| /* |
| * 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 |
| }; |
