Merge changes from topic "sensors-hal-aidl"
* changes:
Adds AIDL sensors HAL crash handling
Add AidlSensorHalWrapper code
Refactor dynamic sensors logic
Reorganize sensors resolution logic
Fix sp ownership in HidlSensorHalWrapper
diff --git a/services/sensorservice/AidlSensorHalWrapper.cpp b/services/sensorservice/AidlSensorHalWrapper.cpp
new file mode 100644
index 0000000..74c47ba
--- /dev/null
+++ b/services/sensorservice/AidlSensorHalWrapper.cpp
@@ -0,0 +1,656 @@
+/*
+ * Copyright (C) 2021 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 "AidlSensorHalWrapper.h"
+#include "ISensorsWrapper.h"
+#include "SensorDeviceUtils.h"
+#include "android/hardware/sensors/2.0/types.h"
+
+#include <aidl/android/hardware/sensors/BnSensorsCallback.h>
+#include <aidlcommonsupport/NativeHandle.h>
+#include <android-base/logging.h>
+#include <android/binder_manager.h>
+
+using ::aidl::android::hardware::sensors::AdditionalInfo;
+using ::aidl::android::hardware::sensors::DynamicSensorInfo;
+using ::aidl::android::hardware::sensors::Event;
+using ::aidl::android::hardware::sensors::ISensors;
+using ::aidl::android::hardware::sensors::SensorInfo;
+using ::aidl::android::hardware::sensors::SensorStatus;
+using ::aidl::android::hardware::sensors::SensorType;
+using ::android::AidlMessageQueue;
+using ::android::hardware::EventFlag;
+using ::android::hardware::sensors::V2_1::implementation::MAX_RECEIVE_BUFFER_EVENT_COUNT;
+
+namespace android {
+
+namespace {
+
+status_t convertToStatus(ndk::ScopedAStatus status) {
+ if (status.isOk()) {
+ return OK;
+ } else {
+ switch (status.getExceptionCode()) {
+ case EX_ILLEGAL_ARGUMENT: {
+ return BAD_VALUE;
+ }
+ case EX_SECURITY: {
+ return PERMISSION_DENIED;
+ }
+ case EX_UNSUPPORTED_OPERATION: {
+ return INVALID_OPERATION;
+ }
+ case EX_SERVICE_SPECIFIC: {
+ switch (status.getServiceSpecificError()) {
+ case ISensors::ERROR_BAD_VALUE: {
+ return BAD_VALUE;
+ }
+ case ISensors::ERROR_NO_MEMORY: {
+ return NO_MEMORY;
+ }
+ default: {
+ return UNKNOWN_ERROR;
+ }
+ }
+ }
+ default: {
+ return UNKNOWN_ERROR;
+ }
+ }
+ }
+}
+
+void convertToSensor(const SensorInfo &src, sensor_t *dst) {
+ dst->name = strdup(src.name.c_str());
+ dst->vendor = strdup(src.vendor.c_str());
+ dst->version = src.version;
+ dst->handle = src.sensorHandle;
+ dst->type = (int)src.type;
+ dst->maxRange = src.maxRange;
+ dst->resolution = src.resolution;
+ dst->power = src.power;
+ dst->minDelay = src.minDelayUs;
+ dst->fifoReservedEventCount = src.fifoReservedEventCount;
+ dst->fifoMaxEventCount = src.fifoMaxEventCount;
+ dst->stringType = strdup(src.typeAsString.c_str());
+ dst->requiredPermission = strdup(src.requiredPermission.c_str());
+ dst->maxDelay = src.maxDelayUs;
+ dst->flags = src.flags;
+ dst->reserved[0] = dst->reserved[1] = 0;
+}
+
+void convertToSensorEvent(const Event &src, sensors_event_t *dst) {
+ *dst = {.version = sizeof(sensors_event_t),
+ .sensor = src.sensorHandle,
+ .type = (int32_t)src.sensorType,
+ .reserved0 = 0,
+ .timestamp = src.timestamp};
+
+ switch (src.sensorType) {
+ case SensorType::META_DATA: {
+ // Legacy HALs expect the handle reference in the meta data field.
+ // Copy it over from the handle of the event.
+ dst->meta_data.what = (int32_t)src.payload.get<Event::EventPayload::meta>().what;
+ dst->meta_data.sensor = src.sensorHandle;
+ // Set the sensor handle to 0 to maintain compatibility.
+ dst->sensor = 0;
+ break;
+ }
+
+ case SensorType::ACCELEROMETER:
+ case SensorType::MAGNETIC_FIELD:
+ case SensorType::ORIENTATION:
+ case SensorType::GYROSCOPE:
+ case SensorType::GRAVITY:
+ case SensorType::LINEAR_ACCELERATION: {
+ dst->acceleration.x = src.payload.get<Event::EventPayload::vec3>().x;
+ dst->acceleration.y = src.payload.get<Event::EventPayload::vec3>().y;
+ dst->acceleration.z = src.payload.get<Event::EventPayload::vec3>().z;
+ dst->acceleration.status = (int32_t)src.payload.get<Event::EventPayload::vec3>().status;
+ break;
+ }
+
+ case SensorType::GAME_ROTATION_VECTOR: {
+ dst->data[0] = src.payload.get<Event::EventPayload::vec4>().x;
+ dst->data[1] = src.payload.get<Event::EventPayload::vec4>().y;
+ dst->data[2] = src.payload.get<Event::EventPayload::vec4>().z;
+ dst->data[3] = src.payload.get<Event::EventPayload::vec4>().w;
+ break;
+ }
+
+ case SensorType::ROTATION_VECTOR:
+ case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
+ dst->data[0] = src.payload.get<Event::EventPayload::data>().values[0];
+ dst->data[1] = src.payload.get<Event::EventPayload::data>().values[1];
+ dst->data[2] = src.payload.get<Event::EventPayload::data>().values[2];
+ dst->data[3] = src.payload.get<Event::EventPayload::data>().values[3];
+ dst->data[4] = src.payload.get<Event::EventPayload::data>().values[4];
+ break;
+ }
+
+ case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+ case SensorType::GYROSCOPE_UNCALIBRATED:
+ case SensorType::ACCELEROMETER_UNCALIBRATED: {
+ dst->uncalibrated_gyro.x_uncalib = src.payload.get<Event::EventPayload::uncal>().x;
+ dst->uncalibrated_gyro.y_uncalib = src.payload.get<Event::EventPayload::uncal>().y;
+ dst->uncalibrated_gyro.z_uncalib = src.payload.get<Event::EventPayload::uncal>().z;
+ dst->uncalibrated_gyro.x_bias = src.payload.get<Event::EventPayload::uncal>().xBias;
+ dst->uncalibrated_gyro.y_bias = src.payload.get<Event::EventPayload::uncal>().yBias;
+ dst->uncalibrated_gyro.z_bias = src.payload.get<Event::EventPayload::uncal>().zBias;
+ break;
+ }
+
+ case SensorType::HINGE_ANGLE:
+ case SensorType::DEVICE_ORIENTATION:
+ case SensorType::LIGHT:
+ case SensorType::PRESSURE:
+ case SensorType::PROXIMITY:
+ case SensorType::RELATIVE_HUMIDITY:
+ case SensorType::AMBIENT_TEMPERATURE:
+ case SensorType::SIGNIFICANT_MOTION:
+ case SensorType::STEP_DETECTOR:
+ case SensorType::TILT_DETECTOR:
+ case SensorType::WAKE_GESTURE:
+ case SensorType::GLANCE_GESTURE:
+ case SensorType::PICK_UP_GESTURE:
+ case SensorType::WRIST_TILT_GESTURE:
+ case SensorType::STATIONARY_DETECT:
+ case SensorType::MOTION_DETECT:
+ case SensorType::HEART_BEAT:
+ case SensorType::LOW_LATENCY_OFFBODY_DETECT: {
+ dst->data[0] = src.payload.get<Event::EventPayload::scalar>();
+ break;
+ }
+
+ case SensorType::STEP_COUNTER: {
+ dst->u64.step_counter = src.payload.get<Event::EventPayload::stepCount>();
+ break;
+ }
+
+ case SensorType::HEART_RATE: {
+ dst->heart_rate.bpm = src.payload.get<Event::EventPayload::heartRate>().bpm;
+ dst->heart_rate.status =
+ (int8_t)src.payload.get<Event::EventPayload::heartRate>().status;
+ break;
+ }
+
+ case SensorType::POSE_6DOF: { // 15 floats
+ for (size_t i = 0; i < 15; ++i) {
+ dst->data[i] = src.payload.get<Event::EventPayload::pose6DOF>().values[i];
+ }
+ break;
+ }
+
+ case SensorType::DYNAMIC_SENSOR_META: {
+ dst->dynamic_sensor_meta.connected =
+ src.payload.get<Event::EventPayload::dynamic>().connected;
+ dst->dynamic_sensor_meta.handle =
+ src.payload.get<Event::EventPayload::dynamic>().sensorHandle;
+ dst->dynamic_sensor_meta.sensor = NULL; // to be filled in later
+
+ memcpy(dst->dynamic_sensor_meta.uuid,
+ src.payload.get<Event::EventPayload::dynamic>().uuid.values.data(), 16);
+
+ break;
+ }
+
+ case SensorType::ADDITIONAL_INFO: {
+ const AdditionalInfo &srcInfo = src.payload.get<Event::EventPayload::additional>();
+
+ additional_info_event_t *dstInfo = &dst->additional_info;
+ dstInfo->type = (int32_t)srcInfo.type;
+ dstInfo->serial = srcInfo.serial;
+
+ // TODO(b/195593357): Finish additional info conversion
+ // CHECK_EQ(sizeof(srcInfo.payload.values), sizeof(dstInfo->data_int32));
+
+ // memcpy(dstInfo->data_int32,
+ // &srcInfo.u,
+ // sizeof(dstInfo->data_int32));
+
+ break;
+ }
+
+ default: {
+ CHECK_GE((int32_t)src.sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+
+ memcpy(dst->data, src.payload.get<Event::EventPayload::data>().values.data(),
+ 16 * sizeof(float));
+ break;
+ }
+ }
+}
+
+void convertFromSensorEvent(const sensors_event_t &src, Event *dst) {
+ *dst = {
+ .timestamp = src.timestamp,
+ .sensorHandle = src.sensor,
+ };
+
+ switch (dst->sensorType) {
+ case SensorType::META_DATA: {
+ Event::EventPayload::MetaData meta;
+ meta.what = (Event::EventPayload::MetaData::MetaDataEventType)src.meta_data.what;
+ // Legacy HALs contain the handle reference in the meta data field.
+ // Copy that over to the handle of the event. In legacy HALs this
+ // field was expected to be 0.
+ dst->sensorHandle = src.meta_data.sensor;
+ dst->payload.set<Event::EventPayload::Tag::meta>(meta);
+ break;
+ }
+
+ case SensorType::ACCELEROMETER:
+ case SensorType::MAGNETIC_FIELD:
+ case SensorType::ORIENTATION:
+ case SensorType::GYROSCOPE:
+ case SensorType::GRAVITY:
+ case SensorType::LINEAR_ACCELERATION: {
+ Event::EventPayload::Vec3 vec3;
+ vec3.x = src.acceleration.x;
+ vec3.y = src.acceleration.y;
+ vec3.z = src.acceleration.z;
+ vec3.status = (SensorStatus)src.acceleration.status;
+ dst->payload.set<Event::EventPayload::Tag::vec3>(vec3);
+ break;
+ }
+
+ case SensorType::GAME_ROTATION_VECTOR: {
+ Event::EventPayload::Vec4 vec4;
+ vec4.x = src.data[0];
+ vec4.y = src.data[1];
+ vec4.z = src.data[2];
+ vec4.w = src.data[3];
+ dst->payload.set<Event::EventPayload::Tag::vec4>(vec4);
+ break;
+ }
+
+ case SensorType::ROTATION_VECTOR:
+ case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
+ Event::EventPayload::Data data;
+ memcpy(data.values.data(), src.data, 5 * sizeof(float));
+ dst->payload.set<Event::EventPayload::Tag::data>(data);
+ break;
+ }
+
+ case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+ case SensorType::GYROSCOPE_UNCALIBRATED:
+ case SensorType::ACCELEROMETER_UNCALIBRATED: {
+ Event::EventPayload::Uncal uncal;
+ uncal.x = src.uncalibrated_gyro.x_uncalib;
+ uncal.y = src.uncalibrated_gyro.y_uncalib;
+ uncal.z = src.uncalibrated_gyro.z_uncalib;
+ uncal.xBias = src.uncalibrated_gyro.x_bias;
+ uncal.yBias = src.uncalibrated_gyro.y_bias;
+ uncal.zBias = src.uncalibrated_gyro.z_bias;
+ dst->payload.set<Event::EventPayload::Tag::uncal>(uncal);
+ break;
+ }
+
+ case SensorType::DEVICE_ORIENTATION:
+ case SensorType::LIGHT:
+ case SensorType::PRESSURE:
+ case SensorType::PROXIMITY:
+ case SensorType::RELATIVE_HUMIDITY:
+ case SensorType::AMBIENT_TEMPERATURE:
+ case SensorType::SIGNIFICANT_MOTION:
+ case SensorType::STEP_DETECTOR:
+ case SensorType::TILT_DETECTOR:
+ case SensorType::WAKE_GESTURE:
+ case SensorType::GLANCE_GESTURE:
+ case SensorType::PICK_UP_GESTURE:
+ case SensorType::WRIST_TILT_GESTURE:
+ case SensorType::STATIONARY_DETECT:
+ case SensorType::MOTION_DETECT:
+ case SensorType::HEART_BEAT:
+ case SensorType::LOW_LATENCY_OFFBODY_DETECT:
+ case SensorType::HINGE_ANGLE: {
+ dst->payload.set<Event::EventPayload::Tag::scalar>((float)src.data[0]);
+ break;
+ }
+
+ case SensorType::STEP_COUNTER: {
+ dst->payload.set<Event::EventPayload::Tag::stepCount>(src.u64.step_counter);
+ break;
+ }
+
+ case SensorType::HEART_RATE: {
+ Event::EventPayload::HeartRate heartRate;
+ heartRate.bpm = src.heart_rate.bpm;
+ heartRate.status = (SensorStatus)src.heart_rate.status;
+ dst->payload.set<Event::EventPayload::Tag::heartRate>(heartRate);
+ break;
+ }
+
+ case SensorType::POSE_6DOF: { // 15 floats
+ Event::EventPayload::Pose6Dof pose6DOF;
+ for (size_t i = 0; i < 15; ++i) {
+ pose6DOF.values[i] = src.data[i];
+ }
+ dst->payload.set<Event::EventPayload::Tag::pose6DOF>(pose6DOF);
+ break;
+ }
+
+ case SensorType::DYNAMIC_SENSOR_META: {
+ DynamicSensorInfo dynamic;
+ dynamic.connected = src.dynamic_sensor_meta.connected;
+ dynamic.sensorHandle = src.dynamic_sensor_meta.handle;
+
+ memcpy(dynamic.uuid.values.data(), src.dynamic_sensor_meta.uuid, 16);
+ dst->payload.set<Event::EventPayload::Tag::dynamic>(dynamic);
+ break;
+ }
+
+ case SensorType::ADDITIONAL_INFO: {
+ AdditionalInfo info;
+ const additional_info_event_t &srcInfo = src.additional_info;
+ info.type = (AdditionalInfo::AdditionalInfoType)srcInfo.type;
+ info.serial = srcInfo.serial;
+
+ // TODO(b/195593357): Finish additional info conversion
+
+ dst->payload.set<Event::EventPayload::Tag::additional>(info);
+ break;
+ }
+
+ default: {
+ CHECK_GE((int32_t)dst->sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+
+ Event::EventPayload::Data data;
+ memcpy(data.values.data(), src.data, 16 * sizeof(float));
+ dst->payload.set<Event::EventPayload::Tag::data>(data);
+ break;
+ }
+ }
+}
+
+void serviceDied(void *cookie) {
+ ALOGW("Sensors HAL died, attempting to reconnect.");
+ ((AidlSensorHalWrapper *)cookie)->prepareForReconnect();
+}
+
+template <typename EnumType>
+constexpr typename std::underlying_type<EnumType>::type asBaseType(EnumType value) {
+ return static_cast<typename std::underlying_type<EnumType>::type>(value);
+}
+
+enum EventQueueFlagBitsInternal : uint32_t {
+ INTERNAL_WAKE = 1 << 16,
+};
+
+} // anonymous namespace
+
+class AidlSensorsCallback : public ::aidl::android::hardware::sensors::BnSensorsCallback {
+public:
+ AidlSensorsCallback(AidlSensorHalWrapper::SensorDeviceCallback *sensorDeviceCallback)
+ : mSensorDeviceCallback(sensorDeviceCallback) {}
+
+ ::ndk::ScopedAStatus onDynamicSensorsConnected(
+ const std::vector<SensorInfo> &sensorInfos) override {
+ std::vector<sensor_t> sensors;
+ for (const SensorInfo &sensorInfo : sensorInfos) {
+ sensor_t sensor;
+ convertToSensor(sensorInfo, &sensor);
+ sensors.push_back(sensor);
+ }
+
+ mSensorDeviceCallback->onDynamicSensorsConnected(sensors);
+ return ::ndk::ScopedAStatus::ok();
+ }
+
+ ::ndk::ScopedAStatus onDynamicSensorsDisconnected(
+ const std::vector<int32_t> &sensorHandles) override {
+ mSensorDeviceCallback->onDynamicSensorsDisconnected(sensorHandles);
+ return ::ndk::ScopedAStatus::ok();
+ }
+
+private:
+ ISensorHalWrapper::SensorDeviceCallback *mSensorDeviceCallback;
+};
+
+AidlSensorHalWrapper::AidlSensorHalWrapper()
+ : mEventQueueFlag(nullptr),
+ mWakeLockQueueFlag(nullptr),
+ mDeathRecipient(AIBinder_DeathRecipient_new(serviceDied)) {}
+
+bool AidlSensorHalWrapper::supportsPolling() {
+ return false;
+}
+
+bool AidlSensorHalWrapper::supportsMessageQueues() {
+ return true;
+}
+
+bool AidlSensorHalWrapper::connect(SensorDeviceCallback *callback) {
+ mSensorDeviceCallback = callback;
+ mSensors = nullptr;
+
+ auto aidlServiceName = std::string() + ISensors::descriptor + "/default";
+ if (AServiceManager_isDeclared(aidlServiceName.c_str())) {
+ if (mSensors != nullptr) {
+ AIBinder_unlinkToDeath(mSensors->asBinder().get(), mDeathRecipient.get(), this);
+ }
+
+ ndk::SpAIBinder binder(AServiceManager_waitForService(aidlServiceName.c_str()));
+ if (binder.get() != nullptr) {
+
+ mSensors = ISensors::fromBinder(binder);
+ mEventQueue = std::make_unique<AidlMessageQueue<
+ Event, SynchronizedReadWrite>>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
+ /*configureEventFlagWord=*/true);
+
+ mWakeLockQueue = std::make_unique<AidlMessageQueue<
+ int32_t, SynchronizedReadWrite>>(MAX_RECEIVE_BUFFER_EVENT_COUNT,
+ /*configureEventFlagWord=*/true);
+ if (mEventQueueFlag != nullptr) {
+ EventFlag::deleteEventFlag(&mEventQueueFlag);
+ }
+ EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag);
+ if (mWakeLockQueueFlag != nullptr) {
+ EventFlag::deleteEventFlag(&mWakeLockQueueFlag);
+ }
+ EventFlag::createEventFlag(mWakeLockQueue->getEventFlagWord(), &mWakeLockQueueFlag);
+
+ CHECK(mEventQueue != nullptr && mEventQueueFlag != nullptr &&
+ mWakeLockQueue != nullptr && mWakeLockQueueFlag != nullptr);
+
+ mCallback = ndk::SharedRefBase::make<AidlSensorsCallback>(mSensorDeviceCallback);
+ mSensors->initialize(mEventQueue->dupeDesc(), mWakeLockQueue->dupeDesc(), mCallback);
+
+ AIBinder_linkToDeath(mSensors->asBinder().get(), mDeathRecipient.get(), this);
+ } else {
+ ALOGE("Could not connect to declared sensors AIDL HAL");
+ }
+ }
+
+ return mSensors != nullptr;
+}
+
+void AidlSensorHalWrapper::prepareForReconnect() {
+ mReconnecting = true;
+ if (mEventQueueFlag != nullptr) {
+ mEventQueueFlag->wake(asBaseType(INTERNAL_WAKE));
+ }
+}
+
+ssize_t AidlSensorHalWrapper::poll(sensors_event_t * /* buffer */, size_t /* count */) {
+ return 0;
+}
+
+ssize_t AidlSensorHalWrapper::pollFmq(sensors_event_t *buffer, size_t maxNumEventsToRead) {
+ ssize_t eventsRead = 0;
+ size_t availableEvents = mEventQueue->availableToRead();
+
+ if (availableEvents == 0) {
+ uint32_t eventFlagState = 0;
+
+ // Wait for events to become available. This is necessary so that the Event FMQ's read() is
+ // able to be called with the correct number of events to read. If the specified number of
+ // events is not available, then read() would return no events, possibly introducing
+ // additional latency in delivering events to applications.
+ if (mEventQueueFlag != nullptr) {
+ mEventQueueFlag->wait(asBaseType(ISensors::EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS) |
+ asBaseType(INTERNAL_WAKE),
+ &eventFlagState);
+ }
+ availableEvents = mEventQueue->availableToRead();
+
+ if ((eventFlagState & asBaseType(INTERNAL_WAKE)) && mReconnecting) {
+ ALOGD("Event FMQ internal wake, returning from poll with no events");
+ return DEAD_OBJECT;
+ }
+ }
+
+ size_t eventsToRead = std::min({availableEvents, maxNumEventsToRead, mEventBuffer.size()});
+ if (eventsToRead > 0) {
+ if (mEventQueue->read(mEventBuffer.data(), eventsToRead)) {
+ // Notify the Sensors HAL that sensor events have been read. This is required to support
+ // the use of writeBlocking by the Sensors HAL.
+ if (mEventQueueFlag != nullptr) {
+ mEventQueueFlag->wake(asBaseType(ISensors::EVENT_QUEUE_FLAG_BITS_EVENTS_READ));
+ }
+
+ for (size_t i = 0; i < eventsToRead; i++) {
+ convertToSensorEvent(mEventBuffer[i], &buffer[i]);
+ }
+ eventsRead = eventsToRead;
+ } else {
+ ALOGW("Failed to read %zu events, currently %zu events available", eventsToRead,
+ availableEvents);
+ }
+ }
+
+ return eventsRead;
+}
+
+std::vector<sensor_t> AidlSensorHalWrapper::getSensorsList() {
+ std::vector<sensor_t> sensorsFound;
+
+ if (mSensors != nullptr) {
+ std::vector<SensorInfo> list;
+ mSensors->getSensorsList(&list);
+ for (size_t i = 0; i < list.size(); i++) {
+ sensor_t sensor;
+ convertToSensor(list[i], &sensor);
+ sensorsFound.push_back(sensor);
+ }
+ }
+
+ return sensorsFound;
+}
+
+status_t AidlSensorHalWrapper::setOperationMode(SensorService::Mode mode) {
+ if (mSensors == nullptr) return NO_INIT;
+ return convertToStatus(mSensors->setOperationMode(static_cast<ISensors::OperationMode>(mode)));
+}
+
+status_t AidlSensorHalWrapper::activate(int32_t sensorHandle, bool enabled) {
+ if (mSensors == nullptr) return NO_INIT;
+ return convertToStatus(mSensors->activate(sensorHandle, enabled));
+}
+
+status_t AidlSensorHalWrapper::batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+ int64_t maxReportLatencyNs) {
+ if (mSensors == nullptr) return NO_INIT;
+ return convertToStatus(mSensors->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs));
+}
+
+status_t AidlSensorHalWrapper::flush(int32_t sensorHandle) {
+ if (mSensors == nullptr) return NO_INIT;
+ return convertToStatus(mSensors->flush(sensorHandle));
+}
+
+status_t AidlSensorHalWrapper::injectSensorData(const sensors_event_t *event) {
+ if (mSensors == nullptr) return NO_INIT;
+
+ Event ev;
+ convertFromSensorEvent(*event, &ev);
+ return convertToStatus(mSensors->injectSensorData(ev));
+}
+
+status_t AidlSensorHalWrapper::registerDirectChannel(const sensors_direct_mem_t *memory,
+ int32_t *channelHandle) {
+ if (mSensors == nullptr) return NO_INIT;
+
+ ISensors::SharedMemInfo::SharedMemType type;
+ switch (memory->type) {
+ case SENSOR_DIRECT_MEM_TYPE_ASHMEM:
+ type = ISensors::SharedMemInfo::SharedMemType::ASHMEM;
+ break;
+ case SENSOR_DIRECT_MEM_TYPE_GRALLOC:
+ type = ISensors::SharedMemInfo::SharedMemType::GRALLOC;
+ break;
+ default:
+ return BAD_VALUE;
+ }
+
+ if (memory->format != SENSOR_DIRECT_FMT_SENSORS_EVENT) {
+ return BAD_VALUE;
+ }
+ ISensors::SharedMemInfo::SharedMemFormat format =
+ ISensors::SharedMemInfo::SharedMemFormat::SENSORS_EVENT;
+
+ ISensors::SharedMemInfo mem = {
+ .type = type,
+ .format = format,
+ .size = static_cast<int32_t>(memory->size),
+ .memoryHandle = makeToAidl(memory->handle),
+ };
+
+ return convertToStatus(mSensors->registerDirectChannel(mem, channelHandle));
+}
+
+status_t AidlSensorHalWrapper::unregisterDirectChannel(int32_t channelHandle) {
+ if (mSensors == nullptr) return NO_INIT;
+ return convertToStatus(mSensors->unregisterDirectChannel(channelHandle));
+}
+
+status_t AidlSensorHalWrapper::configureDirectChannel(int32_t sensorHandle, int32_t channelHandle,
+ const struct sensors_direct_cfg_t *config) {
+ if (mSensors == nullptr) return NO_INIT;
+
+ ISensors::RateLevel rate;
+ switch (config->rate_level) {
+ case SENSOR_DIRECT_RATE_STOP:
+ rate = ISensors::RateLevel::STOP;
+ break;
+ case SENSOR_DIRECT_RATE_NORMAL:
+ rate = ISensors::RateLevel::NORMAL;
+ break;
+ case SENSOR_DIRECT_RATE_FAST:
+ rate = ISensors::RateLevel::FAST;
+ break;
+ case SENSOR_DIRECT_RATE_VERY_FAST:
+ rate = ISensors::RateLevel::VERY_FAST;
+ break;
+ default:
+ return BAD_VALUE;
+ }
+
+ int32_t token;
+ mSensors->configDirectReport(sensorHandle, channelHandle, rate, &token);
+ return token;
+}
+
+void AidlSensorHalWrapper::writeWakeLockHandled(uint32_t count) {
+ int signedCount = (int)count;
+ if (mWakeLockQueue->write(&signedCount)) {
+ mWakeLockQueueFlag->wake(asBaseType(ISensors::WAKE_LOCK_QUEUE_FLAG_BITS_DATA_WRITTEN));
+ } else {
+ ALOGW("Failed to write wake lock handled");
+ }
+}
+
+} // namespace android
diff --git a/services/sensorservice/AidlSensorHalWrapper.h b/services/sensorservice/AidlSensorHalWrapper.h
new file mode 100644
index 0000000..9f61993
--- /dev/null
+++ b/services/sensorservice/AidlSensorHalWrapper.h
@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+#ifndef ANDROID_AIDL_SENSOR_HAL_WRAPPER_H
+#define ANDROID_AIDL_SENSOR_HAL_WRAPPER_H
+
+#include "ISensorHalWrapper.h"
+
+#include <aidl/android/hardware/sensors/ISensors.h>
+#include <fmq/AidlMessageQueue.h>
+#include <sensor/SensorEventQueue.h>
+
+namespace android {
+
+class AidlSensorHalWrapper : public ISensorHalWrapper {
+public:
+ AidlSensorHalWrapper();
+
+ ~AidlSensorHalWrapper() override {
+ if (mEventQueueFlag != nullptr) {
+ ::android::hardware::EventFlag::deleteEventFlag(&mEventQueueFlag);
+ mEventQueueFlag = nullptr;
+ }
+ if (mWakeLockQueueFlag != nullptr) {
+ ::android::hardware::EventFlag::deleteEventFlag(&mWakeLockQueueFlag);
+ mWakeLockQueueFlag = nullptr;
+ }
+ }
+
+ virtual bool connect(SensorDeviceCallback *callback) override;
+
+ virtual void prepareForReconnect() override;
+
+ virtual bool supportsPolling() override;
+
+ virtual bool supportsMessageQueues() override;
+
+ virtual ssize_t poll(sensors_event_t *buffer, size_t count) override;
+
+ virtual ssize_t pollFmq(sensors_event_t *buffer, size_t count) override;
+
+ virtual std::vector<sensor_t> getSensorsList() override;
+
+ virtual status_t setOperationMode(SensorService::Mode mode) override;
+
+ virtual status_t activate(int32_t sensorHandle, bool enabled) override;
+
+ virtual status_t batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+ int64_t maxReportLatencyNs) override;
+
+ virtual status_t flush(int32_t sensorHandle) override;
+
+ virtual status_t injectSensorData(const sensors_event_t *event) override;
+
+ virtual status_t registerDirectChannel(const sensors_direct_mem_t *memory,
+ int32_t *channelHandle) override;
+
+ virtual status_t unregisterDirectChannel(int32_t channelHandle) override;
+
+ virtual status_t configureDirectChannel(int32_t sensorHandle, int32_t channelHandle,
+ const struct sensors_direct_cfg_t *config) override;
+
+ virtual void writeWakeLockHandled(uint32_t count) override;
+
+private:
+ std::shared_ptr<aidl::android::hardware::sensors::ISensors> mSensors;
+ std::shared_ptr<::aidl::android::hardware::sensors::ISensorsCallback> mCallback;
+ std::unique_ptr<::android::AidlMessageQueue<::aidl::android::hardware::sensors::Event,
+ SynchronizedReadWrite>>
+ mEventQueue;
+ std::unique_ptr<::android::AidlMessageQueue<int, SynchronizedReadWrite>> mWakeLockQueue;
+ ::android::hardware::EventFlag *mEventQueueFlag;
+ ::android::hardware::EventFlag *mWakeLockQueueFlag;
+ SensorDeviceCallback *mSensorDeviceCallback;
+ std::array<::aidl::android::hardware::sensors::Event,
+ ::android::SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT>
+ mEventBuffer;
+
+ ndk::ScopedAIBinder_DeathRecipient mDeathRecipient;
+};
+
+} // namespace android
+
+#endif // ANDROID_AIDL_SENSOR_HAL_WRAPPER_H
diff --git a/services/sensorservice/Android.bp b/services/sensorservice/Android.bp
index f8d9dc2..d5b629d 100644
--- a/services/sensorservice/Android.bp
+++ b/services/sensorservice/Android.bp
@@ -11,6 +11,7 @@
name: "libsensorservice",
srcs: [
+ "AidlSensorHalWrapper.cpp",
"BatteryService.cpp",
"CorrectedGyroSensor.cpp",
"Fusion.cpp",
@@ -61,14 +62,19 @@
"libbase",
"libhidlbase",
"libfmq",
+ "libbinder_ndk",
"packagemanager_aidl-cpp",
"android.hardware.sensors@1.0",
"android.hardware.sensors@2.0",
"android.hardware.sensors@2.1",
+ "android.hardware.common-V2-ndk",
+ "android.hardware.common.fmq-V1-ndk",
],
static_libs: [
+ "libaidlcommonsupport",
"android.hardware.sensors@1.0-convert",
+ "android.hardware.sensors-V1-ndk",
],
generated_headers: ["framework-cppstream-protos"],
diff --git a/services/sensorservice/HidlSensorHalWrapper.cpp b/services/sensorservice/HidlSensorHalWrapper.cpp
index dbb3da1..4c64e59 100644
--- a/services/sensorservice/HidlSensorHalWrapper.cpp
+++ b/services/sensorservice/HidlSensorHalWrapper.cpp
@@ -76,11 +76,11 @@
mHidlSensorHalWrapper->prepareForReconnect();
}
-struct SensorsCallback : public ISensorsCallback {
+struct HidlSensorsCallback : public ISensorsCallback {
using Result = ::android::hardware::sensors::V1_0::Result;
using SensorInfo = ::android::hardware::sensors::V2_1::SensorInfo;
- SensorsCallback(ISensorHalWrapper::SensorDeviceCallback* sensorDeviceCallback) {
+ HidlSensorsCallback(ISensorHalWrapper::SensorDeviceCallback* sensorDeviceCallback) {
mSensorDeviceCallback = sensorDeviceCallback;
}
@@ -143,18 +143,19 @@
bool hidlTransportError = false;
do {
- auto ret = mSensors->poll(
- count, [&](auto result, const auto& events, const auto& dynamicSensorsAdded) {
- if (result == Result::OK) {
- convertToSensorEventsAndQuantize(convertToNewEvents(events),
- convertToNewSensorInfos(
- dynamicSensorsAdded),
- buffer);
- err = (ssize_t)events.size();
- } else {
- err = statusFromResult(result);
- }
- });
+ auto ret = mSensors->poll(count,
+ [&](auto result, const auto& events,
+ const auto& dynamicSensorsAdded) {
+ if (result == Result::OK) {
+ convertToSensorEvents(convertToNewEvents(events),
+ convertToNewSensorInfos(
+ dynamicSensorsAdded),
+ buffer);
+ err = (ssize_t)events.size();
+ } else {
+ err = statusFromResult(result);
+ }
+ });
if (ret.isOk()) {
hidlTransportError = false;
@@ -216,9 +217,6 @@
for (size_t i = 0; i < eventsToRead; i++) {
convertToSensorEvent(mEventBuffer[i], &buffer[i]);
- android::SensorDeviceUtils::quantizeSensorEventValues(&buffer[i],
- getResolutionForSensor(
- buffer[i].sensor));
}
eventsRead = eventsToRead;
} else {
@@ -482,7 +480,7 @@
CHECK(mSensors != nullptr && mWakeLockQueue != nullptr && mEventQueueFlag != nullptr &&
mWakeLockQueueFlag != nullptr);
- mCallback = new SensorsCallback(mSensorDeviceCallback);
+ mCallback = sp<HidlSensorsCallback>::make(mSensorDeviceCallback);
status_t status =
checkReturnAndGetStatus(mSensors->initialize(*mWakeLockQueue->getDesc(), mCallback));
@@ -500,63 +498,18 @@
void HidlSensorHalWrapper::convertToSensorEvent(const Event& src, sensors_event_t* dst) {
android::hardware::sensors::V2_1::implementation::convertToSensorEvent(src, dst);
-
- if (src.sensorType == android::hardware::sensors::V2_1::SensorType::DYNAMIC_SENSOR_META) {
- const hardware::sensors::V1_0::DynamicSensorInfo& dyn = src.u.dynamic;
-
- dst->dynamic_sensor_meta.connected = dyn.connected;
- dst->dynamic_sensor_meta.handle = dyn.sensorHandle;
- if (dyn.connected) {
- std::unique_lock<std::mutex> lock(mDynamicSensorsMutex);
- // Give MAX_DYN_SENSOR_WAIT_SEC for onDynamicSensorsConnected to be invoked since it
- // can be received out of order from this event due to a bug in the HIDL spec that
- // marks it as oneway.
- auto it = mConnectedDynamicSensors.find(dyn.sensorHandle);
- if (it == mConnectedDynamicSensors.end()) {
- mDynamicSensorsCv.wait_for(lock, MAX_DYN_SENSOR_WAIT, [&, dyn] {
- return mConnectedDynamicSensors.find(dyn.sensorHandle) !=
- mConnectedDynamicSensors.end();
- });
- it = mConnectedDynamicSensors.find(dyn.sensorHandle);
- CHECK(it != mConnectedDynamicSensors.end());
- }
-
- dst->dynamic_sensor_meta.sensor = &it->second;
-
- memcpy(dst->dynamic_sensor_meta.uuid, dyn.uuid.data(),
- sizeof(dst->dynamic_sensor_meta.uuid));
- }
- }
}
-void HidlSensorHalWrapper::convertToSensorEventsAndQuantize(
- const hidl_vec<Event>& src, const hidl_vec<SensorInfo>& dynamicSensorsAdded,
- sensors_event_t* dst) {
+void HidlSensorHalWrapper::convertToSensorEvents(const hidl_vec<Event>& src,
+ const hidl_vec<SensorInfo>& dynamicSensorsAdded,
+ sensors_event_t* dst) {
if (dynamicSensorsAdded.size() > 0 && mCallback != nullptr) {
mCallback->onDynamicSensorsConnected_2_1(dynamicSensorsAdded);
}
for (size_t i = 0; i < src.size(); ++i) {
- android::hardware::sensors::V2_1::implementation::convertToSensorEvent(src[i], &dst[i]);
- android::SensorDeviceUtils::quantizeSensorEventValues(&dst[i],
- getResolutionForSensor(
- dst[i].sensor));
+ convertToSensorEvent(src[i], &dst[i]);
}
}
-float HidlSensorHalWrapper::getResolutionForSensor(int sensorHandle) {
- for (size_t i = 0; i < mSensorList.size(); i++) {
- if (sensorHandle == mSensorList[i].handle) {
- return mSensorList[i].resolution;
- }
- }
-
- auto it = mConnectedDynamicSensors.find(sensorHandle);
- if (it != mConnectedDynamicSensors.end()) {
- return it->second.resolution;
- }
-
- return 0;
-}
-
} // namespace android
diff --git a/services/sensorservice/HidlSensorHalWrapper.h b/services/sensorservice/HidlSensorHalWrapper.h
index 030247f..71c3512 100644
--- a/services/sensorservice/HidlSensorHalWrapper.h
+++ b/services/sensorservice/HidlSensorHalWrapper.h
@@ -124,12 +124,6 @@
private:
sp<::android::hardware::sensors::V2_1::implementation::ISensorsWrapperBase> mSensors;
sp<::android::hardware::sensors::V2_1::ISensorsCallback> mCallback;
- std::vector<sensor_t> mSensorList;
- std::unordered_map<int32_t, sensor_t> mConnectedDynamicSensors;
-
- std::mutex mDynamicSensorsMutex;
- std::condition_variable mDynamicSensorsCv;
- static constexpr std::chrono::seconds MAX_DYN_SENSOR_WAIT{5};
// Keep track of any hidl transport failures
SensorServiceUtil::RingBuffer<HidlTransportErrorLog> mHidlTransportErrors;
@@ -153,9 +147,9 @@
void convertToSensorEvent(const Event& src, sensors_event_t* dst);
- void convertToSensorEventsAndQuantize(const hardware::hidl_vec<Event>& src,
- const hardware::hidl_vec<SensorInfo>& dynamicSensorsAdded,
- sensors_event_t* dst);
+ void convertToSensorEvents(const hardware::hidl_vec<Event>& src,
+ const hardware::hidl_vec<SensorInfo>& dynamicSensorsAdded,
+ sensors_event_t* dst);
bool connectHidlService();
@@ -167,8 +161,6 @@
typedef hardware::MessageQueue<uint32_t, hardware::kSynchronizedReadWrite> WakeLockQueue;
std::unique_ptr<WakeLockQueue> mWakeLockQueue;
- float getResolutionForSensor(int sensorHandle);
-
hardware::EventFlag* mEventQueueFlag;
hardware::EventFlag* mWakeLockQueueFlag;
diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
index ee621d6..a0e30ac 100644
--- a/services/sensorservice/SensorDevice.cpp
+++ b/services/sensorservice/SensorDevice.cpp
@@ -20,10 +20,15 @@
#include "android/hardware/sensors/2.1/types.h"
#include "convertV2_1.h"
+#include "AidlSensorHalWrapper.h"
+#include "HidlSensorHalWrapper.h"
+
#include <android-base/logging.h>
#include <android/util/ProtoOutputStream.h>
#include <cutils/atomic.h>
#include <frameworks/base/core/proto/android/service/sensor_service.proto.h>
+#include <hardware/sensors-base.h>
+#include <hardware/sensors.h>
#include <sensors/convert.h>
#include <utils/Errors.h>
#include <utils/Singleton.h>
@@ -132,11 +137,18 @@
SensorDevice::~SensorDevice() {}
bool SensorDevice::connectHalService() {
+ std::unique_ptr<ISensorHalWrapper> aidl_wrapper = std::make_unique<AidlSensorHalWrapper>();
+ if (aidl_wrapper->connect(this)) {
+ mHalWrapper = std::move(aidl_wrapper);
+ return true;
+ }
+
std::unique_ptr<ISensorHalWrapper> hidl_wrapper = std::make_unique<HidlSensorHalWrapper>();
if (hidl_wrapper->connect(this)) {
mHalWrapper = std::move(hidl_wrapper);
return true;
}
+
// TODO: check aidl connection;
return false;
}
@@ -349,6 +361,35 @@
ALOGE("Must support polling or FMQ");
eventsRead = -1;
}
+
+ if (eventsRead > 0) {
+ for (ssize_t i = 0; i < eventsRead; i++) {
+ float resolution = getResolutionForSensor(buffer[i].sensor);
+ android::SensorDeviceUtils::quantizeSensorEventValues(&buffer[i], resolution);
+
+ if (buffer[i].type == SENSOR_TYPE_DYNAMIC_SENSOR_META) {
+ struct dynamic_sensor_meta_event& dyn = buffer[i].dynamic_sensor_meta;
+ if (dyn.connected) {
+ std::unique_lock<std::mutex> lock(mDynamicSensorsMutex);
+ // Give MAX_DYN_SENSOR_WAIT_SEC for onDynamicSensorsConnected to be invoked
+ // since it can be received out of order from this event due to a bug in the
+ // HIDL spec that marks it as oneway.
+ auto it = mConnectedDynamicSensors.find(dyn.handle);
+ if (it == mConnectedDynamicSensors.end()) {
+ mDynamicSensorsCv.wait_for(lock, MAX_DYN_SENSOR_WAIT, [&, dyn] {
+ return mConnectedDynamicSensors.find(dyn.handle) !=
+ mConnectedDynamicSensors.end();
+ });
+ it = mConnectedDynamicSensors.find(dyn.handle);
+ CHECK(it != mConnectedDynamicSensors.end());
+ }
+
+ dyn.sensor = &it->second;
+ }
+ }
+ }
+ }
+
return eventsRead;
}
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
index 80e77d9..747a6b0 100644
--- a/services/sensorservice/SensorDevice.h
+++ b/services/sensorservice/SensorDevice.h
@@ -119,6 +119,7 @@
// HAL implementations.
std::mutex mDynamicSensorsMutex;
std::condition_variable mDynamicSensorsCv;
+ static constexpr std::chrono::seconds MAX_DYN_SENSOR_WAIT{5};
static const nsecs_t MINIMUM_EVENTS_PERIOD = 1000000; // 1000 Hz
mutable Mutex mLock; // protect mActivationCount[].batchParams