path: root/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h

/*
 * Copyright (C) 2018 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_HIDL_TEST_BASE_H
#define ANDROID_SENSORS_HIDL_TEST_BASE_H

#include "sensors-vts-utils/SensorEventsChecker.h"
#include "sensors-vts-utils/SensorsTestSharedMemory.h"
#include "sensors-vts-utils/SensorsVtsEnvironmentBase.h"

#include <android/hardware/sensors/1.0/ISensors.h>
#include <android/hardware/sensors/1.0/types.h>
#include <gtest/gtest.h>
#include <hardware/sensors.h>
#include <log/log.h>

#include <cinttypes>
#include <unordered_set>
#include <vector>

using ::android::sp;
using ::android::hardware::hidl_string;
using ::android::hardware::Return;
using ::android::hardware::Void;

using ::android::sp;
using ::android::hardware::hidl_string;
using ::android::hardware::sensors::V1_0::RateLevel;
using ::android::hardware::sensors::V1_0::Result;
using ::android::hardware::sensors::V1_0::SensorFlagBits;
using ::android::hardware::sensors::V1_0::SensorFlagShift;
using ::android::hardware::sensors::V1_0::SensorsEventFormatOffset;
using ::android::hardware::sensors::V1_0::SharedMemInfo;
using ::android::hardware::sensors::V1_0::SharedMemType;

template <class SensorTypeT>
static void assertTypeMatchStringType(SensorTypeT type, const hidl_string& stringType) {
    if (type >= SensorTypeT::DEVICE_PRIVATE_BASE) {
        return;
    }

    switch (type) {
#define CHECK_TYPE_STRING_FOR_SENSOR_TYPE(type)                      \
    case SensorTypeT::type:                                          \
        ASSERT_STREQ(SENSOR_STRING_TYPE_##type, stringType.c_str()); \
        break;
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ACCELEROMETER_UNCALIBRATED);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ADDITIONAL_INFO);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(AMBIENT_TEMPERATURE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DEVICE_ORIENTATION);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(DYNAMIC_SENSOR_META);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GAME_ROTATION_VECTOR);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GEOMAGNETIC_ROTATION_VECTOR);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GLANCE_GESTURE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GRAVITY);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(GYROSCOPE_UNCALIBRATED);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_BEAT);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(HEART_RATE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LIGHT);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LINEAR_ACCELERATION);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(LOW_LATENCY_OFFBODY_DETECT);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MAGNETIC_FIELD_UNCALIBRATED);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(MOTION_DETECT);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ORIENTATION);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PICK_UP_GESTURE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(POSE_6DOF);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PRESSURE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(PROXIMITY);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(RELATIVE_HUMIDITY);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(ROTATION_VECTOR);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(SIGNIFICANT_MOTION);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STATIONARY_DETECT);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_COUNTER);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(STEP_DETECTOR);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TEMPERATURE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(TILT_DETECTOR);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WAKE_GESTURE);
        CHECK_TYPE_STRING_FOR_SENSOR_TYPE(WRIST_TILT_GESTURE);
        default:
            FAIL() << "Type " << static_cast<int>(type)
                   << " in android defined range is not checked, "
                   << "stringType = " << stringType;
#undef CHECK_TYPE_STRING_FOR_SENSOR_TYPE
    }
}

template <class SensorTypeT>
static SensorFlagBits expectedReportModeForType(SensorTypeT type) {
    switch (type) {
        case SensorTypeT::ACCELEROMETER:
        case SensorTypeT::ACCELEROMETER_UNCALIBRATED:
        case SensorTypeT::GYROSCOPE:
        case SensorTypeT::MAGNETIC_FIELD:
        case SensorTypeT::ORIENTATION:
        case SensorTypeT::PRESSURE:
        case SensorTypeT::GRAVITY:
        case SensorTypeT::LINEAR_ACCELERATION:
        case SensorTypeT::ROTATION_VECTOR:
        case SensorTypeT::MAGNETIC_FIELD_UNCALIBRATED:
        case SensorTypeT::GAME_ROTATION_VECTOR:
        case SensorTypeT::GYROSCOPE_UNCALIBRATED:
        case SensorTypeT::GEOMAGNETIC_ROTATION_VECTOR:
        case SensorTypeT::POSE_6DOF:
        case SensorTypeT::HEART_BEAT:
            return SensorFlagBits::CONTINUOUS_MODE;

        case SensorTypeT::LIGHT:
        case SensorTypeT::PROXIMITY:
        case SensorTypeT::RELATIVE_HUMIDITY:
        case SensorTypeT::AMBIENT_TEMPERATURE:
        case SensorTypeT::HEART_RATE:
        case SensorTypeT::DEVICE_ORIENTATION:
        case SensorTypeT::STEP_COUNTER:
        case SensorTypeT::LOW_LATENCY_OFFBODY_DETECT:
            return SensorFlagBits::ON_CHANGE_MODE;

        case SensorTypeT::SIGNIFICANT_MOTION:
        case SensorTypeT::WAKE_GESTURE:
        case SensorTypeT::GLANCE_GESTURE:
        case SensorTypeT::PICK_UP_GESTURE:
        case SensorTypeT::MOTION_DETECT:
        case SensorTypeT::STATIONARY_DETECT:
            return SensorFlagBits::ONE_SHOT_MODE;

        case SensorTypeT::STEP_DETECTOR:
        case SensorTypeT::TILT_DETECTOR:
        case SensorTypeT::WRIST_TILT_GESTURE:
        case SensorTypeT::DYNAMIC_SENSOR_META:
            return SensorFlagBits::SPECIAL_REPORTING_MODE;

        case SensorTypeT::TEMPERATURE:
            ALOGW("Device temperature sensor is deprecated, ignoring for test");
            return (SensorFlagBits)-1;

        default:
            ALOGW("Type %d is not implemented in expectedReportModeForType", (int)type);
            return (SensorFlagBits)-1;
    }
}

template <class SensorTypeVersion, class EventType, class SensorInfoType>
class SensorsHidlTestBase : public testing::TestWithParam<std::string> {
  public:
    using ISensors = ::android::hardware::sensors::V1_0::ISensors;

    SensorsHidlTestBase()
        : mAccelNormChecker(Vec3NormChecker<EventType>::byNominal(GRAVITY_EARTH, 1.0f /*m/s^2*/)),
          mGyroNormChecker(Vec3NormChecker<EventType>::byNominal(0.f, 0.1f /*rad/s*/)) {}

    virtual SensorsVtsEnvironmentBase<EventType>* getEnvironment() = 0;

    virtual void SetUp() override {}

    virtual void TearDown() override {
        // stop all sensors
        for (auto s : mSensorHandles) {
            activate(s, false);
        }
        mSensorHandles.clear();

        // stop all direct report and channels
        for (auto c : mDirectChannelHandles) {
            // disable all reports
            configDirectReport(-1, c, RateLevel::STOP, [](auto, auto) {});
            unregisterDirectChannel(c);
        }
        mDirectChannelHandles.clear();
    }

    // implementation wrapper
    virtual SensorInfoType defaultSensorByType(SensorTypeVersion type) = 0;
    virtual Return<void> getSensorsList(ISensors::getSensorsList_cb _hidl_cb) = 0;
    virtual Return<Result> injectSensorData(const EventType& event) = 0;
    virtual Return<Result> activate(int32_t sensorHandle, bool enabled) = 0;
    virtual Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
                                 int64_t maxReportLatencyNs) = 0;
    virtual Return<Result> flush(int32_t sensorHandle) = 0;
    virtual Return<void> registerDirectChannel(const SharedMemInfo& mem,
                                               ISensors::registerDirectChannel_cb _hidl_cb) = 0;
    virtual Return<Result> unregisterDirectChannel(int32_t channelHandle) = 0;
    virtual Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle,
                                            RateLevel rate,
                                            ISensors::configDirectReport_cb _hidl_cb) = 0;

    void testStreamingOperation(SensorTypeVersion type, std::chrono::nanoseconds samplingPeriod,
                                std::chrono::seconds duration,
                                const SensorEventsChecker<EventType>& checker) {
        std::vector<EventType> events;
        std::vector<EventType> sensorEvents;

        const int64_t samplingPeriodInNs = samplingPeriod.count();
        const int64_t batchingPeriodInNs = 0;  // no batching
        const useconds_t minTimeUs = std::chrono::microseconds(duration).count();
        const size_t minNEvent = duration / samplingPeriod;

        SensorInfoType sensor = defaultSensorByType(type);

        if (!isValidType(sensor.type)) {
            // no default sensor of this type
            return;
        }

        if (std::chrono::microseconds(sensor.minDelay) > samplingPeriod) {
            // rate not supported
            return;
        }

        int32_t handle = sensor.sensorHandle;

        ASSERT_EQ(batch(handle, samplingPeriodInNs, batchingPeriodInNs), Result::OK);
        ASSERT_EQ(activate(handle, 1), Result::OK);
        events = getEnvironment()->collectEvents(minTimeUs, minNEvent, true /*clearBeforeStart*/);
        ASSERT_EQ(activate(handle, 0), Result::OK);

        ALOGI("Collected %zu samples", events.size());

        ASSERT_GT(events.size(), 0u);

        bool handleMismatchReported = false;
        bool metaSensorTypeErrorReported = false;
        for (auto& e : events) {
            if (e.sensorType == type) {
                // avoid generating hundreds of error
                if (!handleMismatchReported) {
                    EXPECT_EQ(e.sensorHandle, handle)
                            << (handleMismatchReported = true,
                                "Event of the same type must come from the sensor registered");
                }
                sensorEvents.push_back(e);
            } else {
                // avoid generating hundreds of error
                if (!metaSensorTypeErrorReported) {
                    EXPECT_TRUE(isMetaSensorType(e.sensorType))
                            << (metaSensorTypeErrorReported = true,
                                "Only meta types are allowed besides the type registered");
                }
            }
        }

        std::string s;
        EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;

        EXPECT_GE(sensorEvents.size(),
                  minNEvent / 2);  // make sure returned events are not all meta
    }

    void testSamplingRateHotSwitchOperation(SensorTypeVersion type, bool fastToSlow = true) {
        std::vector<EventType> events1, events2;

        constexpr int64_t batchingPeriodInNs = 0;          // no batching
        constexpr int64_t collectionTimeoutUs = 60000000;  // 60s
        constexpr size_t minNEvent = 50;

        SensorInfoType sensor = defaultSensorByType(type);

        if (!isValidType(sensor.type)) {
            // no default sensor of this type
            return;
        }

        int32_t handle = sensor.sensorHandle;
        int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
        int64_t maxSamplingPeriodInNs = sensor.maxDelay * 1000ll;

        if (minSamplingPeriodInNs == maxSamplingPeriodInNs) {
            // only support single rate
            return;
        }

        int64_t firstCollectionPeriod = fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;
        int64_t secondCollectionPeriod =
                !fastToSlow ? minSamplingPeriodInNs : maxSamplingPeriodInNs;

        // first collection
        ASSERT_EQ(batch(handle, firstCollectionPeriod, batchingPeriodInNs), Result::OK);
        ASSERT_EQ(activate(handle, 1), Result::OK);

        usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
        events1 = getEnvironment()->collectEvents(collectionTimeoutUs, minNEvent);

        // second collection, without stopping the sensor
        ASSERT_EQ(batch(handle, secondCollectionPeriod, batchingPeriodInNs), Result::OK);

        usleep(500000);  // sleep 0.5 sec to wait for change rate to happen
        events2 = getEnvironment()->collectEvents(collectionTimeoutUs, minNEvent);

        // end of collection, stop sensor
        ASSERT_EQ(activate(handle, 0), Result::OK);

        ALOGI("Collected %zu fast samples and %zu slow samples", events1.size(), events2.size());

        ASSERT_GT(events1.size(), 0u);
        ASSERT_GT(events2.size(), 0u);

        int64_t minDelayAverageInterval, maxDelayAverageInterval;
        std::vector<EventType>& minDelayEvents(fastToSlow ? events1 : events2);
        std::vector<EventType>& maxDelayEvents(fastToSlow ? events2 : events1);

        size_t nEvent = 0;
        int64_t prevTimestamp = -1;
        int64_t timestampInterval = 0;
        for (auto& e : minDelayEvents) {
            if (e.sensorType == type) {
                ASSERT_EQ(e.sensorHandle, handle);
                if (prevTimestamp > 0) {
                    timestampInterval += e.timestamp - prevTimestamp;
                }
                prevTimestamp = e.timestamp;
                ++nEvent;
            }
        }
        ASSERT_GT(nEvent, 2u);
        minDelayAverageInterval = timestampInterval / (nEvent - 1);

        nEvent = 0;
        prevTimestamp = -1;
        timestampInterval = 0;
        for (auto& e : maxDelayEvents) {
            if (e.sensorType == type) {
                ASSERT_EQ(e.sensorHandle, handle);
                if (prevTimestamp > 0) {
                    timestampInterval += e.timestamp - prevTimestamp;
                }
                prevTimestamp = e.timestamp;
                ++nEvent;
            }
        }
        ASSERT_GT(nEvent, 2u);
        maxDelayAverageInterval = timestampInterval / (nEvent - 1);

        // change of rate is significant.
        ALOGI("min/maxDelayAverageInterval = %" PRId64 " %" PRId64, minDelayAverageInterval,
              maxDelayAverageInterval);
        EXPECT_GT((maxDelayAverageInterval - minDelayAverageInterval),
                  minDelayAverageInterval / 10);

        // fastest rate sampling time is close to spec
        EXPECT_LT(std::abs(minDelayAverageInterval - minSamplingPeriodInNs),
                  minSamplingPeriodInNs / 10);

        // slowest rate sampling time is close to spec
        EXPECT_LT(std::abs(maxDelayAverageInterval - maxSamplingPeriodInNs),
                  maxSamplingPeriodInNs / 10);
    }

    void testBatchingOperation(SensorTypeVersion type) {
        std::vector<EventType> events;

        constexpr int64_t maxBatchingTestTimeNs = 30ull * 1000 * 1000 * 1000;
        constexpr int64_t oneSecondInNs = 1ull * 1000 * 1000 * 1000;

        SensorInfoType sensor = defaultSensorByType(type);

        if (!isValidType(sensor.type)) {
            // no default sensor of this type
            return;
        }

        int32_t handle = sensor.sensorHandle;
        int64_t minSamplingPeriodInNs = sensor.minDelay * 1000ll;
        uint32_t minFifoCount = sensor.fifoReservedEventCount;
        int64_t batchingPeriodInNs = minFifoCount * minSamplingPeriodInNs;

        if (batchingPeriodInNs < oneSecondInNs) {
            // batching size too small to test reliably
            return;
        }

        if (batchingPeriodInNs > maxBatchingTestTimeNs) {
            batchingPeriodInNs = maxBatchingTestTimeNs;
            minFifoCount = (uint32_t)(batchingPeriodInNs / minSamplingPeriodInNs);
        }

        ALOGI("Test batching for %d ms", (int)(batchingPeriodInNs / 1000 / 1000));

        int64_t allowedBatchDeliverTimeNs = std::max(oneSecondInNs, batchingPeriodInNs / 10);

        ASSERT_EQ(batch(handle, minSamplingPeriodInNs, INT64_MAX), Result::OK);
        ASSERT_EQ(activate(handle, 1), Result::OK);

        usleep(500000);  // sleep 0.5 sec to wait for initialization
        ASSERT_EQ(flush(handle), Result::OK);

        // wait for 80% of the reserved batching period
        // there should not be any significant amount of events
        // since collection is not enabled all events will go down the drain
        usleep(batchingPeriodInNs / 1000 * 8 / 10);

        getEnvironment()->setCollection(true);
        // clean existing collections
        getEnvironment()->collectEvents(0 /*timeLimitUs*/, 0 /*nEventLimit*/,
                                        true /*clearBeforeStart*/, false /*change collection*/);

        // 0.8 + 0.2 times the batching period
        usleep(batchingPeriodInNs / 1000 * 2 / 10);
        ASSERT_EQ(flush(handle), Result::OK);

        // plus some time for the event to deliver
        events = getEnvironment()->collectEvents(allowedBatchDeliverTimeNs / 1000, minFifoCount,
                                                 false /*clearBeforeStart*/,
                                                 false /*change collection*/);

        getEnvironment()->setCollection(false);
        ASSERT_EQ(activate(handle, 0), Result::OK);

        size_t nEvent = 0;
        for (auto& e : events) {
            if (e.sensorType == type && e.sensorHandle == handle) {
                ++nEvent;
            }
        }

        // at least reach 90% of advertised capacity
        ASSERT_GT(nEvent, (size_t)(minFifoCount * 9 / 10));
    }

    void testDirectReportOperation(SensorTypeVersion type, SharedMemType memType, RateLevel rate,
                                   const SensorEventsChecker<EventType>& checker) {
        constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);
        constexpr size_t kNEvent = 4096;
        constexpr size_t kMemSize = kEventSize * kNEvent;

        constexpr float kNormalNominal = 50;
        constexpr float kFastNominal = 200;
        constexpr float kVeryFastNominal = 800;

        constexpr float kNominalTestTimeSec = 1.f;
        constexpr float kMaxTestTimeSec =
                kNominalTestTimeSec + 0.5f;  // 0.5 second for initialization

        SensorInfoType sensor = defaultSensorByType(type);

        if (!isValidType(sensor.type)) {
            // no default sensor of this type
            return;
        }

        if (!isDirectReportRateSupported(sensor, rate)) {
            return;
        }

        if (!isDirectChannelTypeSupported(sensor, memType)) {
            return;
        }

        std::unique_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem(
                SensorsTestSharedMemory<SensorTypeVersion, EventType>::create(memType, kMemSize));
        ASSERT_NE(mem, nullptr);

        char* buffer = mem->getBuffer();
        // fill memory with data
        for (size_t i = 0; i < kMemSize; ++i) {
            buffer[i] = '\xcc';
        }

        int32_t channelHandle;
        registerDirectChannel(mem->getSharedMemInfo(),
                              [&channelHandle](auto result, auto channelHandle_) {
                                  ASSERT_EQ(result, Result::OK);
                                  channelHandle = channelHandle_;
                              });

        // check memory is zeroed
        for (size_t i = 0; i < kMemSize; ++i) {
            ASSERT_EQ(buffer[i], '\0');
        }

        int32_t eventToken;
        configDirectReport(sensor.sensorHandle, channelHandle, rate,
                           [&eventToken](auto result, auto token) {
                               ASSERT_EQ(result, Result::OK);
                               eventToken = token;
                           });

        usleep(static_cast<useconds_t>(kMaxTestTimeSec * 1e6f));
        auto events = mem->parseEvents();

        // find norminal rate
        float nominalFreq = 0.f;
        switch (rate) {
            case RateLevel::NORMAL:
                nominalFreq = kNormalNominal;
                break;
            case RateLevel::FAST:
                nominalFreq = kFastNominal;
                break;
            case RateLevel::VERY_FAST:
                nominalFreq = kVeryFastNominal;
                break;
            case RateLevel::STOP:
                FAIL();
        }

        // allowed to be between 55% and 220% of nominal freq
        ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * kNominalTestTimeSec));
        ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * kMaxTestTimeSec));

        int64_t lastTimestamp = 0;
        bool typeErrorReported = false;
        bool tokenErrorReported = false;
        bool timestampErrorReported = false;
        std::vector<EventType> sensorEvents;
        for (auto& e : events) {
            if (!tokenErrorReported) {
                EXPECT_EQ(eventToken, e.sensorHandle)
                        << (tokenErrorReported = true,
                            "Event token does not match that retured from configDirectReport");
            }

            if (isMetaSensorType(e.sensorType)) {
                continue;
            }
            sensorEvents.push_back(e);

            if (!typeErrorReported) {
                EXPECT_EQ(type, e.sensorType)
                        << (typeErrorReported = true,
                            "Type in event does not match type of sensor registered.");
            }
            if (!timestampErrorReported) {
                EXPECT_GT(e.timestamp, lastTimestamp) << (timestampErrorReported = true,
                                                          "Timestamp not monotonically increasing");
            }
            lastTimestamp = e.timestamp;
        }

        std::string s;
        EXPECT_TRUE(checker.check(sensorEvents, &s)) << s;

        // stop sensor and unregister channel
        configDirectReport(sensor.sensorHandle, channelHandle, RateLevel::STOP,
                           [](auto result, auto) { EXPECT_EQ(result, Result::OK); });
        EXPECT_EQ(unregisterDirectChannel(channelHandle), Result::OK);
    }

    inline static SensorFlagBits extractReportMode(uint64_t flag) {
        return (SensorFlagBits)(flag & ((uint64_t)SensorFlagBits::CONTINUOUS_MODE |
                                        (uint64_t)SensorFlagBits::ON_CHANGE_MODE |
                                        (uint64_t)SensorFlagBits::ONE_SHOT_MODE |
                                        (uint64_t)SensorFlagBits::SPECIAL_REPORTING_MODE));
    }

    inline static bool isMetaSensorType(SensorTypeVersion type) {
        return (type == SensorTypeVersion::META_DATA ||
                type == SensorTypeVersion::DYNAMIC_SENSOR_META ||
                type == SensorTypeVersion::ADDITIONAL_INFO);
    }

    inline static bool isValidType(SensorTypeVersion type) { return (int32_t)type > 0; }

    static void assertDelayMatchReportMode(int32_t minDelay, int32_t maxDelay,
                                           SensorFlagBits reportMode) {
        switch (reportMode) {
            case SensorFlagBits::CONTINUOUS_MODE:
                ASSERT_LT(0, minDelay);
                ASSERT_LE(0, maxDelay);
                break;
            case SensorFlagBits::ON_CHANGE_MODE:
                ASSERT_LE(0, minDelay);
                ASSERT_LE(0, maxDelay);
                break;
            case SensorFlagBits::ONE_SHOT_MODE:
                ASSERT_EQ(-1, minDelay);
                ASSERT_EQ(0, maxDelay);
                break;
            case SensorFlagBits::SPECIAL_REPORTING_MODE:
                // do not enforce anything for special reporting mode
                break;
            default:
                FAIL() << "Report mode " << static_cast<int>(reportMode) << " not checked";
        }
    }

  protected:
    static void assertTypeMatchReportMode(SensorTypeVersion type, SensorFlagBits reportMode) {
        if (type >= SensorTypeVersion::DEVICE_PRIVATE_BASE) {
            return;
        }

        SensorFlagBits expected = expectedReportModeForType(type);

        ASSERT_TRUE(expected == (SensorFlagBits)-1 || expected == reportMode)
                << "reportMode=" << static_cast<int>(reportMode)
                << "expected=" << static_cast<int>(expected);
    }

    static bool isDirectReportRateSupported(SensorInfoType sensor, RateLevel rate) {
        unsigned int r =
                static_cast<unsigned int>(sensor.flags & SensorFlagBits::MASK_DIRECT_REPORT) >>
                static_cast<unsigned int>(SensorFlagShift::DIRECT_REPORT);
        return r >= static_cast<unsigned int>(rate);
    }

    static bool isDirectChannelTypeSupported(SensorInfoType sensor, SharedMemType type) {
        switch (type) {
            case SharedMemType::ASHMEM:
                return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_ASHMEM) != 0;
            case SharedMemType::GRALLOC:
                return (sensor.flags & SensorFlagBits::DIRECT_CHANNEL_GRALLOC) != 0;
            default:
                return false;
        }
    }

    // Checkers
    Vec3NormChecker<EventType> mAccelNormChecker;
    Vec3NormChecker<EventType> mGyroNormChecker;

    // all sensors and direct channnels used
    std::unordered_set<int32_t> mSensorHandles;
    std::unordered_set<int32_t> mDirectChannelHandles;
};

#endif  // ANDROID_SENSORS_HIDL_TEST_BASE_H