear.GEAR_DRIVE, CarSensorEvent.GEAR_DRIVE,
         VehicleGear.GEAR_LOW, CarSensorEvent.GEAR_FIRST, // Also GEAR_1 - the value is the same.
         VehicleGear.GEAR_2, CarSensorEvent.GEAR_SECOND,
         VehicleGear.GEAR_3, CarSensorEvent.GEAR_THIRD,
         VehicleGear.GEAR_4, CarSensorEvent.GEAR_FOURTH,
         VehicleGear.GEAR_5, CarSensorEvent.GEAR_FIFTH,
         VehicleGear.GEAR_6, CarSensorEvent.GEAR_SIXTH,
         VehicleGear.GEAR_7, CarSensorEvent.GEAR_SEVENTH,
         VehicleGear.GEAR_8, CarSensorEvent.GEAR_EIGHTH,
         VehicleGear.GEAR_9, CarSensorEvent.GEAR_NINTH);

     private final static SparseIntArray mMgrIgnitionStateToHalMap = initSparseIntArray(
         VehicleIgnitionState.UNDEFINED, CarSensorEvent.IGNITION_STATE_UNDEFINED,
         VehicleIgnitionState.LOCK, CarSensorEvent.IGNITION_STATE_LOCK,
         VehicleIgnitionState.OFF, CarSensorEvent.IGNITION_STATE_OFF,
         VehicleIgnitionState.ACC, CarSensorEvent.IGNITION_STATE_ACC,
         VehicleIgnitionState.ON, CarSensorEvent.IGNITION_STATE_ON,
         VehicleIgnitionState.START, CarSensorEvent.IGNITION_STATE_START);

     private SensorListener mSensorListener;

     private int[] mMicrometersPerWheelTick = {0, 0, 0, 0};

     @Override
     public void init() {
         VehiclePropConfig config;
         // Populate internal values if available
         synchronized (this) {
             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++) {
                 mMicrometersPerWheelTick[i] = config.configArray.get(i +
                     INDEX_WHEEL_DISTANCE_FRONT_LEFT);
             }
         }
         super.init();
     }

     public SensorHalService(VehicleHal hal) {
         super(hal);
     }

     public synchronized void registerSensorListener(SensorListener listener) {
         mSensorListener = listener;
     }

     @Override
     protected int getTokenForProperty(VehiclePropConfig halProperty) {
         int sensor = mManagerToHalPropIdMap.getManagerPropId(halProperty.prop);
         if (sensor != SENSOR_TYPE_INVALID
             && halProperty.changeMode != VehiclePropertyChangeMode.STATIC
             && ((halProperty.access & VehiclePropertyAccess.READ) != 0)) {
             return sensor;
         }
         return SENSOR_TYPE_INVALID;
     }

     // Should be used only inside handleHalEvents method.
     private final LinkedList<CarSensorEvent> mEventsToDispatch = new LinkedList<>();

     @Override
     public void handleHalEvents(List<VehiclePropValue> values) {
         for (VehiclePropValue v : values) {
             CarSensorEvent event = createCarSensorEvent(v);
             if (event != null) {
                 mEventsToDispatch.add(event);
             }
         }
         SensorListener sensorListener;
         synchronized (this) {
             sensorListener = mSensorListener;
         }
         if (DBG_EVENTS) Log.d(TAG, "handleHalEvents, listener: " + sensorListener);
         if (sensorListener != null) {
             sensorListener.onSensorEvents(mEventsToDispatch);
         }
         mEventsToDispatch.clear();
     }

     @Nullable
     private Integer mapHalEnumValueToMgr(int propId, int halValue) {
         int mgrValue = halValue;

         switch (propId) {
             case VehicleProperty.GEAR_SELECTION:
                 mgrValue = mMgrGearToHalMap.get(halValue, -1);
                 break;
             case VehicleProperty.IGNITION_STATE:
                 mgrValue = mMgrIgnitionStateToHalMap.get(halValue, -1);
             default:
                 break; // Do nothing
         }
         return mgrValue == -1 ? null : mgrValue;
     }

     @Nullable
     private CarSensorEvent createCarSensorEvent(VehiclePropValue v) {
         int property = v.prop;
         int sensorType = mManagerToHalPropIdMap.getManagerPropId(property);
         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);
                 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);
                 break;
             case VehiclePropertyType.FLOAT:
                 event = CarSensorEventFactory.createFloatEvent(sensorType, v.timestamp,
                     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;
     }

     @Nullable
     public CarSensorEvent getCurrentSensorValue(int sensorType) {
         VehiclePropValue propValue = getCurrentSensorVehiclePropValue(sensorType);
         return (null != propValue) ? createCarSensorEvent(propValue) : null;
     }

     @Override
     protected float fixSamplingRateForProperty(VehiclePropConfig prop, int carSensorManagerRate) {
         switch (prop.changeMode) {
             case VehiclePropertyChangeMode.ON_CHANGE:
             case VehiclePropertyChangeMode.ON_SET:
                 return 0;
         }
         float rate = 1.0f;
         switch (carSensorManagerRate) {
             case CarSensorManager.SENSOR_RATE_FASTEST:
                 rate = prop.maxSampleRate;
                 break;
             case CarSensorManager.SENSOR_RATE_FAST:
                 rate = 10f;  // every 100ms
                 break;
             case CarSensorManager.SENSOR_RATE_UI:
                 rate = 5f;   // every 200ms
                 break;
             default: // fall back to default.
                 break;
         }
         if (rate > prop.maxSampleRate) {
             rate = prop.maxSampleRate;
         }
         if (rate < prop.minSampleRate) {
             rate = prop.minSampleRate;
         }
         return rate;
     }

     @Override
     public void dump(PrintWriter writer) {
         writer.println("*Sensor HAL*");
         writer.println("**Supported properties**");
         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) {
         int inputLength = keyValuePairs.length;
         if (inputLength % 2 != 0) {
             throw new IllegalArgumentException("Odd number of key-value elements");
         }

         SparseIntArray map = new SparseIntArray(inputLength / 2);
         for (int i = 0; i < keyValuePairs.length; i += 2) {
             map.put(keyValuePairs[i], keyValuePairs[i + 1]);
         }
         return map;
     }

     private static final int INDEX_WHEEL_DISTANCE_ENABLE_FLAG = 0;
     private static final int INDEX_WHEEL_DISTANCE_FRONT_LEFT = 1;
     private static final int INDEX_WHEEL_DISTANCE_FRONT_RIGHT = 2;
     private static final int INDEX_WHEEL_DISTANCE_REAR_RIGHT = 3;
     private static final int INDEX_WHEEL_DISTANCE_REAR_LEFT = 4;
     private static final int WHEEL_TICK_DISTANCE_BUNDLE_SIZE = 6;

     private Bundle createWheelDistanceTickBundle(ArrayList<Integer> configArray) {
         Bundle b = new Bundle(WHEEL_TICK_DISTANCE_BUNDLE_SIZE);
         b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_SUPPORTED_WHEELS,
             configArray.get(INDEX_WHEEL_DISTANCE_ENABLE_FLAG));
         b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_FRONT_LEFT_UM_PER_TICK,
             configArray.get(INDEX_WHEEL_DISTANCE_FRONT_LEFT));
         b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_FRONT_RIGHT_UM_PER_TICK,
             configArray.get(INDEX_WHEEL_DISTANCE_FRONT_RIGHT));
         b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_REAR_RIGHT_UM_PER_TICK,
             configArray.get(INDEX_WHEEL_DISTANCE_REAR_RIGHT));
         b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_REAR_LEFT_UM_PER_TICK,
             configArray.get(INDEX_WHEEL_DISTANCE_REAR_LEFT));
         return b;
     }


     public CarSensorConfig getSensorConfig(int sensorType) {
         VehiclePropConfig cfg;
         synchronized (this) {
             cfg = mSensorToPropConfig.get(sensorType);
         }
         if (cfg == null) {
             /* Invalid sensor type. */
             throw new IllegalArgumentException("Unknown sensorType = " + sensorType);
         } else {
             Bundle b;
             switch(sensorType) {
                 case CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE:
                     b = createWheelDistanceTickBundle(cfg.configArray);
                     break;
                 default:
                     /* Unhandled config.  Create empty bundle */
                     b = Bundle.EMPTY;
                     break;
             }
             return new CarSensorConfig(sensorType, b);
         }
     }
 }
	/*
	* Copyright (C) 2015 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 com.android.car.hal;

	import static java.lang.Integer.toHexString;

	import android.annotation.Nullable;
	import android.car.hardware.CarSensorConfig;
	import android.car.hardware.CarSensorEvent;
	import android.car.hardware.CarSensorManager;
	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_0.VehiclePropertyAccess;
	import android.hardware.automotive.vehicle.V2_0.VehiclePropertyChangeMode;
	import android.hardware.automotive.vehicle.V2_0.VehiclePropertyType;
	import android.os.Bundle;
	import android.util.Log;
	import android.util.SparseIntArray;
	import com.android.car.CarLog;
	import com.android.car.CarSensorEventFactory;
	import java.io.PrintWriter;
	import java.util.ArrayList;
	import java.util.LinkedList;
	import java.util.List;

	/**
	* Sensor HAL implementation for physical sensors in car.
	*/
	public class SensorHalService extends SensorHalServiceBase {
	private static final String TAG = CarLog.concatTag(CarLog.TAG_SENSOR, SensorHalService.class);
	private static final boolean DBG_EVENTS = false;

	/**
	* Listener for monitoring sensor event. Only sensor service will implement this.
	*/
	public interface SensorListener {
	/**
	* Sensor events are available.
	*
	* @param events
	*/
	void onSensorEvents(List<CarSensorEvent> events);
	}

	// Manager property Id to HAL property Id mapping.
	private final static ManagerToHalPropIdMap mManagerToHalPropIdMap =
	ManagerToHalPropIdMap.create(
	CarSensorManager.SENSOR_TYPE_CAR_SPEED, VehicleProperty.PERF_VEHICLE_SPEED,
	CarSensorManager.SENSOR_TYPE_RPM, VehicleProperty.ENGINE_RPM,
	CarSensorManager.SENSOR_TYPE_ODOMETER, VehicleProperty.PERF_ODOMETER,
	CarSensorManager.SENSOR_TYPE_GEAR, VehicleProperty.GEAR_SELECTION,
	CarSensorManager.SENSOR_TYPE_NIGHT, VehicleProperty.NIGHT_MODE,
	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_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,
	VehicleGear.GEAR_REVERSE, CarSensorEvent.GEAR_REVERSE,
	VehicleGear.GEAR_PARK, CarSensorEvent.GEAR_PARK,
	VehicleGear.GEAR_DRIVE, CarSensorEvent.GEAR_DRIVE,
	VehicleGear.GEAR_LOW, CarSensorEvent.GEAR_FIRST, // Also GEAR_1 - the value is the same.
	VehicleGear.GEAR_2, CarSensorEvent.GEAR_SECOND,
	VehicleGear.GEAR_3, CarSensorEvent.GEAR_THIRD,
	VehicleGear.GEAR_4, CarSensorEvent.GEAR_FOURTH,
	VehicleGear.GEAR_5, CarSensorEvent.GEAR_FIFTH,
	VehicleGear.GEAR_6, CarSensorEvent.GEAR_SIXTH,
	VehicleGear.GEAR_7, CarSensorEvent.GEAR_SEVENTH,
	VehicleGear.GEAR_8, CarSensorEvent.GEAR_EIGHTH,
	VehicleGear.GEAR_9, CarSensorEvent.GEAR_NINTH);

	private final static SparseIntArray mMgrIgnitionStateToHalMap = initSparseIntArray(
	VehicleIgnitionState.UNDEFINED, CarSensorEvent.IGNITION_STATE_UNDEFINED,
	VehicleIgnitionState.LOCK, CarSensorEvent.IGNITION_STATE_LOCK,
	VehicleIgnitionState.OFF, CarSensorEvent.IGNITION_STATE_OFF,
	VehicleIgnitionState.ACC, CarSensorEvent.IGNITION_STATE_ACC,
	VehicleIgnitionState.ON, CarSensorEvent.IGNITION_STATE_ON,
	VehicleIgnitionState.START, CarSensorEvent.IGNITION_STATE_START);

	private SensorListener mSensorListener;

	private int[] mMicrometersPerWheelTick = {0, 0, 0, 0};

	@Override
	public void init() {
	VehiclePropConfig config;
	// Populate internal values if available
	synchronized (this) {
	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++) {
	mMicrometersPerWheelTick[i] = config.configArray.get(i +
	INDEX_WHEEL_DISTANCE_FRONT_LEFT);
	}
	}
	super.init();
	}

	public SensorHalService(VehicleHal hal) {
	super(hal);
	}

	public synchronized void registerSensorListener(SensorListener listener) {
	mSensorListener = listener;
	}

	@Override
	protected int getTokenForProperty(VehiclePropConfig halProperty) {
	int sensor = mManagerToHalPropIdMap.getManagerPropId(halProperty.prop);
	if (sensor != SENSOR_TYPE_INVALID
	&& halProperty.changeMode != VehiclePropertyChangeMode.STATIC
	&& ((halProperty.access & VehiclePropertyAccess.READ) != 0)) {
	return sensor;
	}
	return SENSOR_TYPE_INVALID;
	}

	// Should be used only inside handleHalEvents method.
	private final LinkedList<CarSensorEvent> mEventsToDispatch = new LinkedList<>();

	@Override
	public void handleHalEvents(List<VehiclePropValue> values) {
	for (VehiclePropValue v : values) {
	CarSensorEvent event = createCarSensorEvent(v);
	if (event != null) {
	mEventsToDispatch.add(event);
	}
	}
	SensorListener sensorListener;
	synchronized (this) {
	sensorListener = mSensorListener;
	}
	if (DBG_EVENTS) Log.d(TAG, "handleHalEvents, listener: " + sensorListener);
	if (sensorListener != null) {
	sensorListener.onSensorEvents(mEventsToDispatch);
	}
	mEventsToDispatch.clear();
	}

	@Nullable
	private Integer mapHalEnumValueToMgr(int propId, int halValue) {
	int mgrValue = halValue;

	switch (propId) {
	case VehicleProperty.GEAR_SELECTION:
	mgrValue = mMgrGearToHalMap.get(halValue, -1);
	break;
	case VehicleProperty.IGNITION_STATE:
	mgrValue = mMgrIgnitionStateToHalMap.get(halValue, -1);
	default:
	break; // Do nothing
	}
	return mgrValue == -1 ? null : mgrValue;
	}

	@Nullable
	private CarSensorEvent createCarSensorEvent(VehiclePropValue v) {
	int property = v.prop;
	int sensorType = mManagerToHalPropIdMap.getManagerPropId(property);
	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);
	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);
	break;
	case VehiclePropertyType.FLOAT:
	event = CarSensorEventFactory.createFloatEvent(sensorType, v.timestamp,
	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;
	}

	@Nullable
	public CarSensorEvent getCurrentSensorValue(int sensorType) {
	VehiclePropValue propValue = getCurrentSensorVehiclePropValue(sensorType);
	return (null != propValue) ? createCarSensorEvent(propValue) : null;
	}

	@Override
	protected float fixSamplingRateForProperty(VehiclePropConfig prop, int carSensorManagerRate) {
	switch (prop.changeMode) {
	case VehiclePropertyChangeMode.ON_CHANGE:
	case VehiclePropertyChangeMode.ON_SET:
	return 0;
	}
	float rate = 1.0f;
	switch (carSensorManagerRate) {
	case CarSensorManager.SENSOR_RATE_FASTEST:
	rate = prop.maxSampleRate;
	break;
	case CarSensorManager.SENSOR_RATE_FAST:
	rate = 10f; // every 100ms
	break;
	case CarSensorManager.SENSOR_RATE_UI:
	rate = 5f; // every 200ms
	break;
	default: // fall back to default.
	break;
	}
	if (rate > prop.maxSampleRate) {
	rate = prop.maxSampleRate;
	}
	if (rate < prop.minSampleRate) {
	rate = prop.minSampleRate;
	}
	return rate;
	}

	@Override
	public void dump(PrintWriter writer) {
	writer.println("Sensor HAL");
	writer.println("Supported properties");
	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) {
	int inputLength = keyValuePairs.length;
	if (inputLength % 2 != 0) {
	throw new IllegalArgumentException("Odd number of key-value elements");
	}

	SparseIntArray map = new SparseIntArray(inputLength / 2);
	for (int i = 0; i < keyValuePairs.length; i += 2) {
	map.put(keyValuePairs[i], keyValuePairs[i + 1]);
	}
	return map;
	}

	private static final int INDEX_WHEEL_DISTANCE_ENABLE_FLAG = 0;
	private static final int INDEX_WHEEL_DISTANCE_FRONT_LEFT = 1;
	private static final int INDEX_WHEEL_DISTANCE_FRONT_RIGHT = 2;
	private static final int INDEX_WHEEL_DISTANCE_REAR_RIGHT = 3;
	private static final int INDEX_WHEEL_DISTANCE_REAR_LEFT = 4;
	private static final int WHEEL_TICK_DISTANCE_BUNDLE_SIZE = 6;

	private Bundle createWheelDistanceTickBundle(ArrayList<Integer> configArray) {
	Bundle b = new Bundle(WHEEL_TICK_DISTANCE_BUNDLE_SIZE);
	b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_SUPPORTED_WHEELS,
	configArray.get(INDEX_WHEEL_DISTANCE_ENABLE_FLAG));
	b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_FRONT_LEFT_UM_PER_TICK,
	configArray.get(INDEX_WHEEL_DISTANCE_FRONT_LEFT));
	b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_FRONT_RIGHT_UM_PER_TICK,
	configArray.get(INDEX_WHEEL_DISTANCE_FRONT_RIGHT));
	b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_REAR_RIGHT_UM_PER_TICK,
	configArray.get(INDEX_WHEEL_DISTANCE_REAR_RIGHT));
	b.putInt(CarSensorConfig.WHEEL_TICK_DISTANCE_REAR_LEFT_UM_PER_TICK,
	configArray.get(INDEX_WHEEL_DISTANCE_REAR_LEFT));
	return b;
	}


	public CarSensorConfig getSensorConfig(int sensorType) {
	VehiclePropConfig cfg;
	synchronized (this) {
	cfg = mSensorToPropConfig.get(sensorType);
	}
	if (cfg == null) {
	/* Invalid sensor type. */
	throw new IllegalArgumentException("Unknown sensorType = " + sensorType);
	} else {
	Bundle b;
	switch(sensorType) {
	case CarSensorManager.SENSOR_TYPE_WHEEL_TICK_DISTANCE:
	b = createWheelDistanceTickBundle(cfg.configArray);
	break;
	default:
	/* Unhandled config. Create empty bundle */
	b = Bundle.EMPTY;
	break;
	}
	return new CarSensorConfig(sensorType, b);
	}
	}
	}