Created new virtual LimitedAxesImuSensor.
Updated SensorService to instantiate a new virtual
LimitedAxesImuSensor instance for each physical 3D IMU sensor
available on an automotive device.
Fix: 194217520
Bug: 194217520
Test: m sensorservice
Change-Id: Iefa4acc7fd4cc729149324c50cd63039c0af5157
diff --git a/services/sensorservice/Android.bp b/services/sensorservice/Android.bp
index d5b629d..3c4f8d9 100644
--- a/services/sensorservice/Android.bp
+++ b/services/sensorservice/Android.bp
@@ -17,6 +17,7 @@
"Fusion.cpp",
"GravitySensor.cpp",
"HidlSensorHalWrapper.cpp",
+ "LimitedAxesImuSensor.cpp",
"LinearAccelerationSensor.cpp",
"OrientationSensor.cpp",
"RecentEventLogger.cpp",
diff --git a/services/sensorservice/LimitedAxesImuSensor.cpp b/services/sensorservice/LimitedAxesImuSensor.cpp
new file mode 100644
index 0000000..2f91479
--- /dev/null
+++ b/services/sensorservice/LimitedAxesImuSensor.cpp
@@ -0,0 +1,134 @@
+/*
+ * Copyright (C) 2022 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 <math.h>
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+
+#include <hardware/sensors.h>
+
+#include "LimitedAxesImuSensor.h"
+#include "SensorDevice.h"
+#include "SensorFusion.h"
+#include "SensorServiceUtils.h"
+
+namespace android {
+
+namespace {
+const sensor_t DUMMY_SENSOR = {.name = "",
+ .vendor = "",
+ .stringType = "",
+ .requiredPermission = ""};
+} // unnamed namespace
+
+LimitedAxesImuSensor::LimitedAxesImuSensor(sensor_t const* list, size_t count,
+ int32_t imu3dSensorType)
+ : BaseSensor(DUMMY_SENSOR) {
+ for (size_t i = 0; i < count; i++) {
+ if (list[i].type == imu3dSensorType) {
+ mImu3dSensor = Sensor(list + i);
+ break;
+ }
+ }
+
+ const int32_t imuLimitedAxesSensorType = convertImu3dToLimitedAxesSensorType(imu3dSensorType);
+
+ const sensor_t sensor = {
+ .name = convertLimitedAxesSensorTypeToName(imuLimitedAxesSensorType),
+ .vendor = "AOSP",
+ .version = 1,
+ .handle = convertLimitedAxesSensorTypeToHandle(imuLimitedAxesSensorType),
+ .type = imuLimitedAxesSensorType,
+ .maxRange = mImu3dSensor.getMaxValue(),
+ .resolution = mImu3dSensor.getResolution(),
+ .power = mImu3dSensor.getPowerUsage(),
+ .minDelay = mImu3dSensor.getMinDelay(),
+ };
+ mSensor = Sensor(&sensor);
+}
+
+bool LimitedAxesImuSensor::process(sensors_event_t* outEvent, const sensors_event_t& event) {
+ if (event.type == mImu3dSensor.getType()) {
+ *outEvent = event;
+ size_t imu3dDataSize = SensorServiceUtil::eventSizeBySensorType(mImu3dSensor.getType());
+ outEvent->data[0 + imu3dDataSize] = 1;
+ outEvent->data[1 + imu3dDataSize] = 1;
+ outEvent->data[2 + imu3dDataSize] = 1;
+ outEvent->sensor = mSensor.getHandle();
+ outEvent->type = mSensor.getType();
+ return true;
+ }
+ return false;
+}
+
+status_t LimitedAxesImuSensor::activate(void* ident, bool enabled) {
+ return mSensorDevice.activate(ident, mImu3dSensor.getHandle(), enabled);
+}
+
+status_t LimitedAxesImuSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
+ return mSensorDevice.setDelay(ident, mImu3dSensor.getHandle(), ns);
+}
+
+int32_t LimitedAxesImuSensor::convertImu3dToLimitedAxesSensorType(int32_t imu3dSensorType) {
+ switch (imu3dSensorType) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ return SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES;
+ case SENSOR_TYPE_GYROSCOPE:
+ return SENSOR_TYPE_GYROSCOPE_LIMITED_AXES;
+ case SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED:
+ return SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED;
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ return SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED;
+ default:
+ return 0;
+ }
+}
+
+int32_t LimitedAxesImuSensor::convertLimitedAxesSensorTypeToHandle(
+ int32_t imuLimitedAxesSensorType) {
+ switch (imuLimitedAxesSensorType) {
+ case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES:
+ return '_ala';
+ case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES:
+ return '_gla';
+ case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+ return '_alc';
+ case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
+ return '_glc';
+ default:
+ return 0;
+ }
+}
+
+const char* LimitedAxesImuSensor::convertLimitedAxesSensorTypeToName(
+ int32_t imuLimitedAxesSensorType) {
+ switch (imuLimitedAxesSensorType) {
+ case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES:
+ return "Accelerometer Limited Axes Sensor";
+ case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES:
+ return "Gyroscope Limited Axes Sensor";
+ case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+ return "Accelerometer Limited Axes Uncalibrated Sensor";
+ case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
+ return "Gyroscope Limited Axes Uncalibrated Sensor";
+ default:
+ return "";
+ }
+}
+
+}; // namespace android
diff --git a/services/sensorservice/LimitedAxesImuSensor.h b/services/sensorservice/LimitedAxesImuSensor.h
new file mode 100644
index 0000000..fd46a98
--- /dev/null
+++ b/services/sensorservice/LimitedAxesImuSensor.h
@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <sensor/Sensor.h>
+
+#include "SensorInterface.h"
+
+namespace android {
+
+class SensorDevice;
+
+class LimitedAxesImuSensor : public BaseSensor {
+ Sensor mImu3dSensor;
+
+public:
+ LimitedAxesImuSensor(sensor_t const* list, size_t count, int32_t imuSensorType);
+ virtual bool process(sensors_event_t* outEvent, const sensors_event_t& event) override;
+ virtual status_t activate(void* ident, bool enabled) override;
+ virtual status_t setDelay(void* ident, int handle, int64_t ns) override;
+ virtual bool isVirtual() const override { return true; }
+
+private:
+ int32_t convertImu3dToLimitedAxesSensorType(int32_t imu3dSensorType);
+ int32_t convertLimitedAxesSensorTypeToHandle(int32_t imuLimitedAxesSensorType);
+ const char* convertLimitedAxesSensorTypeToName(int32_t imuLimitedAxesSensorType);
+};
+
+}; // namespace android
\ No newline at end of file
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
index 9bc7b8e..33824f2 100644
--- a/services/sensorservice/SensorService.cpp
+++ b/services/sensorservice/SensorService.cpp
@@ -38,6 +38,7 @@
#include "BatteryService.h"
#include "CorrectedGyroSensor.h"
#include "GravitySensor.h"
+#include "LimitedAxesImuSensor.h"
#include "LinearAccelerationSensor.h"
#include "OrientationSensor.h"
#include "RotationVectorSensor.h"
@@ -101,6 +102,33 @@
static const String16 sLocationHardwarePermission("android.permission.LOCATION_HARDWARE");
static const String16 sManageSensorsPermission("android.permission.MANAGE_SENSORS");
+static bool isAutomotive() {
+ sp<IServiceManager> serviceManager = defaultServiceManager();
+ if (serviceManager.get() == nullptr) {
+ ALOGE("%s: unable to access native ServiceManager", __func__);
+ return false;
+ }
+
+ sp<content::pm::IPackageManagerNative> packageManager;
+ sp<IBinder> binder = serviceManager->waitForService(String16("package_native"));
+ packageManager = interface_cast<content::pm::IPackageManagerNative>(binder);
+ if (packageManager == nullptr) {
+ ALOGE("%s: unable to access native PackageManager", __func__);
+ return false;
+ }
+
+ bool isAutomotive = false;
+ binder::Status status =
+ packageManager->hasSystemFeature(String16("android.hardware.type.automotive"), 0,
+ &isAutomotive);
+ if (!status.isOk()) {
+ ALOGE("%s: hasSystemFeature failed: %s", __func__, status.exceptionMessage().c_str());
+ return false;
+ }
+
+ return isAutomotive;
+}
+
SensorService::SensorService()
: mInitCheck(NO_INIT), mSocketBufferSize(SOCKET_BUFFER_SIZE_NON_BATCHED),
mWakeLockAcquired(false), mLastReportedProxIsActive(false) {
@@ -165,6 +193,8 @@
ssize_t count = dev.getSensorList(&list);
if (count > 0) {
bool hasGyro = false, hasAccel = false, hasMag = false;
+ bool hasGyroUncalibrated = false;
+ bool hasAccelUncalibrated = false;
uint32_t virtualSensorsNeeds =
(1<<SENSOR_TYPE_GRAVITY) |
(1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
@@ -179,13 +209,18 @@
case SENSOR_TYPE_ACCELEROMETER:
hasAccel = true;
break;
+ case SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED:
+ hasAccelUncalibrated = true;
+ break;
case SENSOR_TYPE_MAGNETIC_FIELD:
hasMag = true;
break;
case SENSOR_TYPE_GYROSCOPE:
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
hasGyro = true;
break;
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ hasGyroUncalibrated = true;
+ break;
case SENSOR_TYPE_GRAVITY:
case SENSOR_TYPE_LINEAR_ACCELERATION:
case SENSOR_TYPE_ROTATION_VECTOR:
@@ -216,7 +251,7 @@
// registered)
SensorFusion::getInstance();
- if (hasGyro && hasAccel && hasMag) {
+ if ((hasGyro || hasGyroUncalibrated) && hasAccel && hasMag) {
// Add Android virtual sensors if they're not already
// available in the HAL
bool needRotationVector =
@@ -230,7 +265,7 @@
registerSensor( new GyroDriftSensor(), true, true);
}
- if (hasAccel && hasGyro) {
+ if (hasAccel && (hasGyro || hasGyroUncalibrated)) {
bool needGravitySensor = (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) != 0;
registerSensor(new GravitySensor(list, count), !needGravitySensor, true);
@@ -250,6 +285,30 @@
registerSensor(new GeoMagRotationVectorSensor(), !needGeoMagRotationVector, true);
}
+ if (isAutomotive()) {
+ if (hasAccel) {
+ registerSensor(new LimitedAxesImuSensor(list, count, SENSOR_TYPE_ACCELEROMETER),
+ /*isDebug=*/false, /*isVirtual=*/true);
+ }
+
+ if (hasGyro) {
+ registerSensor(new LimitedAxesImuSensor(list, count, SENSOR_TYPE_GYROSCOPE),
+ /*isDebug=*/false, /*isVirtual=*/true);
+ }
+
+ if (hasAccelUncalibrated) {
+ registerSensor(new LimitedAxesImuSensor(list, count,
+ SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED),
+ /*isDebug=*/false, /*isVirtual=*/true);
+ }
+
+ if (hasGyroUncalibrated) {
+ registerSensor(new LimitedAxesImuSensor(list, count,
+ SENSOR_TYPE_GYROSCOPE_UNCALIBRATED),
+ /*isDebug=*/false, /*isVirtual=*/true);
+ }
+ }
+
// Check if the device really supports batching by looking at the FIFO event
// counts for each sensor.
bool batchingSupported = false;