快速入門：建立及執行 SDV 服務套裝組合

本頁面說明如何建立 SDV 服務套件、將其封裝為 APEX 檔案格式，並在虛擬 Cuttlefish 裝置上執行。SDV 系統上程式碼執行的主要單位是服務套件。服務套件提供生命週期方法，系統會在系統狀態變更時執行這些方法。

  1. 設定建構環境

    在工作目錄中，找出 envsetup.sh 指令碼，設定建構環境、將 Cuttlefish 設為建構目標，並建構 vsidlc 程式碼生成器：

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

  2. 建立名為 my_catalog 的資料夾，並加入下列檔案，定義架構：

    • tire.proto：定義您傳送的資料結構：

      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：定義服務套件及其通訊方式：

      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：定義建構程序：

      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. 執行下列指令，產生骨架實作和設定檔：

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

  4. 針對每個服務套件，在 /path/to/output/services/ServiceBundleName/src/main.rs 中找出 Rust 實作項目。

  5. 根據預設，產生的實作會建立含有預設值的訊息，並在發布端和訂閱端或 RPC 用戶端和伺服器之間傳送。如要修改這項行為，請在 main.rs 中尋找 TODO 註解，並根據偏好調整。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. 如要在系統映像檔中加入套件組合，請將產生的 APEX 模組名稱新增至產品 Makefile。

    1. 開啟產品的 Makefile (例如 /device/google/sdv/sdv_core_base/sdv_samples_core_services.mk)。

    2. 將模組新增至 PRODUCT_PACKAGES，方法是加入：

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

  7. 建構映像檔：

    m

  8. 執行並驗證服務套件執行作業：

    1. 啟動 Cuttlefish 虛擬裝置：

      sdv-cf create --instance_name=instance1

    2. 在系統啟動時執行服務套件：

      手動

      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

      自動調度管理工具

      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. 確認服務套件的執行情況：

      adb logcat *:F com_android_sdv_sample_quickstart_Manager_instance:* com_android_sdv_sample_quickstart_Monitor_instance:*

      這項指令會顯示記錄，指出服務套件正在交換訊息：

      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 } } }

後續步驟

進一步瞭解車輛服務介面定義語言 (VSIDL)，以及如何從頭定義自己的服務套裝組合。