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/*
* 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 "EvsStateControl.h"
#include "RenderDirectView.h"
#include "RenderTopView.h"
#include "RenderPixelCopy.h"
#include "FormatConvert.h"
#include <stdio.h>
#include <string.h>
#include <android-base/logging.h>
#include <inttypes.h>
#include <utils/SystemClock.h>
#include <binder/IServiceManager.h>
using ::android::hardware::automotive::evs::V1_0::EvsResult;
using EvsDisplayState = ::android::hardware::automotive::evs::V1_0::DisplayState;
using BufferDesc_1_0 = ::android::hardware::automotive::evs::V1_0::BufferDesc;
using BufferDesc_1_1 = ::android::hardware::automotive::evs::V1_1::BufferDesc;
static bool isSfReady() {
const android::String16 serviceName("SurfaceFlinger");
return android::defaultServiceManager()->checkService(serviceName) != nullptr;
}
// TODO: Seems like it'd be nice if the Vehicle HAL provided such helpers (but how & where?)
inline constexpr VehiclePropertyType getPropType(VehicleProperty prop) {
return static_cast<VehiclePropertyType>(
static_cast<int32_t>(prop)
& static_cast<int32_t>(VehiclePropertyType::MASK));
}
EvsStateControl::EvsStateControl(android::sp <IVehicle> pVnet,
android::sp <IEvsEnumerator> pEvs,
android::sp <IEvsDisplay> pDisplay,
const ConfigManager& config) :
mVehicle(pVnet),
mEvs(pEvs),
mDisplay(pDisplay),
mConfig(config),
mCurrentState(OFF) {
// Initialize the property value containers we'll be updating (they'll be zeroed by default)
static_assert(getPropType(VehicleProperty::GEAR_SELECTION) == VehiclePropertyType::INT32,
"Unexpected type for GEAR_SELECTION property");
static_assert(getPropType(VehicleProperty::TURN_SIGNAL_STATE) == VehiclePropertyType::INT32,
"Unexpected type for TURN_SIGNAL_STATE property");
mGearValue.prop = static_cast<int32_t>(VehicleProperty::GEAR_SELECTION);
mTurnSignalValue.prop = static_cast<int32_t>(VehicleProperty::TURN_SIGNAL_STATE);
// This way we only ever deal with cameras which exist in the system
// Build our set of cameras for the states we support
LOG(DEBUG) << "Requesting camera list";
mEvs->getCameraList_1_1(
[this, &config](hidl_vec<CameraDesc> cameraList) {
LOG(INFO) << "Camera list callback received " << cameraList.size() << "cameras.";
for (auto&& cam: cameraList) {
LOG(DEBUG) << "Found camera " << cam.v1.cameraId;
bool cameraConfigFound = false;
// Check our configuration for information about this camera
// Note that a camera can have a compound function string
// such that a camera can be "right/reverse" and be used for both.
// If more than one camera is listed for a given function, we'll
// list all of them and let the UX/rendering logic use one, some
// or all of them as appropriate.
for (auto&& info: config.getCameras()) {
if (cam.v1.cameraId == info.cameraId) {
// We found a match!
if (info.function.find("reverse") != std::string::npos) {
mCameraList[State::REVERSE].emplace_back(info);
mCameraDescList[State::REVERSE].emplace_back(cam);
}
if (info.function.find("right") != std::string::npos) {
mCameraList[State::RIGHT].emplace_back(info);
mCameraDescList[State::RIGHT].emplace_back(cam);
}
if (info.function.find("left") != std::string::npos) {
mCameraList[State::LEFT].emplace_back(info);
mCameraDescList[State::LEFT].emplace_back(cam);
}
if (info.function.find("park") != std::string::npos) {
mCameraList[State::PARKING].emplace_back(info);
mCameraDescList[State::PARKING].emplace_back(cam);
}
cameraConfigFound = true;
break;
}
}
if (!cameraConfigFound) {
LOG(WARNING) << "No config information for hardware camera "
<< cam.v1.cameraId;
}
}
}
);
LOG(DEBUG) << "State controller ready";
}
bool EvsStateControl::startUpdateLoop() {
// Create the thread and report success if it gets started
mRenderThread = std::thread([this](){ updateLoop(); });
return mRenderThread.joinable();
}
void EvsStateControl::terminateUpdateLoop() {
// Join a rendering thread
if (mRenderThread.joinable()) {
mRenderThread.join();
}
}
void EvsStateControl::postCommand(const Command& cmd, bool clear) {
// Push the command onto the queue watched by updateLoop
mLock.lock();
if (clear) {
std::queue<Command> emptyQueue;
std::swap(emptyQueue, mCommandQueue);
}
mCommandQueue.push(cmd);
mLock.unlock();
// Send a signal to wake updateLoop in case it is asleep
mWakeSignal.notify_all();
}
void EvsStateControl::updateLoop() {
LOG(DEBUG) << "Starting EvsStateControl update loop";
bool run = true;
while (run) {
// Process incoming commands
{
std::lock_guard <std::mutex> lock(mLock);
while (!mCommandQueue.empty()) {
const Command& cmd = mCommandQueue.front();
switch (cmd.operation) {
case Op::EXIT:
run = false;
break;
case Op::CHECK_VEHICLE_STATE:
// Just running selectStateForCurrentConditions below will take care of this
break;
case Op::TOUCH_EVENT:
// Implement this given the x/y location of the touch event
break;
}
mCommandQueue.pop();
}
}
// Review vehicle state and choose an appropriate renderer
if (!selectStateForCurrentConditions()) {
LOG(ERROR) << "selectStateForCurrentConditions failed so we're going to die";
break;
}
// If we have an active renderer, give it a chance to draw
if (mCurrentRenderer) {
// Get the output buffer we'll use to display the imagery
BufferDesc_1_0 tgtBuffer = {};
mDisplay->getTargetBuffer([&tgtBuffer](const BufferDesc_1_0& buff) {
tgtBuffer = buff;
}
);
if (tgtBuffer.memHandle == nullptr) {
LOG(ERROR) << "Didn't get requested output buffer -- skipping this frame.";
} else {
// Generate our output image
if (!mCurrentRenderer->drawFrame(convertBufferDesc(tgtBuffer))) {
// If drawing failed, we want to exit quickly so an app restart can happen
run = false;
}
// Send the finished image back for display
mDisplay->returnTargetBufferForDisplay(tgtBuffer);
}
} else if (run) {
// No active renderer, so sleep until somebody wakes us with another command
// or exit if we received EXIT command
std::unique_lock<std::mutex> lock(mLock);
mWakeSignal.wait(lock);
}
}
LOG(WARNING) << "EvsStateControl update loop ending";
if (mCurrentRenderer) {
// Deactive the renderer
mCurrentRenderer->deactivate();
}
printf("Shutting down app due to state control loop ending\n");
LOG(ERROR) << "Shutting down app due to state control loop ending";
}
bool EvsStateControl::selectStateForCurrentConditions() {
static int32_t sDummyGear = mConfig.getMockGearSignal();
static int32_t sDummySignal = int32_t(VehicleTurnSignal::NONE);
if (mVehicle != nullptr) {
// Query the car state
if (invokeGet(&mGearValue) != StatusCode::OK) {
LOG(ERROR) << "GEAR_SELECTION not available from vehicle. Exiting.";
return false;
}
if ((mTurnSignalValue.prop == 0) || (invokeGet(&mTurnSignalValue) != StatusCode::OK)) {
// Silently treat missing turn signal state as no turn signal active
mTurnSignalValue.value.int32Values.setToExternal(&sDummySignal, 1);
mTurnSignalValue.prop = 0;
}
} else {
// While testing without a vehicle, behave as if we're in reverse for the first 20 seconds
static const int kShowTime = 20; // seconds
// See if it's time to turn off the default reverse camera
static std::chrono::steady_clock::time_point start = std::chrono::steady_clock::now();
std::chrono::steady_clock::time_point now = std::chrono::steady_clock::now();
if (std::chrono::duration_cast<std::chrono::seconds>(now - start).count() > kShowTime) {
// Switch to drive (which should turn off the reverse camera)
sDummyGear = int32_t(VehicleGear::GEAR_DRIVE);
}
// Build the placeholder vehicle state values (treating single values as 1 element vectors)
mGearValue.value.int32Values.setToExternal(&sDummyGear, 1);
mTurnSignalValue.value.int32Values.setToExternal(&sDummySignal, 1);
}
// Choose our desired EVS state based on the current car state
// TODO: Update this logic, and consider user input when choosing if a view should be presented
State desiredState = OFF;
if (mGearValue.value.int32Values[0] == int32_t(VehicleGear::GEAR_REVERSE)) {
desiredState = REVERSE;
} else if (mTurnSignalValue.value.int32Values[0] == int32_t(VehicleTurnSignal::RIGHT)) {
desiredState = RIGHT;
} else if (mTurnSignalValue.value.int32Values[0] == int32_t(VehicleTurnSignal::LEFT)) {
desiredState = LEFT;
} else if (mGearValue.value.int32Values[0] == int32_t(VehicleGear::GEAR_PARK)) {
desiredState = PARKING;
}
// Apply the desire state
return configureEvsPipeline(desiredState);
}
StatusCode EvsStateControl::invokeGet(VehiclePropValue *pRequestedPropValue) {
StatusCode status = StatusCode::TRY_AGAIN;
// Call the Vehicle HAL, which will block until the callback is complete
mVehicle->get(*pRequestedPropValue,
[pRequestedPropValue, &status]
(StatusCode s, const VehiclePropValue& v) {
status = s;
if (s == StatusCode::OK) {
*pRequestedPropValue = v;
}
}
);
return status;
}
bool EvsStateControl::configureEvsPipeline(State desiredState) {
static bool isGlReady = false;
if (mCurrentState == desiredState) {
// Nothing to do here...
return true;
}
LOG(DEBUG) << "Switching to state " << desiredState;
LOG(DEBUG) << " Current state " << mCurrentState
<< " has " << mCameraList[mCurrentState].size() << " cameras";
LOG(DEBUG) << " Desired state " << desiredState
<< " has " << mCameraList[desiredState].size() << " cameras";
if (!isGlReady && !isSfReady()) {
// Graphics is not ready yet; using CPU renderer.
if (mCameraList[desiredState].size() >= 1) {
mDesiredRenderer = std::make_unique<RenderPixelCopy>(mEvs,
mCameraList[desiredState][0]);
if (!mDesiredRenderer) {
LOG(ERROR) << "Failed to construct Pixel Copy renderer. Skipping state change.";
return false;
}
} else {
LOG(DEBUG) << "Unsupported, desiredState " << desiredState
<< " has " << mCameraList[desiredState].size() << " cameras.";
}
} else {
// Assumes that SurfaceFlinger is available always after being launched.
// Do we need a new direct view renderer?
if (mCameraList[desiredState].size() == 1) {
// We have a camera assigned to this state for direct view.
mDesiredRenderer = std::make_unique<RenderDirectView>(mEvs,
mCameraDescList[desiredState][0],
mConfig);
if (!mDesiredRenderer) {
LOG(ERROR) << "Failed to construct direct renderer. Skipping state change.";
return false;
}
} else if (mCameraList[desiredState].size() > 1 || desiredState == PARKING) {
//TODO(b/140668179): RenderTopView needs to be updated to use new
// ConfigManager.
mDesiredRenderer = std::make_unique<RenderTopView>(mEvs,
mCameraList[desiredState],
mConfig);
if (!mDesiredRenderer) {
LOG(ERROR) << "Failed to construct top view renderer. Skipping state change.";
return false;
}
} else {
LOG(DEBUG) << "Unsupported, desiredState " << desiredState
<< " has " << mCameraList[desiredState].size() << " cameras.";
}
// GL renderer is now ready.
isGlReady = true;
}
// Since we're changing states, shut down the current renderer
if (mCurrentRenderer != nullptr) {
mCurrentRenderer->deactivate();
mCurrentRenderer = nullptr; // It's a smart pointer, so destructs on assignment to null
}
// Now set the display state based on whether we have a video feed to show
if (mDesiredRenderer == nullptr) {
LOG(DEBUG) << "Turning off the display";
mDisplay->setDisplayState(EvsDisplayState::NOT_VISIBLE);
} else {
mCurrentRenderer = std::move(mDesiredRenderer);
// Start the camera stream
LOG(DEBUG) << "EvsStartCameraStreamTiming start time: "
<< android::elapsedRealtime() << " ms.";
if (!mCurrentRenderer->activate()) {
LOG(ERROR) << "New renderer failed to activate";
return false;
}
// Activate the display
LOG(DEBUG) << "EvsActivateDisplayTiming start time: "
<< android::elapsedRealtime() << " ms.";
Return<EvsResult> result = mDisplay->setDisplayState(EvsDisplayState::VISIBLE_ON_NEXT_FRAME);
if (result != EvsResult::OK) {
LOG(ERROR) << "setDisplayState returned an error "
<< result.description();
return false;
}
}
// Record our current state
LOG(INFO) << "Activated state " << desiredState;
mCurrentState = desiredState;
return true;
}