sensors/common/vts/2_X/VtsHalSensorsV2_XTargetTest.h

/*
 * Copyright (C) 2018 The Android Open Source Project
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#include "SensorsHidlEnvironmentV2_X.h"
#include "convertV2_1.h"
#include "sensors-vts-utils/SensorsHidlTestBase.h"
#include "sensors-vts-utils/SensorsTestSharedMemory.h"

#include <android/hardware/sensors/2.1/ISensors.h>
#include <android/hardware/sensors/2.1/types.h>

#include <hidl/GtestPrinter.h>
#include <hidl/ServiceManagement.h>
#include <log/log.h>
#include <utils/SystemClock.h>

#include <cinttypes>
#include <condition_variable>
#include <cstring>
#include <map>
#include <vector>

/**
 * This file contains the core tests and test logic for both sensors HAL 2.0
 * and 2.1. To make it easier to share the code between both VTS test suites,
 * this is defined as a header so they can both include and use all pieces of
 * code.
 */

using ::android::sp;
using ::android::hardware::Return;
using ::android::hardware::Void;
using ::android::hardware::sensors::V1_0::MetaDataEventType;
using ::android::hardware::sensors::V1_0::OperationMode;
using ::android::hardware::sensors::V1_0::SensorsEventFormatOffset;
using ::android::hardware::sensors::V1_0::SensorStatus;
using ::android::hardware::sensors::V1_0::SharedMemType;
using ::android::hardware::sensors::V1_0::Vec3;
using ::android::hardware::sensors::V2_1::implementation::convertToOldSensorInfos;
using std::chrono::duration_cast;
using std::chrono::microseconds;
using std::chrono::milliseconds;
using std::chrono::nanoseconds;

using EventV1_0 = ::android::hardware::sensors::V1_0::Event;
using ISensorsType = ::android::hardware::sensors::V2_1::ISensors;
using SensorTypeVersion = ::android::hardware::sensors::V2_1::SensorType;
using EventType = ::android::hardware::sensors::V2_1::Event;
using SensorInfoType = ::android::hardware::sensors::V2_1::SensorInfo;
using SensorsHidlTestBaseV2_X = SensorsHidlTestBase<SensorTypeVersion, EventType, SensorInfoType>;

constexpr size_t kEventSize = static_cast<size_t>(SensorsEventFormatOffset::TOTAL_LENGTH);

class EventCallback : public IEventCallback<EventType> {
  public:
    void reset() {
        mFlushMap.clear();
        mEventMap.clear();
    }

    void onEvent(const EventType& event) override {
        if (event.sensorType == SensorTypeVersion::META_DATA &&
            event.u.meta.what == MetaDataEventType::META_DATA_FLUSH_COMPLETE) {
            std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
            mFlushMap[event.sensorHandle]++;
            mFlushCV.notify_all();
        } else if (event.sensorType != SensorTypeVersion::ADDITIONAL_INFO) {
            std::unique_lock<std::recursive_mutex> lock(mEventMutex);
            mEventMap[event.sensorHandle].push_back(event);
            mEventCV.notify_all();
        }
    }

    int32_t getFlushCount(int32_t sensorHandle) {
        std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
        return mFlushMap[sensorHandle];
    }

    void waitForFlushEvents(const std::vector<SensorInfoType>& sensorsToWaitFor,
                            int32_t numCallsToFlush, milliseconds timeout) {
        std::unique_lock<std::recursive_mutex> lock(mFlushMutex);
        mFlushCV.wait_for(lock, timeout,
                          [&] { return flushesReceived(sensorsToWaitFor, numCallsToFlush); });
    }

    const std::vector<EventType> getEvents(int32_t sensorHandle) {
        std::unique_lock<std::recursive_mutex> lock(mEventMutex);
        return mEventMap[sensorHandle];
    }

    void waitForEvents(const std::vector<SensorInfoType>& sensorsToWaitFor, milliseconds timeout) {
        std::unique_lock<std::recursive_mutex> lock(mEventMutex);
        mEventCV.wait_for(lock, timeout, [&] { return eventsReceived(sensorsToWaitFor); });
    }

  protected:
    bool flushesReceived(const std::vector<SensorInfoType>& sensorsToWaitFor,
                         int32_t numCallsToFlush) {
        for (const SensorInfoType& sensor : sensorsToWaitFor) {
            if (getFlushCount(sensor.sensorHandle) < numCallsToFlush) {
                return false;
            }
        }
        return true;
    }

    bool eventsReceived(const std::vector<SensorInfoType>& sensorsToWaitFor) {
        for (const SensorInfoType& sensor : sensorsToWaitFor) {
            if (getEvents(sensor.sensorHandle).size() == 0) {
                return false;
            }
        }
        return true;
    }

    std::map<int32_t, int32_t> mFlushMap;
    std::recursive_mutex mFlushMutex;
    std::condition_variable_any mFlushCV;

    std::map<int32_t, std::vector<EventType>> mEventMap;
    std::recursive_mutex mEventMutex;
    std::condition_variable_any mEventCV;
};

/**
 * Define the template specific versions of the static helper methods in
 * SensorsHidlTestBase used to test that hinge angle is exposed properly.
 */
template <>
SensorFlagBits expectedReportModeForType(::android::hardware::sensors::V2_1::SensorType type) {
    switch (type) {
        case ::android::hardware::sensors::V2_1::SensorType::HINGE_ANGLE:
            return SensorFlagBits::ON_CHANGE_MODE;
        default:
            return expectedReportModeForType(
                    static_cast<::android::hardware::sensors::V1_0::SensorType>(type));
    }
}

template <>
void assertTypeMatchStringType(::android::hardware::sensors::V2_1::SensorType type,
                               const hidl_string& stringType) {
    switch (type) {
        case (::android::hardware::sensors::V2_1::SensorType::HINGE_ANGLE):
            ASSERT_STREQ(SENSOR_STRING_TYPE_HINGE_ANGLE, stringType.c_str());
            break;
        default:
            assertTypeMatchStringType(
                    static_cast<::android::hardware::sensors::V1_0::SensorType>(type), stringType);
            break;
    }
}

// The main test class for SENSORS HIDL HAL.
class SensorsHidlTest : public SensorsHidlTestBaseV2_X {
  public:
    virtual void SetUp() override {
        mEnvironment = new SensorsHidlEnvironmentV2_X(GetParam());
        mEnvironment->HidlSetUp();
        // Ensure that we have a valid environment before performing tests
        ASSERT_NE(getSensors(), nullptr);
    }

    virtual void TearDown() override { mEnvironment->HidlTearDown(); }

  protected:
    SensorInfoType defaultSensorByType(SensorTypeVersion type) override;
    std::vector<SensorInfoType> getSensorsList();
    // implementation wrapper

    Return<void> getSensorsList(ISensorsType::getSensorsList_cb _hidl_cb) override {
        return getSensors()->getSensorsList(
                [&](const auto& list) { _hidl_cb(convertToOldSensorInfos(list)); });
    }

    Return<Result> activate(int32_t sensorHandle, bool enabled) override;

    Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
                         int64_t maxReportLatencyNs) override {
        return getSensors()->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs);
    }

    Return<Result> flush(int32_t sensorHandle) override {
        return getSensors()->flush(sensorHandle);
    }

    Return<Result> injectSensorData(const EventType& event) override {
        return getSensors()->injectSensorData(event);
    }

    Return<void> registerDirectChannel(const SharedMemInfo& mem,
                                       ISensorsType::registerDirectChannel_cb _hidl_cb) override;

    Return<Result> unregisterDirectChannel(int32_t channelHandle) override {
        return getSensors()->unregisterDirectChannel(channelHandle);
    }

    Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
                                    ISensorsType::configDirectReport_cb _hidl_cb) override {
        return getSensors()->configDirectReport(sensorHandle, channelHandle, rate, _hidl_cb);
    }

    inline sp<ISensorsWrapperBase>& getSensors() { return mEnvironment->mSensors; }

    SensorsHidlEnvironmentBase<EventType>* getEnvironment() override { return mEnvironment; }

    // Test helpers
    void runSingleFlushTest(const std::vector<SensorInfoType>& sensors, bool activateSensor,
                            int32_t expectedFlushCount, Result expectedResponse);
    void runFlushTest(const std::vector<SensorInfoType>& sensors, bool activateSensor,
                      int32_t flushCalls, int32_t expectedFlushCount, Result expectedResponse);

    // Helper functions
    void activateAllSensors(bool enable);
    std::vector<SensorInfoType> getNonOneShotSensors();
    std::vector<SensorInfoType> getNonOneShotAndNonSpecialSensors();
    std::vector<SensorInfoType> getOneShotSensors();
    std::vector<SensorInfoType> getInjectEventSensors();
    int32_t getInvalidSensorHandle();
    bool getDirectChannelSensor(SensorInfoType* sensor, SharedMemType* memType, RateLevel* rate);
    void verifyDirectChannel(SharedMemType memType);
    void verifyRegisterDirectChannel(
            std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem,
            int32_t* directChannelHandle, bool supportsSharedMemType,
            bool supportsAnyDirectChannel);
    void verifyConfigure(const SensorInfoType& sensor, SharedMemType memType,
                         int32_t directChannelHandle, bool directChannelSupported);
    void verifyUnregisterDirectChannel(int32_t directChannelHandle, bool directChannelSupported);
    void checkRateLevel(const SensorInfoType& sensor, int32_t directChannelHandle,
                        RateLevel rateLevel);
    void queryDirectChannelSupport(SharedMemType memType, bool* supportsSharedMemType,
                                   bool* supportsAnyDirectChannel);

  private:
    // Test environment for sensors HAL.
    SensorsHidlEnvironmentV2_X* mEnvironment;
};

Return<Result> SensorsHidlTest::activate(int32_t sensorHandle, bool enabled) {
    // If activating a sensor, add the handle in a set so that when test fails it can be turned off.
    // The handle is not removed when it is deactivating on purpose so that it is not necessary to
    // check the return value of deactivation. Deactivating a sensor more than once does not have
    // negative effect.
    if (enabled) {
        mSensorHandles.insert(sensorHandle);
    }
    return getSensors()->activate(sensorHandle, enabled);
}

Return<void> SensorsHidlTest::registerDirectChannel(const SharedMemInfo& mem,
                                                    ISensors::registerDirectChannel_cb cb) {
    // If registeration of a channel succeeds, add the handle of channel to a set so that it can be
    // unregistered when test fails. Unregister a channel does not remove the handle on purpose.
    // Unregistering a channel more than once should not have negative effect.
    getSensors()->registerDirectChannel(mem, [&](auto result, auto channelHandle) {
        if (result == Result::OK) {
            mDirectChannelHandles.insert(channelHandle);
        }
        cb(result, channelHandle);
    });
    return Void();
}

SensorInfoType SensorsHidlTest::defaultSensorByType(SensorTypeVersion type) {
    SensorInfoType ret;

    ret.type = (SensorTypeVersion)-1;
    getSensors()->getSensorsList([&](const auto& list) {
        const size_t count = list.size();
        for (size_t i = 0; i < count; ++i) {
            if (list[i].type == type) {
                ret = list[i];
                return;
            }
        }
    });

    return ret;
}

std::vector<SensorInfoType> SensorsHidlTest::getSensorsList() {
    std::vector<SensorInfoType> ret;

    getSensors()->getSensorsList([&](const auto& list) {
        const size_t count = list.size();
        ret.reserve(list.size());
        for (size_t i = 0; i < count; ++i) {
            ret.push_back(list[i]);
        }
    });

    return ret;
}

std::vector<SensorInfoType> SensorsHidlTest::getNonOneShotSensors() {
    std::vector<SensorInfoType> sensors;
    for (const SensorInfoType& info : getSensorsList()) {
        if (extractReportMode(info.flags) != SensorFlagBits::ONE_SHOT_MODE) {
            sensors.push_back(info);
        }
    }
    return sensors;
}

std::vector<SensorInfoType> SensorsHidlTest::getNonOneShotAndNonSpecialSensors() {
    std::vector<SensorInfoType> sensors;
    for (const SensorInfoType& info : getSensorsList()) {
        SensorFlagBits reportMode = extractReportMode(info.flags);
        if (reportMode != SensorFlagBits::ONE_SHOT_MODE &&
            reportMode != SensorFlagBits::SPECIAL_REPORTING_MODE) {
            sensors.push_back(info);
        }
    }
    return sensors;
}

std::vector<SensorInfoType> SensorsHidlTest::getOneShotSensors() {
    std::vector<SensorInfoType> sensors;
    for (const SensorInfoType& info : getSensorsList()) {
        if (extractReportMode(info.flags) == SensorFlagBits::ONE_SHOT_MODE) {
            sensors.push_back(info);
        }
    }
    return sensors;
}

std::vector<SensorInfoType> SensorsHidlTest::getInjectEventSensors() {
    std::vector<SensorInfoType> sensors;
    for (const SensorInfoType& info : getSensorsList()) {
        if (info.flags & static_cast<uint32_t>(SensorFlagBits::DATA_INJECTION)) {
            sensors.push_back(info);
        }
    }
    return sensors;
}

int32_t SensorsHidlTest::getInvalidSensorHandle() {
    // Find a sensor handle that does not exist in the sensor list
    int32_t maxHandle = 0;
    for (const SensorInfoType& sensor : getSensorsList()) {
        maxHandle = std::max(maxHandle, sensor.sensorHandle);
    }
    return maxHandle + 1;
}

// Test if sensor list returned is valid
TEST_P(SensorsHidlTest, SensorListValid) {
    getSensors()->getSensorsList([&](const auto& list) {
        const size_t count = list.size();
        for (size_t i = 0; i < count; ++i) {
            const auto& s = list[i];
            SCOPED_TRACE(::testing::Message()
                         << i << "/" << count << ": "
                         << " handle=0x" << std::hex << std::setw(8) << std::setfill('0')
                         << s.sensorHandle << std::dec << " type=" << static_cast<int>(s.type)
                         << " name=" << s.name);

            // Test non-empty type string
            EXPECT_FALSE(s.typeAsString.empty());

            // Test defined type matches defined string type
            EXPECT_NO_FATAL_FAILURE(assertTypeMatchStringType(s.type, s.typeAsString));

            // Test if all sensor has name and vendor
            EXPECT_FALSE(s.name.empty());
            EXPECT_FALSE(s.vendor.empty());

            // Test power > 0, maxRange > 0
            EXPECT_LE(0, s.power);
            EXPECT_LT(0, s.maxRange);

            // Info type, should have no sensor
            EXPECT_FALSE(s.type == SensorTypeVersion::ADDITIONAL_INFO ||
                         s.type == SensorTypeVersion::META_DATA);

            // Test fifoMax >= fifoReserved
            EXPECT_GE(s.fifoMaxEventCount, s.fifoReservedEventCount)
                    << "max=" << s.fifoMaxEventCount << " reserved=" << s.fifoReservedEventCount;

            // Test Reporting mode valid
            EXPECT_NO_FATAL_FAILURE(assertTypeMatchReportMode(s.type, extractReportMode(s.flags)));

            // Test min max are in the right order
            EXPECT_LE(s.minDelay, s.maxDelay);
            // Test min/max delay matches reporting mode
            EXPECT_NO_FATAL_FAILURE(
                    assertDelayMatchReportMode(s.minDelay, s.maxDelay, extractReportMode(s.flags)));
        }
    });
}

// Test that SetOperationMode returns the expected value
TEST_P(SensorsHidlTest, SetOperationMode) {
    std::vector<SensorInfoType> sensors = getInjectEventSensors();
    if (getInjectEventSensors().size() > 0) {
        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
        ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
    } else {
        ASSERT_EQ(Result::BAD_VALUE, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));
    }
}

// Test that an injected event is written back to the Event FMQ
TEST_P(SensorsHidlTest, InjectSensorEventData) {
    std::vector<SensorInfoType> sensors = getInjectEventSensors();
    if (sensors.size() == 0) {
        return;
    }

    ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::DATA_INJECTION));

    EventCallback callback;
    getEnvironment()->registerCallback(&callback);

    // AdditionalInfo event should not be sent to Event FMQ
    EventType additionalInfoEvent;
    additionalInfoEvent.sensorType = SensorTypeVersion::ADDITIONAL_INFO;
    additionalInfoEvent.timestamp = android::elapsedRealtimeNano();

    EventType injectedEvent;
    injectedEvent.timestamp = android::elapsedRealtimeNano();
    Vec3 data = {1, 2, 3, SensorStatus::ACCURACY_HIGH};
    injectedEvent.u.vec3 = data;

    for (const auto& s : sensors) {
        additionalInfoEvent.sensorHandle = s.sensorHandle;
        EXPECT_EQ(Result::OK, getSensors()->injectSensorData(additionalInfoEvent));

        injectedEvent.sensorType = s.type;
        injectedEvent.sensorHandle = s.sensorHandle;
        EXPECT_EQ(Result::OK, getSensors()->injectSensorData(injectedEvent));
    }

    // Wait for events to be written back to the Event FMQ
    callback.waitForEvents(sensors, milliseconds(1000) /* timeout */);

    for (const auto& s : sensors) {
        auto events = callback.getEvents(s.sensorHandle);
        auto lastEvent = events.back();

        // Verify that only a single event has been received
        ASSERT_EQ(events.size(), 1);

        // Verify that the event received matches the event injected and is not the additional
        // info event
        ASSERT_EQ(lastEvent.sensorType, s.type);
        ASSERT_EQ(lastEvent.sensorType, s.type);
        ASSERT_EQ(lastEvent.timestamp, injectedEvent.timestamp);
        ASSERT_EQ(lastEvent.u.vec3.x, injectedEvent.u.vec3.x);
        ASSERT_EQ(lastEvent.u.vec3.y, injectedEvent.u.vec3.y);
        ASSERT_EQ(lastEvent.u.vec3.z, injectedEvent.u.vec3.z);
        ASSERT_EQ(lastEvent.u.vec3.status, injectedEvent.u.vec3.status);
    }

    getEnvironment()->unregisterCallback();
    ASSERT_EQ(Result::OK, getSensors()->setOperationMode(OperationMode::NORMAL));
}

// Test if sensor hal can do UI speed accelerometer streaming properly
TEST_P(SensorsHidlTest, AccelerometerStreamingOperationSlow) {
    testStreamingOperation(SensorTypeVersion::ACCELEROMETER, std::chrono::milliseconds(200),
                           std::chrono::seconds(5), mAccelNormChecker);
}

// Test if sensor hal can do normal speed accelerometer streaming properly
TEST_P(SensorsHidlTest, AccelerometerStreamingOperationNormal) {
    testStreamingOperation(SensorTypeVersion::ACCELEROMETER, std::chrono::milliseconds(20),
                           std::chrono::seconds(5), mAccelNormChecker);
}

// Test if sensor hal can do game speed accelerometer streaming properly
TEST_P(SensorsHidlTest, AccelerometerStreamingOperationFast) {
    testStreamingOperation(SensorTypeVersion::ACCELEROMETER, std::chrono::milliseconds(5),
                           std::chrono::seconds(5), mAccelNormChecker);
}

// Test if sensor hal can do UI speed gyroscope streaming properly
TEST_P(SensorsHidlTest, GyroscopeStreamingOperationSlow) {
    testStreamingOperation(SensorTypeVersion::GYROSCOPE, std::chrono::milliseconds(200),
                           std::chrono::seconds(5), mGyroNormChecker);
}

// Test if sensor hal can do normal speed gyroscope streaming properly
TEST_P(SensorsHidlTest, GyroscopeStreamingOperationNormal) {
    testStreamingOperation(SensorTypeVersion::GYROSCOPE, std::chrono::milliseconds(20),
                           std::chrono::seconds(5), mGyroNormChecker);
}

// Test if sensor hal can do game speed gyroscope streaming properly
TEST_P(SensorsHidlTest, GyroscopeStreamingOperationFast) {
    testStreamingOperation(SensorTypeVersion::GYROSCOPE, std::chrono::milliseconds(5),
                           std::chrono::seconds(5), mGyroNormChecker);
}

// Test if sensor hal can do UI speed magnetometer streaming properly
TEST_P(SensorsHidlTest, MagnetometerStreamingOperationSlow) {
    testStreamingOperation(SensorTypeVersion::MAGNETIC_FIELD, std::chrono::milliseconds(200),
                           std::chrono::seconds(5), NullChecker<EventType>());
}

// Test if sensor hal can do normal speed magnetometer streaming properly
TEST_P(SensorsHidlTest, MagnetometerStreamingOperationNormal) {
    testStreamingOperation(SensorTypeVersion::MAGNETIC_FIELD, std::chrono::milliseconds(20),
                           std::chrono::seconds(5), NullChecker<EventType>());
}

// Test if sensor hal can do game speed magnetometer streaming properly
TEST_P(SensorsHidlTest, MagnetometerStreamingOperationFast) {
    testStreamingOperation(SensorTypeVersion::MAGNETIC_FIELD, std::chrono::milliseconds(5),
                           std::chrono::seconds(5), NullChecker<EventType>());
}

// Test if sensor hal can do accelerometer sampling rate switch properly when sensor is active
TEST_P(SensorsHidlTest, AccelerometerSamplingPeriodHotSwitchOperation) {
    testSamplingRateHotSwitchOperation(SensorTypeVersion::ACCELEROMETER);
    testSamplingRateHotSwitchOperation(SensorTypeVersion::ACCELEROMETER, false /*fastToSlow*/);
}

// Test if sensor hal can do gyroscope sampling rate switch properly when sensor is active
TEST_P(SensorsHidlTest, GyroscopeSamplingPeriodHotSwitchOperation) {
    testSamplingRateHotSwitchOperation(SensorTypeVersion::GYROSCOPE);
    testSamplingRateHotSwitchOperation(SensorTypeVersion::GYROSCOPE, false /*fastToSlow*/);
}

// Test if sensor hal can do magnetometer sampling rate switch properly when sensor is active
TEST_P(SensorsHidlTest, MagnetometerSamplingPeriodHotSwitchOperation) {
    testSamplingRateHotSwitchOperation(SensorTypeVersion::MAGNETIC_FIELD);
    testSamplingRateHotSwitchOperation(SensorTypeVersion::MAGNETIC_FIELD, false /*fastToSlow*/);
}

// Test if sensor hal can do accelerometer batching properly
TEST_P(SensorsHidlTest, AccelerometerBatchingOperation) {
    testBatchingOperation(SensorTypeVersion::ACCELEROMETER);
}

// Test if sensor hal can do gyroscope batching properly
TEST_P(SensorsHidlTest, GyroscopeBatchingOperation) {
    testBatchingOperation(SensorTypeVersion::GYROSCOPE);
}

// Test if sensor hal can do magnetometer batching properly
TEST_P(SensorsHidlTest, MagnetometerBatchingOperation) {
    testBatchingOperation(SensorTypeVersion::MAGNETIC_FIELD);
}

// Test sensor event direct report with ashmem for accel sensor at normal rate
TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationNormal) {
    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::ASHMEM,
                              RateLevel::NORMAL, mAccelNormChecker);
}

// Test sensor event direct report with ashmem for accel sensor at fast rate
TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationFast) {
    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::ASHMEM,
                              RateLevel::FAST, mAccelNormChecker);
}

// Test sensor event direct report with ashmem for accel sensor at very fast rate
TEST_P(SensorsHidlTest, AccelerometerAshmemDirectReportOperationVeryFast) {
    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::ASHMEM,
                              RateLevel::VERY_FAST, mAccelNormChecker);
}

// Test sensor event direct report with ashmem for gyro sensor at normal rate
TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationNormal) {
    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::ASHMEM,
                              RateLevel::NORMAL, mGyroNormChecker);
}

// Test sensor event direct report with ashmem for gyro sensor at fast rate
TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationFast) {
    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::ASHMEM, RateLevel::FAST,
                              mGyroNormChecker);
}

// Test sensor event direct report with ashmem for gyro sensor at very fast rate
TEST_P(SensorsHidlTest, GyroscopeAshmemDirectReportOperationVeryFast) {
    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::ASHMEM,
                              RateLevel::VERY_FAST, mGyroNormChecker);
}

// Test sensor event direct report with ashmem for mag sensor at normal rate
TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationNormal) {
    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::ASHMEM,
                              RateLevel::NORMAL, NullChecker<EventType>());
}

// Test sensor event direct report with ashmem for mag sensor at fast rate
TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationFast) {
    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::ASHMEM,
                              RateLevel::FAST, NullChecker<EventType>());
}

// Test sensor event direct report with ashmem for mag sensor at very fast rate
TEST_P(SensorsHidlTest, MagnetometerAshmemDirectReportOperationVeryFast) {
    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::ASHMEM,
                              RateLevel::VERY_FAST, NullChecker<EventType>());
}

// Test sensor event direct report with gralloc for accel sensor at normal rate
TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationNormal) {
    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::GRALLOC,
                              RateLevel::NORMAL, mAccelNormChecker);
}

// Test sensor event direct report with gralloc for accel sensor at fast rate
TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationFast) {
    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::GRALLOC,
                              RateLevel::FAST, mAccelNormChecker);
}

// Test sensor event direct report with gralloc for accel sensor at very fast rate
TEST_P(SensorsHidlTest, AccelerometerGrallocDirectReportOperationVeryFast) {
    testDirectReportOperation(SensorTypeVersion::ACCELEROMETER, SharedMemType::GRALLOC,
                              RateLevel::VERY_FAST, mAccelNormChecker);
}

// Test sensor event direct report with gralloc for gyro sensor at normal rate
TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationNormal) {
    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::GRALLOC,
                              RateLevel::NORMAL, mGyroNormChecker);
}

// Test sensor event direct report with gralloc for gyro sensor at fast rate
TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationFast) {
    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::GRALLOC, RateLevel::FAST,
                              mGyroNormChecker);
}

// Test sensor event direct report with gralloc for gyro sensor at very fast rate
TEST_P(SensorsHidlTest, GyroscopeGrallocDirectReportOperationVeryFast) {
    testDirectReportOperation(SensorTypeVersion::GYROSCOPE, SharedMemType::GRALLOC,
                              RateLevel::VERY_FAST, mGyroNormChecker);
}

// Test sensor event direct report with gralloc for mag sensor at normal rate
TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationNormal) {
    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::GRALLOC,
                              RateLevel::NORMAL, NullChecker<EventType>());
}

// Test sensor event direct report with gralloc for mag sensor at fast rate
TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationFast) {
    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::GRALLOC,
                              RateLevel::FAST, NullChecker<EventType>());
}

// Test sensor event direct report with gralloc for mag sensor at very fast rate
TEST_P(SensorsHidlTest, MagnetometerGrallocDirectReportOperationVeryFast) {
    testDirectReportOperation(SensorTypeVersion::MAGNETIC_FIELD, SharedMemType::GRALLOC,
                              RateLevel::VERY_FAST, NullChecker<EventType>());
}

void SensorsHidlTest::activateAllSensors(bool enable) {
    for (const SensorInfoType& sensorInfo : getSensorsList()) {
        if (isValidType(sensorInfo.type)) {
            batch(sensorInfo.sensorHandle, sensorInfo.minDelay, 0 /* maxReportLatencyNs */);
            activate(sensorInfo.sensorHandle, enable);
        }
    }
}

// Test that if initialize is called twice, then the HAL writes events to the FMQs from the second
// call to the function.
TEST_P(SensorsHidlTest, CallInitializeTwice) {
    // Create a helper class so that a second environment is able to be instantiated
    class SensorsHidlEnvironmentTest : public SensorsHidlEnvironmentV2_X {
      public:
        SensorsHidlEnvironmentTest(const std::string& service_name)
            : SensorsHidlEnvironmentV2_X(service_name) {}
    };

    if (getSensorsList().size() == 0) {
        // No sensors
        return;
    }

    constexpr useconds_t kCollectionTimeoutUs = 1000 * 1000;  // 1s
    constexpr int32_t kNumEvents = 1;

    // Create a new environment that calls initialize()
    std::unique_ptr<SensorsHidlEnvironmentTest> newEnv =
            std::make_unique<SensorsHidlEnvironmentTest>(GetParam());
    newEnv->HidlSetUp();
    if (HasFatalFailure()) {
        return;  // Exit early if setting up the new environment failed
    }

    activateAllSensors(true);
    // Verify that the old environment does not receive any events
    EXPECT_EQ(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), 0);
    // Verify that the new event queue receives sensor events
    EXPECT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, newEnv.get(), newEnv.get()).size(),
              kNumEvents);
    activateAllSensors(false);

    // Cleanup the test environment
    newEnv->HidlTearDown();

    // Restore the test environment for future tests
    getEnvironment()->HidlTearDown();
    getEnvironment()->HidlSetUp();
    if (HasFatalFailure()) {
        return;  // Exit early if resetting the environment failed
    }

    // Ensure that the original environment is receiving events
    activateAllSensors(true);
    EXPECT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents).size(), kNumEvents);
    activateAllSensors(false);
}

TEST_P(SensorsHidlTest, CleanupConnectionsOnInitialize) {
    activateAllSensors(true);

    // Verify that events are received
    constexpr useconds_t kCollectionTimeoutUs = 1000 * 1000;  // 1s
    constexpr int32_t kNumEvents = 1;
    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), kNumEvents);

    // Clear the active sensor handles so they are not disabled during TearDown
    auto handles = mSensorHandles;
    mSensorHandles.clear();
    getEnvironment()->HidlTearDown();
    getEnvironment()->HidlSetUp();
    if (HasFatalFailure()) {
        return;  // Exit early if resetting the environment failed
    }

    // Verify no events are received until sensors are re-activated
    ASSERT_EQ(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), 0);
    activateAllSensors(true);
    ASSERT_GE(collectEvents(kCollectionTimeoutUs, kNumEvents, getEnvironment()).size(), kNumEvents);

    // Disable sensors
    activateAllSensors(false);

    // Restore active sensors prior to clearing the environment
    mSensorHandles = handles;
}

void SensorsHidlTest::runSingleFlushTest(const std::vector<SensorInfoType>& sensors,
                                         bool activateSensor, int32_t expectedFlushCount,
                                         Result expectedResponse) {
    runFlushTest(sensors, activateSensor, 1 /* flushCalls */, expectedFlushCount, expectedResponse);
}

void SensorsHidlTest::runFlushTest(const std::vector<SensorInfoType>& sensors, bool activateSensor,
                                   int32_t flushCalls, int32_t expectedFlushCount,
                                   Result expectedResponse) {
    EventCallback callback;
    getEnvironment()->registerCallback(&callback);

    for (const SensorInfoType& sensor : sensors) {
        // Configure and activate the sensor
        batch(sensor.sensorHandle, sensor.maxDelay, 0 /* maxReportLatencyNs */);
        activate(sensor.sensorHandle, activateSensor);

        // Flush the sensor
        for (int32_t i = 0; i < flushCalls; i++) {
            Result flushResult = flush(sensor.sensorHandle);
            ASSERT_EQ(flushResult, expectedResponse);
        }
    }

    // Wait up to one second for the flush events
    callback.waitForFlushEvents(sensors, flushCalls, milliseconds(1000) /* timeout */);

    // Deactivate all sensors after waiting for flush events so pending flush events are not
    // abandoned by the HAL.
    for (const SensorInfoType& sensor : sensors) {
        activate(sensor.sensorHandle, false);
    }
    getEnvironment()->unregisterCallback();

    // Check that the correct number of flushes are present for each sensor
    for (const SensorInfoType& sensor : sensors) {
        ASSERT_EQ(callback.getFlushCount(sensor.sensorHandle), expectedFlushCount);
    }
}

TEST_P(SensorsHidlTest, FlushSensor) {
    // Find a sensor that is not a one-shot sensor
    std::vector<SensorInfoType> sensors = getNonOneShotSensors();
    if (sensors.size() == 0) {
        return;
    }

    constexpr int32_t kFlushes = 5;
    runSingleFlushTest(sensors, true /* activateSensor */, 1 /* expectedFlushCount */, Result::OK);
    runFlushTest(sensors, true /* activateSensor */, kFlushes, kFlushes, Result::OK);
}

TEST_P(SensorsHidlTest, FlushOneShotSensor) {
    // Find a sensor that is a one-shot sensor
    std::vector<SensorInfoType> sensors = getOneShotSensors();
    if (sensors.size() == 0) {
        return;
    }

    runSingleFlushTest(sensors, true /* activateSensor */, 0 /* expectedFlushCount */,
                       Result::BAD_VALUE);
}

TEST_P(SensorsHidlTest, FlushInactiveSensor) {
    // Attempt to find a non-one shot sensor, then a one-shot sensor if necessary
    std::vector<SensorInfoType> sensors = getNonOneShotSensors();
    if (sensors.size() == 0) {
        sensors = getOneShotSensors();
        if (sensors.size() == 0) {
            return;
        }
    }

    runSingleFlushTest(sensors, false /* activateSensor */, 0 /* expectedFlushCount */,
                       Result::BAD_VALUE);
}

TEST_P(SensorsHidlTest, FlushNonexistentSensor) {
    SensorInfoType sensor;
    std::vector<SensorInfoType> sensors = getNonOneShotSensors();
    if (sensors.size() == 0) {
        sensors = getOneShotSensors();
        if (sensors.size() == 0) {
            return;
        }
    }
    sensor = sensors.front();
    sensor.sensorHandle = getInvalidSensorHandle();
    runSingleFlushTest(std::vector<SensorInfoType>{sensor}, false /* activateSensor */,
                       0 /* expectedFlushCount */, Result::BAD_VALUE);
}

TEST_P(SensorsHidlTest, Batch) {
    if (getSensorsList().size() == 0) {
        return;
    }

    activateAllSensors(false /* enable */);
    for (const SensorInfoType& sensor : getSensorsList()) {
        // Call batch on inactive sensor
        // One shot sensors have minDelay set to -1 which is an invalid
        // parameter. Use 0 instead to avoid errors.
        int64_t samplingPeriodNs = extractReportMode(sensor.flags) == SensorFlagBits::ONE_SHOT_MODE
                                           ? 0
                                           : sensor.minDelay;
        ASSERT_EQ(batch(sensor.sensorHandle, samplingPeriodNs, 0 /* maxReportLatencyNs */),
                  Result::OK);

        // Activate the sensor
        activate(sensor.sensorHandle, true /* enabled */);

        // Call batch on an active sensor
        ASSERT_EQ(batch(sensor.sensorHandle, sensor.maxDelay, 0 /* maxReportLatencyNs */),
                  Result::OK);
    }
    activateAllSensors(false /* enable */);

    // Call batch on an invalid sensor
    SensorInfoType sensor = getSensorsList().front();
    sensor.sensorHandle = getInvalidSensorHandle();
    ASSERT_EQ(batch(sensor.sensorHandle, sensor.minDelay, 0 /* maxReportLatencyNs */),
              Result::BAD_VALUE);
}

TEST_P(SensorsHidlTest, Activate) {
    if (getSensorsList().size() == 0) {
        return;
    }

    // Verify that sensor events are generated when activate is called
    for (const SensorInfoType& sensor : getSensorsList()) {
        batch(sensor.sensorHandle, sensor.minDelay, 0 /* maxReportLatencyNs */);
        ASSERT_EQ(activate(sensor.sensorHandle, true), Result::OK);

        // Call activate on a sensor that is already activated
        ASSERT_EQ(activate(sensor.sensorHandle, true), Result::OK);

        // Deactivate the sensor
        ASSERT_EQ(activate(sensor.sensorHandle, false), Result::OK);

        // Call deactivate on a sensor that is already deactivated
        ASSERT_EQ(activate(sensor.sensorHandle, false), Result::OK);
    }

    // Attempt to activate an invalid sensor
    int32_t invalidHandle = getInvalidSensorHandle();
    ASSERT_EQ(activate(invalidHandle, true), Result::BAD_VALUE);
    ASSERT_EQ(activate(invalidHandle, false), Result::BAD_VALUE);
}

TEST_P(SensorsHidlTest, NoStaleEvents) {
    constexpr milliseconds kFiveHundredMs(500);
    constexpr milliseconds kOneSecond(1000);

    // Register the callback to receive sensor events
    EventCallback callback;
    getEnvironment()->registerCallback(&callback);

    // This test is not valid for one-shot or special-report-mode sensors
    const std::vector<SensorInfoType> sensors = getNonOneShotAndNonSpecialSensors();
    milliseconds maxMinDelay(0);
    for (const SensorInfoType& sensor : sensors) {
        milliseconds minDelay = duration_cast<milliseconds>(microseconds(sensor.minDelay));
        maxMinDelay = milliseconds(std::max(maxMinDelay.count(), minDelay.count()));
    }

    // Activate the sensors so that they start generating events
    activateAllSensors(true);

    // According to the CDD, the first sample must be generated within 400ms + 2 * sample_time
    // and the maximum reporting latency is 100ms + 2 * sample_time. Wait a sufficient amount
    // of time to guarantee that a sample has arrived.
    callback.waitForEvents(sensors, kFiveHundredMs + (5 * maxMinDelay));
    activateAllSensors(false);

    // Save the last received event for each sensor
    std::map<int32_t, int64_t> lastEventTimestampMap;
    for (const SensorInfoType& sensor : sensors) {
        // Some on-change sensors may not report an event without stimulus
        if (extractReportMode(sensor.flags) != SensorFlagBits::ON_CHANGE_MODE) {
            ASSERT_GE(callback.getEvents(sensor.sensorHandle).size(), 1);
        }
        if (callback.getEvents(sensor.sensorHandle).size() >= 1) {
            lastEventTimestampMap[sensor.sensorHandle] =
                    callback.getEvents(sensor.sensorHandle).back().timestamp;
        }
    }

    // Allow some time to pass, reset the callback, then reactivate the sensors
    usleep(duration_cast<microseconds>(kOneSecond + (5 * maxMinDelay)).count());
    callback.reset();
    activateAllSensors(true);
    callback.waitForEvents(sensors, kFiveHundredMs + (5 * maxMinDelay));
    activateAllSensors(false);

    for (const SensorInfoType& sensor : sensors) {
        // Skip sensors that did not previously report an event
        if (lastEventTimestampMap.find(sensor.sensorHandle) == lastEventTimestampMap.end()) {
            continue;
        }
        // Skip on-change sensors that do not consistently report an initial event
        if (callback.getEvents(sensor.sensorHandle).size() < 1) {
            continue;
        }
        // Ensure that the first event received is not stale by ensuring that its timestamp is
        // sufficiently different from the previous event
        const EventType newEvent = callback.getEvents(sensor.sensorHandle).front();
        milliseconds delta = duration_cast<milliseconds>(
                nanoseconds(newEvent.timestamp - lastEventTimestampMap[sensor.sensorHandle]));
        milliseconds sensorMinDelay = duration_cast<milliseconds>(microseconds(sensor.minDelay));
        ASSERT_GE(delta, kFiveHundredMs + (3 * sensorMinDelay));
    }
}

void SensorsHidlTest::checkRateLevel(const SensorInfoType& sensor, int32_t directChannelHandle,
                                     RateLevel rateLevel) {
    configDirectReport(sensor.sensorHandle, directChannelHandle, rateLevel,
                       [&](Result result, int32_t reportToken) {
                           if (isDirectReportRateSupported(sensor, rateLevel)) {
                               ASSERT_EQ(result, Result::OK);
                               if (rateLevel != RateLevel::STOP) {
                                   ASSERT_GT(reportToken, 0);
                               }
                           } else {
                               ASSERT_EQ(result, Result::BAD_VALUE);
                           }
                       });
}

void SensorsHidlTest::queryDirectChannelSupport(SharedMemType memType, bool* supportsSharedMemType,
                                                bool* supportsAnyDirectChannel) {
    *supportsSharedMemType = false;
    *supportsAnyDirectChannel = false;
    for (const SensorInfoType& curSensor : getSensorsList()) {
        if (isDirectChannelTypeSupported(curSensor, memType)) {
            *supportsSharedMemType = true;
        }
        if (isDirectChannelTypeSupported(curSensor, SharedMemType::ASHMEM) ||
            isDirectChannelTypeSupported(curSensor, SharedMemType::GRALLOC)) {
            *supportsAnyDirectChannel = true;
        }

        if (*supportsSharedMemType && *supportsAnyDirectChannel) {
            break;
        }
    }
}

void SensorsHidlTest::verifyRegisterDirectChannel(
        std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem,
        int32_t* directChannelHandle, bool supportsSharedMemType, bool supportsAnyDirectChannel) {
    char* buffer = mem->getBuffer();
    memset(buffer, 0xff, mem->getSize());

    registerDirectChannel(mem->getSharedMemInfo(), [&](Result result, int32_t channelHandle) {
        if (supportsSharedMemType) {
            ASSERT_EQ(result, Result::OK);
            ASSERT_GT(channelHandle, 0);

            // Verify that the memory has been zeroed
            for (size_t i = 0; i < mem->getSize(); i++) {
                ASSERT_EQ(buffer[i], 0x00);
            }
        } else {
            Result expectedResult =
                    supportsAnyDirectChannel ? Result::BAD_VALUE : Result::INVALID_OPERATION;
            ASSERT_EQ(result, expectedResult);
            ASSERT_EQ(channelHandle, -1);
        }
        *directChannelHandle = channelHandle;
    });
}

void SensorsHidlTest::verifyConfigure(const SensorInfoType& sensor, SharedMemType memType,
                                      int32_t directChannelHandle, bool supportsAnyDirectChannel) {
    if (isDirectChannelTypeSupported(sensor, memType)) {
        // Verify that each rate level is properly supported
        checkRateLevel(sensor, directChannelHandle, RateLevel::NORMAL);
        checkRateLevel(sensor, directChannelHandle, RateLevel::FAST);
        checkRateLevel(sensor, directChannelHandle, RateLevel::VERY_FAST);
        checkRateLevel(sensor, directChannelHandle, RateLevel::STOP);

        // Verify that a sensor handle of -1 is only acceptable when using RateLevel::STOP
        configDirectReport(-1 /* sensorHandle */, directChannelHandle, RateLevel::NORMAL,
                           [](Result result, int32_t /* reportToken */) {
                               ASSERT_EQ(result, Result::BAD_VALUE);
                           });
        configDirectReport(
                -1 /* sensorHandle */, directChannelHandle, RateLevel::STOP,
                [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::OK); });
    } else {
        // directChannelHandle will be -1 here, HAL should either reject it as a bad value if there
        // is some level of direct channel report, otherwise return INVALID_OPERATION if direct
        // channel is not supported at all
        Result expectedResult =
                supportsAnyDirectChannel ? Result::BAD_VALUE : Result::INVALID_OPERATION;
        configDirectReport(sensor.sensorHandle, directChannelHandle, RateLevel::NORMAL,
                           [expectedResult](Result result, int32_t /* reportToken */) {
                               ASSERT_EQ(result, expectedResult);
                           });
    }
}

void SensorsHidlTest::verifyUnregisterDirectChannel(int32_t directChannelHandle,
                                                    bool supportsAnyDirectChannel) {
    Result expectedResult = supportsAnyDirectChannel ? Result::OK : Result::INVALID_OPERATION;
    ASSERT_EQ(unregisterDirectChannel(directChannelHandle), expectedResult);
}

void SensorsHidlTest::verifyDirectChannel(SharedMemType memType) {
    constexpr size_t kNumEvents = 1;
    constexpr size_t kMemSize = kNumEvents * kEventSize;

    std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem(
            SensorsTestSharedMemory<SensorTypeVersion, EventType>::create(memType, kMemSize));
    ASSERT_NE(mem, nullptr);

    bool supportsSharedMemType;
    bool supportsAnyDirectChannel;
    queryDirectChannelSupport(memType, &supportsSharedMemType, &supportsAnyDirectChannel);

    for (const SensorInfoType& sensor : getSensorsList()) {
        int32_t directChannelHandle = 0;
        verifyRegisterDirectChannel(mem, &directChannelHandle, supportsSharedMemType,
                                    supportsAnyDirectChannel);
        verifyConfigure(sensor, memType, directChannelHandle, supportsAnyDirectChannel);
        verifyUnregisterDirectChannel(directChannelHandle, supportsAnyDirectChannel);
    }
}

TEST_P(SensorsHidlTest, DirectChannelAshmem) {
    verifyDirectChannel(SharedMemType::ASHMEM);
}

TEST_P(SensorsHidlTest, DirectChannelGralloc) {
    verifyDirectChannel(SharedMemType::GRALLOC);
}

bool SensorsHidlTest::getDirectChannelSensor(SensorInfoType* sensor, SharedMemType* memType,
                                             RateLevel* rate) {
    bool found = false;
    for (const SensorInfoType& curSensor : getSensorsList()) {
        if (isDirectChannelTypeSupported(curSensor, SharedMemType::ASHMEM)) {
            *memType = SharedMemType::ASHMEM;
            *sensor = curSensor;
            found = true;
            break;
        } else if (isDirectChannelTypeSupported(curSensor, SharedMemType::GRALLOC)) {
            *memType = SharedMemType::GRALLOC;
            *sensor = curSensor;
            found = true;
            break;
        }
    }

    if (found) {
        // Find a supported rate level
        constexpr int kNumRateLevels = 3;
        RateLevel rates[kNumRateLevels] = {RateLevel::NORMAL, RateLevel::FAST,
                                           RateLevel::VERY_FAST};
        *rate = RateLevel::STOP;
        for (int i = 0; i < kNumRateLevels; i++) {
            if (isDirectReportRateSupported(*sensor, rates[i])) {
                *rate = rates[i];
            }
        }

        // At least one rate level must be supported
        EXPECT_NE(*rate, RateLevel::STOP);
    }
    return found;
}

TEST_P(SensorsHidlTest, ConfigureDirectChannelWithInvalidHandle) {
    SensorInfoType sensor;
    SharedMemType memType;
    RateLevel rate;
    if (!getDirectChannelSensor(&sensor, &memType, &rate)) {
        return;
    }

    // Verify that an invalid channel handle produces a BAD_VALUE result
    configDirectReport(sensor.sensorHandle, -1, rate, [](Result result, int32_t /* reportToken */) {
        ASSERT_EQ(result, Result::BAD_VALUE);
    });
}

TEST_P(SensorsHidlTest, CleanupDirectConnectionOnInitialize) {
    constexpr size_t kNumEvents = 1;
    constexpr size_t kMemSize = kNumEvents * kEventSize;

    SensorInfoType sensor;
    SharedMemType memType;
    RateLevel rate;

    if (!getDirectChannelSensor(&sensor, &memType, &rate)) {
        return;
    }

    std::shared_ptr<SensorsTestSharedMemory<SensorTypeVersion, EventType>> mem(
            SensorsTestSharedMemory<SensorTypeVersion, EventType>::create(memType, kMemSize));
    ASSERT_NE(mem, nullptr);

    int32_t directChannelHandle = 0;
    registerDirectChannel(mem->getSharedMemInfo(), [&](Result result, int32_t channelHandle) {
        ASSERT_EQ(result, Result::OK);
        directChannelHandle = channelHandle;
    });

    // Configure the channel and expect success
    configDirectReport(
            sensor.sensorHandle, directChannelHandle, rate,
            [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::OK); });

    // Call initialize() via the environment setup to cause the HAL to re-initialize
    // Clear the active direct connections so they are not stopped during TearDown
    auto handles = mDirectChannelHandles;
    mDirectChannelHandles.clear();
    getEnvironment()->HidlTearDown();
    getEnvironment()->HidlSetUp();
    if (HasFatalFailure()) {
        return;  // Exit early if resetting the environment failed
    }

    // Attempt to configure the direct channel and expect it to fail
    configDirectReport(
            sensor.sensorHandle, directChannelHandle, rate,
            [](Result result, int32_t /* reportToken */) { ASSERT_EQ(result, Result::BAD_VALUE); });

    // Restore original handles, though they should already be deactivated
    mDirectChannelHandles = handles;
}