This patch focused on fixing compile errors and some runtime errors. Test: We can't test it now. But we will have an integration test later. Bug: 110259478 Change-Id: I16c471ddcd0fa1460c665b7f74d86fcace5ee67b
Test: robotests Change-Id: I7b980218feea28e945994c8b7f8a934df6bc11f9 Bug: 78447976