SensorService.cpp revision 010e42230135815907e76e5d7e5f30edf9e1799d 
1/*
2 * Copyright (C) 2010 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#include <stdint.h>
18#include <math.h>
19#include <sys/types.h>
20
21#include <cutils/properties.h>
22
23#include <utils/SortedVector.h>
24#include <utils/KeyedVector.h>
25#include <utils/threads.h>
26#include <utils/Atomic.h>
27#include <utils/Errors.h>
28#include <utils/RefBase.h>
29#include <utils/Singleton.h>
30#include <utils/String16.h>
31
32#include <binder/BinderService.h>
33#include <binder/IServiceManager.h>
34
35#include <gui/ISensorServer.h>
36#include <gui/ISensorEventConnection.h>
37
38#include <hardware/sensors.h>
39
40#include "CorrectedGyroSensor.h"
41#include "GravitySensor.h"
42#include "LinearAccelerationSensor.h"
43#include "OrientationSensor.h"
44#include "RotationVectorSensor.h"
45#include "SensorFusion.h"
46#include "SensorService.h"
47
48namespace android {
49// ---------------------------------------------------------------------------
50
51/*
52 * Notes:
53 *
54 * - what about a gyro-corrected magnetic-field sensor?
55 * - run mag sensor from time to time to force calibration
56 * - gravity sensor length is wrong (=> drift in linear-acc sensor)
57 *
58 */
59
60SensorService::SensorService()
61    : mDump("android.permission.DUMP"),
62      mInitCheck(NO_INIT)
63{
64}
65
66void SensorService::onFirstRef()
67{
68    LOGD("nuSensorService starting...");
69
70    SensorDevice& dev(SensorDevice::getInstance());
71
72    if (dev.initCheck() == NO_ERROR) {
73        ssize_t orientationIndex = -1;
74        bool hasGyro = false;
75        uint32_t virtualSensorsNeeds =
76                (1<<SENSOR_TYPE_GRAVITY) |
77                (1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
78                (1<<SENSOR_TYPE_ROTATION_VECTOR);
79        sensor_t const* list;
80        int count = dev.getSensorList(&list);
81        mLastEventSeen.setCapacity(count);
82        for (int i=0 ; i<count ; i++) {
83            registerSensor( new HardwareSensor(list[i]) );
84            switch (list[i].type) {
85                case SENSOR_TYPE_ORIENTATION:
86                    orientationIndex = i;
87                    break;
88                case SENSOR_TYPE_GYROSCOPE:
89                    hasGyro = true;
90                    break;
91                case SENSOR_TYPE_GRAVITY:
92                case SENSOR_TYPE_LINEAR_ACCELERATION:
93                case SENSOR_TYPE_ROTATION_VECTOR:
94                    virtualSensorsNeeds &= ~(1<<list[i].type);
95                    break;
96            }
97        }
98
99        // it's safe to instantiate the SensorFusion object here
100        // (it wants to be instantiated after h/w sensors have been
101        // registered)
102        const SensorFusion& fusion(SensorFusion::getInstance());
103
104        if (hasGyro) {
105            // Always instantiate Android's virtual sensors. Since they are
106            // instantiated behind sensors from the HAL, they won't
107            // interfere with applications, unless they looks specifically
108            // for them (by name).
109
110            registerVirtualSensor( new RotationVectorSensor() );
111            registerVirtualSensor( new GravitySensor(list, count) );
112            registerVirtualSensor( new LinearAccelerationSensor(list, count) );
113
114            // these are optional
115            registerVirtualSensor( new OrientationSensor() );
116            registerVirtualSensor( new CorrectedGyroSensor(list, count) );
117
118            // virtual debugging sensors...
119            char value[PROPERTY_VALUE_MAX];
120            property_get("debug.sensors", value, "0");
121            if (atoi(value)) {
122                registerVirtualSensor( new GyroDriftSensor() );
123            }
124        }
125
126        // build the sensor list returned to users
127        mUserSensorList = mSensorList;
128        if (hasGyro &&
129                (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR))) {
130            // if we have the fancy sensor fusion, and it's not provided by the
131            // HAL, use our own (fused) orientation sensor by removing the
132            // HAL supplied one form the user list.
133            if (orientationIndex >= 0) {
134                mUserSensorList.removeItemsAt(orientationIndex);
135            }
136        }
137
138        run("SensorService", PRIORITY_URGENT_DISPLAY);
139        mInitCheck = NO_ERROR;
140    }
141}
142
143void SensorService::registerSensor(SensorInterface* s)
144{
145    sensors_event_t event;
146    memset(&event, 0, sizeof(event));
147
148    const Sensor sensor(s->getSensor());
149    // add to the sensor list (returned to clients)
150    mSensorList.add(sensor);
151    // add to our handle->SensorInterface mapping
152    mSensorMap.add(sensor.getHandle(), s);
153    // create an entry in the mLastEventSeen array
154    mLastEventSeen.add(sensor.getHandle(), event);
155}
156
157void SensorService::registerVirtualSensor(SensorInterface* s)
158{
159    registerSensor(s);
160    mVirtualSensorList.add( s );
161}
162
163SensorService::~SensorService()
164{
165    for (size_t i=0 ; i<mSensorMap.size() ; i++)
166        delete mSensorMap.valueAt(i);
167}
168
169status_t SensorService::dump(int fd, const Vector<String16>& args)
170{
171    const size_t SIZE = 1024;
172    char buffer[SIZE];
173    String8 result;
174    if (!mDump.checkCalling()) {
175        snprintf(buffer, SIZE, "Permission Denial: "
176                "can't dump SurfaceFlinger from pid=%d, uid=%d\n",
177                IPCThreadState::self()->getCallingPid(),
178                IPCThreadState::self()->getCallingUid());
179        result.append(buffer);
180    } else {
181        Mutex::Autolock _l(mLock);
182        snprintf(buffer, SIZE, "Sensor List:\n");
183        result.append(buffer);
184        for (size_t i=0 ; i<mSensorList.size() ; i++) {
185            const Sensor& s(mSensorList[i]);
186            const sensors_event_t& e(mLastEventSeen.valueFor(s.getHandle()));
187            snprintf(buffer, SIZE,
188                    "%-48s| %-32s | 0x%08x | maxRate=%7.2fHz | "
189                    "last=<%5.1f,%5.1f,%5.1f>\n",
190                    s.getName().string(),
191                    s.getVendor().string(),
192                    s.getHandle(),
193                    s.getMinDelay() ? (1000000.0f / s.getMinDelay()) : 0.0f,
194                    e.data[0], e.data[1], e.data[2]);
195            result.append(buffer);
196        }
197        SensorFusion::getInstance().dump(result, buffer, SIZE);
198        SensorDevice::getInstance().dump(result, buffer, SIZE);
199
200        snprintf(buffer, SIZE, "%d active connections\n",
201                mActiveConnections.size());
202        result.append(buffer);
203        snprintf(buffer, SIZE, "Active sensors:\n");
204        result.append(buffer);
205        for (size_t i=0 ; i<mActiveSensors.size() ; i++) {
206            int handle = mActiveSensors.keyAt(i);
207            snprintf(buffer, SIZE, "%s (handle=0x%08x, connections=%d)\n",
208                    getSensorName(handle).string(),
209                    handle,
210                    mActiveSensors.valueAt(i)->getNumConnections());
211            result.append(buffer);
212        }
213    }
214    write(fd, result.string(), result.size());
215    return NO_ERROR;
216}
217
218bool SensorService::threadLoop()
219{
220    LOGD("nuSensorService thread starting...");
221
222    const size_t numEventMax = 16 * (1 + mVirtualSensorList.size());
223    sensors_event_t buffer[numEventMax];
224    sensors_event_t scratch[numEventMax];
225    SensorDevice& device(SensorDevice::getInstance());
226    const size_t vcount = mVirtualSensorList.size();
227
228    ssize_t count;
229    do {
230        count = device.poll(buffer, numEventMax);
231        if (count<0) {
232            LOGE("sensor poll failed (%s)", strerror(-count));
233            break;
234        }
235
236        recordLastValue(buffer, count);
237
238        // handle virtual sensors
239        if (count && vcount) {
240            sensors_event_t const * const event = buffer;
241            const DefaultKeyedVector<int, SensorInterface*> virtualSensors(
242                    getActiveVirtualSensors());
243            const size_t activeVirtualSensorCount = virtualSensors.size();
244            if (activeVirtualSensorCount) {
245                size_t k = 0;
246                SensorFusion& fusion(SensorFusion::getInstance());
247                if (fusion.isEnabled()) {
248                    for (size_t i=0 ; i<size_t(count) ; i++) {
249                        fusion.process(event[i]);
250                    }
251                }
252                for (size_t i=0 ; i<size_t(count) ; i++) {
253                    for (size_t j=0 ; j<activeVirtualSensorCount ; j++) {
254                        sensors_event_t out;
255                        if (virtualSensors.valueAt(j)->process(&out, event[i])) {
256                            buffer[count + k] = out;
257                            k++;
258                        }
259                    }
260                }
261                if (k) {
262                    // record the last synthesized values
263                    recordLastValue(&buffer[count], k);
264                    count += k;
265                    // sort the buffer by time-stamps
266                    sortEventBuffer(buffer, count);
267                }
268            }
269        }
270
271        // send our events to clients...
272        const SortedVector< wp<SensorEventConnection> > activeConnections(
273                getActiveConnections());
274        size_t numConnections = activeConnections.size();
275        for (size_t i=0 ; i<numConnections ; i++) {
276            sp<SensorEventConnection> connection(
277                    activeConnections[i].promote());
278            if (connection != 0) {
279                connection->sendEvents(buffer, count, scratch);
280            }
281        }
282    } while (count >= 0 || Thread::exitPending());
283
284    LOGW("Exiting SensorService::threadLoop!");
285    return false;
286}
287
288void SensorService::recordLastValue(
289        sensors_event_t const * buffer, size_t count)
290{
291    Mutex::Autolock _l(mLock);
292
293    // record the last event for each sensor
294    int32_t prev = buffer[0].sensor;
295    for (size_t i=1 ; i<count ; i++) {
296        // record the last event of each sensor type in this buffer
297        int32_t curr = buffer[i].sensor;
298        if (curr != prev) {
299            mLastEventSeen.editValueFor(prev) = buffer[i-1];
300            prev = curr;
301        }
302    }
303    mLastEventSeen.editValueFor(prev) = buffer[count-1];
304}
305
306void SensorService::sortEventBuffer(sensors_event_t* buffer, size_t count)
307{
308    struct compar {
309        static int cmp(void const* lhs, void const* rhs) {
310            sensors_event_t const* l = static_cast<sensors_event_t const*>(lhs);
311            sensors_event_t const* r = static_cast<sensors_event_t const*>(rhs);
312            return r->timestamp - l->timestamp;
313        }
314    };
315    qsort(buffer, count, sizeof(sensors_event_t), compar::cmp);
316}
317
318SortedVector< wp<SensorService::SensorEventConnection> >
319SensorService::getActiveConnections() const
320{
321    Mutex::Autolock _l(mLock);
322    return mActiveConnections;
323}
324
325DefaultKeyedVector<int, SensorInterface*>
326SensorService::getActiveVirtualSensors() const
327{
328    Mutex::Autolock _l(mLock);
329    return mActiveVirtualSensors;
330}
331
332String8 SensorService::getSensorName(int handle) const {
333    size_t count = mUserSensorList.size();
334    for (size_t i=0 ; i<count ; i++) {
335        const Sensor& sensor(mUserSensorList[i]);
336        if (sensor.getHandle() == handle) {
337            return sensor.getName();
338        }
339    }
340    String8 result("unknown");
341    return result;
342}
343
344Vector<Sensor> SensorService::getSensorList()
345{
346    return mUserSensorList;
347}
348
349sp<ISensorEventConnection> SensorService::createSensorEventConnection()
350{
351    sp<SensorEventConnection> result(new SensorEventConnection(this));
352    return result;
353}
354
355void SensorService::cleanupConnection(SensorEventConnection* c)
356{
357    Mutex::Autolock _l(mLock);
358    const wp<SensorEventConnection> connection(c);
359    size_t size = mActiveSensors.size();
360    LOGD_IF(DEBUG_CONNECTIONS, "%d active sensors", size);
361    for (size_t i=0 ; i<size ; ) {
362        int handle = mActiveSensors.keyAt(i);
363        if (c->hasSensor(handle)) {
364            LOGD_IF(DEBUG_CONNECTIONS, "%i: disabling handle=0x%08x", i, handle);
365            SensorInterface* sensor = mSensorMap.valueFor( handle );
366            LOGE_IF(!sensor, "mSensorMap[handle=0x%08x] is null!", handle);
367            if (sensor) {
368                sensor->activate(c, false);
369            }
370        }
371        SensorRecord* rec = mActiveSensors.valueAt(i);
372        LOGE_IF(!rec, "mActiveSensors[%d] is null (handle=0x%08x)!", i, handle);
373        LOGD_IF(DEBUG_CONNECTIONS,
374                "removing connection %p for sensor[%d].handle=0x%08x",
375                c, i, handle);
376
377        if (rec && rec->removeConnection(connection)) {
378            LOGD_IF(DEBUG_CONNECTIONS, "... and it was the last connection");
379            mActiveSensors.removeItemsAt(i, 1);
380            mActiveVirtualSensors.removeItem(handle);
381            delete rec;
382            size--;
383        } else {
384            i++;
385        }
386    }
387    mActiveConnections.remove(connection);
388}
389
390status_t SensorService::enable(const sp<SensorEventConnection>& connection,
391        int handle)
392{
393    if (mInitCheck != NO_ERROR)
394        return mInitCheck;
395
396    Mutex::Autolock _l(mLock);
397    SensorInterface* sensor = mSensorMap.valueFor(handle);
398    status_t err = sensor ? sensor->activate(connection.get(), true) : status_t(BAD_VALUE);
399    if (err == NO_ERROR) {
400        SensorRecord* rec = mActiveSensors.valueFor(handle);
401        if (rec == 0) {
402            rec = new SensorRecord(connection);
403            mActiveSensors.add(handle, rec);
404            if (sensor->isVirtual()) {
405                mActiveVirtualSensors.add(handle, sensor);
406            }
407        } else {
408            if (rec->addConnection(connection)) {
409                // this sensor is already activated, but we are adding a
410                // connection that uses it. Immediately send down the last
411                // known value of the requested sensor if it's not a
412                // "continuous" sensor.
413                if (sensor->getSensor().getMinDelay() == 0) {
414                    sensors_event_t scratch;
415                    sensors_event_t& event(mLastEventSeen.editValueFor(handle));
416                    if (event.version == sizeof(sensors_event_t)) {
417                        connection->sendEvents(&event, 1);
418                    }
419                }
420            }
421        }
422        if (err == NO_ERROR) {
423            // connection now active
424            if (connection->addSensor(handle)) {
425                // the sensor was added (which means it wasn't already there)
426                // so, see if this connection becomes active
427                if (mActiveConnections.indexOf(connection) < 0) {
428                    mActiveConnections.add(connection);
429                }
430            }
431        }
432    }
433    return err;
434}
435
436status_t SensorService::disable(const sp<SensorEventConnection>& connection,
437        int handle)
438{
439    if (mInitCheck != NO_ERROR)
440        return mInitCheck;
441
442    status_t err = NO_ERROR;
443    Mutex::Autolock _l(mLock);
444    SensorRecord* rec = mActiveSensors.valueFor(handle);
445    if (rec) {
446        // see if this connection becomes inactive
447        connection->removeSensor(handle);
448        if (connection->hasAnySensor() == false) {
449            mActiveConnections.remove(connection);
450        }
451        // see if this sensor becomes inactive
452        if (rec->removeConnection(connection)) {
453            mActiveSensors.removeItem(handle);
454            mActiveVirtualSensors.removeItem(handle);
455            delete rec;
456        }
457        SensorInterface* sensor = mSensorMap.valueFor(handle);
458        err = sensor ? sensor->activate(connection.get(), false) : status_t(BAD_VALUE);
459    }
460    return err;
461}
462
463status_t SensorService::setEventRate(const sp<SensorEventConnection>& connection,
464        int handle, nsecs_t ns)
465{
466    if (mInitCheck != NO_ERROR)
467        return mInitCheck;
468
469    if (ns < 0)
470        return BAD_VALUE;
471
472    if (ns < MINIMUM_EVENTS_PERIOD)
473        ns = MINIMUM_EVENTS_PERIOD;
474
475    SensorInterface* sensor = mSensorMap.valueFor(handle);
476    if (!sensor) return BAD_VALUE;
477    return sensor->setDelay(connection.get(), handle, ns);
478}
479
480// ---------------------------------------------------------------------------
481
482SensorService::SensorRecord::SensorRecord(
483        const sp<SensorEventConnection>& connection)
484{
485    mConnections.add(connection);
486}
487
488bool SensorService::SensorRecord::addConnection(
489        const sp<SensorEventConnection>& connection)
490{
491    if (mConnections.indexOf(connection) < 0) {
492        mConnections.add(connection);
493        return true;
494    }
495    return false;
496}
497
498bool SensorService::SensorRecord::removeConnection(
499        const wp<SensorEventConnection>& connection)
500{
501    ssize_t index = mConnections.indexOf(connection);
502    if (index >= 0) {
503        mConnections.removeItemsAt(index, 1);
504    }
505    return mConnections.size() ? false : true;
506}
507
508// ---------------------------------------------------------------------------
509
510SensorService::SensorEventConnection::SensorEventConnection(
511        const sp<SensorService>& service)
512    : mService(service), mChannel(new SensorChannel())
513{
514}
515
516SensorService::SensorEventConnection::~SensorEventConnection()
517{
518    LOGD_IF(DEBUG_CONNECTIONS, "~SensorEventConnection(%p)", this);
519    mService->cleanupConnection(this);
520}
521
522void SensorService::SensorEventConnection::onFirstRef()
523{
524}
525
526bool SensorService::SensorEventConnection::addSensor(int32_t handle) {
527    Mutex::Autolock _l(mConnectionLock);
528    if (mSensorInfo.indexOf(handle) <= 0) {
529        mSensorInfo.add(handle);
530        return true;
531    }
532    return false;
533}
534
535bool SensorService::SensorEventConnection::removeSensor(int32_t handle) {
536    Mutex::Autolock _l(mConnectionLock);
537    if (mSensorInfo.remove(handle) >= 0) {
538        return true;
539    }
540    return false;
541}
542
543bool SensorService::SensorEventConnection::hasSensor(int32_t handle) const {
544    Mutex::Autolock _l(mConnectionLock);
545    return mSensorInfo.indexOf(handle) >= 0;
546}
547
548bool SensorService::SensorEventConnection::hasAnySensor() const {
549    Mutex::Autolock _l(mConnectionLock);
550    return mSensorInfo.size() ? true : false;
551}
552
553status_t SensorService::SensorEventConnection::sendEvents(
554        sensors_event_t const* buffer, size_t numEvents,
555        sensors_event_t* scratch)
556{
557    // filter out events not for this connection
558    size_t count = 0;
559    if (scratch) {
560        Mutex::Autolock _l(mConnectionLock);
561        size_t i=0;
562        while (i<numEvents) {
563            const int32_t curr = buffer[i].sensor;
564            if (mSensorInfo.indexOf(curr) >= 0) {
565                do {
566                    scratch[count++] = buffer[i++];
567                } while ((i<numEvents) && (buffer[i].sensor == curr));
568            } else {
569                i++;
570            }
571        }
572    } else {
573        scratch = const_cast<sensors_event_t *>(buffer);
574        count = numEvents;
575    }
576
577    if (count == 0)
578        return 0;
579
580    ssize_t size = mChannel->write(scratch, count*sizeof(sensors_event_t));
581    if (size == -EAGAIN) {
582        // the destination doesn't accept events anymore, it's probably
583        // full. For now, we just drop the events on the floor.
584        LOGW("dropping %d events on the floor", count);
585        return size;
586    }
587
588    LOGE_IF(size<0, "dropping %d events on the floor (%s)",
589            count, strerror(-size));
590
591    return size < 0 ? status_t(size) : status_t(NO_ERROR);
592}
593
594sp<SensorChannel> SensorService::SensorEventConnection::getSensorChannel() const
595{
596    return mChannel;
597}
598
599status_t SensorService::SensorEventConnection::enableDisable(
600        int handle, bool enabled)
601{
602    status_t err;
603    if (enabled) {
604        err = mService->enable(this, handle);
605    } else {
606        err = mService->disable(this, handle);
607    }
608    return err;
609}
610
611status_t SensorService::SensorEventConnection::setEventRate(
612        int handle, nsecs_t ns)
613{
614    return mService->setEventRate(this, handle, ns);
615}
616
617// ---------------------------------------------------------------------------
618}; // namespace android
619
620