410 lines
12 KiB
C
410 lines
12 KiB
C
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/*
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* Copyright (C) 2009 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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/* this implements a sensors hardware library for the Android emulator.
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* the following code should be built as a shared library that will be
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* placed into /system/lib/hw/sensors.goldfish.so
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*
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* it will be loaded by the code in hardware/libhardware/hardware.c
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* which is itself called from com_android_server_SensorService.cpp
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*/
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#define SENSORS_SERVICE_NAME "sensors"
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#define LOG_TAG "Dummy_Sensors"
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <string.h>
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#include <log/log.h>
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#include <cutils/sockets.h>
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#include <hardware/sensors.h>
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#include <pthread.h>
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#if 0
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#define D(...) ALOGD(__VA_ARGS__)
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#else
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#define D(...) ((void)0)
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#endif
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#define E(...) ALOGE(__VA_ARGS__)
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/** SENSOR IDS AND NAMES
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**/
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#define MAX_NUM_SENSORS 8
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#define SUPPORTED_SENSORS ((1<<MAX_NUM_SENSORS)-1)
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#define ID_BASE SENSORS_HANDLE_BASE
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#define ID_ACCELERATION (ID_BASE+0)
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#define ID_MAGNETIC_FIELD (ID_BASE+1)
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#define ID_ORIENTATION (ID_BASE+2)
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#define ID_TEMPERATURE (ID_BASE+3)
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#define ID_PROXIMITY (ID_BASE+4)
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#define ID_LIGHT (ID_BASE+5)
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#define ID_PRESSURE (ID_BASE+6)
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#define ID_HUMIDITY (ID_BASE+7)
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#define SENSORS_ACCELERATION (1 << ID_ACCELERATION)
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#define SENSORS_MAGNETIC_FIELD (1 << ID_MAGNETIC_FIELD)
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#define SENSORS_ORIENTATION (1 << ID_ORIENTATION)
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#define SENSORS_TEMPERATURE (1 << ID_TEMPERATURE)
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#define SENSORS_PROXIMITY (1 << ID_PROXIMITY)
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#define SENSORS_LIGHT (1 << ID_LIGHT)
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#define SENSORS_PRESSURE (1 << ID_PRESSURE)
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#define SENSORS_HUMIDITY (1 << ID_HUMIDITY)
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#define ID_CHECK(x) ((unsigned)((x) - ID_BASE) < MAX_NUM_SENSORS)
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#define SENSORS_LIST \
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SENSOR_(ACCELERATION,"acceleration") \
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SENSOR_(MAGNETIC_FIELD,"magnetic-field") \
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SENSOR_(ORIENTATION,"orientation") \
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SENSOR_(TEMPERATURE,"temperature") \
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SENSOR_(PROXIMITY,"proximity") \
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SENSOR_(LIGHT, "light") \
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SENSOR_(PRESSURE, "pressure") \
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SENSOR_(HUMIDITY, "humidity")
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static const struct {
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const char* name;
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int id; } _sensorIds[MAX_NUM_SENSORS] =
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{
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#define SENSOR_(x,y) { y, ID_##x },
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SENSORS_LIST
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#undef SENSOR_
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};
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static const char*
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_sensorIdToName( int id )
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{
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int nn;
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for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
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if (id == _sensorIds[nn].id)
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return _sensorIds[nn].name;
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return "<UNKNOWN>";
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}
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static int
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_sensorIdFromName( const char* name )
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{
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int nn;
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if (name == NULL)
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return -1;
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for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
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if (!strcmp(name, _sensorIds[nn].name))
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return _sensorIds[nn].id;
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return -1;
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}
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/* return the current time in nanoseconds */
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static int64_t now_ns(void) {
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec;
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}
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/** SENSORS POLL DEVICE
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**
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** This one is used to read sensor data from the hardware.
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** We implement this by simply reading the data from the
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** emulator through the QEMUD channel.
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**/
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typedef struct SensorDevice {
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struct sensors_poll_device_1 device;
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sensors_event_t sensors[MAX_NUM_SENSORS];
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uint32_t pendingSensors;
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int64_t timeStart;
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int64_t timeOffset;
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uint32_t active_sensors;
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int fd;
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pthread_mutex_t lock;
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} SensorDevice;
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/* Grab the file descriptor to the emulator's sensors service pipe.
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* This function returns a file descriptor on success, or -errno on
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* failure, and assumes the SensorDevice instance's lock is held.
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*
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* This is needed because set_delay(), poll() and activate() can be called
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* from different threads, and poll() is blocking.
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*
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* 1) On a first thread, de-activate() all sensors first, then call poll(),
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* which results in the thread blocking.
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*
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* 2) On a second thread, slightly later, call set_delay() then activate()
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* to enable the acceleration sensor.
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*
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* The system expects this to unblock the first thread which will receive
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* new sensor events after the activate() call in 2).
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*
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* This cannot work if both threads don't use the same connection.
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*
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* TODO(digit): This protocol is brittle, implement another control channel
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* for set_delay()/activate()/batch() when supporting HAL 1.3
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*/
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static int sensor_device_get_fd_locked(SensorDevice* dev) {
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/* Create connection to service on first call */
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if (dev->fd < 0) {
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int ret = -errno;
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E("%s: Could not open connection to service: %s", __FUNCTION__,
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strerror(-ret));
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return ret;
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}
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return dev->fd;
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}
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/* Pick up one pending sensor event. On success, this returns the sensor
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* id, and sets |*event| accordingly. On failure, i.e. if there are no
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* pending events, return -EINVAL.
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*
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* Note: The device's lock must be acquired.
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*/
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static int sensor_device_pick_pending_event_locked(SensorDevice* d,
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sensors_event_t* event)
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{
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uint32_t mask = SUPPORTED_SENSORS & d->pendingSensors;
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if (mask) {
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uint32_t i = 31 - __builtin_clz(mask);
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pthread_mutex_lock(&d->lock);
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d->pendingSensors &= ~(1U << i);
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*event = d->sensors[i];
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event->sensor = i;
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event->version = sizeof(*event);
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pthread_mutex_unlock(&d->lock);
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D("%s: %d [%f, %f, %f]", __FUNCTION__,
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i,
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event->data[0],
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event->data[1],
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event->data[2]);
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return i;
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}
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E("No sensor to return!!! pendingSensors=0x%08x", d->pendingSensors);
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// we may end-up in a busy loop, slow things down, just in case.
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usleep(1000);
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return -EINVAL;
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}
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static int sensor_device_close(struct hw_device_t* dev0)
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{
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SensorDevice* dev = (void*)dev0;
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// Assume that there are no other threads blocked on poll()
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if (dev->fd >= 0) {
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close(dev->fd);
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dev->fd = -1;
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}
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pthread_mutex_destroy(&dev->lock);
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free(dev);
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return 0;
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}
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/* Return an array of sensor data. This function blocks until there is sensor
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* related events to report. On success, it will write the events into the
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* |data| array, which contains |count| items. The function returns the number
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* of events written into the array, which shall never be greater than |count|.
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* On error, return -errno code.
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*
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* Note that according to the sensor HAL [1], it shall never return 0!
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*
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* [1] http://source.android.com/devices/sensors/hal-interface.html
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*/
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static int sensor_device_poll(struct sensors_poll_device_t *dev0,
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sensors_event_t* data, int count)
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{
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return -EIO;
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}
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static int sensor_device_activate(struct sensors_poll_device_t *dev0,
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int handle,
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int enabled)
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{
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SensorDevice* dev = (void*)dev0;
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D("%s: handle=%s (%d) enabled=%d", __FUNCTION__,
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_sensorIdToName(handle), handle, enabled);
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/* Sanity check */
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if (!ID_CHECK(handle)) {
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E("%s: bad handle ID", __FUNCTION__);
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return -EINVAL;
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}
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/* Exit early if sensor is already enabled/disabled. */
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uint32_t mask = (1U << handle);
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uint32_t sensors = enabled ? mask : 0;
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pthread_mutex_lock(&dev->lock);
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uint32_t active = dev->active_sensors;
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uint32_t new_sensors = (active & ~mask) | (sensors & mask);
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uint32_t changed = active ^ new_sensors;
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if (changed)
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dev->active_sensors = new_sensors;
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pthread_mutex_unlock(&dev->lock);
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return 0;
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}
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static int sensor_device_default_flush(
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struct sensors_poll_device_1* dev0,
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int handle) {
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SensorDevice* dev = (void*)dev0;
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D("%s: handle=%s (%d)", __FUNCTION__,
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_sensorIdToName(handle), handle);
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/* Sanity check */
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if (!ID_CHECK(handle)) {
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E("%s: bad handle ID", __FUNCTION__);
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return -EINVAL;
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}
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pthread_mutex_lock(&dev->lock);
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dev->sensors[handle].version = META_DATA_VERSION;
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dev->sensors[handle].type = SENSOR_TYPE_META_DATA;
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dev->sensors[handle].sensor = 0;
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dev->sensors[handle].timestamp = 0;
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dev->sensors[handle].meta_data.what = META_DATA_FLUSH_COMPLETE;
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dev->pendingSensors |= (1U << handle);
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pthread_mutex_unlock(&dev->lock);
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return 0;
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}
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static int sensor_device_set_delay(struct sensors_poll_device_t *dev0,
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int handle __unused,
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int64_t ns)
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{
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return 0;
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}
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static int sensor_device_default_batch(
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struct sensors_poll_device_1* dev,
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int sensor_handle,
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int flags,
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int64_t sampling_period_ns,
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int64_t max_report_latency_ns) {
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return sensor_device_set_delay(dev, sensor_handle, sampling_period_ns);
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}
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/** MODULE REGISTRATION SUPPORT
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**
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** This is required so that hardware/libhardware/hardware.c
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** will dlopen() this library appropriately.
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**/
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/*
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* the following is the list of all supported sensors.
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* this table is used to build sSensorList declared below
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* according to which hardware sensors are reported as
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* available from the emulator (see get_sensors_list below)
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*
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* note: numerical values for maxRange/resolution/power for
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* all sensors but light, pressure and humidity were
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* taken from the reference AK8976A implementation
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*/
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static const struct sensor_t sSensorListInit[] = {
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{ .name = "Accelerometer",
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.vendor = "The Android Open Source Project",
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.version = 1,
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.handle = ID_ACCELERATION,
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.type = SENSOR_TYPE_ACCELEROMETER,
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.maxRange = 2.8f,
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.resolution = 1.0f/4032.0f,
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.power = 3.0f,
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.minDelay = 10000,
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.maxDelay = 60 * 1000 * 1000,
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.fifoReservedEventCount = 0,
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.fifoMaxEventCount = 0,
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.stringType = 0,
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.requiredPermission = 0,
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.flags = SENSOR_FLAG_CONTINUOUS_MODE,
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.reserved = {}
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},
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};
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static struct sensor_t sSensorList[1];
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static int sensors__get_sensors_list(struct sensors_module_t* module __unused,
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struct sensor_t const** list)
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{
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*list = sSensorList;
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return 0;
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}
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static int
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open_sensors(const struct hw_module_t* module,
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const char* name,
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struct hw_device_t* *device)
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{
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int status = -EINVAL;
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D("%s: name=%s", __FUNCTION__, name);
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if (!strcmp(name, SENSORS_HARDWARE_POLL)) {
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SensorDevice *dev = malloc(sizeof(*dev));
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memset(dev, 0, sizeof(*dev));
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dev->device.common.tag = HARDWARE_DEVICE_TAG;
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dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_3;
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dev->device.common.module = (struct hw_module_t*) module;
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dev->device.common.close = sensor_device_close;
|
||
|
|
dev->device.poll = sensor_device_poll;
|
||
|
|
dev->device.activate = sensor_device_activate;
|
||
|
|
dev->device.setDelay = sensor_device_set_delay;
|
||
|
|
|
||
|
|
// Version 1.3-specific functions
|
||
|
|
dev->device.batch = sensor_device_default_batch;
|
||
|
|
dev->device.flush = sensor_device_default_flush;
|
||
|
|
|
||
|
|
dev->fd = -1;
|
||
|
|
pthread_mutex_init(&dev->lock, NULL);
|
||
|
|
|
||
|
|
*device = &dev->device.common;
|
||
|
|
status = 0;
|
||
|
|
}
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static struct hw_module_methods_t sensors_module_methods = {
|
||
|
|
.open = open_sensors
|
||
|
|
};
|
||
|
|
|
||
|
|
struct sensors_module_t HAL_MODULE_INFO_SYM = {
|
||
|
|
.common = {
|
||
|
|
.tag = HARDWARE_MODULE_TAG,
|
||
|
|
.version_major = 1,
|
||
|
|
.version_minor = 0,
|
||
|
|
.id = SENSORS_HARDWARE_MODULE_ID,
|
||
|
|
.name = "Dummy SENSORS Module",
|
||
|
|
.author = "The Android Open Source Project",
|
||
|
|
.methods = &sensors_module_methods,
|
||
|
|
},
|
||
|
|
.get_sensors_list = sensors__get_sensors_list
|
||
|
|
};
|