Add a convert library for sensor AIDL
This is moving the conversion functions from
frameworks/native/services/sensorservice/AidlSensorHalWrapper.cpp.
This conversion code needs to be shared between sensorservice, a new
libsensorserviceaidl, and the new VTS tests for AIDL sensorservice.
It will likely also be used by vendors interacting with the new AIDL
sensorservice.
Test: VtsHalSensorManagerV1_0TargetTest
Bug: 205764765
Change-Id: Iabb0bcf0770672671e51fd304f79e14ca94a2d15
diff --git a/sensors/aidl/convert/convert.cpp b/sensors/aidl/convert/convert.cpp
new file mode 100644
index 0000000..415f435
--- /dev/null
+++ b/sensors/aidl/convert/convert.cpp
@@ -0,0 +1,496 @@
+/*
+ * 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 "aidl/sensors/convert.h"
+#include "android-base/logging.h"
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace implementation {
+
+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;
+
+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: {
+ LOG(ERROR) << "Invalid sensor additional info tag: ",
+ (int)srcInfo.payload.getTag();
+ }
+ }
+ break;
+ }
+
+ case SensorType::HEAD_TRACKER: {
+ const auto& ht = src.payload.get<Event::EventPayload::headTracker>();
+ dst->head_tracker.rx = ht.rx;
+ dst->head_tracker.ry = ht.ry;
+ dst->head_tracker.rz = ht.rz;
+ dst->head_tracker.vx = ht.vx;
+ dst->head_tracker.vy = ht.vy;
+ dst->head_tracker.vz = ht.vz;
+ dst->head_tracker.discontinuity_count = ht.discontinuityCount;
+ break;
+ }
+
+ case SensorType::ACCELEROMETER_LIMITED_AXES:
+ case SensorType::GYROSCOPE_LIMITED_AXES:
+ dst->limited_axes_imu.x = src.payload.get<Event::EventPayload::limitedAxesImu>().x;
+ dst->limited_axes_imu.y = src.payload.get<Event::EventPayload::limitedAxesImu>().y;
+ dst->limited_axes_imu.z = src.payload.get<Event::EventPayload::limitedAxesImu>().z;
+ dst->limited_axes_imu.x_supported =
+ src.payload.get<Event::EventPayload::limitedAxesImu>().xSupported;
+ dst->limited_axes_imu.y_supported =
+ src.payload.get<Event::EventPayload::limitedAxesImu>().ySupported;
+ dst->limited_axes_imu.z_supported =
+ src.payload.get<Event::EventPayload::limitedAxesImu>().zSupported;
+ break;
+
+ case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+ case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
+ dst->limited_axes_imu_uncalibrated.x_uncalib =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().x;
+ dst->limited_axes_imu_uncalibrated.y_uncalib =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().y;
+ dst->limited_axes_imu_uncalibrated.z_uncalib =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().z;
+ dst->limited_axes_imu_uncalibrated.x_bias =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xBias;
+ dst->limited_axes_imu_uncalibrated.y_bias =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().yBias;
+ dst->limited_axes_imu_uncalibrated.z_bias =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zBias;
+ dst->limited_axes_imu_uncalibrated.x_supported =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xSupported;
+ dst->limited_axes_imu_uncalibrated.y_supported =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().ySupported;
+ dst->limited_axes_imu_uncalibrated.z_supported =
+ src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zSupported;
+ break;
+
+ case SensorType::HEADING:
+ dst->heading.heading = src.payload.get<Event::EventPayload::heading>().heading;
+ dst->heading.accuracy = src.payload.get<Event::EventPayload::heading>().accuracy;
+ 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;
+ }
+
+ case SensorType::HEAD_TRACKER: {
+ Event::EventPayload::HeadTracker headTracker;
+ headTracker.rx = src.head_tracker.rx;
+ headTracker.ry = src.head_tracker.ry;
+ headTracker.rz = src.head_tracker.rz;
+ headTracker.vx = src.head_tracker.vx;
+ headTracker.vy = src.head_tracker.vy;
+ headTracker.vz = src.head_tracker.vz;
+ headTracker.discontinuityCount = src.head_tracker.discontinuity_count;
+
+ dst->payload.set<Event::EventPayload::Tag::headTracker>(headTracker);
+ break;
+ }
+
+ case SensorType::ACCELEROMETER_LIMITED_AXES:
+ case SensorType::GYROSCOPE_LIMITED_AXES: {
+ Event::EventPayload::LimitedAxesImu limitedAxesImu;
+ limitedAxesImu.x = src.limited_axes_imu.x;
+ limitedAxesImu.y = src.limited_axes_imu.y;
+ limitedAxesImu.z = src.limited_axes_imu.z;
+ limitedAxesImu.xSupported = src.limited_axes_imu.x_supported;
+ limitedAxesImu.ySupported = src.limited_axes_imu.y_supported;
+ limitedAxesImu.zSupported = src.limited_axes_imu.z_supported;
+ dst->payload.set<Event::EventPayload::Tag::limitedAxesImu>(limitedAxesImu);
+ break;
+ }
+
+ case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+ case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED: {
+ Event::EventPayload::LimitedAxesImuUncal limitedAxesImuUncal;
+ limitedAxesImuUncal.x = src.limited_axes_imu_uncalibrated.x_uncalib;
+ limitedAxesImuUncal.y = src.limited_axes_imu_uncalibrated.y_uncalib;
+ limitedAxesImuUncal.z = src.limited_axes_imu_uncalibrated.z_uncalib;
+ limitedAxesImuUncal.xBias = src.limited_axes_imu_uncalibrated.x_bias;
+ limitedAxesImuUncal.yBias = src.limited_axes_imu_uncalibrated.y_bias;
+ limitedAxesImuUncal.yBias = src.limited_axes_imu_uncalibrated.y_bias;
+ limitedAxesImuUncal.zBias = src.limited_axes_imu_uncalibrated.z_bias;
+ limitedAxesImuUncal.xSupported = src.limited_axes_imu_uncalibrated.x_supported;
+ limitedAxesImuUncal.ySupported = src.limited_axes_imu_uncalibrated.y_supported;
+ limitedAxesImuUncal.zSupported = src.limited_axes_imu_uncalibrated.z_supported;
+ dst->payload.set<Event::EventPayload::Tag::limitedAxesImuUncal>(limitedAxesImuUncal);
+ break;
+ }
+
+ case SensorType::HEADING: {
+ Event::EventPayload::Heading heading;
+ heading.heading = src.heading.heading;
+ heading.accuracy = src.heading.accuracy;
+ dst->payload.set<Event::EventPayload::heading>(heading);
+ 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;
+ }
+ }
+}
+
+} // namespace implementation
+} // namespace sensors
+} // namespace hardware
+} // namespace android