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/*
* Copyright 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.
*/
#include "FrameHandlerUltrasonics.h"
#include <aidl/android/hardware/automotive/evs/EvsEventDesc.h>
#include <aidl/android/hardware/automotive/evs/EvsEventType.h>
#include <aidl/android/hardware/automotive/evs/IEvsUltrasonicsArray.h>
#include <aidl/android/hardware/automotive/evs/UltrasonicsDataFrameDesc.h>
#include <android-base/logging.h>
using ::aidl::android::hardware::automotive::evs::EvsEventDesc;
using ::aidl::android::hardware::automotive::evs::EvsEventType;
using ::aidl::android::hardware::automotive::evs::IEvsUltrasonicsArray;
using ::aidl::android::hardware::automotive::evs::UltrasonicsDataFrameDesc;
using ::ndk::ScopedAStatus;
namespace {
// Struct used by SerializeWaveformData().
struct WaveformData {
uint8_t receiverId;
std::vector<std::pair<float, float>> readings;
};
} // namespace
FrameHandlerUltrasonics::FrameHandlerUltrasonics(
const std::shared_ptr<IEvsUltrasonicsArray>& pArray)
: mEvsUltrasonicsArray(pArray), mReceiveFramesCount(0) {
// Nothing but member initialization
}
ScopedAStatus FrameHandlerUltrasonics::notify(const EvsEventDesc& evsEvent) {
switch (evsEvent.aType) {
case EvsEventType::STREAM_STARTED:
case EvsEventType::STREAM_STOPPED:
case EvsEventType::FRAME_DROPPED:
case EvsEventType::TIMEOUT:
mReceivedEvents.emplace_back(evsEvent);
break;
default:
LOG(ERROR) << "Received unexpected event";
}
return ScopedAStatus::ok();
}
// De-serializes shared memory to vector of WaveformData.
// TODO(b/149950362): Add a common library for serializing and deserializing waveform data.
std::vector<WaveformData> DeSerializeWaveformData(std::vector<uint32_t> recvReadingsCountList,
uint8_t* pData) {
std::vector<WaveformData> waveformDataList(recvReadingsCountList.size());
for (int i = 0; i < waveformDataList.size(); i++) {
// Set Id
memcpy(&waveformDataList[i].receiverId, pData, sizeof(uint8_t));
pData += sizeof(uint8_t);
waveformDataList[i].readings.resize(recvReadingsCountList[i]);
for (auto& reading : waveformDataList[i].readings) {
// Set the time of flight.
memcpy(&reading.first, pData, sizeof(float));
pData += sizeof(float);
// Set the resonance.
memcpy(&reading.second, pData, sizeof(float));
pData += sizeof(float);
}
}
return waveformDataList;
}
bool DataFrameValidator(const UltrasonicsDataFrameDesc& /*dataFrameDesc*/) {
// TODO(b/214026378): implement a method to validate an ultrasonics data frame
(void)DeSerializeWaveformData;
return true;
}
ScopedAStatus FrameHandlerUltrasonics::deliverDataFrame(
const UltrasonicsDataFrameDesc& dataFrameDesc) {
LOG(DEBUG) << "FrameHandlerUltrasonics::receiveFrames";
mReceiveFramesCount++;
if (!DataFrameValidator(dataFrameDesc)) {
mAllFramesValid = false;
}
// Send done with data frame.
mEvsUltrasonicsArray->doneWithDataFrame(dataFrameDesc);
return ScopedAStatus::ok();
}
bool FrameHandlerUltrasonics::checkEventReceived(const EvsEventDesc& evsEvent) {
LOG(DEBUG) << "FrameHandlerUltrasonics::checkEventReceived";
int size = mReceivedEvents.size(); // work around
LOG(DEBUG) << "Received event number: " << size;
auto iter = find(mReceivedEvents.begin(), mReceivedEvents.end(), evsEvent);
return iter != mReceivedEvents.end();
}
int FrameHandlerUltrasonics::getReceiveFramesCount() {
return mReceiveFramesCount;
}
bool FrameHandlerUltrasonics::areAllFramesValid() {
return mAllFramesValid;
}
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