new SensorService

remove old sensor service and implement SensorManager
on top of the new (native) SensorManger API.

Change-Id: Iddb77d498755da3e11646473a44d651f12f40281

services/sensorservice/Android.mk

@@ -0,0 +1,28 @@
+LOCAL_PATH:= $(call my-dir)
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES:= \
+    SensorService.cpp
+
+LOCAL_CFLAGS:= -DLOG_TAG=\"SensorService\"
+
+# need "-lrt" on Linux simulator to pick up clock_gettime
+ifeq ($(TARGET_SIMULATOR),true)
+	ifeq ($(HOST_OS),linux)
+		LOCAL_LDLIBS += -lrt -lpthread
+	endif
+endif
+
+LOCAL_SHARED_LIBRARIES := \
+	libcutils \
+	libhardware \
+	libutils \
+	libbinder \
+	libui \
+	libgui
+
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE:= libsensorservice
+
+include $(BUILD_SHARED_LIBRARY)

services/sensorservice/SensorService.cpp

@@ -0,0 +1,359 @@
+/*
+ * Copyright (C) 2010 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 <stdint.h>
+#include <sys/types.h>
+
+#include <utils/SortedVector.h>
+#include <utils/KeyedVector.h>
+#include <utils/threads.h>
+#include <utils/Atomic.h>
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+
+#include <binder/BinderService.h>
+
+#include <gui/ISensorServer.h>
+#include <gui/ISensorEventConnection.h>
+
+#include <hardware/sensors.h>
+
+#include "SensorService.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+/*
+ * TODO:
+ * - handle per-connection event rate
+ * - filter events per connection
+ * - make sure to keep the last value of each event type so we can quickly
+ *   send something to application when they enable a sensor that is already
+ *   active (the issue here is that it can take time before a value is
+ *   produced by the h/w if the rate is low or if it's a one-shot sensor).
+ */
+
+SensorService::SensorService()
+    : Thread(false),
+      mDump("android.permission.DUMP")
+{
+}
+
+void SensorService::onFirstRef()
+{
+    status_t err = hw_get_module(SENSORS_HARDWARE_MODULE_ID,
+            (hw_module_t const**)&mSensorModule);
+
+    LOGE_IF(err, "couldn't load %s module (%s)",
+            SENSORS_HARDWARE_MODULE_ID, strerror(-err));
+
+    err = sensors_open(&mSensorModule->common, &mSensorDevice);
+
+    LOGE_IF(err, "couldn't open device for module %s (%s)",
+            SENSORS_HARDWARE_MODULE_ID, strerror(-err));
+
+    LOGD("nuSensorService starting...");
+
+    struct sensor_t const* list;
+    int count = mSensorModule->get_sensors_list(mSensorModule, &list);
+    for (int i=0 ; i<count ; i++) {
+        Sensor sensor(list + i);
+        LOGI("%s", sensor.getName().string());
+        mSensorList.add(sensor);
+        mSensorDevice->activate(mSensorDevice, sensor.getHandle(), 0);
+    }
+
+    run("SensorService", PRIORITY_URGENT_DISPLAY);
+}
+
+SensorService::~SensorService()
+{
+}
+
+status_t SensorService::dump(int fd, const Vector<String16>& args)
+{
+    const size_t SIZE = 1024;
+    char buffer[SIZE];
+    String8 result;
+    if (!mDump.checkCalling()) {
+        snprintf(buffer, SIZE, "Permission Denial: "
+                "can't dump SurfaceFlinger from pid=%d, uid=%d\n",
+                IPCThreadState::self()->getCallingPid(),
+                IPCThreadState::self()->getCallingUid());
+        result.append(buffer);
+    } else {
+        Mutex::Autolock _l(mLock);
+        snprintf(buffer, SIZE, "%d connections / %d active\n",
+                mConnections.size(), mActiveConnections.size());
+        result.append(buffer);
+        snprintf(buffer, SIZE, "Active sensors:\n");
+        result.append(buffer);
+        for (size_t i=0 ; i<mActiveSensors.size() ; i++) {
+            snprintf(buffer, SIZE, "handle=%d, connections=%d\n",
+                    mActiveSensors.keyAt(i),
+                    mActiveSensors.valueAt(i)->getNumConnections());
+            result.append(buffer);
+        }
+    }
+    write(fd, result.string(), result.size());
+    return NO_ERROR;
+}
+
+bool SensorService::threadLoop()
+{
+    LOGD("nuSensorService thread starting...");
+
+    sensors_event_t buffer[16];
+    struct sensors_poll_device_t* device = mSensorDevice;
+    ssize_t count;
+
+    do {
+        count = device->poll(device, buffer, sizeof(buffer)/sizeof(*buffer));
+        if (count<0) {
+            LOGE("sensor poll failed (%s)", strerror(-count));
+            break;
+        }
+
+        const SortedVector< wp<SensorEventConnection> > activeConnections(
+                getActiveConnections());
+
+        size_t numConnections = activeConnections.size();
+        if (numConnections) {
+            for (size_t i=0 ; i<numConnections ; i++) {
+                sp<SensorEventConnection> connection(activeConnections[i].promote());
+                if (connection != 0) {
+                    connection->sendEvents(buffer, count);
+                }
+            }
+        }
+
+    } while (count >= 0 || Thread::exitPending());
+
+    LOGW("Exiting SensorService::threadLoop!");
+    return false;
+}
+
+SortedVector< wp<SensorService::SensorEventConnection> >
+SensorService::getActiveConnections() const
+{
+    Mutex::Autolock _l(mLock);
+    return mActiveConnections;
+}
+
+Vector<Sensor> SensorService::getSensorList()
+{
+    return mSensorList;
+}
+
+sp<ISensorEventConnection> SensorService::createSensorEventConnection()
+{
+    sp<SensorEventConnection> result(new SensorEventConnection(this));
+    Mutex::Autolock _l(mLock);
+    mConnections.add(result);
+    return result;
+}
+
+void SensorService::cleanupConnection(const wp<SensorEventConnection>& connection)
+{
+    Mutex::Autolock _l(mLock);
+    ssize_t index = mConnections.indexOf(connection);
+    if (index >= 0) {
+
+        size_t size = mActiveSensors.size();
+        for (size_t i=0 ; i<size ; ) {
+            SensorRecord* rec = mActiveSensors.valueAt(i);
+            if (rec && rec->removeConnection(connection)) {
+                mSensorDevice->activate(mSensorDevice, mActiveSensors.keyAt(i), 0);
+                mActiveSensors.removeItemsAt(i, 1);
+                delete rec;
+                size--;
+            } else {
+                i++;
+            }
+        }
+
+        mActiveConnections.remove(connection);
+        mConnections.removeItemsAt(index, 1);
+    }
+}
+
+status_t SensorService::enable(const sp<SensorEventConnection>& connection,
+        int handle)
+{
+    status_t err = NO_ERROR;
+    Mutex::Autolock _l(mLock);
+    SensorRecord* rec = mActiveSensors.valueFor(handle);
+    if (rec == 0) {
+        rec = new SensorRecord(connection);
+        mActiveSensors.add(handle, rec);
+        err = mSensorDevice->activate(mSensorDevice, handle, 1);
+        LOGE_IF(err, "Error activating sensor %d (%s)", handle, strerror(-err));
+    } else {
+        err = rec->addConnection(connection);
+    }
+    if (err == NO_ERROR) {
+        // connection now active
+        connection->addSensor(handle);
+        if (mActiveConnections.indexOf(connection) < 0) {
+            mActiveConnections.add(connection);
+        }
+    }
+    return err;
+}
+
+status_t SensorService::disable(const sp<SensorEventConnection>& connection,
+        int handle)
+{
+    status_t err = NO_ERROR;
+    Mutex::Autolock _l(mLock);
+    SensorRecord* rec = mActiveSensors.valueFor(handle);
+    LOGW("sensor (handle=%d) is not enabled", handle);
+    if (rec) {
+        // see if this connection becomes inactive
+        connection->removeSensor(handle);
+        if (connection->hasAnySensor() == false) {
+            mActiveConnections.remove(connection);
+        }
+        // see if this sensor becomes inactive
+        if (rec->removeConnection(connection)) {
+            mActiveSensors.removeItem(handle);
+            delete rec;
+            err = mSensorDevice->activate(mSensorDevice, handle, 0);
+        }
+    }
+    return err;
+}
+
+status_t SensorService::setRate(const sp<SensorEventConnection>& connection,
+        int handle, nsecs_t ns)
+{
+    status_t err = NO_ERROR;
+    Mutex::Autolock _l(mLock);
+
+    err = mSensorDevice->setDelay(mSensorDevice, handle, ns);
+
+    // TODO: handle rate per connection
+    return err;
+}
+
+// ---------------------------------------------------------------------------
+
+SensorService::SensorRecord::SensorRecord(
+        const sp<SensorEventConnection>& connection)
+{
+    mConnections.add(connection);
+}
+
+status_t SensorService::SensorRecord::addConnection(
+        const sp<SensorEventConnection>& connection)
+{
+    if (mConnections.indexOf(connection) < 0) {
+        mConnections.add(connection);
+    }
+    return NO_ERROR;
+}
+
+bool SensorService::SensorRecord::removeConnection(
+        const wp<SensorEventConnection>& connection)
+{
+    ssize_t index = mConnections.indexOf(connection);
+    if (index >= 0) {
+        mConnections.removeItemsAt(index, 1);
+    }
+    return mConnections.size() ? false : true;
+}
+
+// ---------------------------------------------------------------------------
+
+SensorService::SensorEventConnection::SensorEventConnection(
+        const sp<SensorService>& service)
+    : mService(service), mChannel(new SensorChannel())
+{
+}
+
+SensorService::SensorEventConnection::~SensorEventConnection()
+{
+    mService->cleanupConnection(this);
+}
+
+void SensorService::SensorEventConnection::onFirstRef()
+{
+}
+
+void SensorService::SensorEventConnection::addSensor(int32_t handle) {
+    if (mSensorList.indexOf(handle) <= 0) {
+        mSensorList.add(handle);
+    }
+}
+
+void SensorService::SensorEventConnection::removeSensor(int32_t handle) {
+    mSensorList.remove(handle);
+}
+
+bool SensorService::SensorEventConnection::hasSensor(int32_t handle) const {
+    return mSensorList.indexOf(handle) >= 0;
+}
+
+bool SensorService::SensorEventConnection::hasAnySensor() const {
+    return mSensorList.size() ? true : false;
+}
+
+status_t SensorService::SensorEventConnection::sendEvents(
+        sensors_event_t const* buffer, size_t count)
+{
+    // TODO: we should only send the events for the sensors this connection
+    // is registered for.
+
+    ssize_t size = mChannel->write(buffer, count*sizeof(sensors_event_t));
+    if (size == -EAGAIN) {
+        // the destination doesn't accept events anymore, it's probably
+        // full. For now, we just drop the events on the floor.
+        LOGW("dropping %d events on the floor", count);
+        return size;
+    }
+
+    LOGE_IF(size<0, "dropping %d events on the floor (%s)",
+            count, strerror(-size));
+
+    return size < 0 ? size : NO_ERROR;
+}
+
+sp<SensorChannel> SensorService::SensorEventConnection::getSensorChannel() const
+{
+    return mChannel;
+}
+
+status_t SensorService::SensorEventConnection::enableDisable(
+        int handle, bool enabled)
+{
+    status_t err;
+    if (enabled) {
+        err = mService->enable(this, handle);
+    } else {
+        err = mService->disable(this, handle);
+    }
+    return err;
+}
+
+status_t SensorService::SensorEventConnection::setEventRate(
+        int handle, nsecs_t ns)
+{
+    return mService->setRate(this, handle, ns);
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+

services/sensorservice/SensorService.h

@@ -0,0 +1,119 @@
+/*
+ * Copyright (C) 2010 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.
+ */
+
+#ifndef ANDROID_SENSOR_SERVICE_H
+#define ANDROID_SENSOR_SERVICE_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Vector.h>
+#include <utils/SortedVector.h>
+#include <utils/KeyedVector.h>
+#include <utils/threads.h>
+#include <utils/RefBase.h>
+
+#include <binder/BinderService.h>
+#include <binder/Permission.h>
+
+#include <gui/Sensor.h>
+#include <gui/SensorChannel.h>
+#include <gui/ISensorServer.h>
+#include <gui/ISensorEventConnection.h>
+
+// ---------------------------------------------------------------------------
+
+struct sensors_poll_device_t;
+struct sensors_module_t;
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class SensorService :
+        public BinderService<SensorService>,
+        public BnSensorServer,
+        protected Thread
+{
+   friend class BinderService<SensorService>;
+
+            SensorService();
+    virtual ~SensorService();
+
+    virtual void onFirstRef();
+
+    // Thread interface
+    virtual bool threadLoop();
+
+    // ISensorServer interface
+    virtual Vector<Sensor> getSensorList();
+    virtual sp<ISensorEventConnection> createSensorEventConnection();
+    virtual status_t dump(int fd, const Vector<String16>& args);
+
+
+    class SensorEventConnection : public BnSensorEventConnection {
+        virtual sp<SensorChannel> getSensorChannel() const;
+        virtual status_t enableDisable(int handle, bool enabled);
+        virtual status_t setEventRate(int handle, nsecs_t ns);
+        sp<SensorService> const mService;
+        sp<SensorChannel> const mChannel;
+        SortedVector<int32_t> mSensorList;
+    public:
+        SensorEventConnection(const sp<SensorService>& service);
+        virtual ~SensorEventConnection();
+        virtual void onFirstRef();
+        status_t sendEvents(sensors_event_t const* buffer, size_t count);
+        bool hasSensor(int32_t handle) const;
+        bool hasAnySensor() const;
+        void addSensor(int32_t handle);
+        void removeSensor(int32_t handle);
+    };
+
+    class SensorRecord {
+        SortedVector< wp<SensorEventConnection> > mConnections;
+    public:
+        SensorRecord(const sp<SensorEventConnection>& connection);
+        status_t addConnection(const sp<SensorEventConnection>& connection);
+        bool removeConnection(const wp<SensorEventConnection>& connection);
+        size_t getNumConnections() const { return mConnections.size(); }
+    };
+
+    SortedVector< wp<SensorEventConnection> > getActiveConnections() const;
+
+    // constants
+    Vector<Sensor> mSensorList;
+    struct sensors_poll_device_t* mSensorDevice;
+    struct sensors_module_t* mSensorModule;
+    Permission mDump;
+
+    // protected by mLock
+    mutable Mutex mLock;
+    SortedVector< wp<SensorEventConnection> > mConnections;
+    DefaultKeyedVector<int, SensorRecord*> mActiveSensors;
+    SortedVector< wp<SensorEventConnection> > mActiveConnections;
+
+public:
+    static char const* getServiceName() { return "sensorservice"; }
+
+    void cleanupConnection(const wp<SensorEventConnection>& connection);
+    status_t enable(const sp<SensorEventConnection>& connection, int handle);
+    status_t disable(const sp<SensorEventConnection>& connection, int handle);
+    status_t setRate(const sp<SensorEventConnection>& connection, int handle, nsecs_t ns);
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_SENSOR_SERVICE_H

services/sensorservice/tests/Android.mk

@@ -0,0 +1,14 @@
+LOCAL_PATH:= $(call my-dir)
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES:= \
+	sensorservicetest.cpp
+
+LOCAL_SHARED_LIBRARIES := \
+	libcutils libutils libui libgui
+
+LOCAL_MODULE:= test-sensorservice
+
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_EXECUTABLE)

services/sensorservice/tests/sensorservicetest.cpp

@@ -0,0 +1,90 @@
+/*
+ * Copyright (C) 2010 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/sensor.h>
+#include <gui/Sensor.h>
+#include <gui/SensorManager.h>
+#include <gui/SensorEventQueue.h>
+#include <utils/PollLoop.h>
+
+using namespace android;
+
+bool receiver(int fd, int events, void* data)
+{
+    sp<SensorEventQueue> q((SensorEventQueue*)data);
+    ssize_t n;
+    ASensorEvent buffer[8];
+    while ((n = q->read(buffer, 8)) > 0) {
+        for (int i=0 ; i<n ; i++) {
+            if (buffer[i].type == Sensor::TYPE_ACCELEROMETER) {
+                printf("time=%lld, value=<%5.1f,%5.1f,%5.1f>\n",
+                        buffer[i].timestamp,
+                        buffer[i].acceleration.x,
+                        buffer[i].acceleration.y,
+                        buffer[i].acceleration.z);
+            }
+        }
+    }
+    if (n<0 && n != -EAGAIN) {
+        printf("error reading events (%s)\n", strerror(-n));
+    }
+    return true;
+}
+
+
+int main(int argc, char** argv)
+{
+    SensorManager& mgr(SensorManager::getInstance());
+
+    Sensor const* const* list;
+    ssize_t count = mgr.getSensorList(&list);
+    printf("numSensors=%d\n", count);
+
+    sp<SensorEventQueue> q = mgr.createEventQueue();
+    printf("queue=%p\n", q.get());
+
+    Sensor const* accelerometer = mgr.getDefaultSensor(Sensor::TYPE_ACCELEROMETER);
+    printf("accelerometer=%p (%s)\n",
+            accelerometer, accelerometer->getName().string());
+    q->enableSensor(accelerometer);
+
+    q->setEventRate(accelerometer, ms2ns(10));
+
+    sp<PollLoop> loop = new PollLoop(false);
+    loop->setCallback(q->getFd(), POLLIN, receiver, q.get());
+
+    do {
+        //printf("about to poll...\n");
+        int32_t ret = loop->pollOnce(-1, 0, 0);
+        switch (ret) {
+            case ALOOPER_POLL_CALLBACK:
+                //("ALOOPER_POLL_CALLBACK\n");
+                break;
+            case ALOOPER_POLL_TIMEOUT:
+                printf("ALOOPER_POLL_TIMEOUT\n");
+                break;
+            case ALOOPER_POLL_ERROR:
+                printf("ALOOPER_POLL_TIMEOUT\n");
+                break;
+            default:
+                printf("ugh? poll returned %d\n", ret);
+                break;
+        }
+    } while (1);
+
+
+    return 0;
+}