services/sensorservice/AidlSensorHalWrapper.cpp

/*
 * 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;

            switch (srcInfo.payload.getTag()) {
                case AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32: {
                    const auto &values =
                            srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataInt32>()
                                    .values;
                    CHECK_EQ(values.size() * sizeof(int32_t), sizeof(dstInfo->data_int32));
                    memcpy(dstInfo->data_int32, values.data(), sizeof(dstInfo->data_int32));
                    break;
                }
                case AdditionalInfo::AdditionalInfoPayload::Tag::dataFloat: {
                    const auto &values =
                            srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataFloat>()
                                    .values;
                    CHECK_EQ(values.size() * sizeof(float), sizeof(dstInfo->data_float));
                    memcpy(dstInfo->data_float, values.data(), sizeof(dstInfo->data_float));
                    break;
                }
                default: {
                    ALOGE("Invalid sensor additional info tag: %d", srcInfo.payload.getTag());
                }
            }
            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,
            .sensorType = (SensorType) src.type,
    };

    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;

            AdditionalInfo::AdditionalInfoPayload::Int32Values data;
            CHECK_EQ(data.values.size() * sizeof(int32_t), sizeof(srcInfo.data_int32));
            memcpy(data.values.data(), srcInfo.data_int32, sizeof(srcInfo.data_int32));
            info.payload.set<AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32>(data);

            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