1/*
2 * Copyright (C) 2009 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 *      http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17/* this implements a sensors hardware library for the Android emulator.
18 * the following code should be built as a shared library that will be
19 * placed into /system/lib/hw/sensors.goldfish.so
20 *
21 * it will be loaded by the code in hardware/libhardware/hardware.c
22 * which is itself called from com_android_server_SensorService.cpp
23 */
24
25
26/* we connect with the emulator through the "sensors" qemud service
27 */
28#define  SENSORS_SERVICE_NAME "sensors"
29
30#define LOG_TAG "QemuSensors"
31
32#include <unistd.h>
33#include <fcntl.h>
34#include <errno.h>
35#include <string.h>
36#include <cutils/log.h>
37#include <cutils/native_handle.h>
38#include <cutils/sockets.h>
39#include <hardware/sensors.h>
40
41#if 0
42#define  D(...)  ALOGD(__VA_ARGS__)
43#else
44#define  D(...)  ((void)0)
45#endif
46
47#define  E(...)  ALOGE(__VA_ARGS__)
48
49#include <hardware/qemud.h>
50
51/** SENSOR IDS AND NAMES
52 **/
53
54#define MAX_NUM_SENSORS 5
55
56#define SUPPORTED_SENSORS  ((1<<MAX_NUM_SENSORS)-1)
57
58#define  ID_BASE           SENSORS_HANDLE_BASE
59#define  ID_ACCELERATION   (ID_BASE+0)
60#define  ID_MAGNETIC_FIELD (ID_BASE+1)
61#define  ID_ORIENTATION    (ID_BASE+2)
62#define  ID_TEMPERATURE    (ID_BASE+3)
63#define  ID_PROXIMITY      (ID_BASE+4)
64
65#define  SENSORS_ACCELERATION   (1 << ID_ACCELERATION)
66#define  SENSORS_MAGNETIC_FIELD  (1 << ID_MAGNETIC_FIELD)
67#define  SENSORS_ORIENTATION     (1 << ID_ORIENTATION)
68#define  SENSORS_TEMPERATURE     (1 << ID_TEMPERATURE)
69#define  SENSORS_PROXIMITY       (1 << ID_PROXIMITY)
70
71#define  ID_CHECK(x)  ((unsigned)((x)-ID_BASE) < MAX_NUM_SENSORS)
72
73#define  SENSORS_LIST  \
74    SENSOR_(ACCELERATION,"acceleration") \
75    SENSOR_(MAGNETIC_FIELD,"magnetic-field") \
76    SENSOR_(ORIENTATION,"orientation") \
77    SENSOR_(TEMPERATURE,"temperature") \
78    SENSOR_(PROXIMITY,"proximity") \
79
80static const struct {
81    const char*  name;
82    int          id; } _sensorIds[MAX_NUM_SENSORS] =
83{
84#define SENSOR_(x,y)  { y, ID_##x },
85    SENSORS_LIST
86#undef  SENSOR_
87};
88
89static const char*
90_sensorIdToName( int  id )
91{
92    int  nn;
93    for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
94        if (id == _sensorIds[nn].id)
95            return _sensorIds[nn].name;
96    return "<UNKNOWN>";
97}
98
99static int
100_sensorIdFromName( const char*  name )
101{
102    int  nn;
103
104    if (name == NULL)
105        return -1;
106
107    for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
108        if (!strcmp(name, _sensorIds[nn].name))
109            return _sensorIds[nn].id;
110
111    return -1;
112}
113
114/** SENSORS POLL DEVICE
115 **
116 ** This one is used to read sensor data from the hardware.
117 ** We implement this by simply reading the data from the
118 ** emulator through the QEMUD channel.
119 **/
120
121typedef struct SensorPoll {
122    struct sensors_poll_device_1  device;
123    sensors_event_t               sensors[MAX_NUM_SENSORS];
124    int                           events_fd;
125    uint32_t                      pendingSensors;
126    int64_t                       timeStart;
127    int64_t                       timeOffset;
128    int                           fd;
129    uint32_t                      active_sensors;
130} SensorPoll;
131
132/* this must return a file descriptor that will be used to read
133 * the sensors data (it is passed to data__data_open() below
134 */
135static native_handle_t*
136control__open_data_source(struct sensors_poll_device_1 *dev)
137{
138    SensorPoll*  ctl = (void*)dev;
139    native_handle_t* handle;
140
141    if (ctl->fd < 0) {
142        ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
143    }
144    D("%s: fd=%d", __FUNCTION__, ctl->fd);
145    handle = native_handle_create(1, 0);
146    handle->data[0] = dup(ctl->fd);
147    return handle;
148}
149
150static int
151control__activate(struct sensors_poll_device_1 *dev,
152                  int handle,
153                  int enabled)
154{
155    SensorPoll*     ctl = (void*)dev;
156    uint32_t        mask, sensors, active, new_sensors, changed;
157    char            command[128];
158    int             ret;
159
160    D("%s: handle=%s (%d) fd=%d enabled=%d", __FUNCTION__,
161        _sensorIdToName(handle), handle, ctl->fd, enabled);
162
163    if (!ID_CHECK(handle)) {
164        E("%s: bad handle ID", __FUNCTION__);
165        return -1;
166    }
167
168    mask    = (1<<handle);
169    sensors = enabled ? mask : 0;
170
171    active      = ctl->active_sensors;
172    new_sensors = (active & ~mask) | (sensors & mask);
173    changed     = active ^ new_sensors;
174
175    if (!changed)
176        return 0;
177
178    snprintf(command, sizeof command, "set:%s:%d",
179                _sensorIdToName(handle), enabled != 0);
180
181    if (ctl->fd < 0) {
182        ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
183    }
184
185    ret = qemud_channel_send(ctl->fd, command, -1);
186    if (ret < 0) {
187        E("%s: when sending command errno=%d: %s", __FUNCTION__, errno, strerror(errno));
188        return -1;
189    }
190    ctl->active_sensors = new_sensors;
191
192    return 0;
193}
194
195static int
196control__set_delay(struct sensors_poll_device_1 *dev, int32_t ms)
197{
198    SensorPoll*     ctl = (void*)dev;
199    char            command[128];
200
201    D("%s: dev=%p delay-ms=%d", __FUNCTION__, dev, ms);
202
203    snprintf(command, sizeof command, "set-delay:%d", ms);
204
205    return qemud_channel_send(ctl->fd, command, -1);
206}
207
208static int
209control__close(struct hw_device_t *dev)
210{
211    SensorPoll*  ctl = (void*)dev;
212    close(ctl->fd);
213    free(ctl);
214    return 0;
215}
216
217/* return the current time in nanoseconds */
218static int64_t
219data__now_ns(void)
220{
221    struct timespec  ts;
222
223    clock_gettime(CLOCK_MONOTONIC, &ts);
224
225    return (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec;
226}
227
228static int
229data__data_open(struct sensors_poll_device_1 *dev, native_handle_t* handle)
230{
231    SensorPoll*  data = (void*)dev;
232    int i;
233    D("%s: dev=%p fd=%d", __FUNCTION__, dev, handle->data[0]);
234    memset(&data->sensors, 0, sizeof(data->sensors));
235
236    data->pendingSensors = 0;
237    data->timeStart      = 0;
238    data->timeOffset     = 0;
239
240    data->events_fd = dup(handle->data[0]);
241    D("%s: dev=%p fd=%d (was %d)", __FUNCTION__, dev, data->events_fd, handle->data[0]);
242    native_handle_close(handle);
243    native_handle_delete(handle);
244    return 0;
245}
246
247static int
248data__data_close(struct sensors_poll_device_1 *dev)
249{
250    SensorPoll*  data = (void*)dev;
251    D("%s: dev=%p", __FUNCTION__, dev);
252    if (data->events_fd >= 0) {
253        close(data->events_fd);
254        data->events_fd = -1;
255    }
256    return 0;
257}
258
259static int
260pick_sensor(SensorPoll*       data,
261            sensors_event_t*  values)
262{
263    uint32_t mask = SUPPORTED_SENSORS;
264    while (mask) {
265        uint32_t i = 31 - __builtin_clz(mask);
266        mask &= ~(1<<i);
267        if (data->pendingSensors & (1<<i)) {
268            data->pendingSensors &= ~(1<<i);
269            *values = data->sensors[i];
270            values->sensor = i;
271            values->version = sizeof(*values);
272
273            D("%s: %d [%f, %f, %f]", __FUNCTION__,
274                    i,
275                    values->data[0],
276                    values->data[1],
277                    values->data[2]);
278            return i;
279        }
280    }
281    ALOGE("No sensor to return!!! pendingSensors=%08x", data->pendingSensors);
282    // we may end-up in a busy loop, slow things down, just in case.
283    usleep(100000);
284    return -EINVAL;
285}
286
287static int
288data__poll(struct sensors_poll_device_1 *dev, sensors_event_t* values)
289{
290    SensorPoll*  data = (void*)dev;
291    int fd = data->events_fd;
292
293    D("%s: data=%p", __FUNCTION__, dev);
294
295    // there are pending sensors, returns them now...
296    if (data->pendingSensors) {
297        return pick_sensor(data, values);
298    }
299
300    // wait until we get a complete event for an enabled sensor
301    uint32_t new_sensors = 0;
302
303    while (1) {
304        /* read the next event */
305        char     buff[256];
306        int      len = qemud_channel_recv(data->events_fd, buff, sizeof buff-1);
307        float    params[3];
308        int64_t  event_time;
309
310        if (len < 0) {
311            E("%s: len=%d, errno=%d: %s", __FUNCTION__, len, errno, strerror(errno));
312            return -errno;
313        }
314
315        buff[len] = 0;
316
317        /* "wake" is sent from the emulator to exit this loop. */
318        if (!strcmp((const char*)data, "wake")) {
319            return 0x7FFFFFFF;
320        }
321
322        /* "acceleration:<x>:<y>:<z>" corresponds to an acceleration event */
323        if (sscanf(buff, "acceleration:%g:%g:%g", params+0, params+1, params+2) == 3) {
324            new_sensors |= SENSORS_ACCELERATION;
325            data->sensors[ID_ACCELERATION].acceleration.x = params[0];
326            data->sensors[ID_ACCELERATION].acceleration.y = params[1];
327            data->sensors[ID_ACCELERATION].acceleration.z = params[2];
328            data->sensors[ID_ACCELERATION].type = SENSOR_TYPE_ACCELEROMETER;
329            continue;
330        }
331
332        /* "orientation:<azimuth>:<pitch>:<roll>" is sent when orientation changes */
333        if (sscanf(buff, "orientation:%g:%g:%g", params+0, params+1, params+2) == 3) {
334            new_sensors |= SENSORS_ORIENTATION;
335            data->sensors[ID_ORIENTATION].orientation.azimuth = params[0];
336            data->sensors[ID_ORIENTATION].orientation.pitch   = params[1];
337            data->sensors[ID_ORIENTATION].orientation.roll    = params[2];
338            data->sensors[ID_ORIENTATION].orientation.status  = SENSOR_STATUS_ACCURACY_HIGH;
339            data->sensors[ID_ACCELERATION].type = SENSOR_TYPE_ORIENTATION;
340            continue;
341        }
342
343        /* "magnetic:<x>:<y>:<z>" is sent for the params of the magnetic field */
344        if (sscanf(buff, "magnetic:%g:%g:%g", params+0, params+1, params+2) == 3) {
345            new_sensors |= SENSORS_MAGNETIC_FIELD;
346            data->sensors[ID_MAGNETIC_FIELD].magnetic.x = params[0];
347            data->sensors[ID_MAGNETIC_FIELD].magnetic.y = params[1];
348            data->sensors[ID_MAGNETIC_FIELD].magnetic.z = params[2];
349            data->sensors[ID_MAGNETIC_FIELD].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH;
350            data->sensors[ID_ACCELERATION].type = SENSOR_TYPE_MAGNETIC_FIELD;
351            continue;
352        }
353
354        /* "temperature:<celsius>" */
355        if (sscanf(buff, "temperature:%g", params+0) == 1) {
356            new_sensors |= SENSORS_TEMPERATURE;
357            data->sensors[ID_TEMPERATURE].temperature = params[0];
358            data->sensors[ID_ACCELERATION].type = SENSOR_TYPE_TEMPERATURE;
359            continue;
360        }
361
362        /* "proximity:<value>" */
363        if (sscanf(buff, "proximity:%g", params+0) == 1) {
364            new_sensors |= SENSORS_PROXIMITY;
365            data->sensors[ID_PROXIMITY].distance = params[0];
366            data->sensors[ID_ACCELERATION].type = SENSOR_TYPE_PROXIMITY;
367            continue;
368        }
369
370        /* "sync:<time>" is sent after a series of sensor events.
371         * where 'time' is expressed in micro-seconds and corresponds
372         * to the VM time when the real poll occured.
373         */
374        if (sscanf(buff, "sync:%lld", &event_time) == 1) {
375            if (new_sensors) {
376                data->pendingSensors = new_sensors;
377                int64_t t = event_time * 1000LL;  /* convert to nano-seconds */
378
379                /* use the time at the first sync: as the base for later
380                 * time values */
381                if (data->timeStart == 0) {
382                    data->timeStart  = data__now_ns();
383                    data->timeOffset = data->timeStart - t;
384                }
385                t += data->timeOffset;
386
387                while (new_sensors) {
388                    uint32_t i = 31 - __builtin_clz(new_sensors);
389                    new_sensors &= ~(1<<i);
390                    data->sensors[i].timestamp = t;
391                }
392                return pick_sensor(data, values);
393            } else {
394                D("huh ? sync without any sensor data ?");
395            }
396            continue;
397        }
398        D("huh ? unsupported command");
399    }
400    return -1;
401}
402
403static int
404data__close(struct hw_device_t *dev)
405{
406    SensorPoll* data = (SensorPoll*)dev;
407    if (data) {
408        if (data->events_fd >= 0) {
409            //ALOGD("(device close) about to close fd=%d", data->events_fd);
410            close(data->events_fd);
411        }
412        free(data);
413    }
414    return 0;
415}
416
417/** SENSORS POLL DEVICE FUNCTIONS **/
418
419static int poll__close(struct hw_device_t* dev)
420{
421    SensorPoll*  ctl = (void*)dev;
422    close(ctl->fd);
423    if (ctl->fd >= 0) {
424        close(ctl->fd);
425    }
426    if (ctl->events_fd >= 0) {
427        close(ctl->events_fd);
428    }
429    free(ctl);
430    return 0;
431}
432
433static int poll__poll(struct sensors_poll_device_1 *dev,
434            sensors_event_t* data, int count)
435{
436    SensorPoll*  datadev = (void*)dev;
437    int ret;
438    int i;
439    D("%s: dev=%p data=%p count=%d ", __FUNCTION__, dev, data, count);
440
441    for (i = 0; i < count; i++)  {
442        ret = data__poll(dev, data);
443        data++;
444        if (ret > MAX_NUM_SENSORS || ret < 0) {
445           return i;
446        }
447        if (!datadev->pendingSensors) {
448           return i + 1;
449        }
450    }
451    return count;
452}
453
454static int poll__activate(struct sensors_poll_device_1 *dev,
455            int handle, int enabled)
456{
457    int ret;
458    native_handle_t* hdl;
459    SensorPoll*  ctl = (void*)dev;
460    D("%s: dev=%p handle=%x enable=%d ", __FUNCTION__, dev, handle, enabled);
461    if (ctl->fd < 0) {
462        D("%s: OPEN CTRL and DATA ", __FUNCTION__);
463        hdl = control__open_data_source(dev);
464        ret = data__data_open(dev,hdl);
465    }
466    ret = control__activate(dev, handle, enabled);
467    return ret;
468}
469
470static int poll__setDelay(struct sensors_poll_device_1 *dev,
471            int handle, int64_t ns)
472{
473    // TODO
474    return 0;
475}
476
477/** MODULE REGISTRATION SUPPORT
478 **
479 ** This is required so that hardware/libhardware/hardware.c
480 ** will dlopen() this library appropriately.
481 **/
482
483/*
484 * the following is the list of all supported sensors.
485 * this table is used to build sSensorList declared below
486 * according to which hardware sensors are reported as
487 * available from the emulator (see get_sensors_list below)
488 *
489 * note: numerical values for maxRange/resolution/power were
490 *       taken from the reference AK8976A implementation
491 */
492static const struct sensor_t sSensorListInit[] = {
493        { .name       = "Goldfish 3-axis Accelerometer",
494          .vendor     = "The Android Open Source Project",
495          .version    = 1,
496          .handle     = ID_ACCELERATION,
497          .type       = SENSOR_TYPE_ACCELEROMETER,
498          .maxRange   = 2.8f,
499          .resolution = 1.0f/4032.0f,
500          .power      = 3.0f,
501          .reserved   = {}
502        },
503
504        { .name       = "Goldfish 3-axis Magnetic field sensor",
505          .vendor     = "The Android Open Source Project",
506          .version    = 1,
507          .handle     = ID_MAGNETIC_FIELD,
508          .type       = SENSOR_TYPE_MAGNETIC_FIELD,
509          .maxRange   = 2000.0f,
510          .resolution = 1.0f,
511          .power      = 6.7f,
512          .reserved   = {}
513        },
514
515        { .name       = "Goldfish Orientation sensor",
516          .vendor     = "The Android Open Source Project",
517          .version    = 1,
518          .handle     = ID_ORIENTATION,
519          .type       = SENSOR_TYPE_ORIENTATION,
520          .maxRange   = 360.0f,
521          .resolution = 1.0f,
522          .power      = 9.7f,
523          .reserved   = {}
524        },
525
526        { .name       = "Goldfish Temperature sensor",
527          .vendor     = "The Android Open Source Project",
528          .version    = 1,
529          .handle     = ID_TEMPERATURE,
530          .type       = SENSOR_TYPE_TEMPERATURE,
531          .maxRange   = 80.0f,
532          .resolution = 1.0f,
533          .power      = 0.0f,
534          .reserved   = {}
535        },
536
537        { .name       = "Goldfish Proximity sensor",
538          .vendor     = "The Android Open Source Project",
539          .version    = 1,
540          .handle     = ID_PROXIMITY,
541          .type       = SENSOR_TYPE_PROXIMITY,
542          .maxRange   = 1.0f,
543          .resolution = 1.0f,
544          .power      = 20.0f,
545          .reserved   = {}
546        },
547};
548
549static struct sensor_t  sSensorList[MAX_NUM_SENSORS];
550
551static int sensors__get_sensors_list(struct sensors_module_t* module,
552        struct sensor_t const** list)
553{
554    int  fd = qemud_channel_open(SENSORS_SERVICE_NAME);
555    char buffer[12];
556    int  mask, nn, count;
557
558    int  ret;
559    if (fd < 0) {
560        E("%s: no qemud connection", __FUNCTION__);
561        return 0;
562    }
563    ret = qemud_channel_send(fd, "list-sensors", -1);
564    if (ret < 0) {
565        E("%s: could not query sensor list: %s", __FUNCTION__,
566          strerror(errno));
567        close(fd);
568        return 0;
569    }
570    ret = qemud_channel_recv(fd, buffer, sizeof buffer-1);
571    if (ret < 0) {
572        E("%s: could not receive sensor list: %s", __FUNCTION__,
573          strerror(errno));
574        close(fd);
575        return 0;
576    }
577    buffer[ret] = 0;
578    close(fd);
579
580    /* the result is a integer used as a mask for available sensors */
581    mask  = atoi(buffer);
582    count = 0;
583    for (nn = 0; nn < MAX_NUM_SENSORS; nn++) {
584        if (((1 << nn) & mask) == 0)
585            continue;
586
587        sSensorList[count++] = sSensorListInit[nn];
588    }
589    D("%s: returned %d sensors (mask=%d)", __FUNCTION__, count, mask);
590    *list = sSensorList;
591    return count;
592}
593
594
595static int
596open_sensors(const struct hw_module_t* module,
597             const char*               name,
598             struct hw_device_t*      *device)
599{
600    int  status = -EINVAL;
601
602    D("%s: name=%s", __FUNCTION__, name);
603
604    if (!strcmp(name, SENSORS_HARDWARE_POLL)) {
605        SensorPoll *dev = malloc(sizeof(*dev));
606
607        memset(dev, 0, sizeof(*dev));
608
609        dev->device.common.tag     = HARDWARE_DEVICE_TAG;
610        dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_0;
611        dev->device.common.module  = (struct hw_module_t*) module;
612        dev->device.common.close   = poll__close;
613        dev->device.poll           = poll__poll;
614        dev->device.activate       = poll__activate;
615        dev->device.setDelay       = poll__setDelay;
616        dev->events_fd             = -1;
617        dev->fd                    = -1;
618
619        *device = &dev->device.common;
620        status  = 0;
621    }
622    return status;
623}
624
625
626static struct hw_module_methods_t sensors_module_methods = {
627    .open = open_sensors
628};
629
630struct sensors_module_t HAL_MODULE_INFO_SYM = {
631    .common = {
632        .tag = HARDWARE_MODULE_TAG,
633        .version_major = 1,
634        .version_minor = 0,
635        .id = SENSORS_HARDWARE_MODULE_ID,
636        .name = "Goldfish SENSORS Module",
637        .author = "The Android Open Source Project",
638        .methods = &sensors_module_methods,
639    },
640    .get_sensors_list = sensors__get_sensors_list
641};
642