625 lines
20 KiB
C++
625 lines
20 KiB
C++
/*
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* Copyright (C) 2010 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <stdint.h>
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#include <math.h>
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#include <sys/types.h>
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#include <cutils/properties.h>
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#include <utils/SortedVector.h>
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#include <utils/KeyedVector.h>
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#include <utils/threads.h>
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#include <utils/Atomic.h>
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#include <utils/Errors.h>
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#include <utils/RefBase.h>
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#include <utils/Singleton.h>
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#include <utils/String16.h>
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#include <binder/BinderService.h>
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#include <binder/IServiceManager.h>
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#include <binder/PermissionCache.h>
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#include <gui/ISensorServer.h>
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#include <gui/ISensorEventConnection.h>
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#include <hardware/sensors.h>
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#include "CorrectedGyroSensor.h"
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#include "GravitySensor.h"
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#include "LinearAccelerationSensor.h"
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#include "OrientationSensor.h"
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#include "RotationVectorSensor.h"
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#include "SensorFusion.h"
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#include "SensorService.h"
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namespace android {
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// ---------------------------------------------------------------------------
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/*
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* Notes:
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*
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* - what about a gyro-corrected magnetic-field sensor?
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* - run mag sensor from time to time to force calibration
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* - gravity sensor length is wrong (=> drift in linear-acc sensor)
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*
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*/
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SensorService::SensorService()
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: mInitCheck(NO_INIT)
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{
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}
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void SensorService::onFirstRef()
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{
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LOGD("nuSensorService starting...");
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SensorDevice& dev(SensorDevice::getInstance());
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if (dev.initCheck() == NO_ERROR) {
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sensor_t const* list;
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ssize_t count = dev.getSensorList(&list);
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if (count > 0) {
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ssize_t orientationIndex = -1;
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bool hasGyro = false;
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uint32_t virtualSensorsNeeds =
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(1<<SENSOR_TYPE_GRAVITY) |
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(1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
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(1<<SENSOR_TYPE_ROTATION_VECTOR);
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mLastEventSeen.setCapacity(count);
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for (ssize_t i=0 ; i<count ; i++) {
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registerSensor( new HardwareSensor(list[i]) );
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switch (list[i].type) {
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case SENSOR_TYPE_ORIENTATION:
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orientationIndex = i;
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break;
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case SENSOR_TYPE_GYROSCOPE:
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hasGyro = true;
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break;
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case SENSOR_TYPE_GRAVITY:
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case SENSOR_TYPE_LINEAR_ACCELERATION:
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case SENSOR_TYPE_ROTATION_VECTOR:
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virtualSensorsNeeds &= ~(1<<list[i].type);
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break;
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}
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}
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// it's safe to instantiate the SensorFusion object here
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// (it wants to be instantiated after h/w sensors have been
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// registered)
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const SensorFusion& fusion(SensorFusion::getInstance());
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if (hasGyro) {
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// Always instantiate Android's virtual sensors. Since they are
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// instantiated behind sensors from the HAL, they won't
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// interfere with applications, unless they looks specifically
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// for them (by name).
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registerVirtualSensor( new RotationVectorSensor() );
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registerVirtualSensor( new GravitySensor(list, count) );
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registerVirtualSensor( new LinearAccelerationSensor(list, count) );
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// these are optional
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registerVirtualSensor( new OrientationSensor() );
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registerVirtualSensor( new CorrectedGyroSensor(list, count) );
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// virtual debugging sensors...
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char value[PROPERTY_VALUE_MAX];
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property_get("debug.sensors", value, "0");
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if (atoi(value)) {
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registerVirtualSensor( new GyroDriftSensor() );
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}
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}
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// build the sensor list returned to users
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mUserSensorList = mSensorList;
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if (hasGyro &&
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(virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR))) {
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// if we have the fancy sensor fusion, and it's not provided by the
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// HAL, use our own (fused) orientation sensor by removing the
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// HAL supplied one form the user list.
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if (orientationIndex >= 0) {
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mUserSensorList.removeItemsAt(orientationIndex);
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}
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}
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run("SensorService", PRIORITY_URGENT_DISPLAY);
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mInitCheck = NO_ERROR;
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}
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}
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}
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void SensorService::registerSensor(SensorInterface* s)
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{
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sensors_event_t event;
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memset(&event, 0, sizeof(event));
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const Sensor sensor(s->getSensor());
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// add to the sensor list (returned to clients)
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mSensorList.add(sensor);
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// add to our handle->SensorInterface mapping
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mSensorMap.add(sensor.getHandle(), s);
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// create an entry in the mLastEventSeen array
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mLastEventSeen.add(sensor.getHandle(), event);
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}
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void SensorService::registerVirtualSensor(SensorInterface* s)
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{
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registerSensor(s);
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mVirtualSensorList.add( s );
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}
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SensorService::~SensorService()
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{
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for (size_t i=0 ; i<mSensorMap.size() ; i++)
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delete mSensorMap.valueAt(i);
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}
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static const String16 sDump("android.permission.DUMP");
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status_t SensorService::dump(int fd, const Vector<String16>& args)
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{
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const size_t SIZE = 1024;
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char buffer[SIZE];
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String8 result;
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if (!PermissionCache::checkCallingPermission(sDump)) {
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snprintf(buffer, SIZE, "Permission Denial: "
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"can't dump SurfaceFlinger from pid=%d, uid=%d\n",
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IPCThreadState::self()->getCallingPid(),
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IPCThreadState::self()->getCallingUid());
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result.append(buffer);
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} else {
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Mutex::Autolock _l(mLock);
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snprintf(buffer, SIZE, "Sensor List:\n");
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result.append(buffer);
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for (size_t i=0 ; i<mSensorList.size() ; i++) {
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const Sensor& s(mSensorList[i]);
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const sensors_event_t& e(mLastEventSeen.valueFor(s.getHandle()));
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snprintf(buffer, SIZE,
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"%-48s| %-32s | 0x%08x | maxRate=%7.2fHz | "
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"last=<%5.1f,%5.1f,%5.1f>\n",
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s.getName().string(),
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s.getVendor().string(),
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s.getHandle(),
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s.getMinDelay() ? (1000000.0f / s.getMinDelay()) : 0.0f,
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e.data[0], e.data[1], e.data[2]);
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result.append(buffer);
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}
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SensorFusion::getInstance().dump(result, buffer, SIZE);
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SensorDevice::getInstance().dump(result, buffer, SIZE);
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snprintf(buffer, SIZE, "%d active connections\n",
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mActiveConnections.size());
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result.append(buffer);
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snprintf(buffer, SIZE, "Active sensors:\n");
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result.append(buffer);
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for (size_t i=0 ; i<mActiveSensors.size() ; i++) {
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int handle = mActiveSensors.keyAt(i);
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snprintf(buffer, SIZE, "%s (handle=0x%08x, connections=%d)\n",
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getSensorName(handle).string(),
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handle,
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mActiveSensors.valueAt(i)->getNumConnections());
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result.append(buffer);
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}
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}
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write(fd, result.string(), result.size());
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return NO_ERROR;
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}
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bool SensorService::threadLoop()
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{
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LOGD("nuSensorService thread starting...");
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const size_t numEventMax = 16 * (1 + mVirtualSensorList.size());
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sensors_event_t buffer[numEventMax];
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sensors_event_t scratch[numEventMax];
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SensorDevice& device(SensorDevice::getInstance());
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const size_t vcount = mVirtualSensorList.size();
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ssize_t count;
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do {
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count = device.poll(buffer, numEventMax);
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if (count<0) {
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LOGE("sensor poll failed (%s)", strerror(-count));
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break;
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}
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recordLastValue(buffer, count);
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// handle virtual sensors
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if (count && vcount) {
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sensors_event_t const * const event = buffer;
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const DefaultKeyedVector<int, SensorInterface*> virtualSensors(
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getActiveVirtualSensors());
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const size_t activeVirtualSensorCount = virtualSensors.size();
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if (activeVirtualSensorCount) {
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size_t k = 0;
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SensorFusion& fusion(SensorFusion::getInstance());
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if (fusion.isEnabled()) {
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for (size_t i=0 ; i<size_t(count) ; i++) {
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fusion.process(event[i]);
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}
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}
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for (size_t i=0 ; i<size_t(count) ; i++) {
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for (size_t j=0 ; j<activeVirtualSensorCount ; j++) {
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sensors_event_t out;
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if (virtualSensors.valueAt(j)->process(&out, event[i])) {
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buffer[count + k] = out;
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k++;
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}
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}
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}
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if (k) {
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// record the last synthesized values
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recordLastValue(&buffer[count], k);
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count += k;
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// sort the buffer by time-stamps
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sortEventBuffer(buffer, count);
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}
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}
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}
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// send our events to clients...
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const SortedVector< wp<SensorEventConnection> > activeConnections(
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getActiveConnections());
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size_t numConnections = activeConnections.size();
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for (size_t i=0 ; i<numConnections ; i++) {
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sp<SensorEventConnection> connection(
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activeConnections[i].promote());
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if (connection != 0) {
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connection->sendEvents(buffer, count, scratch);
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}
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}
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} while (count >= 0 || Thread::exitPending());
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LOGW("Exiting SensorService::threadLoop!");
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return false;
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}
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void SensorService::recordLastValue(
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sensors_event_t const * buffer, size_t count)
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{
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Mutex::Autolock _l(mLock);
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// record the last event for each sensor
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int32_t prev = buffer[0].sensor;
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for (size_t i=1 ; i<count ; i++) {
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// record the last event of each sensor type in this buffer
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int32_t curr = buffer[i].sensor;
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if (curr != prev) {
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mLastEventSeen.editValueFor(prev) = buffer[i-1];
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prev = curr;
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}
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}
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mLastEventSeen.editValueFor(prev) = buffer[count-1];
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}
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void SensorService::sortEventBuffer(sensors_event_t* buffer, size_t count)
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{
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struct compar {
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static int cmp(void const* lhs, void const* rhs) {
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sensors_event_t const* l = static_cast<sensors_event_t const*>(lhs);
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sensors_event_t const* r = static_cast<sensors_event_t const*>(rhs);
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return r->timestamp - l->timestamp;
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}
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};
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qsort(buffer, count, sizeof(sensors_event_t), compar::cmp);
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}
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SortedVector< wp<SensorService::SensorEventConnection> >
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SensorService::getActiveConnections() const
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{
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Mutex::Autolock _l(mLock);
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return mActiveConnections;
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}
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DefaultKeyedVector<int, SensorInterface*>
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SensorService::getActiveVirtualSensors() const
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{
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Mutex::Autolock _l(mLock);
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return mActiveVirtualSensors;
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}
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String8 SensorService::getSensorName(int handle) const {
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size_t count = mUserSensorList.size();
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for (size_t i=0 ; i<count ; i++) {
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const Sensor& sensor(mUserSensorList[i]);
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if (sensor.getHandle() == handle) {
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return sensor.getName();
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}
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}
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String8 result("unknown");
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return result;
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}
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Vector<Sensor> SensorService::getSensorList()
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{
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return mUserSensorList;
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}
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sp<ISensorEventConnection> SensorService::createSensorEventConnection()
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{
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sp<SensorEventConnection> result(new SensorEventConnection(this));
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return result;
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}
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void SensorService::cleanupConnection(SensorEventConnection* c)
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{
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Mutex::Autolock _l(mLock);
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const wp<SensorEventConnection> connection(c);
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size_t size = mActiveSensors.size();
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LOGD_IF(DEBUG_CONNECTIONS, "%d active sensors", size);
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for (size_t i=0 ; i<size ; ) {
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int handle = mActiveSensors.keyAt(i);
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if (c->hasSensor(handle)) {
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LOGD_IF(DEBUG_CONNECTIONS, "%i: disabling handle=0x%08x", i, handle);
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SensorInterface* sensor = mSensorMap.valueFor( handle );
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LOGE_IF(!sensor, "mSensorMap[handle=0x%08x] is null!", handle);
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if (sensor) {
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sensor->activate(c, false);
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}
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}
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SensorRecord* rec = mActiveSensors.valueAt(i);
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LOGE_IF(!rec, "mActiveSensors[%d] is null (handle=0x%08x)!", i, handle);
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LOGD_IF(DEBUG_CONNECTIONS,
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"removing connection %p for sensor[%d].handle=0x%08x",
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c, i, handle);
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if (rec && rec->removeConnection(connection)) {
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LOGD_IF(DEBUG_CONNECTIONS, "... and it was the last connection");
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mActiveSensors.removeItemsAt(i, 1);
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mActiveVirtualSensors.removeItem(handle);
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delete rec;
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size--;
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} else {
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i++;
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}
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}
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mActiveConnections.remove(connection);
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}
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status_t SensorService::enable(const sp<SensorEventConnection>& connection,
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int handle)
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{
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if (mInitCheck != NO_ERROR)
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return mInitCheck;
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Mutex::Autolock _l(mLock);
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SensorInterface* sensor = mSensorMap.valueFor(handle);
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status_t err = sensor ? sensor->activate(connection.get(), true) : status_t(BAD_VALUE);
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if (err == NO_ERROR) {
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SensorRecord* rec = mActiveSensors.valueFor(handle);
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if (rec == 0) {
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rec = new SensorRecord(connection);
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mActiveSensors.add(handle, rec);
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if (sensor->isVirtual()) {
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mActiveVirtualSensors.add(handle, sensor);
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}
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} else {
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if (rec->addConnection(connection)) {
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// this sensor is already activated, but we are adding a
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// connection that uses it. Immediately send down the last
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// known value of the requested sensor if it's not a
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// "continuous" sensor.
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if (sensor->getSensor().getMinDelay() == 0) {
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sensors_event_t scratch;
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sensors_event_t& event(mLastEventSeen.editValueFor(handle));
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if (event.version == sizeof(sensors_event_t)) {
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connection->sendEvents(&event, 1);
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}
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}
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}
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}
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if (err == NO_ERROR) {
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// connection now active
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if (connection->addSensor(handle)) {
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// the sensor was added (which means it wasn't already there)
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// so, see if this connection becomes active
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if (mActiveConnections.indexOf(connection) < 0) {
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mActiveConnections.add(connection);
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}
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}
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}
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}
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return err;
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}
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status_t SensorService::disable(const sp<SensorEventConnection>& connection,
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int handle)
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{
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if (mInitCheck != NO_ERROR)
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return mInitCheck;
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status_t err = NO_ERROR;
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Mutex::Autolock _l(mLock);
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SensorRecord* rec = mActiveSensors.valueFor(handle);
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if (rec) {
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// see if this connection becomes inactive
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connection->removeSensor(handle);
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if (connection->hasAnySensor() == false) {
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mActiveConnections.remove(connection);
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}
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// see if this sensor becomes inactive
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if (rec->removeConnection(connection)) {
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mActiveSensors.removeItem(handle);
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mActiveVirtualSensors.removeItem(handle);
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delete rec;
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}
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SensorInterface* sensor = mSensorMap.valueFor(handle);
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err = sensor ? sensor->activate(connection.get(), false) : status_t(BAD_VALUE);
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}
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return err;
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}
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status_t SensorService::setEventRate(const sp<SensorEventConnection>& connection,
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int handle, nsecs_t ns)
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{
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if (mInitCheck != NO_ERROR)
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return mInitCheck;
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if (ns < 0)
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return BAD_VALUE;
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if (ns < MINIMUM_EVENTS_PERIOD)
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ns = MINIMUM_EVENTS_PERIOD;
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SensorInterface* sensor = mSensorMap.valueFor(handle);
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if (!sensor) return BAD_VALUE;
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return sensor->setDelay(connection.get(), handle, ns);
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}
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// ---------------------------------------------------------------------------
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SensorService::SensorRecord::SensorRecord(
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const sp<SensorEventConnection>& connection)
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{
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mConnections.add(connection);
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}
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bool SensorService::SensorRecord::addConnection(
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const sp<SensorEventConnection>& connection)
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{
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if (mConnections.indexOf(connection) < 0) {
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mConnections.add(connection);
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return true;
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}
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return false;
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}
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bool SensorService::SensorRecord::removeConnection(
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const wp<SensorEventConnection>& connection)
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{
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ssize_t index = mConnections.indexOf(connection);
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if (index >= 0) {
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mConnections.removeItemsAt(index, 1);
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}
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return mConnections.size() ? false : true;
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}
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// ---------------------------------------------------------------------------
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SensorService::SensorEventConnection::SensorEventConnection(
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const sp<SensorService>& service)
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: mService(service), mChannel(new SensorChannel())
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{
|
|
}
|
|
|
|
SensorService::SensorEventConnection::~SensorEventConnection()
|
|
{
|
|
LOGD_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;
|
|
}
|
|
|
|
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
|
|
|