mirror of
https://github.com/Evolution-X/hardware_interfaces
synced 2026-02-01 11:36:00 +00:00
Implement ADAS properties in emulator VHAL
For properties that support the ErrorState enum, they are set to ErrorState#NOT_AVAILABLE_DISABLED when the ADAS feature is disabled. For all the other ADAS properties, they return StatusCode#NOT_AVAILABLE_DISABLED when that ADAS feature is disabled. Bug: 277359330 Bug: 277359630 Bug: 277359374 Bug: 277359394 Bug: 277359419 Bug: 277359421 Bug: 277359396 Bug: 277359260 Test: atest FakeVehicleHardwareTest Test: atest CtsCarTestCases:CarPropertyManagerTest Change-Id: I11386cbaa320038001c650a63cc70f6ca6498c09
This commit is contained in:
Aaqib Ismail
@@ -195,6 +195,8 @@ class FakeVehicleHardware : public IVehicleHardware {
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const aidl::android::hardware::automotive::vehicle::VehiclePropValue& value);
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VehiclePropValuePool::RecyclableType createApPowerStateReq(
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aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReq state);
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VehiclePropValuePool::RecyclableType createAdasStateReq(int32_t propertyId, int32_t areaId,
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int32_t state);
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VhalResult<void> setUserHalProp(
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const aidl::android::hardware::automotive::vehicle::VehiclePropValue& value);
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ValueResultType getUserHalProp(
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@@ -202,6 +204,7 @@ class FakeVehicleHardware : public IVehicleHardware {
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ValueResultType getEchoReverseBytes(
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const aidl::android::hardware::automotive::vehicle::VehiclePropValue& value) const;
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bool isHvacPropAndHvacNotAvailable(int32_t propId, int32_t areaId) const;
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VhalResult<void> isAdasPropertyAvailable(int32_t adasStatePropertyId) const;
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std::unordered_map<int32_t, ConfigDeclaration> loadConfigDeclarations();
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@@ -244,6 +247,7 @@ class FakeVehicleHardware : public IVehicleHardware {
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std::string genFakeDataCommand(const std::vector<std::string>& options);
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void sendHvacPropertiesCurrentValues(int32_t areaId);
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void sendAdasPropertiesState(int32_t propertyId, int32_t state);
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static aidl::android::hardware::automotive::vehicle::VehiclePropValue createHwInputKeyProp(
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aidl::android::hardware::automotive::vehicle::VehicleHwKeyInputAction action,
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@@ -52,6 +52,7 @@ namespace fake {
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namespace {
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using ::aidl::android::hardware::automotive::vehicle::ErrorState;
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using ::aidl::android::hardware::automotive::vehicle::GetValueRequest;
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using ::aidl::android::hardware::automotive::vehicle::GetValueResult;
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using ::aidl::android::hardware::automotive::vehicle::RawPropValues;
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@@ -107,6 +108,74 @@ const std::unordered_set<std::string> SET_PROP_OPTIONS = {
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// Timestamp in int64.
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"-t"};
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// ADAS _ENABLED property to list of ADAS state properties using ErrorState enum.
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const std::unordered_map<int32_t, std::vector<int32_t>> mAdasEnabledPropToAdasPropWithErrorState = {
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// AEB
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{
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toInt(VehicleProperty::AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
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{
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toInt(VehicleProperty::AUTOMATIC_EMERGENCY_BRAKING_STATE),
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},
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},
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// FCW
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{
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toInt(VehicleProperty::FORWARD_COLLISION_WARNING_ENABLED),
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{
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toInt(VehicleProperty::FORWARD_COLLISION_WARNING_STATE),
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},
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},
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// BSW
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{
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toInt(VehicleProperty::BLIND_SPOT_WARNING_ENABLED),
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{
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toInt(VehicleProperty::BLIND_SPOT_WARNING_STATE),
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},
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},
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// LDW
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{
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toInt(VehicleProperty::LANE_DEPARTURE_WARNING_ENABLED),
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{
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toInt(VehicleProperty::LANE_DEPARTURE_WARNING_STATE),
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},
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},
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// LKA
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{
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toInt(VehicleProperty::LANE_KEEP_ASSIST_ENABLED),
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{
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toInt(VehicleProperty::LANE_KEEP_ASSIST_STATE),
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},
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},
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// LCA
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{
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toInt(VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
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{
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toInt(VehicleProperty::LANE_CENTERING_ASSIST_STATE),
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},
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},
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// ELKA
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{
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toInt(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED),
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{
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toInt(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_STATE),
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},
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},
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// CC
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{
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toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
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{
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toInt(VehicleProperty::CRUISE_CONTROL_TYPE),
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toInt(VehicleProperty::CRUISE_CONTROL_STATE),
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},
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},
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// HOD
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{
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toInt(VehicleProperty::HANDS_ON_DETECTION_ENABLED),
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{
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toInt(VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE),
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toInt(VehicleProperty::HANDS_ON_DETECTION_WARNING),
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},
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},
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};
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} // namespace
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void FakeVehicleHardware::storePropInitialValue(const ConfigDeclaration& config) {
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@@ -238,6 +307,18 @@ VehiclePropValuePool::RecyclableType FakeVehicleHardware::createApPowerStateReq(
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return req;
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}
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VehiclePropValuePool::RecyclableType FakeVehicleHardware::createAdasStateReq(int32_t propertyId,
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int32_t areaId,
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int32_t state) {
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auto req = mValuePool->obtain(VehiclePropertyType::INT32);
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req->prop = propertyId;
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req->areaId = areaId;
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req->timestamp = elapsedRealtimeNano();
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req->status = VehiclePropertyStatus::AVAILABLE;
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req->value.int32Values[0] = state;
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return req;
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}
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VhalResult<void> FakeVehicleHardware::setApPowerStateReport(const VehiclePropValue& value) {
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auto updatedValue = mValuePool->obtain(value);
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updatedValue->timestamp = elapsedRealtimeNano();
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@@ -413,6 +494,41 @@ bool FakeVehicleHardware::isHvacPropAndHvacNotAvailable(int32_t propId, int32_t
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return false;
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}
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VhalResult<void> FakeVehicleHardware::isAdasPropertyAvailable(int32_t adasStatePropertyId) const {
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auto adasStateResult = mServerSidePropStore->readValue(adasStatePropertyId);
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if (!adasStateResult.ok()) {
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ALOGW("Failed to get ADAS ENABLED property 0x%x, error: %s", adasStatePropertyId,
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getErrorMsg(adasStateResult).c_str());
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return {};
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}
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if (adasStateResult.value()->value.int32Values.size() == 1 &&
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adasStateResult.value()->value.int32Values[0] < 0) {
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auto errorState = adasStateResult.value()->value.int32Values[0];
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switch (errorState) {
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case toInt(ErrorState::NOT_AVAILABLE_DISABLED):
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return StatusError(StatusCode::NOT_AVAILABLE_DISABLED)
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<< "ADAS feature is disabled.";
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case toInt(ErrorState::NOT_AVAILABLE_SPEED_LOW):
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return StatusError(StatusCode::NOT_AVAILABLE_SPEED_LOW)
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<< "ADAS feature is disabled because the vehicle speed is too low.";
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case toInt(ErrorState::NOT_AVAILABLE_SPEED_HIGH):
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return StatusError(StatusCode::NOT_AVAILABLE_SPEED_HIGH)
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<< "ADAS feature is disabled because the vehicle speed is too high.";
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case toInt(ErrorState::NOT_AVAILABLE_POOR_VISIBILITY):
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return StatusError(StatusCode::NOT_AVAILABLE_POOR_VISIBILITY)
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<< "ADAS feature is disabled because the visibility is too poor.";
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case toInt(ErrorState::NOT_AVAILABLE_SAFETY):
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return StatusError(StatusCode::NOT_AVAILABLE_SAFETY)
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<< "ADAS feature is disabled because of safety reasons.";
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default:
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return StatusError(StatusCode::NOT_AVAILABLE) << "ADAS feature is not available.";
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}
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}
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return {};
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}
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VhalResult<void> FakeVehicleHardware::setUserHalProp(const VehiclePropValue& value) {
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auto result = mFakeUserHal->onSetProperty(value);
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if (!result.ok()) {
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@@ -495,6 +611,19 @@ FakeVehicleHardware::ValueResultType FakeVehicleHardware::maybeGetSpecialValue(
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case VENDOR_PROPERTY_ID:
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*isSpecialValue = true;
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return StatusError((StatusCode)VENDOR_ERROR_CODE);
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case toInt(VehicleProperty::CRUISE_CONTROL_TARGET_SPEED):
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[[fallthrough]];
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case toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP):
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[[fallthrough]];
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case toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE): {
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auto isAdasPropertyAvailableResult =
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isAdasPropertyAvailable(toInt(VehicleProperty::CRUISE_CONTROL_STATE));
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if (!isAdasPropertyAvailableResult.ok()) {
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*isSpecialValue = true;
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return isAdasPropertyAvailableResult.error();
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}
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return nullptr;
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}
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default:
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// Do nothing.
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break;
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@@ -542,6 +671,25 @@ void FakeVehicleHardware::sendHvacPropertiesCurrentValues(int32_t areaId) {
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}
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}
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void FakeVehicleHardware::sendAdasPropertiesState(int32_t propertyId, int32_t state) {
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auto& adasDependentPropIds = mAdasEnabledPropToAdasPropWithErrorState.find(propertyId)->second;
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for (auto dependentPropId : adasDependentPropIds) {
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auto dependentPropConfigResult = mServerSidePropStore->getConfig(dependentPropId);
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if (!dependentPropConfigResult.ok()) {
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ALOGW("Failed to get config for ADAS property 0x%x, error: %s", dependentPropId,
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getErrorMsg(dependentPropConfigResult).c_str());
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continue;
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}
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auto& dependentPropConfig = dependentPropConfigResult.value();
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for (auto& areaConfig : dependentPropConfig->areaConfigs) {
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auto propValue = createAdasStateReq(dependentPropId, areaConfig.areaId, state);
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// This will trigger a property change event for the current ADAS property value.
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mServerSidePropStore->writeValue(std::move(propValue), /*updateStatus=*/true,
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VehiclePropertyStore::EventMode::ALWAYS);
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}
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}
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}
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VhalResult<void> FakeVehicleHardware::maybeSetSpecialValue(const VehiclePropValue& value,
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bool* isSpecialValue) {
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*isSpecialValue = false;
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@@ -565,6 +713,16 @@ VhalResult<void> FakeVehicleHardware::maybeSetSpecialValue(const VehiclePropValu
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return StatusError(StatusCode::NOT_AVAILABLE_DISABLED) << "hvac not available";
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}
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if (mAdasEnabledPropToAdasPropWithErrorState.count(propId) &&
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value.value.int32Values.size() == 1) {
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if (value.value.int32Values[0] == 1) {
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// Set default state to 1 when ADAS feature is enabled.
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sendAdasPropertiesState(propId, /* state = */ 1);
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} else {
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sendAdasPropertiesState(propId, toInt(ErrorState::NOT_AVAILABLE_DISABLED));
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}
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}
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switch (propId) {
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case toInt(VehicleProperty::AP_POWER_STATE_REPORT):
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*isSpecialValue = true;
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@@ -583,6 +741,24 @@ VhalResult<void> FakeVehicleHardware::maybeSetSpecialValue(const VehiclePropValu
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case toInt(VehicleProperty::HVAC_TEMPERATURE_VALUE_SUGGESTION):
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*isSpecialValue = true;
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return setHvacTemperatureValueSuggestion(value);
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case toInt(VehicleProperty::LANE_CENTERING_ASSIST_COMMAND): {
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auto isAdasPropertyAvailableResult =
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isAdasPropertyAvailable(toInt(VehicleProperty::LANE_CENTERING_ASSIST_STATE));
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if (!isAdasPropertyAvailableResult.ok()) {
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*isSpecialValue = true;
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}
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return isAdasPropertyAvailableResult;
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}
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case toInt(VehicleProperty::CRUISE_CONTROL_COMMAND):
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[[fallthrough]];
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case toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP): {
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auto isAdasPropertyAvailableResult =
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isAdasPropertyAvailable(toInt(VehicleProperty::CRUISE_CONTROL_STATE));
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if (!isAdasPropertyAvailableResult.ok()) {
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*isSpecialValue = true;
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}
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return isAdasPropertyAvailableResult;
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}
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#ifdef ENABLE_VEHICLE_HAL_TEST_PROPERTIES
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case toInt(VehicleProperty::CLUSTER_REPORT_STATE):
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@@ -60,6 +60,7 @@ namespace vehicle {
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namespace fake {
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namespace {
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using ::aidl::android::hardware::automotive::vehicle::ErrorState;
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using ::aidl::android::hardware::automotive::vehicle::GetValueRequest;
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using ::aidl::android::hardware::automotive::vehicle::GetValueResult;
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using ::aidl::android::hardware::automotive::vehicle::RawPropValues;
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@@ -68,6 +69,7 @@ using ::aidl::android::hardware::automotive::vehicle::SetValueResult;
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using ::aidl::android::hardware::automotive::vehicle::StatusCode;
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using ::aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReport;
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using ::aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReq;
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using ::aidl::android::hardware::automotive::vehicle::VehicleAreaMirror;
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using ::aidl::android::hardware::automotive::vehicle::VehicleHwKeyInputAction;
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using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
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using ::aidl::android::hardware::automotive::vehicle::VehicleProperty;
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@@ -1035,6 +1037,488 @@ std::vector<SetSpecialValueTestCase> setSpecialValueTestCases() {
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},
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},
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},
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SetSpecialValueTestCase{
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.name = "set_automatic_emergency_braking_enabled_false",
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.valuesToSet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
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.value.int32Values = {0},
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},
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},
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.expectedValuesToGet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
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.value.int32Values = {0},
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},
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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AUTOMATIC_EMERGENCY_BRAKING_STATE),
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.value.int32Values = {toInt(
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ErrorState::NOT_AVAILABLE_DISABLED)},
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},
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},
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},
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SetSpecialValueTestCase{
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.name = "set_automatic_emergency_braking_enabled_true",
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.valuesToSet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
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.value.int32Values = {1},
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},
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},
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.expectedValuesToGet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
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.value.int32Values = {1},
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},
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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AUTOMATIC_EMERGENCY_BRAKING_STATE),
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.value.int32Values = {1},
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},
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},
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},
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SetSpecialValueTestCase{
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.name = "set_forward_collision_warning_enabled_false",
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.valuesToSet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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FORWARD_COLLISION_WARNING_ENABLED),
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.value.int32Values = {0},
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},
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},
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.expectedValuesToGet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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FORWARD_COLLISION_WARNING_ENABLED),
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.value.int32Values = {0},
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},
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VehiclePropValue{
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.prop = toInt(VehicleProperty::
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FORWARD_COLLISION_WARNING_STATE),
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.value.int32Values = {toInt(
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ErrorState::NOT_AVAILABLE_DISABLED)},
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},
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},
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},
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SetSpecialValueTestCase{
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.name = "set_forward_collision_warning_enabled_true",
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.valuesToSet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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FORWARD_COLLISION_WARNING_ENABLED),
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.value.int32Values = {1},
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},
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},
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.expectedValuesToGet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::
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FORWARD_COLLISION_WARNING_ENABLED),
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.value.int32Values = {1},
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},
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VehiclePropValue{
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.prop = toInt(VehicleProperty::
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FORWARD_COLLISION_WARNING_STATE),
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.value.int32Values = {1},
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},
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},
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},
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SetSpecialValueTestCase{
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.name = "set_blind_spot_warning_enabled_false",
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.valuesToSet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::BLIND_SPOT_WARNING_ENABLED),
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.value.int32Values = {0},
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},
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},
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.expectedValuesToGet =
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{
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::BLIND_SPOT_WARNING_ENABLED),
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.value.int32Values = {0},
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},
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::BLIND_SPOT_WARNING_STATE),
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.areaId = toInt(VehicleAreaMirror::DRIVER_LEFT),
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.value.int32Values = {toInt(
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ErrorState::NOT_AVAILABLE_DISABLED)},
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},
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VehiclePropValue{
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.prop = toInt(
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VehicleProperty::BLIND_SPOT_WARNING_STATE),
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.areaId = toInt(VehicleAreaMirror::DRIVER_RIGHT),
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.value.int32Values = {toInt(
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ErrorState::NOT_AVAILABLE_DISABLED)},
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},
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},
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},
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SetSpecialValueTestCase{
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||||
.name = "set_blind_spot_warning_enabled_true",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::BLIND_SPOT_WARNING_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::BLIND_SPOT_WARNING_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::BLIND_SPOT_WARNING_STATE),
|
||||
.areaId = toInt(VehicleAreaMirror::DRIVER_LEFT),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::BLIND_SPOT_WARNING_STATE),
|
||||
.areaId = toInt(VehicleAreaMirror::DRIVER_RIGHT),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_lane_departure_warning_enabled_false",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
LANE_DEPARTURE_WARNING_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
LANE_DEPARTURE_WARNING_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_DEPARTURE_WARNING_STATE),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_lane_departure_warning_enabled_true",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
LANE_DEPARTURE_WARNING_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
LANE_DEPARTURE_WARNING_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_DEPARTURE_WARNING_STATE),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_lane_keep_assist_enabled_false",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::LANE_KEEP_ASSIST_STATE),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_lane_keep_assist_enabled_true",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::LANE_KEEP_ASSIST_STATE),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_lane_centering_assist_enabled_false",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_CENTERING_ASSIST_STATE),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_lane_centering_assist_enabled_true",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::LANE_CENTERING_ASSIST_STATE),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_emergency_lane_keep_assist_enabled_false",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::
|
||||
EMERGENCY_LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::
|
||||
EMERGENCY_LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
EMERGENCY_LANE_KEEP_ASSIST_STATE),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_emergency_lane_keep_assist_enabled_true",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::
|
||||
EMERGENCY_LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::
|
||||
EMERGENCY_LANE_KEEP_ASSIST_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
EMERGENCY_LANE_KEEP_ASSIST_STATE),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_cruise_control_enabled_false",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_TYPE),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_STATE),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_cruise_control_enabled_true",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_TYPE),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::CRUISE_CONTROL_STATE),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_hands_on_detection_enabled_false",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::HANDS_ON_DETECTION_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::HANDS_ON_DETECTION_ENABLED),
|
||||
.value.int32Values = {0},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
HANDS_ON_DETECTION_DRIVER_STATE),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::HANDS_ON_DETECTION_WARNING),
|
||||
.value.int32Values = {toInt(
|
||||
ErrorState::NOT_AVAILABLE_DISABLED)},
|
||||
},
|
||||
},
|
||||
},
|
||||
SetSpecialValueTestCase{
|
||||
.name = "set_hands_on_detection_enabled_true",
|
||||
.valuesToSet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::HANDS_ON_DETECTION_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
.expectedValuesToGet =
|
||||
{
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::HANDS_ON_DETECTION_ENABLED),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(VehicleProperty::
|
||||
HANDS_ON_DETECTION_DRIVER_STATE),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
VehiclePropValue{
|
||||
.prop = toInt(
|
||||
VehicleProperty::HANDS_ON_DETECTION_WARNING),
|
||||
.value.int32Values = {1},
|
||||
},
|
||||
},
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
@@ -1052,7 +1536,7 @@ TEST_P(FakeVehicleHardwareSpecialValuesTest, testSetSpecialProperties) {
|
||||
std::vector<VehiclePropValue> gotValues;
|
||||
|
||||
for (const auto& value : tc.expectedValuesToGet) {
|
||||
auto result = getValue(VehiclePropValue{.prop = value.prop});
|
||||
auto result = getValue(VehiclePropValue{.prop = value.prop, .areaId = value.areaId});
|
||||
|
||||
ASSERT_TRUE(result.ok()) << "failed to get property " << value.prop
|
||||
<< " status:" << getStatus(result);
|
||||
@@ -1263,6 +1747,157 @@ TEST_F(FakeVehicleHardwareTest, testHvacPowerOnSendCurrentHvacPropValues) {
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(FakeVehicleHardwareTest, testGetAdasPropNotAvailable) {
|
||||
std::unordered_map<int32_t, std::vector<int32_t>> adasEnabledPropToDependentProps = {
|
||||
{
|
||||
toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::CRUISE_CONTROL_TARGET_SPEED),
|
||||
toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP),
|
||||
toInt(VehicleProperty::
|
||||
ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE),
|
||||
},
|
||||
},
|
||||
};
|
||||
for (auto& enabledToDependents : adasEnabledPropToDependentProps) {
|
||||
int32_t adasEnabledPropertyId = enabledToDependents.first;
|
||||
StatusCode status =
|
||||
setValue(VehiclePropValue{.prop = adasEnabledPropertyId, .value.int32Values = {0}});
|
||||
EXPECT_EQ(status, StatusCode::OK);
|
||||
|
||||
auto& dependentProps = enabledToDependents.second;
|
||||
for (auto dependentProp : dependentProps) {
|
||||
auto getValueResult = getValue(VehiclePropValue{.prop = dependentProp});
|
||||
EXPECT_FALSE(getValueResult.ok());
|
||||
EXPECT_EQ(getValueResult.error(), StatusCode::NOT_AVAILABLE_DISABLED);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(FakeVehicleHardwareTest, testSetAdasPropNotAvailable) {
|
||||
std::unordered_map<int32_t, std::vector<int32_t>> adasEnabledPropToDependentProps = {
|
||||
{
|
||||
toInt(VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::LANE_CENTERING_ASSIST_COMMAND),
|
||||
},
|
||||
},
|
||||
{
|
||||
toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::CRUISE_CONTROL_COMMAND),
|
||||
toInt(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP),
|
||||
},
|
||||
},
|
||||
};
|
||||
for (auto& enabledToDependents : adasEnabledPropToDependentProps) {
|
||||
int32_t adasEnabledPropertyId = enabledToDependents.first;
|
||||
StatusCode status =
|
||||
setValue(VehiclePropValue{.prop = adasEnabledPropertyId, .value.int32Values = {0}});
|
||||
EXPECT_EQ(status, StatusCode::OK);
|
||||
|
||||
auto& dependentProps = enabledToDependents.second;
|
||||
for (auto dependentProp : dependentProps) {
|
||||
StatusCode status = setValue(VehiclePropValue{.prop = dependentProp});
|
||||
EXPECT_EQ(status, StatusCode::NOT_AVAILABLE_DISABLED);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(FakeVehicleHardwareTest, testSendAdasPropertiesState) {
|
||||
std::unordered_map<int32_t, std::vector<int32_t>> adasEnabledPropToAdasPropWithErrorState = {
|
||||
// AEB
|
||||
{
|
||||
toInt(VehicleProperty::AUTOMATIC_EMERGENCY_BRAKING_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::AUTOMATIC_EMERGENCY_BRAKING_STATE),
|
||||
},
|
||||
},
|
||||
// FCW
|
||||
{
|
||||
toInt(VehicleProperty::FORWARD_COLLISION_WARNING_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::FORWARD_COLLISION_WARNING_STATE),
|
||||
},
|
||||
},
|
||||
// BSW
|
||||
{
|
||||
toInt(VehicleProperty::BLIND_SPOT_WARNING_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::BLIND_SPOT_WARNING_STATE),
|
||||
},
|
||||
},
|
||||
// LDW
|
||||
{
|
||||
toInt(VehicleProperty::LANE_DEPARTURE_WARNING_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::LANE_DEPARTURE_WARNING_STATE),
|
||||
},
|
||||
},
|
||||
// LKA
|
||||
{
|
||||
toInt(VehicleProperty::LANE_KEEP_ASSIST_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::LANE_KEEP_ASSIST_STATE),
|
||||
},
|
||||
},
|
||||
// LCA
|
||||
{
|
||||
toInt(VehicleProperty::LANE_CENTERING_ASSIST_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::LANE_CENTERING_ASSIST_STATE),
|
||||
},
|
||||
},
|
||||
// ELKA
|
||||
{
|
||||
toInt(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_STATE),
|
||||
},
|
||||
},
|
||||
// CC
|
||||
{
|
||||
toInt(VehicleProperty::CRUISE_CONTROL_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::CRUISE_CONTROL_TYPE),
|
||||
toInt(VehicleProperty::CRUISE_CONTROL_STATE),
|
||||
},
|
||||
},
|
||||
// HOD
|
||||
{
|
||||
toInt(VehicleProperty::HANDS_ON_DETECTION_ENABLED),
|
||||
{
|
||||
toInt(VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE),
|
||||
toInt(VehicleProperty::HANDS_ON_DETECTION_WARNING),
|
||||
},
|
||||
},
|
||||
};
|
||||
for (auto& enabledToErrorStateProps : adasEnabledPropToAdasPropWithErrorState) {
|
||||
int32_t adasEnabledPropertyId = enabledToErrorStateProps.first;
|
||||
StatusCode status =
|
||||
setValue(VehiclePropValue{.prop = adasEnabledPropertyId, .value.int32Values = {0}});
|
||||
EXPECT_EQ(status, StatusCode::OK);
|
||||
|
||||
clearChangedProperties();
|
||||
status =
|
||||
setValue(VehiclePropValue{.prop = adasEnabledPropertyId, .value.int32Values = {1}});
|
||||
EXPECT_EQ(status, StatusCode::OK);
|
||||
|
||||
// If we enable the ADAS feature, we expect to receive one property event for every ADAS
|
||||
// state property plus one event for enabling the feature.
|
||||
std::unordered_set<int32_t> expectedChangedPropIds(enabledToErrorStateProps.second.begin(),
|
||||
enabledToErrorStateProps.second.end());
|
||||
expectedChangedPropIds.insert(adasEnabledPropertyId);
|
||||
|
||||
std::unordered_set<int32_t> changedPropIds;
|
||||
auto events = getChangedProperties();
|
||||
for (const auto& event : events) {
|
||||
changedPropIds.insert(event.prop);
|
||||
}
|
||||
EXPECT_EQ(changedPropIds, expectedChangedPropIds);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(FakeVehicleHardwareTest, testGetUserPropertySetOnly) {
|
||||
for (VehicleProperty prop : std::vector<VehicleProperty>({
|
||||
VehicleProperty::INITIAL_USER_INFO,
|
||||
|
||||
Reference in New Issue
Block a user