| /* |
| * 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 <inttypes.h> |
| #include <math.h> |
| #include <stdint.h> |
| #include <sys/types.h> |
| |
| #include <utils/Atomic.h> |
| #include <utils/Errors.h> |
| #include <utils/Singleton.h> |
| |
| #include <binder/BinderService.h> |
| #include <binder/Parcel.h> |
| #include <binder/IServiceManager.h> |
| |
| #include <hardware/sensors.h> |
| |
| #include "SensorDevice.h" |
| #include "SensorService.h" |
| |
| namespace android { |
| // --------------------------------------------------------------------------- |
| |
| ANDROID_SINGLETON_STATIC_INSTANCE(SensorDevice) |
| |
| SensorDevice::SensorDevice() |
| : mSensorDevice(0), |
| mSensorModule(0) { |
| status_t err = hw_get_module(SENSORS_HARDWARE_MODULE_ID, |
| (hw_module_t const**)&mSensorModule); |
| |
| ALOGE_IF(err, "couldn't load %s module (%s)", |
| SENSORS_HARDWARE_MODULE_ID, strerror(-err)); |
| |
| if (mSensorModule) { |
| err = sensors_open_1(&mSensorModule->common, &mSensorDevice); |
| |
| ALOGE_IF(err, "couldn't open device for module %s (%s)", |
| SENSORS_HARDWARE_MODULE_ID, strerror(-err)); |
| |
| if (mSensorDevice) { |
| if (mSensorDevice->common.version == SENSORS_DEVICE_API_VERSION_1_1 || |
| mSensorDevice->common.version == SENSORS_DEVICE_API_VERSION_1_2) { |
| ALOGE(">>>> WARNING <<< Upgrade sensor HAL to version 1_3"); |
| } |
| |
| sensor_t const* list; |
| ssize_t count = mSensorModule->get_sensors_list(mSensorModule, &list); |
| mActivationCount.setCapacity(count); |
| Info model; |
| for (size_t i=0 ; i<size_t(count) ; i++) { |
| mActivationCount.add(list[i].handle, model); |
| mSensorDevice->activate( |
| reinterpret_cast<struct sensors_poll_device_t *>(mSensorDevice), |
| list[i].handle, 0); |
| } |
| } |
| } |
| } |
| |
| void SensorDevice::handleDynamicSensorConnection(int handle, bool connected) { |
| if (connected) { |
| Info model; |
| mActivationCount.add(handle, model); |
| mSensorDevice->activate( |
| reinterpret_cast<struct sensors_poll_device_t *>(mSensorDevice), handle, 0); |
| } else { |
| mActivationCount.removeItem(handle); |
| } |
| } |
| |
| std::string SensorDevice::dump() const { |
| if (!mSensorModule) return "HAL not initialized\n"; |
| |
| String8 result; |
| sensor_t const* list; |
| int count = mSensorModule->get_sensors_list(mSensorModule, &list); |
| |
| result.appendFormat("HAL: %s (%s), version %#010x\n", |
| mSensorModule->common.name, |
| mSensorModule->common.author, |
| getHalDeviceVersion()); |
| result.appendFormat("Total %d h/w sensors, %zu running:\n", count, mActivationCount.size()); |
| |
| Mutex::Autolock _l(mLock); |
| for (int i = 0 ; i < count ; i++) { |
| const Info& info = mActivationCount.valueFor(list[i].handle); |
| if (info.batchParams.isEmpty()) continue; |
| result.appendFormat("0x%08x) active-count = %zu; ", list[i].handle, |
| info.batchParams.size()); |
| |
| result.append("sampling_period(ms) = {"); |
| for (size_t j = 0; j < info.batchParams.size(); j++) { |
| const BatchParams& params = info.batchParams.valueAt(j); |
| result.appendFormat("%.1f%s", params.batchDelay / 1e6f, |
| j < info.batchParams.size() - 1 ? ", " : ""); |
| } |
| result.appendFormat("}, selected = %.1f ms; ", info.bestBatchParams.batchDelay / 1e6f); |
| |
| result.append("batching_period(ms) = {"); |
| for (size_t j = 0; j < info.batchParams.size(); j++) { |
| BatchParams params = info.batchParams.valueAt(j); |
| result.appendFormat("%.1f%s", params.batchTimeout / 1e6f, |
| j < info.batchParams.size() - 1 ? ", " : ""); |
| } |
| result.appendFormat("}, selected = %.1f ms\n", info.bestBatchParams.batchTimeout / 1e6f); |
| } |
| return result.string(); |
| } |
| |
| ssize_t SensorDevice::getSensorList(sensor_t const** list) { |
| if (!mSensorModule) return NO_INIT; |
| ssize_t count = mSensorModule->get_sensors_list(mSensorModule, list); |
| return count; |
| } |
| |
| status_t SensorDevice::initCheck() const { |
| return mSensorDevice && mSensorModule ? NO_ERROR : NO_INIT; |
| } |
| |
| ssize_t SensorDevice::poll(sensors_event_t* buffer, size_t count) { |
| if (!mSensorDevice) return NO_INIT; |
| ssize_t c; |
| do { |
| c = mSensorDevice->poll(reinterpret_cast<struct sensors_poll_device_t *> (mSensorDevice), |
| buffer, count); |
| } while (c == -EINTR); |
| return c; |
| } |
| |
| void SensorDevice::autoDisable(void *ident, int handle) { |
| Info& info( mActivationCount.editValueFor(handle) ); |
| Mutex::Autolock _l(mLock); |
| info.removeBatchParamsForIdent(ident); |
| } |
| |
| status_t SensorDevice::activate(void* ident, int handle, int enabled) { |
| if (!mSensorDevice) return NO_INIT; |
| status_t err(NO_ERROR); |
| bool actuateHardware = false; |
| |
| Mutex::Autolock _l(mLock); |
| Info& info( mActivationCount.editValueFor(handle) ); |
| |
| ALOGD_IF(DEBUG_CONNECTIONS, |
| "SensorDevice::activate: ident=%p, handle=0x%08x, enabled=%d, count=%zu", |
| ident, handle, enabled, info.batchParams.size()); |
| |
| if (enabled) { |
| ALOGD_IF(DEBUG_CONNECTIONS, "enable index=%zd", info.batchParams.indexOfKey(ident)); |
| |
| if (isClientDisabledLocked(ident)) { |
| return INVALID_OPERATION; |
| } |
| |
| if (info.batchParams.indexOfKey(ident) >= 0) { |
| if (info.numActiveClients() == 1) { |
| // This is the first connection, we need to activate the underlying h/w sensor. |
| actuateHardware = true; |
| } |
| } else { |
| // Log error. Every activate call should be preceded by a batch() call. |
| ALOGE("\t >>>ERROR: activate called without batch"); |
| } |
| } else { |
| ALOGD_IF(DEBUG_CONNECTIONS, "disable index=%zd", info.batchParams.indexOfKey(ident)); |
| |
| if (info.removeBatchParamsForIdent(ident) >= 0) { |
| if (info.numActiveClients() == 0) { |
| // This is the last connection, we need to de-activate the underlying h/w sensor. |
| actuateHardware = true; |
| } else { |
| const int halVersion = getHalDeviceVersion(); |
| if (halVersion >= SENSORS_DEVICE_API_VERSION_1_1) { |
| // Call batch for this sensor with the previously calculated best effort |
| // batch_rate and timeout. One of the apps has unregistered for sensor |
| // events, and the best effort batch parameters might have changed. |
| ALOGD_IF(DEBUG_CONNECTIONS, |
| "\t>>> actuating h/w batch %d %d %" PRId64 " %" PRId64, handle, |
| info.bestBatchParams.flags, info.bestBatchParams.batchDelay, |
| info.bestBatchParams.batchTimeout); |
| mSensorDevice->batch(mSensorDevice, handle,info.bestBatchParams.flags, |
| info.bestBatchParams.batchDelay, |
| info.bestBatchParams.batchTimeout); |
| } |
| } |
| } else { |
| // sensor wasn't enabled for this ident |
| } |
| |
| if (isClientDisabledLocked(ident)) { |
| return NO_ERROR; |
| } |
| } |
| |
| if (actuateHardware) { |
| ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w activate handle=%d enabled=%d", handle, |
| enabled); |
| err = mSensorDevice->activate( |
| reinterpret_cast<struct sensors_poll_device_t *> (mSensorDevice), handle, enabled); |
| ALOGE_IF(err, "Error %s sensor %d (%s)", enabled ? "activating" : "disabling", handle, |
| strerror(-err)); |
| |
| if (err != NO_ERROR && enabled) { |
| // Failure when enabling the sensor. Clean up on failure. |
| info.removeBatchParamsForIdent(ident); |
| } |
| } |
| |
| // On older devices which do not support batch, call setDelay(). |
| if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_1 && info.numActiveClients() > 0) { |
| ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w setDelay %d %" PRId64, handle, |
| info.bestBatchParams.batchDelay); |
| mSensorDevice->setDelay( |
| reinterpret_cast<struct sensors_poll_device_t *>(mSensorDevice), |
| handle, info.bestBatchParams.batchDelay); |
| } |
| return err; |
| } |
| |
| status_t SensorDevice::batch(void* ident, int handle, int flags, int64_t samplingPeriodNs, |
| int64_t maxBatchReportLatencyNs) { |
| if (!mSensorDevice) return NO_INIT; |
| |
| if (samplingPeriodNs < MINIMUM_EVENTS_PERIOD) { |
| samplingPeriodNs = MINIMUM_EVENTS_PERIOD; |
| } |
| |
| const int halVersion = getHalDeviceVersion(); |
| if (halVersion < SENSORS_DEVICE_API_VERSION_1_1 && maxBatchReportLatencyNs != 0) { |
| // Batch is not supported on older devices return invalid operation. |
| return INVALID_OPERATION; |
| } |
| |
| ALOGD_IF(DEBUG_CONNECTIONS, |
| "SensorDevice::batch: ident=%p, handle=0x%08x, flags=%d, period_ns=%" PRId64 " timeout=%" PRId64, |
| ident, handle, flags, samplingPeriodNs, maxBatchReportLatencyNs); |
| |
| Mutex::Autolock _l(mLock); |
| Info& info(mActivationCount.editValueFor(handle)); |
| |
| if (info.batchParams.indexOfKey(ident) < 0) { |
| BatchParams params(flags, samplingPeriodNs, maxBatchReportLatencyNs); |
| info.batchParams.add(ident, params); |
| } else { |
| // A batch has already been called with this ident. Update the batch parameters. |
| info.setBatchParamsForIdent(ident, flags, samplingPeriodNs, maxBatchReportLatencyNs); |
| } |
| |
| BatchParams prevBestBatchParams = info.bestBatchParams; |
| // Find the minimum of all timeouts and batch_rates for this sensor. |
| info.selectBatchParams(); |
| |
| ALOGD_IF(DEBUG_CONNECTIONS, |
| "\t>>> curr_period=%" PRId64 " min_period=%" PRId64 |
| " curr_timeout=%" PRId64 " min_timeout=%" PRId64, |
| prevBestBatchParams.batchDelay, info.bestBatchParams.batchDelay, |
| prevBestBatchParams.batchTimeout, info.bestBatchParams.batchTimeout); |
| |
| status_t err(NO_ERROR); |
| // If the min period or min timeout has changed since the last batch call, call batch. |
| if (prevBestBatchParams != info.bestBatchParams) { |
| if (halVersion >= SENSORS_DEVICE_API_VERSION_1_1) { |
| ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w BATCH %d %d %" PRId64 " %" PRId64, handle, |
| info.bestBatchParams.flags, info.bestBatchParams.batchDelay, |
| info.bestBatchParams.batchTimeout); |
| err = mSensorDevice->batch(mSensorDevice, handle, info.bestBatchParams.flags, |
| info.bestBatchParams.batchDelay, |
| info.bestBatchParams.batchTimeout); |
| } else { |
| // For older devices which do not support batch, call setDelay() after activate() is |
| // called. Some older devices may not support calling setDelay before activate(), so |
| // call setDelay in SensorDevice::activate() method. |
| } |
| if (err != NO_ERROR) { |
| ALOGE("sensor batch failed %p %d %d %" PRId64 " %" PRId64 " err=%s", |
| mSensorDevice, handle, |
| info.bestBatchParams.flags, info.bestBatchParams.batchDelay, |
| info.bestBatchParams.batchTimeout, strerror(-err)); |
| info.removeBatchParamsForIdent(ident); |
| } |
| } |
| return err; |
| } |
| |
| status_t SensorDevice::setDelay(void* ident, int handle, int64_t samplingPeriodNs) { |
| if (!mSensorDevice) return NO_INIT; |
| if (samplingPeriodNs < MINIMUM_EVENTS_PERIOD) { |
| samplingPeriodNs = MINIMUM_EVENTS_PERIOD; |
| } |
| Mutex::Autolock _l(mLock); |
| if (isClientDisabledLocked(ident)) return INVALID_OPERATION; |
| Info& info( mActivationCount.editValueFor(handle) ); |
| // If the underlying sensor is NOT in continuous mode, setDelay() should return an error. |
| // Calling setDelay() in batch mode is an invalid operation. |
| if (info.bestBatchParams.batchTimeout != 0) { |
| return INVALID_OPERATION; |
| } |
| ssize_t index = info.batchParams.indexOfKey(ident); |
| if (index < 0) { |
| return BAD_INDEX; |
| } |
| BatchParams& params = info.batchParams.editValueAt(index); |
| params.batchDelay = samplingPeriodNs; |
| info.selectBatchParams(); |
| return mSensorDevice->setDelay(reinterpret_cast<struct sensors_poll_device_t *>(mSensorDevice), |
| handle, info.bestBatchParams.batchDelay); |
| } |
| |
| int SensorDevice::getHalDeviceVersion() const { |
| if (!mSensorDevice) return -1; |
| return mSensorDevice->common.version; |
| } |
| |
| status_t SensorDevice::flush(void* ident, int handle) { |
| if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_1) { |
| return INVALID_OPERATION; |
| } |
| if (isClientDisabled(ident)) return INVALID_OPERATION; |
| ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w flush %d", handle); |
| return mSensorDevice->flush(mSensorDevice, handle); |
| } |
| |
| bool SensorDevice::isClientDisabled(void* ident) { |
| Mutex::Autolock _l(mLock); |
| return isClientDisabledLocked(ident); |
| } |
| |
| bool SensorDevice::isClientDisabledLocked(void* ident) { |
| return mDisabledClients.indexOf(ident) >= 0; |
| } |
| |
| void SensorDevice::enableAllSensors() { |
| Mutex::Autolock _l(mLock); |
| mDisabledClients.clear(); |
| const int halVersion = getHalDeviceVersion(); |
| for (size_t i = 0; i< mActivationCount.size(); ++i) { |
| Info& info = mActivationCount.editValueAt(i); |
| if (info.batchParams.isEmpty()) continue; |
| info.selectBatchParams(); |
| const int sensor_handle = mActivationCount.keyAt(i); |
| ALOGD_IF(DEBUG_CONNECTIONS, "\t>> reenable actuating h/w sensor enable handle=%d ", |
| sensor_handle); |
| status_t err(NO_ERROR); |
| if (halVersion > SENSORS_DEVICE_API_VERSION_1_0) { |
| err = mSensorDevice->batch(mSensorDevice, sensor_handle, |
| info.bestBatchParams.flags, info.bestBatchParams.batchDelay, |
| info.bestBatchParams.batchTimeout); |
| ALOGE_IF(err, "Error calling batch on sensor %d (%s)", sensor_handle, strerror(-err)); |
| } |
| |
| if (err == NO_ERROR) { |
| err = mSensorDevice->activate( |
| reinterpret_cast<struct sensors_poll_device_t *>(mSensorDevice), |
| sensor_handle, 1); |
| ALOGE_IF(err, "Error activating sensor %d (%s)", sensor_handle, strerror(-err)); |
| } |
| |
| if (halVersion <= SENSORS_DEVICE_API_VERSION_1_0) { |
| err = mSensorDevice->setDelay( |
| reinterpret_cast<struct sensors_poll_device_t *>(mSensorDevice), |
| sensor_handle, info.bestBatchParams.batchDelay); |
| ALOGE_IF(err, "Error calling setDelay sensor %d (%s)", sensor_handle, strerror(-err)); |
| } |
| } |
| } |
| |
| void SensorDevice::disableAllSensors() { |
| Mutex::Autolock _l(mLock); |
| for (size_t i = 0; i< mActivationCount.size(); ++i) { |
| const Info& info = mActivationCount.valueAt(i); |
| // Check if this sensor has been activated previously and disable it. |
| if (info.batchParams.size() > 0) { |
| const int sensor_handle = mActivationCount.keyAt(i); |
| ALOGD_IF(DEBUG_CONNECTIONS, "\t>> actuating h/w sensor disable handle=%d ", |
| sensor_handle); |
| mSensorDevice->activate( |
| reinterpret_cast<struct sensors_poll_device_t *> (mSensorDevice), |
| sensor_handle, 0); |
| // Add all the connections that were registered for this sensor to the disabled |
| // clients list. |
| for (size_t j = 0; j < info.batchParams.size(); ++j) { |
| mDisabledClients.add(info.batchParams.keyAt(j)); |
| } |
| } |
| } |
| } |
| |
| status_t SensorDevice::injectSensorData(const sensors_event_t *injected_sensor_event) { |
| ALOGD_IF(DEBUG_CONNECTIONS, |
| "sensor_event handle=%d ts=%" PRId64 " data=%.2f, %.2f, %.2f %.2f %.2f %.2f", |
| injected_sensor_event->sensor, |
| injected_sensor_event->timestamp, injected_sensor_event->data[0], |
| injected_sensor_event->data[1], injected_sensor_event->data[2], |
| injected_sensor_event->data[3], injected_sensor_event->data[4], |
| injected_sensor_event->data[5]); |
| if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_4) { |
| return INVALID_OPERATION; |
| } |
| return mSensorDevice->inject_sensor_data(mSensorDevice, injected_sensor_event); |
| } |
| |
| status_t SensorDevice::setMode(uint32_t mode) { |
| if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_4) { |
| return INVALID_OPERATION; |
| } |
| return mSensorModule->set_operation_mode(mode); |
| } |
| |
| // --------------------------------------------------------------------------- |
| |
| int SensorDevice::Info::numActiveClients() { |
| SensorDevice& device(SensorDevice::getInstance()); |
| int num = 0; |
| for (size_t i = 0; i < batchParams.size(); ++i) { |
| if (!device.isClientDisabledLocked(batchParams.keyAt(i))) { |
| ++num; |
| } |
| } |
| return num; |
| } |
| |
| status_t SensorDevice::Info::setBatchParamsForIdent(void* ident, int flags, |
| int64_t samplingPeriodNs, |
| int64_t maxBatchReportLatencyNs) { |
| ssize_t index = batchParams.indexOfKey(ident); |
| if (index < 0) { |
| ALOGE("Info::setBatchParamsForIdent(ident=%p, period_ns=%" PRId64 " timeout=%" PRId64 ") failed (%s)", |
| ident, samplingPeriodNs, maxBatchReportLatencyNs, strerror(-index)); |
| return BAD_INDEX; |
| } |
| BatchParams& params = batchParams.editValueAt(index); |
| params.flags = flags; |
| params.batchDelay = samplingPeriodNs; |
| params.batchTimeout = maxBatchReportLatencyNs; |
| return NO_ERROR; |
| } |
| |
| void SensorDevice::Info::selectBatchParams() { |
| BatchParams bestParams(0, -1, -1); |
| SensorDevice& device(SensorDevice::getInstance()); |
| |
| for (size_t i = 0; i < batchParams.size(); ++i) { |
| if (device.isClientDisabledLocked(batchParams.keyAt(i))) continue; |
| BatchParams params = batchParams.valueAt(i); |
| if (bestParams.batchDelay == -1 || params.batchDelay < bestParams.batchDelay) { |
| bestParams.batchDelay = params.batchDelay; |
| } |
| if (bestParams.batchTimeout == -1 || params.batchTimeout < bestParams.batchTimeout) { |
| bestParams.batchTimeout = params.batchTimeout; |
| } |
| } |
| bestBatchParams = bestParams; |
| } |
| |
| ssize_t SensorDevice::Info::removeBatchParamsForIdent(void* ident) { |
| ssize_t idx = batchParams.removeItem(ident); |
| if (idx >= 0) { |
| selectBatchParams(); |
| } |
| return idx; |
| } |
| |
| // --------------------------------------------------------------------------- |
| }; // namespace android |
| |
