| /* |
| * Copyright (C) 2016 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 "ConfigManager.h" |
| #include "EvsStateControl.h" |
| #include "EvsVehicleListener.h" |
| |
| #include <signal.h> |
| #include <stdio.h> |
| |
| #include <android/hardware/automotive/evs/1.1/IEvsDisplay.h> |
| #include <android/hardware/automotive/evs/1.1/IEvsEnumerator.h> |
| #include <android-base/logging.h> |
| #include <android-base/macros.h> // arraysize |
| #include <android-base/strings.h> |
| #include <hidl/HidlTransportSupport.h> |
| #include <hwbinder/IPCThreadState.h> |
| #include <hwbinder/ProcessState.h> |
| #include <utils/Errors.h> |
| #include <utils/StrongPointer.h> |
| #include <utils/Log.h> |
| |
| |
| using android::base::EqualsIgnoreCase; |
| |
| // libhidl: |
| using android::hardware::configureRpcThreadpool; |
| using android::hardware::joinRpcThreadpool; |
| |
| namespace { |
| |
| const char* CONFIG_DEFAULT_PATH = "/system/etc/automotive/evs/config.json"; |
| const char* CONFIG_OVERRIDE_PATH = "/system/etc/automotive/evs/config_override.json"; |
| |
| android::sp<IEvsEnumerator> pEvs; |
| android::sp<IEvsDisplay> pDisplay; |
| EvsStateControl *pStateController; |
| |
| void sigHandler(int sig) { |
| LOG(ERROR) << "evs_app is being terminated on receiving a signal " << sig; |
| if (pEvs != nullptr) { |
| // Attempt to clean up the resources |
| pStateController->postCommand({EvsStateControl::Op::EXIT, 0, 0}, true); |
| pStateController->terminateUpdateLoop(); |
| pEvs->closeDisplay(pDisplay); |
| } |
| |
| android::hardware::IPCThreadState::self()->stopProcess(); |
| exit(EXIT_FAILURE); |
| } |
| |
| void registerSigHandler() { |
| struct sigaction sa; |
| sigemptyset(&sa.sa_mask); |
| sa.sa_flags = 0; |
| sa.sa_handler = sigHandler; |
| sigaction(SIGABRT, &sa, nullptr); |
| sigaction(SIGTERM, &sa, nullptr); |
| sigaction(SIGINT, &sa, nullptr); |
| } |
| |
| } // namespace |
| |
| |
| // Helper to subscribe to VHal notifications |
| static bool subscribeToVHal(sp<IVehicle> pVnet, |
| sp<IVehicleCallback> listener, |
| VehicleProperty propertyId) { |
| assert(pVnet != nullptr); |
| assert(listener != nullptr); |
| |
| // Register for vehicle state change callbacks we care about |
| // Changes in these values are what will trigger a reconfiguration of the EVS pipeline |
| SubscribeOptions optionsData[] = { |
| { |
| .propId = static_cast<int32_t>(propertyId), |
| .flags = SubscribeFlags::EVENTS_FROM_CAR |
| }, |
| }; |
| hidl_vec <SubscribeOptions> options; |
| options.setToExternal(optionsData, arraysize(optionsData)); |
| StatusCode status = pVnet->subscribe(listener, options); |
| if (status != StatusCode::OK) { |
| LOG(WARNING) << "VHAL subscription for property " << static_cast<int32_t>(propertyId) |
| << " failed with code " << static_cast<int32_t>(status); |
| return false; |
| } |
| |
| return true; |
| } |
| |
| |
| static bool convertStringToFormat(const char* str, android_pixel_format_t* output) { |
| bool result = true; |
| if (EqualsIgnoreCase(str, "RGBA8888")) { |
| *output = HAL_PIXEL_FORMAT_RGBA_8888; |
| } else if (EqualsIgnoreCase(str, "YV12")) { |
| *output = HAL_PIXEL_FORMAT_YV12; |
| } else if (EqualsIgnoreCase(str, "NV21")) { |
| *output = HAL_PIXEL_FORMAT_YCrCb_420_SP; |
| } else if (EqualsIgnoreCase(str, "YUYV")) { |
| *output = HAL_PIXEL_FORMAT_YCBCR_422_I; |
| } else { |
| result = false; |
| } |
| |
| return result; |
| } |
| |
| |
| // Main entry point |
| int main(int argc, char** argv) |
| { |
| LOG(INFO) << "EVS app starting"; |
| |
| // Register a signal handler |
| registerSigHandler(); |
| |
| // Set up default behavior, then check for command line options |
| bool useVehicleHal = true; |
| bool printHelp = false; |
| const char* evsServiceName = "default"; |
| int displayId = -1; |
| bool useExternalMemory = false; |
| android_pixel_format_t extMemoryFormat = HAL_PIXEL_FORMAT_RGBA_8888; |
| int32_t mockGearSignal = static_cast<int32_t>(VehicleGear::GEAR_REVERSE); |
| for (int i=1; i< argc; i++) { |
| if (strcmp(argv[i], "--test") == 0) { |
| useVehicleHal = false; |
| } else if (strcmp(argv[i], "--hw") == 0) { |
| evsServiceName = "EvsEnumeratorHw"; |
| } else if (strcmp(argv[i], "--mock") == 0) { |
| evsServiceName = "EvsEnumeratorHw-Mock"; |
| } else if (strcmp(argv[i], "--help") == 0) { |
| printHelp = true; |
| } else if (strcmp(argv[i], "--display") == 0) { |
| displayId = std::stoi(argv[++i]); |
| } else if (strcmp(argv[i], "--extmem") == 0) { |
| useExternalMemory = true; |
| if (i + 1 >= argc) { |
| // use RGBA8888 by default |
| LOG(INFO) << "External buffer format is not set. " |
| << "RGBA8888 will be used."; |
| } else { |
| if (!convertStringToFormat(argv[i + 1], &extMemoryFormat)) { |
| LOG(WARNING) << "Color format string " << argv[i + 1] |
| << " is unknown or not supported. RGBA8888 will be used."; |
| } else { |
| // move the index |
| ++i; |
| } |
| } |
| } else if (strcmp(argv[i], "--gear") == 0) { |
| // Gear signal to simulate |
| i += 1; // increase an index to next argument |
| if (strcasecmp(argv[i], "Park") == 0) { |
| mockGearSignal = static_cast<int32_t>(VehicleGear::GEAR_PARK); |
| } else if (strcasecmp(argv[i], "Reverse") != 0) { |
| LOG(WARNING) << "Unknown gear signal, " << argv[i] << ", is ignored " |
| << "and the reverse signal will be used instead"; |
| } |
| } else { |
| printf("Ignoring unrecognized command line arg '%s'\n", argv[i]); |
| printHelp = true; |
| } |
| } |
| if (printHelp) { |
| printf("Options include:\n"); |
| printf(" --test\n\tDo not talk to Vehicle Hal, " |
| "but simulate a given mock gear signal instead\n"); |
| printf(" --gear\n\tMock gear signal for the test mode."); |
| printf(" Available options are Reverse and Park (case insensitive)\n"); |
| printf(" --hw\n\tBypass EvsManager by connecting directly to EvsEnumeratorHw\n"); |
| printf(" --mock\n\tConnect directly to EvsEnumeratorHw-Mock\n"); |
| printf(" --display\n\tSpecify the display to use. If this is not set, the first" |
| "display in config.json's list will be used.\n"); |
| printf(" --extmem <format>\n\t" |
| "Application allocates buffers to capture camera frames. " |
| "Available format strings are (case insensitive):\n"); |
| printf("\t\tRGBA8888: 4x8-bit RGBA format. This is the default format to be used " |
| "when no format is specified.\n"); |
| printf("\t\tYV12: YUV420 planar format with a full resolution Y plane " |
| "followed by a V values, with U values last.\n"); |
| printf("\t\tNV21: A biplanar format with a full resolution Y plane " |
| "followed by a single chrome plane with weaved V and U values.\n"); |
| printf("\t\tYUYV: Packed format with a half horizontal chrome resolution. " |
| "Known as YUV4:2:2.\n"); |
| |
| return EXIT_FAILURE; |
| } |
| |
| // Load our configuration information |
| ConfigManager config; |
| if (!config.initialize(CONFIG_OVERRIDE_PATH)) { |
| if (!config.initialize(CONFIG_DEFAULT_PATH)) { |
| LOG(ERROR) << "Missing or improper configuration for the EVS application. Exiting."; |
| return EXIT_FAILURE; |
| } |
| } |
| |
| // Set thread pool size to one to avoid concurrent events from the HAL. |
| // This pool will handle the EvsCameraStream callbacks. |
| // Note: This _will_ run in parallel with the EvsListener run() loop below which |
| // runs the application logic that reacts to the async events. |
| configureRpcThreadpool(1, false /* callerWillJoin */); |
| |
| // Construct our async helper object |
| sp<EvsVehicleListener> pEvsListener = new EvsVehicleListener(); |
| |
| // Get the EVS manager service |
| LOG(INFO) << "Acquiring EVS Enumerator"; |
| pEvs = IEvsEnumerator::getService(evsServiceName); |
| if (pEvs.get() == nullptr) { |
| LOG(ERROR) << "getService(" << evsServiceName |
| << ") returned NULL. Exiting."; |
| return EXIT_FAILURE; |
| } |
| |
| // Request exclusive access to the EVS display |
| LOG(INFO) << "Acquiring EVS Display"; |
| |
| // We'll use an available display device. |
| displayId = config.setActiveDisplayId(displayId); |
| if (displayId < 0) { |
| PLOG(ERROR) << "EVS Display is unknown. Exiting."; |
| return EXIT_FAILURE; |
| } |
| |
| pDisplay = pEvs->openDisplay_1_1(displayId); |
| if (pDisplay.get() == nullptr) { |
| LOG(ERROR) << "EVS Display unavailable. Exiting."; |
| return EXIT_FAILURE; |
| } |
| |
| config.useExternalMemory(useExternalMemory); |
| config.setExternalMemoryFormat(extMemoryFormat); |
| |
| // Set a mock gear signal for the test mode |
| config.setMockGearSignal(mockGearSignal); |
| |
| // Connect to the Vehicle HAL so we can monitor state |
| sp<IVehicle> pVnet; |
| if (useVehicleHal) { |
| LOG(INFO) << "Connecting to Vehicle HAL"; |
| pVnet = IVehicle::getService(); |
| if (pVnet.get() == nullptr) { |
| LOG(ERROR) << "Vehicle HAL getService returned NULL. Exiting."; |
| return EXIT_FAILURE; |
| } else { |
| // Register for vehicle state change callbacks we care about |
| // Changes in these values are what will trigger a reconfiguration of the EVS pipeline |
| if (!subscribeToVHal(pVnet, pEvsListener, VehicleProperty::GEAR_SELECTION)) { |
| LOG(ERROR) << "Without gear notification, we can't support EVS. Exiting."; |
| return EXIT_FAILURE; |
| } |
| if (!subscribeToVHal(pVnet, pEvsListener, VehicleProperty::TURN_SIGNAL_STATE)) { |
| LOG(WARNING) << "Didn't get turn signal notifications, so we'll ignore those."; |
| } |
| } |
| } else { |
| LOG(WARNING) << "Test mode selected, so not talking to Vehicle HAL"; |
| } |
| |
| // Configure ourselves for the current vehicle state at startup |
| LOG(INFO) << "Constructing state controller"; |
| pStateController = new EvsStateControl(pVnet, pEvs, pDisplay, config); |
| if (!pStateController->startUpdateLoop()) { |
| LOG(ERROR) << "Initial configuration failed. Exiting."; |
| return EXIT_FAILURE; |
| } |
| |
| // Run forever, reacting to events as necessary |
| LOG(INFO) << "Entering running state"; |
| pEvsListener->run(pStateController); |
| |
| // In normal operation, we expect to run forever, but in some error conditions we'll quit. |
| // One known example is if another process preempts our registration for our service name. |
| LOG(ERROR) << "EVS Listener stopped. Exiting."; |
| |
| return EXIT_SUCCESS; |
| } |