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河北提供网站制作公司哪家专业,沈阳微网站制作,wordpress防攻击,部门网站建设怎么做1 概述 VehicleHal是AOSP中车辆服务相关的hal层服务。它主要定义了与汽车硬件交互的标准化接口和属性管理#xff0c;是一个独立的进程。 2 进程启动 VehicleHal相关代码在源码树中的hardware/interfaces/automotive目录下 首先看下Android.bp文件#xff1a; cc_binary …1 概述 VehicleHal是AOSP中车辆服务相关的hal层服务。它主要定义了与汽车硬件交互的标准化接口和属性管理是一个独立的进程。 2 进程启动 VehicleHal相关代码在源码树中的hardware/interfaces/automotive目录下 首先看下Android.bp文件 cc_binary {name: android.hardware.automotive.vehicle2.0-service,defaults: [vhal_v2_0_target_defaults],vintf_fragments: [android.hardware.automotive.vehicle2.0-service.xml,],init_rc: [android.hardware.automotive.vehicle2.0-service.rc],vendor: true,relative_install_path: hw,srcs: [VehicleService.cpp],shared_libs: [libbase,libjsoncpp,libprotobuf-cpp-lite,],static_libs: [android.hardware.automotive.vehicle2.0-manager-lib,android.hardware.automotive.vehicle2.0-default-impl-lib,android.hardware.automotive.vehicle2.0-libproto-native,libqemu_pipe,], }标准的hal服务层定义入口在VehicleService.cpp其他依赖文件在static_libs中定义。服务的可执行文件编译完成之后的名称是android.hardware.automotive.vehicle2.0-service。 进程是hal服务进程由init通过解析rc文件进行拉起 service vendor.vehicle-hal-2.0 /vendor/bin/hw/android.hardware.automotive.vehicle2.0-serviceclass haluser vehicle_networkgroup system inet进程名vendor.vehicle-hal-2.0执行的就是/vendor/bin/hw/android.hardware.automotive.vehicle2.0-service这个可执行文件class为hal用户是vehicle_network用户组是system和inet。 在init中class_start hal的时候启动该hal进程。 3 VHAL初始化 VHAL进程的入口在VehicleService.cpp中的main函数 hardware/interfaces/automotive/vehicle/2.0/default/VehicleService.cpp // xyVHAL的入口函数由init进程启动 int main(int /* argc /, char /* argv / []) {// xy缓存属性值的地方auto store std::make_uniqueVehiclePropertyStore();// xy模拟与真实车辆的连接auto connector std::make_uniqueimpl::EmulatedVehicleConnector();// xy模拟HalHal的具体实现auto hal std::make_uniqueimpl::EmulatedVehicleHal(store.get(), connector.get());// xy汽车模拟类模拟车辆信号auto emulator std::make_uniqueimpl::VehicleEmulator(hal.get());// xyVHAL的服务实现入口auto service std::make_uniqueVehicleHalManager(hal.get());// xy设置存储属性值的池子便于重复使用connector-setValuePool(hal-getValuePool());// xy设置binder线程数量configureRpcThreadpool(4, false / callerWillJoin /);ALOGI(Registering as service…);// xy将当前服务注册到HwServiceManager中status_t status service-registerAsService();if (status ! OK) {ALOGE(Unable to register vehicle service (%d), status);return 1;}// Setup a binder thread pool to be a car watchdog client.// xywatchDog设置ABinderProcess_setThreadPoolMaxThreadCount(1);ABinderProcess_startThreadPool();spLooper looper(Looper::prepare(0 / opts /));std::shared_ptrWatchdogClient watchdogClient ndk::SharedRefBase::makeWatchdogClient(looper, service.get());// The current health check is done in the main thread, so it falls short of capturing the real// situation. Checking through HAL binder thread should be considered.if (!watchdogClient-initialize()) {ALOGE(Failed to initialize car watchdog client);return 1;}ALOGI(Ready);while (true) {looper-pollAll(-1 / timeoutMillis /);}return 1; }接下来逐步解析各个模块的初始化 3.1 VehiclePropertyStore初始化 VehiclePropertyStore类的主要职责是缓存车辆数据采用默认构造函数构造函数中没有初始化逻辑。 using PropertyMap std::mapRecordId, VehiclePropValue; std::unordered_mapint32_t / VehicleProperty /, RecordConfig mConfigs; PropertyMap mPropertyValues; // Sorted map of RecordId : VehiclePropValue.主要初始化了这两个数据对象其中mConfigs用于存储属性配置mPropertyValues用于存储属性值。 3.2 EmulatedVehicleConnector初始化 也是采用无参构造初始化了一个对象 EmulatedUserHal mEmulatedUserHal;3.3 EmulatedVehicleHal初始化 EmulatedVehicleHal(VehiclePropertyStore propStore, VehicleHalClient* client,EmulatedUserHal* emulatedUserHal nullptr);这个类只有一个三个参数的构造函数第三个参数有默认值其实现如下 EmulatedVehicleHal::EmulatedVehicleHal(VehiclePropertyStore* propStore, VehicleHalClient* client,EmulatedUserHal* emulatedUserHal): mPropStore(propStore),mHvacPowerProps(std::begin(kHvacPowerProperties), std::end(kHvacPowerProperties)),mRecurrentTimer(std::bind(EmulatedVehicleHal::onContinuousPropertyTimer, this,std::placeholders::_1)),mVehicleClient(client),mEmulatedUserHal(emulatedUserHal) {initStaticConfig();for (size_t i 0; i arraysize(kVehicleProperties); i) {mPropStore-registerProperty(kVehicleProperties[i].config);}mVehicleClient-registerPropertyValueCallback(std::bind(EmulatedVehicleHal::onPropertyValue,this, std::placeholders::_1,std::placeholders::_2)); }这个构造函数初始化的时候传入的两个参数是在main函数中创建的VehiclePropertyStore对象和EmulatedVehicleConnector对象而这个构造函数的第二个参数却是VehicleHalClient这是怎么回事呢 class EmulatedVehicleConnector : public IPassThroughConnectorVehicleHalClient, VehicleHalServertemplate typename VehicleClientType, typename VehicleServerType class IPassThroughConnector : public VehicleClientType, public VehicleServerType从上面可以看出EmulatedVehicleConnector继承自IPassThroughConnector而IPassThroughConnector定义了两个模板IPassThroughConnector继承这两个模板类。所以EmulatedVehicleConnector继承VehicleHalClient和VehicleHalServer。所以EmulatedVehicleConnector是VehicleHalClient的子类。 接着分析EmulatedVehicleHal的构造函数这里用传入的VehiclePropertyStore对象初始化mPropStore。 std::unordered_setint32_t mHvacPowerProps;const int32_t kHvacPowerProperties[] {toInt(VehicleProperty::HVAC_FAN_SPEED),toInt(VehicleProperty::HVAC_FAN_DIRECTION), };mHvacPowerProps(std::begin(kHvacPowerProperties), std::end(kHvacPowerProperties))然后初始化这个成员变量将数组中的两个空调相关的property的propId添加到mHvacPowerProps这个vector中。 RecurrentTimer mRecurrentTimer;mRecurrentTimer(std::bind(EmulatedVehicleHal::onContinuousPropertyTimer, this,std::placeholders::_1)),RecurrentTimer(const Action action) : mAction(action) {mTimerThread std::thread(RecurrentTimer::loop, this, action);}这个是一个执行定时任务相关的类初始化成员变量mRecurrentTimer为一个RecurrentTimer对象这个对象在初始化的时候会创建一个线程这个线程中会定时执行传入的函数。具体的分析见3.7小结。 mVehicleClient(client)然后初始化mVehicleClient为main函数中创建的EmulatedVehicleConnector对象。 mEmulatedUserHal(emulatedUserHal)这个使用默认参数空指针。 void EmulatedVehicleHal::initStaticConfig() {for (auto it std::begin(kVehicleProperties); it ! std::end(kVehicleProperties); it) {const auto cfg it-config;VehiclePropertyStore::TokenFunction tokenFunction nullptr;switch (cfg.prop) {case OBD2_FREEZE_FRAME: {tokenFunction {return propValue.timestamp;};break;}default:break;}mPropStore-registerProperty(cfg, tokenFunction);} }然后初始化属性配置kVehicleProperties是一个定义了车辆属性配置的结构体数组以下是其中的一个元素表示车辆的空调温度设置的属性配置 {.config {.prop toInt(VehicleProperty::HVAC_TEMPERATURE_SET),.access VehiclePropertyAccess::READ_WRITE,.changeMode VehiclePropertyChangeMode::ON_CHANGE,.areaConfigs {VehicleAreaConfig{.areaId HVAC_LEFT,.minFloatValue 16,.maxFloatValue 32,},VehicleAreaConfig{.areaId HVAC_RIGHT,.minFloatValue 16,.maxFloatValue 32,}}},.initialAreaValues {{HVAC_LEFT, {.floatValues {16}}},{HVAC_RIGHT, {.floatValues {20}}}}},OBD2_FREEZE_FRAME表示冻结帧跟诊断相关暂时不清楚暂不看这块的处理。然后会将所有的属性配置注册到VehiclePropertyStore中。 这些属性配置就是vhal中支持的属性如果没有在这个结构体数组中定义则该功能不支持供应商提供的新的需要在这个结构体中新增。 后面的for循环和initStaticConfig中的逻辑一样跳过这块应该没什么意义的。 mVehicleClient-registerPropertyValueCallback(std::bind(EmulatedVehicleHal::onPropertyValue,this, std::placeholders::_1,std::placeholders::_2));最后注册callback函数到EmulatedVehicleConnector对象中回调函数是EmulatedVehicleHal::onPropertyValue。 至此就初始化完成了主要做的就是创建EmulatedVehicleHal对象并且注册一些回调函数然后比较重要的一点是加载了所有的属性配置到VehiclePropertyStore中。 3.4 VehicleEmulator初始化 VehicleEmulator::VehicleEmulator(EmulatedVehicleHalIface* hal) : mHal{hal} {mHal-registerEmulator(this);ALOGI(Starting SocketComm);mSocketComm std::make_uniqueSocketComm(this);mSocketComm-start();if (android::base::GetBoolProperty(ro.kernel.qemu, false)) {ALOGI(Starting PipeComm);mPipeComm std::make_uniquePipeComm(this);mPipeComm-start();} }持有EmulatedVehicleHal对象创建SocketComm或者PipeComm并启动这是模拟的与VHAL连接的客户端的通信类。 3.5 VehicleHalManager初始化 VehicleHalManager(VehicleHal* vehicleHal): mHal(vehicleHal),mSubscriptionManager(std::bind(VehicleHalManager::onAllClientsUnsubscribed,this, std::placeholders::_1)) {init();}先将EmulatedVehicleHal保存至mHal变量中然后会初始化一个订阅相关的类SubscriptionManager最后调用init函数。 SubscriptionManager初始化见3.6小节接下来分析init函数

hidl_vecVehiclePropValue mHidlVecOfVehiclePropValuePool;

void VehicleHalManager::init() {ALOGI(VehicleHalManager::init);//初始化mHidlVecOfVehiclePropValuePool为20用于存储VehiclePropValuemHidlVecOfVehiclePropValuePool.resize(kMaxHidlVecOfVehiclPropValuePoolSize);//批处理相关的初始化mBatchingConsumer.run(mEventQueue,kHalEventBatchingTimeWindow,std::bind(VehicleHalManager::onBatchHalEvent,this, _1));//事件处理相关初始化mHal-init(mValueObjectPool,std::bind(VehicleHalManager::onHalEvent, this, _1),std::bind(VehicleHalManager::onHalPropertySetError, this,_1, _2, _3));// Initialize index with vehicle configurations received from VehicleHal.auto supportedPropConfigs mHal-listProperties();mConfigIndex.reset(new VehiclePropConfigIndex(supportedPropConfigs));std::vectorint32_t supportedProperties(supportedPropConfigs.size());//for (const auto config : supportedPropConfigs) {supportedProperties.push_back(config.prop);} }VehiclePropConfigIndex初始化见3.7小节 3.5.1 批处理初始化 ConcurrentQueueVehiclePropValuePtr mEventQueue;

constexpr std::chrono::milliseconds kHalEventBatchingTimeWindow(10);

mBatchingConsumer.run(mEventQueue,kHalEventBatchingTimeWindow,std::bind(VehicleHalManager::onBatchHalEvent,this, _1));

void run(ConcurrentQueueT* queue,std::chrono::nanoseconds batchInterval,const OnBatchReceivedFunc func) {mQueue queue;mBatchInterval batchInterval;mWorkerThread std::thread(BatchingConsumerT::runInternal, this, func); }先看这部分代码mQueuemEventQueue用于添加事件是VehiclePropValuePtr类型事件。mBatchIntervalkHalEventBatchingTimeWindow10然后创建了一个线程执行的函数是BatchingConsumer::runInternal传入的参数是VehicleHalManager::onBatchHalEvent。 void runInternal(const OnBatchReceivedFunc onBatchReceived) {if (mState.exchange(State::RUNNING) State::INIT) {while (State::RUNNING mState) {mQueue-waitForItems();if (State::STOP_REQUESTED mState) break;std::this_thread::sleep_for(mBatchInterval);if (State::STOP_REQUESTED mState) break;std::vectorT items mQueue-flush();if (items.size() 0) {onBatchReceived(items);}}}mState State::STOPPED;}批处理这个类的主要作用就是循环执行mQueue中的事件如果有事件到来就执行没有就休眠。mQueue事件什么时候添加后续分析。 3.5.2 初始化现有属性值

VehiclePropValuePool mValueObjectPool;VehiclePropValuePool(size_t maxRecyclableVectorSize 4) :mMaxRecyclableVectorSize(maxRecyclableVectorSize) {};

mHal-init(mValueObjectPool,std::bind(VehicleHalManager::onHalEvent, this, _1),std::bind(VehicleHalManager::onHalPropertySetError, this,_1, _2, _3));

void init(VehiclePropValuePool* valueObjectPool,const HalEventFunction onHalEvent,const HalErrorFunction onHalError) {mValuePool valueObjectPool;mOnHalEvent onHalEvent;mOnHalPropertySetError onHalError;onCreate(); }mValuePool存储的是VehiclePropValuePool对象是用于VehiclePropValue解析的池子方便循环利用。mOnHalEvent是onHalEvent函数mOnHalPropertySetError是onHalPropertySetError函数然后调用onCreate函数。onCreate是一个虚函数由实际的VehicleHal类实现即EmulatedVehicleHal中的实现 // Parse supported properties list and generate vector of property values to hold current values. void EmulatedVehicleHal::onCreate() {static constexpr bool shouldUpdateStatus true;//遍历所有的属性配置for (auto it : kVehicleProperties) {VehiclePropConfig cfg it.config;int32_t numAreas cfg.areaConfigs.size();if (isDiagnosticProperty(cfg)) {// do not write an initial empty value for the diagnostic properties// as we will initialize those separately.continue;}// A global property will have only a single areaif (isGlobalProp(cfg.prop)) {numAreas 1;}//对于分区属性的处理for (int i 0; i numAreas; i) {int32_t curArea;if (isGlobalProp(cfg.prop)) {curArea 0;} else {curArea cfg.areaConfigs[i].areaId;}// Create a separate instance for each individual zone//初始化VehiclePropValueVehiclePropValue prop {.areaId curArea,.prop cfg.prop,};//设置初始属性值if (it.initialAreaValues.size() 0) {auto valueForAreaIt it.initialAreaValues.find(curArea);if (valueForAreaIt ! it.initialAreaValues.end()) {prop.value valueForAreaIt-second;} else {ALOGW(%s failed to get default value for prop 0x%x area 0x%x,func, cfg.prop, curArea);}} else {prop.value it.initialValue;}//属性值写入VehiclePropertyStoremPropStore-writeValue(prop, shouldUpdateStatus);}}initObd2LiveFrame(*mPropStore-getConfigOrDie(OBD2_LIVE_FRAME));initObd2FreezeFrame(*mPropStore-getConfigOrDie(OBD2_FREEZE_FRAME)); }这块主要就是将根据默认配置里面的属性配置将初始化的属性值写入到VehiclePropertyStore中进行缓存。 3.6 SubscriptionManager初始化 SubscriptionManager是在VehicleHalManager中创建并持有的。

mSubscriptionManager(std::bind(VehicleHalManager::onAllClientsUnsubscribed,this, std::placeholders::_1))

SubscriptionManager(const OnPropertyUnsubscribed onPropertyUnsubscribed): mOnPropertyUnsubscribed(onPropertyUnsubscribed),mCallbackDeathRecipient(new DeathRecipient(std::bind(SubscriptionManager::onCallbackDead, this, std::placeholders::_1))) {}传入的参数是一个函数保存在mOnPropertyUnsubscribed中并初始化mCallbackDeathRecipient为一个DeathRecipient对象这个对象构造时的参数为onCallbackDead函数。 DeathRecipient(const OnClientDead onClientDead): mOnClientDead(onClientDead) {}onCallbackDead保存在mOnClientDead中。 VehicleHalManager中创建SubscriptionManager对象并对其进行管理。 3.7 RecurrentTimer初始化 RecurrentTimer由EmulatedVehicleHal的构造函数初始化并适时回调EmulatedVehicleHal中的回调函数。 RecurrentTimer mRecurrentTimer;mRecurrentTimer(std::bind(EmulatedVehicleHal::onContinuousPropertyTimer, this,std::placeholders::_1)),RecurrentTimer(const Action action) : mAction(action) {mTimerThread std::thread(RecurrentTimer::loop, this, action);}using Action std::functionvoid(const std::vectorint32_t cookies);接着3.3节中分析RecurrentTimer对象创建后赋值给mRecurrentTimer。RecurrentTimer创建时传入的参数是一个function类型数据包含的是一个函数。EmulatedVehicleHal::onContinuousPropertyTimerbind函数的第二个参数传入this因为是一个成员函数然后是一个参数占位符因为该函数需要传入一个参数。 然后RecurrentTimer的构造函数中创建了一个线程执行的函数是RecurrentTimer::loop传入的参数是Action对象即onContinuousPropertyTimer void loop(const Action action) {static constexpr auto kInvalidTime TimePoint(Nanos::max());std::vectorint32_t cookies;while (!mStopRequested) {auto now Clock::now();auto nextEventTime kInvalidTime;cookies.clear();{std::unique_lockstd::mutex g(mLock);for (auto it : mCookieToEventsMap) {//获取定时上报事件RecurrentEvent event it.second;if (event.absoluteTime now) {event.updateNextEventTime(now);cookies.push_back(event.cookie);}if (nextEventTime event.absoluteTime) {nextEventTime event.absoluteTime;}}}if (cookies.size() ! 0) {action(cookies);}std::unique_lockstd::mutex g(mLock);mCond.wait_until(g, nextEventTime); // nextEventTime can be nanoseconds::max()} }mStopRequested没有其他地方赋值有默认值为false所以会进入while循环。 这里主要是定时事件上报的处理逻辑如果到时间了就会加入到cookies这个变量中并调用action这个回到函数即onContinuousPropertyTimer这个回调函数去处理所有到时间的定时事件。 4 初始化流程图 plantuml代码 startumlparticipant init box participant VehicleService participant VehicleHalManager participant VehicleEmulator participant EmulatedVehicleHal participant EmulatedVehicleConnector participant VehiclePropertyStore participant SocketComm participant SubscriptionManager participant DeathRecipient participant BatchingConsumer endboxinit - VehicleService: 拉起服务 VehicleService - VehiclePropertyStore: new VehiclePropertyStore() VehicleService - EmulatedVehicleConnector: new EmulatedVehicleConnector() VehicleService - EmulatedVehicleHal: new EmulatedVehicleHal(VehiclePropertyStore* propStore, \n\tVehicleHalClient* client, EmulatedUserHal* emulatedUserHal nullptr); EmulatedVehicleHal - EmulatedVehicleHal: initStaticConfig() EmulatedVehicleHal - VehiclePropertyStore: registerProperty(const VehiclePropConfig config, \n\tVehiclePropertyStore::TokenFunction tokenFunc) EmulatedVehicleHal - EmulatedVehicleConnector: registerPropertyValueCallback(PropertyCallBackType callback) VehicleService - VehicleEmulator: new VehicleEmulator(EmulatedVehicleHalIface* hal) VehicleEmulator - EmulatedVehicleHal: registerEmulator(this) VehicleEmulator - SocketComm: start() VehicleService - VehicleHalManager: new VehicleHalManager(VehicleHal* vehicleHal) VehicleHalManager - SubscriptionManager: new (const OnPropertyUnsubscribed onPropertyUnsubscribed\n\t: mOnPropertyUnsubscribed(onPropertyUnsubscribed),\n\tmCallbackDeathRecipient(new DeathRecipient(\n\tstd::bind(SubscriptionManager::onCallbackDead, this, std::placeholders::_1))) SubscriptionManager - DeathRecipient: new DeathRecipient(const OnClientDead onClientDead) VehicleHalManager - VehicleHalManager: init() VehicleHalManager - BatchingConsumer: run() loopBatchingConsumer - BatchingConsumer: runInternal(const OnBatchReceivedFunc onBatchReceived) end loop VehicleHalManager - EmulatedVehicleHal: init( \n\tVehiclePropValuePool* valueObjectPool, \n\tconst HalEventFunction onHalEvent, \n\tconst HalErrorFunction onHalError) EmulatedVehicleHal - EmulatedVehicleHal: onCreate() EmulatedVehicleHal - VehiclePropertyStore: writeValue(const VehiclePropValue propValue, bool updateStatus) VehicleService - EmulatedVehicleConnector: setValuePool(VehiclePropValuePool* valuePool) VehicleService - VehicleHalManager: registerAsService() enduml 流程图