Commit Graph

57 Commits

Author SHA1 Message Date
Mathias Agopian
787ac1b388 improve sensor battery usage tracking
until now we were tracking when a sensors was
physically enabled or disabled and we were reporting
that to the BattaryService.

this wasn incorrect because we could have several different
apps enabling the same sensor, so the accounting by the
battery service would be incorrect in that case (depending
on the order in which these apps disabled said sensor).

BatteryService tracks sensors per uid, however SensorService
does this per binder connection, so we could have several
binder connections for the same uid, to solve this we keep
a list of sensor/uid -> count, which is the bulk of this
change.

Bug: 6661604
Change-Id: I561c198c42ba1736a8671bdacda4c76d72b9dd6f
2012-09-18 23:33:36 -07:00
Mathias Agopian
5307d17fe3 track UID with connections
Change-Id: Id4865f3cd27a95acdbbfdff1f2bb4123f312a13b
2012-09-18 23:33:36 -07:00
Mathias Agopian
a5b8e8bfa9 fix a typo in SensorService
It shouldn't have caused much harm though.
Also log a warning when enabling a sensor
for a connection that is already enabled.

Change-Id: Ia4a052381e79183cd4cb1bedc7ba08e5228d7a38
2012-09-18 17:19:04 -07:00
Mathias Agopian
33264868ba add a way to enable debugging sensors at runtime
if debug.sensors is true, extra debugging
sensors are enabled and HAL provided sensor fusion
is disabled

Change-Id: I9b093424edb8c5363d1337237cdf6abe4ab266f9
2012-06-28 19:46:54 -07:00
Mathias Agopian
bdf277355d improve sensor fusion
we now use a better quaternion propagation equation
this is especially beneficial for lower gyroscope rates

Change-Id: Ifbf273c8a092a8849ca4fe4b9bca30787e924018
2012-06-28 18:21:43 -07:00
Mathias Agopian
8f11b24a72 add some comments
Change-Id: Ia2e2c9531715fc2bd5b51c4dc58389e01abfe7e6
2012-06-28 17:35:14 -07:00
Mathias Agopian
dc5b63e40e small improvement to sensor fusion
1) there was a typo when computing the system covariance
a term in dT^3 was ommitted; the impact was was very limited
because of how small this term is.

2) initialize the system covariance matrix with non-zero
values for the gyro-bias part. this improves the initial
bias estimation speed significantly.

3) added comments here and there

Change-Id: I4328c9cca73e089889d5e74b9fda99d7831762dc
2012-06-27 17:07:56 -07:00
Mathias Agopian
8dd4fe8dd3 fix a potential buffer overflow in sensorservice
Bug: 6580560
Change-Id: Icf6cafbca09174515a964a7cd69d8cc589ad52de
2012-06-27 17:07:56 -07:00
Mathias Agopian
d1920ffede Fix a stack corruption in sensorservice
Bug: 6576732
Change-Id: If0f2fb0d0c35b932fb77cd262e676042145b28f9
2012-06-27 17:07:56 -07:00
Mathias Agopian
a5c106a4f0 fix a typo causing sensor event to be sorted in reverse chronological order
Change-Id: I041c64616d88ed1abb5efc90ed9eb0d9baeb4832
2012-06-27 17:07:56 -07:00
Mathias Agopian
907103bf18 usea socketpair instead of a pipe in BitTube
Bug: 6252830
Change-Id: I363cc7e9f73a5b7d8bbccee312c6d8938c84e99a
2012-06-27 17:07:56 -07:00
Steve Block
f5a1230d32 Rename (IF_)LOGE(_IF) to (IF_)ALOGE(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/#/c/157220

Bug: 5449033
Change-Id: Ic9c19d30693bd56755f55906127cd6bd7126096c
2012-06-27 17:07:56 -07:00
Steve Block
3c20fbed7f Rename (IF_)LOGW(_IF) to (IF_)ALOGW(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/157065

Bug: 5449033
Change-Id: I00a4b904f9449e6f93b7fd35eac28640d7929e69
2012-06-27 17:07:56 -07:00
Steve Block
c7839e8976 Rename (IF_)LOGI(_IF) to (IF_)ALOGI(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/156801

Bug: 5449033
Change-Id: Ib08fe86d23db91ee153e9f91a99a35c42b9208ea
2012-06-27 17:07:56 -07:00
Steve Block
a551237de1 Rename (IF_)LOGD(_IF) to (IF_)ALOGD(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/156016

Bug: 5449033
Change-Id: I4c4e33bb9df3e39e11cd985e193e6fbab4635298
2012-06-27 17:07:56 -07:00
Mathias Agopian
1a62301fc5 handle EINTR when calling sensor HAL's poll function
some sensor HALs don't handle EINTR, make sure to catch it in the
sensorservice.

also if we ever encounter an error that we can't handle, we abort
which will restart us (or the whole system process if we're running
in it)

Bug: 5511741
Change-Id: I7051882b06980f778736b53d6cd021a99b5ca8d2
2012-06-27 17:07:56 -07:00
Mathias Agopian
62569ecf52 SensorService now always clamps the requested rate
Requested rate will be clamped to the minimum rate and then
to 1ms. Previously we would return an error if a lower
rate was asked. The SensorManager documentation wording
allows this change.

We do this to get more consistancy between all the sensor
drivers / HALs

Change-Id: I199f76486fb76ccbb11e7280460a03726c767e84
2012-06-27 17:07:56 -07:00
Mathias Agopian
ae09d65f5b fix an issue where SensorService could request an invalid sensor delay
When the app requests "fastest", the java layer encodes this as a
delay of 0. SensorService was passing this unchanged to the HAL.
However the HAL is required to reject delays lower that the
advertised lower delay.

Change-Id: I92be77acd3af62ffeb49e4b31e24ddcd203510e2
2012-06-27 17:07:56 -07:00
Mathias Agopian
b3989276d1 Rename SensorChannel to BitTube 2012-06-27 17:07:55 -07:00
Mathias Agopian
667102f6b0 improve sensorservice dumpsys
Change-Id: I8b53d5cab884c3aca16d95df5fbf288368d52e8b
2012-06-27 17:07:55 -07:00
Mathias Agopian
b9e152637a improve sensorservice_test output
Change-Id: I6248b6f1f001fedec1bddcddfcd2b381d9bb4bf4
2012-06-27 17:07:55 -07:00
Mathias Agopian
a83f45c6c7 Fix a few style issues and remove LOG spam
Change-Id: I6b6f75373f4ac28f98dea6a6f1c2567a6aa02243
2012-06-27 17:07:55 -07:00
Michael Johnson
3e87d8dade More error checks to avoid div by zero.
Change-Id: I18e5b72d02bf5420c14334d3a03f18fa40572d31
2012-06-27 17:07:55 -07:00
Max Braun
a01b4e237d Fix occasional fusion divergence by detecting it and resetting the fusion.
Change-Id: I51186e12fb9b2316e3671e3908174f4495df89a0
2012-06-27 17:07:55 -07:00
Mathias Agopian
16bcf66afa have the sensorsevice test print the delay of the first received event
Change-Id: I89d63122574c3f8790f00512c76d59b463acf18f
2012-06-27 17:07:55 -07:00
Mathias Agopian
16c3e4ae72 silence sensorservice when it's dropping events
Change-Id: Ib05862e545aa780821aa605e45ab189f530494b7
2012-06-27 17:07:55 -07:00
Mathias Agopian
7b2b32f2e7 sensorservice: be more robust when there are no sensor h/w
Bug: 5030108
Change-Id: I45b85b3c492b9268cb0ae44d2e5fc8c708b6e66e
2012-06-27 17:07:55 -07:00
Jeff Brown
0be7a26220 Remove the simulator target from all makefiles. Bug: 5010576
Change-Id: I04d722f258951a3078fe07899f5bbe8aac02a8e8
2012-06-27 17:07:55 -07:00
Mathias Agopian
1cb13461a8 PermissionCache caches permission checks
This is intended to absorb the cost of the IPC
to the permission controller.
Cached permission checks cost about 3us, while
full blown ones are two orders of magnitude slower.

CAVEAT: PermissionCache can only handle system
permissions safely for now, because the cache is
not purged upon global permission changes.

Change-Id: I8b8a5e71e191e3c01e8f792f253c379190eee62e
2012-06-27 17:07:55 -07:00
Mathias Agopian
eaf2d0bfe3 cleanup Kalman filter parameters, add/fix comments/units
Change-Id: Iedcae7164af8f7ea0e048ea7c72d0f35d16d739f
2012-06-27 17:07:55 -07:00
Mathias Agopian
010e422301 improve orientation sensor with gyro data
when we do our own sensor fusion, we also export an
improved orientation sensor and hide the HAL sensor.
The fused orientation sensor is much more precise, fast
and smooth.

Change-Id: I0ea843b47ad9d12f6b22cce51f8629852d423126
2012-06-27 17:07:55 -07:00
Mathias Agopian
3301542828 use quaternions instead of MRPs
also use correct time propagation equation
disable the fused sensors when gyro is not present since
they were unusable in practice.

Change-Id: Iad797425784e67dc6c5690e97c71c583418cc5b5
2012-06-27 17:07:55 -07:00
Mathias Agopian
984826cc15 9-axis sensor fusion with Kalman filter
Add support for 9-axis gravity and linear-acceleration sensors
virtual orientation sensor using 9-axis fusion

Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f
2012-06-27 17:07:54 -07:00
Mathias Agopian
a1b7db95b6 Fix a few issues with sensors reference-counting 2012-06-27 17:07:54 -07:00
Mathias Agopian
e04a63b305 Fix a crasher in SensorService
SensorService main thread wasn't java-enabled. however, in
some situations we end-up calling into the BatteryService from
that thread which causes a crash.

Change-Id: Iffba90e4c4b743dba84d62f1342001a9db31916d
2012-06-27 17:07:54 -07:00
Iliyan Malchev
b1c14906ba frameworks/base: remove LOCAL_PRELINK_MODULE
Change-Id: I54dd62ebef47e7690afa5a858f3cad941b135481
Signed-off-by: Iliyan Malchev <malchev@google.com>
2012-06-27 17:07:54 -07:00
Mathias Agopian
3f2f891611 fix [4025681] continuous sensors should not try to send an event as soon as they're activated
Make sure to send an event down only for sensors that report a value only on data
change. Other sensors, will naturally send an event when the next event is available.

Bug: 4025681
Change-Id: I6d444deda388b6bc9a33e3371e09d390f1566ec5
2012-06-27 17:07:54 -07:00
Mathias Agopian
db5b4bce9e fix [3421350] Killing a game that uses the accelerometer renders the device unable to sleep
when an app dies, make sure to disable all sensors that process
is connected to, regardless of wether this was the LAST connection
to this sensor.

Change-Id: I9c72b1792eee03815304674d5c2f25b5270e4748
2012-06-27 17:07:54 -07:00
Mathias Agopian
2cf098846c fix [3369027] Sensor.TYPE_ROTATION_VECTOR is unstable and returns NaNs when running slowly
The cut-off frequency of the lowpass filter was too high
for the sampling rate used by DELAY_NORMAL.

Now we use the same filters used for the gravity vector
(cascaded biquad at 1.5 Hz)

Change-Id: I319dc4f449a3abd553d61b196a9ddcf7782f912d
2012-06-27 17:07:54 -07:00
Mathias Agopian
50b66767f6 fix [3237242] sensormanager sensor active count gets out of sync
whether a physical sensor needed to be active or not was managed by
a simpe reference counter; unfortunatelly nothing prevented it to
get out of sync if a sensor was disabled more than once.

sensorservice already maintainted a list of all the "clients"
connected to a physical sensor; we now use that list to determine if
a sensor should be enabled. This can never be "out-of-sync" since
this is the only data structure linking a sensor to a user of that
sensor.

also removed the isEnabled() method, which was never used and
implemented wrongly (since it didn't take into account that a sensor
could be disabled for a client but not of another).

Change-Id: I789affb877728ca957e99f7ba749def37c4db1c7
2012-06-27 17:07:54 -07:00
Mathias Agopian
87c9dbb728 Uses 4-th order low-pass for extracting gravity.
Most accelerometers have 8-bits accuracy so we beed to
reject 48dB in thestop-band, which requires a 4-th order
filter at the cut-off frequency we're using.

Change-Id: Ic00421d38d751641f86b1f3ad7663e6b44a91198
2012-06-27 17:07:54 -07:00
Mathias Agopian
ddf1ceb647 allow rotation-vector to have 4 components
- upadte documentation for rotation vector
- update method dealing with rotation vector to deal with 4 components
- virtual rotation-vector sensor reports all four components
- improve SensorManager documentation layout

Whent he 4-th component of the rotation-vector is present, we can save
a square-root when computing the quaternion or rotation matrix from it.

Change-Id: Ia84d278dd5f0909fab1c5ba050f8df2679e2c7c8
2012-06-27 17:07:54 -07:00
Mathias Agopian
5c6d7ff3e6 don't attempt to normalize the rotation vector
indeed, by construction of the rotation matrix, it is
guaranteed to have a length of 1.

moreover, the normalization code was missing a square-root,
fortunatelly, since the length is 1, this didn't cause any
damage (since sqrt(1) = 1).

Change-Id: I9facd668caaf5bb3bfccb139ab872f2bb2066365
2012-06-27 17:07:54 -07:00
Mathias Agopian
f001c92436 Add support for virtual sensors.
Rework sensorservice to allow "virtual sensors", that is
sensors that report a synthetized value based on real sensors.

the main change to sensorservice is around managing which real
sensor need to be activated and which rate to use.

The logic for all this has been moved into SensorDevice, which
essentially wraps the sensor HAL but adds two features to it:
- it keeps track of which sensors need to be activated
- it keeps track of what rate needs to be used

For this purpose an "identity" is associated with each real sensor
activation, so we can track them.

On start-up we check for gravity, linear-acceleration and
rotation-vector sensors, if they're not present in the HAL, we
synthetize them in sensor-service.

Change-Id: I841db2c1b37ef127ed571efa21732ecc5adf1800
2012-06-27 17:07:54 -07:00
Mathias Agopian
71d7a5c289 Fix a race condition in sensormanager
the per-connection state assumed the main sensorservice
lock was held during access. This is however not true while
pre-processing the events just before sending them to clients.
Therefore, there was a small window during which this state
could be modified while being used.

we now have an internal lock that protects this state.

Change-Id: I594680f20f09d6a4f1f38f093a1d3f650dcef1be
2012-06-27 17:07:54 -07:00
Mathias Agopian
94e8f6813f record the last event received regardless of having clients or not
We only recorded the last received event (which is needed when a sensor
is activated on a connection) when there was some connection active.
This should fix an issue where sometimes the light sensor doesn't
return an event whent activated.

we also didn't need to hold the main lock while dispatching events
to clients.

Change-Id: I6c6386c040051ce205e3c0516c678e0603fa45e1
2012-06-27 17:07:54 -07:00
Mathias Agopian
24d72350f3 improve sensorservice dumpsys and increase the max sensor rate to 1 ms (1000Hz)
the increased maximum rate is needed for proper gyro integration, current gyro
parts can sample at up to 800Hz

Change-Id: Ide75f6d5bc7a0fdafeb2dafd72db39e7afb9e794
2012-06-27 17:07:54 -07:00
Jeff Brown
1e0b1e8491 Replace epoll() with poll() and rename PollLoop to Looper.
As part of this change, consolidated and cleaned up the Looper API so
that there are fewer distinctions between the NDK and non-NDK declarations
(no need for two callback types, etc.).

Removed the dependence on specific constants from sys/poll.h such as
POLLIN.  Instead looper.h defines events like LOOPER_EVENT_INPUT for
the events that it supports.  That should help make any future
under-the-hood implementation changes easier.

Fixed a couple of compiler warnings along the way.

Change-Id: I449a7ec780bf061bdd325452f823673e2b39b6ae
2012-06-27 17:07:53 -07:00
Mathias Agopian
c4a930d1d5 Report sensor events to BatteryStats service
Change-Id: I9b83aa709887aa658bc474391573f2d45b6c4eb2
2012-06-27 17:07:53 -07:00
Mathias Agopian
3560fb24b6 SensorService handles last known state properly
SensorService now correctly sends the last known
state of a sensor as soon as a new connection is made.
This fixes the issue where, for instance, an application
could wait a long time before getting the light or proximity
sensor initial state.

Change-Id: Ic41392f3626e26c4f15746c7e17c7ecd44bbb10b
2012-06-27 17:07:53 -07:00