diff options
Diffstat (limited to 'sensors')
-rw-r--r-- | sensors/Android.mk | 30 | ||||
-rw-r--r-- | sensors/sensors_qemu.c | 636 |
2 files changed, 666 insertions, 0 deletions
diff --git a/sensors/Android.mk b/sensors/Android.mk new file mode 100644 index 00000000..a1b8967e --- /dev/null +++ b/sensors/Android.mk @@ -0,0 +1,30 @@ +# Copyright (C) 2009 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. + + +LOCAL_PATH := $(call my-dir) + +# HAL module implemenation stored in +# hw/<SENSORS_HARDWARE_MODULE_ID>.<ro.hardware>.so +include $(CLEAR_VARS) + +LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw +LOCAL_SHARED_LIBRARIES := liblog libcutils +LOCAL_SRC_FILES := sensors_qemu.c +ifeq ($(TARGET_PRODUCT),vbox_x86) +LOCAL_MODULE := sensors.vbox_x86 +else +LOCAL_MODULE := sensors.goldfish +endif +include $(BUILD_SHARED_LIBRARY) diff --git a/sensors/sensors_qemu.c b/sensors/sensors_qemu.c new file mode 100644 index 00000000..9636cebd --- /dev/null +++ b/sensors/sensors_qemu.c @@ -0,0 +1,636 @@ +/* + * Copyright (C) 2009 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. + */ + +/* this implements a sensors hardware library for the Android emulator. + * the following code should be built as a shared library that will be + * placed into /system/lib/hw/sensors.goldfish.so + * + * it will be loaded by the code in hardware/libhardware/hardware.c + * which is itself called from com_android_server_SensorService.cpp + */ + + +/* we connect with the emulator through the "sensors" qemud service + */ +#define SENSORS_SERVICE_NAME "sensors" + +#define LOG_TAG "QemuSensors" + +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <string.h> +#include <cutils/log.h> +#include <cutils/native_handle.h> +#include <cutils/sockets.h> +#include <hardware/sensors.h> + +#if 0 +#define D(...) ALOGD(__VA_ARGS__) +#else +#define D(...) ((void)0) +#endif + +#define E(...) ALOGE(__VA_ARGS__) + +#include <hardware/qemud.h> + +/** SENSOR IDS AND NAMES + **/ + +#define MAX_NUM_SENSORS 5 + +#define SUPPORTED_SENSORS ((1<<MAX_NUM_SENSORS)-1) + +#define ID_BASE SENSORS_HANDLE_BASE +#define ID_ACCELERATION (ID_BASE+0) +#define ID_MAGNETIC_FIELD (ID_BASE+1) +#define ID_ORIENTATION (ID_BASE+2) +#define ID_TEMPERATURE (ID_BASE+3) +#define ID_PROXIMITY (ID_BASE+4) + +#define SENSORS_ACCELERATION (1 << ID_ACCELERATION) +#define SENSORS_MAGNETIC_FIELD (1 << ID_MAGNETIC_FIELD) +#define SENSORS_ORIENTATION (1 << ID_ORIENTATION) +#define SENSORS_TEMPERATURE (1 << ID_TEMPERATURE) +#define SENSORS_PROXIMITY (1 << ID_PROXIMITY) + +#define ID_CHECK(x) ((unsigned)((x)-ID_BASE) < MAX_NUM_SENSORS) + +#define SENSORS_LIST \ + SENSOR_(ACCELERATION,"acceleration") \ + SENSOR_(MAGNETIC_FIELD,"magnetic-field") \ + SENSOR_(ORIENTATION,"orientation") \ + SENSOR_(TEMPERATURE,"temperature") \ + SENSOR_(PROXIMITY,"proximity") \ + +static const struct { + const char* name; + int id; } _sensorIds[MAX_NUM_SENSORS] = +{ +#define SENSOR_(x,y) { y, ID_##x }, + SENSORS_LIST +#undef SENSOR_ +}; + +static const char* +_sensorIdToName( int id ) +{ + int nn; + for (nn = 0; nn < MAX_NUM_SENSORS; nn++) + if (id == _sensorIds[nn].id) + return _sensorIds[nn].name; + return "<UNKNOWN>"; +} + +static int +_sensorIdFromName( const char* name ) +{ + int nn; + + if (name == NULL) + return -1; + + for (nn = 0; nn < MAX_NUM_SENSORS; nn++) + if (!strcmp(name, _sensorIds[nn].name)) + return _sensorIds[nn].id; + + return -1; +} + +/** SENSORS POLL DEVICE + ** + ** This one is used to read sensor data from the hardware. + ** We implement this by simply reading the data from the + ** emulator through the QEMUD channel. + **/ + +typedef struct SensorPoll { + struct sensors_poll_device_t device; + sensors_event_t sensors[MAX_NUM_SENSORS]; + int events_fd; + uint32_t pendingSensors; + int64_t timeStart; + int64_t timeOffset; + int fd; + uint32_t active_sensors; +} SensorPoll; + +/* this must return a file descriptor that will be used to read + * the sensors data (it is passed to data__data_open() below + */ +static native_handle_t* +control__open_data_source(struct sensors_poll_device_t *dev) +{ + SensorPoll* ctl = (void*)dev; + native_handle_t* handle; + + if (ctl->fd < 0) { + ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME); + } + D("%s: fd=%d", __FUNCTION__, ctl->fd); + handle = native_handle_create(1, 0); + handle->data[0] = dup(ctl->fd); + return handle; +} + +static int +control__activate(struct sensors_poll_device_t *dev, + int handle, + int enabled) +{ + SensorPoll* ctl = (void*)dev; + uint32_t mask, sensors, active, new_sensors, changed; + char command[128]; + int ret; + + D("%s: handle=%s (%d) fd=%d enabled=%d", __FUNCTION__, + _sensorIdToName(handle), handle, ctl->fd, enabled); + + if (!ID_CHECK(handle)) { + E("%s: bad handle ID", __FUNCTION__); + return -1; + } + + mask = (1<<handle); + sensors = enabled ? mask : 0; + + active = ctl->active_sensors; + new_sensors = (active & ~mask) | (sensors & mask); + changed = active ^ new_sensors; + + if (!changed) + return 0; + + snprintf(command, sizeof command, "set:%s:%d", + _sensorIdToName(handle), enabled != 0); + + if (ctl->fd < 0) { + ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME); + } + + ret = qemud_channel_send(ctl->fd, command, -1); + if (ret < 0) { + E("%s: when sending command errno=%d: %s", __FUNCTION__, errno, strerror(errno)); + return -1; + } + ctl->active_sensors = new_sensors; + + return 0; +} + +static int +control__set_delay(struct sensors_poll_device_t *dev, int32_t ms) +{ + SensorPoll* ctl = (void*)dev; + char command[128]; + + D("%s: dev=%p delay-ms=%d", __FUNCTION__, dev, ms); + + snprintf(command, sizeof command, "set-delay:%d", ms); + + return qemud_channel_send(ctl->fd, command, -1); +} + +static int +control__close(struct hw_device_t *dev) +{ + SensorPoll* ctl = (void*)dev; + close(ctl->fd); + free(ctl); + return 0; +} + +/* return the current time in nanoseconds */ +static int64_t +data__now_ns(void) +{ + struct timespec ts; + + clock_gettime(CLOCK_MONOTONIC, &ts); + + return (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec; +} + +static int +data__data_open(struct sensors_poll_device_t *dev, native_handle_t* handle) +{ + SensorPoll* data = (void*)dev; + int i; + D("%s: dev=%p fd=%d", __FUNCTION__, dev, handle->data[0]); + memset(&data->sensors, 0, sizeof(data->sensors)); + + data->pendingSensors = 0; + data->timeStart = 0; + data->timeOffset = 0; + + data->events_fd = dup(handle->data[0]); + D("%s: dev=%p fd=%d (was %d)", __FUNCTION__, dev, data->events_fd, handle->data[0]); + native_handle_close(handle); + native_handle_delete(handle); + return 0; +} + +static int +data__data_close(struct sensors_poll_device_t *dev) +{ + SensorPoll* data = (void*)dev; + D("%s: dev=%p", __FUNCTION__, dev); + if (data->events_fd >= 0) { + close(data->events_fd); + data->events_fd = -1; + } + return 0; +} + +static int +pick_sensor(SensorPoll* data, + sensors_event_t* values) +{ + uint32_t mask = SUPPORTED_SENSORS; + while (mask) { + uint32_t i = 31 - __builtin_clz(mask); + mask &= ~(1<<i); + if (data->pendingSensors & (1<<i)) { + data->pendingSensors &= ~(1<<i); + *values = data->sensors[i]; + values->sensor = i; + values->version = sizeof(*values); + + D("%s: %d [%f, %f, %f]", __FUNCTION__, + i, + values->data[0], + values->data[1], + values->data[2]); + return i; + } + } + ALOGE("No sensor to return!!! pendingSensors=%08x", data->pendingSensors); + // we may end-up in a busy loop, slow things down, just in case. + usleep(100000); + return -EINVAL; +} + +static int +data__poll(struct sensors_poll_device_t *dev, sensors_event_t* values) +{ + SensorPoll* data = (void*)dev; + int fd = data->events_fd; + + D("%s: data=%p", __FUNCTION__, dev); + + // there are pending sensors, returns them now... + if (data->pendingSensors) { + return pick_sensor(data, values); + } + + // wait until we get a complete event for an enabled sensor + uint32_t new_sensors = 0; + + while (1) { + /* read the next event */ + char buff[256]; + int len = qemud_channel_recv(data->events_fd, buff, sizeof buff-1); + float params[3]; + int64_t event_time; + + if (len < 0) { + E("%s: len=%d, errno=%d: %s", __FUNCTION__, len, errno, strerror(errno)); + return -errno; + } + + buff[len] = 0; + + /* "wake" is sent from the emulator to exit this loop. */ + if (!strcmp((const char*)data, "wake")) { + return 0x7FFFFFFF; + } + + /* "acceleration:<x>:<y>:<z>" corresponds to an acceleration event */ + if (sscanf(buff, "acceleration:%g:%g:%g", params+0, params+1, params+2) == 3) { + new_sensors |= SENSORS_ACCELERATION; + data->sensors[ID_ACCELERATION].acceleration.x = params[0]; + data->sensors[ID_ACCELERATION].acceleration.y = params[1]; + data->sensors[ID_ACCELERATION].acceleration.z = params[2]; + continue; + } + + /* "orientation:<azimuth>:<pitch>:<roll>" is sent when orientation changes */ + if (sscanf(buff, "orientation:%g:%g:%g", params+0, params+1, params+2) == 3) { + new_sensors |= SENSORS_ORIENTATION; + data->sensors[ID_ORIENTATION].orientation.azimuth = params[0]; + data->sensors[ID_ORIENTATION].orientation.pitch = params[1]; + data->sensors[ID_ORIENTATION].orientation.roll = params[2]; + data->sensors[ID_ORIENTATION].orientation.status = SENSOR_STATUS_ACCURACY_HIGH; + continue; + } + + /* "magnetic:<x>:<y>:<z>" is sent for the params of the magnetic field */ + if (sscanf(buff, "magnetic:%g:%g:%g", params+0, params+1, params+2) == 3) { + new_sensors |= SENSORS_MAGNETIC_FIELD; + data->sensors[ID_MAGNETIC_FIELD].magnetic.x = params[0]; + data->sensors[ID_MAGNETIC_FIELD].magnetic.y = params[1]; + data->sensors[ID_MAGNETIC_FIELD].magnetic.z = params[2]; + data->sensors[ID_MAGNETIC_FIELD].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH; + continue; + } + + /* "temperature:<celsius>" */ + if (sscanf(buff, "temperature:%g", params+0) == 1) { + new_sensors |= SENSORS_TEMPERATURE; + data->sensors[ID_TEMPERATURE].temperature = params[0]; + continue; + } + + /* "proximity:<value>" */ + if (sscanf(buff, "proximity:%g", params+0) == 1) { + new_sensors |= SENSORS_PROXIMITY; + data->sensors[ID_PROXIMITY].distance = params[0]; + continue; + } + + /* "sync:<time>" is sent after a series of sensor events. + * where 'time' is expressed in micro-seconds and corresponds + * to the VM time when the real poll occured. + */ + if (sscanf(buff, "sync:%lld", &event_time) == 1) { + if (new_sensors) { + data->pendingSensors = new_sensors; + int64_t t = event_time * 1000LL; /* convert to nano-seconds */ + + /* use the time at the first sync: as the base for later + * time values */ + if (data->timeStart == 0) { + data->timeStart = data__now_ns(); + data->timeOffset = data->timeStart - t; + } + t += data->timeOffset; + + while (new_sensors) { + uint32_t i = 31 - __builtin_clz(new_sensors); + new_sensors &= ~(1<<i); + data->sensors[i].timestamp = t; + } + return pick_sensor(data, values); + } else { + D("huh ? sync without any sensor data ?"); + } + continue; + } + D("huh ? unsupported command"); + } + return -1; +} + +static int +data__close(struct hw_device_t *dev) +{ + SensorPoll* data = (SensorPoll*)dev; + if (data) { + if (data->events_fd >= 0) { + //ALOGD("(device close) about to close fd=%d", data->events_fd); + close(data->events_fd); + } + free(data); + } + return 0; +} + +/** SENSORS POLL DEVICE FUNCTIONS **/ + +static int poll__close(struct hw_device_t* dev) +{ + SensorPoll* ctl = (void*)dev; + close(ctl->fd); + if (ctl->fd >= 0) { + close(ctl->fd); + } + if (ctl->events_fd >= 0) { + close(ctl->events_fd); + } + free(ctl); + return 0; +} + +static int poll__poll(struct sensors_poll_device_t *dev, + sensors_event_t* data, int count) +{ + SensorPoll* datadev = (void*)dev; + int ret; + int i; + D("%s: dev=%p data=%p count=%d ", __FUNCTION__, dev, data, count); + + for (i = 0; i < count; i++) { + ret = data__poll(dev, data); + data++; + if (ret > MAX_NUM_SENSORS || ret < 0) { + return i; + } + if (!datadev->pendingSensors) { + return i + 1; + } + } + return count; +} + +static int poll__activate(struct sensors_poll_device_t *dev, + int handle, int enabled) +{ + int ret; + native_handle_t* hdl; + SensorPoll* ctl = (void*)dev; + D("%s: dev=%p handle=%x enable=%d ", __FUNCTION__, dev, handle, enabled); + if (ctl->fd < 0) { + D("%s: OPEN CTRL and DATA ", __FUNCTION__); + hdl = control__open_data_source(dev); + ret = data__data_open(dev,hdl); + } + ret = control__activate(dev, handle, enabled); + return ret; +} + +static int poll__setDelay(struct sensors_poll_device_t *dev, + int handle, int64_t ns) +{ + // TODO + return 0; +} + +/** MODULE REGISTRATION SUPPORT + ** + ** This is required so that hardware/libhardware/hardware.c + ** will dlopen() this library appropriately. + **/ + +/* + * the following is the list of all supported sensors. + * this table is used to build sSensorList declared below + * according to which hardware sensors are reported as + * available from the emulator (see get_sensors_list below) + * + * note: numerical values for maxRange/resolution/power were + * taken from the reference AK8976A implementation + */ +static const struct sensor_t sSensorListInit[] = { + { .name = "Goldfish 3-axis Accelerometer", + .vendor = "The Android Open Source Project", + .version = 1, + .handle = ID_ACCELERATION, + .type = SENSOR_TYPE_ACCELEROMETER, + .maxRange = 2.8f, + .resolution = 1.0f/4032.0f, + .power = 3.0f, + .reserved = {} + }, + + { .name = "Goldfish 3-axis Magnetic field sensor", + .vendor = "The Android Open Source Project", + .version = 1, + .handle = ID_MAGNETIC_FIELD, + .type = SENSOR_TYPE_MAGNETIC_FIELD, + .maxRange = 2000.0f, + .resolution = 1.0f, + .power = 6.7f, + .reserved = {} + }, + + { .name = "Goldfish Orientation sensor", + .vendor = "The Android Open Source Project", + .version = 1, + .handle = ID_ORIENTATION, + .type = SENSOR_TYPE_ORIENTATION, + .maxRange = 360.0f, + .resolution = 1.0f, + .power = 9.7f, + .reserved = {} + }, + + { .name = "Goldfish Temperature sensor", + .vendor = "The Android Open Source Project", + .version = 1, + .handle = ID_TEMPERATURE, + .type = SENSOR_TYPE_TEMPERATURE, + .maxRange = 80.0f, + .resolution = 1.0f, + .power = 0.0f, + .reserved = {} + }, + + { .name = "Goldfish Proximity sensor", + .vendor = "The Android Open Source Project", + .version = 1, + .handle = ID_PROXIMITY, + .type = SENSOR_TYPE_PROXIMITY, + .maxRange = 1.0f, + .resolution = 1.0f, + .power = 20.0f, + .reserved = {} + }, +}; + +static struct sensor_t sSensorList[MAX_NUM_SENSORS]; + +static int sensors__get_sensors_list(struct sensors_module_t* module, + struct sensor_t const** list) +{ + int fd = qemud_channel_open(SENSORS_SERVICE_NAME); + char buffer[12]; + int mask, nn, count; + + int ret; + if (fd < 0) { + E("%s: no qemud connection", __FUNCTION__); + return 0; + } + ret = qemud_channel_send(fd, "list-sensors", -1); + if (ret < 0) { + E("%s: could not query sensor list: %s", __FUNCTION__, + strerror(errno)); + close(fd); + return 0; + } + ret = qemud_channel_recv(fd, buffer, sizeof buffer-1); + if (ret < 0) { + E("%s: could not receive sensor list: %s", __FUNCTION__, + strerror(errno)); + close(fd); + return 0; + } + buffer[ret] = 0; + close(fd); + + /* the result is a integer used as a mask for available sensors */ + mask = atoi(buffer); + count = 0; + for (nn = 0; nn < MAX_NUM_SENSORS; nn++) { + if (((1 << nn) & mask) == 0) + continue; + + sSensorList[count++] = sSensorListInit[nn]; + } + D("%s: returned %d sensors (mask=%d)", __FUNCTION__, count, mask); + *list = sSensorList; + return count; +} + + +static int +open_sensors(const struct hw_module_t* module, + const char* name, + struct hw_device_t* *device) +{ + int status = -EINVAL; + + D("%s: name=%s", __FUNCTION__, name); + + if (!strcmp(name, SENSORS_HARDWARE_POLL)) { + SensorPoll *dev = malloc(sizeof(*dev)); + + memset(dev, 0, sizeof(*dev)); + + dev->device.common.tag = HARDWARE_DEVICE_TAG; + dev->device.common.version = 0; + dev->device.common.module = (struct hw_module_t*) module; + dev->device.common.close = poll__close; + dev->device.poll = poll__poll; + dev->device.activate = poll__activate; + dev->device.setDelay = poll__setDelay; + dev->events_fd = -1; + dev->fd = -1; + + *device = &dev->device.common; + status = 0; + } + return status; +} + + +static struct hw_module_methods_t sensors_module_methods = { + .open = open_sensors +}; + +struct sensors_module_t HAL_MODULE_INFO_SYM = { + .common = { + .tag = HARDWARE_MODULE_TAG, + .version_major = 1, + .version_minor = 0, + .id = SENSORS_HARDWARE_MODULE_ID, + .name = "Goldfish SENSORS Module", + .author = "The Android Open Source Project", + .methods = &sensors_module_methods, + }, + .get_sensors_list = sensors__get_sensors_list +}; 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