Merge TP1A.220120.003

Change-Id: Ie5eba313ee102e452f5f96942ed2f3a7bb4e8f01

21 files changed, 1575 insertions, 3 deletions

diff --git a/sensors/aidl/Android.bp b/sensors/aidl/Android.bp
index fd1ac441e2..92b7ad03d8 100644
--- a/sensors/aidl/Android.bp
+++ b/sensors/aidl/Android.bp
@@ -1,4 +1,11 @@
-// This is the expected build file, but it may not be right in all cases
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
 
 aidl_interface {
     name: "android.hardware.sensors",
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
index 186b2be8b3..c92ab1ab0c 100644
--- a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
@@ -51,6 +51,7 @@ parcelable Event {
     android.hardware.sensors.DynamicSensorInfo dynamic;
     android.hardware.sensors.AdditionalInfo additional;
     android.hardware.sensors.Event.EventPayload.Data data;
+    android.hardware.sensors.Event.EventPayload.HeadTracker headTracker;
     @FixedSize @VintfStability
     parcelable Vec4 {
       float x;
@@ -75,6 +76,16 @@ parcelable Event {
       float zBias;
     }
     @FixedSize @VintfStability
+    parcelable HeadTracker {
+      float rx;
+      float ry;
+      float rz;
+      float vx;
+      float vy;
+      float vz;
+      int discontinuityCount;
+    }
+    @FixedSize @VintfStability
     parcelable HeartRate {
       float bpm;
       android.hardware.sensors.SensorStatus status;
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
index 4f3b5b2e79..3d7ab45cd8 100644
--- a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
@@ -70,5 +70,6 @@ enum SensorType {
   LOW_LATENCY_OFFBODY_DETECT = 34,
   ACCELEROMETER_UNCALIBRATED = 35,
   HINGE_ANGLE = 36,
+  HEAD_TRACKER = 37,
   DEVICE_PRIVATE_BASE = 65536,
 }
diff --git a/sensors/aidl/android/hardware/sensors/Event.aidl b/sensors/aidl/android/hardware/sensors/Event.aidl
index 6ef9acbbda..fd6a8cc4ba 100644
--- a/sensors/aidl/android/hardware/sensors/Event.aidl
+++ b/sensors/aidl/android/hardware/sensors/Event.aidl
@@ -127,6 +127,11 @@ parcelable Event {
          */
         Data data;
 
+        /**
+         * SensorType::HEAD_TRACKER
+         */
+        HeadTracker headTracker;
+
         @FixedSize
         @VintfStability
         parcelable Vec4 {
@@ -156,6 +161,46 @@ parcelable Event {
             float zBias;
         }
 
+        /**
+         * Payload of the HEAD_TRACKER sensor type. Note that the axis
+         * definition of this sensor type differs from the rest of Android. See
+         * SensorType::HEAD_TRACKER for more information.
+         */
+        @FixedSize
+        @VintfStability
+        parcelable HeadTracker {
+            /**
+             * An Euler vector (rotation vector, i.e. a vector whose direction
+             * indicates the axis of rotation and magnitude indicates the angle
+             * to rotate around that axis) representing the transform from
+             * the (arbitrary, possibly slowly drifting) reference frame to the
+             * head frame. Expressed in radians. Magnitude of the vector must be
+             * in the range [0, pi], while the value of individual axes are
+             * in the range [-pi, pi].
+             */
+            float rx;
+            float ry;
+            float rz;
+
+            /**
+             * An Euler vector (rotation vector) representing the angular
+             * velocity of the head (relative to itself), in radians per second.
+             * The direction of this vector indicates the axis of rotation, and
+             * the magnitude indicates the rate of rotation.
+             */
+            float vx;
+            float vy;
+            float vz;
+
+            /**
+             * This value increments (or wraps around to 0) each time the
+             * reference frame is suddenly and significantly changed, for
+             * example if an orientation filter algorithm used for determining
+             * the orientation has had its state reset.
+             */
+            int discontinuityCount;
+        }
+
         @FixedSize
         @VintfStability
         parcelable HeartRate {
diff --git a/sensors/aidl/android/hardware/sensors/SensorType.aidl b/sensors/aidl/android/hardware/sensors/SensorType.aidl
index 95c7a6a2ad..01e6bee1d5 100644
--- a/sensors/aidl/android/hardware/sensors/SensorType.aidl
+++ b/sensors/aidl/android/hardware/sensors/SensorType.aidl
@@ -142,6 +142,10 @@ enum SensorType {
      * The rotation vector symbolizes the orientation of the device relative to
      * the East-North-Up coordinates frame.
      *
+     * Note that despite the name, SensorType::ROTATION_VECTOR uses
+     * quaternion representation, rather than the rotation vector representation
+     * (aka Euler vector) seen in SensorType::HEAD_TRACKER.
+     *
      * Implement the non-wake-up version of this sensor and implement the
      * wake-up version if the system possesses a wake up fifo.
      */
@@ -634,6 +638,35 @@ enum SensorType {
     HINGE_ANGLE = 36,
 
     /**
+     * HEAD_TRACKER
+     * reporting-mode: continuous
+     *
+     * A sensor of this type measures the orientation of a user's head relative
+     * to an arbitrary reference frame, and the rate of rotation.
+     *
+     * Events produced by this sensor follow a special head-centric coordinate
+     * frame, where:
+     *   - The X axis crosses through the user's ears, with the positive X
+     *     direction extending out of the user's right ear
+     *   - The Y axis crosses from the back of the user's head through their
+     *     nose, with the positive direction extending out of the nose, and the
+     *     X/Y plane being nominally parallel to the ground when the user is
+     *     upright and looking straight ahead
+     *   - The Z axis crosses from the neck through the top of the user's head,
+     *     with the positive direction extending out from the top of the head
+     *
+     * When this sensor type is exposed as a dynamic sensor through a
+     * communications channel that uses HID, such as Bluetooth or USB, as part
+     * of a device with audio output capability (e.g. headphones), then the
+     * DynamicSensorInfo::uuid field shall be set to contents of the HID
+     * Persistent Unique ID to permit association between the sensor and audio
+     * device. Accordingly, the HID Persistent Unique ID (Sensors Page 0x20,
+     * Usage ID 0x302) must be populated as a UUID in binary representation,
+     * following RFC 4122 byte order.
+     */
+    HEAD_TRACKER = 37,
+
+    /**
      * Base for device manufacturers private sensor types.
      * These sensor types can't be exposed in the SDK.
      */
diff --git a/sensors/aidl/default/multihal/Android.bp b/sensors/aidl/default/multihal/Android.bp
new file mode 100644
index 0000000000..eee10625bb
--- /dev/null
+++ b/sensors/aidl/default/multihal/Android.bp
@@ -0,0 +1,58 @@
+//
+// Copyright (C) 2021 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.
+//
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_library_static {
+    name: "android.hardware.sensors@aidl-multihal",
+    vendor: true,
+    header_libs: [
+        "android.hardware.sensors@2.X-multihal.header",
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    shared_libs: [
+        "libfmq",
+        "libpower",
+        "libbase",
+        "libbinder_ndk",
+        "android.hardware.sensors@1.0",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "android.hardware.sensors-V1-ndk",
+    ],
+    export_include_dirs: ["include"],
+    srcs: [
+        "HalProxyAidl.cpp",
+        "ConvertUtils.cpp",
+    ],
+    visibility: [
+        ":__subpackages__",
+        "//hardware/interfaces/sensors/aidl/multihal:__subpackages__",
+        "//hardware/interfaces/tests/extension/sensors:__subpackages__",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.X-multihal",
+        "libaidlcommonsupport",
+    ],
+}
diff --git a/sensors/aidl/default/multihal/ConvertUtils.cpp b/sensors/aidl/default/multihal/ConvertUtils.cpp
new file mode 100644
index 0000000000..509bbb0e7b
--- /dev/null
+++ b/sensors/aidl/default/multihal/ConvertUtils.cpp
@@ -0,0 +1,321 @@
+/*
+ * Copyright (C) 2021 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 "ConvertUtils.h"
+#include <android-base/logging.h>
+#include <log/log.h>
+
+using AidlSensorInfo = ::aidl::android::hardware::sensors::SensorInfo;
+using AidlSensorType = ::aidl::android::hardware::sensors::SensorType;
+using AidlEvent = ::aidl::android::hardware::sensors::Event;
+using AidlSensorStatus = ::aidl::android::hardware::sensors::SensorStatus;
+using ::aidl::android::hardware::sensors::AdditionalInfo;
+using ::aidl::android::hardware::sensors::DynamicSensorInfo;
+using ::android::hardware::sensors::V1_0::MetaDataEventType;
+using V1_0SensorStatus = ::android::hardware::sensors::V1_0::SensorStatus;
+using ::android::hardware::sensors::V1_0::AdditionalInfoType;
+using V2_1SensorInfo = ::android::hardware::sensors::V2_1::SensorInfo;
+using V2_1Event = ::android::hardware::sensors::V2_1::Event;
+using V2_1SensorType = ::android::hardware::sensors::V2_1::SensorType;
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+AidlSensorInfo convertSensorInfo(const V2_1SensorInfo& sensorInfo) {
+    AidlSensorInfo aidlSensorInfo;
+    aidlSensorInfo.sensorHandle = sensorInfo.sensorHandle;
+    aidlSensorInfo.name = sensorInfo.name;
+    aidlSensorInfo.vendor = sensorInfo.vendor;
+    aidlSensorInfo.version = sensorInfo.version;
+    aidlSensorInfo.type = (AidlSensorType)sensorInfo.type;
+    aidlSensorInfo.typeAsString = sensorInfo.typeAsString;
+    aidlSensorInfo.maxRange = sensorInfo.maxRange;
+    aidlSensorInfo.resolution = sensorInfo.resolution;
+    aidlSensorInfo.power = sensorInfo.power;
+    aidlSensorInfo.minDelayUs = sensorInfo.minDelay;
+    aidlSensorInfo.fifoReservedEventCount = sensorInfo.fifoReservedEventCount;
+    aidlSensorInfo.fifoMaxEventCount = sensorInfo.fifoMaxEventCount;
+    aidlSensorInfo.requiredPermission = sensorInfo.requiredPermission;
+    aidlSensorInfo.maxDelayUs = sensorInfo.maxDelay;
+    aidlSensorInfo.flags = sensorInfo.flags;
+    return aidlSensorInfo;
+}
+
+void convertToHidlEvent(const AidlEvent& aidlEvent, V2_1Event* hidlEvent) {
+    hidlEvent->timestamp = aidlEvent.timestamp;
+    hidlEvent->sensorHandle = aidlEvent.sensorHandle;
+    hidlEvent->sensorType = (V2_1SensorType)aidlEvent.sensorType;
+
+    switch (aidlEvent.sensorType) {
+        case AidlSensorType::META_DATA:
+            hidlEvent->u.meta.what =
+                    (MetaDataEventType)aidlEvent.payload.get<Event::EventPayload::meta>().what;
+            break;
+        case AidlSensorType::ACCELEROMETER:
+        case AidlSensorType::MAGNETIC_FIELD:
+        case AidlSensorType::ORIENTATION:
+        case AidlSensorType::GYROSCOPE:
+        case AidlSensorType::GRAVITY:
+        case AidlSensorType::LINEAR_ACCELERATION:
+            hidlEvent->u.vec3.x = aidlEvent.payload.get<Event::EventPayload::vec3>().x;
+            hidlEvent->u.vec3.y = aidlEvent.payload.get<Event::EventPayload::vec3>().y;
+            hidlEvent->u.vec3.z = aidlEvent.payload.get<Event::EventPayload::vec3>().z;
+            break;
+        case AidlSensorType::GAME_ROTATION_VECTOR:
+            hidlEvent->u.vec4.x = aidlEvent.payload.get<Event::EventPayload::vec4>().x;
+            hidlEvent->u.vec4.y = aidlEvent.payload.get<Event::EventPayload::vec4>().y;
+            hidlEvent->u.vec4.z = aidlEvent.payload.get<Event::EventPayload::vec4>().z;
+            hidlEvent->u.vec4.w = aidlEvent.payload.get<Event::EventPayload::vec4>().w;
+            break;
+        case AidlSensorType::ROTATION_VECTOR:
+        case AidlSensorType::GEOMAGNETIC_ROTATION_VECTOR:
+            std::copy(aidlEvent.payload.get<Event::EventPayload::data>().values.data(),
+                      aidlEvent.payload.get<Event::EventPayload::data>().values.data() + 5,
+                      hidlEvent->u.data.data());
+            break;
+        case AidlSensorType::ACCELEROMETER_UNCALIBRATED:
+        case AidlSensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case AidlSensorType::GYROSCOPE_UNCALIBRATED:
+            hidlEvent->u.uncal.x = aidlEvent.payload.get<Event::EventPayload::uncal>().x;
+            hidlEvent->u.uncal.y = aidlEvent.payload.get<Event::EventPayload::uncal>().y;
+            hidlEvent->u.uncal.z = aidlEvent.payload.get<Event::EventPayload::uncal>().z;
+            hidlEvent->u.uncal.x_bias = aidlEvent.payload.get<Event::EventPayload::uncal>().xBias;
+            hidlEvent->u.uncal.y_bias = aidlEvent.payload.get<Event::EventPayload::uncal>().yBias;
+            hidlEvent->u.uncal.z_bias = aidlEvent.payload.get<Event::EventPayload::uncal>().zBias;
+            break;
+        case AidlSensorType::DEVICE_ORIENTATION:
+        case AidlSensorType::LIGHT:
+        case AidlSensorType::PRESSURE:
+        case AidlSensorType::PROXIMITY:
+        case AidlSensorType::RELATIVE_HUMIDITY:
+        case AidlSensorType::AMBIENT_TEMPERATURE:
+        case AidlSensorType::SIGNIFICANT_MOTION:
+        case AidlSensorType::STEP_DETECTOR:
+        case AidlSensorType::TILT_DETECTOR:
+        case AidlSensorType::WAKE_GESTURE:
+        case AidlSensorType::GLANCE_GESTURE:
+        case AidlSensorType::PICK_UP_GESTURE:
+        case AidlSensorType::WRIST_TILT_GESTURE:
+        case AidlSensorType::STATIONARY_DETECT:
+        case AidlSensorType::MOTION_DETECT:
+        case AidlSensorType::HEART_BEAT:
+        case AidlSensorType::LOW_LATENCY_OFFBODY_DETECT:
+        case AidlSensorType::HINGE_ANGLE:
+            hidlEvent->u.scalar = aidlEvent.payload.get<Event::EventPayload::scalar>();
+            break;
+        case AidlSensorType::STEP_COUNTER:
+            hidlEvent->u.stepCount = aidlEvent.payload.get<AidlEvent::EventPayload::stepCount>();
+            break;
+        case AidlSensorType::HEART_RATE:
+            hidlEvent->u.heartRate.bpm =
+                    aidlEvent.payload.get<AidlEvent::EventPayload::heartRate>().bpm;
+            hidlEvent->u.heartRate.status =
+                    (V1_0SensorStatus)aidlEvent.payload.get<Event::EventPayload::heartRate>()
+                            .status;
+            break;
+        case AidlSensorType::POSE_6DOF:
+            std::copy(std::begin(aidlEvent.payload.get<AidlEvent::EventPayload::pose6DOF>().values),
+                      std::end(aidlEvent.payload.get<AidlEvent::EventPayload::pose6DOF>().values),
+                      hidlEvent->u.pose6DOF.data());
+            break;
+        case AidlSensorType::DYNAMIC_SENSOR_META:
+            hidlEvent->u.dynamic.connected =
+                    aidlEvent.payload.get<Event::EventPayload::dynamic>().connected;
+            hidlEvent->u.dynamic.sensorHandle =
+                    aidlEvent.payload.get<Event::EventPayload::dynamic>().sensorHandle;
+            std::copy(
+                    std::begin(
+                            aidlEvent.payload.get<AidlEvent::EventPayload::dynamic>().uuid.values),
+                    std::end(aidlEvent.payload.get<AidlEvent::EventPayload::dynamic>().uuid.values),
+                    hidlEvent->u.dynamic.uuid.data());
+            break;
+        case AidlSensorType::ADDITIONAL_INFO: {
+            const AdditionalInfo& additionalInfo =
+                    aidlEvent.payload.get<AidlEvent::EventPayload::additional>();
+            hidlEvent->u.additional.type = (AdditionalInfoType)additionalInfo.type;
+            hidlEvent->u.additional.serial = additionalInfo.serial;
+
+            switch (additionalInfo.payload.getTag()) {
+                case AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32: {
+                    const auto& aidlData =
+                            additionalInfo.payload
+                                    .get<AdditionalInfo::AdditionalInfoPayload::dataInt32>()
+                                    .values;
+                    std::copy(std::begin(aidlData), std::end(aidlData),
+                              hidlEvent->u.additional.u.data_int32.data());
+                    break;
+                }
+                case AdditionalInfo::AdditionalInfoPayload::Tag::dataFloat: {
+                    const auto& aidlData =
+                            additionalInfo.payload
+                                    .get<AdditionalInfo::AdditionalInfoPayload::dataFloat>()
+                                    .values;
+                    std::copy(std::begin(aidlData), std::end(aidlData),
+                              hidlEvent->u.additional.u.data_float.data());
+                    break;
+                }
+                default:
+                    ALOGE("Invalid sensor additioanl info tag: %d",
+                          additionalInfo.payload.getTag());
+                    break;
+            }
+            break;
+        }
+        default:
+            CHECK_GE((int32_t)aidlEvent.sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+            std::copy(std::begin(aidlEvent.payload.get<AidlEvent::EventPayload::data>().values),
+                      std::end(aidlEvent.payload.get<AidlEvent::EventPayload::data>().values),
+                      hidlEvent->u.data.data());
+            break;
+    }
+}
+
+void convertToAidlEvent(const V2_1Event& hidlEvent, AidlEvent* aidlEvent) {
+    aidlEvent->timestamp = hidlEvent.timestamp;
+    aidlEvent->sensorHandle = hidlEvent.sensorHandle;
+    aidlEvent->sensorType = (AidlSensorType)hidlEvent.sensorType;
+    switch (hidlEvent.sensorType) {
+        case V2_1SensorType::META_DATA: {
+            AidlEvent::EventPayload::MetaData meta;
+            meta.what = (Event::EventPayload::MetaData::MetaDataEventType)hidlEvent.u.meta.what;
+            aidlEvent->payload.set<Event::EventPayload::meta>(meta);
+            break;
+        }
+        case V2_1SensorType::ACCELEROMETER:
+        case V2_1SensorType::MAGNETIC_FIELD:
+        case V2_1SensorType::ORIENTATION:
+        case V2_1SensorType::GYROSCOPE:
+        case V2_1SensorType::GRAVITY:
+        case V2_1SensorType::LINEAR_ACCELERATION: {
+            AidlEvent::EventPayload::Vec3 vec3;
+            vec3.x = hidlEvent.u.vec3.x;
+            vec3.y = hidlEvent.u.vec3.y;
+            vec3.z = hidlEvent.u.vec3.z;
+            aidlEvent->payload.set<Event::EventPayload::vec3>(vec3);
+            break;
+        }
+        case V2_1SensorType::GAME_ROTATION_VECTOR: {
+            AidlEvent::EventPayload::Vec4 vec4;
+            vec4.x = hidlEvent.u.vec4.x;
+            vec4.y = hidlEvent.u.vec4.y;
+            vec4.z = hidlEvent.u.vec4.z;
+            vec4.w = hidlEvent.u.vec4.w;
+            aidlEvent->payload.set<Event::EventPayload::vec4>(vec4);
+            break;
+        }
+        case V2_1SensorType::ROTATION_VECTOR:
+        case V2_1SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
+            AidlEvent::EventPayload::Data data;
+            std::copy(hidlEvent.u.data.data(), hidlEvent.u.data.data() + 5,
+                      std::begin(data.values));
+            aidlEvent->payload.set<Event::EventPayload::data>(data);
+            break;
+        }
+        case V2_1SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case V2_1SensorType::GYROSCOPE_UNCALIBRATED:
+        case V2_1SensorType::ACCELEROMETER_UNCALIBRATED: {
+            AidlEvent::EventPayload::Uncal uncal;
+            uncal.x = hidlEvent.u.uncal.x;
+            uncal.y = hidlEvent.u.uncal.y;
+            uncal.z = hidlEvent.u.uncal.z;
+            uncal.xBias = hidlEvent.u.uncal.x_bias;
+            uncal.yBias = hidlEvent.u.uncal.y_bias;
+            uncal.zBias = hidlEvent.u.uncal.z_bias;
+            aidlEvent->payload.set<Event::EventPayload::uncal>(uncal);
+            break;
+        }
+        case V2_1SensorType::DEVICE_ORIENTATION:
+        case V2_1SensorType::LIGHT:
+        case V2_1SensorType::PRESSURE:
+        case V2_1SensorType::PROXIMITY:
+        case V2_1SensorType::RELATIVE_HUMIDITY:
+        case V2_1SensorType::AMBIENT_TEMPERATURE:
+        case V2_1SensorType::SIGNIFICANT_MOTION:
+        case V2_1SensorType::STEP_DETECTOR:
+        case V2_1SensorType::TILT_DETECTOR:
+        case V2_1SensorType::WAKE_GESTURE:
+        case V2_1SensorType::GLANCE_GESTURE:
+        case V2_1SensorType::PICK_UP_GESTURE:
+        case V2_1SensorType::WRIST_TILT_GESTURE:
+        case V2_1SensorType::STATIONARY_DETECT:
+        case V2_1SensorType::MOTION_DETECT:
+        case V2_1SensorType::HEART_BEAT:
+        case V2_1SensorType::LOW_LATENCY_OFFBODY_DETECT:
+        case V2_1SensorType::HINGE_ANGLE:
+            aidlEvent->payload.set<Event::EventPayload::scalar>(hidlEvent.u.scalar);
+            break;
+        case V2_1SensorType::STEP_COUNTER:
+            aidlEvent->payload.set<Event::EventPayload::stepCount>(hidlEvent.u.stepCount);
+            break;
+        case V2_1SensorType::HEART_RATE: {
+            AidlEvent::EventPayload::HeartRate heartRate;
+            heartRate.bpm = hidlEvent.u.heartRate.bpm;
+            heartRate.status = (SensorStatus)hidlEvent.u.heartRate.status;
+            aidlEvent->payload.set<Event::EventPayload::heartRate>(heartRate);
+            break;
+        }
+        case V2_1SensorType::POSE_6DOF: {
+            AidlEvent::EventPayload::Pose6Dof pose6Dof;
+            std::copy(hidlEvent.u.pose6DOF.data(),
+                      hidlEvent.u.pose6DOF.data() + hidlEvent.u.pose6DOF.size(),
+                      std::begin(pose6Dof.values));
+            aidlEvent->payload.set<Event::EventPayload::pose6DOF>(pose6Dof);
+            break;
+        }
+        case V2_1SensorType::DYNAMIC_SENSOR_META: {
+            DynamicSensorInfo dynamicSensorInfo;
+            dynamicSensorInfo.connected = hidlEvent.u.dynamic.connected;
+            dynamicSensorInfo.sensorHandle = hidlEvent.u.dynamic.sensorHandle;
+            std::copy(hidlEvent.u.dynamic.uuid.data(),
+                      hidlEvent.u.dynamic.uuid.data() + hidlEvent.u.dynamic.uuid.size(),
+                      std::begin(dynamicSensorInfo.uuid.values));
+            aidlEvent->payload.set<Event::EventPayload::dynamic>(dynamicSensorInfo);
+            break;
+        }
+        case V2_1SensorType::ADDITIONAL_INFO: {
+            AdditionalInfo additionalInfo;
+            additionalInfo.type = (AdditionalInfo::AdditionalInfoType)hidlEvent.u.additional.type;
+            additionalInfo.serial = hidlEvent.u.additional.serial;
+
+            AdditionalInfo::AdditionalInfoPayload::Int32Values int32Values;
+            std::copy(hidlEvent.u.additional.u.data_int32.data(),
+                      hidlEvent.u.additional.u.data_int32.data() +
+                              hidlEvent.u.additional.u.data_int32.size(),
+                      std::begin(int32Values.values));
+            additionalInfo.payload.set<AdditionalInfo::AdditionalInfoPayload::dataInt32>(
+                    int32Values);
+            aidlEvent->payload.set<Event::EventPayload::additional>(additionalInfo);
+            break;
+        }
+        default: {
+            CHECK_GE((int32_t)hidlEvent.sensorType, (int32_t)V2_1SensorType::DEVICE_PRIVATE_BASE);
+            AidlEvent::EventPayload::Data data;
+            std::copy(hidlEvent.u.data.data(), hidlEvent.u.data.data() + hidlEvent.u.data.size(),
+                      std::begin(data.values));
+            aidlEvent->payload.set<Event::EventPayload::data>(data);
+            break;
+        }
+    }
+}
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/default/multihal/HalProxyAidl.cpp b/sensors/aidl/default/multihal/HalProxyAidl.cpp
new file mode 100644
index 0000000000..64805e6638
--- /dev/null
+++ b/sensors/aidl/default/multihal/HalProxyAidl.cpp
@@ -0,0 +1,213 @@
+/*
+ * Copyright (C) 2021 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 "HalProxyAidl.h"
+#include <aidlcommonsupport/NativeHandle.h>
+#include <fmq/AidlMessageQueue.h>
+#include <hidl/Status.h>
+#include "ConvertUtils.h"
+#include "EventMessageQueueWrapperAidl.h"
+#include "ISensorsCallbackWrapperAidl.h"
+#include "WakeLockMessageQueueWrapperAidl.h"
+#include "convertV2_1.h"
+
+using ::aidl::android::hardware::common::fmq::MQDescriptor;
+using ::aidl::android::hardware::common::fmq::SynchronizedReadWrite;
+using ::aidl::android::hardware::sensors::ISensors;
+using ::aidl::android::hardware::sensors::ISensorsCallback;
+using ::android::hardware::sensors::V2_1::implementation::convertToOldEvent;
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+static binder_status_t resultToBinderStatus(::android::hardware::sensors::V1_0::Result result) {
+    switch (result) {
+        case ::android::hardware::sensors::V1_0::Result::OK:
+            return STATUS_OK;
+        case ::android::hardware::sensors::V1_0::Result::PERMISSION_DENIED:
+            return STATUS_PERMISSION_DENIED;
+        case ::android::hardware::sensors::V1_0::Result::NO_MEMORY:
+            return STATUS_NO_MEMORY;
+        case ::android::hardware::sensors::V1_0::Result::BAD_VALUE:
+            return STATUS_BAD_VALUE;
+        case ::android::hardware::sensors::V1_0::Result::INVALID_OPERATION:
+            return STATUS_INVALID_OPERATION;
+    }
+}
+
+static ::android::hardware::sensors::V1_0::RateLevel convertRateLevel(
+        ISensors::RateLevel rateLevel) {
+    switch (rateLevel) {
+        case ISensors::RateLevel::STOP:
+            return ::android::hardware::sensors::V1_0::RateLevel::STOP;
+        case ISensors::RateLevel::NORMAL:
+            return ::android::hardware::sensors::V1_0::RateLevel::NORMAL;
+        case ISensors::RateLevel::FAST:
+            return ::android::hardware::sensors::V1_0::RateLevel::FAST;
+        case ISensors::RateLevel::VERY_FAST:
+            return ::android::hardware::sensors::V1_0::RateLevel::VERY_FAST;
+    }
+}
+
+static ::android::hardware::sensors::V1_0::OperationMode convertOperationMode(
+        ISensors::OperationMode operationMode) {
+    switch (operationMode) {
+        case ISensors::OperationMode::NORMAL:
+            return ::android::hardware::sensors::V1_0::OperationMode::NORMAL;
+        case ISensors::OperationMode::DATA_INJECTION:
+            return ::android::hardware::sensors::V1_0::OperationMode::DATA_INJECTION;
+    }
+}
+
+static ::android::hardware::sensors::V1_0::SharedMemType convertSharedMemType(
+        ISensors::SharedMemInfo::SharedMemType sharedMemType) {
+    switch (sharedMemType) {
+        case ISensors::SharedMemInfo::SharedMemType::ASHMEM:
+            return ::android::hardware::sensors::V1_0::SharedMemType::ASHMEM;
+        case ISensors::SharedMemInfo::SharedMemType::GRALLOC:
+            return ::android::hardware::sensors::V1_0::SharedMemType::GRALLOC;
+    }
+}
+
+static ::android::hardware::sensors::V1_0::SharedMemFormat convertSharedMemFormat(
+        ISensors::SharedMemInfo::SharedMemFormat sharedMemFormat) {
+    switch (sharedMemFormat) {
+        case ISensors::SharedMemInfo::SharedMemFormat::SENSORS_EVENT:
+            return ::android::hardware::sensors::V1_0::SharedMemFormat::SENSORS_EVENT;
+    }
+}
+
+static ::android::hardware::sensors::V1_0::SharedMemInfo convertSharedMemInfo(
+        const ISensors::SharedMemInfo& sharedMemInfo) {
+    ::android::hardware::sensors::V1_0::SharedMemInfo v1SharedMemInfo;
+    v1SharedMemInfo.type = convertSharedMemType(sharedMemInfo.type);
+    v1SharedMemInfo.format = convertSharedMemFormat(sharedMemInfo.format);
+    v1SharedMemInfo.size = sharedMemInfo.size;
+    v1SharedMemInfo.memoryHandle =
+            ::android::hardware::hidl_handle(::android::makeFromAidl(sharedMemInfo.memoryHandle));
+    return v1SharedMemInfo;
+}
+
+::ndk::ScopedAStatus HalProxyAidl::activate(int32_t in_sensorHandle, bool in_enabled) {
+    return ndk::ScopedAStatus::fromStatus(
+            resultToBinderStatus(HalProxy::activate(in_sensorHandle, in_enabled)));
+}
+
+::ndk::ScopedAStatus HalProxyAidl::batch(int32_t in_sensorHandle, int64_t in_samplingPeriodNs,
+                                         int64_t in_maxReportLatencyNs) {
+    return ndk::ScopedAStatus::fromStatus(resultToBinderStatus(
+            HalProxy::batch(in_sensorHandle, in_samplingPeriodNs, in_maxReportLatencyNs)));
+}
+
+::ndk::ScopedAStatus HalProxyAidl::configDirectReport(int32_t in_sensorHandle,
+                                                      int32_t in_channelHandle,
+                                                      ISensors::RateLevel in_rate,
+                                                      int32_t* _aidl_return) {
+    binder_status_t binderStatus;
+    HalProxy::configDirectReport(
+            in_sensorHandle, in_channelHandle, convertRateLevel(in_rate),
+            [&binderStatus, _aidl_return](::android::hardware::sensors::V1_0::Result result,
+                                          int32_t reportToken) {
+                binderStatus = resultToBinderStatus(result);
+                *_aidl_return = reportToken;
+            });
+    return ndk::ScopedAStatus::fromStatus(binderStatus);
+}
+
+::ndk::ScopedAStatus HalProxyAidl::flush(int32_t in_sensorHandle) {
+    return ndk::ScopedAStatus::fromStatus(resultToBinderStatus(HalProxy::flush(in_sensorHandle)));
+}
+
+::ndk::ScopedAStatus HalProxyAidl::getSensorsList(
+        std::vector<::aidl::android::hardware::sensors::SensorInfo>* _aidl_return) {
+    for (const auto& sensor : HalProxy::getSensors()) {
+        _aidl_return->push_back(convertSensorInfo(sensor.second));
+    }
+    return ndk::ScopedAStatus::ok();
+}
+
+::ndk::ScopedAStatus HalProxyAidl::initialize(
+        const MQDescriptor<::aidl::android::hardware::sensors::Event, SynchronizedReadWrite>&
+                in_eventQueueDescriptor,
+        const MQDescriptor<int32_t, SynchronizedReadWrite>& in_wakeLockDescriptor,
+        const std::shared_ptr<ISensorsCallback>& in_sensorsCallback) {
+    ::android::sp<::android::hardware::sensors::V2_1::implementation::ISensorsCallbackWrapperBase>
+            dynamicCallback = new ISensorsCallbackWrapperAidl(in_sensorsCallback);
+
+    auto aidlEventQueue =
+            std::make_unique<::android::AidlMessageQueue<::aidl::android::hardware::sensors::Event,
+                                                         SynchronizedReadWrite>>(
+                    in_eventQueueDescriptor, true /* resetPointers */);
+    std::unique_ptr<
+            ::android::hardware::sensors::V2_1::implementation::EventMessageQueueWrapperBase>
+            eventQueue = std::make_unique<EventMessageQueueWrapperAidl>(aidlEventQueue);
+
+    auto aidlWakeLockQueue =
+            std::make_unique<::android::AidlMessageQueue<int32_t, SynchronizedReadWrite>>(
+                    in_wakeLockDescriptor, true /* resetPointers */);
+    std::unique_ptr<
+            ::android::hardware::sensors::V2_1::implementation::WakeLockMessageQueueWrapperBase>
+            wakeLockQueue = std::make_unique<WakeLockMessageQueueWrapperAidl>(aidlWakeLockQueue);
+
+    return ndk::ScopedAStatus::fromStatus(
+            resultToBinderStatus(initializeCommon(eventQueue, wakeLockQueue, dynamicCallback)));
+}
+
+::ndk::ScopedAStatus HalProxyAidl::injectSensorData(
+        const ::aidl::android::hardware::sensors::Event& in_event) {
+    ::android::hardware::sensors::V2_1::Event hidlEvent;
+    convertToHidlEvent(in_event, &hidlEvent);
+    return ndk::ScopedAStatus::fromStatus(
+            resultToBinderStatus(HalProxy::injectSensorData(convertToOldEvent(hidlEvent))));
+}
+
+::ndk::ScopedAStatus HalProxyAidl::registerDirectChannel(const ISensors::SharedMemInfo& in_mem,
+                                                         int32_t* _aidl_return) {
+    binder_status_t binderStatus;
+    ::android::hardware::sensors::V1_0::SharedMemInfo sharedMemInfo = convertSharedMemInfo(in_mem);
+
+    HalProxy::registerDirectChannel(
+            sharedMemInfo,
+            [&binderStatus, _aidl_return](::android::hardware::sensors::V1_0::Result result,
+                                          int32_t reportToken) {
+                binderStatus = resultToBinderStatus(result);
+                *_aidl_return = reportToken;
+            });
+
+    native_handle_delete(
+            const_cast<native_handle_t*>(sharedMemInfo.memoryHandle.getNativeHandle()));
+    return ndk::ScopedAStatus::fromStatus(binderStatus);
+}
+
+::ndk::ScopedAStatus HalProxyAidl::setOperationMode(
+        ::aidl::android::hardware::sensors::ISensors::OperationMode in_mode) {
+    return ndk::ScopedAStatus::fromStatus(
+            resultToBinderStatus(HalProxy::setOperationMode(convertOperationMode(in_mode))));
+}
+
+::ndk::ScopedAStatus HalProxyAidl::unregisterDirectChannel(int32_t in_channelHandle) {
+    return ndk::ScopedAStatus::fromStatus(
+            resultToBinderStatus(HalProxy::unregisterDirectChannel(in_channelHandle)));
+}
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
\ No newline at end of file
diff --git a/sensors/aidl/default/multihal/include/ConvertUtils.h b/sensors/aidl/default/multihal/include/ConvertUtils.h
new file mode 100644
index 0000000000..91dfabde3a
--- /dev/null
+++ b/sensors/aidl/default/multihal/include/ConvertUtils.h
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/sensors/BnSensors.h>
+#include <android/hardware/sensors/2.1/types.h>
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+/**
+ * Generates an AIDL SensorInfo instance from the passed HIDL V2.1 SensorInfo instance.
+ */
+::aidl::android::hardware::sensors::SensorInfo convertSensorInfo(
+        const ::android::hardware::sensors::V2_1::SensorInfo& sensorInfo);
+
+/**
+ * Populates a HIDL V2.1 Event instance based on an AIDL Event instance.
+ */
+void convertToHidlEvent(const ::aidl::android::hardware::sensors::Event& aidlEvent,
+                        ::android::hardware::sensors::V2_1::Event* hidlEvent);
+
+/**
+ * Populates an AIDL Event instance based on a HIDL V2.1 Event instance.
+ */
+void convertToAidlEvent(const ::android::hardware::sensors::V2_1::Event& hidlEvent,
+                        ::aidl::android::hardware::sensors::Event* aidlEvent);
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
\ No newline at end of file
diff --git a/sensors/aidl/default/multihal/include/EventMessageQueueWrapperAidl.h b/sensors/aidl/default/multihal/include/EventMessageQueueWrapperAidl.h
new file mode 100644
index 0000000000..3eaa1d4335
--- /dev/null
+++ b/sensors/aidl/default/multihal/include/EventMessageQueueWrapperAidl.h
@@ -0,0 +1,99 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <fmq/AidlMessageQueue.h>
+#include "ConvertUtils.h"
+#include "EventMessageQueueWrapper.h"
+#include "ISensorsWrapper.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+class EventMessageQueueWrapperAidl
+    : public ::android::hardware::sensors::V2_1::implementation::EventMessageQueueWrapperBase {
+  public:
+    EventMessageQueueWrapperAidl(
+            std::unique_ptr<::android::AidlMessageQueue<
+                    ::aidl::android::hardware::sensors::Event,
+                    ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>& queue)
+        : mQueue(std::move(queue)) {}
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() override {
+        return mQueue->getEventFlagWord();
+    }
+
+    virtual size_t availableToRead() override { return mQueue->availableToRead(); }
+
+    size_t availableToWrite() override { return mQueue->availableToWrite(); }
+
+    virtual bool read(::android::hardware::sensors::V2_1::Event* events,
+                      size_t numToRead) override {
+        bool success = mQueue->read(mIntermediateEventBuffer.data(), numToRead);
+        for (int i = 0; i < numToRead; ++i) {
+            convertToHidlEvent(mIntermediateEventBuffer[i], &events[i]);
+        }
+        return success;
+    }
+
+    bool write(const ::android::hardware::sensors::V2_1::Event* events,
+               size_t numToWrite) override {
+        for (int i = 0; i < numToWrite; ++i) {
+            convertToAidlEvent(events[i], &mIntermediateEventBuffer[i]);
+        }
+        return mQueue->write(mIntermediateEventBuffer.data(), numToWrite);
+    }
+
+    virtual bool write(
+            const std::vector<::android::hardware::sensors::V2_1::Event>& events) override {
+        for (int i = 0; i < events.size(); ++i) {
+            convertToAidlEvent(events[i], &mIntermediateEventBuffer[i]);
+        }
+        return mQueue->write(mIntermediateEventBuffer.data(), events.size());
+    }
+
+    bool writeBlocking(const ::android::hardware::sensors::V2_1::Event* events, size_t count,
+                       uint32_t readNotification, uint32_t writeNotification, int64_t timeOutNanos,
+                       ::android::hardware::EventFlag* evFlag) override {
+        for (int i = 0; i < count; ++i) {
+            convertToAidlEvent(events[i], &mIntermediateEventBuffer[i]);
+        }
+        return mQueue->writeBlocking(mIntermediateEventBuffer.data(), count, readNotification,
+                                     writeNotification, timeOutNanos, evFlag);
+    }
+
+    size_t getQuantumCount() override { return mQueue->getQuantumCount(); }
+
+  private:
+    std::unique_ptr<::android::AidlMessageQueue<
+            ::aidl::android::hardware::sensors::Event,
+            ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>
+            mQueue;
+    std::array<::aidl::android::hardware::sensors::Event,
+               ::android::hardware::sensors::V2_1::implementation::MAX_RECEIVE_BUFFER_EVENT_COUNT>
+            mIntermediateEventBuffer;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/default/multihal/include/HalProxyAidl.h b/sensors/aidl/default/multihal/include/HalProxyAidl.h
new file mode 100644
index 0000000000..7401726cf9
--- /dev/null
+++ b/sensors/aidl/default/multihal/include/HalProxyAidl.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/sensors/BnSensors.h>
+#include "HalProxy.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+class HalProxyAidl : public ::android::hardware::sensors::V2_1::implementation::HalProxy,
+                     public ::aidl::android::hardware::sensors::BnSensors {
+    ::ndk::ScopedAStatus activate(int32_t in_sensorHandle, bool in_enabled) override;
+    ::ndk::ScopedAStatus batch(int32_t in_sensorHandle, int64_t in_samplingPeriodNs,
+                               int64_t in_maxReportLatencyNs) override;
+    ::ndk::ScopedAStatus configDirectReport(
+            int32_t in_sensorHandle, int32_t in_channelHandle,
+            ::aidl::android::hardware::sensors::ISensors::RateLevel in_rate,
+            int32_t* _aidl_return) override;
+    ::ndk::ScopedAStatus flush(int32_t in_sensorHandle) override;
+    ::ndk::ScopedAStatus getSensorsList(
+            std::vector<::aidl::android::hardware::sensors::SensorInfo>* _aidl_return) override;
+    ::ndk::ScopedAStatus initialize(
+            const ::aidl::android::hardware::common::fmq::MQDescriptor<
+                    ::aidl::android::hardware::sensors::Event,
+                    ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>&
+                    in_eventQueueDescriptor,
+            const ::aidl::android::hardware::common::fmq::MQDescriptor<
+                    int32_t, ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>&
+                    in_wakeLockDescriptor,
+            const std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback>&
+                    in_sensorsCallback) override;
+    ::ndk::ScopedAStatus injectSensorData(
+            const ::aidl::android::hardware::sensors::Event& in_event) override;
+    ::ndk::ScopedAStatus registerDirectChannel(
+            const ::aidl::android::hardware::sensors::ISensors::SharedMemInfo& in_mem,
+            int32_t* _aidl_return) override;
+    ::ndk::ScopedAStatus setOperationMode(
+            ::aidl::android::hardware::sensors::ISensors::OperationMode in_mode) override;
+    ::ndk::ScopedAStatus unregisterDirectChannel(int32_t in_channelHandle) override;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/default/multihal/include/ISensorsCallbackWrapperAidl.h b/sensors/aidl/default/multihal/include/ISensorsCallbackWrapperAidl.h
new file mode 100644
index 0000000000..6ef6c6398d
--- /dev/null
+++ b/sensors/aidl/default/multihal/include/ISensorsCallbackWrapperAidl.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include "ConvertUtils.h"
+#include "ISensorsCallbackWrapper.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+static std::vector<::aidl::android::hardware::sensors::SensorInfo> convertToAidlSensorInfos(
+        const ::android::hardware::hidl_vec<::android::hardware::sensors::V2_1::SensorInfo>&
+                sensorInfos) {
+    std::vector<::aidl::android::hardware::sensors::SensorInfo> aidlSensorInfos;
+    for (const auto& sensorInfo : sensorInfos) {
+        aidlSensorInfos.push_back(convertSensorInfo(sensorInfo));
+    }
+    return aidlSensorInfos;
+}
+
+class ISensorsCallbackWrapperAidl
+    : public ::android::hardware::sensors::V2_1::implementation::ISensorsCallbackWrapperBase {
+  public:
+    ISensorsCallbackWrapperAidl(
+            std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback> sensorsCallback)
+        : mSensorsCallback(sensorsCallback) {}
+
+    ::android::hardware::Return<void> onDynamicSensorsConnected(
+            const ::android::hardware::hidl_vec<::android::hardware::sensors::V2_1::SensorInfo>&
+                    sensorInfos) override {
+        mSensorsCallback->onDynamicSensorsConnected(convertToAidlSensorInfos(sensorInfos));
+        return ::android::hardware::Void();
+    }
+
+    ::android::hardware::Return<void> onDynamicSensorsDisconnected(
+            const ::android::hardware::hidl_vec<int32_t>& sensorHandles) override {
+        mSensorsCallback->onDynamicSensorsDisconnected(sensorHandles);
+        return ::android::hardware::Void();
+    }
+
+  private:
+    std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback> mSensorsCallback;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
\ No newline at end of file
diff --git a/sensors/aidl/default/multihal/include/WakeLockMessageQueueWrapperAidl.h b/sensors/aidl/default/multihal/include/WakeLockMessageQueueWrapperAidl.h
new file mode 100644
index 0000000000..6be0b69aa3
--- /dev/null
+++ b/sensors/aidl/default/multihal/include/WakeLockMessageQueueWrapperAidl.h
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <fmq/AidlMessageQueue.h>
+#include "WakeLockMessageQueueWrapper.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+class WakeLockMessageQueueWrapperAidl
+    : public ::android::hardware::sensors::V2_1::implementation::WakeLockMessageQueueWrapperBase {
+  public:
+    WakeLockMessageQueueWrapperAidl(
+            std::unique_ptr<::android::AidlMessageQueue<
+                    int32_t, ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>& queue)
+        : mQueue(std::move(queue)) {}
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() override {
+        return mQueue->getEventFlagWord();
+    }
+
+    bool readBlocking(uint32_t* wakeLocks, size_t numToRead, uint32_t readNotification,
+                      uint32_t writeNotification, int64_t timeOutNanos,
+                      ::android::hardware::EventFlag* evFlag) override {
+        return mQueue->readBlocking(reinterpret_cast<int32_t*>(wakeLocks), numToRead,
+                                    readNotification, writeNotification, timeOutNanos, evFlag);
+    }
+
+    bool write(const uint32_t* wakeLock) override {
+        return mQueue->write(reinterpret_cast<const int32_t*>(wakeLock));
+    }
+
+  private:
+    std::unique_ptr<::android::AidlMessageQueue<
+            int32_t, ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>
+            mQueue;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/sensors/aidl/multihal/Android.bp b/sensors/aidl/multihal/Android.bp
new file mode 100644
index 0000000000..6d35dafd6d
--- /dev/null
+++ b/sensors/aidl/multihal/Android.bp
@@ -0,0 +1,59 @@
+//
+// Copyright (C) 2021 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.
+//
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_binary {
+    name: "android.hardware.sensors-service.multihal",
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "service.cpp",
+    ],
+    header_libs: [
+        "android.hardware.sensors@2.X-multihal.header",
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    init_rc: ["android.hardware.sensors-service-multihal.rc"],
+    vintf_fragments: ["android.hardware.sensors-multihal.xml"],
+    shared_libs: [
+        "android.hardware.sensors@2.0-ScopedWakelock",
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.1",
+        "android.hardware.sensors-V1-ndk",
+        "libbase",
+        "libcutils",
+        "libfmq",
+        "liblog",
+        "libpower",
+        "libutils",
+        "libbinder_ndk",
+        "libhidlbase",
+    ],
+    static_libs: [
+        "libaidlcommonsupport",
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.X-multihal",
+        "android.hardware.sensors@aidl-multihal",
+    ],
+}
diff --git a/sensors/aidl/multihal/OWNERS b/sensors/aidl/multihal/OWNERS
new file mode 100644
index 0000000000..e9556700d6
--- /dev/null
+++ b/sensors/aidl/multihal/OWNERS
@@ -0,0 +1,3 @@
+arthuri@google.com
+bduddie@google.com
+stange@google.com
\ No newline at end of file
diff --git a/sensors/aidl/multihal/android.hardware.sensors-multihal.xml b/sensors/aidl/multihal/android.hardware.sensors-multihal.xml
new file mode 100644
index 0000000000..d78edffaf9
--- /dev/null
+++ b/sensors/aidl/multihal/android.hardware.sensors-multihal.xml
@@ -0,0 +1,23 @@
+<!--
+  ~ Copyright (C) 2021 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.
+  -->
+
+<manifest version="1.0" type="device">
+    <hal format="aidl">
+        <name>android.hardware.sensors</name>
+        <version>1</version>
+        <fqname>ISensors/default</fqname>
+    </hal>
+</manifest>
diff --git a/sensors/aidl/multihal/android.hardware.sensors-service-multihal.rc b/sensors/aidl/multihal/android.hardware.sensors-service-multihal.rc
new file mode 100644
index 0000000000..3f91a0a04a
--- /dev/null
+++ b/sensors/aidl/multihal/android.hardware.sensors-service-multihal.rc
@@ -0,0 +1,7 @@
+service vendor.sensors-hal-multihal /vendor/bin/hw/android.hardware.sensors-service.multihal
+    class hal
+    user system
+    group system wakelock context_hub
+    task_profiles ServiceCapacityLow
+    capabilities BLOCK_SUSPEND
+    rlimit rtprio 10 10
\ No newline at end of file
diff --git a/sensors/aidl/multihal/service.cpp b/sensors/aidl/multihal/service.cpp
new file mode 100644
index 0000000000..11c108a395
--- /dev/null
+++ b/sensors/aidl/multihal/service.cpp
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2021 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 <android-base/logging.h>
+#include <android/binder_manager.h>
+#include <android/binder_process.h>
+#include "HalProxyAidl.h"
+
+using ::aidl::android::hardware::sensors::implementation::HalProxyAidl;
+
+int main() {
+    ABinderProcess_setThreadPoolMaxThreadCount(0);
+
+    // Make a default multihal sensors service
+    auto halProxy = ndk::SharedRefBase::make<HalProxyAidl>();
+    const std::string halProxyName = std::string() + HalProxyAidl::descriptor + "/default";
+    binder_status_t status =
+            AServiceManager_addService(halProxy->asBinder().get(), halProxyName.c_str());
+    CHECK_EQ(status, STATUS_OK);
+
+    ABinderProcess_joinThreadPool();
+    return EXIT_FAILURE;  // should not reach
+}
diff --git a/sensors/aidl/vts/Android.bp b/sensors/aidl/vts/Android.bp
index 5a519a5a1e..b5a5f15691 100644
--- a/sensors/aidl/vts/Android.bp
+++ b/sensors/aidl/vts/Android.bp
@@ -34,6 +34,7 @@ cc_test {
     shared_libs: [
         "libbinder",
         "libbinder_ndk",
+        "libvndksupport",
         "libfmq",
         "android.hardware.common-V2-ndk",
         "android.hardware.common.fmq-V1-ndk",
@@ -41,6 +42,7 @@ cc_test {
     static_libs: [
         "android.hardware.sensors-V1-ndk",
         "VtsHalSensorsTargetTestUtils",
+        "libaidlcommonsupport",
     ],
     test_suites: [
         "general-tests",
diff --git a/sensors/aidl/vts/SensorsAidlTestSharedMemory.h b/sensors/aidl/vts/SensorsAidlTestSharedMemory.h
new file mode 100644
index 0000000000..4b5916a0d7
--- /dev/null
+++ b/sensors/aidl/vts/SensorsAidlTestSharedMemory.h
@@ -0,0 +1,218 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#ifndef ANDROID_SENSORS_AIDL_TEST_SHARED_MEMORY_H
+#define ANDROID_SENSORS_AIDL_TEST_SHARED_MEMORY_H
+
+#include "sensors-vts-utils/GrallocWrapper.h"
+
+#include <aidlcommonsupport/NativeHandle.h>
+#include <android-base/macros.h>
+#include <log/log.h>
+
+#include <sys/mman.h>
+#include <cinttypes>
+
+#include <cutils/ashmem.h>
+
+using ::aidl::android::hardware::sensors::BnSensors;
+using ::aidl::android::hardware::sensors::Event;
+using ::aidl::android::hardware::sensors::ISensors;
+using ::aidl::android::hardware::sensors::SensorType;
+
+template <class SensorType, class Event>
+class SensorsAidlTestSharedMemory {
+  public:
+    static SensorsAidlTestSharedMemory* create(ISensors::SharedMemInfo::SharedMemType type,
+                                               size_t size) {
+        constexpr size_t kMaxSize =
+                128 * 1024 * 1024;  // sensor test should not need more than 128M
+        if (size == 0 || size >= kMaxSize) {
+            return nullptr;
+        }
+
+        auto m = new SensorsAidlTestSharedMemory<SensorType, Event>(type, size);
+        if (m->mSize != size || m->mBuffer == nullptr) {
+            delete m;
+            m = nullptr;
+        }
+        return m;
+    }
+
+    ISensors::SharedMemInfo getSharedMemInfo() const {
+        ISensors::SharedMemInfo mem = {
+                .type = mType,
+                .format = ISensors::SharedMemInfo::SharedMemFormat::SENSORS_EVENT,
+                .size = static_cast<int32_t>(mSize),
+                .memoryHandle = android::dupToAidl(mNativeHandle)};
+        return mem;
+    }
+    char* getBuffer() const { return mBuffer; }
+    size_t getSize() const { return mSize; }
+    std::vector<Event> parseEvents(int64_t lastCounter = -1, size_t offset = 0) const {
+        constexpr size_t kEventSize =
+                static_cast<size_t>(BnSensors::DIRECT_REPORT_SENSOR_EVENT_TOTAL_LENGTH);
+        constexpr size_t kOffsetSize =
+                static_cast<size_t>(BnSensors::DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_FIELD);
+        constexpr size_t kOffsetToken =
+                static_cast<size_t>(BnSensors::DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_REPORT_TOKEN);
+        constexpr size_t kOffsetType =
+                static_cast<size_t>(BnSensors::DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_SENSOR_TYPE);
+        constexpr size_t kOffsetAtomicCounter = static_cast<size_t>(
+                BnSensors::DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_ATOMIC_COUNTER);
+        constexpr size_t kOffsetTimestamp =
+                static_cast<size_t>(BnSensors::DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_TIMESTAMP);
+        constexpr size_t kOffsetData =
+                static_cast<size_t>(BnSensors::DIRECT_REPORT_SENSOR_EVENT_OFFSET_SIZE_DATA);
+
+        std::vector<Event> events;
+        std::vector<float> data(16);
+
+        while (offset + kEventSize <= mSize) {
+            int64_t atomicCounter =
+                    *reinterpret_cast<uint32_t*>(mBuffer + offset + kOffsetAtomicCounter);
+            if (atomicCounter <= lastCounter) {
+                ALOGV("atomicCounter = %" PRId64 ", lastCounter = %" PRId64, atomicCounter,
+                      lastCounter);
+                break;
+            }
+
+            int32_t size = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetSize);
+            if (size != kEventSize) {
+                // unknown error, events parsed may be wrong, remove all
+                events.clear();
+                break;
+            }
+
+            int32_t token = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetToken);
+            int32_t type = *reinterpret_cast<int32_t*>(mBuffer + offset + kOffsetType);
+            int64_t timestamp = *reinterpret_cast<int64_t*>(mBuffer + offset + kOffsetTimestamp);
+
+            ALOGV("offset = %zu, cnt %" PRId64 ", token %" PRId32 ", type %" PRId32
+                  ", timestamp %" PRId64,
+                  offset, atomicCounter, token, type, timestamp);
+
+            Event event = {
+                    .timestamp = timestamp,
+                    .sensorHandle = token,
+                    .sensorType = type,
+            };
+
+            event.set<Event::Data>(reinterpret_cast<float*>(mBuffer + offset + kOffsetData));
+            // event.u.data = android::hardware::hidl_array<float,
+            // 16>(reinterpret_cast<float*>(mBuffer + offset + kOffsetData));
+
+            events.push_back(event);
+
+            lastCounter = atomicCounter;
+            offset += kEventSize;
+        }
+
+        return events;
+    }
+
+    virtual ~SensorsAidlTestSharedMemory() {
+        switch (mType) {
+            case ISensors::SharedMemInfo::SharedMemType::ASHMEM: {
+                if (mSize != 0) {
+                    ::munmap(mBuffer, mSize);
+                    mBuffer = nullptr;
+
+                    ::native_handle_close(mNativeHandle);
+                    ::native_handle_delete(mNativeHandle);
+
+                    mNativeHandle = nullptr;
+                    mSize = 0;
+                }
+                break;
+            }
+            case ISensors::SharedMemInfo::SharedMemType::GRALLOC: {
+                if (mSize != 0) {
+                    mGrallocWrapper->freeBuffer(mNativeHandle);
+                    mNativeHandle = nullptr;
+                    mSize = 0;
+                }
+                break;
+            }
+            default: {
+                if (mNativeHandle != nullptr || mSize != 0 || mBuffer != nullptr) {
+                    ALOGE("SensorsAidlTestSharedMemory %p not properly destructed: "
+                          "type %d, native handle %p, size %zu, buffer %p",
+                          this, static_cast<int>(mType), mNativeHandle, mSize, mBuffer);
+                }
+                break;
+            }
+        }
+    }
+
+  private:
+    SensorsAidlTestSharedMemory(ISensors::SharedMemInfo::SharedMemType type, size_t size)
+        : mType(type), mSize(0), mBuffer(nullptr) {
+        native_handle_t* handle = nullptr;
+        char* buffer = nullptr;
+        switch (type) {
+            case ISensors::SharedMemInfo::SharedMemType::ASHMEM: {
+                int fd;
+                handle = ::native_handle_create(1 /*nFds*/, 0 /*nInts*/);
+                if (handle != nullptr) {
+                    handle->data[0] = fd =
+                            ::ashmem_create_region("SensorsAidlTestSharedMemory", size);
+                    if (handle->data[0] > 0) {
+                        // memory is pinned by default
+                        buffer = static_cast<char*>(
+                                ::mmap(NULL, size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
+                        if (buffer != reinterpret_cast<char*>(MAP_FAILED)) {
+                            break;
+                        }
+                        ::native_handle_close(handle);
+                    }
+                    ::native_handle_delete(handle);
+                    handle = nullptr;
+                }
+                break;
+            }
+            case ISensors::SharedMemInfo::SharedMemType::GRALLOC: {
+                mGrallocWrapper = std::make_unique<::android::GrallocWrapper>();
+                if (!mGrallocWrapper->isInitialized()) {
+                    break;
+                }
+
+                std::pair<native_handle_t*, void*> buf = mGrallocWrapper->allocate(size);
+                handle = buf.first;
+                buffer = static_cast<char*>(buf.second);
+                break;
+            }
+            default:
+                break;
+        }
+
+        if (buffer != nullptr) {
+            mNativeHandle = handle;
+            mSize = size;
+            mBuffer = buffer;
+        }
+    }
+
+    ISensors::SharedMemInfo::SharedMemType mType;
+    native_handle_t* mNativeHandle;
+    size_t mSize;
+    char* mBuffer;
+    std::unique_ptr<::android::GrallocWrapper> mGrallocWrapper;
+
+    DISALLOW_COPY_AND_ASSIGN(SensorsAidlTestSharedMemory);
+};
+
+#endif  // ANDROID_SENSORS_TEST_SHARED_MEMORY_H
diff --git a/sensors/aidl/vts/VtsAidlHalSensorsTargetTest.cpp b/sensors/aidl/vts/VtsAidlHalSensorsTargetTest.cpp
index 33645b2a95..1bc7263048 100644
--- a/sensors/aidl/vts/VtsAidlHalSensorsTargetTest.cpp
+++ b/sensors/aidl/vts/VtsAidlHalSensorsTargetTest.cpp
@@ -26,6 +26,7 @@
 #include <utils/SystemClock.h>
 
 #include "SensorsAidlEnvironment.h"
+#include "SensorsAidlTestSharedMemory.h"
 #include "sensors-vts-utils/SensorsVtsEnvironmentBase.h"
 
 #include <cinttypes>
@@ -43,6 +44,9 @@ using aidl::android::hardware::sensors::SensorType;
 using android::ProcessState;
 using std::chrono::duration_cast;
 
+constexpr size_t kEventSize =
+        static_cast<size_t>(ISensors::DIRECT_REPORT_SENSOR_EVENT_TOTAL_LENGTH);
+
 namespace {
 
 static void assertTypeMatchStringType(SensorType type, const std::string& stringType) {
@@ -97,6 +101,24 @@ static void assertTypeMatchStringType(SensorType type, const std::string& string
     }
 }
 
+bool isDirectChannelTypeSupported(SensorInfo sensor, ISensors::SharedMemInfo::SharedMemType type) {
+    switch (type) {
+        case ISensors::SharedMemInfo::SharedMemType::ASHMEM:
+            return (sensor.flags & SensorInfo::SENSOR_FLAG_BITS_DIRECT_CHANNEL_ASHMEM) != 0;
+        case ISensors::SharedMemInfo::SharedMemType::GRALLOC:
+            return (sensor.flags & SensorInfo::SENSOR_FLAG_BITS_DIRECT_CHANNEL_GRALLOC) != 0;
+        default:
+            return false;
+    }
+}
+
+bool isDirectReportRateSupported(SensorInfo sensor, ISensors::RateLevel rate) {
+    unsigned int r = static_cast<unsigned int>(sensor.flags &
+                                               SensorInfo::SENSOR_FLAG_BITS_MASK_DIRECT_REPORT) >>
+                     static_cast<unsigned int>(SensorInfo::SENSOR_FLAG_SHIFT_DIRECT_REPORT);
+    return r >= static_cast<unsigned int>(rate);
+}
+
 int expectedReportModeForType(SensorType type) {
     switch (type) {
         case SensorType::ACCELEROMETER:
@@ -286,6 +308,24 @@ class SensorsAidlTest : public testing::TestWithParam<std::string> {
     std::vector<SensorInfo> getOneShotSensors();
     std::vector<SensorInfo> getInjectEventSensors();
 
+    void verifyDirectChannel(ISensors::SharedMemInfo::SharedMemType memType);
+
+    void verifyRegisterDirectChannel(
+            std::shared_ptr<SensorsAidlTestSharedMemory<SensorType, Event>> mem,
+            int32_t* directChannelHandle, bool supportsSharedMemType,
+            bool supportsAnyDirectChannel);
+
+    void verifyConfigure(const SensorInfo& sensor, ISensors::SharedMemInfo::SharedMemType memType,
+                         int32_t directChannelHandle, bool directChannelSupported);
+
+    void queryDirectChannelSupport(ISensors::SharedMemInfo::SharedMemType memType,
+                                   bool* supportsSharedMemType, bool* supportsAnyDirectChannel);
+
+    void verifyUnregisterDirectChannel(int32_t* directChannelHandle, bool supportsAnyDirectChannel);
+
+    void checkRateLevel(const SensorInfo& sensor, int32_t directChannelHandle,
+                        ISensors::RateLevel rateLevel, int32_t* reportToken);
+
     inline std::shared_ptr<ISensors>& getSensors() { return mEnvironment->mSensors; }
 
     inline SensorsAidlEnvironment* getEnvironment() { return mEnvironment; }
@@ -313,6 +353,18 @@ class SensorsAidlTest : public testing::TestWithParam<std::string> {
 
     ndk::ScopedAStatus flush(int32_t sensorHandle) { return getSensors()->flush(sensorHandle); }
 
+    ndk::ScopedAStatus registerDirectChannel(const ISensors::SharedMemInfo& mem,
+                                             int32_t* aidlReturn);
+
+    ndk::ScopedAStatus unregisterDirectChannel(int32_t* channelHandle) {
+        return getSensors()->unregisterDirectChannel(*channelHandle);
+    }
+
+    ndk::ScopedAStatus configDirectReport(int32_t sensorHandle, int32_t channelHandle,
+                                          ISensors::RateLevel rate, int32_t* reportToken) {
+        return getSensors()->configDirectReport(sensorHandle, channelHandle, rate, reportToken);
+    }
+
     void runSingleFlushTest(const std::vector<SensorInfo>& sensors, bool activateSensor,
                             int32_t expectedFlushCount, bool expectedResult);
 
@@ -334,6 +386,19 @@ class SensorsAidlTest : public testing::TestWithParam<std::string> {
     SensorsAidlEnvironment* mEnvironment;
 };
 
+ndk::ScopedAStatus SensorsAidlTest::registerDirectChannel(const ISensors::SharedMemInfo& mem,
+                                                          int32_t* aidlReturn) {
+    // If registeration of a channel succeeds, add the handle of channel to a set so that it can be
+    // unregistered when test fails. Unregister a channel does not remove the handle on purpose.
+    // Unregistering a channel more than once should not have negative effect.
+
+    ndk::ScopedAStatus status = getSensors()->registerDirectChannel(mem, aidlReturn);
+    if (status.isOk()) {
+        mDirectChannelHandles.insert(*aidlReturn);
+    }
+    return status;
+}
+
 std::vector<SensorInfo> SensorsAidlTest::getSensorsList() {
     std::vector<SensorInfo> sensorInfoList;
     checkIsOk(getSensors()->getSensorsList(&sensorInfoList));
@@ -850,12 +915,141 @@ TEST_P(SensorsAidlTest, NoStaleEvents) {
     }
 }
 
+void SensorsAidlTest::checkRateLevel(const SensorInfo& sensor, int32_t directChannelHandle,
+                                     ISensors::RateLevel rateLevel, int32_t* reportToken) {
+    ndk::ScopedAStatus status =
+            configDirectReport(sensor.sensorHandle, directChannelHandle, rateLevel, reportToken);
+
+    SCOPED_TRACE(::testing::Message()
+                 << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                 << sensor.sensorHandle << std::dec << " type=" << static_cast<int>(sensor.type)
+                 << " name=" << sensor.name);
+
+    if (isDirectReportRateSupported(sensor, rateLevel)) {
+        ASSERT_TRUE(status.isOk());
+        if (rateLevel != ISensors::RateLevel::STOP) {
+            ASSERT_GT(*reportToken, 0);
+        } else {
+            ASSERT_EQ(status.getExceptionCode(), EX_ILLEGAL_ARGUMENT);
+        }
+    }
+}
+
+void SensorsAidlTest::queryDirectChannelSupport(ISensors::SharedMemInfo::SharedMemType memType,
+                                                bool* supportsSharedMemType,
+                                                bool* supportsAnyDirectChannel) {
+    *supportsSharedMemType = false;
+    *supportsAnyDirectChannel = false;
+    for (const SensorInfo& curSensor : getSensorsList()) {
+        if (isDirectChannelTypeSupported(curSensor, memType)) {
+            *supportsSharedMemType = true;
+        }
+        if (isDirectChannelTypeSupported(curSensor,
+                                         ISensors::SharedMemInfo::SharedMemType::ASHMEM) ||
+            isDirectChannelTypeSupported(curSensor,
+                                         ISensors::SharedMemInfo::SharedMemType::GRALLOC)) {
+            *supportsAnyDirectChannel = true;
+        }
+
+        if (*supportsSharedMemType && *supportsAnyDirectChannel) {
+            break;
+        }
+    }
+}
+
+void SensorsAidlTest::verifyRegisterDirectChannel(
+        std::shared_ptr<SensorsAidlTestSharedMemory<SensorType, Event>> mem,
+        int32_t* directChannelHandle, bool supportsSharedMemType, bool supportsAnyDirectChannel) {
+    char* buffer = mem->getBuffer();
+    size_t size = mem->getSize();
+
+    if (supportsSharedMemType) {
+        memset(buffer, 0xff, size);
+    }
+
+    int32_t channelHandle;
+
+    ::ndk::ScopedAStatus status = registerDirectChannel(mem->getSharedMemInfo(), &channelHandle);
+    if (supportsSharedMemType) {
+        ASSERT_TRUE(status.isOk());
+        ASSERT_EQ(channelHandle, 0);
+    } else {
+        int32_t error = supportsAnyDirectChannel ? EX_ILLEGAL_ARGUMENT : EX_UNSUPPORTED_OPERATION;
+        ASSERT_EQ(status.getExceptionCode(), error);
+        ASSERT_EQ(channelHandle, -1);
+    }
+    *directChannelHandle = channelHandle;
+}
+
+void SensorsAidlTest::verifyUnregisterDirectChannel(int32_t* channelHandle,
+                                                    bool supportsAnyDirectChannel) {
+    int result = supportsAnyDirectChannel ? EX_NONE : EX_UNSUPPORTED_OPERATION;
+    ndk::ScopedAStatus status = unregisterDirectChannel(channelHandle);
+    ASSERT_EQ(status.getExceptionCode(), result);
+}
+
+void SensorsAidlTest::verifyDirectChannel(ISensors::SharedMemInfo::SharedMemType memType) {
+    constexpr size_t kNumEvents = 1;
+    constexpr size_t kMemSize = kNumEvents * kEventSize;
+
+    std::shared_ptr<SensorsAidlTestSharedMemory<SensorType, Event>> mem(
+            SensorsAidlTestSharedMemory<SensorType, Event>::create(memType, kMemSize));
+    ASSERT_NE(mem, nullptr);
+
+    bool supportsSharedMemType;
+    bool supportsAnyDirectChannel;
+    queryDirectChannelSupport(memType, &supportsSharedMemType, &supportsAnyDirectChannel);
+
+    for (const SensorInfo& sensor : getSensorsList()) {
+        int32_t directChannelHandle = 0;
+        verifyRegisterDirectChannel(mem, &directChannelHandle, supportsSharedMemType,
+                                    supportsAnyDirectChannel);
+        verifyConfigure(sensor, memType, directChannelHandle, supportsAnyDirectChannel);
+        verifyUnregisterDirectChannel(&directChannelHandle, supportsAnyDirectChannel);
+    }
+}
+
+void SensorsAidlTest::verifyConfigure(const SensorInfo& sensor,
+                                      ISensors::SharedMemInfo::SharedMemType memType,
+                                      int32_t directChannelHandle, bool supportsAnyDirectChannel) {
+    SCOPED_TRACE(::testing::Message()
+                 << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
+                 << sensor.sensorHandle << std::dec << " type=" << static_cast<int>(sensor.type)
+                 << " name=" << sensor.name);
+
+    int32_t reportToken = 0;
+    if (isDirectChannelTypeSupported(sensor, memType)) {
+        // Verify that each rate level is properly supported
+        checkRateLevel(sensor, directChannelHandle, ISensors::RateLevel::NORMAL, &reportToken);
+        checkRateLevel(sensor, directChannelHandle, ISensors::RateLevel::FAST, &reportToken);
+        checkRateLevel(sensor, directChannelHandle, ISensors::RateLevel::VERY_FAST, &reportToken);
+        checkRateLevel(sensor, directChannelHandle, ISensors::RateLevel::STOP, &reportToken);
+
+        // Verify that a sensor handle of -1 is only acceptable when using RateLevel::STOP
+        ndk::ScopedAStatus status = configDirectReport(-1 /* sensorHandle */, directChannelHandle,
+                                                       ISensors::RateLevel::NORMAL, &reportToken);
+        ASSERT_EQ(status.getServiceSpecificError(), android::BAD_VALUE);
+
+        status = configDirectReport(-1 /* sensorHandle */, directChannelHandle,
+                                    ISensors::RateLevel::STOP, &reportToken);
+        ASSERT_TRUE(status.isOk());
+    } else {
+        // directChannelHandle will be -1 here, HAL should either reject it as a bad value if there
+        // is some level of direct channel report, otherwise return INVALID_OPERATION if direct
+        // channel is not supported at all
+        int error = supportsAnyDirectChannel ? EX_ILLEGAL_ARGUMENT : EX_UNSUPPORTED_OPERATION;
+        ndk::ScopedAStatus status = configDirectReport(sensor.sensorHandle, directChannelHandle,
+                                                       ISensors::RateLevel::NORMAL, &reportToken);
+        ASSERT_EQ(status.getExceptionCode(), error);
+    }
+}
+
 TEST_P(SensorsAidlTest, DirectChannelAshmem) {
-    // TODO(b/195593357): Implement this
+    verifyDirectChannel(ISensors::SharedMemInfo::SharedMemType::ASHMEM);
 }
 
 TEST_P(SensorsAidlTest, DirectChannelGralloc) {
-    // TODO(b/195593357): Implement this
+    verifyDirectChannel(ISensors::SharedMemInfo::SharedMemType::GRALLOC);
 }
 
 GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(SensorsAidlTest);