Merge "Merge cherrypicks of ['android-review.googlesource.com/2636811', 'android-review.googlesource.com/2636814'] into emu-32-release." into emu-32-releasesnap-temp-L87000000961890077snap-temp-L60900000961888091snap-temp-L15200000962184086

15 files changed, 159 insertions, 15 deletions

diff --git a/android/android-emu/android-emu.cmake b/android/android-emu/android-emu.cmake
index 939b1c5e98..8deeed9861 100644
--- a/android/android-emu/android-emu.cmake
+++ b/android/android-emu/android-emu.cmake
@@ -58,6 +58,7 @@ set(android-emu-common
     android/boot-properties.c
     android/bootconfig.cpp
     android/car-cluster.cpp
+    android/car-physics.cpp
     android/car.cpp
     android/cros.c
     android/emulation/AdbDebugPipe.cpp
diff --git a/android/android-emu/android/car-physics.cpp b/android/android-emu/android/car-physics.cpp
new file mode 100644
index 0000000000..3602011d47
--- /dev/null
+++ b/android/android-emu/android/car-physics.cpp
@@ -0,0 +1,37 @@
+/* Copyright (C) 2022 The Android Open Source Project
+**
+** This software is licensed under the terms of the GNU General Public
+** License version 2, as published by the Free Software Foundation, and
+** may be copied, distributed, and modified under those terms.
+**
+** This program is distributed in the hope that it will be useful,
+** but WITHOUT ANY WARRANTY; without even the implied warranty of
+** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+** GNU General Public License for more details.
+*/
+#include "android/car-physics.h"
+
+#include "android/console.h"
+#include "android/hw-sensors.h"
+#include "android/physics/PhysicalModel.h"
+#include "android/utils/debug.h"
+
+#include <stdio.h>
+#include <string.h>
+
+// forward declaration
+typedef struct SkinLayout SkinLayout;
+
+void android_car_physics_init() {
+    // Phones and cars use a different default orientation.
+    // See
+    // https://source.android.com/docs/core/interaction/sensors/sensor-types#limited_axes_imu_sensors
+    physicalModel_setGravity(android_physical_model_instance(), 0.f, 0.f,
+                             -9.81f);
+
+    // Phones are tilted by 4.75f in
+    // external/qemu/android/android-emu/android/emulator-window.c
+    // emulator_window_setup(...). Override this with zero.
+    android_sensors_set_coarse_orientation(ANDROID_COARSE_PORTRAIT,
+                                           0.f /* no tilt */);
+}
\ No newline at end of file
diff --git a/android/android-emu/android/car-physics.h b/android/android-emu/android/car-physics.h
new file mode 100644
index 0000000000..1dae7bcab2
--- /dev/null
+++ b/android/android-emu/android/car-physics.h
@@ -0,0 +1,19 @@
+/* Copyright (C) 2022 The Android Open Source Project
+**
+** This software is licensed under the terms of the GNU General Public
+** License version 2, as published by the Free Software Foundation, and
+** may be copied, distributed, and modified under those terms.
+**
+** This program is distributed in the hope that it will be useful,
+** but WITHOUT ANY WARRANTY; without even the implied warranty of
+** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+** GNU General Public License for more details.
+*/
+#pragma once
+#include "android/utils/compiler.h"
+
+ANDROID_BEGIN_HEADER
+
+extern void android_car_physics_init();
+
+ANDROID_END_HEADER
diff --git a/android/android-emu/android/emulator-window.c b/android/android-emu/android/emulator-window.c
index f249beba88..14c4365c38 100644
--- a/android/android-emu/android/emulator-window.c
+++ b/android/android-emu/android/emulator-window.c
@@ -361,10 +361,15 @@ static void emulator_window_setup(EmulatorWindow* emulator) {
     // Set the coarse orientation of the modeled device to match the skin
     // layout at startup by default.
     const SkinLayout* layout = skin_ui_get_current_layout(emulator->ui);
-    // Historically, the AVD starts up with the screen mostly
-    // vertical, but tilted back 4.75 degrees. Retain that
-    // initial orientation.
-    emulator_window_set_device_coarse_orientation(layout->orientation, 4.75f);
+
+    if (avdInfo_getAvdFlavor(getConsoleAgents()->settings->avdInfo()) !=
+        AVD_ANDROID_AUTO) {
+        // Historically, the AVD starts up with the screen mostly
+        // vertical, but tilted back 4.75 degrees. Retain that
+        // initial orientation.
+        emulator_window_set_device_coarse_orientation(layout->orientation,
+                                                      4.75f);
+    }
 
     if (emulator->onion) {
         skin_ui_set_onion(emulator->ui, emulator->onion,
diff --git a/android/android-emu/android/hw-sensors.cpp b/android/android-emu/android/hw-sensors.cpp
index 95b51d6251..334b374f56 100644
--- a/android/android-emu/android/hw-sensors.cpp
+++ b/android/android-emu/android/hw-sensors.cpp
@@ -936,6 +936,10 @@ static void _hwSensors_init(HwSensors* h) {
         h->sensors[ANDROID_SENSOR_ACCELERATION].enabled = true;
     }
 
+    if (getConsoleAgents()->settings->hw()->hw_accelerometer_uncalibrated) {
+        h->sensors[ANDROID_SENSOR_ACCELERATION_UNCALIBRATED].enabled = true;
+    }
+
     if (getConsoleAgents()->settings->hw()->hw_gyroscope) {
         h->sensors[ANDROID_SENSOR_GYROSCOPE].enabled = true;
     }
@@ -1465,6 +1469,14 @@ bool android_foldable_rollable_configured() {
     return (getConsoleAgents()->settings->hw()->hw_sensor_roll && getConsoleAgents()->settings->hw()->hw_sensor_roll_count > 0);
 }
 
+bool android_is_automotive() {
+    if (getConsoleAgents()->settings->android_qemu_mode()) {
+        AvdFlavor flavor = avdInfo_getAvdFlavor(getConsoleAgents()->settings->avdInfo());
+        return flavor == AVD_ANDROID_AUTO;
+    }
+    return false;
+}
+
 bool android_hw_sensors_is_loading_snapshot() {
     return physicalModel_isLoadingSnapshot(android_physical_model_instance());
 }
diff --git a/android/android-emu/android/hw-sensors.h b/android/android-emu/android/hw-sensors.h
index 31d207cea0..d99fa48143 100644
--- a/android/android-emu/android/hw-sensors.h
+++ b/android/android-emu/android/hw-sensors.h
@@ -123,6 +123,7 @@ typedef enum{
     SENSOR_(HEART_RATE, "heart-rate", HeartRate, float, "heart-rate:%g") \
     SENSOR_(RGBC_LIGHT, "rgbc-light", RgbcLight, vec4, "rgbc-light:%g:%g:%g:%g") \
     SENSOR_(WRIST_TILT, "wrist-tilt", WristTilt, float, "wrist-tilt:%g") \
+    SENSOR_(ACCELERATION_UNCALIBRATED,"acceleration-uncalibrated",AccelerometerUncalibrated,vec3,"acceleration-uncalibrated:%g:%g:%g") \
 // clang-format on
 typedef enum {
 #define  SENSOR_(x,y,z,v,w)  ANDROID_SENSOR_##x,
@@ -170,6 +171,7 @@ typedef enum{
     PHYSICAL_PARAMETER_(HEART_RATE, "heart-rate", HeartRate, float) \
     PHYSICAL_PARAMETER_(RGBC_LIGHT, "rgbc-light", RgbcLight, vec4) \
     PHYSICAL_PARAMETER_(WRIST_TILT, "wrist-tilt", WristTilt, float) \
+    PHYSICAL_PARAMETER_(ROTATION_UNCALIBRATED, "rotation-uncalibrated", AccelerometerUncalibrated, vec3) \
 // clang-format on
 typedef enum {
 #define PHYSICAL_PARAMETER_(x,y,z,w)  PHYSICAL_PARAMETER_##x,
@@ -383,4 +385,5 @@ bool android_foldable_rollable_configured();
 bool android_hw_sensors_is_loading_snapshot();
 bool android_heart_rate_sensor_configured();
 bool android_foldable_posture_name(int posture, char* name);
+bool android_is_automotive();
 ANDROID_END_HEADER
diff --git a/android/android-emu/android/physics/PhysicalModel.cpp b/android/android-emu/android/physics/PhysicalModel.cpp
index 73114fcb18..0edd521eca 100644
--- a/android/android-emu/android/physics/PhysicalModel.cpp
+++ b/android/android-emu/android/physics/PhysicalModel.cpp
@@ -89,6 +89,11 @@ public:
     void setCurrentTime(int64_t time_ns);
 
     /*
+     * Sets the current gravity of the PhysicalModel simulation.
+     */
+    void setGravity(float x, float y, float z);
+
+    /*
      * Replays a PhysicalModelEvent onto the current PhysicalModel state.
      */
     void replayEvent(const pb::PhysicalModelEvent& event);
@@ -526,6 +531,11 @@ void PhysicalModelImpl::setCurrentTime(int64_t time_ns) {
     }
 }
 
+void PhysicalModelImpl::setGravity(float x, float y, float z) {
+    mAmbientEnvironment.setGravity(glm::vec3(x, y, z),
+                                   PHYSICAL_INTERPOLATION_STEP);
+}
+
 void PhysicalModelImpl::replayEvent(const pb::PhysicalModelEvent& event) {
     switch (fromProto(event.type())) {
 #define PHYSICAL_PARAMETER_ENUM(x) PHYSICAL_PARAMETER_##x
@@ -762,6 +772,19 @@ void PhysicalModelImpl::setTargetInternalWristTilt(float value,
     targetStateChanged();
 }
 
+void PhysicalModelImpl::setTargetInternalAccelerometerUncalibrated(vec3, PhysicalInterpolation) {
+    physicalStateChanging();
+    {
+        std::lock_guard<std::recursive_mutex> lock(mMutex);
+        // Not supported to set the uncalibrated accelerometer value.
+    }
+    targetStateChanged();
+}
+
+vec3 PhysicalModelImpl::getParameterAccelerometerUncalibrated(ParameterValueType) const {
+    return fromGlm(mInertialModel.getAcceleration());
+}
+
 vec3 PhysicalModelImpl::getParameterPosition(
         ParameterValueType parameterValueType) const {
     std::lock_guard<std::recursive_mutex> lock(mMutex);
@@ -928,6 +951,12 @@ vec3 PhysicalModelImpl::getPhysicalAccelerometer() const {
                     mAmbientEnvironment.getGravity()));
 }
 
+vec3 PhysicalModelImpl::getPhysicalAccelerometerUncalibrated() const {
+    // Same values for the calibrated and uncalibrated accelerometer
+    // Bias will be added to the balues on the guest side.
+    return getPhysicalAccelerometer();
+}
+
 vec3 PhysicalModelImpl::getPhysicalGyroscope() const {
     return fromGlm(glm::conjugate(mInertialModel.getRotation()) *
                    mInertialModel.getRotationalVelocity());
@@ -1522,6 +1551,13 @@ void physicalModel_setCurrentTime(PhysicalModel* model, int64_t time_ns) {
     }
 }
 
+void physicalModel_setGravity(PhysicalModel* model, float x, float y, float z) {
+    PhysicalModelImpl* impl = PhysicalModelImpl::getImpl(model);
+    if (impl != nullptr) {
+        impl->setGravity(x, y, z);
+    }
+}
+
 #define SET_PHYSICAL_TARGET_FUNCTION_NAME(x) physicalModel_setTarget##x
 #define SET_TARGET_FUNCTION_NAME(x) setTarget##x
 #define PHYSICAL_PARAMETER_(x, y, z, w)                                       \
diff --git a/android/android-emu/android/physics/PhysicalModel.h b/android/android-emu/android/physics/PhysicalModel.h
index 63d9f936a1..7c126c57c6 100644
--- a/android/android-emu/android/physics/PhysicalModel.h
+++ b/android/android-emu/android/physics/PhysicalModel.h
@@ -70,6 +70,11 @@ void physicalModel_free(PhysicalModel* model);
  */
 void physicalModel_setCurrentTime(PhysicalModel* model, int64_t time_ns);
 
+/*
+ * Update the gravity in the model.
+ */
+void physicalModel_setGravity(PhysicalModel* model, float x, float y, float z);
+
 /* Target setters for all physical parameters */
 #define SET_TARGET_FUNCTION_NAME(x) physicalModel_setTarget##x
 #define PHYSICAL_PARAMETER_(x,y,z,w) void SET_TARGET_FUNCTION_NAME(z)(\
diff --git a/android/android-emu/android/physics/PhysicalModel_unittest.cpp b/android/android-emu/android/physics/PhysicalModel_unittest.cpp
index 5bd452cf92..0b2b6532e0 100644
--- a/android/android-emu/android/physics/PhysicalModel_unittest.cpp
+++ b/android/android-emu/android/physics/PhysicalModel_unittest.cpp
@@ -362,6 +362,7 @@ TEST(PhysicalModel, SaveLoadStateSimple) {
 
 static constexpr vec3 kVecZero = {0.f, 0.f, 0.f};
 static constexpr vec3 kAccelOverride = {1.f, 2.f, 3.f};
+static constexpr vec3 kAccelUncalibratedOverride = {1.f, 2.f, 3.f};
 static constexpr vec3 kGyroOverride = {4.f, 5.f, 6.f};
 static constexpr vec3 kMagnetometerOverride = {7.f, 8.f, 9.f};
 static constexpr vec3 kOrientationOverride = {10.f, 11.f, 12.f};
@@ -418,6 +419,8 @@ static void applyOverrides(PhysicalModel* model) {
             model, kMagneticUncalibratedOverride);
     physicalModel_overrideGyroscopeUncalibrated(model,
                                                 kGyroUncalibratedOverride);
+    physicalModel_overrideAccelerometerUncalibrated(model,
+                                                kAccelUncalibratedOverride);
 }
 
 TEST(PhysicalModel, SaveLoadOverrides) {
diff --git a/android/android-emu/android/qemu-setup.cpp b/android/android-emu/android/qemu-setup.cpp
index 9400231fe5..efae6554cd 100644
--- a/android/android-emu/android/qemu-setup.cpp
+++ b/android/android-emu/android/qemu-setup.cpp
@@ -30,6 +30,7 @@
 #include "android/base/system/System.h"                       // for System
 #include "android/boot-properties.h"                          // for boot_pr...
 #include "android/car-cluster.h"                              // for android...
+#include "android/car-physics.h"                              // for android...
 #include "android/car.h"                                      // for android...
 #include "android/clipboard-pipe.h"                           // for android...
 #include "android/cmdline-option.h"                           // for android...
@@ -506,6 +507,7 @@ bool android_emulation_setup(const AndroidConsoleAgents* agents, bool isQemu2) {
         if (flavor == AVD_ANDROID_AUTO) {
             android_car_init();
             android_car_cluster_init();
+            android_car_physics_init();
         }
     }
 
diff --git a/android/android-emu/android/skin/qt/device-3d-widget.cpp b/android/android-emu/android/skin/qt/device-3d-widget.cpp
index 9f2caa3386..c4a602f159 100644
--- a/android/android-emu/android/skin/qt/device-3d-widget.cpp
+++ b/android/android-emu/android/skin/qt/device-3d-widget.cpp
@@ -60,7 +60,10 @@ static glm::vec3 clampPosition(glm::vec3 position) {
 static constexpr int kAnimationIntervalMs = 33;
 
 Device3DWidget::Device3DWidget(QWidget* parent)
-    : GLWidget(parent), mUseAbstractDevice(android_foldable_hinge_configured() || android_foldable_rollable_configured()) {
+    : GLWidget(parent), mUseAbstractDevice(
+        android_foldable_hinge_configured()
+        || android_foldable_rollable_configured()
+        || android_is_automotive()) {
     toggleAA();
     setFocusPolicy(Qt::ClickFocus);
 
@@ -249,7 +252,7 @@ bool Device3DWidget::initModel() {
         // Load the model and set up buffers.
         std::vector<float> model_vertex_data;
         std::vector<GLuint> indices;
-        QFile model_file(":/phone-model/model.obj");
+        QFile model_file(":/car-model/model.obj");
         if (model_file.open(QFile::ReadOnly)) {
             QTextStream file_stream(&model_file);
             if (!parseWavefrontOBJ(file_stream, model_vertex_data, indices)) {
diff --git a/android/android-emu/android/skin/qt/extended-pages/virtual-sensors-page.cpp b/android/android-emu/android/skin/qt/extended-pages/virtual-sensors-page.cpp
index 32ea93c794..a804e9e9fe 100644
--- a/android/android-emu/android/skin/qt/extended-pages/virtual-sensors-page.cpp
+++ b/android/android-emu/android/skin/qt/extended-pages/virtual-sensors-page.cpp
@@ -142,10 +142,6 @@ VirtualSensorsPage::VirtualSensorsPage(QWidget* parent)
 
     updateSensorValuesInUI();
 
-    if (avdInfo_getAvdFlavor(getConsoleAgents()->settings->avdInfo()) == AVD_ANDROID_AUTO) {
-        mUi->tabWidget->removeTab(kAccelerometerTabIndex);
-    }
-
     if (avdInfo_getAvdFlavor(getConsoleAgents()->settings->avdInfo()) == AVD_WEAR) {
         if (avdInfo_getApiLevel(getConsoleAgents()->settings->avdInfo()) < 28) {
             // This feature is currently only available on Wear OS API 28+ emulators.
@@ -758,6 +754,7 @@ void VirtualSensorsPage::updateModelFromAccelWidget(
 
     const glm::vec3 currentPosition =
             getPhysicalParameterTargetVec3(PHYSICAL_PARAMETER_POSITION);
+
     if (!vecNearEqual(position, currentPosition)) {
         setPhysicalParameterTarget(PHYSICAL_PARAMETER_POSITION, mode,
                                    {position.x, position.y, position.z});
@@ -765,6 +762,8 @@ void VirtualSensorsPage::updateModelFromAccelWidget(
 
     const glm::vec3 currentRotationDegrees =
             getPhysicalParameterTargetVec3(PHYSICAL_PARAMETER_ROTATION);
+    const glm::vec3 currentPositionUncalib =
+            getPhysicalParameterTargetVec3(PHYSICAL_PARAMETER_ROTATION_UNCALIBRATED);
     if (!vecNearEqual(rotationDegrees, currentRotationDegrees)) {
         setPhysicalParameterTarget(
                 PHYSICAL_PARAMETER_ROTATION, mode,
@@ -906,8 +905,6 @@ void VirtualSensorsPage::updateSensorValuesInUI() {
     if (sSensorsAgent != nullptr) {
         sSensorsAgent->advanceTime();
 
-        glm::vec3 gravity_vector(0.0f, 9.81f, 0.0f);
-
         glm::vec3 device_accelerometer;
         std::vector<float*> out = {&device_accelerometer.x,
                                    &device_accelerometer.y,
@@ -941,9 +938,17 @@ void VirtualSensorsPage::updateSensorValuesInUI() {
             }
             if (coarse_orientation != mCoarseOrientation) {
                 mCoarseOrientation = coarse_orientation;
-                // Signal to the extended-window to rotate the emulator window
-                // since an orientation has been detected in the sensor values.
-                emit(coarseOrientationChanged(mCoarseOrientation));
+                // Only allow orientation changes on cars, when the orientation
+                // sensor was enabled in the AVD config.
+                if (!android_is_automotive() ||
+                    getConsoleAgents()
+                            ->settings->hw()
+                            ->hw_sensors_orientation) {
+                    // Signal to the extended-window to rotate the emulator
+                    // window since an orientation has been detected in the
+                    // sensor values.
+                    emit(coarseOrientationChanged(mCoarseOrientation));
+                }
             }
         }
 
diff --git a/android/android-grpc/emulator_controller.proto b/android/android-grpc/emulator_controller.proto
index 3378144581..95be48915e 100644
--- a/android/android-grpc/emulator_controller.proto
+++ b/android/android-grpc/emulator_controller.proto
@@ -427,6 +427,8 @@ message SensorValue {
         RGBC_LIGHT = 15;
         // WIRST_TILT (16) is skipped; clients should use get/setPhysicalModel()
         // instead.
+        // Measures acceleration force and provides bias data.
+        ACCELERATION_UNCALIBRATED = 17;
     }
 
     // Type of sensor
diff --git a/android/emu/avd/src/android/avd/hardware-properties.ini b/android/emu/avd/src/android/avd/hardware-properties.ini
index 35611eb7fe..6aca6657b9 100644
--- a/android/emu/avd/src/android/avd/hardware-properties.ini
+++ b/android/emu/avd/src/android/avd/hardware-properties.ini
@@ -151,6 +151,13 @@ default     = yes
 abstract    = Accelerometer
 description = Whether there is an accelerometer in the device.
 
+# Accelerometer (uncalibrated)
+name        = hw.accelerometer_uncalibrated
+type        = boolean
+default     = yes
+abstract    = AccelerometerUncalibrated
+description = Whether there is an uncalibrated accelerometer in the device.
+
 # Gyroscope (used for VR)
 name        = hw.gyroscope
 type        = boolean
diff --git a/android/emu/protos/automation.proto b/android/emu/protos/automation.proto
index d2fc2486b0..5bbdb444f0 100644
--- a/android/emu/protos/automation.proto
+++ b/android/emu/protos/automation.proto
@@ -30,6 +30,8 @@ message ParameterValue {
 }
 
 message PhysicalModelEvent {
+    // The following list of sensors should be kept in sync with PHYSICAL_PARAMETERS_LIST in
+    // hw-sensor.h
     enum ParameterType {
         POSITION = 0;
         ROTATION = 1;
@@ -51,6 +53,7 @@ message PhysicalModelEvent {
         HEART_RATE = 17;
         RGBC_LIGHT = 18;
         WRIST_TILT = 19;
+        ROTATION_UNCALIBRATED = 20;
     }
 
     optional ParameterType type = 1;
@@ -84,6 +87,7 @@ message SensorOverrideEvent {
         HEART_RATE = 14;
         RGBC_LIGHT = 15;
         WRIST_TILT = 16;
+        ACCELERATION_UNCALIBRATED = 17;
     }
 
     optional Sensor sensor = 1;