From cb8d72c70709996964b74ae651513e884a93d818 Mon Sep 17 00:00:00 2001
From: Tyler Trephan <tylertrephan@google.com>
Date: Tue, 10 Dec 2019 18:43:05 -0800
Subject: [PATCH] Updated PERF_STEERING_ANGLE to support rear steering.

Change-Id: I2d8d8eff076ab2b76476a8b4edc18d213df71d45
Fix: 146022250
Test: Tested on device.
---
 .../default/impl/vhal_v2_0/DefaultConfig.h    | 19 ++++++++++++++++++-
 automotive/vehicle/2.0/types.hal              | 17 ++++++++++++++++-
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index 2dbcbba28f..5fa8438b0f 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -293,7 +293,24 @@ const ConfigDeclaration kVehicleProperties[]{
                          .maxSampleRate = 10.0f,
                  },
          .initialValue = {.floatValues = {0.0f}}},
-
+        {.config =
+                 {
+                         .prop = toInt(VehicleProperty::PERF_STEERING_ANGLE),
+                         .access = VehiclePropertyAccess::READ,
+                         .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+                         .minSampleRate = 0.0f,
+                         .maxSampleRate = 10.0f,
+                 },
+         .initialValue = {.floatValues = {0.0f}}},
+        {.config =
+                 {
+                         .prop = toInt(VehicleProperty::PERF_REAR_STEERING_ANGLE),
+                         .access = VehiclePropertyAccess::READ,
+                         .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+                         .minSampleRate = 0.0f,
+                         .maxSampleRate = 10.0f,
+                 },
+         .initialValue = {.floatValues = {0.0f}}},
         {
                 .config =
                         {
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 24fcf76b2f..b3dfe846a7 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -340,7 +340,7 @@ enum VehicleProperty : int32_t {
         | VehicleArea:GLOBAL),
 
     /**
-     * Steering angle of the vehicle
+     * Front bicycle model steering angle for vehicle
      *
      * Angle is in degrees.  Left is negative.
      *
@@ -354,6 +354,21 @@ enum VehicleProperty : int32_t {
         | VehiclePropertyType:FLOAT
         | VehicleArea:GLOBAL),
 
+    /**
+     * Rear bicycle model steering angle for vehicle
+     *
+     * Angle is in degrees.  Left is negative.
+     *
+     * @change_mode VehiclePropertyChangeMode:CONTINUOUS
+     * @access VehiclePropertyAccess:READ
+     * @unit VehicleUnit:DEGREES
+     */
+    PERF_REAR_STEERING_ANGLE = (
+        0x0210
+        | VehiclePropertyGroup:SYSTEM
+        | VehiclePropertyType:FLOAT
+        | VehicleArea:GLOBAL),
+
     /**
      * Temperature of engine coolant
      *