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replicant-frameworks_native/services/sensorservice/SensorService.cpp
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

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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 <cutils/properties.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 <binder/PermissionCache.h>
#include <gui/ISensorServer.h>
#include <gui/ISensorEventConnection.h>
#include <gui/SensorEventQueue.h>
#include <hardware/sensors.h>
#include "CorrectedGyroSensor.h"
#include "GravitySensor.h"
#include "LinearAccelerationSensor.h"
#include "OrientationSensor.h"
#include "RotationVectorSensor.h"
#include "SensorFusion.h"
#include "SensorService.h"
namespace android {
// ---------------------------------------------------------------------------
/*
* Notes:
*
* - what about a gyro-corrected magnetic-field sensor?
* - run mag sensor from time to time to force calibration
* - gravity sensor length is wrong (=> drift in linear-acc sensor)
*
*/
SensorService::SensorService()
: mInitCheck(NO_INIT)
{
}
void SensorService::onFirstRef()
{
ALOGD("nuSensorService starting...");
SensorDevice& dev(SensorDevice::getInstance());
if (dev.initCheck() == NO_ERROR) {
sensor_t const* list;
ssize_t count = dev.getSensorList(&list);
if (count > 0) {
ssize_t orientationIndex = -1;
bool hasGyro = false;
uint32_t virtualSensorsNeeds =
(1<<SENSOR_TYPE_GRAVITY) |
(1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
(1<<SENSOR_TYPE_ROTATION_VECTOR);
mLastEventSeen.setCapacity(count);
for (ssize_t i=0 ; i<count ; i++) {
registerSensor( new HardwareSensor(list[i]) );
switch (list[i].type) {
case SENSOR_TYPE_ORIENTATION:
orientationIndex = i;
break;
case SENSOR_TYPE_GYROSCOPE:
hasGyro = true;
break;
case SENSOR_TYPE_GRAVITY:
case SENSOR_TYPE_LINEAR_ACCELERATION:
case SENSOR_TYPE_ROTATION_VECTOR:
virtualSensorsNeeds &= ~(1<<list[i].type);
break;
}
}
// it's safe to instantiate the SensorFusion object here
// (it wants to be instantiated after h/w sensors have been
// 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) {
// virtual debugging sensors are not added to mUserSensorList
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++) {
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;
}
}
}
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);
}
static const String16 sDump("android.permission.DUMP");
status_t SensorService::dump(int fd, const Vector<String16>& args)
{
const size_t SIZE = 1024;
char buffer[SIZE];
String8 result;
if (!PermissionCache::checkCallingPermission(sDump)) {
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);
}
SensorFusion::getInstance().dump(result, buffer, SIZE);
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()
{
ALOGD("nuSensorService thread starting...");
const size_t numEventMax = 16;
const size_t minBufferSize = numEventMax + numEventMax * mVirtualSensorList.size();
sensors_event_t buffer[minBufferSize];
sensors_event_t scratch[minBufferSize];
SensorDevice& device(SensorDevice::getInstance());
const size_t vcount = mVirtualSensorList.size();
ssize_t count;
do {
count = device.poll(buffer, numEventMax);
if (count<0) {
ALOGE("sensor poll failed (%s)", strerror(-count));
break;
}
recordLastValue(buffer, count);
// handle virtual sensors
if (count && vcount) {
sensors_event_t const * const event = buffer;
const DefaultKeyedVector<int, SensorInterface*> virtualSensors(
getActiveVirtualSensors());
const size_t activeVirtualSensorCount = virtualSensors.size();
if (activeVirtualSensorCount) {
size_t k = 0;
SensorFusion& fusion(SensorFusion::getInstance());
if (fusion.isEnabled()) {
for (size_t i=0 ; i<size_t(count) ; i++) {
fusion.process(event[i]);
}
}
for (size_t i=0 ; i<size_t(count) && k<minBufferSize ; i++) {
for (size_t j=0 ; j<activeVirtualSensorCount ; j++) {
if (count + k >= minBufferSize) {
ALOGE("buffer too small to hold all events: "
"count=%u, k=%u, size=%u",
count, k, minBufferSize);
break;
}
sensors_event_t out;
SensorInterface* si = virtualSensors.valueAt(j);
if (si->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());
ALOGW("Exiting SensorService::threadLoop => aborting...");
abort();
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 l->timestamp - r->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 = mUserSensorList.size();
for (size_t i=0 ; i<count ; i++) {
const Sensor& sensor(mUserSensorList[i]);
if (sensor.getHandle() == handle) {
return sensor.getName();
}
}
String8 result("unknown");
return result;
}
Vector<Sensor> SensorService::getSensorList()
{
char value[PROPERTY_VALUE_MAX];
property_get("debug.sensors", value, "0");
if (atoi(value)) {
return mUserSensorListDebug;
}
return mUserSensorList;
}
sp<ISensorEventConnection> SensorService::createSensorEventConnection()
{
sp<SensorEventConnection> result(new SensorEventConnection(this));
return result;
}
void SensorService::cleanupConnection(SensorEventConnection* c)
{
Mutex::Autolock _l(mLock);
const wp<SensorEventConnection> connection(c);
size_t size = mActiveSensors.size();
ALOGD_IF(DEBUG_CONNECTIONS, "%d active sensors", size);
for (size_t i=0 ; i<size ; ) {
int handle = mActiveSensors.keyAt(i);
if (c->hasSensor(handle)) {
ALOGD_IF(DEBUG_CONNECTIONS, "%i: disabling handle=0x%08x", i, handle);
SensorInterface* sensor = mSensorMap.valueFor( handle );
ALOGE_IF(!sensor, "mSensorMap[handle=0x%08x] is null!", handle);
if (sensor) {
sensor->activate(c, false);
}
}
SensorRecord* rec = mActiveSensors.valueAt(i);
ALOGE_IF(!rec, "mActiveSensors[%d] is null (handle=0x%08x)!", i, handle);
ALOGD_IF(DEBUG_CONNECTIONS,
"removing connection %p for sensor[%d].handle=0x%08x",
c, i, handle);
if (rec && rec->removeConnection(connection)) {
ALOGD_IF(DEBUG_CONNECTIONS, "... and it was the last connection");
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 if it's not a
// "continuous" sensor.
if (sensor->getSensor().getMinDelay() == 0) {
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);
}
} else {
ALOGW("sensor %08x already enabled in connection %p (ignoring)",
handle, connection.get());
}
}
}
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;
SensorInterface* sensor = mSensorMap.valueFor(handle);
if (!sensor)
return BAD_VALUE;
if (ns < 0)
return BAD_VALUE;
nsecs_t minDelayNs = sensor->getSensor().getMinDelayNs();
if (ns < minDelayNs) {
ns = minDelayNs;
}
if (ns < MINIMUM_EVENTS_PERIOD)
ns = MINIMUM_EVENTS_PERIOD;
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 BitTube())
{
}
SensorService::SensorEventConnection::~SensorEventConnection()
{
ALOGD_IF(DEBUG_CONNECTIONS, "~SensorEventConnection(%p)", this);
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;
}
// NOTE: ASensorEvent and sensors_event_t are the same type
ssize_t size = SensorEventQueue::write(mChannel,
reinterpret_cast<ASensorEvent const*>(scratch), count);
if (size == -EAGAIN) {
// the destination doesn't accept events anymore, it's probably
// full. For now, we just drop the events on the floor.
//ALOGW("dropping %d events on the floor", count);
return size;
}
return size < 0 ? status_t(size) : status_t(NO_ERROR);
}
sp<BitTube> 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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