Add Sensors Multihal support for Hal 2.0
The multihal framework is a HAL interface for the sensors framework that
allows multiple vendors to package their HAL implementation into a
subHAL dynamic library that will be loaded and used to pass on method
calls to the appropriate subHAL. The HalProxy object, that will act as
the main proxy sensors wrapper for the multiHAL handles writing sensor
events to the event FMQ and wakelock acquisition and releasing via a
callback object it passes to the subHALs.
In order to turn your HAL 2.0 executable into a subHAL to be used by the
multiHAL, implement the Return<Result> initialize(sp<HalProxyCallback>&
callback) method of the ISensorsSubHal derived class. Implement the
ISensorsSubHal* sensorsHalGetSubHal(uint32_t* version)method and have it
return a pointer to your subHAL object. Build this into a dynamic
library and list its filename under /vendor/etc/sensors/hals.conf.
Squashed commits:
07b442e96 (refs/published/mh2_2) MH2 | Write processedEvents instead of
original events.
b38f2e251 Merge "MH2 | Check that subhal index is in range"
d38f99474 Merge "MH2 | Implement debug method of HalProxy"
bf46132fe (refs/published/mh2_4, mh2_4) MH2 | Implement debug method of
HalProxy
1de5bb334 MH2 | Fix wakelock name
e07215347 (refs/published/mh2_3, mh2_3) MH2 | Check that subhal index is
in range
336c1c71e MH2 | Add restart logic in HalProxy::initialize method.
731d7125b MH2 | Change rc file to more appropriate settings
f09465d11 MH2 | Add makeFMQ helpers to HalProxy_test
75cc7bf2f MH2 | Implement wakelock processing thread
e93fdf9a4 MH2 | Implement dynamic sensors callbacks on HalProxy
82b84148c Remove libhwbinder/libhidltransport deps
d45e49b4b Merge "MH2 | Implement pending writes thread"
597142692 MH2 | Implement pending writes thread
db23aa825 MH2 | Implement direct channel and direct report methods
83e4370ae MH2 | Implement injectSensorData method of HalProxy
d0cd57d4c MH2 | Implement ScopeWakelock ctor and dtor
537c0274b MH2 | Add rough proxy callback postEvents method
f97a3f357 Multihal 2.0 - Small tweaks to sensorHandle handling
7a7235461 MultiHal 2.0 - setOperationMode and init direct channel flags
dc7a8e789 MultiHal 2.0 - Get sensors list from subhals
4b4c7b744 MultiHal 2.0 - activate, batch, flush methods of HalProxy
1638531df MultiHal 2.0 - proxying api calls helper methods
aacbf9485 Set up shell to use for unit tests
2879067dd Multihal 2.0 - Implement SubHal discovery
c34e6683b Add a sub-HAL implementation for testing multi-HAL
a689f8a65 Add skeleton for multihal 2.0
Bug: 136511617
Test: atest android.hardware.sensors@2.0-halproxy-unit-tests &&
vts-tradefed run commandAndExit vts --skip-all-system-status-check
--primary-abi-only --skip-preconditions --module VtsHalSensorsV2_0Target
Change-Id: Ibe92d40c92b70848526b0e941bbcffbaf81ffaf2
diff --git a/sensors/2.0/multihal/include/HalProxy.h b/sensors/2.0/multihal/include/HalProxy.h
new file mode 100644
index 0000000..b1dd737
--- /dev/null
+++ b/sensors/2.0/multihal/include/HalProxy.h
@@ -0,0 +1,396 @@
+/*
+ * Copyright (C) 2019 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 "ScopedWakelock.h"
+#include "SubHal.h"
+
+#include <android/hardware/sensors/2.0/ISensors.h>
+#include <android/hardware/sensors/2.0/types.h>
+#include <fmq/MessageQueue.h>
+#include <hardware_legacy/power.h>
+#include <hidl/MQDescriptor.h>
+#include <hidl/Status.h>
+
+#include <atomic>
+#include <condition_variable>
+#include <map>
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <utility>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V2_0 {
+namespace implementation {
+
+using ::android::sp;
+using ::android::hardware::EventFlag;
+using ::android::hardware::hidl_string;
+using ::android::hardware::hidl_vec;
+using ::android::hardware::MessageQueue;
+using ::android::hardware::MQDescriptor;
+using ::android::hardware::Return;
+using ::android::hardware::Void;
+
+class HalProxy : public ISensors, public IScopedWakelockRefCounter {
+ public:
+ using Event = ::android::hardware::sensors::V1_0::Event;
+ using OperationMode = ::android::hardware::sensors::V1_0::OperationMode;
+ using RateLevel = ::android::hardware::sensors::V1_0::RateLevel;
+ using Result = ::android::hardware::sensors::V1_0::Result;
+ using SensorInfo = ::android::hardware::sensors::V1_0::SensorInfo;
+ using SharedMemInfo = ::android::hardware::sensors::V1_0::SharedMemInfo;
+ using ISensorsSubHal = ::android::hardware::sensors::V2_0::implementation::ISensorsSubHal;
+
+ explicit HalProxy();
+ // Test only constructor.
+ explicit HalProxy(std::vector<ISensorsSubHal*>& subHalList);
+ ~HalProxy();
+
+ // Methods from ::android::hardware::sensors::V2_0::ISensors follow.
+ Return<void> getSensorsList(getSensorsList_cb _hidl_cb) override;
+
+ Return<Result> setOperationMode(OperationMode mode) override;
+
+ Return<Result> activate(int32_t sensorHandle, bool enabled) override;
+
+ Return<Result> initialize(
+ const ::android::hardware::MQDescriptorSync<Event>& eventQueueDescriptor,
+ const ::android::hardware::MQDescriptorSync<uint32_t>& wakeLockDescriptor,
+ const sp<ISensorsCallback>& sensorsCallback) override;
+
+ Return<Result> batch(int32_t sensorHandle, int64_t samplingPeriodNs,
+ int64_t maxReportLatencyNs) override;
+
+ Return<Result> flush(int32_t sensorHandle) override;
+
+ Return<Result> injectSensorData(const Event& event) override;
+
+ Return<void> registerDirectChannel(const SharedMemInfo& mem,
+ registerDirectChannel_cb _hidl_cb) override;
+
+ Return<Result> unregisterDirectChannel(int32_t channelHandle) override;
+
+ Return<void> configDirectReport(int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+ configDirectReport_cb _hidl_cb) override;
+
+ Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& args) override;
+
+ // Below methods from ::android::hardware::sensors::V2_0::ISensorsCallback with a minor change
+ // to pass in the sub-HAL index. While the above methods are invoked from the sensors framework
+ // via the binder, these methods are invoked from a callback provided to sub-HALs inside the
+ // same process as the HalProxy, but potentially running on different threads.
+ Return<void> onDynamicSensorsConnected(const hidl_vec<SensorInfo>& dynamicSensorsAdded,
+ int32_t subHalIndex);
+
+ Return<void> onDynamicSensorsDisconnected(const hidl_vec<int32_t>& dynamicSensorHandlesRemoved,
+ int32_t subHalIndex);
+
+ // Below methods are for HalProxyCallback
+
+ /**
+ * Post events to the event message queue if there is room to write them. Otherwise post the
+ * remaining events to a background thread for a blocking write with a kPendingWriteTimeoutNs
+ * timeout.
+ *
+ * @param events The list of events to post to the message queue.
+ * @param numWakeupEvents The number of wakeup events in events.
+ * @param wakelock The wakelock associated with this post of events.
+ */
+ void postEventsToMessageQueue(const std::vector<Event>& events, size_t numWakeupEvents,
+ ScopedWakelock wakelock);
+
+ /**
+ * Get the sensor info associated with that sensorHandle.
+ *
+ * @param sensorHandle The sensor handle.
+ *
+ * @return The sensor info object in the mapping.
+ */
+ const SensorInfo& getSensorInfo(int32_t sensorHandle) { return mSensors[sensorHandle]; }
+
+ bool areThreadsRunning() { return mThreadsRun.load(); }
+
+ // Below methods are from IScopedWakelockRefCounter interface
+ bool incrementRefCountAndMaybeAcquireWakelock(size_t delta,
+ int64_t* timeoutStart = nullptr) override;
+
+ void decrementRefCountAndMaybeReleaseWakelock(size_t delta, int64_t timeoutStart = -1) override;
+
+ private:
+ using EventMessageQueue = MessageQueue<Event, kSynchronizedReadWrite>;
+ using WakeLockMessageQueue = MessageQueue<uint32_t, kSynchronizedReadWrite>;
+
+ /**
+ * The Event FMQ where sensor events are written
+ */
+ std::unique_ptr<EventMessageQueue> mEventQueue;
+
+ /**
+ * The Wake Lock FMQ that is read to determine when the framework has handled WAKE_UP events
+ */
+ std::unique_ptr<WakeLockMessageQueue> mWakeLockQueue;
+
+ /**
+ * Event Flag to signal to the framework when sensor events are available to be read and to
+ * interrupt event queue blocking write.
+ */
+ EventFlag* mEventQueueFlag = nullptr;
+
+ //! Event Flag to signal internally that the wakelock queue should stop its blocking read.
+ EventFlag* mWakelockQueueFlag = nullptr;
+
+ /**
+ * Callback to the sensors framework to inform it that new sensors have been added or removed.
+ */
+ sp<ISensorsCallback> mDynamicSensorsCallback;
+
+ /**
+ * SubHal object pointers that have been saved from vendor dynamic libraries.
+ */
+ std::vector<ISensorsSubHal*> mSubHalList;
+
+ //! The list of subhal callbacks for each subhal where the indices correlate with mSubHalList
+ std::vector<const sp<IHalProxyCallback>> mSubHalCallbacks;
+
+ /**
+ * Map of sensor handles to SensorInfo objects that contains the sensor info from subhals as
+ * well as the modified sensor handle for the framework.
+ *
+ * The subhal index is encoded in the first byte of the sensor handle and the remaining
+ * bytes are generated by the subhal to identify the sensor.
+ */
+ std::map<int32_t, SensorInfo> mSensors;
+
+ //! Map of the dynamic sensors that have been added to halproxy.
+ std::map<int32_t, SensorInfo> mDynamicSensors;
+
+ //! The current operation mode for all subhals.
+ OperationMode mCurrentOperationMode = OperationMode::NORMAL;
+
+ //! The single subHal that supports directChannel reporting.
+ ISensorsSubHal* mDirectChannelSubHal = nullptr;
+
+ //! The timeout for each pending write on background thread for events.
+ static const int64_t kPendingWriteTimeoutNs = 5 * INT64_C(1000000000) /* 5 seconds */;
+
+ //! The bit mask used to get the subhal index from a sensor handle.
+ static constexpr int32_t kSensorHandleSubHalIndexMask = 0xFF000000;
+
+ /**
+ * A FIFO queue of pairs of vector of events and the number of wakeup events in that vector
+ * which are waiting to be written to the events fmq in the background thread.
+ */
+ std::queue<std::pair<std::vector<Event>, size_t>> mPendingWriteEventsQueue;
+
+ //! The mutex protecting writing to the fmq and the pending events queue
+ std::mutex mEventQueueWriteMutex;
+
+ //! The condition variable waiting on pending write events to stack up
+ std::condition_variable mEventQueueWriteCV;
+
+ //! The thread object ptr that handles pending writes
+ std::thread mPendingWritesThread;
+
+ //! The thread object that handles wakelocks
+ std::thread mWakelockThread;
+
+ //! The bool indicating whether to end the threads started in initialize
+ std::atomic_bool mThreadsRun = true;
+
+ //! The mutex protecting access to the dynamic sensors added and removed methods.
+ std::mutex mDynamicSensorsMutex;
+
+ // WakelockRefCount membar vars below
+
+ //! The mutex protecting the wakelock refcount and subsequent wakelock releases and
+ //! acquisitions
+ std::recursive_mutex mWakelockMutex;
+
+ std::condition_variable_any mWakelockCV;
+
+ //! The refcount of how many ScopedWakelocks and pending wakeup events are active
+ size_t mWakelockRefCount = 0;
+
+ int64_t mWakelockTimeoutStartTime = getTimeNow();
+
+ int64_t mWakelockTimeoutResetTime = getTimeNow();
+
+ const char* kWakelockName = "SensorsHAL_WAKEUP";
+
+ /**
+ * Initialize the list of SubHal objects in mSubHalList by reading from dynamic libraries
+ * listed in a config file.
+ */
+ void initializeSubHalListFromConfigFile(const char* configFileName);
+
+ /**
+ * Initialize the HalProxyCallback vector using the list of subhals.
+ */
+ void initializeSubHalCallbacks();
+
+ /**
+ * Initialize the list of SensorInfo objects in mSensorList by getting sensors from each
+ * subhal.
+ */
+ void initializeSensorList();
+
+ /**
+ * Calls the helper methods that all ctors use.
+ */
+ void init();
+
+ /**
+ * Stops all threads by setting the threads running flag to false and joining to them.
+ */
+ void stopThreads();
+
+ /**
+ * Disable all the sensors observed by the HalProxy.
+ */
+ void disableAllSensors();
+
+ /**
+ * Starts the thread that handles pending writes to event fmq.
+ *
+ * @param halProxy The HalProxy object pointer.
+ */
+ static void startPendingWritesThread(HalProxy* halProxy);
+
+ //! Handles the pending writes on events to eventqueue.
+ void handlePendingWrites();
+
+ /**
+ * Starts the thread that handles decrementing the ref count on wakeup events processed by the
+ * framework and timing out wakelocks.
+ *
+ * @param halProxy The HalProxy object pointer.
+ */
+ static void startWakelockThread(HalProxy* halProxy);
+
+ //! Handles the wakelocks.
+ void handleWakelocks();
+
+ /**
+ * @param timeLeft The variable that should be set to the timeleft before timeout will occur or
+ * unmodified if timeout occurred.
+ *
+ * @return true if the shared wakelock has been held passed the timeout and should be released
+ */
+ bool sharedWakelockDidTimeout(int64_t* timeLeft);
+
+ /**
+ * Reset all the member variables associated with the wakelock ref count and maybe release
+ * the shared wakelock.
+ */
+ void resetSharedWakelock();
+
+ /**
+ * Clear direct channel flags if the HalProxy has already chosen a subhal as its direct channel
+ * subhal. Set the directChannelSubHal pointer to the subHal passed in if this is the first
+ * direct channel enabled sensor seen.
+ *
+ * @param sensorInfo The SensorInfo object that may be altered to have direct channel support
+ * disabled.
+ * @param subHal The subhal pointer that the current sensorInfo object came from.
+ */
+ void setDirectChannelFlags(SensorInfo* sensorInfo, ISensorsSubHal* subHal);
+
+ /*
+ * Get the subhal pointer which can be found by indexing into the mSubHalList vector
+ * using the index from the first byte of sensorHandle.
+ *
+ * @param sensorHandle The handle used to identify a sensor in one of the subhals.
+ */
+ ISensorsSubHal* getSubHalForSensorHandle(int32_t sensorHandle);
+
+ /**
+ * Checks that sensorHandle's subhal index byte is within bounds of mSubHalList.
+ *
+ * @param sensorHandle The sensor handle to check.
+ *
+ * @return true if sensorHandles's subhal index byte is valid.
+ */
+ bool isSubHalIndexValid(int32_t sensorHandle);
+
+ /**
+ * Count the number of wakeup events in the first n events of the vector.
+ *
+ * @param events The vector of Event objects.
+ * @param n The end index not inclusive of events to consider.
+ *
+ * @return The number of wakeup events of the considered events.
+ */
+ size_t countNumWakeupEvents(const std::vector<Event>& events, size_t n);
+
+ /*
+ * Clear out the subhal index bytes from a sensorHandle.
+ *
+ * @param sensorHandle The sensor handle to modify.
+ *
+ * @return The modified version of the sensor handle.
+ */
+ static int32_t clearSubHalIndex(int32_t sensorHandle);
+
+ /**
+ * @param sensorHandle The sensor handle to modify.
+ *
+ * @return true if subHalIndex byte of sensorHandle is zeroed.
+ */
+ static bool subHalIndexIsClear(int32_t sensorHandle);
+};
+
+/**
+ * Callback class used to provide the HalProxy with the index of which subHal is invoking
+ */
+class HalProxyCallback : public IHalProxyCallback {
+ using SensorInfo = ::android::hardware::sensors::V1_0::SensorInfo;
+
+ public:
+ HalProxyCallback(HalProxy* halProxy, int32_t subHalIndex)
+ : mHalProxy(halProxy), mSubHalIndex(subHalIndex) {}
+
+ Return<void> onDynamicSensorsConnected(
+ const hidl_vec<SensorInfo>& dynamicSensorsAdded) override {
+ return mHalProxy->onDynamicSensorsConnected(dynamicSensorsAdded, mSubHalIndex);
+ }
+
+ Return<void> onDynamicSensorsDisconnected(
+ const hidl_vec<int32_t>& dynamicSensorHandlesRemoved) override {
+ return mHalProxy->onDynamicSensorsDisconnected(dynamicSensorHandlesRemoved, mSubHalIndex);
+ }
+
+ void postEvents(const std::vector<Event>& events, ScopedWakelock wakelock);
+
+ ScopedWakelock createScopedWakelock(bool lock);
+
+ private:
+ HalProxy* mHalProxy;
+ int32_t mSubHalIndex;
+
+ std::vector<Event> processEvents(const std::vector<Event>& events,
+ size_t* numWakeupEvents) const;
+};
+
+} // namespace implementation
+} // namespace V2_0
+} // namespace sensors
+} // namespace hardware
+} // namespace android