快速入门：创建和执行 SDV 服务包

本页将介绍如何创建 SDV 服务软件包，将其打包为 APEX 文件格式，并在虚拟 Cuttlefish 设备上执行该软件包。在 SDV 系统上，代码执行的主要单元是服务软件包。服务软件包提供生命周期方法，当系统状态发生变化时，系统会执行这些方法。

  1. 设置构建环境

    在您的工作目录中，获取 envsetup.sh 脚本的源代码以设置构建环境，将 Cuttlefish 设置为构建目标，并构建 vsidlc 代码生成工具：

    source build/envsetup.sh
lunch sdv_core_cf-trunk_staging-userdebug
m vsidlc

  2. 通过创建名为 my_catalog 的文件夹并添加以下文件来定义您的架构：

    • tire.proto：定义您要发送的数据结构：

      syntax = "proto3";

package com.android.sdv.sample.quickstart;

import "google/protobuf/empty.proto";
import "sdv/vsidl/v1/annotations.proto";

message TirePressure {
  uint32 pressure = 1;
}

message TireInfoResponse {
  string serial_number = 1;
  uint32 max_pressure = 2;
}

service TireService {
  rpc GetTireInfo(google.protobuf.Empty) returns (TireInfoResponse);
}

    • architecture.vsidl：定义服务包及其通信：

      package: "com.android.sdv.sample.quickstart"

service_bundle {
  name: "Manager"

  publisher {
    message: "TirePressure"
    topic: "pressure"
    capacity: 8
  }

  server {
    service: "TireService"
    channel: "tire-service"
  }
}

service_bundle {
  name: "Monitor"

  subscriber {
    message: "TirePressure"
    topic: "pressure"
  }

  client {
    service: "TireService"
    channel: "tire-service"
  }
}

    • Android.bp：定义了构建流程：

      rust_protobuf {
    name: "libquickstart_sample_tire_proto",
    crate_name: "quickstart_sample_tire_proto",
    protos: [
        "tire.proto",
    ],
    source_stem: "quickstart_sample_tire_proto_source",
    rustlibs: [
        "libvsidl_v1_stdlib_proto_rs",
    ],
    proto_flags: [
        "-I external/protobuf/src",
    ],
    vendor_available: true,
    product_available: true,
    apex_available: [
        "//apex_available:platform",
        "//apex_available:anyapex",
    ],
    min_sdk_version: "35",
}

filegroup {
    name: "vsidl_quickstart_catalog",
    srcs: ["**/*"],
}

  3. 运行以下命令，生成框架实现和配置文件：

    vsidlc -c /path/to/catalog -o /path/to/output --services --apex

  4. 对于每个服务软件包，请在 /path/to/output/services/ServiceBundleName/src/main.rs 中找到 Rust 实现。

  5. 默认情况下，生成的实现会创建具有默认值的消息，并在发布者和订阅者或 RPC 客户端和服务器之间发送这些消息。如需修改此行为，请在 main.rs 中查找 TODO 注释，并根据您的偏好进行调整。例如：

      async fn handle_tire_pressure_front_left_publisher(publisher: sdv::mw::Publisher<TirePressure>) {
      loop {
          // TODO: Modify the frequency of publishing messages here.
          sleep(Duration::from_secs(1)).await;
          // TODO: Modify the message content here.
          let message = TirePressure::default();
          info!("Publishing on TirePressure#FRONT_LEFT");
          publisher.publish(&message).unwrap();
      }
  }

  6. 如需将您的软件包包含在系统映像中，请将生成的 APEX 模块名称添加到产品 makefile 中。

    1. 打开产品 Makefile（例如 /device/google/sdv/sdv_core_base/sdv_samples_core_services.mk）。

    2. 通过添加以下内容将模块添加到 PRODUCT_PACKAGES：

      PRODUCT_PACKAGES += com.android.sdv.sample.quickstart
PRODUCT_PACKAGES += com_android_sdv_sample_quickstart_orchestration_configurations

  7. 构建映像：

    m

  8. 运行并验证服务软件包执行情况：

    1. 启动虚拟 Cuttlefish 设备：

      sdv-cf create --instance_name=instance1

    2. 在系统启动时运行服务软件包：

      手动

      adb wait-for-device
adb root
adb shell sdv_service_bundle start local-vm:com.android.sdv.sample.quickstart.Manager/instance
adb shell sdv_service_bundle start local-vm:com.android.sdv.sample.quickstart.Monitor/instance

      编排程序

      adb wait-for-device
adb root
# Apply global orchestration configuration by setting system property
adb shell setprop persist.sdv.orchestrator_config_path "etc/orch/vm_quickstart_orch_config.textproto"
adb reboot

    3. 验证服务软件包的执行情况：

      adb logcat *:F com_android_sdv_sample_quickstart_Manager_instance:* com_android_sdv_sample_quickstart_Monitor_instance:*

      此命令会显示表明服务软件包正在交换消息的日志：

      03-30 13:41:31.505   967   976 I com_android_sdv_sample_quickstart_Manager_instance: sdv_lm_manager: Publishing on TirePressure#PRESSURE
03-30 13:41:31.505   983   991 I com_android_sdv_sample_quickstart_Monitor_instance: sdv_lm_monitor: Received message on TirePressure#PRESSURE: [TirePressure { pressure: 0, special_fields: SpecialFields { unknown_fields: UnknownFields { fields: None }, cached_size: CachedSize { size: 0 } } }]
03-30 13:41:31.626   983   991 I com_android_sdv_sample_quickstart_Monitor_instance: sdv_lm_monitor: Sending request on Monitor/TireService
03-30 13:41:31.627   967   976 I com_android_sdv_sample_quickstart_Manager_instance: sdv_lm_manager: Received request on Manager/TireService: Empty { special_fields: SpecialFields { unknown_fields: UnknownFields { fields: None }, cached_size: CachedSize { size: 0 } } }
03-30 13:41:31.627   983   991 I com_android_sdv_sample_quickstart_Monitor_instance: sdv_lm_monitor: Received response on Monitor/TireService: TireInfoResponse { serial_number: "", max_pressure: 0, special_fields: SpecialFields { unknown_fields: UnknownFields { fields: None }, cached_size: CachedSize { size: 0 } } }

后续步骤

详细了解车辆服务接口定义语言 (VSIDL) 以及如何从头开始定义自己的服务包。