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402 lines
16 KiB
402 lines
16 KiB
4 months ago
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/*
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* Copyright (C) 2016 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 "EvsStateControl.h"
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#include "FormatConvert.h"
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#include "RenderDirectView.h"
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#include "RenderPixelCopy.h"
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#include "RenderTopView.h"
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#include <android-base/logging.h>
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#include <android/binder_manager.h>
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#include <utils/SystemClock.h>
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#include <inttypes.h>
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#include <stdio.h>
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#include <string.h>
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using ::android::hardware::automotive::evs::V1_0::EvsResult;
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using EvsDisplayState = ::android::hardware::automotive::evs::V1_0::DisplayState;
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using BufferDesc_1_0 = ::android::hardware::automotive::evs::V1_0::BufferDesc;
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using BufferDesc_1_1 = ::android::hardware::automotive::evs::V1_1::BufferDesc;
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static bool isSfReady() {
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return ::ndk::SpAIBinder(::AServiceManager_getService("SurfaceFlinger")).get() != nullptr;
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}
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// TODO: Seems like it'd be nice if the Vehicle HAL provided such helpers (but how & where?)
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inline constexpr VehiclePropertyType getPropType(VehicleProperty prop) {
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return static_cast<VehiclePropertyType>(
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static_cast<int32_t>(prop)
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& static_cast<int32_t>(VehiclePropertyType::MASK));
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}
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EvsStateControl::EvsStateControl(android::sp<IVehicle> pVnet, android::sp<IEvsEnumerator> pEvs,
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android::sp<IEvsDisplay> pDisplay, const ConfigManager& config) :
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mVehicle(pVnet),
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mEvs(pEvs),
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mDisplay(pDisplay),
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mConfig(config),
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mCurrentState(OFF),
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mEvsStats(EvsStats::build()) {
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// Initialize the property value containers we'll be updating (they'll be zeroed by default)
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static_assert(getPropType(VehicleProperty::GEAR_SELECTION) == VehiclePropertyType::INT32,
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"Unexpected type for GEAR_SELECTION property");
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static_assert(getPropType(VehicleProperty::TURN_SIGNAL_STATE) == VehiclePropertyType::INT32,
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"Unexpected type for TURN_SIGNAL_STATE property");
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mGearValue.prop = static_cast<int32_t>(VehicleProperty::GEAR_SELECTION);
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mTurnSignalValue.prop = static_cast<int32_t>(VehicleProperty::TURN_SIGNAL_STATE);
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// This way we only ever deal with cameras which exist in the system
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// Build our set of cameras for the states we support
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LOG(DEBUG) << "Requesting camera list";
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mEvs->getCameraList_1_1(
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[this, &config](hidl_vec<CameraDesc> cameraList) {
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LOG(INFO) << "Camera list callback received " << cameraList.size() << "cameras.";
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for (auto&& cam: cameraList) {
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LOG(DEBUG) << "Found camera " << cam.v1.cameraId;
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bool cameraConfigFound = false;
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// Check our configuration for information about this camera
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// Note that a camera can have a compound function string
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// such that a camera can be "right/reverse" and be used for both.
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// If more than one camera is listed for a given function, we'll
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// list all of them and let the UX/rendering logic use one, some
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// or all of them as appropriate.
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for (auto&& info: config.getCameras()) {
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if (cam.v1.cameraId == info.cameraId) {
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// We found a match!
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if (info.function.find("reverse") != std::string::npos) {
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mCameraList[State::REVERSE].emplace_back(info);
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mCameraDescList[State::REVERSE].emplace_back(cam);
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}
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if (info.function.find("right") != std::string::npos) {
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mCameraList[State::RIGHT].emplace_back(info);
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mCameraDescList[State::RIGHT].emplace_back(cam);
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}
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if (info.function.find("left") != std::string::npos) {
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mCameraList[State::LEFT].emplace_back(info);
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mCameraDescList[State::LEFT].emplace_back(cam);
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}
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if (info.function.find("park") != std::string::npos) {
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mCameraList[State::PARKING].emplace_back(info);
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mCameraDescList[State::PARKING].emplace_back(cam);
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}
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cameraConfigFound = true;
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break;
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}
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}
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if (!cameraConfigFound) {
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LOG(WARNING) << "No config information for hardware camera "
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<< cam.v1.cameraId;
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}
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}
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}
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);
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LOG(DEBUG) << "State controller ready";
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}
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bool EvsStateControl::startUpdateLoop() {
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// Create the thread and report success if it gets started
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mRenderThread = std::thread([this](){ updateLoop(); });
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return mRenderThread.joinable();
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}
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void EvsStateControl::terminateUpdateLoop() {
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// Join a rendering thread
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if (mRenderThread.joinable()) {
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mRenderThread.join();
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}
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}
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void EvsStateControl::postCommand(const Command& cmd, bool clear) {
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// Push the command onto the queue watched by updateLoop
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mLock.lock();
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if (clear) {
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std::queue<Command> emptyQueue;
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std::swap(emptyQueue, mCommandQueue);
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}
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mCommandQueue.push(cmd);
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mLock.unlock();
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// Send a signal to wake updateLoop in case it is asleep
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mWakeSignal.notify_all();
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}
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void EvsStateControl::updateLoop() {
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LOG(DEBUG) << "Starting EvsStateControl update loop";
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bool run = true;
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while (run) {
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// Process incoming commands
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{
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std::lock_guard <std::mutex> lock(mLock);
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while (!mCommandQueue.empty()) {
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const Command& cmd = mCommandQueue.front();
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switch (cmd.operation) {
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case Op::EXIT:
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run = false;
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break;
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case Op::CHECK_VEHICLE_STATE:
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// Just running selectStateForCurrentConditions below will take care of this
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break;
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case Op::TOUCH_EVENT:
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// Implement this given the x/y location of the touch event
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break;
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}
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mCommandQueue.pop();
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}
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}
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// Review vehicle state and choose an appropriate renderer
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if (!selectStateForCurrentConditions()) {
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LOG(ERROR) << "selectStateForCurrentConditions failed so we're going to die";
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break;
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}
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// If we have an active renderer, give it a chance to draw
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if (mCurrentRenderer) {
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// Get the output buffer we'll use to display the imagery
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BufferDesc_1_0 tgtBuffer = {};
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mDisplay->getTargetBuffer([&tgtBuffer](const BufferDesc_1_0& buff) {
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tgtBuffer = buff;
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}
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);
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if (tgtBuffer.memHandle == nullptr) {
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LOG(ERROR) << "Didn't get requested output buffer -- skipping this frame.";
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run = false;
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} else {
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// Generate our output image
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if (!mCurrentRenderer->drawFrame(convertBufferDesc(tgtBuffer))) {
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// If drawing failed, we want to exit quickly so an app restart can happen
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run = false;
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}
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// Send the finished image back for display
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mDisplay->returnTargetBufferForDisplay(tgtBuffer);
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if (!mFirstFrameIsDisplayed) {
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mFirstFrameIsDisplayed = true;
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// returnTargetBufferForDisplay() is finished, the frame should be displayed
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mEvsStats.finishComputingFirstFrameLatency(android::uptimeMillis());
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}
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}
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} else if (run) {
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// No active renderer, so sleep until somebody wakes us with another command
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// or exit if we received EXIT command
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std::unique_lock<std::mutex> lock(mLock);
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mWakeSignal.wait(lock);
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}
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}
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LOG(WARNING) << "EvsStateControl update loop ending";
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if (mCurrentRenderer) {
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// Deactive the renderer
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mCurrentRenderer->deactivate();
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}
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// If `ICarTelemetry` service was not ready before, we need to try sending data again.
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mEvsStats.sendCollectedDataBlocking();
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printf("Shutting down app due to state control loop ending\n");
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LOG(ERROR) << "Shutting down app due to state control loop ending";
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}
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bool EvsStateControl::selectStateForCurrentConditions() {
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static int32_t sMockGear = mConfig.getMockGearSignal();
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static int32_t sMockSignal = int32_t(VehicleTurnSignal::NONE);
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if (mVehicle != nullptr) {
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// Query the car state
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if (invokeGet(&mGearValue) != StatusCode::OK) {
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LOG(ERROR) << "GEAR_SELECTION not available from vehicle. Exiting.";
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return false;
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}
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if ((mTurnSignalValue.prop == 0) || (invokeGet(&mTurnSignalValue) != StatusCode::OK)) {
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// Silently treat missing turn signal state as no turn signal active
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mTurnSignalValue.value.int32Values.setToExternal(&sMockSignal, 1);
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mTurnSignalValue.prop = 0;
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}
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} else {
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// While testing without a vehicle, behave as if we're in reverse for the first 20 seconds
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static const int kShowTime = 20; // seconds
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// See if it's time to turn off the default reverse camera
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static std::chrono::steady_clock::time_point start = std::chrono::steady_clock::now();
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std::chrono::steady_clock::time_point now = std::chrono::steady_clock::now();
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if (std::chrono::duration_cast<std::chrono::seconds>(now - start).count() > kShowTime) {
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// Switch to drive (which should turn off the reverse camera)
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sMockGear = int32_t(VehicleGear::GEAR_DRIVE);
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}
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// Build the placeholder vehicle state values (treating single values as 1 element vectors)
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mGearValue.value.int32Values.setToExternal(&sMockGear, 1);
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mTurnSignalValue.value.int32Values.setToExternal(&sMockSignal, 1);
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}
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// Choose our desired EVS state based on the current car state
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// TODO: Update this logic, and consider user input when choosing if a view should be presented
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State desiredState = OFF;
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if (mGearValue.value.int32Values[0] == int32_t(VehicleGear::GEAR_REVERSE)) {
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desiredState = REVERSE;
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} else if (mTurnSignalValue.value.int32Values[0] == int32_t(VehicleTurnSignal::RIGHT)) {
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desiredState = RIGHT;
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} else if (mTurnSignalValue.value.int32Values[0] == int32_t(VehicleTurnSignal::LEFT)) {
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desiredState = LEFT;
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} else if (mGearValue.value.int32Values[0] == int32_t(VehicleGear::GEAR_PARK)) {
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desiredState = PARKING;
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}
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// Apply the desire state
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return configureEvsPipeline(desiredState);
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}
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StatusCode EvsStateControl::invokeGet(VehiclePropValue *pRequestedPropValue) {
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StatusCode status = StatusCode::TRY_AGAIN;
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// Call the Vehicle HAL, which will block until the callback is complete
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mVehicle->get(*pRequestedPropValue,
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[pRequestedPropValue, &status]
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(StatusCode s, const VehiclePropValue& v) {
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status = s;
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if (s == StatusCode::OK) {
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*pRequestedPropValue = v;
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}
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}
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);
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return status;
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}
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bool EvsStateControl::configureEvsPipeline(State desiredState) {
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static bool isGlReady = false;
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if (mCurrentState == desiredState) {
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// Nothing to do here...
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return true;
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}
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// Used by CarStats to accurately compute stats, it needs to be close to the beginning.
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auto desiredStateTimeMillis = android::uptimeMillis();
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LOG(DEBUG) << "Switching to state " << desiredState;
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LOG(DEBUG) << " Current state " << mCurrentState
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<< " has " << mCameraList[mCurrentState].size() << " cameras";
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LOG(DEBUG) << " Desired state " << desiredState
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<< " has " << mCameraList[desiredState].size() << " cameras";
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if (!isGlReady && !isSfReady()) {
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// Graphics is not ready yet; using CPU renderer.
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if (mCameraList[desiredState].size() >= 1) {
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mDesiredRenderer = std::make_unique<RenderPixelCopy>(mEvs,
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mCameraList[desiredState][0]);
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if (!mDesiredRenderer) {
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LOG(ERROR) << "Failed to construct Pixel Copy renderer. Skipping state change.";
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return false;
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}
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} else {
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LOG(DEBUG) << "Unsupported, desiredState " << desiredState
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<< " has " << mCameraList[desiredState].size() << " cameras.";
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}
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} else {
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// Assumes that SurfaceFlinger is available always after being launched.
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// Do we need a new direct view renderer?
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if (mCameraList[desiredState].size() == 1) {
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// We have a camera assigned to this state for direct view.
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mDesiredRenderer = std::make_unique<RenderDirectView>(mEvs,
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mCameraDescList[desiredState][0],
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mConfig);
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if (!mDesiredRenderer) {
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LOG(ERROR) << "Failed to construct direct renderer. Skipping state change.";
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return false;
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}
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} else if (mCameraList[desiredState].size() > 1 || desiredState == PARKING) {
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//TODO(b/140668179): RenderTopView needs to be updated to use new
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// ConfigManager.
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mDesiredRenderer = std::make_unique<RenderTopView>(mEvs,
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mCameraList[desiredState],
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mConfig);
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if (!mDesiredRenderer) {
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LOG(ERROR) << "Failed to construct top view renderer. Skipping state change.";
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return false;
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}
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} else {
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LOG(DEBUG) << "Unsupported, desiredState " << desiredState
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<< " has " << mCameraList[desiredState].size() << " cameras.";
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}
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// GL renderer is now ready.
|
||
|
|
isGlReady = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Since we're changing states, shut down the current renderer
|
||
|
|
if (mCurrentRenderer != nullptr) {
|
||
|
|
mCurrentRenderer->deactivate();
|
||
|
|
mCurrentRenderer = nullptr; // It's a smart pointer, so destructs on assignment to null
|
||
|
|
}
|
||
|
|
|
||
|
|
// Now set the display state based on whether we have a video feed to show
|
||
|
|
if (mDesiredRenderer == nullptr) {
|
||
|
|
LOG(DEBUG) << "Turning off the display";
|
||
|
|
mDisplay->setDisplayState(EvsDisplayState::NOT_VISIBLE);
|
||
|
|
} else {
|
||
|
|
mCurrentRenderer = std::move(mDesiredRenderer);
|
||
|
|
|
||
|
|
// Start the camera stream
|
||
|
|
LOG(DEBUG) << "EvsStartCameraStreamTiming start time: "
|
||
|
|
<< android::elapsedRealtime() << " ms.";
|
||
|
|
if (!mCurrentRenderer->activate()) {
|
||
|
|
LOG(ERROR) << "New renderer failed to activate";
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Activate the display
|
||
|
|
LOG(DEBUG) << "EvsActivateDisplayTiming start time: "
|
||
|
|
<< android::elapsedRealtime() << " ms.";
|
||
|
|
Return<EvsResult> result = mDisplay->setDisplayState(EvsDisplayState::VISIBLE_ON_NEXT_FRAME);
|
||
|
|
if (result != EvsResult::OK) {
|
||
|
|
LOG(ERROR) << "setDisplayState returned an error "
|
||
|
|
<< result.description();
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Record our current state
|
||
|
|
LOG(INFO) << "Activated state " << desiredState;
|
||
|
|
mCurrentState = desiredState;
|
||
|
|
|
||
|
|
mFirstFrameIsDisplayed = false; // Got a new renderer, mark first frame is not displayed.
|
||
|
|
|
||
|
|
if (mCurrentRenderer != nullptr && desiredState == State::REVERSE) {
|
||
|
|
// Start computing the latency when the evs state changes.
|
||
|
|
mEvsStats.startComputingFirstFrameLatency(desiredStateTimeMillis);
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|