124 lines
4.2 KiB
C++
124 lines
4.2 KiB
C++
/*
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* Copyright 2022 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "FrameHandlerUltrasonics.h"
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#include <aidl/android/hardware/automotive/evs/EvsEventDesc.h>
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#include <aidl/android/hardware/automotive/evs/EvsEventType.h>
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#include <aidl/android/hardware/automotive/evs/IEvsUltrasonicsArray.h>
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#include <aidl/android/hardware/automotive/evs/UltrasonicsDataFrameDesc.h>
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#include <android-base/logging.h>
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using ::aidl::android::hardware::automotive::evs::EvsEventDesc;
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using ::aidl::android::hardware::automotive::evs::EvsEventType;
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using ::aidl::android::hardware::automotive::evs::IEvsUltrasonicsArray;
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using ::aidl::android::hardware::automotive::evs::UltrasonicsDataFrameDesc;
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using ::ndk::ScopedAStatus;
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namespace {
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// Struct used by SerializeWaveformData().
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struct WaveformData {
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uint8_t receiverId;
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std::vector<std::pair<float, float>> readings;
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};
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} // namespace
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FrameHandlerUltrasonics::FrameHandlerUltrasonics(
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const std::shared_ptr<IEvsUltrasonicsArray>& pArray)
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: mEvsUltrasonicsArray(pArray), mReceiveFramesCount(0) {
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// Nothing but member initialization
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}
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ScopedAStatus FrameHandlerUltrasonics::notify(const EvsEventDesc& evsEvent) {
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switch (evsEvent.aType) {
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case EvsEventType::STREAM_STARTED:
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case EvsEventType::STREAM_STOPPED:
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case EvsEventType::FRAME_DROPPED:
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case EvsEventType::TIMEOUT:
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mReceivedEvents.emplace_back(evsEvent);
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break;
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default:
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LOG(ERROR) << "Received unexpected event";
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}
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return ScopedAStatus::ok();
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}
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// De-serializes shared memory to vector of WaveformData.
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// TODO(b/149950362): Add a common library for serializing and deserializing waveform data.
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std::vector<WaveformData> DeSerializeWaveformData(std::vector<uint32_t> recvReadingsCountList,
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uint8_t* pData) {
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std::vector<WaveformData> waveformDataList(recvReadingsCountList.size());
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for (int i = 0; i < waveformDataList.size(); i++) {
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// Set Id
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memcpy(&waveformDataList[i].receiverId, pData, sizeof(uint8_t));
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pData += sizeof(uint8_t);
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waveformDataList[i].readings.resize(recvReadingsCountList[i]);
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for (auto& reading : waveformDataList[i].readings) {
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// Set the time of flight.
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memcpy(&reading.first, pData, sizeof(float));
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pData += sizeof(float);
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// Set the resonance.
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memcpy(&reading.second, pData, sizeof(float));
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pData += sizeof(float);
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}
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}
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return waveformDataList;
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}
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bool DataFrameValidator(const UltrasonicsDataFrameDesc& /*dataFrameDesc*/) {
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// TODO(b/214026378): implement a method to validate an ultrasonics data frame
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(void)DeSerializeWaveformData;
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return true;
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}
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ScopedAStatus FrameHandlerUltrasonics::deliverDataFrame(
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const UltrasonicsDataFrameDesc& dataFrameDesc) {
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LOG(DEBUG) << "FrameHandlerUltrasonics::receiveFrames";
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mReceiveFramesCount++;
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if (!DataFrameValidator(dataFrameDesc)) {
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mAllFramesValid = false;
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}
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// Send done with data frame.
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mEvsUltrasonicsArray->doneWithDataFrame(dataFrameDesc);
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return ScopedAStatus::ok();
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}
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bool FrameHandlerUltrasonics::checkEventReceived(const EvsEventDesc& evsEvent) {
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LOG(DEBUG) << "FrameHandlerUltrasonics::checkEventReceived";
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int size = mReceivedEvents.size(); // work around
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LOG(DEBUG) << "Received event number: " << size;
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auto iter = find(mReceivedEvents.begin(), mReceivedEvents.end(), evsEvent);
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return iter != mReceivedEvents.end();
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}
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int FrameHandlerUltrasonics::getReceiveFramesCount() {
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return mReceiveFramesCount;
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}
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bool FrameHandlerUltrasonics::areAllFramesValid() {
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return mAllFramesValid;
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}
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