blob: 01a5d2dde7c650b724ceb4d97917796656d33677 [file] [log] [blame]
/*
* Copyright (C) 2015 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.
*/
#define LOG_TAG "nanohub"
#include "hubconnection.h"
#include "file.h"
#include "JSONObject.h"
#include <errno.h>
#include <unistd.h>
#include <math.h>
#include <inttypes.h>
#include <sched.h>
#include <sys/inotify.h>
#include <linux/input.h>
#include <linux/uinput.h>
#include <cutils/ashmem.h>
#include <cutils/properties.h>
#include <hardware_legacy/power.h>
#include <media/stagefright/foundation/ADebug.h>
#include <algorithm>
#include <cmath>
#include <sstream>
#include <vector>
#define APP_ID_GET_VENDOR(appid) ((appid) >> 24)
#define APP_ID_MAKE(vendor, app) ((((uint64_t)(vendor)) << 24) | ((app) & 0x00FFFFFF))
#define APP_ID_VENDOR_GOOGLE 0x476f6f676cULL // "Googl"
#define APP_ID_APP_BMI160 2
#define APP_ID_APP_WRIST_TILT_DETECT 0x1005
#define APP_ID_APP_GAZE_DETECT 0x1009
#define APP_ID_APP_UNGAZE_DETECT 0x100a
#define SENS_TYPE_TO_EVENT(_sensorType) (EVT_NO_FIRST_SENSOR_EVENT + (_sensorType))
#define NANOHUB_FILE_PATH "/dev/nanohub"
#define NANOHUB_LOCK_DIR "/data/vendor/sensor/nanohub_lock"
#define NANOHUB_LOCK_FILE NANOHUB_LOCK_DIR "/lock"
#define MAG_BIAS_FILE_PATH "/sys/class/power_supply/battery/compass_compensation"
#define DOUBLE_TOUCH_FILE_PATH "/sys/android_touch/synaptics_rmi4_dsx/wake_event"
#define NANOHUB_LOCK_DIR_PERMS (S_IRUSR | S_IWUSR | S_IXUSR)
#define SENSOR_RATE_ONCHANGE 0xFFFFFF01UL
#define SENSOR_RATE_ONESHOT 0xFFFFFF02UL
#define MIN_MAG_SQ (10.0f * 10.0f)
#define MAX_MAG_SQ (80.0f * 80.0f)
#define OS_LOG_EVENT 0x474F4C41 // ascii: ALOG
#define MAX_RETRY_CNT 5
#ifdef LID_STATE_REPORTING_ENABLED
const char LID_STATE_PROPERTY[] = "sensors.contexthub.lid_state";
const char LID_STATE_UNKNOWN[] = "unknown";
const char LID_STATE_OPEN[] = "open";
const char LID_STATE_CLOSED[] = "closed";
#endif // LID_STATE_REPORTING_ENABLED
constexpr int HUBCONNECTION_SCHED_FIFO_PRIORITY = 3;
static const uint32_t delta_time_encoded = 1;
static const uint32_t delta_time_shift_table[2] = {9, 0};
namespace android {
// static
Mutex HubConnection::sInstanceLock;
// static
HubConnection *HubConnection::sInstance = NULL;
HubConnection *HubConnection::getInstance()
{
Mutex::Autolock autoLock(sInstanceLock);
if (sInstance == NULL) {
sInstance = new HubConnection;
}
return sInstance;
}
static bool isActivitySensor(int sensorIndex) {
return sensorIndex >= COMMS_SENSOR_ACTIVITY_FIRST
&& sensorIndex <= COMMS_SENSOR_ACTIVITY_LAST;
}
static bool isWakeEvent(int32_t sensor)
{
switch (sensor) {
case COMMS_SENSOR_DOUBLE_TOUCH:
case COMMS_SENSOR_DOUBLE_TWIST:
case COMMS_SENSOR_GESTURE:
case COMMS_SENSOR_PROXIMITY:
case COMMS_SENSOR_SIGNIFICANT_MOTION:
case COMMS_SENSOR_TILT:
return true;
default:
return false;
}
}
HubConnection::HubConnection()
: Thread(false /* canCallJava */),
mRing(10 *1024),
mActivityEventHandler(NULL),
mScaleAccel(1.0f),
mScaleMag(1.0f),
mStepCounterOffset(0ull),
mLastStepCount(0ull)
{
mMagBias[0] = mMagBias[1] = mMagBias[2] = 0.0f;
mMagAccuracy = SENSOR_STATUS_UNRELIABLE;
mMagAccuracyRestore = SENSOR_STATUS_UNRELIABLE;
mGyroBias[0] = mGyroBias[1] = mGyroBias[2] = 0.0f;
mAccelBias[0] = mAccelBias[1] = mAccelBias[2] = 0.0f;
mAccelEnabledBias[0] = mAccelEnabledBias[1] = mAccelEnabledBias[2] = 0.0f;
mAccelEnabledBiasStored = true;
memset(&mGyroOtcData, 0, sizeof(mGyroOtcData));
mLefty.accel = false;
mLefty.gyro = false;
mLefty.hub = false;
memset(&mSensorState, 0x00, sizeof(mSensorState));
mFd = open(NANOHUB_FILE_PATH, O_RDWR);
mPollFds[0].fd = mFd;
mPollFds[0].events = POLLIN;
mPollFds[0].revents = 0;
mNumPollFds = 1;
mWakelockHeld = false;
mWakeEventCount = 0;
mWriteFailures = 0;
initNanohubLock();
#ifdef USB_MAG_BIAS_REPORTING_ENABLED
mUsbMagBias = 0;
mMagBiasPollIndex = -1;
int magBiasFd = open(MAG_BIAS_FILE_PATH, O_RDONLY);
if (magBiasFd < 0) {
ALOGW("Mag bias file open failed: %s", strerror(errno));
} else {
mPollFds[mNumPollFds].fd = magBiasFd;
mPollFds[mNumPollFds].events = 0;
mPollFds[mNumPollFds].revents = 0;
mMagBiasPollIndex = mNumPollFds;
mNumPollFds++;
}
#endif // USB_MAG_BIAS_REPORTING_ENABLED
#ifdef DOUBLE_TOUCH_ENABLED
mDoubleTouchPollIndex = -1;
int doubleTouchFd = open(DOUBLE_TOUCH_FILE_PATH, O_RDONLY);
if (doubleTouchFd < 0) {
ALOGW("Double touch file open failed: %s", strerror(errno));
} else {
mPollFds[mNumPollFds].fd = doubleTouchFd;
mPollFds[mNumPollFds].events = 0;
mPollFds[mNumPollFds].revents = 0;
mDoubleTouchPollIndex = mNumPollFds;
mNumPollFds++;
}
#endif // DOUBLE_TOUCH_ENABLED
mSensorState[COMMS_SENSOR_ACCEL].sensorType = SENS_TYPE_ACCEL;
mSensorState[COMMS_SENSOR_ACCEL].alt[0] = COMMS_SENSOR_ACCEL_UNCALIBRATED;
mSensorState[COMMS_SENSOR_ACCEL].alt[1] = COMMS_SENSOR_ACCEL_WRIST_AWARE;
mSensorState[COMMS_SENSOR_ACCEL_UNCALIBRATED].sensorType = SENS_TYPE_ACCEL;
mSensorState[COMMS_SENSOR_ACCEL_UNCALIBRATED].primary = COMMS_SENSOR_ACCEL;
mSensorState[COMMS_SENSOR_ACCEL_UNCALIBRATED].alt[0] = COMMS_SENSOR_ACCEL;
mSensorState[COMMS_SENSOR_ACCEL_UNCALIBRATED].alt[1] = COMMS_SENSOR_ACCEL_WRIST_AWARE;
mSensorState[COMMS_SENSOR_ACCEL_WRIST_AWARE].sensorType = SENS_TYPE_ACCEL;
mSensorState[COMMS_SENSOR_ACCEL_WRIST_AWARE].primary = COMMS_SENSOR_ACCEL;
mSensorState[COMMS_SENSOR_ACCEL_WRIST_AWARE].alt[0] = COMMS_SENSOR_ACCEL;
mSensorState[COMMS_SENSOR_ACCEL_WRIST_AWARE].alt[1] = COMMS_SENSOR_ACCEL_UNCALIBRATED;
mSensorState[COMMS_SENSOR_GYRO].sensorType = SENS_TYPE_GYRO;
mSensorState[COMMS_SENSOR_GYRO].alt[0] = COMMS_SENSOR_GYRO_UNCALIBRATED;
mSensorState[COMMS_SENSOR_GYRO].alt[1] = COMMS_SENSOR_GYRO_WRIST_AWARE;
mSensorState[COMMS_SENSOR_GYRO_UNCALIBRATED].sensorType = SENS_TYPE_GYRO;
mSensorState[COMMS_SENSOR_GYRO_UNCALIBRATED].primary = COMMS_SENSOR_GYRO;
mSensorState[COMMS_SENSOR_GYRO_UNCALIBRATED].alt[0] = COMMS_SENSOR_GYRO;
mSensorState[COMMS_SENSOR_GYRO_UNCALIBRATED].alt[1] = COMMS_SENSOR_GYRO_WRIST_AWARE;
mSensorState[COMMS_SENSOR_GYRO_WRIST_AWARE].sensorType = SENS_TYPE_GYRO;
mSensorState[COMMS_SENSOR_GYRO_WRIST_AWARE].primary = COMMS_SENSOR_GYRO;
mSensorState[COMMS_SENSOR_GYRO_WRIST_AWARE].alt[0] = COMMS_SENSOR_GYRO;
mSensorState[COMMS_SENSOR_GYRO_WRIST_AWARE].alt[1] = COMMS_SENSOR_GYRO_UNCALIBRATED;
mSensorState[COMMS_SENSOR_MAG].sensorType = SENS_TYPE_MAG;
mSensorState[COMMS_SENSOR_MAG].alt[0] = COMMS_SENSOR_MAG_UNCALIBRATED;
mSensorState[COMMS_SENSOR_MAG_UNCALIBRATED].sensorType = SENS_TYPE_MAG;
mSensorState[COMMS_SENSOR_MAG_UNCALIBRATED].primary = COMMS_SENSOR_MAG;
mSensorState[COMMS_SENSOR_MAG_UNCALIBRATED].alt[0] = COMMS_SENSOR_MAG;
mSensorState[COMMS_SENSOR_LIGHT].sensorType = SENS_TYPE_ALS;
mSensorState[COMMS_SENSOR_PROXIMITY].sensorType = SENS_TYPE_PROX;
mSensorState[COMMS_SENSOR_PRESSURE].sensorType = SENS_TYPE_BARO;
mSensorState[COMMS_SENSOR_TEMPERATURE].sensorType = SENS_TYPE_TEMP;
mSensorState[COMMS_SENSOR_AMBIENT_TEMPERATURE].sensorType = SENS_TYPE_AMBIENT_TEMP;
mSensorState[COMMS_SENSOR_ORIENTATION].sensorType = SENS_TYPE_ORIENTATION;
mSensorState[COMMS_SENSOR_WINDOW_ORIENTATION].sensorType = SENS_TYPE_WIN_ORIENTATION;
mSensorState[COMMS_SENSOR_WINDOW_ORIENTATION].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_STEP_DETECTOR].sensorType = SENS_TYPE_STEP_DETECT;
mSensorState[COMMS_SENSOR_STEP_DETECTOR].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_STEP_COUNTER].sensorType = SENS_TYPE_STEP_COUNT;
mSensorState[COMMS_SENSOR_SIGNIFICANT_MOTION].sensorType = SENS_TYPE_SIG_MOTION;
mSensorState[COMMS_SENSOR_SIGNIFICANT_MOTION].rate = SENSOR_RATE_ONESHOT;
mSensorState[COMMS_SENSOR_GRAVITY].sensorType = SENS_TYPE_GRAVITY;
mSensorState[COMMS_SENSOR_LINEAR_ACCEL].sensorType = SENS_TYPE_LINEAR_ACCEL;
mSensorState[COMMS_SENSOR_ROTATION_VECTOR].sensorType = SENS_TYPE_ROTATION_VECTOR;
mSensorState[COMMS_SENSOR_GEO_MAG].sensorType = SENS_TYPE_GEO_MAG_ROT_VEC;
mSensorState[COMMS_SENSOR_GAME_ROTATION_VECTOR].sensorType = SENS_TYPE_GAME_ROT_VECTOR;
mSensorState[COMMS_SENSOR_HALL].sensorType = SENS_TYPE_HALL;
mSensorState[COMMS_SENSOR_HALL].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_SYNC].sensorType = SENS_TYPE_VSYNC;
mSensorState[COMMS_SENSOR_SYNC].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_TILT].sensorType = SENS_TYPE_TILT;
mSensorState[COMMS_SENSOR_TILT].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_GESTURE].sensorType = SENS_TYPE_GESTURE;
mSensorState[COMMS_SENSOR_GESTURE].rate = SENSOR_RATE_ONESHOT;
mSensorState[COMMS_SENSOR_DOUBLE_TWIST].sensorType = SENS_TYPE_DOUBLE_TWIST;
mSensorState[COMMS_SENSOR_DOUBLE_TWIST].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_DOUBLE_TAP].sensorType = SENS_TYPE_DOUBLE_TAP;
mSensorState[COMMS_SENSOR_DOUBLE_TAP].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_WRIST_TILT].sensorType = SENS_TYPE_WRIST_TILT;
mSensorState[COMMS_SENSOR_DOUBLE_TOUCH].sensorType = SENS_TYPE_DOUBLE_TOUCH;
mSensorState[COMMS_SENSOR_DOUBLE_TOUCH].rate = SENSOR_RATE_ONESHOT;
mSensorState[COMMS_SENSOR_ACTIVITY_IN_VEHICLE_START].sensorType = SENS_TYPE_ACTIVITY_IN_VEHICLE_START;
mSensorState[COMMS_SENSOR_ACTIVITY_IN_VEHICLE_START].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_IN_VEHICLE_STOP].sensorType = SENS_TYPE_ACTIVITY_IN_VEHICLE_STOP;
mSensorState[COMMS_SENSOR_ACTIVITY_IN_VEHICLE_STOP].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_ON_BICYCLE_START].sensorType = SENS_TYPE_ACTIVITY_ON_BICYCLE_START;
mSensorState[COMMS_SENSOR_ACTIVITY_ON_BICYCLE_START].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_ON_BICYCLE_STOP].sensorType = SENS_TYPE_ACTIVITY_ON_BICYCLE_STOP;
mSensorState[COMMS_SENSOR_ACTIVITY_ON_BICYCLE_STOP].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_WALKING_START].sensorType = SENS_TYPE_ACTIVITY_WALKING_START;
mSensorState[COMMS_SENSOR_ACTIVITY_WALKING_START].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_WALKING_STOP].sensorType = SENS_TYPE_ACTIVITY_WALKING_STOP;
mSensorState[COMMS_SENSOR_ACTIVITY_WALKING_STOP].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_RUNNING_START].sensorType = SENS_TYPE_ACTIVITY_RUNNING_START;
mSensorState[COMMS_SENSOR_ACTIVITY_RUNNING_START].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_RUNNING_STOP].sensorType = SENS_TYPE_ACTIVITY_RUNNING_STOP;
mSensorState[COMMS_SENSOR_ACTIVITY_RUNNING_STOP].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_STILL_START].sensorType = SENS_TYPE_ACTIVITY_STILL_START;
mSensorState[COMMS_SENSOR_ACTIVITY_STILL_START].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_STILL_STOP].sensorType = SENS_TYPE_ACTIVITY_STILL_STOP;
mSensorState[COMMS_SENSOR_ACTIVITY_STILL_STOP].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_ACTIVITY_TILTING].sensorType = SENS_TYPE_ACTIVITY_TILTING;
mSensorState[COMMS_SENSOR_ACTIVITY_TILTING].rate = SENSOR_RATE_ONCHANGE;
mSensorState[COMMS_SENSOR_GAZE].sensorType = SENS_TYPE_GAZE;
mSensorState[COMMS_SENSOR_GAZE].rate = SENSOR_RATE_ONESHOT;
mSensorState[COMMS_SENSOR_UNGAZE].sensorType = SENS_TYPE_UNGAZE;
mSensorState[COMMS_SENSOR_UNGAZE].rate = SENSOR_RATE_ONESHOT;
mSensorState[COMMS_SENSOR_HUMIDITY].sensorType = SENS_TYPE_HUMIDITY;
#ifdef LID_STATE_REPORTING_ENABLED
initializeUinputNode();
// set initial lid state
if (property_set(LID_STATE_PROPERTY, LID_STATE_UNKNOWN) < 0) {
ALOGW("could not set lid_state property");
}
// enable hall sensor for folio
if (mFd >= 0) {
queueActivate(COMMS_SENSOR_HALL, true /* enable */);
}
#endif // LID_STATE_REPORTING_ENABLED
#ifdef DIRECT_REPORT_ENABLED
mDirectChannelHandle = 1;
mSensorToChannel.emplace(COMMS_SENSOR_ACCEL,
std::unordered_map<int32_t, DirectChannelTimingInfo>());
mSensorToChannel.emplace(COMMS_SENSOR_GYRO,
std::unordered_map<int32_t, DirectChannelTimingInfo>());
mSensorToChannel.emplace(COMMS_SENSOR_MAG,
std::unordered_map<int32_t, DirectChannelTimingInfo>());
mSensorToChannel.emplace(COMMS_SENSOR_ACCEL_UNCALIBRATED,
std::unordered_map<int32_t, DirectChannelTimingInfo>());
mSensorToChannel.emplace(COMMS_SENSOR_GYRO_UNCALIBRATED,
std::unordered_map<int32_t, DirectChannelTimingInfo>());
mSensorToChannel.emplace(COMMS_SENSOR_MAG_UNCALIBRATED,
std::unordered_map<int32_t, DirectChannelTimingInfo>());
#endif // DIRECT_REPORT_ENABLED
}
HubConnection::~HubConnection()
{
close(mFd);
}
void HubConnection::onFirstRef()
{
run("HubConnection", PRIORITY_URGENT_DISPLAY);
enableSchedFifoMode();
}
// Set main thread to SCHED_FIFO to lower sensor event latency when system is under load
void HubConnection::enableSchedFifoMode() {
struct sched_param param = {0};
param.sched_priority = HUBCONNECTION_SCHED_FIFO_PRIORITY;
if (sched_setscheduler(getTid(), SCHED_FIFO | SCHED_RESET_ON_FORK, &param) != 0) {
ALOGW("Couldn't set SCHED_FIFO for HubConnection thread");
}
}
status_t HubConnection::initCheck() const
{
return mFd < 0 ? UNKNOWN_ERROR : OK;
}
status_t HubConnection::getAliveCheck()
{
return OK;
}
static sp<JSONObject> readSettings(File *file) {
off64_t size = file->seekTo(0, SEEK_END);
file->seekTo(0, SEEK_SET);
sp<JSONObject> root;
if (size > 0) {
char *buf = (char *)malloc(size);
CHECK_EQ(file->read(buf, size), (ssize_t)size);
file->seekTo(0, SEEK_SET);
sp<JSONCompound> in = JSONCompound::Parse(buf, size);
free(buf);
buf = NULL;
if (in != NULL && in->isObject()) {
root = (JSONObject *)in.get();
}
}
if (root == NULL) {
root = new JSONObject;
}
return root;
}
static bool getCalibrationInt32(
const sp<JSONObject> &settings, const char *key, int32_t *out,
size_t numArgs) {
sp<JSONArray> array;
for (size_t i = 0; i < numArgs; i++) {
out[i] = 0;
}
if (!settings->getArray(key, &array)) {
return false;
} else {
for (size_t i = 0; i < numArgs; i++) {
if (!array->getInt32(i, &out[i])) {
return false;
}
}
}
return true;
}
static bool getCalibrationFloat(
const sp<JSONObject> &settings, const char *key, float out[3]) {
sp<JSONArray> array;
for (size_t i = 0; i < 3; i++) {
out[i] = 0.0f;
}
if (!settings->getArray(key, &array)) {
return false;
} else {
for (size_t i = 0; i < 3; i++) {
if (!array->getFloat(i, &out[i])) {
return false;
}
}
}
return true;
}
static std::vector<int32_t> getInt32Setting(const sp<JSONObject> &settings, const char *key) {
std::vector<int32_t> ret;
sp<JSONArray> array;
if (settings->getArray(key, &array)) {
ret.resize(array->size());
for (size_t i = 0; i < array->size(); ++i) {
array->getInt32(i, &ret[i]);
}
}
return ret;
}
static std::vector<float> getFloatSetting(const sp<JSONObject> &settings, const char *key) {
std::vector<float> ret;
sp<JSONArray> array;
if (settings->getArray(key, &array)) {
ret.resize(array->size());
for (size_t i = 0; i < array->size(); ++i) {
array->getFloat(i, &ret[i]);
}
}
return ret;
}
static void loadSensorSettings(sp<JSONObject>* settings,
sp<JSONObject>* saved_settings) {
File settings_file(CONTEXTHUB_SETTINGS_PATH, "r");
File saved_settings_file(CONTEXTHUB_SAVED_SETTINGS_PATH, "r");
status_t err;
if ((err = settings_file.initCheck()) != OK) {
ALOGW("settings file open failed: %d (%s)",
err,
strerror(-err));
*settings = new JSONObject;
} else {
*settings = readSettings(&settings_file);
}
if ((err = saved_settings_file.initCheck()) != OK) {
ALOGW("saved settings file open failed: %d (%s)",
err,
strerror(-err));
*saved_settings = new JSONObject;
} else {
*saved_settings = readSettings(&saved_settings_file);
}
}
void HubConnection::saveSensorSettings() const {
File saved_settings_file(CONTEXTHUB_SAVED_SETTINGS_PATH, "w");
sp<JSONObject> settingsObject = new JSONObject;
status_t err;
if ((err = saved_settings_file.initCheck()) != OK) {
ALOGW("saved settings file open failed %d (%s)",
err,
strerror(-err));
return;
}
// Build a settings object.
sp<JSONArray> magArray = new JSONArray;
#ifdef USB_MAG_BIAS_REPORTING_ENABLED
magArray->addFloat(mMagBias[0] + mUsbMagBias);
#else
magArray->addFloat(mMagBias[0]);
#endif // USB_MAG_BIAS_REPORTING_ENABLED
magArray->addFloat(mMagBias[1]);
magArray->addFloat(mMagBias[2]);
settingsObject->setArray(MAG_BIAS_TAG, magArray);
// Add gyro settings
sp<JSONArray> gyroArray = new JSONArray;
gyroArray->addFloat(mGyroBias[0]);
gyroArray->addFloat(mGyroBias[1]);
gyroArray->addFloat(mGyroBias[2]);
settingsObject->setArray(GYRO_SW_BIAS_TAG, gyroArray);
// Add accel settings
sp<JSONArray> accelArray = new JSONArray;
accelArray->addFloat(mAccelBias[0]);
accelArray->addFloat(mAccelBias[1]);
accelArray->addFloat(mAccelBias[2]);
settingsObject->setArray(ACCEL_SW_BIAS_TAG, accelArray);
// Add overtemp calibration values for gyro
sp<JSONArray> gyroOtcDataArray = new JSONArray;
const float *f;
size_t i;
for (f = reinterpret_cast<const float *>(&mGyroOtcData), i = 0;
i < sizeof(mGyroOtcData)/sizeof(float); ++i, ++f) {
gyroOtcDataArray->addFloat(*f);
}
settingsObject->setArray(GYRO_OTC_DATA_TAG, gyroOtcDataArray);
// Write the JSON string to disk.
AString serializedSettings = settingsObject->toString();
size_t size = serializedSettings.size();
if ((err = saved_settings_file.write(serializedSettings.c_str(), size)) != (ssize_t)size) {
ALOGW("saved settings file write failed %d (%s)",
err,
strerror(-err));
}
}
ssize_t HubConnection::sendCmd(const void *buf, size_t count)
{
ssize_t ret;
int retryCnt = 0;
do {
ret = TEMP_FAILURE_RETRY(::write(mFd, buf, count));
} while (ret == 0 && retryCnt++ < MAX_RETRY_CNT);
if (retryCnt > 0)
ALOGW("sendCmd: retry: count=%zu, ret=%zd, retryCnt=%d",
count, ret, retryCnt);
else if (ret < 0 || static_cast<size_t>(ret) != count)
ALOGW("sendCmd: failed: count=%zu, ret=%zd, errno=%d",
count, ret, errno);
return ret;
}
void HubConnection::setLeftyMode(bool enable) {
struct MsgCmd *cmd;
size_t ret;
Mutex::Autolock autoLock(mLock);
if (enable == mLefty.hub) return;
cmd = (struct MsgCmd *)malloc(sizeof(struct MsgCmd) + sizeof(bool));
if (cmd) {
cmd->evtType = EVT_APP_FROM_HOST;
cmd->msg.appId = APP_ID_MAKE(APP_ID_VENDOR_GOOGLE, APP_ID_APP_GAZE_DETECT);
cmd->msg.dataLen = sizeof(bool);
memcpy((bool *)(cmd+1), &enable, sizeof(bool));
ret = sendCmd(cmd, sizeof(*cmd) + sizeof(bool));
if (ret == sizeof(*cmd) + sizeof(bool))
ALOGV("setLeftyMode: lefty (gaze) = %s\n",
(enable ? "true" : "false"));
else
ALOGE("setLeftyMode: failed to send command lefty (gaze) = %s\n",
(enable ? "true" : "false"));
cmd->msg.appId = APP_ID_MAKE(APP_ID_VENDOR_GOOGLE, APP_ID_APP_UNGAZE_DETECT);
ret = sendCmd(cmd, sizeof(*cmd) + sizeof(bool));
if (ret == sizeof(*cmd) + sizeof(bool))
ALOGV("setLeftyMode: lefty (ungaze) = %s\n",
(enable ? "true" : "false"));
else
ALOGE("setLeftyMode: failed to send command lefty (ungaze) = %s\n",
(enable ? "true" : "false"));
cmd->msg.appId = APP_ID_MAKE(APP_ID_VENDOR_GOOGLE, APP_ID_APP_WRIST_TILT_DETECT);
ret = sendCmd(cmd, sizeof(*cmd) + sizeof(bool));
if (ret == sizeof(*cmd) + sizeof(bool))
ALOGV("setLeftyMode: lefty (tilt) = %s\n",
(enable ? "true" : "false"));
else
ALOGE("setLeftyMode: failed to send command lefty (tilt) = %s\n",
(enable ? "true" : "false"));
free(cmd);
} else {
ALOGE("setLeftyMode: failed to allocate command\n");
return;
}
queueFlushInternal(COMMS_SENSOR_ACCEL_WRIST_AWARE, true);
queueFlushInternal(COMMS_SENSOR_GYRO_WRIST_AWARE, true);
mLefty.hub = enable;
}
sensors_event_t *HubConnection::initEv(sensors_event_t *ev, uint64_t timestamp, uint32_t type, uint32_t sensor)
{
memset(ev, 0x00, sizeof(sensors_event_t));
ev->version = sizeof(sensors_event_t);
ev->timestamp = timestamp;
ev->type = type;
ev->sensor = sensor;
return ev;
}
ssize_t HubConnection::decrementIfWakeEventLocked(int32_t sensor)
{
if (isWakeEvent(sensor)) {
if (mWakeEventCount > 0)
mWakeEventCount--;
else
ALOGW("%s: sensor=%d, unexpected count=%d, no-op",
__FUNCTION__, sensor, mWakeEventCount);
}
return mWakeEventCount;
}
void HubConnection::protectIfWakeEventLocked(int32_t sensor)
{
if (isWakeEvent(sensor)) {
if (mWakelockHeld == false) {
acquire_wake_lock(PARTIAL_WAKE_LOCK, WAKELOCK_NAME);
mWakelockHeld = true;
}
mWakeEventCount++;
}
}
void HubConnection::releaseWakeLockIfAppropriate()
{
Mutex::Autolock autoLock(mLock);
if (mWakelockHeld && (mWakeEventCount == 0)) {
mWakelockHeld = false;
release_wake_lock(WAKELOCK_NAME);
}
}
void HubConnection::processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct OneAxisSample *sample, __attribute__((unused)) bool highAccuracy)
{
sensors_event_t nev[1];
int cnt = 0;
switch (sensor) {
case COMMS_SENSOR_ACTIVITY_IN_VEHICLE_START:
case COMMS_SENSOR_ACTIVITY_IN_VEHICLE_STOP:
case COMMS_SENSOR_ACTIVITY_ON_BICYCLE_START:
case COMMS_SENSOR_ACTIVITY_ON_BICYCLE_STOP:
case COMMS_SENSOR_ACTIVITY_WALKING_START:
case COMMS_SENSOR_ACTIVITY_WALKING_STOP:
case COMMS_SENSOR_ACTIVITY_RUNNING_START:
case COMMS_SENSOR_ACTIVITY_RUNNING_STOP:
case COMMS_SENSOR_ACTIVITY_STILL_START:
case COMMS_SENSOR_ACTIVITY_STILL_STOP:
case COMMS_SENSOR_ACTIVITY_TILTING:
if (mActivityEventHandler != NULL) {
mActivityEventHandler->OnActivityEvent(sensor, sample->idata & 0xff,
timestamp);
}
break;
case COMMS_SENSOR_PRESSURE:
initEv(&nev[cnt++], timestamp, type, sensor)->pressure = sample->fdata;
break;
case COMMS_SENSOR_HUMIDITY:
initEv(&nev[cnt++], timestamp, type, sensor)->relative_humidity = sample->fdata;
break;
case COMMS_SENSOR_TEMPERATURE:
initEv(&nev[cnt++], timestamp, type, sensor)->temperature = sample->fdata;
break;
case COMMS_SENSOR_AMBIENT_TEMPERATURE:
initEv(&nev[cnt++], timestamp, type, sensor)->temperature = sample->fdata;
break;
case COMMS_SENSOR_PROXIMITY:
initEv(&nev[cnt++], timestamp, type, sensor)->distance = sample->fdata;
break;
case COMMS_SENSOR_LIGHT:
initEv(&nev[cnt++], timestamp, type, sensor)->light = sample->fdata;
break;
case COMMS_SENSOR_STEP_COUNTER:
// We'll stash away the last step count in case we need to reset
// the hub. This last step count would then become the new offset.
mLastStepCount = mStepCounterOffset + sample->idata;
initEv(&nev[cnt++], timestamp, type, sensor)->u64.step_counter = mLastStepCount;
break;
case COMMS_SENSOR_STEP_DETECTOR:
case COMMS_SENSOR_SIGNIFICANT_MOTION:
case COMMS_SENSOR_TILT:
case COMMS_SENSOR_DOUBLE_TWIST:
case COMMS_SENSOR_WRIST_TILT:
initEv(&nev[cnt++], timestamp, type, sensor)->data[0] = 1.0f;
break;
case COMMS_SENSOR_GAZE:
case COMMS_SENSOR_UNGAZE:
case COMMS_SENSOR_GESTURE:
case COMMS_SENSOR_SYNC:
case COMMS_SENSOR_DOUBLE_TOUCH:
initEv(&nev[cnt++], timestamp, type, sensor)->data[0] = sample->idata;
break;
case COMMS_SENSOR_HALL:
#ifdef LID_STATE_REPORTING_ENABLED
sendFolioEvent(sample->idata);
#endif // LID_STATE_REPORTING_ENABLED
break;
case COMMS_SENSOR_WINDOW_ORIENTATION:
initEv(&nev[cnt++], timestamp, type, sensor)->data[0] = sample->idata;
break;
default:
break;
}
if (cnt > 0)
write(nev, cnt);
}
uint8_t HubConnection::magAccuracyUpdate(sensors_vec_t *sv)
{
float magSq = sv->x * sv->x + sv->y * sv->y + sv->z * sv->z;
if (magSq < MIN_MAG_SQ || magSq > MAX_MAG_SQ) {
// save last good accuracy (either MEDIUM or HIGH)
if (mMagAccuracy != SENSOR_STATUS_UNRELIABLE)
mMagAccuracyRestore = mMagAccuracy;
mMagAccuracy = SENSOR_STATUS_UNRELIABLE;
} else if (mMagAccuracy == SENSOR_STATUS_UNRELIABLE) {
// restore
mMagAccuracy = mMagAccuracyRestore;
}
return mMagAccuracy;
}
void HubConnection::processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct RawThreeAxisSample *sample, __attribute__((unused)) bool highAccuracy)
{
sensors_vec_t *sv;
uncalibrated_event_t *ue;
sensors_event_t nev[3];
int cnt = 0;
switch (sensor) {
case COMMS_SENSOR_ACCEL:
sv = &initEv(&nev[cnt], timestamp, type, sensor)->acceleration;
sv->x = sample->ix * mScaleAccel;
sv->y = sample->iy * mScaleAccel;
sv->z = sample->iz * mScaleAccel;
sv->status = SENSOR_STATUS_ACCURACY_HIGH;
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[sensor].enable && isSampleIntervalSatisfied(sensor, timestamp)) {
if (!mAccelEnabledBiasStored) {
// accel is enabled, but no enabled bias. Store latest bias and use
// for accel and uncalibrated accel due to:
// https://source.android.com/devices/sensors/sensor-types.html
// "The bias and scale calibration must only be updated while the sensor is deactivated,
// so as to avoid causing jumps in values during streaming."
mAccelEnabledBiasStored = true;
mAccelEnabledBias[0] = mAccelBias[0];
mAccelEnabledBias[1] = mAccelBias[1];
mAccelEnabledBias[2] = mAccelBias[2];
}
// samples arrive using latest bias
// adjust for enabled bias being different from lastest bias
sv->x += mAccelBias[0] - mAccelEnabledBias[0];
sv->y += mAccelBias[1] - mAccelEnabledBias[1];
sv->z += mAccelBias[2] - mAccelEnabledBias[2];
++cnt;
}
ue = &initEv(&nev[cnt], timestamp,
SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED,
COMMS_SENSOR_ACCEL_UNCALIBRATED)->uncalibrated_accelerometer;
ue->x_uncalib = sample->ix * mScaleAccel + mAccelBias[0];
ue->y_uncalib = sample->iy * mScaleAccel + mAccelBias[1];
ue->z_uncalib = sample->iz * mScaleAccel + mAccelBias[2];
if (!mAccelEnabledBiasStored) {
// No enabled bias (which means accel is disabled). Use latest bias.
ue->x_bias = mAccelBias[0];
ue->y_bias = mAccelBias[1];
ue->z_bias = mAccelBias[2];
} else {
// enabled bias is valid, so use it
ue->x_bias = mAccelEnabledBias[0];
ue->y_bias = mAccelEnabledBias[1];
ue->z_bias = mAccelEnabledBias[2];
}
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[COMMS_SENSOR_ACCEL_UNCALIBRATED].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_ACCEL_UNCALIBRATED, timestamp)) {
++cnt;
}
if (mSensorState[COMMS_SENSOR_ACCEL_WRIST_AWARE].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_ACCEL_WRIST_AWARE, timestamp)) {
sv = &initEv(&nev[cnt++], timestamp,
SENSOR_TYPE_ACCELEROMETER_WRIST_AWARE,
COMMS_SENSOR_ACCEL_WRIST_AWARE)->acceleration;
sv->x = sample->ix * mScaleAccel;
sv->y = (mLefty.accel ? -sample->iy : sample->iy) * mScaleAccel;
sv->z = sample->iz * mScaleAccel;
sv->status = SENSOR_STATUS_ACCURACY_HIGH;
}
break;
case COMMS_SENSOR_MAG:
sv = &initEv(&nev[cnt], timestamp, type, sensor)->magnetic;
sv->x = sample->ix * mScaleMag;
sv->y = sample->iy * mScaleMag;
sv->z = sample->iz * mScaleMag;
sv->status = magAccuracyUpdate(sv);
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[sensor].enable && isSampleIntervalSatisfied(sensor, timestamp)) {
++cnt;
}
ue = &initEv(&nev[cnt], timestamp,
SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED,
COMMS_SENSOR_MAG_UNCALIBRATED)->uncalibrated_magnetic;
ue->x_uncalib = sample->ix * mScaleMag + mMagBias[0];
ue->y_uncalib = sample->iy * mScaleMag + mMagBias[1];
ue->z_uncalib = sample->iz * mScaleMag + mMagBias[2];
ue->x_bias = mMagBias[0];
ue->y_bias = mMagBias[1];
ue->z_bias = mMagBias[2];
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[COMMS_SENSOR_MAG_UNCALIBRATED].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_MAG_UNCALIBRATED, timestamp)) {
++cnt;
}
break;
default:
break;
}
if (cnt > 0)
write(nev, cnt);
}
void HubConnection::processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct ThreeAxisSample *sample, bool highAccuracy)
{
sensors_vec_t *sv;
uncalibrated_event_t *ue;
sensors_event_t *ev;
sensors_event_t nev[3];
static const float heading_accuracy = M_PI / 6.0f;
float w;
int cnt = 0;
switch (sensor) {
case COMMS_SENSOR_ACCEL:
sv = &initEv(&nev[cnt], timestamp, type, sensor)->acceleration;
sv->x = sample->x;
sv->y = sample->y;
sv->z = sample->z;
sv->status = SENSOR_STATUS_ACCURACY_HIGH;
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[sensor].enable && isSampleIntervalSatisfied(sensor, timestamp)) {
++cnt;
}
ue = &initEv(&nev[cnt], timestamp,
SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED,
COMMS_SENSOR_ACCEL_UNCALIBRATED)->uncalibrated_accelerometer;
ue->x_uncalib = sample->x + mAccelBias[0];
ue->y_uncalib = sample->y + mAccelBias[1];
ue->z_uncalib = sample->z + mAccelBias[2];
ue->x_bias = mAccelBias[0];
ue->y_bias = mAccelBias[1];
ue->z_bias = mAccelBias[2];
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[COMMS_SENSOR_ACCEL_UNCALIBRATED].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_ACCEL_UNCALIBRATED, timestamp)) {
++cnt;
}
if (mSensorState[COMMS_SENSOR_ACCEL_WRIST_AWARE].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_ACCEL_WRIST_AWARE, timestamp)) {
sv = &initEv(&nev[cnt], timestamp,
SENSOR_TYPE_ACCELEROMETER_WRIST_AWARE,
COMMS_SENSOR_ACCEL_WRIST_AWARE)->acceleration;
sv->x = sample->x;
sv->y = (mLefty.accel ? -sample->y : sample->y);
sv->z = sample->z;
sv->status = SENSOR_STATUS_ACCURACY_HIGH;
++cnt;
}
break;
case COMMS_SENSOR_GYRO:
sv = &initEv(&nev[cnt], timestamp, type, sensor)->gyro;
sv->x = sample->x;
sv->y = sample->y;
sv->z = sample->z;
sv->status = SENSOR_STATUS_ACCURACY_HIGH;
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[sensor].enable && isSampleIntervalSatisfied(sensor, timestamp)) {
++cnt;
}
ue = &initEv(&nev[cnt], timestamp,
SENSOR_TYPE_GYROSCOPE_UNCALIBRATED,
COMMS_SENSOR_GYRO_UNCALIBRATED)->uncalibrated_gyro;
ue->x_uncalib = sample->x + mGyroBias[0];
ue->y_uncalib = sample->y + mGyroBias[1];
ue->z_uncalib = sample->z + mGyroBias[2];
ue->x_bias = mGyroBias[0];
ue->y_bias = mGyroBias[1];
ue->z_bias = mGyroBias[2];
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[COMMS_SENSOR_GYRO_UNCALIBRATED].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_GYRO_UNCALIBRATED, timestamp)) {
++cnt;
}
if (mSensorState[COMMS_SENSOR_GYRO_WRIST_AWARE].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_GYRO_WRIST_AWARE, timestamp)) {
sv = &initEv(&nev[cnt], timestamp,
SENSOR_TYPE_GYROSCOPE_WRIST_AWARE,
COMMS_SENSOR_GYRO_WRIST_AWARE)->gyro;
sv->x = (mLefty.gyro ? -sample->x : sample->x);
sv->y = sample->y;
sv->z = (mLefty.gyro ? -sample->z : sample->z);
sv->status = SENSOR_STATUS_ACCURACY_HIGH;
++cnt;
}
break;
case COMMS_SENSOR_ACCEL_BIAS:
mAccelBias[0] = sample->x;
mAccelBias[1] = sample->y;
mAccelBias[2] = sample->z;
saveSensorSettings();
break;
case COMMS_SENSOR_GYRO_BIAS:
mGyroBias[0] = sample->x;
mGyroBias[1] = sample->y;
mGyroBias[2] = sample->z;
saveSensorSettings();
break;
case COMMS_SENSOR_MAG:
sv = &initEv(&nev[cnt], timestamp, type, sensor)->magnetic;
sv->x = sample->x;
sv->y = sample->y;
sv->z = sample->z;
sv->status = magAccuracyUpdate(sv);
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[sensor].enable && isSampleIntervalSatisfied(sensor, timestamp)) {
++cnt;
}
ue = &initEv(&nev[cnt], timestamp,
SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED,
COMMS_SENSOR_MAG_UNCALIBRATED)->uncalibrated_magnetic;
ue->x_uncalib = sample->x + mMagBias[0];
ue->y_uncalib = sample->y + mMagBias[1];
ue->z_uncalib = sample->z + mMagBias[2];
ue->x_bias = mMagBias[0];
ue->y_bias = mMagBias[1];
ue->z_bias = mMagBias[2];
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[COMMS_SENSOR_MAG_UNCALIBRATED].enable
&& isSampleIntervalSatisfied(COMMS_SENSOR_MAG_UNCALIBRATED, timestamp)) {
++cnt;
}
break;
case COMMS_SENSOR_MAG_BIAS:
mMagAccuracy = highAccuracy ? SENSOR_STATUS_ACCURACY_HIGH : SENSOR_STATUS_ACCURACY_MEDIUM;
mMagBias[0] = sample->x;
mMagBias[1] = sample->y;
mMagBias[2] = sample->z;
saveSensorSettings();
break;
case COMMS_SENSOR_ORIENTATION:
case COMMS_SENSOR_LINEAR_ACCEL:
case COMMS_SENSOR_GRAVITY:
sv = &initEv(&nev[cnt++], timestamp, type, sensor)->orientation;
sv->x = sample->x;
sv->y = sample->y;
sv->z = sample->z;
sv->status = mMagAccuracy;
break;
case COMMS_SENSOR_DOUBLE_TAP:
ev = initEv(&nev[cnt++], timestamp, type, sensor);
ev->data[0] = sample->x;
ev->data[1] = sample->y;
ev->data[2] = sample->z;
break;
case COMMS_SENSOR_ROTATION_VECTOR:
ev = initEv(&nev[cnt++], timestamp, type, sensor);
w = sample->x * sample->x + sample->y * sample->y + sample->z * sample->z;
if (w < 1.0f)
w = sqrt(1.0f - w);
else
w = 0.0f;
ev->data[0] = sample->x;
ev->data[1] = sample->y;
ev->data[2] = sample->z;
ev->data[3] = w;
ev->data[4] = (4 - mMagAccuracy) * heading_accuracy;
break;
case COMMS_SENSOR_GEO_MAG:
case COMMS_SENSOR_GAME_ROTATION_VECTOR:
ev = initEv(&nev[cnt++], timestamp, type, sensor);
w = sample->x * sample->x + sample->y * sample->y + sample->z * sample->z;
if (w < 1.0f)
w = sqrt(1.0f - w);
else
w = 0.0f;
ev->data[0] = sample->x;
ev->data[1] = sample->y;
ev->data[2] = sample->z;
ev->data[3] = w;
break;
default:
break;
}
if (cnt > 0)
write(nev, cnt);
}
void HubConnection::discardInotifyEvent() {
// Read & discard an inotify event. We only use the presence of an event as
// a trigger to perform the file existence check (for simplicity)
if (mInotifyPollIndex >= 0) {
char buf[sizeof(struct inotify_event) + NAME_MAX + 1];
int ret = ::read(mPollFds[mInotifyPollIndex].fd, buf, sizeof(buf));
ALOGV("Discarded %d bytes of inotify data", ret);
}
}
void HubConnection::waitOnNanohubLock() {
if (mInotifyPollIndex < 0) {
return;
}
struct pollfd *pfd = &mPollFds[mInotifyPollIndex];
// While the lock file exists, poll on the inotify fd (with timeout)
while (access(NANOHUB_LOCK_FILE, F_OK) == 0) {
ALOGW("Nanohub is locked; blocking read thread");
int ret = poll(pfd, 1, 5000);
if ((ret > 0) && (pfd->revents & POLLIN)) {
discardInotifyEvent();
}
}
}
void HubConnection::restoreSensorState()
{
Mutex::Autolock autoLock(mLock);
sendCalibrationOffsets();
for (int i = 0; i < NUM_COMMS_SENSORS_PLUS_1; i++) {
if (mSensorState[i].sensorType && mSensorState[i].enable) {
struct ConfigCmd cmd;
initConfigCmd(&cmd, i);
ALOGV("restoring: sensor=%d, handle=%d, enable=%d, period=%" PRId64 ", latency=%" PRId64,
cmd.sensorType, i, mSensorState[i].enable, frequency_q10_to_period_ns(mSensorState[i].rate),
mSensorState[i].latency);
int ret = sendCmd(&cmd, sizeof(cmd));
if (ret != sizeof(cmd)) {
ALOGW("failed to send config command to restore sensor %d\n", cmd.sensorType);
}
cmd.cmd = CONFIG_CMD_FLUSH;
for (auto iter = mFlushesPending[i].cbegin(); iter != mFlushesPending[i].cend(); ++iter) {
for (int j = 0; j < iter->count; j++) {
int ret = sendCmd(&cmd, sizeof(cmd));
if (ret != sizeof(cmd)) {
ALOGW("failed to send flush command to sensor %d\n", cmd.sensorType);
}
}
}
}
}
mStepCounterOffset = mLastStepCount;
if (mActivityEventHandler != NULL) {
mActivityEventHandler->OnSensorHubReset();
}
}
void HubConnection::postOsLog(uint8_t *buf, ssize_t len)
{
// if len is less than 6, it's either an invalid or an empty log message.
if (len < 6)
return;
buf[len] = 0x00;
switch (buf[4]) {
case 'E':
ALOGE("osLog: %s", &buf[5]);
break;
case 'W':
ALOGW("osLog: %s", &buf[5]);
break;
case 'I':
ALOGI("osLog: %s", &buf[5]);
break;
case 'D':
ALOGD("osLog: %s", &buf[5]);
break;
case 'V':
ALOGV("osLog: %s", &buf[5]);
break;
default:
break;
}
}
void HubConnection::processAppData(uint8_t *buf, ssize_t len) {
if (len < static_cast<ssize_t>(sizeof(AppToSensorHalDataBuffer)))
return;
AppToSensorHalDataPayload *data =
&(reinterpret_cast<AppToSensorHalDataBuffer *>(buf)->payload);
if (data->size + sizeof(AppToSensorHalDataBuffer) != len) {
ALOGW("Received corrupted data update packet, len %zd, size %u", len, data->size);
return;
}
switch (data->type & APP_TO_SENSOR_HAL_TYPE_MASK) {
case HALINTF_TYPE_GYRO_OTC_DATA:
if (data->size != sizeof(GyroOtcData)) {
ALOGW("Corrupted HALINTF_TYPE_GYRO_OTC_DATA with size %u", data->size);
return;
}
mGyroOtcData = data->gyroOtcData[0];
saveSensorSettings();
break;
default:
ALOGW("Unknown app to hal data type 0x%04x", data->type);
break;
}
}
ssize_t HubConnection::processBuf(uint8_t *buf, size_t len)
{
struct nAxisEvent *data = (struct nAxisEvent *)buf;
uint32_t type, sensor, bias, currSensor;
int i, numSamples;
bool one, rawThree, three;
sensors_event_t ev;
uint64_t timestamp;
ssize_t ret = 0;
uint32_t primary;
if (len >= sizeof(data->evtType)) {
ret = sizeof(data->evtType);
one = three = rawThree = false;
bias = 0;
switch (data->evtType) {
case OS_LOG_EVENT:
postOsLog(buf, len);
return 0;
case EVT_APP_TO_SENSOR_HAL_DATA:
processAppData(buf, len);
return 0;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACCEL):
type = SENSOR_TYPE_ACCELEROMETER;
sensor = COMMS_SENSOR_ACCEL;
bias = COMMS_SENSOR_ACCEL_BIAS;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACCEL_RAW):
type = SENSOR_TYPE_ACCELEROMETER;
sensor = COMMS_SENSOR_ACCEL;
rawThree = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_GYRO):
type = SENSOR_TYPE_GYROSCOPE;
sensor = COMMS_SENSOR_GYRO;
bias = COMMS_SENSOR_GYRO_BIAS;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_MAG):
type = SENSOR_TYPE_MAGNETIC_FIELD;
sensor = COMMS_SENSOR_MAG;
bias = COMMS_SENSOR_MAG_BIAS;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_MAG_RAW):
type = SENSOR_TYPE_MAGNETIC_FIELD;
sensor = COMMS_SENSOR_MAG;
rawThree = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ALS):
type = SENSOR_TYPE_LIGHT;
sensor = COMMS_SENSOR_LIGHT;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_PROX):
type = SENSOR_TYPE_PROXIMITY;
sensor = COMMS_SENSOR_PROXIMITY;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_BARO):
type = SENSOR_TYPE_PRESSURE;
sensor = COMMS_SENSOR_PRESSURE;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_HUMIDITY):
type = SENSOR_TYPE_RELATIVE_HUMIDITY;
sensor = COMMS_SENSOR_HUMIDITY;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_TEMP):
// nanohub only has one temperature sensor type, which is mapped to
// internal temp because we currently don't have ambient temp
type = SENSOR_TYPE_INTERNAL_TEMPERATURE;
sensor = COMMS_SENSOR_TEMPERATURE;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_AMBIENT_TEMP):
type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
sensor = COMMS_SENSOR_AMBIENT_TEMPERATURE;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ORIENTATION):
type = SENSOR_TYPE_ORIENTATION;
sensor = COMMS_SENSOR_ORIENTATION;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_WIN_ORIENTATION):
type = SENSOR_TYPE_DEVICE_ORIENTATION;
sensor = COMMS_SENSOR_WINDOW_ORIENTATION;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_STEP_DETECT):
type = SENSOR_TYPE_STEP_DETECTOR;
sensor = COMMS_SENSOR_STEP_DETECTOR;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_STEP_COUNT):
type = SENSOR_TYPE_STEP_COUNTER;
sensor = COMMS_SENSOR_STEP_COUNTER;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_SIG_MOTION):
type = SENSOR_TYPE_SIGNIFICANT_MOTION;
sensor = COMMS_SENSOR_SIGNIFICANT_MOTION;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_GRAVITY):
type = SENSOR_TYPE_GRAVITY;
sensor = COMMS_SENSOR_GRAVITY;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_LINEAR_ACCEL):
type = SENSOR_TYPE_LINEAR_ACCELERATION;
sensor = COMMS_SENSOR_LINEAR_ACCEL;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ROTATION_VECTOR):
type = SENSOR_TYPE_ROTATION_VECTOR;
sensor = COMMS_SENSOR_ROTATION_VECTOR;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_GEO_MAG_ROT_VEC):
type = SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR;
sensor = COMMS_SENSOR_GEO_MAG;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_GAME_ROT_VECTOR):
type = SENSOR_TYPE_GAME_ROTATION_VECTOR;
sensor = COMMS_SENSOR_GAME_ROTATION_VECTOR;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_HALL):
type = 0;
sensor = COMMS_SENSOR_HALL;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_VSYNC):
type = SENSOR_TYPE_SYNC;
sensor = COMMS_SENSOR_SYNC;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_TILT):
type = SENSOR_TYPE_TILT_DETECTOR;
sensor = COMMS_SENSOR_TILT;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_GESTURE):
type = SENSOR_TYPE_PICK_UP_GESTURE;
sensor = COMMS_SENSOR_GESTURE;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_DOUBLE_TWIST):
type = SENSOR_TYPE_DOUBLE_TWIST;
sensor = COMMS_SENSOR_DOUBLE_TWIST;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_DOUBLE_TAP):
type = SENSOR_TYPE_DOUBLE_TAP;
sensor = COMMS_SENSOR_DOUBLE_TAP;
three = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_WRIST_TILT):
type = SENSOR_TYPE_WRIST_TILT_GESTURE;
sensor = COMMS_SENSOR_WRIST_TILT;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_DOUBLE_TOUCH):
type = SENSOR_TYPE_DOUBLE_TOUCH;
sensor = COMMS_SENSOR_DOUBLE_TOUCH;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_IN_VEHICLE_START):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_IN_VEHICLE_START;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_IN_VEHICLE_STOP):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_IN_VEHICLE_STOP;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_ON_BICYCLE_START):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_ON_BICYCLE_START;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_ON_BICYCLE_STOP):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_ON_BICYCLE_STOP;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_WALKING_START):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_WALKING_START;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_WALKING_STOP):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_WALKING_STOP;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_RUNNING_START):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_RUNNING_START;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_RUNNING_STOP):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_RUNNING_STOP;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_STILL_START):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_STILL_START;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_STILL_STOP):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_STILL_STOP;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_ACTIVITY_TILTING):
type = 0;
sensor = COMMS_SENSOR_ACTIVITY_TILTING;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_GAZE):
type = SENSOR_TYPE_GAZE;
sensor = COMMS_SENSOR_GAZE;
one = true;
break;
case SENS_TYPE_TO_EVENT(SENS_TYPE_UNGAZE):
type = SENSOR_TYPE_UNGAZE;
sensor = COMMS_SENSOR_UNGAZE;
one = true;
break;
case EVT_RESET_REASON:
uint32_t resetReason;
memcpy(&resetReason, data->buffer, sizeof(resetReason));
ALOGI("Observed hub reset: 0x%08" PRIx32, resetReason);
restoreSensorState();
return 0;
default:
ALOGW("unknown evtType: 0x%08x len: %zu\n", data->evtType, len);
return -1;
}
} else {
ALOGW("too little data: len=%zu\n", len);
return -1;
}
if (len >= sizeof(data->evtType) + sizeof(data->referenceTime) + sizeof(data->firstSample)) {
ret += sizeof(data->referenceTime);
timestamp = data->referenceTime;
numSamples = data->firstSample.numSamples;
for (i=0; i<numSamples; i++) {
if (data->firstSample.biasPresent && data->firstSample.biasSample == i)
currSensor = bias;
else
currSensor = sensor;
if (one) {
if (ret + sizeof(data->oneSamples[i]) > len) {
ALOGW("sensor %d (one): ret=%zd, numSamples=%d, i=%d\n", currSensor, ret, numSamples, i);
return -1;
}
if (i > 0)
timestamp += ((uint64_t)data->oneSamples[i].deltaTime) << delta_time_shift_table[data->oneSamples[i].deltaTime & delta_time_encoded];
processSample(timestamp, type, currSensor, &data->oneSamples[i], data->firstSample.highAccuracy);
ret += sizeof(data->oneSamples[i]);
} else if (rawThree) {
if (ret + sizeof(data->rawThreeSamples[i]) > len) {
ALOGW("sensor %d (rawThree): ret=%zd, numSamples=%d, i=%d\n", currSensor, ret, numSamples, i);
return -1;
}
if (i > 0)
timestamp += ((uint64_t)data->rawThreeSamples[i].deltaTime) << delta_time_shift_table[data->rawThreeSamples[i].deltaTime & delta_time_encoded];
processSample(timestamp, type, currSensor, &data->rawThreeSamples[i], data->firstSample.highAccuracy);
ret += sizeof(data->rawThreeSamples[i]);
} else if (three) {
if (ret + sizeof(data->threeSamples[i]) > len) {
ALOGW("sensor %d (three): ret=%zd, numSamples=%d, i=%d\n", currSensor, ret, numSamples, i);
return -1;
}
if (i > 0)
timestamp += ((uint64_t)data->threeSamples[i].deltaTime) << delta_time_shift_table[data->threeSamples[i].deltaTime & delta_time_encoded];
processSample(timestamp, type, currSensor, &data->threeSamples[i], data->firstSample.highAccuracy);
ret += sizeof(data->threeSamples[i]);
} else {
ALOGW("sensor %d (unknown): cannot processSample\n", currSensor);
return -1;
}
}
if (!numSamples)
ret += sizeof(data->firstSample);
// If no primary sensor type is specified,
// then 'sensor' is the primary sensor type.
primary = mSensorState[sensor].primary;
primary = (primary ? primary : sensor);
for (i=0; i<data->firstSample.numFlushes; i++) {
if (isActivitySensor(sensor) && mActivityEventHandler != NULL) {
mActivityEventHandler->OnFlush();
} else {
bool internal = false;
{
Mutex::Autolock autoLock(mLock);
struct Flush& flush = mFlushesPending[primary].front();
memset(&ev, 0x00, sizeof(sensors_event_t));
ev.version = META_DATA_VERSION;
ev.timestamp = 0;
ev.type = SENSOR_TYPE_META_DATA;
ev.sensor = 0;
ev.meta_data.what = META_DATA_FLUSH_COMPLETE;
ev.meta_data.sensor = flush.handle;
if (flush.internal) {
internal = true;
if (flush.handle == COMMS_SENSOR_ACCEL_WRIST_AWARE)
mLefty.accel = !mLefty.accel;
else if (flush.handle == COMMS_SENSOR_GYRO_WRIST_AWARE)
mLefty.gyro = !mLefty.gyro;
}
if (--flush.count == 0)
mFlushesPending[primary].pop_front();
}
if (!internal)
write(&ev, 1);
ALOGV("flushing %d", ev.meta_data.sensor);
}
}
} else {
ALOGW("too little data for sensor %d: len=%zu\n", sensor, len);
return -1;
}
return ret;
}
void HubConnection::sendCalibrationOffsets()
{
sp<JSONObject> settings;
sp<JSONObject> saved_settings;
struct {
int32_t hw[3];
float sw[3];
} accel;
int32_t proximity, proximity_array[4];
float barometer, humidity, light;
bool accel_hw_cal_exists, accel_sw_cal_exists;
loadSensorSettings(&settings, &saved_settings);
accel_hw_cal_exists = getCalibrationInt32(settings, ACCEL_BIAS_TAG, accel.hw, 3);
accel_sw_cal_exists = getCalibrationFloat(saved_settings, ACCEL_SW_BIAS_TAG, accel.sw);
if (accel_hw_cal_exists || accel_sw_cal_exists) {
// Store SW bias so we can remove bias for uncal data
mAccelBias[0] = accel.sw[0];
mAccelBias[1] = accel.sw[1];
mAccelBias[2] = accel.sw[2];
queueDataInternal(COMMS_SENSOR_ACCEL, &accel, sizeof(accel));
}
ALOGV("Use new configuration format");
std::vector<int32_t> hardwareGyroBias = getInt32Setting(settings, GYRO_BIAS_TAG);
std::vector<float> softwareGyroBias = getFloatSetting(saved_settings, GYRO_SW_BIAS_TAG);
if (hardwareGyroBias.size() == 3 || softwareGyroBias.size() == 3) {
struct {
AppToSensorHalDataPayload header;
GyroCalBias data;
} packet = {
.header = {
.size = sizeof(GyroCalBias),
.type = HALINTF_TYPE_GYRO_CAL_BIAS }
};
if (hardwareGyroBias.size() == 3) {
std::copy(hardwareGyroBias.begin(), hardwareGyroBias.end(),
packet.data.hardwareBias);
}
if (softwareGyroBias.size() == 3) {
// Store SW bias so we can remove bias for uncal data
std::copy(softwareGyroBias.begin(), softwareGyroBias.end(),
mGyroBias);
std::copy(softwareGyroBias.begin(), softwareGyroBias.end(),
packet.data.softwareBias);
}
// send packet to hub
queueDataInternal(COMMS_SENSOR_GYRO, &packet, sizeof(packet));
}
// over temp cal
std::vector<float> gyroOtcData = getFloatSetting(saved_settings, GYRO_OTC_DATA_TAG);
if (gyroOtcData.size() == sizeof(GyroOtcData) / sizeof(float)) {
std::copy(gyroOtcData.begin(), gyroOtcData.end(),
reinterpret_cast<float*>(&mGyroOtcData));
struct {
AppToSensorHalDataPayload header;
GyroOtcData data;
} packet = {
.header = {
.size = sizeof(GyroOtcData),
.type = HALINTF_TYPE_GYRO_OTC_DATA },
.data = mGyroOtcData
};
// send it to hub
queueDataInternal(COMMS_SENSOR_GYRO, &packet, sizeof(packet));
} else {
ALOGW("Illegal otc_gyro data size = %zu", gyroOtcData.size());
}
std::vector<float> magBiasData = getFloatSetting(saved_settings, MAG_BIAS_TAG);
if (magBiasData.size() == 3) {
// Store SW bias so we can remove bias for uncal data
std::copy(magBiasData.begin(), magBiasData.end(), mMagBias);
struct {
AppToSensorHalDataPayload header;
MagCalBias mag;
} packet = {
.header = {
.size = sizeof(MagCalBias),
.type = HALINTF_TYPE_MAG_CAL_BIAS }
};
std::copy(magBiasData.begin(), magBiasData.end(), packet.mag.bias);
queueDataInternal(COMMS_SENSOR_MAG, &packet, sizeof(packet));
}
if (settings->getFloat("barometer", &barometer))
queueDataInternal(COMMS_SENSOR_PRESSURE, &barometer, sizeof(barometer));
if (settings->getFloat("humidity", &humidity))
queueDataInternal(COMMS_SENSOR_HUMIDITY, &humidity, sizeof(humidity));
if (settings->getInt32("proximity", &proximity))
queueDataInternal(COMMS_SENSOR_PROXIMITY, &proximity, sizeof(proximity));
if (getCalibrationInt32(settings, "proximity", proximity_array, 4))
queueDataInternal(COMMS_SENSOR_PROXIMITY, proximity_array, sizeof(proximity_array));
if (settings->getFloat("light", &light))
queueDataInternal(COMMS_SENSOR_LIGHT, &light, sizeof(light));
}
bool HubConnection::threadLoop() {
ALOGV("threadLoop: starting");
if (mFd < 0) {
ALOGW("threadLoop: exiting prematurely: nanohub is unavailable");
return false;
}
waitOnNanohubLock();
sendCalibrationOffsets();
while (!Thread::exitPending()) {
ssize_t ret;
do {
ret = poll(mPollFds, mNumPollFds, -1);
} while (ret < 0 && errno == EINTR);
if (mInotifyPollIndex >= 0 && mPollFds[mInotifyPollIndex].revents & POLLIN) {
discardInotifyEvent();
waitOnNanohubLock();
}
#ifdef USB_MAG_BIAS_REPORTING_ENABLED
if (mMagBiasPollIndex >= 0 && mPollFds[mMagBiasPollIndex].revents & POLLERR) {
// Read from mag bias file
char buf[16];
lseek(mPollFds[mMagBiasPollIndex].fd, 0, SEEK_SET);
::read(mPollFds[mMagBiasPollIndex].fd, buf, 16);
float bias = atof(buf);
mUsbMagBias = bias;
queueUsbMagBias();
}
#endif // USB_MAG_BIAS_REPORTING_ENABLED
#ifdef DOUBLE_TOUCH_ENABLED
if (mDoubleTouchPollIndex >= 0 && mPollFds[mDoubleTouchPollIndex].revents & POLLERR) {
// Read from double touch file
char buf[16];
lseek(mPollFds[mDoubleTouchPollIndex].fd, 0, SEEK_SET);
::read(mPollFds[mDoubleTouchPollIndex].fd, buf, 16);
sensors_event_t gestureEvent;
initEv(&gestureEvent, elapsedRealtimeNano(), SENSOR_TYPE_PICK_UP_GESTURE, COMMS_SENSOR_GESTURE)->data[0] = 8;
write(&gestureEvent, 1);
}
#endif // DOUBLE_TOUCH_ENABLED
if (mPollFds[0].revents & POLLIN) {
uint8_t recv[256];
ssize_t len = ::read(mFd, recv, sizeof(recv));
if (len >= 0) {
for (ssize_t offset = 0; offset < len;) {
ret = processBuf(recv + offset, len - offset);
if (ret > 0)
offset += ret;
else
break;
}
} else {
ALOGW("read -1: errno=%d\n", errno);
}
}
}
return false;
}
void HubConnection::setActivityCallback(ActivityEventHandler *eventHandler)
{
Mutex::Autolock autoLock(mLock);
mActivityEventHandler = eventHandler;
}
void HubConnection::initConfigCmd(struct ConfigCmd *cmd, int handle)
{
memset(cmd, 0x00, sizeof(*cmd));
cmd->evtType = EVT_NO_SENSOR_CONFIG_EVENT;
cmd->sensorType = mSensorState[handle].sensorType;
if (mSensorState[handle].enable) {
cmd->cmd = CONFIG_CMD_ENABLE;
cmd->rate = mSensorState[handle].rate;
cmd->latency = mSensorState[handle].latency;
} else {
cmd->cmd = CONFIG_CMD_DISABLE;
// set rate and latency to values that will always be overwritten by the
// first enabled alt sensor
cmd->rate = UINT32_C(0);
cmd->latency = UINT64_MAX;
}
for (int i=0; i<MAX_ALTERNATES; ++i) {
uint8_t alt = mSensorState[handle].alt[i];
if (alt == COMMS_SENSOR_INVALID) continue;
if (!mSensorState[alt].enable) continue;
cmd->cmd = CONFIG_CMD_ENABLE;
if (mSensorState[alt].rate > cmd->rate) {
cmd->rate = mSensorState[alt].rate;
}
if (mSensorState[alt].latency < cmd->latency) {
cmd->latency = mSensorState[alt].latency;
}
}
// will be a nop if direct report mode is not enabled
mergeDirectReportRequest(cmd, handle);
}
void HubConnection::queueActivate(int handle, bool enable)
{
struct ConfigCmd cmd;
int ret;
Mutex::Autolock autoLock(mLock);
if (isValidHandle(handle)) {
// disabling accel, so no longer need to use the bias from when
// accel was first enabled
if (handle == COMMS_SENSOR_ACCEL && !enable)
mAccelEnabledBiasStored = false;
mSensorState[handle].enable = enable;
initConfigCmd(&cmd, handle);
ret = sendCmd(&cmd, sizeof(cmd));
if (ret == sizeof(cmd)) {
updateSampleRate(handle, enable ? CONFIG_CMD_ENABLE : CONFIG_CMD_DISABLE);
ALOGV("queueActivate: sensor=%d, handle=%d, enable=%d",
cmd.sensorType, handle, enable);
}
else
ALOGW("queueActivate: failed to send command: sensor=%d, handle=%d, enable=%d",
cmd.sensorType, handle, enable);
} else {
ALOGV("queueActivate: unhandled handle=%d, enable=%d", handle, enable);
}
}
void HubConnection::queueSetDelay(int handle, nsecs_t sampling_period_ns)
{
struct ConfigCmd cmd;
int ret;
Mutex::Autolock autoLock(mLock);
if (isValidHandle(handle)) {
if (sampling_period_ns > 0 &&
mSensorState[handle].rate != SENSOR_RATE_ONCHANGE &&
mSensorState[handle].rate != SENSOR_RATE_ONESHOT) {
mSensorState[handle].rate = period_ns_to_frequency_q10(sampling_period_ns);
}
initConfigCmd(&cmd, handle);
ret = sendCmd(&cmd, sizeof(cmd));
if (ret == sizeof(cmd))
ALOGV("queueSetDelay: sensor=%d, handle=%d, period=%" PRId64,
cmd.sensorType, handle, sampling_period_ns);
else
ALOGW("queueSetDelay: failed to send command: sensor=%d, handle=%d, period=%" PRId64,
cmd.sensorType, handle, sampling_period_ns);
} else {
ALOGV("queueSetDelay: unhandled handle=%d, period=%" PRId64, handle, sampling_period_ns);
}
}
void HubConnection::queueBatch(
int handle,
nsecs_t sampling_period_ns,
nsecs_t max_report_latency_ns)
{
struct ConfigCmd cmd;
int ret;
Mutex::Autolock autoLock(mLock);
if (isValidHandle(handle)) {
if (sampling_period_ns > 0 &&
mSensorState[handle].rate != SENSOR_RATE_ONCHANGE &&
mSensorState[handle].rate != SENSOR_RATE_ONESHOT) {
mSensorState[handle].rate = period_ns_to_frequency_q10(sampling_period_ns);
}
mSensorState[handle].latency = max_report_latency_ns;
initConfigCmd(&cmd, handle);
ret = sendCmd(&cmd, sizeof(cmd));
if (ret == sizeof(cmd)) {
updateSampleRate(handle, CONFIG_CMD_ENABLE); // batch uses CONFIG_CMD_ENABLE command
ALOGV("queueBatch: sensor=%d, handle=%d, period=%" PRId64 ", latency=%" PRId64,
cmd.sensorType, handle, sampling_period_ns, max_report_latency_ns);
} else {
ALOGW("queueBatch: failed to send command: sensor=%d, handle=%d, period=%" PRId64 ", latency=%" PRId64,
cmd.sensorType, handle, sampling_period_ns, max_report_latency_ns);
}
} else {
ALOGV("queueBatch: unhandled handle=%d, period=%" PRId64 ", latency=%" PRId64,
handle, sampling_period_ns, max_report_latency_ns);
}
}
void HubConnection::queueFlush(int handle)
{
Mutex::Autolock autoLock(mLock);
queueFlushInternal(handle, false);
}
void HubConnection::queueFlushInternal(int handle, bool internal)
{
struct ConfigCmd cmd;
uint32_t primary;
int ret;
if (isValidHandle(handle)) {
// If no primary sensor type is specified,
// then 'handle' is the primary sensor type.
primary = mSensorState[handle].primary;
primary = (primary ? primary : handle);
std::list<Flush>& flushList = mFlushesPending[primary];
if (!flushList.empty() &&
flushList.back().internal == internal &&
flushList.back().handle == handle) {
++flushList.back().count;
} else {
flushList.push_back((struct Flush){handle, 1, internal});
}
initConfigCmd(&cmd, handle);
cmd.cmd = CONFIG_CMD_FLUSH;
ret = sendCmd(&cmd, sizeof(cmd));
if (ret == sizeof(cmd)) {
ALOGV("queueFlush: sensor=%d, handle=%d",
cmd.sensorType, handle);
} else {
ALOGW("queueFlush: failed to send command: sensor=%d, handle=%d"
" with error %s", cmd.sensorType, handle, strerror(errno));
}
} else {
ALOGV("queueFlush: unhandled handle=%d", handle);
}
}
void HubConnection::queueDataInternal(int handle, void *data, size_t length)
{
struct ConfigCmd *cmd = (struct ConfigCmd *)malloc(sizeof(struct ConfigCmd) + length);
size_t ret;
if (cmd && isValidHandle(handle)) {
initConfigCmd(cmd, handle);
memcpy(cmd->data, data, length);
cmd->cmd = CONFIG_CMD_CFG_DATA;
ret = sendCmd(cmd, sizeof(*cmd) + length);
if (ret == sizeof(*cmd) + length)
ALOGV("queueData: sensor=%d, length=%zu",
cmd->sensorType, length);
else
ALOGW("queueData: failed to send command: sensor=%d, length=%zu",
cmd->sensorType, length);
} else {
ALOGV("queueData: unhandled handle=%d", handle);
}
free(cmd);
}
void HubConnection::queueData(int handle, void *data, size_t length)
{
Mutex::Autolock autoLock(mLock);
queueDataInternal(handle, data, length);
}
void HubConnection::setOperationParameter(const additional_info_event_t &info) {
switch (info.type) {
case AINFO_LOCAL_GEOMAGNETIC_FIELD: {
ALOGV("local geomag field update: strength %fuT, dec %fdeg, inc %fdeg",
static_cast<double>(info.data_float[0]),
info.data_float[1] * 180 / M_PI,
info.data_float[2] * 180 / M_PI);
struct {
AppToSensorHalDataPayload header;
MagLocalField magLocalField;
} packet = {
.header = {
.size = sizeof(MagLocalField),
.type = HALINTF_TYPE_MAG_LOCAL_FIELD },
.magLocalField = {
.strength = info.data_float[0],
.declination = info.data_float[1],
.inclination = info.data_float[2]}
};
queueDataInternal(COMMS_SENSOR_MAG, &packet, sizeof(packet));
break;
}
default:
break;
}
}
void HubConnection::initNanohubLock() {
// Create the lock directory (if it doesn't already exist)
if (mkdir(NANOHUB_LOCK_DIR, NANOHUB_LOCK_DIR_PERMS) < 0 && errno != EEXIST) {
ALOGW("Couldn't create Nanohub lock directory: %s", strerror(errno));
return;
}
mInotifyPollIndex = -1;
int inotifyFd = inotify_init1(IN_NONBLOCK);
if (inotifyFd < 0) {
ALOGW("Couldn't initialize inotify: %s", strerror(errno));
} else if (inotify_add_watch(inotifyFd, NANOHUB_LOCK_DIR, IN_CREATE | IN_DELETE) < 0) {
ALOGW("Couldn't add inotify watch: %s", strerror(errno));
close(inotifyFd);
} else {
mPollFds[mNumPollFds].fd = inotifyFd;
mPollFds[mNumPollFds].events = POLLIN;
mPollFds[mNumPollFds].revents = 0;
mInotifyPollIndex = mNumPollFds;
mNumPollFds++;
}
}
ssize_t HubConnection::read(sensors_event_t *ev, size_t size) {
ssize_t n = mRing.read(ev, size);
Mutex::Autolock autoLock(mLock);
// We log the first failure in write, so only log 2+ errors
if (mWriteFailures > 1) {
ALOGW("%s: mRing.write failed %d times",
__FUNCTION__, mWriteFailures);
mWriteFailures = 0;
}
for (ssize_t i = 0; i < n; i++)
decrementIfWakeEventLocked(ev[i].sensor);
return n;
}
ssize_t HubConnection::write(const sensors_event_t *ev, size_t n) {
ssize_t ret = 0;
Mutex::Autolock autoLock(mLock);
for (size_t i=0; i<n; i++) {
if (mRing.write(&ev[i], 1) == 1) {
ret++;
// If event is a wake event, protect it with a wakelock
protectIfWakeEventLocked(ev[i].sensor);
} else {
if (mWriteFailures++ == 0)
ALOGW("%s: mRing.write failed @ %zu/%zu",
__FUNCTION__, i, n);
break;
}
}
return ret;
}
#ifdef USB_MAG_BIAS_REPORTING_ENABLED
void HubConnection::queueUsbMagBias()
{
struct MsgCmd *cmd = (struct MsgCmd *)malloc(sizeof(struct MsgCmd) + sizeof(float));
size_t ret;
if (cmd) {
cmd->evtType = EVT_APP_FROM_HOST;
cmd->msg.appId = APP_ID_MAKE(APP_ID_VENDOR_GOOGLE, APP_ID_APP_BMI160);
cmd->msg.dataLen = sizeof(float);
memcpy((float *)(cmd+1), &mUsbMagBias, sizeof(float));
ret = sendCmd(cmd, sizeof(*cmd) + sizeof(float));
if (ret == sizeof(*cmd) + sizeof(float))
ALOGV("queueUsbMagBias: bias=%f\n", mUsbMagBias);
else
ALOGW("queueUsbMagBias: failed to send command: bias=%f\n", mUsbMagBias);
free(cmd);
}
}
#endif // USB_MAG_BIAS_REPORTING_ENABLED
#ifdef LID_STATE_REPORTING_ENABLED
status_t HubConnection::initializeUinputNode()
{
int ret = 0;
// Open uinput dev node
mUinputFd = TEMP_FAILURE_RETRY(open("/dev/uinput", O_WRONLY | O_NONBLOCK));
if (mUinputFd < 0) {
ALOGW("could not open uinput node: %s", strerror(errno));
return UNKNOWN_ERROR;
}
// Enable SW_LID events
ret = TEMP_FAILURE_RETRY(ioctl(mUinputFd, UI_SET_EVBIT, EV_SW));
ret |= TEMP_FAILURE_RETRY(ioctl(mUinputFd, UI_SET_EVBIT, EV_SYN));
ret |= TEMP_FAILURE_RETRY(ioctl(mUinputFd, UI_SET_SWBIT, SW_LID));
if (ret < 0) {
ALOGW("could not send ioctl to uinput node: %s", strerror(errno));
return UNKNOWN_ERROR;
}
// Create uinput node for SW_LID
struct uinput_user_dev uidev;
memset(&uidev, 0, sizeof(uidev));
snprintf(uidev.name, UINPUT_MAX_NAME_SIZE, "uinput-folio");
uidev.id.bustype = BUS_SPI;
uidev.id.vendor = 0;
uidev.id.product = 0;
uidev.id.version = 0;
ret = TEMP_FAILURE_RETRY(::write(mUinputFd, &uidev, sizeof(uidev)));
if (ret < 0) {
ALOGW("write to uinput node failed: %s", strerror(errno));
return UNKNOWN_ERROR;
}
ret = TEMP_FAILURE_RETRY(ioctl(mUinputFd, UI_DEV_CREATE));
if (ret < 0) {
ALOGW("could not send ioctl to uinput node: %s", strerror(errno));
return UNKNOWN_ERROR;
}
return OK;
}
void HubConnection::sendFolioEvent(int32_t data) {
ssize_t ret = 0;
struct input_event ev;
memset(&ev, 0, sizeof(ev));
ev.type = EV_SW;
ev.code = SW_LID;
ev.value = data;
ret = TEMP_FAILURE_RETRY(::write(mUinputFd, &ev, sizeof(ev)));
if (ret < 0) {
ALOGW("write to uinput node failed: %s", strerror(errno));
return;
}
// Force flush with EV_SYN event
ev.type = EV_SYN;
ev.code = SYN_REPORT;
ev.value = 0;
ret = TEMP_FAILURE_RETRY(::write(mUinputFd, &ev, sizeof(ev)));
if (ret < 0) {
ALOGW("write to uinput node failed: %s", strerror(errno));
return;
}
// Set lid state property
if (property_set(LID_STATE_PROPERTY,
(data ? LID_STATE_CLOSED : LID_STATE_OPEN)) < 0) {
ALOGW("could not set lid_state property");
}
}
#endif // LID_STATE_REPORTING_ENABLED
#ifdef DIRECT_REPORT_ENABLED
void HubConnection::sendDirectReportEvent(const sensors_event_t *nev, size_t n) {
// short circuit to avoid lock operation
if (n == 0) {
return;
}
// no intention to block sensor delivery thread. when lock is needed ignore
// the event (this only happens when the channel is reconfiured, so it's ok
if (mDirectChannelLock.tryLock() == NO_ERROR) {
while (n--) {
auto i = mSensorToChannel.find(nev->sensor);
if (i != mSensorToChannel.end()) {
for (auto &j : i->second) {
if ((uint64_t)nev->timestamp > j.second.lastTimestamp
&& intervalLargeEnough(
nev->timestamp - j.second.lastTimestamp,
rateLevelToDeviceSamplingPeriodNs(
nev->sensor, j.second.rateLevel))) {
mDirectChannel[j.first]->write(nev);
j.second.lastTimestamp = nev->timestamp;
}
}
}
++nev;
}
mDirectChannelLock.unlock();
}
}
void HubConnection::mergeDirectReportRequest(struct ConfigCmd *cmd, int handle) {
int maxRateLevel = SENSOR_DIRECT_RATE_STOP;
auto j = mSensorToChannel.find(handle);
if (j != mSensorToChannel.end()) {
for (auto &i : j->second) {
maxRateLevel = std::max(i.second.rateLevel, maxRateLevel);
}
}
for (auto handle : mSensorState[handle].alt) {
auto j = mSensorToChannel.find(handle);
if (j != mSensorToChannel.end()) {
for (auto &i : j->second) {
maxRateLevel = std::max(i.second.rateLevel, maxRateLevel);
}
}
}
uint64_t period = rateLevelToDeviceSamplingPeriodNs(handle, maxRateLevel);
if (period != INT64_MAX) {
rate_q10_t rate;
rate = period_ns_to_frequency_q10(period);
cmd->rate = (rate > cmd->rate || cmd->cmd == CONFIG_CMD_DISABLE) ? rate : cmd->rate;
cmd->latency = 0;
cmd->cmd = CONFIG_CMD_ENABLE;
}
}
int HubConnection::addDirectChannel(const struct sensors_direct_mem_t *mem) {
std::unique_ptr<DirectChannelBase> ch;
int ret = NO_MEMORY;
Mutex::Autolock autoLock(mDirectChannelLock);
for (const auto& c : mDirectChannel) {
if (c.second->memoryMatches(mem)) {
// cannot reusing same memory
return BAD_VALUE;
}
}
switch(mem->type) {
case SENSOR_DIRECT_MEM_TYPE_ASHMEM:
ch = std::make_unique<AshmemDirectChannel>(mem);
break;
case SENSOR_DIRECT_MEM_TYPE_GRALLOC:
ch = std::make_unique<GrallocDirectChannel>(mem);
break;
default:
ret = INVALID_OPERATION;
}
if (ch) {
if (ch->isValid()) {
ret = mDirectChannelHandle++;
mDirectChannel.insert(std::make_pair(ret, std::move(ch)));
} else {
ret = ch->getError();
ALOGW("Direct channel object(type:%d) has error %d upon init", mem->type, ret);
}
}
return ret;
}
int HubConnection::removeDirectChannel(int channel_handle) {
// make sure no active sensor in this channel
std::vector<int32_t> activeSensorList;
stopAllDirectReportOnChannel(channel_handle, &activeSensorList);
// sensor service is responsible for stop all sensors before remove direct
// channel. Thus, this is an error.
if (!activeSensorList.empty()) {
std::stringstream ss;
std::copy(activeSensorList.begin(), activeSensorList.end(),
std::ostream_iterator<int32_t>(ss, ","));
ALOGW("Removing channel %d when sensors (%s) are not stopped.",
channel_handle, ss.str().c_str());
}
// remove the channel record
Mutex::Autolock autoLock(mDirectChannelLock);
mDirectChannel.erase(channel_handle);
return NO_ERROR;
}
int HubConnection::stopAllDirectReportOnChannel(
int channel_handle, std::vector<int32_t> *activeSensorList) {
Mutex::Autolock autoLock(mDirectChannelLock);
if (mDirectChannel.find(channel_handle) == mDirectChannel.end()) {
return BAD_VALUE;
}
std::vector<int32_t> sensorToStop;
for (auto &it : mSensorToChannel) {
auto j = it.second.find(channel_handle);
if (j != it.second.end()) {
it.second.erase(j);
if (it.second.empty()) {
sensorToStop.push_back(it.first);
}
}
}
if (activeSensorList != nullptr) {
*activeSensorList = sensorToStop;
}
// re-evaluate and send config for all sensor that need to be stopped
bool ret = true;
for (auto sensor_handle : sensorToStop) {
Mutex::Autolock autoLock2(mLock);
struct ConfigCmd cmd;
initConfigCmd(&cmd, sensor_handle);
int result = sendCmd(&cmd, sizeof(cmd));
ret = ret && (result == sizeof(cmd));
}
return ret ? NO_ERROR : BAD_VALUE;
}
int HubConnection::configDirectReport(int sensor_handle, int channel_handle, int rate_level) {
if (sensor_handle == -1 && rate_level == SENSOR_DIRECT_RATE_STOP) {
return stopAllDirectReportOnChannel(channel_handle, nullptr);
}
if (!isValidHandle(sensor_handle)) {
return BAD_VALUE;
}
// clamp to fast
if (rate_level > SENSOR_DIRECT_RATE_FAST) {
rate_level = SENSOR_DIRECT_RATE_FAST;
}
// manage direct channel data structure
Mutex::Autolock autoLock(mDirectChannelLock);
auto i = mDirectChannel.find(channel_handle);
if (i == mDirectChannel.end()) {
return BAD_VALUE;
}
auto j = mSensorToChannel.find(sensor_handle);
if (j == mSensorToChannel.end()) {
return BAD_VALUE;
}
j->second.erase(channel_handle);
if (rate_level != SENSOR_DIRECT_RATE_STOP) {
j->second.insert(std::make_pair(channel_handle, (DirectChannelTimingInfo){0, rate_level}));
}
Mutex::Autolock autoLock2(mLock);
struct ConfigCmd cmd;
initConfigCmd(&cmd, sensor_handle);
int ret = sendCmd(&cmd, sizeof(cmd));
if (rate_level == SENSOR_DIRECT_RATE_STOP) {
ret = NO_ERROR;
} else {
ret = (ret == sizeof(cmd)) ? sensor_handle : BAD_VALUE;
}
return ret;
}
bool HubConnection::isDirectReportSupported() const {
return true;
}
void HubConnection::updateSampleRate(int handle, int reason) {
bool affected = mSensorToChannel.find(handle) != mSensorToChannel.end();
for (size_t i = 0; i < MAX_ALTERNATES && !affected; ++i) {
if (mSensorState[handle].alt[i] != COMMS_SENSOR_INVALID) {
affected |=
mSensorToChannel.find(mSensorState[handle].alt[i]) != mSensorToChannel.end();
}
}
if (!affected) {
return;
}
switch (reason) {
case CONFIG_CMD_ENABLE: {
constexpr uint64_t PERIOD_800HZ = 1250000;
uint64_t period_multiplier =
(frequency_q10_to_period_ns(mSensorState[handle].rate) + PERIOD_800HZ / 2)
/ PERIOD_800HZ;
uint64_t desiredTSample = PERIOD_800HZ;
while (period_multiplier /= 2) {
desiredTSample *= 2;
}
mSensorState[handle].desiredTSample = desiredTSample;
ALOGV("DesiredTSample for handle 0x%x set to %" PRIu64, handle, desiredTSample);
break;
}
case CONFIG_CMD_DISABLE:
mSensorState[handle].desiredTSample = INT64_MAX;
ALOGV("DesiredTSample 0x%x set to disable", handle);
break;
default:
ALOGW("%s: unexpected reason = %d, no-op", __FUNCTION__, reason);
break;
}
}
bool HubConnection::isSampleIntervalSatisfied(int handle, uint64_t timestamp) {
if (mSensorToChannel.find(handle) == mSensorToChannel.end()) {
return true;
}
if (mSensorState[handle].lastTimestamp >= timestamp
|| mSensorState[handle].desiredTSample == INT64_MAX) {
return false;
} else if (intervalLargeEnough(timestamp - mSensorState[handle].lastTimestamp,
mSensorState[handle].desiredTSample)) {
mSensorState[handle].lastTimestamp = timestamp;
return true;
} else {
return false;
}
}
uint64_t HubConnection::rateLevelToDeviceSamplingPeriodNs(int handle, int rateLevel) const {
if (mSensorToChannel.find(handle) == mSensorToChannel.end()) {
return INT64_MAX;
}
switch (rateLevel) {
case SENSOR_DIRECT_RATE_VERY_FAST:
[[fallthrough]]; // No sensor support VERY_FAST, fall through
case SENSOR_DIRECT_RATE_FAST:
if (handle != COMMS_SENSOR_MAG && handle != COMMS_SENSOR_MAG_UNCALIBRATED) {
return 2500*1000; // 400Hz
}
[[fallthrough]];
case SENSOR_DIRECT_RATE_NORMAL:
return 20*1000*1000; // 50 Hz
default:
return INT64_MAX;
}
}
#else // DIRECT_REPORT_ENABLED
// nop functions if feature is turned off
int HubConnection::addDirectChannel(const struct sensors_direct_mem_t *) {
return INVALID_OPERATION;
}
int HubConnection::removeDirectChannel(int) {
return INVALID_OPERATION;
}
int HubConnection::configDirectReport(int, int, int) {
return INVALID_OPERATION;
}
void HubConnection::sendDirectReportEvent(const sensors_event_t *, size_t) {
}
void HubConnection::mergeDirectReportRequest(struct ConfigCmd *, int) {
}
bool HubConnection::isDirectReportSupported() const {
return false;
}
void HubConnection::updateSampleRate(int, int) {
}
bool HubConnection::isSampleIntervalSatisfied(int, uint64_t) {
return true;
}
#endif // DIRECT_REPORT_ENABLED
} // namespace android