Merge "various fixes to the sensorservice"

services/sensorservice/CorrectedGyroSensor.cpp

@@ -69,7 +69,7 @@ status_t CorrectedGyroSensor::setDelay(void* ident, int handle, int64_t ns) {
 Sensor CorrectedGyroSensor::getSensor() const {
     sensor_t hwSensor;
     hwSensor.name       = "Corrected Gyroscope Sensor";
-    hwSensor.vendor     = "Google Inc.";
+    hwSensor.vendor     = "AOSP";
     hwSensor.version    = 1;
     hwSensor.handle     = '_cgy';
     hwSensor.type       = SENSOR_TYPE_GYROSCOPE;

services/sensorservice/GravitySensor.cpp

@@ -77,7 +77,7 @@ status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns) {
 Sensor GravitySensor::getSensor() const {
     sensor_t hwSensor;
     hwSensor.name       = "Gravity Sensor";
-    hwSensor.vendor     = "Google Inc.";
+    hwSensor.vendor     = "AOSP";
     hwSensor.version    = 3;
     hwSensor.handle     = '_grv';
     hwSensor.type       = SENSOR_TYPE_GRAVITY;

services/sensorservice/LinearAccelerationSensor.cpp

@@ -62,7 +62,7 @@ Sensor LinearAccelerationSensor::getSensor() const {
     Sensor gsensor(mGravitySensor.getSensor());
     sensor_t hwSensor;
     hwSensor.name       = "Linear Acceleration Sensor";
-    hwSensor.vendor     = "Google Inc.";
+    hwSensor.vendor     = "AOSP";
     hwSensor.version    = gsensor.getVersion();
     hwSensor.handle     = '_lin';
     hwSensor.type       = SENSOR_TYPE_LINEAR_ACCELERATION;

services/sensorservice/OrientationSensor.cpp

@@ -33,6 +33,9 @@ OrientationSensor::OrientationSensor()
     : mSensorDevice(SensorDevice::getInstance()),
       mSensorFusion(SensorFusion::getInstance())
 {
+    // FIXME: instead of using the SensorFusion code, we should use
+    // the SENSOR_TYPE_ROTATION_VECTOR instead. This way we could use the
+    // HAL's implementation.
 }
 
 bool OrientationSensor::process(sensors_event_t* outEvent,
@@ -73,7 +76,7 @@ status_t OrientationSensor::setDelay(void* ident, int handle, int64_t ns) {
 Sensor OrientationSensor::getSensor() const {
     sensor_t hwSensor;
     hwSensor.name       = "Orientation Sensor";
-    hwSensor.vendor     = "Google Inc.";
+    hwSensor.vendor     = "AOSP";
     hwSensor.version    = 1;
     hwSensor.handle     = '_ypr';
     hwSensor.type       = SENSOR_TYPE_ORIENTATION;

services/sensorservice/RotationVectorSensor.cpp

@@ -63,7 +63,7 @@ status_t RotationVectorSensor::setDelay(void* ident, int handle, int64_t ns) {
 Sensor RotationVectorSensor::getSensor() const {
     sensor_t hwSensor;
     hwSensor.name       = "Rotation Vector Sensor";
-    hwSensor.vendor     = "Google Inc.";
+    hwSensor.vendor     = "AOSP";
     hwSensor.version    = 3;
     hwSensor.handle     = '_rov';
     hwSensor.type       = SENSOR_TYPE_ROTATION_VECTOR;
@@ -112,7 +112,7 @@ status_t GyroDriftSensor::setDelay(void* ident, int handle, int64_t ns) {
 Sensor GyroDriftSensor::getSensor() const {
     sensor_t hwSensor;
     hwSensor.name       = "Gyroscope Bias (debug)";
-    hwSensor.vendor     = "Google Inc.";
+    hwSensor.vendor     = "AOSP";
     hwSensor.version    = 1;
     hwSensor.handle     = '_gbs';
     hwSensor.type       = SENSOR_TYPE_ACCELEROMETER;

services/sensorservice/SensorFusion.cpp

@@ -28,6 +28,7 @@ SensorFusion::SensorFusion()
       mEnabled(false), mGyroTime(0)
 {
     sensor_t const* list;
+    Sensor uncalibratedGyro;
     ssize_t count = mSensorDevice.getSensorList(&list);
     if (count > 0) {
         for (size_t i=0 ; i<size_t(count) ; i++) {
@@ -39,18 +40,27 @@ SensorFusion::SensorFusion()
             }
             if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
                 mGyro = Sensor(list + i);
-                // 200 Hz for gyro events is a good compromise between precision
+            }
-                // and power/cpu usage.
+            if (list[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
-                mGyroRate = 200;
+                uncalibratedGyro = Sensor(list + i);
-                mTargetDelayNs = 1000000000LL/mGyroRate;
             }
         }
+
+        // Use the uncalibrated gyroscope for sensor fusion when available
+        if (uncalibratedGyro.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+            mGyro = uncalibratedGyro;
+        }
+
+        // 200 Hz for gyro events is a good compromise between precision
+        // and power/cpu usage.
+        mGyroRate = 200;
+        mTargetDelayNs = 1000000000LL/mGyroRate;
         mFusion.init();
     }
 }
 
 void SensorFusion::process(const sensors_event_t& event) {
-    if (event.type == SENSOR_TYPE_GYROSCOPE) {
+    if (event.type == mGyro.getType()) {
         if (mGyroTime != 0) {
             const float dT = (event.timestamp - mGyroTime) / 1000000000.0f;
             const float freq = 1 / dT;

services/sensorservice/SensorService.cpp

@@ -93,6 +93,7 @@ void SensorService::onFirstRef()
                         orientationIndex = i;
                         break;
                     case SENSOR_TYPE_GYROSCOPE:
+                    case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
                         hasGyro = true;
                         break;
                     case SENSOR_TYPE_GRAVITY:
@@ -108,54 +109,44 @@ void SensorService::onFirstRef()
             // registered)
             const SensorFusion& fusion(SensorFusion::getInstance());
 
-            if (hasGyro) {
-                // Always instantiate Android's virtual sensors. Since they are
-                // instantiated behind sensors from the HAL, they won't
-                // interfere with applications, unless they looks specifically
-                // for them (by name).
-
-                registerVirtualSensor( new RotationVectorSensor() );
-                registerVirtualSensor( new GravitySensor(list, count) );
-                registerVirtualSensor( new LinearAccelerationSensor(list, count) );
-
-                // these are optional
-                registerVirtualSensor( new OrientationSensor() );
-                registerVirtualSensor( new CorrectedGyroSensor(list, count) );
-            }
-
             // build the sensor list returned to users
             mUserSensorList = mSensorList;
 
             if (hasGyro) {
+                Sensor aSensor;
+
+                // Add Android virtual sensors if they're not already
+                // available in the HAL
+
+                aSensor = registerVirtualSensor( new RotationVectorSensor() );
+                if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
+                    mUserSensorList.add(aSensor);
+                }
+
+                aSensor = registerVirtualSensor( new GravitySensor(list, count) );
+                if (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) {
+                    mUserSensorList.add(aSensor);
+                }
+
+                aSensor = registerVirtualSensor( new LinearAccelerationSensor(list, count) );
+                if (virtualSensorsNeeds & (1<<SENSOR_TYPE_LINEAR_ACCELERATION)) {
+                    mUserSensorList.add(aSensor);
+                }
+
+                aSensor = registerVirtualSensor( new OrientationSensor() );
+                if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
+                    // if we are doing our own rotation-vector, also add
+                    // the orientation sensor and remove the HAL provided one.
+                    mUserSensorList.replaceAt(aSensor, orientationIndex);
+                }
+
                 // virtual debugging sensors are not added to mUserSensorList
+                registerVirtualSensor( new CorrectedGyroSensor(list, count) );
                 registerVirtualSensor( new GyroDriftSensor() );
             }
 
-            if (hasGyro &&
-                    (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR))) {
-                // if we have the fancy sensor fusion, and it's not provided by the
-                // HAL, use our own (fused) orientation sensor by removing the
-                // HAL supplied one form the user list.
-                if (orientationIndex >= 0) {
-                    mUserSensorList.removeItemsAt(orientationIndex);
-                }
-            }
-
             // debugging sensor list
-            for (size_t i=0 ; i<mSensorList.size() ; i++) {
+            mUserSensorListDebug = mSensorList;
-                switch (mSensorList[i].getType()) {
-                    case SENSOR_TYPE_GRAVITY:
-                    case SENSOR_TYPE_LINEAR_ACCELERATION:
-                    case SENSOR_TYPE_ROTATION_VECTOR:
-                        if (strstr(mSensorList[i].getVendor().string(), "Google")) {
-                            mUserSensorListDebug.add(mSensorList[i]);
-                        }
-                        break;
-                    default:
-                        mUserSensorListDebug.add(mSensorList[i]);
-                        break;
-                }
-            }
 
             run("SensorService", PRIORITY_URGENT_DISPLAY);
             mInitCheck = NO_ERROR;
@@ -163,7 +154,7 @@ void SensorService::onFirstRef()
     }
 }
 
-void SensorService::registerSensor(SensorInterface* s)
+Sensor SensorService::registerSensor(SensorInterface* s)
 {
     sensors_event_t event;
     memset(&event, 0, sizeof(event));
@@ -175,12 +166,15 @@ void SensorService::registerSensor(SensorInterface* s)
     mSensorMap.add(sensor.getHandle(), s);
     // create an entry in the mLastEventSeen array
     mLastEventSeen.add(sensor.getHandle(), event);
+
+    return sensor;
 }
 
-void SensorService::registerVirtualSensor(SensorInterface* s)
+Sensor SensorService::registerVirtualSensor(SensorInterface* s)
 {
-    registerSensor(s);
+    Sensor sensor = registerSensor(s);
     mVirtualSensorList.add( s );
+    return sensor;
 }
 
 SensorService::~SensorService()

services/sensorservice/SensorService.h

@@ -114,8 +114,8 @@ class SensorService :
     int getSensorType(int handle) const;
     void recordLastValue(sensors_event_t const * buffer, size_t count);
     static void sortEventBuffer(sensors_event_t* buffer, size_t count);
-    void registerSensor(SensorInterface* sensor);
+    Sensor registerSensor(SensorInterface* sensor);
-    void registerVirtualSensor(SensorInterface* sensor);
+    Sensor registerVirtualSensor(SensorInterface* sensor);
     status_t cleanupWithoutDisable(const sp<SensorEventConnection>& connection,
             int handle);
     void cleanupAutoDisabledSensor(const sp<SensorEventConnection>& connection,