diff --git a/aidl/sensors/Android.bp b/aidl/sensors/Android.bp
new file mode 100644
index 0000000..7cdf37b
--- /dev/null
+++ b/aidl/sensors/Android.bp
@@ -0,0 +1,53 @@
+//
+// Copyright (C) 2020 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.
+
+cc_binary {
+    name: "android.hardware.sensors-service.samsung-multihal",
+    defaults: [
+        "hidl_defaults",
+    ],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "ConvertUtils.cpp",
+        "HalProxyAidl.cpp",
+        "service.cpp",
+    ],
+    local_include_dirs: ["include"],
+    init_rc: ["android.hardware.sensors-service.samsung-multihal.rc"],
+    vintf_fragments: ["android.hardware.sensors-samsung-multihal.xml"],
+    header_libs: [
+        "android.hardware.sensors@2.X-shared-utils",
+    ],
+    shared_libs: [
+        "android.hardware.sensors@2.0",
+        "android.hardware.sensors@2.0-ScopedWakelock",
+        "android.hardware.sensors@2.1",
+        "android.hardware.sensors-V1-ndk",
+        "libbase",
+        "libbinder_ndk",
+        "libcutils",
+        "libfmq",
+        "libhidlbase",
+        "liblog",
+        "libpower",
+        "libutils",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "android.hardware.sensors@2.X-multihal",
+        "libaidlcommonsupport",
+    ],
+}
diff --git a/aidl/sensors/ConvertUtils.cpp b/aidl/sensors/ConvertUtils.cpp
new file mode 100644
index 0000000..bf56ed5
--- /dev/null
+++ b/aidl/sensors/ConvertUtils.cpp
@@ -0,0 +1,363 @@
+/*
+ * Copyright (C) 2021 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 "ConvertUtils.h"
+#include <android-base/logging.h>
+#include <log/log.h>
+
+using AidlSensorInfo = ::aidl::android::hardware::sensors::SensorInfo;
+using AidlSensorType = ::aidl::android::hardware::sensors::SensorType;
+using AidlEvent = ::aidl::android::hardware::sensors::Event;
+using AidlSensorStatus = ::aidl::android::hardware::sensors::SensorStatus;
+using ::aidl::android::hardware::sensors::AdditionalInfo;
+using ::aidl::android::hardware::sensors::DynamicSensorInfo;
+using ::android::hardware::sensors::V1_0::MetaDataEventType;
+using V1_0SensorStatus = ::android::hardware::sensors::V1_0::SensorStatus;
+using ::android::hardware::sensors::V1_0::AdditionalInfoType;
+using V2_1SensorInfo = ::android::hardware::sensors::V2_1::SensorInfo;
+using V2_1Event = ::android::hardware::sensors::V2_1::Event;
+using V2_1SensorType = ::android::hardware::sensors::V2_1::SensorType;
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+AidlSensorInfo convertSensorInfo(const V2_1SensorInfo& sensorInfo) {
+    AidlSensorInfo aidlSensorInfo;
+    aidlSensorInfo.sensorHandle = sensorInfo.sensorHandle;
+    aidlSensorInfo.name = sensorInfo.name;
+    aidlSensorInfo.vendor = sensorInfo.vendor;
+    aidlSensorInfo.version = sensorInfo.version;
+    aidlSensorInfo.type = (AidlSensorType)sensorInfo.type;
+    aidlSensorInfo.typeAsString = sensorInfo.typeAsString;
+    aidlSensorInfo.maxRange = sensorInfo.maxRange;
+    aidlSensorInfo.resolution = sensorInfo.resolution;
+    aidlSensorInfo.power = sensorInfo.power;
+    aidlSensorInfo.minDelayUs = sensorInfo.minDelay;
+    aidlSensorInfo.fifoReservedEventCount = sensorInfo.fifoReservedEventCount;
+    aidlSensorInfo.fifoMaxEventCount = sensorInfo.fifoMaxEventCount;
+    aidlSensorInfo.requiredPermission = sensorInfo.requiredPermission;
+    aidlSensorInfo.maxDelayUs = sensorInfo.maxDelay;
+    aidlSensorInfo.flags = sensorInfo.flags;
+    return aidlSensorInfo;
+}
+
+void convertToHidlEvent(const AidlEvent& aidlEvent, V2_1Event* hidlEvent) {
+    static_assert(decltype(hidlEvent->u.data)::elementCount() == 16);
+    hidlEvent->timestamp = aidlEvent.timestamp;
+    hidlEvent->sensorHandle = aidlEvent.sensorHandle;
+    hidlEvent->sensorType = (V2_1SensorType)aidlEvent.sensorType;
+
+    switch (aidlEvent.sensorType) {
+        case AidlSensorType::META_DATA:
+            hidlEvent->u.meta.what =
+                    (MetaDataEventType)aidlEvent.payload.get<Event::EventPayload::meta>().what;
+            break;
+        case AidlSensorType::ACCELEROMETER:
+        case AidlSensorType::MAGNETIC_FIELD:
+        case AidlSensorType::ORIENTATION:
+        case AidlSensorType::GYROSCOPE:
+        case AidlSensorType::GRAVITY:
+        case AidlSensorType::LINEAR_ACCELERATION:
+            hidlEvent->u.vec3.x = aidlEvent.payload.get<Event::EventPayload::vec3>().x;
+            hidlEvent->u.vec3.y = aidlEvent.payload.get<Event::EventPayload::vec3>().y;
+            hidlEvent->u.vec3.z = aidlEvent.payload.get<Event::EventPayload::vec3>().z;
+            hidlEvent->u.vec3.status =
+                    (V1_0SensorStatus)aidlEvent.payload.get<Event::EventPayload::vec3>().status;
+            break;
+        case AidlSensorType::GAME_ROTATION_VECTOR:
+            hidlEvent->u.vec4.x = aidlEvent.payload.get<Event::EventPayload::vec4>().x;
+            hidlEvent->u.vec4.y = aidlEvent.payload.get<Event::EventPayload::vec4>().y;
+            hidlEvent->u.vec4.z = aidlEvent.payload.get<Event::EventPayload::vec4>().z;
+            hidlEvent->u.vec4.w = aidlEvent.payload.get<Event::EventPayload::vec4>().w;
+            break;
+        case AidlSensorType::ROTATION_VECTOR:
+        case AidlSensorType::GEOMAGNETIC_ROTATION_VECTOR:
+            std::copy(aidlEvent.payload.get<Event::EventPayload::data>().values.data(),
+                      aidlEvent.payload.get<Event::EventPayload::data>().values.data() + 5,
+                      hidlEvent->u.data.data());
+            break;
+        case AidlSensorType::ACCELEROMETER_UNCALIBRATED:
+        case AidlSensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case AidlSensorType::GYROSCOPE_UNCALIBRATED:
+            hidlEvent->u.uncal.x = aidlEvent.payload.get<Event::EventPayload::uncal>().x;
+            hidlEvent->u.uncal.y = aidlEvent.payload.get<Event::EventPayload::uncal>().y;
+            hidlEvent->u.uncal.z = aidlEvent.payload.get<Event::EventPayload::uncal>().z;
+            hidlEvent->u.uncal.x_bias = aidlEvent.payload.get<Event::EventPayload::uncal>().xBias;
+            hidlEvent->u.uncal.y_bias = aidlEvent.payload.get<Event::EventPayload::uncal>().yBias;
+            hidlEvent->u.uncal.z_bias = aidlEvent.payload.get<Event::EventPayload::uncal>().zBias;
+            break;
+        case AidlSensorType::DEVICE_ORIENTATION:
+        case AidlSensorType::LIGHT:
+        case AidlSensorType::PRESSURE:
+        case AidlSensorType::PROXIMITY:
+        case AidlSensorType::RELATIVE_HUMIDITY:
+        case AidlSensorType::AMBIENT_TEMPERATURE:
+        case AidlSensorType::SIGNIFICANT_MOTION:
+        case AidlSensorType::STEP_DETECTOR:
+        case AidlSensorType::TILT_DETECTOR:
+        case AidlSensorType::WAKE_GESTURE:
+        case AidlSensorType::GLANCE_GESTURE:
+        case AidlSensorType::PICK_UP_GESTURE:
+        case AidlSensorType::WRIST_TILT_GESTURE:
+        case AidlSensorType::STATIONARY_DETECT:
+        case AidlSensorType::MOTION_DETECT:
+        case AidlSensorType::HEART_BEAT:
+        case AidlSensorType::LOW_LATENCY_OFFBODY_DETECT:
+        case AidlSensorType::HINGE_ANGLE:
+            hidlEvent->u.scalar = aidlEvent.payload.get<Event::EventPayload::scalar>();
+            break;
+        case AidlSensorType::STEP_COUNTER:
+            hidlEvent->u.stepCount = aidlEvent.payload.get<AidlEvent::EventPayload::stepCount>();
+            break;
+        case AidlSensorType::HEART_RATE:
+            hidlEvent->u.heartRate.bpm =
+                    aidlEvent.payload.get<AidlEvent::EventPayload::heartRate>().bpm;
+            hidlEvent->u.heartRate.status =
+                    (V1_0SensorStatus)aidlEvent.payload.get<Event::EventPayload::heartRate>()
+                            .status;
+            break;
+        case AidlSensorType::POSE_6DOF:
+            std::copy(std::begin(aidlEvent.payload.get<AidlEvent::EventPayload::pose6DOF>().values),
+                      std::end(aidlEvent.payload.get<AidlEvent::EventPayload::pose6DOF>().values),
+                      hidlEvent->u.pose6DOF.data());
+            break;
+        case AidlSensorType::DYNAMIC_SENSOR_META:
+            hidlEvent->u.dynamic.connected =
+                    aidlEvent.payload.get<Event::EventPayload::dynamic>().connected;
+            hidlEvent->u.dynamic.sensorHandle =
+                    aidlEvent.payload.get<Event::EventPayload::dynamic>().sensorHandle;
+            std::copy(
+                    std::begin(
+                            aidlEvent.payload.get<AidlEvent::EventPayload::dynamic>().uuid.values),
+                    std::end(aidlEvent.payload.get<AidlEvent::EventPayload::dynamic>().uuid.values),
+                    hidlEvent->u.dynamic.uuid.data());
+            break;
+        case AidlSensorType::ADDITIONAL_INFO: {
+            const AdditionalInfo& additionalInfo =
+                    aidlEvent.payload.get<AidlEvent::EventPayload::additional>();
+            hidlEvent->u.additional.type = (AdditionalInfoType)additionalInfo.type;
+            hidlEvent->u.additional.serial = additionalInfo.serial;
+
+            switch (additionalInfo.payload.getTag()) {
+                case AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32: {
+                    const auto& aidlData =
+                            additionalInfo.payload
+                                    .get<AdditionalInfo::AdditionalInfoPayload::dataInt32>()
+                                    .values;
+                    std::copy(std::begin(aidlData), std::end(aidlData),
+                              hidlEvent->u.additional.u.data_int32.data());
+                    break;
+                }
+                case AdditionalInfo::AdditionalInfoPayload::Tag::dataFloat: {
+                    const auto& aidlData =
+                            additionalInfo.payload
+                                    .get<AdditionalInfo::AdditionalInfoPayload::dataFloat>()
+                                    .values;
+                    std::copy(std::begin(aidlData), std::end(aidlData),
+                              hidlEvent->u.additional.u.data_float.data());
+                    break;
+                }
+                default:
+                    ALOGE("Invalid sensor additioanl info tag: %d",
+                          static_cast<int32_t>(additionalInfo.payload.getTag()));
+                    break;
+            }
+            break;
+        }
+        case AidlSensorType::HEAD_TRACKER: {
+            const auto& ht = aidlEvent.payload.get<Event::EventPayload::headTracker>();
+            hidlEvent->u.data[0] = ht.rx;
+            hidlEvent->u.data[1] = ht.ry;
+            hidlEvent->u.data[2] = ht.rz;
+            hidlEvent->u.data[3] = ht.vx;
+            hidlEvent->u.data[4] = ht.vy;
+            hidlEvent->u.data[5] = ht.vz;
+
+            // IMPORTANT: Because we want to preserve the data range of discontinuityCount,
+            // we assume the data can be interpreted as an int32_t directly (e.g. the underlying
+            // HIDL HAL must be using memcpy or equivalent to store this value).
+            *(reinterpret_cast<int32_t*>(&hidlEvent->u.data[6])) = ht.discontinuityCount;
+            break;
+        }
+        default: {
+            CHECK_GE((int32_t)aidlEvent.sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+            std::copy(std::begin(aidlEvent.payload.get<AidlEvent::EventPayload::data>().values),
+                      std::end(aidlEvent.payload.get<AidlEvent::EventPayload::data>().values),
+                      hidlEvent->u.data.data());
+            break;
+        }
+    }
+}
+
+void convertToAidlEvent(const V2_1Event& hidlEvent, AidlEvent* aidlEvent) {
+    static_assert(decltype(hidlEvent.u.data)::elementCount() == 16);
+    aidlEvent->timestamp = hidlEvent.timestamp;
+    aidlEvent->sensorHandle = hidlEvent.sensorHandle;
+    aidlEvent->sensorType = (AidlSensorType)hidlEvent.sensorType;
+    switch (hidlEvent.sensorType) {
+        case V2_1SensorType::META_DATA: {
+            AidlEvent::EventPayload::MetaData meta;
+            meta.what = (Event::EventPayload::MetaData::MetaDataEventType)hidlEvent.u.meta.what;
+            aidlEvent->payload.set<Event::EventPayload::meta>(meta);
+            break;
+        }
+        case V2_1SensorType::ACCELEROMETER:
+        case V2_1SensorType::MAGNETIC_FIELD:
+        case V2_1SensorType::ORIENTATION:
+        case V2_1SensorType::GYROSCOPE:
+        case V2_1SensorType::GRAVITY:
+        case V2_1SensorType::LINEAR_ACCELERATION: {
+            AidlEvent::EventPayload::Vec3 vec3;
+            vec3.x = hidlEvent.u.vec3.x;
+            vec3.y = hidlEvent.u.vec3.y;
+            vec3.z = hidlEvent.u.vec3.z;
+            vec3.status = (SensorStatus)hidlEvent.u.vec3.status;
+            aidlEvent->payload.set<Event::EventPayload::vec3>(vec3);
+            break;
+        }
+        case V2_1SensorType::GAME_ROTATION_VECTOR: {
+            AidlEvent::EventPayload::Vec4 vec4;
+            vec4.x = hidlEvent.u.vec4.x;
+            vec4.y = hidlEvent.u.vec4.y;
+            vec4.z = hidlEvent.u.vec4.z;
+            vec4.w = hidlEvent.u.vec4.w;
+            aidlEvent->payload.set<Event::EventPayload::vec4>(vec4);
+            break;
+        }
+        case V2_1SensorType::ROTATION_VECTOR:
+        case V2_1SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
+            AidlEvent::EventPayload::Data data;
+            std::copy(hidlEvent.u.data.data(), hidlEvent.u.data.data() + 5,
+                      std::begin(data.values));
+            aidlEvent->payload.set<Event::EventPayload::data>(data);
+            break;
+        }
+        case V2_1SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case V2_1SensorType::GYROSCOPE_UNCALIBRATED:
+        case V2_1SensorType::ACCELEROMETER_UNCALIBRATED: {
+            AidlEvent::EventPayload::Uncal uncal;
+            uncal.x = hidlEvent.u.uncal.x;
+            uncal.y = hidlEvent.u.uncal.y;
+            uncal.z = hidlEvent.u.uncal.z;
+            uncal.xBias = hidlEvent.u.uncal.x_bias;
+            uncal.yBias = hidlEvent.u.uncal.y_bias;
+            uncal.zBias = hidlEvent.u.uncal.z_bias;
+            aidlEvent->payload.set<Event::EventPayload::uncal>(uncal);
+            break;
+        }
+        case V2_1SensorType::DEVICE_ORIENTATION:
+        case V2_1SensorType::LIGHT:
+        case V2_1SensorType::PRESSURE:
+        case V2_1SensorType::PROXIMITY:
+        case V2_1SensorType::RELATIVE_HUMIDITY:
+        case V2_1SensorType::AMBIENT_TEMPERATURE:
+        case V2_1SensorType::SIGNIFICANT_MOTION:
+        case V2_1SensorType::STEP_DETECTOR:
+        case V2_1SensorType::TILT_DETECTOR:
+        case V2_1SensorType::WAKE_GESTURE:
+        case V2_1SensorType::GLANCE_GESTURE:
+        case V2_1SensorType::PICK_UP_GESTURE:
+        case V2_1SensorType::WRIST_TILT_GESTURE:
+        case V2_1SensorType::STATIONARY_DETECT:
+        case V2_1SensorType::MOTION_DETECT:
+        case V2_1SensorType::HEART_BEAT:
+        case V2_1SensorType::LOW_LATENCY_OFFBODY_DETECT:
+        case V2_1SensorType::HINGE_ANGLE:
+            aidlEvent->payload.set<Event::EventPayload::scalar>(hidlEvent.u.scalar);
+            break;
+        case V2_1SensorType::STEP_COUNTER:
+            aidlEvent->payload.set<Event::EventPayload::stepCount>(hidlEvent.u.stepCount);
+            break;
+        case V2_1SensorType::HEART_RATE: {
+            AidlEvent::EventPayload::HeartRate heartRate;
+            heartRate.bpm = hidlEvent.u.heartRate.bpm;
+            heartRate.status = (SensorStatus)hidlEvent.u.heartRate.status;
+            aidlEvent->payload.set<Event::EventPayload::heartRate>(heartRate);
+            break;
+        }
+        case V2_1SensorType::POSE_6DOF: {
+            AidlEvent::EventPayload::Pose6Dof pose6Dof;
+            std::copy(hidlEvent.u.pose6DOF.data(),
+                      hidlEvent.u.pose6DOF.data() + hidlEvent.u.pose6DOF.size(),
+                      std::begin(pose6Dof.values));
+            aidlEvent->payload.set<Event::EventPayload::pose6DOF>(pose6Dof);
+            break;
+        }
+        case V2_1SensorType::DYNAMIC_SENSOR_META: {
+            DynamicSensorInfo dynamicSensorInfo;
+            dynamicSensorInfo.connected = hidlEvent.u.dynamic.connected;
+            dynamicSensorInfo.sensorHandle = hidlEvent.u.dynamic.sensorHandle;
+            std::copy(hidlEvent.u.dynamic.uuid.data(),
+                      hidlEvent.u.dynamic.uuid.data() + hidlEvent.u.dynamic.uuid.size(),
+                      std::begin(dynamicSensorInfo.uuid.values));
+            aidlEvent->payload.set<Event::EventPayload::dynamic>(dynamicSensorInfo);
+            break;
+        }
+        case V2_1SensorType::ADDITIONAL_INFO: {
+            AdditionalInfo additionalInfo;
+            additionalInfo.type = (AdditionalInfo::AdditionalInfoType)hidlEvent.u.additional.type;
+            additionalInfo.serial = hidlEvent.u.additional.serial;
+
+            AdditionalInfo::AdditionalInfoPayload::Int32Values int32Values;
+            std::copy(hidlEvent.u.additional.u.data_int32.data(),
+                      hidlEvent.u.additional.u.data_int32.data() +
+                              hidlEvent.u.additional.u.data_int32.size(),
+                      std::begin(int32Values.values));
+            additionalInfo.payload.set<AdditionalInfo::AdditionalInfoPayload::dataInt32>(
+                    int32Values);
+            aidlEvent->payload.set<Event::EventPayload::additional>(additionalInfo);
+            break;
+        }
+        default: {
+            if (static_cast<int32_t>(hidlEvent.sensorType) ==
+                static_cast<int32_t>(AidlSensorType::HEAD_TRACKER)) {
+                Event::EventPayload::HeadTracker headTracker;
+                headTracker.rx = hidlEvent.u.data[0];
+                headTracker.ry = hidlEvent.u.data[1];
+                headTracker.rz = hidlEvent.u.data[2];
+                headTracker.vx = hidlEvent.u.data[3];
+                headTracker.vy = hidlEvent.u.data[4];
+                headTracker.vz = hidlEvent.u.data[5];
+
+                // IMPORTANT: Because we want to preserve the data range of discontinuityCount,
+                // we assume the data can be interpreted as an int32_t directly (e.g. the underlying
+                // HIDL HAL must be using memcpy or equivalent to store this value).
+                headTracker.discontinuityCount =
+                        *(reinterpret_cast<const int32_t*>(&hidlEvent.u.data[6]));
+
+                aidlEvent->payload.set<Event::EventPayload::Tag::headTracker>(headTracker);
+            } else {
+                CHECK_GE((int32_t)hidlEvent.sensorType,
+                         (int32_t)V2_1SensorType::DEVICE_PRIVATE_BASE);
+                AidlEvent::EventPayload::Data data;
+                std::copy(hidlEvent.u.data.data(),
+                          hidlEvent.u.data.data() + hidlEvent.u.data.size(),
+                          std::begin(data.values));
+                aidlEvent->payload.set<Event::EventPayload::data>(data);
+            }
+            break;
+        }
+    }
+}
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/aidl/sensors/HalProxyAidl.cpp b/aidl/sensors/HalProxyAidl.cpp
new file mode 100644
index 0000000..cdef73a
--- /dev/null
+++ b/aidl/sensors/HalProxyAidl.cpp
@@ -0,0 +1,269 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+//#define VERBOSE
+
+#include "HalProxyAidl.h"
+#include <aidlcommonsupport/NativeHandle.h>
+#include <fmq/AidlMessageQueue.h>
+#include <hidl/Status.h>
+#include "ConvertUtils.h"
+#include "EventMessageQueueWrapperAidl.h"
+#include "ISensorsCallbackWrapperAidl.h"
+#include "WakeLockMessageQueueWrapperAidl.h"
+#include "convertV2_1.h"
+
+using ::aidl::android::hardware::common::fmq::MQDescriptor;
+using ::aidl::android::hardware::common::fmq::SynchronizedReadWrite;
+using ::aidl::android::hardware::sensors::ISensors;
+using ::aidl::android::hardware::sensors::ISensorsCallback;
+using ::aidl::android::hardware::sensors::SensorInfo;
+using ::android::hardware::sensors::V2_1::implementation::convertToOldEvent;
+using ::ndk::ScopedAStatus;
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+static ScopedAStatus
+resultToAStatus(::android::hardware::sensors::V1_0::Result result) {
+  switch (result) {
+  case ::android::hardware::sensors::V1_0::Result::OK:
+    return ScopedAStatus::ok();
+  case ::android::hardware::sensors::V1_0::Result::PERMISSION_DENIED:
+    return ScopedAStatus::fromExceptionCode(EX_SECURITY);
+  case ::android::hardware::sensors::V1_0::Result::NO_MEMORY:
+    return ScopedAStatus::fromServiceSpecificError(ISensors::ERROR_NO_MEMORY);
+  case ::android::hardware::sensors::V1_0::Result::BAD_VALUE:
+    return ScopedAStatus::fromExceptionCode(EX_ILLEGAL_ARGUMENT);
+  case ::android::hardware::sensors::V1_0::Result::INVALID_OPERATION:
+    return ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
+  default:
+    return ScopedAStatus::fromExceptionCode(EX_TRANSACTION_FAILED);
+  }
+}
+
+static ::android::hardware::sensors::V1_0::RateLevel convertRateLevel(
+        ISensors::RateLevel rateLevel) {
+    switch (rateLevel) {
+        case ISensors::RateLevel::STOP:
+            return ::android::hardware::sensors::V1_0::RateLevel::STOP;
+        case ISensors::RateLevel::NORMAL:
+            return ::android::hardware::sensors::V1_0::RateLevel::NORMAL;
+        case ISensors::RateLevel::FAST:
+            return ::android::hardware::sensors::V1_0::RateLevel::FAST;
+        case ISensors::RateLevel::VERY_FAST:
+            return ::android::hardware::sensors::V1_0::RateLevel::VERY_FAST;
+        default:
+          assert(false);
+    }
+}
+
+static ::android::hardware::sensors::V1_0::OperationMode convertOperationMode(
+        ISensors::OperationMode operationMode) {
+    switch (operationMode) {
+        case ISensors::OperationMode::NORMAL:
+            return ::android::hardware::sensors::V1_0::OperationMode::NORMAL;
+        case ISensors::OperationMode::DATA_INJECTION:
+            return ::android::hardware::sensors::V1_0::OperationMode::DATA_INJECTION;
+        default:
+          assert(false);
+    }
+}
+
+static ::android::hardware::sensors::V1_0::SharedMemType convertSharedMemType(
+        ISensors::SharedMemInfo::SharedMemType sharedMemType) {
+    switch (sharedMemType) {
+        case ISensors::SharedMemInfo::SharedMemType::ASHMEM:
+            return ::android::hardware::sensors::V1_0::SharedMemType::ASHMEM;
+        case ISensors::SharedMemInfo::SharedMemType::GRALLOC:
+            return ::android::hardware::sensors::V1_0::SharedMemType::GRALLOC;
+        default:
+          assert(false);
+    }
+}
+
+static ::android::hardware::sensors::V1_0::SharedMemFormat convertSharedMemFormat(
+        ISensors::SharedMemInfo::SharedMemFormat sharedMemFormat) {
+    switch (sharedMemFormat) {
+        case ISensors::SharedMemInfo::SharedMemFormat::SENSORS_EVENT:
+            return ::android::hardware::sensors::V1_0::SharedMemFormat::SENSORS_EVENT;
+        default:
+          assert(false);
+    }
+}
+
+static ::android::hardware::sensors::V1_0::SharedMemInfo convertSharedMemInfo(
+        const ISensors::SharedMemInfo& sharedMemInfo) {
+    ::android::hardware::sensors::V1_0::SharedMemInfo v1SharedMemInfo;
+    v1SharedMemInfo.type = convertSharedMemType(sharedMemInfo.type);
+    v1SharedMemInfo.format = convertSharedMemFormat(sharedMemInfo.format);
+    v1SharedMemInfo.size = sharedMemInfo.size;
+    v1SharedMemInfo.memoryHandle =
+            ::android::hardware::hidl_handle(::android::makeFromAidl(sharedMemInfo.memoryHandle));
+    return v1SharedMemInfo;
+}
+
+ScopedAStatus HalProxyAidl::activate(int32_t in_sensorHandle, bool in_enabled) {
+  return resultToAStatus(HalProxy::activate(in_sensorHandle, in_enabled));
+}
+
+ScopedAStatus HalProxyAidl::batch(int32_t in_sensorHandle,
+                                  int64_t in_samplingPeriodNs,
+                                  int64_t in_maxReportLatencyNs) {
+  return resultToAStatus(HalProxy::batch(in_sensorHandle, in_samplingPeriodNs,
+                                         in_maxReportLatencyNs));
+}
+
+ScopedAStatus HalProxyAidl::configDirectReport(int32_t in_sensorHandle,
+                                               int32_t in_channelHandle,
+                                               ISensors::RateLevel in_rate,
+                                               int32_t *_aidl_return) {
+  ScopedAStatus status =
+      ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
+  HalProxy::configDirectReport(
+      in_sensorHandle, in_channelHandle, convertRateLevel(in_rate),
+      [&status, _aidl_return](::android::hardware::sensors::V1_0::Result result,
+                              int32_t reportToken) {
+        status = resultToAStatus(result);
+        *_aidl_return = reportToken;
+      });
+
+  return status;
+}
+
+ScopedAStatus HalProxyAidl::flush(int32_t in_sensorHandle) {
+  return resultToAStatus(HalProxy::flush(in_sensorHandle));
+}
+
+
+ScopedAStatus HalProxyAidl::getSensorsList(
+    std::vector<::aidl::android::hardware::sensors::SensorInfo> *_aidl_return) {
+  for (const auto &sensor : HalProxy::getSensors()) {
+    SensorInfo dst = sensor.second;
+
+    if (dst.requiredPermission == "com.samsung.permission.SSENSOR") {
+        dst.requiredPermission = "";
+    }
+
+    if (dst.typeAsString == "com.samsung.sensor.physical_proximity" ||
+            dst.typeAsString == "com.samsung.sensor.hover_proximity") {
+        ALOGI("Fixing %s", dst.typeAsString.c_str());
+        dst.type = ::android::hardware::sensors::V2_1::SensorType::PROXIMITY;
+        dst.typeAsString = SENSOR_STRING_TYPE_PROXIMITY;
+        dst.maxRange = 1;
+    }
+
+#ifdef VERBOSE
+    ALOGI( "SENSOR NAME:%s           ", dst.name.c_str());
+    ALOGI( "       VENDOR:%s         ", dst.name.c_str());
+    ALOGI( "       TYPE:%d           ", (uint32_t)dst.type);
+    ALOGI( "       TYPE_AS_STRING:%s ", dst.typeAsString.c_str());
+#endif
+
+    _aidl_return->push_back(convertSensorInfo(dst));
+  }
+  return ScopedAStatus::ok();
+}
+
+ScopedAStatus HalProxyAidl::initialize(
+    const MQDescriptor<::aidl::android::hardware::sensors::Event,
+                       SynchronizedReadWrite> &in_eventQueueDescriptor,
+    const MQDescriptor<int32_t, SynchronizedReadWrite> &in_wakeLockDescriptor,
+    const std::shared_ptr<ISensorsCallback> &in_sensorsCallback) {
+  ::android::sp<::android::hardware::sensors::V2_1::implementation::
+                    ISensorsCallbackWrapperBase>
+      dynamicCallback = new ISensorsCallbackWrapperAidl(in_sensorsCallback);
+
+  auto aidlEventQueue = std::make_unique<::android::AidlMessageQueue<
+      ::aidl::android::hardware::sensors::Event, SynchronizedReadWrite>>(
+      in_eventQueueDescriptor, true /* resetPointers */);
+  std::unique_ptr<::android::hardware::sensors::V2_1::implementation::
+                      EventMessageQueueWrapperBase>
+      eventQueue =
+          std::make_unique<EventMessageQueueWrapperAidl>(aidlEventQueue);
+
+  auto aidlWakeLockQueue = std::make_unique<
+      ::android::AidlMessageQueue<int32_t, SynchronizedReadWrite>>(
+      in_wakeLockDescriptor, true /* resetPointers */);
+  std::unique_ptr<::android::hardware::sensors::V2_1::implementation::
+                      WakeLockMessageQueueWrapperBase>
+      wakeLockQueue =
+          std::make_unique<WakeLockMessageQueueWrapperAidl>(aidlWakeLockQueue);
+
+  return resultToAStatus(
+      initializeCommon(eventQueue, wakeLockQueue, dynamicCallback));
+}
+
+ScopedAStatus HalProxyAidl::injectSensorData(
+    const ::aidl::android::hardware::sensors::Event &in_event) {
+  ::android::hardware::sensors::V2_1::Event hidlEvent;
+  convertToHidlEvent(in_event, &hidlEvent);
+  return resultToAStatus(
+      HalProxy::injectSensorData(convertToOldEvent(hidlEvent)));
+}
+
+ScopedAStatus
+HalProxyAidl::registerDirectChannel(const ISensors::SharedMemInfo &in_mem,
+                                    int32_t *_aidl_return) {
+  ScopedAStatus status =
+      ScopedAStatus::fromExceptionCode(EX_UNSUPPORTED_OPERATION);
+  ::android::hardware::sensors::V1_0::SharedMemInfo sharedMemInfo =
+      convertSharedMemInfo(in_mem);
+
+  HalProxy::registerDirectChannel(
+      sharedMemInfo,
+      [&status, _aidl_return](::android::hardware::sensors::V1_0::Result result,
+                              int32_t reportToken) {
+        status = resultToAStatus(result);
+        *_aidl_return = reportToken;
+      });
+
+  native_handle_delete(const_cast<native_handle_t *>(
+      sharedMemInfo.memoryHandle.getNativeHandle()));
+
+  return status;
+}
+
+ScopedAStatus HalProxyAidl::setOperationMode(
+    ::aidl::android::hardware::sensors::ISensors::OperationMode in_mode) {
+  return resultToAStatus(
+      HalProxy::setOperationMode(convertOperationMode(in_mode)));
+}
+
+ScopedAStatus HalProxyAidl::unregisterDirectChannel(int32_t in_channelHandle) {
+  return resultToAStatus(HalProxy::unregisterDirectChannel(in_channelHandle));
+}
+
+binder_status_t HalProxyAidl::dump(int fd, const char ** /* args */,
+                                   uint32_t /* numArgs */) {
+  native_handle_t *nativeHandle =
+      native_handle_create(1 /* numFds */, 0 /* numInts */);
+  nativeHandle->data[0] = fd;
+
+  HalProxy::debug(nativeHandle, {} /* args */);
+
+  native_handle_delete(nativeHandle);
+  return STATUS_OK;
+}
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/aidl/sensors/android.hardware.sensors-samsung-multihal.xml b/aidl/sensors/android.hardware.sensors-samsung-multihal.xml
new file mode 100644
index 0000000..f7b8f0a
--- /dev/null
+++ b/aidl/sensors/android.hardware.sensors-samsung-multihal.xml
@@ -0,0 +1,23 @@
+<!--
+  ~ Copyright (C) 2021 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.
+  -->
+
+<manifest version="1.0" type="device">
+    <hal format="aidl" override="true">
+        <name>android.hardware.sensors</name>
+        <version>1</version>
+        <fqname>ISensors/default</fqname>
+    </hal>
+</manifest>
diff --git a/aidl/sensors/android.hardware.sensors-service.samsung-multihal.rc b/aidl/sensors/android.hardware.sensors-service.samsung-multihal.rc
new file mode 100644
index 0000000..fff7b7d
--- /dev/null
+++ b/aidl/sensors/android.hardware.sensors-service.samsung-multihal.rc
@@ -0,0 +1,7 @@
+service vendor.sensors-hal-multihal /vendor/bin/hw/android.hardware.sensors-service.samsung-multihal
+    class hal
+    user system
+    group system wakelock context_hub input
+    task_profiles ServiceCapacityLow
+    capabilities BLOCK_SUSPEND
+    rlimit rtprio 10 10
diff --git a/aidl/sensors/include/ConvertUtils.h b/aidl/sensors/include/ConvertUtils.h
new file mode 100644
index 0000000..91dfabd
--- /dev/null
+++ b/aidl/sensors/include/ConvertUtils.h
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/sensors/BnSensors.h>
+#include <android/hardware/sensors/2.1/types.h>
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+/**
+ * Generates an AIDL SensorInfo instance from the passed HIDL V2.1 SensorInfo instance.
+ */
+::aidl::android::hardware::sensors::SensorInfo convertSensorInfo(
+        const ::android::hardware::sensors::V2_1::SensorInfo& sensorInfo);
+
+/**
+ * Populates a HIDL V2.1 Event instance based on an AIDL Event instance.
+ */
+void convertToHidlEvent(const ::aidl::android::hardware::sensors::Event& aidlEvent,
+                        ::android::hardware::sensors::V2_1::Event* hidlEvent);
+
+/**
+ * Populates an AIDL Event instance based on a HIDL V2.1 Event instance.
+ */
+void convertToAidlEvent(const ::android::hardware::sensors::V2_1::Event& hidlEvent,
+                        ::aidl::android::hardware::sensors::Event* aidlEvent);
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
\ No newline at end of file
diff --git a/aidl/sensors/include/EventMessageQueueWrapperAidl.h b/aidl/sensors/include/EventMessageQueueWrapperAidl.h
new file mode 100644
index 0000000..3eaa1d4
--- /dev/null
+++ b/aidl/sensors/include/EventMessageQueueWrapperAidl.h
@@ -0,0 +1,99 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <fmq/AidlMessageQueue.h>
+#include "ConvertUtils.h"
+#include "EventMessageQueueWrapper.h"
+#include "ISensorsWrapper.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+class EventMessageQueueWrapperAidl
+    : public ::android::hardware::sensors::V2_1::implementation::EventMessageQueueWrapperBase {
+  public:
+    EventMessageQueueWrapperAidl(
+            std::unique_ptr<::android::AidlMessageQueue<
+                    ::aidl::android::hardware::sensors::Event,
+                    ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>& queue)
+        : mQueue(std::move(queue)) {}
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() override {
+        return mQueue->getEventFlagWord();
+    }
+
+    virtual size_t availableToRead() override { return mQueue->availableToRead(); }
+
+    size_t availableToWrite() override { return mQueue->availableToWrite(); }
+
+    virtual bool read(::android::hardware::sensors::V2_1::Event* events,
+                      size_t numToRead) override {
+        bool success = mQueue->read(mIntermediateEventBuffer.data(), numToRead);
+        for (int i = 0; i < numToRead; ++i) {
+            convertToHidlEvent(mIntermediateEventBuffer[i], &events[i]);
+        }
+        return success;
+    }
+
+    bool write(const ::android::hardware::sensors::V2_1::Event* events,
+               size_t numToWrite) override {
+        for (int i = 0; i < numToWrite; ++i) {
+            convertToAidlEvent(events[i], &mIntermediateEventBuffer[i]);
+        }
+        return mQueue->write(mIntermediateEventBuffer.data(), numToWrite);
+    }
+
+    virtual bool write(
+            const std::vector<::android::hardware::sensors::V2_1::Event>& events) override {
+        for (int i = 0; i < events.size(); ++i) {
+            convertToAidlEvent(events[i], &mIntermediateEventBuffer[i]);
+        }
+        return mQueue->write(mIntermediateEventBuffer.data(), events.size());
+    }
+
+    bool writeBlocking(const ::android::hardware::sensors::V2_1::Event* events, size_t count,
+                       uint32_t readNotification, uint32_t writeNotification, int64_t timeOutNanos,
+                       ::android::hardware::EventFlag* evFlag) override {
+        for (int i = 0; i < count; ++i) {
+            convertToAidlEvent(events[i], &mIntermediateEventBuffer[i]);
+        }
+        return mQueue->writeBlocking(mIntermediateEventBuffer.data(), count, readNotification,
+                                     writeNotification, timeOutNanos, evFlag);
+    }
+
+    size_t getQuantumCount() override { return mQueue->getQuantumCount(); }
+
+  private:
+    std::unique_ptr<::android::AidlMessageQueue<
+            ::aidl::android::hardware::sensors::Event,
+            ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>
+            mQueue;
+    std::array<::aidl::android::hardware::sensors::Event,
+               ::android::hardware::sensors::V2_1::implementation::MAX_RECEIVE_BUFFER_EVENT_COUNT>
+            mIntermediateEventBuffer;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/aidl/sensors/include/HalProxyAidl.h b/aidl/sensors/include/HalProxyAidl.h
new file mode 100644
index 0000000..5c81715
--- /dev/null
+++ b/aidl/sensors/include/HalProxyAidl.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/sensors/BnSensors.h>
+#include "HalProxy.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+class HalProxyAidl : public ::android::hardware::sensors::V2_1::implementation::HalProxy,
+                     public ::aidl::android::hardware::sensors::BnSensors {
+    ::ndk::ScopedAStatus activate(int32_t in_sensorHandle, bool in_enabled) override;
+    ::ndk::ScopedAStatus batch(int32_t in_sensorHandle, int64_t in_samplingPeriodNs,
+                               int64_t in_maxReportLatencyNs) override;
+    ::ndk::ScopedAStatus configDirectReport(
+            int32_t in_sensorHandle, int32_t in_channelHandle,
+            ::aidl::android::hardware::sensors::ISensors::RateLevel in_rate,
+            int32_t* _aidl_return) override;
+    ::ndk::ScopedAStatus flush(int32_t in_sensorHandle) override;
+    ::ndk::ScopedAStatus getSensorsList(
+            std::vector<::aidl::android::hardware::sensors::SensorInfo>* _aidl_return) override;
+    ::ndk::ScopedAStatus initialize(
+            const ::aidl::android::hardware::common::fmq::MQDescriptor<
+                    ::aidl::android::hardware::sensors::Event,
+                    ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>&
+                    in_eventQueueDescriptor,
+            const ::aidl::android::hardware::common::fmq::MQDescriptor<
+                    int32_t, ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>&
+                    in_wakeLockDescriptor,
+            const std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback>&
+                    in_sensorsCallback) override;
+    ::ndk::ScopedAStatus injectSensorData(
+            const ::aidl::android::hardware::sensors::Event& in_event) override;
+    ::ndk::ScopedAStatus registerDirectChannel(
+            const ::aidl::android::hardware::sensors::ISensors::SharedMemInfo& in_mem,
+            int32_t* _aidl_return) override;
+    ::ndk::ScopedAStatus setOperationMode(
+            ::aidl::android::hardware::sensors::ISensors::OperationMode in_mode) override;
+    ::ndk::ScopedAStatus unregisterDirectChannel(int32_t in_channelHandle) override;
+
+    binder_status_t dump(int fd, const char **args, uint32_t numArgs) override;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/aidl/sensors/include/ISensorsCallbackWrapperAidl.h b/aidl/sensors/include/ISensorsCallbackWrapperAidl.h
new file mode 100644
index 0000000..6ef6c63
--- /dev/null
+++ b/aidl/sensors/include/ISensorsCallbackWrapperAidl.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include "ConvertUtils.h"
+#include "ISensorsCallbackWrapper.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+static std::vector<::aidl::android::hardware::sensors::SensorInfo> convertToAidlSensorInfos(
+        const ::android::hardware::hidl_vec<::android::hardware::sensors::V2_1::SensorInfo>&
+                sensorInfos) {
+    std::vector<::aidl::android::hardware::sensors::SensorInfo> aidlSensorInfos;
+    for (const auto& sensorInfo : sensorInfos) {
+        aidlSensorInfos.push_back(convertSensorInfo(sensorInfo));
+    }
+    return aidlSensorInfos;
+}
+
+class ISensorsCallbackWrapperAidl
+    : public ::android::hardware::sensors::V2_1::implementation::ISensorsCallbackWrapperBase {
+  public:
+    ISensorsCallbackWrapperAidl(
+            std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback> sensorsCallback)
+        : mSensorsCallback(sensorsCallback) {}
+
+    ::android::hardware::Return<void> onDynamicSensorsConnected(
+            const ::android::hardware::hidl_vec<::android::hardware::sensors::V2_1::SensorInfo>&
+                    sensorInfos) override {
+        mSensorsCallback->onDynamicSensorsConnected(convertToAidlSensorInfos(sensorInfos));
+        return ::android::hardware::Void();
+    }
+
+    ::android::hardware::Return<void> onDynamicSensorsDisconnected(
+            const ::android::hardware::hidl_vec<int32_t>& sensorHandles) override {
+        mSensorsCallback->onDynamicSensorsDisconnected(sensorHandles);
+        return ::android::hardware::Void();
+    }
+
+  private:
+    std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback> mSensorsCallback;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
\ No newline at end of file
diff --git a/aidl/sensors/include/WakeLockMessageQueueWrapperAidl.h b/aidl/sensors/include/WakeLockMessageQueueWrapperAidl.h
new file mode 100644
index 0000000..6be0b69
--- /dev/null
+++ b/aidl/sensors/include/WakeLockMessageQueueWrapperAidl.h
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#pragma once
+
+#include <android/hardware/sensors/2.1/types.h>
+#include <fmq/AidlMessageQueue.h>
+#include "WakeLockMessageQueueWrapper.h"
+
+namespace aidl {
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+class WakeLockMessageQueueWrapperAidl
+    : public ::android::hardware::sensors::V2_1::implementation::WakeLockMessageQueueWrapperBase {
+  public:
+    WakeLockMessageQueueWrapperAidl(
+            std::unique_ptr<::android::AidlMessageQueue<
+                    int32_t, ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>& queue)
+        : mQueue(std::move(queue)) {}
+
+    virtual std::atomic<uint32_t>* getEventFlagWord() override {
+        return mQueue->getEventFlagWord();
+    }
+
+    bool readBlocking(uint32_t* wakeLocks, size_t numToRead, uint32_t readNotification,
+                      uint32_t writeNotification, int64_t timeOutNanos,
+                      ::android::hardware::EventFlag* evFlag) override {
+        return mQueue->readBlocking(reinterpret_cast<int32_t*>(wakeLocks), numToRead,
+                                    readNotification, writeNotification, timeOutNanos, evFlag);
+    }
+
+    bool write(const uint32_t* wakeLock) override {
+        return mQueue->write(reinterpret_cast<const int32_t*>(wakeLock));
+    }
+
+  private:
+    std::unique_ptr<::android::AidlMessageQueue<
+            int32_t, ::aidl::android::hardware::common::fmq::SynchronizedReadWrite>>
+            mQueue;
+};
+
+}  // namespace implementation
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+}  // namespace aidl
diff --git a/aidl/sensors/service.cpp b/aidl/sensors/service.cpp
new file mode 100644
index 0000000..11c108a
--- /dev/null
+++ b/aidl/sensors/service.cpp
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2021 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 <android-base/logging.h>
+#include <android/binder_manager.h>
+#include <android/binder_process.h>
+#include "HalProxyAidl.h"
+
+using ::aidl::android::hardware::sensors::implementation::HalProxyAidl;
+
+int main() {
+    ABinderProcess_setThreadPoolMaxThreadCount(0);
+
+    // Make a default multihal sensors service
+    auto halProxy = ndk::SharedRefBase::make<HalProxyAidl>();
+    const std::string halProxyName = std::string() + HalProxyAidl::descriptor + "/default";
+    binder_status_t status =
+            AServiceManager_addService(halProxy->asBinder().get(), halProxyName.c_str());
+    CHECK_EQ(status, STATUS_OK);
+
+    ABinderProcess_joinThreadPool();
+    return EXIT_FAILURE;  // should not reach
+}