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replicant-frameworks_native/services/sensorservice/SensorService.cpp
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

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/*
* 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 <math.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 <utils/Singleton.h>
#include <utils/String16.h>
#include <binder/BinderService.h>
#include <binder/IServiceManager.h>
#include <gui/ISensorServer.h>
#include <gui/ISensorEventConnection.h>
#include <hardware/sensors.h>
#include "SensorService.h"
#include "GravitySensor.h"
#include "LinearAccelerationSensor.h"
#include "RotationVectorSensor.h"
namespace android {
// ---------------------------------------------------------------------------
SensorService::SensorService()
: Thread(false),
mDump("android.permission.DUMP"),
mInitCheck(NO_INIT)
{
}
void SensorService::onFirstRef()
{
LOGD("nuSensorService starting...");
SensorDevice& dev(SensorDevice::getInstance());
if (dev.initCheck() == NO_ERROR) {
uint32_t virtualSensorsNeeds =
(1<<SENSOR_TYPE_GRAVITY) |
(1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
(1<<SENSOR_TYPE_ROTATION_VECTOR);
sensor_t const* list;
int count = dev.getSensorList(&list);
mLastEventSeen.setCapacity(count);
for (int i=0 ; i<count ; i++) {
registerSensor( new HardwareSensor(list[i]) );
switch (list[i].type) {
case SENSOR_TYPE_GRAVITY:
case SENSOR_TYPE_LINEAR_ACCELERATION:
case SENSOR_TYPE_ROTATION_VECTOR:
virtualSensorsNeeds &= ~(1<<list[i].type);
break;
}
}
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) {
registerVirtualSensor( new GravitySensor(list, count) );
}
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_LINEAR_ACCELERATION)) {
registerVirtualSensor( new LinearAccelerationSensor(list, count) );
}
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
registerVirtualSensor( new RotationVectorSensor(list, count) );
}
run("SensorService", PRIORITY_URGENT_DISPLAY);
mInitCheck = NO_ERROR;
}
}
void SensorService::registerSensor(SensorInterface* s)
{
sensors_event_t event;
memset(&event, 0, sizeof(event));
const Sensor sensor(s->getSensor());
// add to the sensor list (returned to clients)
mSensorList.add(sensor);
// add to our handle->SensorInterface mapping
mSensorMap.add(sensor.getHandle(), s);
// create an entry in the mLastEventSeen array
mLastEventSeen.add(sensor.getHandle(), event);
}
void SensorService::registerVirtualSensor(SensorInterface* s)
{
registerSensor(s);
mVirtualSensorList.add( s );
}
SensorService::~SensorService()
{
for (size_t i=0 ; i<mSensorMap.size() ; i++)
delete mSensorMap.valueAt(i);
}
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, "Sensor List:\n");
result.append(buffer);
for (size_t i=0 ; i<mSensorList.size() ; i++) {
const Sensor& s(mSensorList[i]);
const sensors_event_t& e(mLastEventSeen.valueFor(s.getHandle()));
snprintf(buffer, SIZE, "%-48s| %-32s | 0x%08x | maxRate=%7.2fHz | last=<%5.1f,%5.1f,%5.1f>\n",
s.getName().string(),
s.getVendor().string(),
s.getHandle(),
s.getMinDelay() ? (1000000.0f / s.getMinDelay()) : 0.0f,
e.data[0], e.data[1], e.data[2]);
result.append(buffer);
}
SensorDevice::getInstance().dump(result, buffer, SIZE);
snprintf(buffer, SIZE, "%d active connections\n",
mActiveConnections.size());
result.append(buffer);
snprintf(buffer, SIZE, "Active sensors:\n");
result.append(buffer);
for (size_t i=0 ; i<mActiveSensors.size() ; i++) {
int handle = mActiveSensors.keyAt(i);
snprintf(buffer, SIZE, "%s (handle=0x%08x, connections=%d)\n",
getSensorName(handle).string(),
handle,
mActiveSensors.valueAt(i)->getNumConnections());
result.append(buffer);
}
}
write(fd, result.string(), result.size());
return NO_ERROR;
}
bool SensorService::threadLoop()
{
LOGD("nuSensorService thread starting...");
const size_t numEventMax = 16 * (1 + mVirtualSensorList.size());
sensors_event_t buffer[numEventMax];
sensors_event_t scratch[numEventMax];
SensorDevice& device(SensorDevice::getInstance());
const size_t vcount = mVirtualSensorList.size();
ssize_t count;
do {
count = device.poll(buffer, numEventMax);
if (count<0) {
LOGE("sensor poll failed (%s)", strerror(-count));
break;
}
recordLastValue(buffer, count);
// handle virtual sensors
if (count && vcount) {
const DefaultKeyedVector<int, SensorInterface*> virtualSensors(
getActiveVirtualSensors());
const size_t activeVirtualSensorCount = virtualSensors.size();
if (activeVirtualSensorCount) {
size_t k = 0;
for (size_t i=0 ; i<size_t(count) ; i++) {
sensors_event_t const * const event = buffer;
for (size_t j=0 ; j<activeVirtualSensorCount ; j++) {
sensors_event_t out;
if (virtualSensors.valueAt(j)->process(&out, event[i])) {
buffer[count + k] = out;
k++;
}
}
}
if (k) {
// record the last synthesized values
recordLastValue(&buffer[count], k);
count += k;
// sort the buffer by time-stamps
sortEventBuffer(buffer, count);
}
}
}
// send our events to clients...
const SortedVector< wp<SensorEventConnection> > activeConnections(
getActiveConnections());
size_t numConnections = activeConnections.size();
for (size_t i=0 ; i<numConnections ; i++) {
sp<SensorEventConnection> connection(
activeConnections[i].promote());
if (connection != 0) {
connection->sendEvents(buffer, count, scratch);
}
}
} while (count >= 0 || Thread::exitPending());
LOGW("Exiting SensorService::threadLoop!");
return false;
}
void SensorService::recordLastValue(
sensors_event_t const * buffer, size_t count)
{
Mutex::Autolock _l(mLock);
// record the last event for each sensor
int32_t prev = buffer[0].sensor;
for (size_t i=1 ; i<count ; i++) {
// record the last event of each sensor type in this buffer
int32_t curr = buffer[i].sensor;
if (curr != prev) {
mLastEventSeen.editValueFor(prev) = buffer[i-1];
prev = curr;
}
}
mLastEventSeen.editValueFor(prev) = buffer[count-1];
}
void SensorService::sortEventBuffer(sensors_event_t* buffer, size_t count)
{
struct compar {
static int cmp(void const* lhs, void const* rhs) {
sensors_event_t const* l = static_cast<sensors_event_t const*>(lhs);
sensors_event_t const* r = static_cast<sensors_event_t const*>(rhs);
return r->timestamp - l->timestamp;
}
};
qsort(buffer, count, sizeof(sensors_event_t), compar::cmp);
}
SortedVector< wp<SensorService::SensorEventConnection> >
SensorService::getActiveConnections() const
{
Mutex::Autolock _l(mLock);
return mActiveConnections;
}
DefaultKeyedVector<int, SensorInterface*>
SensorService::getActiveVirtualSensors() const
{
Mutex::Autolock _l(mLock);
return mActiveVirtualSensors;
}
String8 SensorService::getSensorName(int handle) const {
size_t count = mSensorList.size();
for (size_t i=0 ; i<count ; i++) {
const Sensor& sensor(mSensorList[i]);
if (sensor.getHandle() == handle) {
return sensor.getName();
}
}
String8 result("unknown");
return result;
}
Vector<Sensor> SensorService::getSensorList()
{
return mSensorList;
}
sp<ISensorEventConnection> SensorService::createSensorEventConnection()
{
sp<SensorEventConnection> result(new SensorEventConnection(this));
return result;
}
void SensorService::cleanupConnection(const wp<SensorEventConnection>& connection)
{
Mutex::Autolock _l(mLock);
size_t size = mActiveSensors.size();
for (size_t i=0 ; i<size ; ) {
SensorRecord* rec = mActiveSensors.valueAt(i);
if (rec && rec->removeConnection(connection)) {
int handle = mActiveSensors.keyAt(i);
SensorInterface* sensor = mSensorMap.valueFor( handle );
if (sensor) {
sensor->activate(connection.unsafe_get(), false);
}
mActiveSensors.removeItemsAt(i, 1);
mActiveVirtualSensors.removeItem(handle);
delete rec;
size--;
} else {
i++;
}
}
mActiveConnections.remove(connection);
}
status_t SensorService::enable(const sp<SensorEventConnection>& connection,
int handle)
{
if (mInitCheck != NO_ERROR)
return mInitCheck;
Mutex::Autolock _l(mLock);
SensorInterface* sensor = mSensorMap.valueFor(handle);
status_t err = sensor ? sensor->activate(connection.get(), true) : status_t(BAD_VALUE);
if (err == NO_ERROR) {
SensorRecord* rec = mActiveSensors.valueFor(handle);
if (rec == 0) {
rec = new SensorRecord(connection);
mActiveSensors.add(handle, rec);
if (sensor->isVirtual()) {
mActiveVirtualSensors.add(handle, sensor);
}
} else {
if (rec->addConnection(connection)) {
// this sensor is already activated, but we are adding a
// connection that uses it. Immediately send down the last
// known value of the requested sensor.
sensors_event_t scratch;
sensors_event_t& event(mLastEventSeen.editValueFor(handle));
if (event.version == sizeof(sensors_event_t)) {
connection->sendEvents(&event, 1);
}
}
}
if (err == NO_ERROR) {
// connection now active
if (connection->addSensor(handle)) {
// the sensor was added (which means it wasn't already there)
// so, see if this connection becomes active
if (mActiveConnections.indexOf(connection) < 0) {
mActiveConnections.add(connection);
}
}
}
}
return err;
}
status_t SensorService::disable(const sp<SensorEventConnection>& connection,
int handle)
{
if (mInitCheck != NO_ERROR)
return mInitCheck;
status_t err = NO_ERROR;
Mutex::Autolock _l(mLock);
SensorRecord* rec = mActiveSensors.valueFor(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);
mActiveVirtualSensors.removeItem(handle);
delete rec;
}
SensorInterface* sensor = mSensorMap.valueFor(handle);
err = sensor ? sensor->activate(connection.get(), false) : status_t(BAD_VALUE);
}
return err;
}
status_t SensorService::setEventRate(const sp<SensorEventConnection>& connection,
int handle, nsecs_t ns)
{
if (mInitCheck != NO_ERROR)
return mInitCheck;
if (ns < 0)
return BAD_VALUE;
if (ns < MINIMUM_EVENTS_PERIOD)
ns = MINIMUM_EVENTS_PERIOD;
SensorInterface* sensor = mSensorMap.valueFor(handle);
if (!sensor) return BAD_VALUE;
return sensor->setDelay(connection.get(), handle, ns);
}
// ---------------------------------------------------------------------------
SensorService::SensorRecord::SensorRecord(
const sp<SensorEventConnection>& connection)
{
mConnections.add(connection);
}
bool SensorService::SensorRecord::addConnection(
const sp<SensorEventConnection>& connection)
{
if (mConnections.indexOf(connection) < 0) {
mConnections.add(connection);
return true;
}
return false;
}
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()
{
}
bool SensorService::SensorEventConnection::addSensor(int32_t handle) {
Mutex::Autolock _l(mConnectionLock);
if (mSensorInfo.indexOf(handle) <= 0) {
mSensorInfo.add(handle);
return true;
}
return false;
}
bool SensorService::SensorEventConnection::removeSensor(int32_t handle) {
Mutex::Autolock _l(mConnectionLock);
if (mSensorInfo.remove(handle) >= 0) {
return true;
}
return false;
}
bool SensorService::SensorEventConnection::hasSensor(int32_t handle) const {
Mutex::Autolock _l(mConnectionLock);
return mSensorInfo.indexOf(handle) >= 0;
}
bool SensorService::SensorEventConnection::hasAnySensor() const {
Mutex::Autolock _l(mConnectionLock);
return mSensorInfo.size() ? true : false;
}
status_t SensorService::SensorEventConnection::sendEvents(
sensors_event_t const* buffer, size_t numEvents,
sensors_event_t* scratch)
{
// filter out events not for this connection
size_t count = 0;
if (scratch) {
Mutex::Autolock _l(mConnectionLock);
size_t i=0;
while (i<numEvents) {
const int32_t curr = buffer[i].sensor;
if (mSensorInfo.indexOf(curr) >= 0) {
do {
scratch[count++] = buffer[i++];
} while ((i<numEvents) && (buffer[i].sensor == curr));
} else {
i++;
}
}
} else {
scratch = const_cast<sensors_event_t *>(buffer);
count = numEvents;
}
if (count == 0)
return 0;
ssize_t size = mChannel->write(scratch, 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 ? status_t(size) : status_t(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->setEventRate(this, handle, ns);
}
// ---------------------------------------------------------------------------
}; // namespace android
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