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gerrit.omnirom.org / android_hardware_interfaces / 04e79d7336fb37fe2c85425bcd23544a6eeada10 / . / sensors / aidl / convert / convert.cpp
blob: 2dc7a177a064f7dd519036f04a8412c105ba710c [file] [log] [blame]
Devin Moore00721dc2022-11-10 22:45:09 +0000[diff] [blame]1/*
2 * Copyright (C) 2022 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17#include "aidl/sensors/convert.h"
18#include "android-base/logging.h"
19
20namespace android {
21namespace hardware {
22namespace sensors {
23namespace implementation {
24
25using aidl::android::hardware::sensors::AdditionalInfo;
26using aidl::android::hardware::sensors::DynamicSensorInfo;
27using aidl::android::hardware::sensors::Event;
28using aidl::android::hardware::sensors::ISensors;
29using aidl::android::hardware::sensors::SensorInfo;
30using aidl::android::hardware::sensors::SensorStatus;
31using aidl::android::hardware::sensors::SensorType;
32
33status_t convertToStatus(ndk::ScopedAStatus status) {
34 if (status.isOk()) {
35 return OK;
36 } else {
37 switch (status.getExceptionCode()) {
38 case EX_ILLEGAL_ARGUMENT: {
39 return BAD_VALUE;
40 }
41 case EX_SECURITY: {
42 return PERMISSION_DENIED;
43 }
44 case EX_UNSUPPORTED_OPERATION: {
45 return INVALID_OPERATION;
46 }
47 case EX_SERVICE_SPECIFIC: {
48 switch (status.getServiceSpecificError()) {
49 case ISensors::ERROR_BAD_VALUE: {
50 return BAD_VALUE;
51 }
52 case ISensors::ERROR_NO_MEMORY: {
53 return NO_MEMORY;
54 }
55 default: {
56 return UNKNOWN_ERROR;
57 }
58 }
59 }
60 default: {
61 return UNKNOWN_ERROR;
62 }
63 }
64 }
65}
66
67void convertToSensor(const SensorInfo& src, sensor_t* dst) {
68 dst->name = strdup(src.name.c_str());
69 dst->vendor = strdup(src.vendor.c_str());
70 dst->version = src.version;
71 dst->handle = src.sensorHandle;
72 dst->type = (int)src.type;
73 dst->maxRange = src.maxRange;
74 dst->resolution = src.resolution;
75 dst->power = src.power;
76 dst->minDelay = src.minDelayUs;
77 dst->fifoReservedEventCount = src.fifoReservedEventCount;
78 dst->fifoMaxEventCount = src.fifoMaxEventCount;
79 dst->stringType = strdup(src.typeAsString.c_str());
80 dst->requiredPermission = strdup(src.requiredPermission.c_str());
81 dst->maxDelay = src.maxDelayUs;
82 dst->flags = src.flags;
83 dst->reserved[0] = dst->reserved[1] = 0;
84}
85
86void convertToSensorEvent(const Event& src, sensors_event_t* dst) {
87 *dst = {.version = sizeof(sensors_event_t),
88 .sensor = src.sensorHandle,
89 .type = (int32_t)src.sensorType,
90 .reserved0 = 0,
91 .timestamp = src.timestamp};
92
93 switch (src.sensorType) {
94 case SensorType::META_DATA: {
95 // Legacy HALs expect the handle reference in the meta data field.
96 // Copy it over from the handle of the event.
97 dst->meta_data.what = (int32_t)src.payload.get<Event::EventPayload::meta>().what;
98 dst->meta_data.sensor = src.sensorHandle;
99 // Set the sensor handle to 0 to maintain compatibility.
100 dst->sensor = 0;
101 break;
102 }
103
104 case SensorType::ACCELEROMETER:
105 case SensorType::MAGNETIC_FIELD:
106 case SensorType::ORIENTATION:
107 case SensorType::GYROSCOPE:
108 case SensorType::GRAVITY:
109 case SensorType::LINEAR_ACCELERATION: {
110 dst->acceleration.x = src.payload.get<Event::EventPayload::vec3>().x;
111 dst->acceleration.y = src.payload.get<Event::EventPayload::vec3>().y;
112 dst->acceleration.z = src.payload.get<Event::EventPayload::vec3>().z;
113 dst->acceleration.status = (int32_t)src.payload.get<Event::EventPayload::vec3>().status;
114 break;
115 }
116
117 case SensorType::GAME_ROTATION_VECTOR: {
118 dst->data[0] = src.payload.get<Event::EventPayload::vec4>().x;
119 dst->data[1] = src.payload.get<Event::EventPayload::vec4>().y;
120 dst->data[2] = src.payload.get<Event::EventPayload::vec4>().z;
121 dst->data[3] = src.payload.get<Event::EventPayload::vec4>().w;
122 break;
123 }
124
125 case SensorType::ROTATION_VECTOR:
126 case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
127 dst->data[0] = src.payload.get<Event::EventPayload::data>().values[0];
128 dst->data[1] = src.payload.get<Event::EventPayload::data>().values[1];
129 dst->data[2] = src.payload.get<Event::EventPayload::data>().values[2];
130 dst->data[3] = src.payload.get<Event::EventPayload::data>().values[3];
131 dst->data[4] = src.payload.get<Event::EventPayload::data>().values[4];
132 break;
133 }
134
135 case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
136 case SensorType::GYROSCOPE_UNCALIBRATED:
137 case SensorType::ACCELEROMETER_UNCALIBRATED: {
138 dst->uncalibrated_gyro.x_uncalib = src.payload.get<Event::EventPayload::uncal>().x;
139 dst->uncalibrated_gyro.y_uncalib = src.payload.get<Event::EventPayload::uncal>().y;
140 dst->uncalibrated_gyro.z_uncalib = src.payload.get<Event::EventPayload::uncal>().z;
141 dst->uncalibrated_gyro.x_bias = src.payload.get<Event::EventPayload::uncal>().xBias;
142 dst->uncalibrated_gyro.y_bias = src.payload.get<Event::EventPayload::uncal>().yBias;
143 dst->uncalibrated_gyro.z_bias = src.payload.get<Event::EventPayload::uncal>().zBias;
144 break;
145 }
146
147 case SensorType::HINGE_ANGLE:
148 case SensorType::DEVICE_ORIENTATION:
149 case SensorType::LIGHT:
150 case SensorType::PRESSURE:
151 case SensorType::PROXIMITY:
152 case SensorType::RELATIVE_HUMIDITY:
153 case SensorType::AMBIENT_TEMPERATURE:
154 case SensorType::SIGNIFICANT_MOTION:
155 case SensorType::STEP_DETECTOR:
156 case SensorType::TILT_DETECTOR:
157 case SensorType::WAKE_GESTURE:
158 case SensorType::GLANCE_GESTURE:
159 case SensorType::PICK_UP_GESTURE:
160 case SensorType::WRIST_TILT_GESTURE:
161 case SensorType::STATIONARY_DETECT:
162 case SensorType::MOTION_DETECT:
163 case SensorType::HEART_BEAT:
164 case SensorType::LOW_LATENCY_OFFBODY_DETECT: {
165 dst->data[0] = src.payload.get<Event::EventPayload::scalar>();
166 break;
167 }
168
169 case SensorType::STEP_COUNTER: {
170 dst->u64.step_counter = src.payload.get<Event::EventPayload::stepCount>();
171 break;
172 }
173
174 case SensorType::HEART_RATE: {
175 dst->heart_rate.bpm = src.payload.get<Event::EventPayload::heartRate>().bpm;
176 dst->heart_rate.status =
177 (int8_t)src.payload.get<Event::EventPayload::heartRate>().status;
178 break;
179 }
180
181 case SensorType::POSE_6DOF: { // 15 floats
182 for (size_t i = 0; i < 15; ++i) {
183 dst->data[i] = src.payload.get<Event::EventPayload::pose6DOF>().values[i];
184 }
185 break;
186 }
187
188 case SensorType::DYNAMIC_SENSOR_META: {
189 dst->dynamic_sensor_meta.connected =
190 src.payload.get<Event::EventPayload::dynamic>().connected;
191 dst->dynamic_sensor_meta.handle =
192 src.payload.get<Event::EventPayload::dynamic>().sensorHandle;
193 dst->dynamic_sensor_meta.sensor = NULL; // to be filled in later
194
195 memcpy(dst->dynamic_sensor_meta.uuid,
196 src.payload.get<Event::EventPayload::dynamic>().uuid.values.data(), 16);
197
198 break;
199 }
200
201 case SensorType::ADDITIONAL_INFO: {
202 const AdditionalInfo& srcInfo = src.payload.get<Event::EventPayload::additional>();
203
204 additional_info_event_t* dstInfo = &dst->additional_info;
205 dstInfo->type = (int32_t)srcInfo.type;
206 dstInfo->serial = srcInfo.serial;
207
208 switch (srcInfo.payload.getTag()) {
209 case AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32: {
210 const auto& values =
211 srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataInt32>()
212 .values;
213 CHECK_EQ(values.size() * sizeof(int32_t), sizeof(dstInfo->data_int32));
214 memcpy(dstInfo->data_int32, values.data(), sizeof(dstInfo->data_int32));
215 break;
216 }
217 case AdditionalInfo::AdditionalInfoPayload::Tag::dataFloat: {
218 const auto& values =
219 srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataFloat>()
220 .values;
221 CHECK_EQ(values.size() * sizeof(float), sizeof(dstInfo->data_float));
222 memcpy(dstInfo->data_float, values.data(), sizeof(dstInfo->data_float));
223 break;
224 }
225 default: {
226 LOG(ERROR) << "Invalid sensor additional info tag: ",
227 (int)srcInfo.payload.getTag();
228 }
229 }
230 break;
231 }
232
233 case SensorType::HEAD_TRACKER: {
234 const auto& ht = src.payload.get<Event::EventPayload::headTracker>();
235 dst->head_tracker.rx = ht.rx;
236 dst->head_tracker.ry = ht.ry;
237 dst->head_tracker.rz = ht.rz;
238 dst->head_tracker.vx = ht.vx;
239 dst->head_tracker.vy = ht.vy;
240 dst->head_tracker.vz = ht.vz;
241 dst->head_tracker.discontinuity_count = ht.discontinuityCount;
242 break;
243 }
244
245 case SensorType::ACCELEROMETER_LIMITED_AXES:
246 case SensorType::GYROSCOPE_LIMITED_AXES:
247 dst->limited_axes_imu.x = src.payload.get<Event::EventPayload::limitedAxesImu>().x;
248 dst->limited_axes_imu.y = src.payload.get<Event::EventPayload::limitedAxesImu>().y;
249 dst->limited_axes_imu.z = src.payload.get<Event::EventPayload::limitedAxesImu>().z;
250 dst->limited_axes_imu.x_supported =
251 src.payload.get<Event::EventPayload::limitedAxesImu>().xSupported;
252 dst->limited_axes_imu.y_supported =
253 src.payload.get<Event::EventPayload::limitedAxesImu>().ySupported;
254 dst->limited_axes_imu.z_supported =
255 src.payload.get<Event::EventPayload::limitedAxesImu>().zSupported;
256 break;
257
258 case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
259 case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
260 dst->limited_axes_imu_uncalibrated.x_uncalib =
261 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().x;
262 dst->limited_axes_imu_uncalibrated.y_uncalib =
263 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().y;
264 dst->limited_axes_imu_uncalibrated.z_uncalib =
265 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().z;
266 dst->limited_axes_imu_uncalibrated.x_bias =
267 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xBias;
268 dst->limited_axes_imu_uncalibrated.y_bias =
269 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().yBias;
270 dst->limited_axes_imu_uncalibrated.z_bias =
271 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zBias;
272 dst->limited_axes_imu_uncalibrated.x_supported =
273 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xSupported;
274 dst->limited_axes_imu_uncalibrated.y_supported =
275 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().ySupported;
276 dst->limited_axes_imu_uncalibrated.z_supported =
277 src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zSupported;
278 break;
279
280 case SensorType::HEADING:
281 dst->heading.heading = src.payload.get<Event::EventPayload::heading>().heading;
282 dst->heading.accuracy = src.payload.get<Event::EventPayload::heading>().accuracy;
283 break;
284
285 default: {
286 CHECK_GE((int32_t)src.sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
287
288 memcpy(dst->data, src.payload.get<Event::EventPayload::data>().values.data(),
289 16 * sizeof(float));
290 break;
291 }
292 }
293}
294
295void convertFromSensorEvent(const sensors_event_t& src, Event* dst) {
296 *dst = {
297 .timestamp = src.timestamp,
298 .sensorHandle = src.sensor,
299 .sensorType = (SensorType)src.type,
300 };
301
302 switch (dst->sensorType) {
303 case SensorType::META_DATA: {
304 Event::EventPayload::MetaData meta;
305 meta.what = (Event::EventPayload::MetaData::MetaDataEventType)src.meta_data.what;
306 // Legacy HALs contain the handle reference in the meta data field.
307 // Copy that over to the handle of the event. In legacy HALs this
308 // field was expected to be 0.
309 dst->sensorHandle = src.meta_data.sensor;
310 dst->payload.set<Event::EventPayload::Tag::meta>(meta);
311 break;
312 }
313
314 case SensorType::ACCELEROMETER:
315 case SensorType::MAGNETIC_FIELD:
316 case SensorType::ORIENTATION:
317 case SensorType::GYROSCOPE:
318 case SensorType::GRAVITY:
319 case SensorType::LINEAR_ACCELERATION: {
320 Event::EventPayload::Vec3 vec3;
321 vec3.x = src.acceleration.x;
322 vec3.y = src.acceleration.y;
323 vec3.z = src.acceleration.z;
324 vec3.status = (SensorStatus)src.acceleration.status;
325 dst->payload.set<Event::EventPayload::Tag::vec3>(vec3);
326 break;
327 }
328
329 case SensorType::GAME_ROTATION_VECTOR: {
330 Event::EventPayload::Vec4 vec4;
331 vec4.x = src.data[0];
332 vec4.y = src.data[1];
333 vec4.z = src.data[2];
334 vec4.w = src.data[3];
335 dst->payload.set<Event::EventPayload::Tag::vec4>(vec4);
336 break;
337 }
338
339 case SensorType::ROTATION_VECTOR:
340 case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
341 Event::EventPayload::Data data;
342 memcpy(data.values.data(), src.data, 5 * sizeof(float));
343 dst->payload.set<Event::EventPayload::Tag::data>(data);
344 break;
345 }
346
347 case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
348 case SensorType::GYROSCOPE_UNCALIBRATED:
349 case SensorType::ACCELEROMETER_UNCALIBRATED: {
350 Event::EventPayload::Uncal uncal;
351 uncal.x = src.uncalibrated_gyro.x_uncalib;
352 uncal.y = src.uncalibrated_gyro.y_uncalib;
353 uncal.z = src.uncalibrated_gyro.z_uncalib;
354 uncal.xBias = src.uncalibrated_gyro.x_bias;
355 uncal.yBias = src.uncalibrated_gyro.y_bias;
356 uncal.zBias = src.uncalibrated_gyro.z_bias;
357 dst->payload.set<Event::EventPayload::Tag::uncal>(uncal);
358 break;
359 }
360
361 case SensorType::DEVICE_ORIENTATION:
362 case SensorType::LIGHT:
363 case SensorType::PRESSURE:
364 case SensorType::PROXIMITY:
365 case SensorType::RELATIVE_HUMIDITY:
366 case SensorType::AMBIENT_TEMPERATURE:
367 case SensorType::SIGNIFICANT_MOTION:
368 case SensorType::STEP_DETECTOR:
369 case SensorType::TILT_DETECTOR:
370 case SensorType::WAKE_GESTURE:
371 case SensorType::GLANCE_GESTURE:
372 case SensorType::PICK_UP_GESTURE:
373 case SensorType::WRIST_TILT_GESTURE:
374 case SensorType::STATIONARY_DETECT:
375 case SensorType::MOTION_DETECT:
376 case SensorType::HEART_BEAT:
377 case SensorType::LOW_LATENCY_OFFBODY_DETECT:
378 case SensorType::HINGE_ANGLE: {
379 dst->payload.set<Event::EventPayload::Tag::scalar>((float)src.data[0]);
380 break;
381 }
382
383 case SensorType::STEP_COUNTER: {
384 dst->payload.set<Event::EventPayload::Tag::stepCount>(src.u64.step_counter);
385 break;
386 }
387
388 case SensorType::HEART_RATE: {
389 Event::EventPayload::HeartRate heartRate;
390 heartRate.bpm = src.heart_rate.bpm;
391 heartRate.status = (SensorStatus)src.heart_rate.status;
392 dst->payload.set<Event::EventPayload::Tag::heartRate>(heartRate);
393 break;
394 }
395
396 case SensorType::POSE_6DOF: { // 15 floats
397 Event::EventPayload::Pose6Dof pose6DOF;
398 for (size_t i = 0; i < 15; ++i) {
399 pose6DOF.values[i] = src.data[i];
400 }
401 dst->payload.set<Event::EventPayload::Tag::pose6DOF>(pose6DOF);
402 break;
403 }
404
405 case SensorType::DYNAMIC_SENSOR_META: {
406 DynamicSensorInfo dynamic;
407 dynamic.connected = src.dynamic_sensor_meta.connected;
408 dynamic.sensorHandle = src.dynamic_sensor_meta.handle;
409
410 memcpy(dynamic.uuid.values.data(), src.dynamic_sensor_meta.uuid, 16);
411 dst->payload.set<Event::EventPayload::Tag::dynamic>(dynamic);
412 break;
413 }
414
415 case SensorType::ADDITIONAL_INFO: {
416 AdditionalInfo info;
417 const additional_info_event_t& srcInfo = src.additional_info;
418 info.type = (AdditionalInfo::AdditionalInfoType)srcInfo.type;
419 info.serial = srcInfo.serial;
420
421 AdditionalInfo::AdditionalInfoPayload::Int32Values data;
422 CHECK_EQ(data.values.size() * sizeof(int32_t), sizeof(srcInfo.data_int32));
423 memcpy(data.values.data(), srcInfo.data_int32, sizeof(srcInfo.data_int32));
424 info.payload.set<AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32>(data);
425
426 dst->payload.set<Event::EventPayload::Tag::additional>(info);
427 break;
428 }
429
430 case SensorType::HEAD_TRACKER: {
431 Event::EventPayload::HeadTracker headTracker;
432 headTracker.rx = src.head_tracker.rx;
433 headTracker.ry = src.head_tracker.ry;
434 headTracker.rz = src.head_tracker.rz;
435 headTracker.vx = src.head_tracker.vx;
436 headTracker.vy = src.head_tracker.vy;
437 headTracker.vz = src.head_tracker.vz;
438 headTracker.discontinuityCount = src.head_tracker.discontinuity_count;
439
440 dst->payload.set<Event::EventPayload::Tag::headTracker>(headTracker);
441 break;
442 }
443
444 case SensorType::ACCELEROMETER_LIMITED_AXES:
445 case SensorType::GYROSCOPE_LIMITED_AXES: {
446 Event::EventPayload::LimitedAxesImu limitedAxesImu;
447 limitedAxesImu.x = src.limited_axes_imu.x;
448 limitedAxesImu.y = src.limited_axes_imu.y;
449 limitedAxesImu.z = src.limited_axes_imu.z;
450 limitedAxesImu.xSupported = src.limited_axes_imu.x_supported;
451 limitedAxesImu.ySupported = src.limited_axes_imu.y_supported;
452 limitedAxesImu.zSupported = src.limited_axes_imu.z_supported;
453 dst->payload.set<Event::EventPayload::Tag::limitedAxesImu>(limitedAxesImu);
454 break;
455 }
456
457 case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
458 case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED: {
459 Event::EventPayload::LimitedAxesImuUncal limitedAxesImuUncal;
460 limitedAxesImuUncal.x = src.limited_axes_imu_uncalibrated.x_uncalib;
461 limitedAxesImuUncal.y = src.limited_axes_imu_uncalibrated.y_uncalib;
462 limitedAxesImuUncal.z = src.limited_axes_imu_uncalibrated.z_uncalib;
463 limitedAxesImuUncal.xBias = src.limited_axes_imu_uncalibrated.x_bias;
464 limitedAxesImuUncal.yBias = src.limited_axes_imu_uncalibrated.y_bias;
Devin Moore00721dc2022-11-10 22:45:09 +0000[diff] [blame]465 limitedAxesImuUncal.zBias = src.limited_axes_imu_uncalibrated.z_bias;
466 limitedAxesImuUncal.xSupported = src.limited_axes_imu_uncalibrated.x_supported;
467 limitedAxesImuUncal.ySupported = src.limited_axes_imu_uncalibrated.y_supported;
468 limitedAxesImuUncal.zSupported = src.limited_axes_imu_uncalibrated.z_supported;
469 dst->payload.set<Event::EventPayload::Tag::limitedAxesImuUncal>(limitedAxesImuUncal);
470 break;
471 }
472
473 case SensorType::HEADING: {
474 Event::EventPayload::Heading heading;
475 heading.heading = src.heading.heading;
476 heading.accuracy = src.heading.accuracy;
477 dst->payload.set<Event::EventPayload::heading>(heading);
478 break;
479 }
480
481 default: {
482 CHECK_GE((int32_t)dst->sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
483
484 Event::EventPayload::Data data;
485 memcpy(data.values.data(), src.data, 16 * sizeof(float));
486 dst->payload.set<Event::EventPayload::Tag::data>(data);
487 break;
488 }
489 }
490}
491
Devin Moore160d7a42022-12-01 23:17:17 +0000[diff] [blame]492void convertFromASensorEvent(const ASensorEvent& src, Event* dst) {
493 convertFromSensorEvent(common::convertASensorEvent(src), dst);
494}
495
Devin Moore00721dc2022-11-10 22:45:09 +0000[diff] [blame]496} // namespace implementation
497} // namespace sensors
498} // namespace hardware
499} // namespace android