services/sensorservice/SensorDevice.cpp - platform/frameworks/native - Git at Google

 /*
  * Copyright (C) 2010 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.
  */
 #include "SensorDevice.h"
 #include "SensorService.h"

 #include <android-base/logging.h>
 #include <sensors/convert.h>
 #include <cutils/atomic.h>
 #include <utils/Errors.h>
 #include <utils/Singleton.h>

 #include <chrono>
 #include <cinttypes>
 #include <thread>

 using namespace android::hardware::sensors::V1_0;
 using namespace android::hardware::sensors::V1_0::implementation;
 using android::hardware::hidl_vec;
 using android::SensorDeviceUtils::HidlServiceRegistrationWaiter;

 namespace android {
 // ---------------------------------------------------------------------------

 ANDROID_SINGLETON_STATIC_INSTANCE(SensorDevice)

 static status_t StatusFromResult(Result result) {
     switch (result) {
         case Result::OK:
             return OK;
         case Result::BAD_VALUE:
             return BAD_VALUE;
         case Result::PERMISSION_DENIED:
             return PERMISSION_DENIED;
         case Result::INVALID_OPERATION:
             return INVALID_OPERATION;
         case Result::NO_MEMORY:
             return NO_MEMORY;
     }
 }

 SensorDevice::SensorDevice()
         : mHidlTransportErrors(20), mRestartWaiter(new HidlServiceRegistrationWaiter()) {
     if (!connectHidlService()) {
         return;
     }

     float minPowerMa = 0.001; // 1 microAmp

     checkReturn(mSensors->getSensorsList(
             [&](const auto &list) {
                 const size_t count = list.size();

                 mActivationCount.setCapacity(count);
                 Info model;
                 for (size_t i=0 ; i < count; i++) {
                     sensor_t sensor;
                     convertToSensor(list[i], &sensor);
                     // Sanity check and clamp power if it is 0 (or close)
                     if (sensor.power < minPowerMa) {
                         ALOGE("Reported power %f not deemed sane, clamping to %f",
                               sensor.power, minPowerMa);
                         sensor.power = minPowerMa;
                     }
                     mSensorList.push_back(sensor);

                     mActivationCount.add(list[i].sensorHandle, model);

                     checkReturn(mSensors->activate(list[i].sensorHandle, 0 /* enabled */));
                 }
             }));

     mIsDirectReportSupported =
            (checkReturn(mSensors->unregisterDirectChannel(-1)) != Result::INVALID_OPERATION);
 }

 bool SensorDevice::connectHidlService() {
     // SensorDevice will wait for HAL service to start if HAL is declared in device manifest.
     size_t retry = 10;

     while (retry-- > 0) {
         mSensors = ISensors::getService();
         if (mSensors == nullptr) {
             // no sensor hidl service found
             break;
         }

         mRestartWaiter->reset();
         // Poke ISensor service. If it has lingering connection from previous generation of
         // system server, it will kill itself. There is no intention to handle the poll result,
         // which will be done since the size is 0.
         if(mSensors->poll(0, [](auto, const auto &, const auto &) {}).isOk()) {
             // ok to continue
             break;
         }

         // hidl service is restarting, pointer is invalid.
         mSensors = nullptr;
         ALOGI("%s unsuccessful, remaining retry %zu.", __FUNCTION__, retry);
         mRestartWaiter->wait();
     }
     return (mSensors != nullptr);
 }

 void SensorDevice::handleDynamicSensorConnection(int handle, bool connected) {
     // not need to check mSensors because this is is only called after successful poll()
     if (connected) {
         Info model;
         mActivationCount.add(handle, model);
         checkReturn(mSensors->activate(handle, 0 /* enabled */));
     } else {
         mActivationCount.removeItem(handle);
     }
 }

 std::string SensorDevice::dump() const {
     if (mSensors == nullptr) return "HAL not initialized\n";

     String8 result;
     result.appendFormat("Total %zu h/w sensors, %zu running:\n",
                         mSensorList.size(), mActivationCount.size());

     Mutex::Autolock _l(mLock);
     for (const auto & s : mSensorList) {
         int32_t handle = s.handle;
         const Info& info = mActivationCount.valueFor(handle);
         if (info.batchParams.isEmpty()) continue;

         result.appendFormat("0x%08x) active-count = %zu; ", handle, info.batchParams.size());

         result.append("sampling_period(ms) = {");
         for (size_t j = 0; j < info.batchParams.size(); j++) {
             const BatchParams& params = info.batchParams[j];
             result.appendFormat("%.1f%s", params.mTSample / 1e6f,
                 j < info.batchParams.size() - 1 ? ", " : "");
         }
         result.appendFormat("}, selected = %.2f ms; ", info.bestBatchParams.mTSample / 1e6f);

         result.append("batching_period(ms) = {");
         for (size_t j = 0; j < info.batchParams.size(); j++) {
             const BatchParams& params = info.batchParams[j];
             result.appendFormat("%.1f%s", params.mTBatch / 1e6f,
                     j < info.batchParams.size() - 1 ? ", " : "");
         }
         result.appendFormat("}, selected = %.2f ms\n", info.bestBatchParams.mTBatch / 1e6f);
     }

     return result.string();
 }

 ssize_t SensorDevice::getSensorList(sensor_t const** list) {
     *list = &mSensorList[0];

     return mSensorList.size();
 }

 status_t SensorDevice::initCheck() const {
     return mSensors != nullptr ? NO_ERROR : NO_INIT;
 }

 ssize_t SensorDevice::poll(sensors_event_t* buffer, size_t count) {
     if (mSensors == nullptr) return NO_INIT;

     ssize_t err;
     int numHidlTransportErrors = 0;
     bool hidlTransportError = false;

     do {
         auto ret = mSensors->poll(
                 count,
                 [&](auto result,
                     const auto &events,
                     const auto &dynamicSensorsAdded) {
                     if (result == Result::OK) {
                         convertToSensorEvents(events, dynamicSensorsAdded, buffer);
                         err = (ssize_t)events.size();
                     } else {
                         err = StatusFromResult(result);
                     }
                 });

         if (ret.isOk())  {
             hidlTransportError = false;
         } else {
             hidlTransportError = true;
             numHidlTransportErrors++;
             if (numHidlTransportErrors > 50) {
                 // Log error and bail
                 ALOGE("Max Hidl transport errors this cycle : %d", numHidlTransportErrors);
                 handleHidlDeath(ret.description());
             } else {
                 std::this_thread::sleep_for(std::chrono::milliseconds(10));
             }
         }
     } while (hidlTransportError);

     if(numHidlTransportErrors > 0) {
         ALOGE("Saw %d Hidl transport failures", numHidlTransportErrors);
         HidlTransportErrorLog errLog(time(NULL), numHidlTransportErrors);
         mHidlTransportErrors.add(errLog);
         mTotalHidlTransportErrors++;
     }

     return err;
 }

 void SensorDevice::autoDisable(void *ident, int handle) {
     Mutex::Autolock _l(mLock);
     ssize_t activationIndex = mActivationCount.indexOfKey(handle);
     if (activationIndex < 0) {
         ALOGW("Handle %d cannot be found in activation record", handle);
         return;
     }
     Info& info(mActivationCount.editValueAt(activationIndex));
     info.removeBatchParamsForIdent(ident);
 }

 status_t SensorDevice::activate(void* ident, int handle, int enabled) {
     if (mSensors == nullptr) return NO_INIT;

     status_t err(NO_ERROR);
     bool actuateHardware = false;

     Mutex::Autolock _l(mLock);
     ssize_t activationIndex = mActivationCount.indexOfKey(handle);
     if (activationIndex < 0) {
         ALOGW("Handle %d cannot be found in activation record", handle);
         return BAD_VALUE;
     }
     Info& info(mActivationCount.editValueAt(activationIndex));

     ALOGD_IF(DEBUG_CONNECTIONS,
              "SensorDevice::activate: ident=%p, handle=0x%08x, enabled=%d, count=%zu",
              ident, handle, enabled, info.batchParams.size());

     if (enabled) {
         ALOGD_IF(DEBUG_CONNECTIONS, "enable index=%zd", info.batchParams.indexOfKey(ident));

         if (isClientDisabledLocked(ident)) {
             ALOGE("SensorDevice::activate, isClientDisabledLocked(%p):true, handle:%d",
                     ident, handle);
             return INVALID_OPERATION;
         }

         if (info.batchParams.indexOfKey(ident) >= 0) {
           if (info.numActiveClients() == 1) {
               // This is the first connection, we need to activate the underlying h/w sensor.
               actuateHardware = true;
           }
         } else {
             // Log error. Every activate call should be preceded by a batch() call.
             ALOGE("\t >>>ERROR: activate called without batch");
         }
     } else {
         ALOGD_IF(DEBUG_CONNECTIONS, "disable index=%zd", info.batchParams.indexOfKey(ident));

         // If a connected dynamic sensor is deactivated, remove it from the
         // dictionary.
         auto it = mConnectedDynamicSensors.find(handle);
         if (it != mConnectedDynamicSensors.end()) {
             delete it->second;
             mConnectedDynamicSensors.erase(it);
         }

         if (info.removeBatchParamsForIdent(ident) >= 0) {
             if (info.numActiveClients() == 0) {
                 // This is the last connection, we need to de-activate the underlying h/w sensor.
                 actuateHardware = true;
             } else {
                 // Call batch for this sensor with the previously calculated best effort
                 // batch_rate and timeout. One of the apps has unregistered for sensor
                 // events, and the best effort batch parameters might have changed.
                 ALOGD_IF(DEBUG_CONNECTIONS,
                          "\t>>> actuating h/w batch 0x%08x %" PRId64 " %" PRId64, handle,
                          info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch);
                 checkReturn(mSensors->batch(
                         handle, info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch));
             }
         } else {
             // sensor wasn't enabled for this ident
         }

         if (isClientDisabledLocked(ident)) {
             return NO_ERROR;
         }
     }

     if (actuateHardware) {
         ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w activate handle=%d enabled=%d", handle,
                  enabled);
         err = StatusFromResult(checkReturn(mSensors->activate(handle, enabled)));
         ALOGE_IF(err, "Error %s sensor %d (%s)", enabled ? "activating" : "disabling", handle,
                  strerror(-err));

         if (err != NO_ERROR && enabled) {
             // Failure when enabling the sensor. Clean up on failure.
             info.removeBatchParamsForIdent(ident);
         }
     }

     return err;
 }

 status_t SensorDevice::batch(
         void* ident,
         int handle,
         int flags,
         int64_t samplingPeriodNs,
         int64_t maxBatchReportLatencyNs) {
     if (mSensors == nullptr) return NO_INIT;

     if (samplingPeriodNs < MINIMUM_EVENTS_PERIOD) {
         samplingPeriodNs = MINIMUM_EVENTS_PERIOD;
     }
     if (maxBatchReportLatencyNs < 0) {
         maxBatchReportLatencyNs = 0;
     }

     ALOGD_IF(DEBUG_CONNECTIONS,
              "SensorDevice::batch: ident=%p, handle=0x%08x, flags=%d, period_ns=%" PRId64 " timeout=%" PRId64,
              ident, handle, flags, samplingPeriodNs, maxBatchReportLatencyNs);

     Mutex::Autolock _l(mLock);
     ssize_t activationIndex = mActivationCount.indexOfKey(handle);
     if (activationIndex < 0) {
         ALOGW("Handle %d cannot be found in activation record", handle);
         return BAD_VALUE;
     }
     Info& info(mActivationCount.editValueAt(activationIndex));

     if (info.batchParams.indexOfKey(ident) < 0) {
         BatchParams params(samplingPeriodNs, maxBatchReportLatencyNs);
         info.batchParams.add(ident, params);
     } else {
         // A batch has already been called with this ident. Update the batch parameters.
         info.setBatchParamsForIdent(ident, flags, samplingPeriodNs, maxBatchReportLatencyNs);
     }

     BatchParams prevBestBatchParams = info.bestBatchParams;
     // Find the minimum of all timeouts and batch_rates for this sensor.
     info.selectBatchParams();

     ALOGD_IF(DEBUG_CONNECTIONS,
              "\t>>> curr_period=%" PRId64 " min_period=%" PRId64
              " curr_timeout=%" PRId64 " min_timeout=%" PRId64,
              prevBestBatchParams.mTSample, info.bestBatchParams.mTSample,
              prevBestBatchParams.mTBatch, info.bestBatchParams.mTBatch);

     status_t err(NO_ERROR);
     // If the min period or min timeout has changed since the last batch call, call batch.
     if (prevBestBatchParams != info.bestBatchParams) {
         ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w BATCH 0x%08x %" PRId64 " %" PRId64, handle,
                  info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch);
         err = StatusFromResult(
                 checkReturn(mSensors->batch(
                     handle, info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch)));
         if (err != NO_ERROR) {
             ALOGE("sensor batch failed %p 0x%08x %" PRId64 " %" PRId64 " err=%s",
                   mSensors.get(), handle, info.bestBatchParams.mTSample,
                   info.bestBatchParams.mTBatch, strerror(-err));
             info.removeBatchParamsForIdent(ident);
         }
     }
     return err;
 }

 status_t SensorDevice::setDelay(void* ident, int handle, int64_t samplingPeriodNs) {
     return batch(ident, handle, 0, samplingPeriodNs, 0);
 }

 int SensorDevice::getHalDeviceVersion() const {
     if (mSensors == nullptr) return -1;
     return SENSORS_DEVICE_API_VERSION_1_4;
 }

 status_t SensorDevice::flush(void* ident, int handle) {
     if (mSensors == nullptr) return NO_INIT;
     if (isClientDisabled(ident)) return INVALID_OPERATION;
     ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w flush %d", handle);
     return StatusFromResult(checkReturn(mSensors->flush(handle)));
 }

 bool SensorDevice::isClientDisabled(void* ident) {
     Mutex::Autolock _l(mLock);
     return isClientDisabledLocked(ident);
 }

 bool SensorDevice::isClientDisabledLocked(void* ident) {
     return mDisabledClients.indexOf(ident) >= 0;
 }

 void SensorDevice::enableAllSensors() {
     if (mSensors == nullptr) return;
     Mutex::Autolock _l(mLock);
     mDisabledClients.clear();
     ALOGI("cleared mDisabledClients");
     for (size_t i = 0; i< mActivationCount.size(); ++i) {
         Info& info = mActivationCount.editValueAt(i);
         if (info.batchParams.isEmpty()) continue;
         info.selectBatchParams();
         const int sensor_handle = mActivationCount.keyAt(i);
         ALOGD_IF(DEBUG_CONNECTIONS, "\t>> reenable actuating h/w sensor enable handle=%d ",
                    sensor_handle);
         status_t err = StatusFromResult(
                 checkReturn(mSensors->batch(
                     sensor_handle,
                     info.bestBatchParams.mTSample,
                     info.bestBatchParams.mTBatch)));
         ALOGE_IF(err, "Error calling batch on sensor %d (%s)", sensor_handle, strerror(-err));

         if (err == NO_ERROR) {
             err = StatusFromResult(
                     checkReturn(mSensors->activate(sensor_handle, 1 /* enabled */)));
             ALOGE_IF(err, "Error activating sensor %d (%s)", sensor_handle, strerror(-err));
         }
     }
 }

 void SensorDevice::disableAllSensors() {
     if (mSensors == nullptr) return;
     Mutex::Autolock _l(mLock);
     for (size_t i = 0; i< mActivationCount.size(); ++i) {
         const Info& info = mActivationCount.valueAt(i);
         // Check if this sensor has been activated previously and disable it.
         if (info.batchParams.size() > 0) {
            const int sensor_handle = mActivationCount.keyAt(i);
            ALOGD_IF(DEBUG_CONNECTIONS, "\t>> actuating h/w sensor disable handle=%d ",
                    sensor_handle);
            checkReturn(mSensors->activate(sensor_handle, 0 /* enabled */));

            // Add all the connections that were registered for this sensor to the disabled
            // clients list.
            for (size_t j = 0; j < info.batchParams.size(); ++j) {
                mDisabledClients.add(info.batchParams.keyAt(j));
                ALOGI("added %p to mDisabledClients", info.batchParams.keyAt(j));
            }
         }
     }
 }

 status_t SensorDevice::injectSensorData(
         const sensors_event_t *injected_sensor_event) {
     if (mSensors == nullptr) return NO_INIT;
     ALOGD_IF(DEBUG_CONNECTIONS,
             "sensor_event handle=%d ts=%" PRId64 " data=%.2f, %.2f, %.2f %.2f %.2f %.2f",
             injected_sensor_event->sensor,
             injected_sensor_event->timestamp, injected_sensor_event->data[0],
             injected_sensor_event->data[1], injected_sensor_event->data[2],
             injected_sensor_event->data[3], injected_sensor_event->data[4],
             injected_sensor_event->data[5]);

     Event ev;
     convertFromSensorEvent(*injected_sensor_event, &ev);

     return StatusFromResult(checkReturn(mSensors->injectSensorData(ev)));
 }

 status_t SensorDevice::setMode(uint32_t mode) {
     if (mSensors == nullptr) return NO_INIT;
     return StatusFromResult(
             checkReturn(mSensors->setOperationMode(
                     static_cast<hardware::sensors::V1_0::OperationMode>(mode))));
 }

 int32_t SensorDevice::registerDirectChannel(const sensors_direct_mem_t* memory) {
     if (mSensors == nullptr) return NO_INIT;
     Mutex::Autolock _l(mLock);

     SharedMemType type;
     switch (memory->type) {
         case SENSOR_DIRECT_MEM_TYPE_ASHMEM:
             type = SharedMemType::ASHMEM;
             break;
         case SENSOR_DIRECT_MEM_TYPE_GRALLOC:
             type = SharedMemType::GRALLOC;
             break;
         default:
             return BAD_VALUE;
     }

     SharedMemFormat format;
     if (memory->format != SENSOR_DIRECT_FMT_SENSORS_EVENT) {
         return BAD_VALUE;
     }
     format = SharedMemFormat::SENSORS_EVENT;

     SharedMemInfo mem = {
         .type = type,
         .format = format,
         .size = static_cast<uint32_t>(memory->size),
         .memoryHandle = memory->handle,
     };

     int32_t ret;
     checkReturn(mSensors->registerDirectChannel(mem,
             [&ret](auto result, auto channelHandle) {
                 if (result == Result::OK) {
                     ret = channelHandle;
                 } else {
                     ret = StatusFromResult(result);
                 }
             }));
     return ret;
 }

 void SensorDevice::unregisterDirectChannel(int32_t channelHandle) {
     if (mSensors == nullptr) return;
     Mutex::Autolock _l(mLock);
     checkReturn(mSensors->unregisterDirectChannel(channelHandle));
 }

 int32_t SensorDevice::configureDirectChannel(int32_t sensorHandle,
         int32_t channelHandle, const struct sensors_direct_cfg_t *config) {
     if (mSensors == nullptr) return NO_INIT;
     Mutex::Autolock _l(mLock);

     RateLevel rate;
     switch(config->rate_level) {
         case SENSOR_DIRECT_RATE_STOP:
             rate = RateLevel::STOP;
             break;
         case SENSOR_DIRECT_RATE_NORMAL:
             rate = RateLevel::NORMAL;
             break;
         case SENSOR_DIRECT_RATE_FAST:
             rate = RateLevel::FAST;
             break;
         case SENSOR_DIRECT_RATE_VERY_FAST:
             rate = RateLevel::VERY_FAST;
             break;
         default:
             return BAD_VALUE;
     }

     int32_t ret;
     checkReturn(mSensors->configDirectReport(sensorHandle, channelHandle, rate,
             [&ret, rate] (auto result, auto token) {
                 if (rate == RateLevel::STOP) {
                     ret = StatusFromResult(result);
                 } else {
                     if (result == Result::OK) {
                         ret = token;
                     } else {
                         ret = StatusFromResult(result);
                     }
                 }
             }));

     return ret;
 }

 // ---------------------------------------------------------------------------

 int SensorDevice::Info::numActiveClients() {
     SensorDevice& device(SensorDevice::getInstance());
     int num = 0;
     for (size_t i = 0; i < batchParams.size(); ++i) {
         if (!device.isClientDisabledLocked(batchParams.keyAt(i))) {
             ++num;
         }
     }
     return num;
 }

 status_t SensorDevice::Info::setBatchParamsForIdent(void* ident, int,
                                                     int64_t samplingPeriodNs,
                                                     int64_t maxBatchReportLatencyNs) {
     ssize_t index = batchParams.indexOfKey(ident);
     if (index < 0) {
         ALOGE("Info::setBatchParamsForIdent(ident=%p, period_ns=%" PRId64
               " timeout=%" PRId64 ") failed (%s)",
               ident, samplingPeriodNs, maxBatchReportLatencyNs, strerror(-index));
         return BAD_INDEX;
     }
     BatchParams& params = batchParams.editValueAt(index);
     params.mTSample = samplingPeriodNs;
     params.mTBatch = maxBatchReportLatencyNs;
     return NO_ERROR;
 }

 void SensorDevice::Info::selectBatchParams() {
     BatchParams bestParams; // default to max Tsample and max Tbatch
     SensorDevice& device(SensorDevice::getInstance());

     for (size_t i = 0; i < batchParams.size(); ++i) {
         if (device.isClientDisabledLocked(batchParams.keyAt(i))) {
             continue;
         }
         bestParams.merge(batchParams[i]);
     }
     // if mTBatch <= mTSample, it is in streaming mode. set mTbatch to 0 to demand this explicitly.
     if (bestParams.mTBatch <= bestParams.mTSample) {
         bestParams.mTBatch = 0;
     }
     bestBatchParams = bestParams;
 }

 ssize_t SensorDevice::Info::removeBatchParamsForIdent(void* ident) {
     ssize_t idx = batchParams.removeItem(ident);
     if (idx >= 0) {
         selectBatchParams();
     }
     return idx;
 }

 void SensorDevice::notifyConnectionDestroyed(void* ident) {
     Mutex::Autolock _l(mLock);
     mDisabledClients.remove(ident);
 }

 bool SensorDevice::isDirectReportSupported() const {
     return mIsDirectReportSupported;
 }

 void SensorDevice::convertToSensorEvent(
         const Event &src, sensors_event_t *dst) {
     ::android::hardware::sensors::V1_0::implementation::convertToSensorEvent(
             src, dst);

     if (src.sensorType == SensorType::DYNAMIC_SENSOR_META) {
         const DynamicSensorInfo &dyn = src.u.dynamic;

         dst->dynamic_sensor_meta.connected = dyn.connected;
         dst->dynamic_sensor_meta.handle = dyn.sensorHandle;
         if (dyn.connected) {
             auto it = mConnectedDynamicSensors.find(dyn.sensorHandle);
             CHECK(it != mConnectedDynamicSensors.end());

             dst->dynamic_sensor_meta.sensor = it->second;

             memcpy(dst->dynamic_sensor_meta.uuid,
                    dyn.uuid.data(),
                    sizeof(dst->dynamic_sensor_meta.uuid));
         }
     }
 }

 void SensorDevice::convertToSensorEvents(
         const hidl_vec<Event> &src,
         const hidl_vec<SensorInfo> &dynamicSensorsAdded,
         sensors_event_t *dst) {
     // Allocate a sensor_t structure for each dynamic sensor added and insert
     // it into the dictionary of connected dynamic sensors keyed by handle.
     for (size_t i = 0; i < dynamicSensorsAdded.size(); ++i) {
         const SensorInfo &info = dynamicSensorsAdded[i];

         auto it = mConnectedDynamicSensors.find(info.sensorHandle);
         CHECK(it == mConnectedDynamicSensors.end());

         sensor_t *sensor = new sensor_t;
         convertToSensor(info, sensor);

         mConnectedDynamicSensors.insert(
                 std::make_pair(sensor->handle, sensor));
     }

     for (size_t i = 0; i < src.size(); ++i) {
         convertToSensorEvent(src[i], &dst[i]);
     }
 }

 void SensorDevice::handleHidlDeath(const std::string & detail) {
     // restart is the only option at present.
     LOG_ALWAYS_FATAL("Abort due to ISensors hidl service failure, detail: %s.", detail.c_str());
 }

 // ---------------------------------------------------------------------------
 }; // namespace android
	/*
	* Copyright (C) 2010 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.
	*/
	#include "SensorDevice.h"
	#include "SensorService.h"

	#include <android-base/logging.h>
	#include <sensors/convert.h>
	#include <cutils/atomic.h>
	#include <utils/Errors.h>
	#include <utils/Singleton.h>

	#include <chrono>
	#include <cinttypes>
	#include <thread>

	using namespace android::hardware::sensors::V1_0;
	using namespace android::hardware::sensors::V1_0::implementation;
	using android::hardware::hidl_vec;
	using android::SensorDeviceUtils::HidlServiceRegistrationWaiter;

	namespace android {
	// ---------------------------------------------------------------------------

	ANDROID_SINGLETON_STATIC_INSTANCE(SensorDevice)

	static status_t StatusFromResult(Result result) {
	switch (result) {
	case Result::OK:
	return OK;
	case Result::BAD_VALUE:
	return BAD_VALUE;
	case Result::PERMISSION_DENIED:
	return PERMISSION_DENIED;
	case Result::INVALID_OPERATION:
	return INVALID_OPERATION;
	case Result::NO_MEMORY:
	return NO_MEMORY;
	}
	}

	SensorDevice::SensorDevice()
	: mHidlTransportErrors(20), mRestartWaiter(new HidlServiceRegistrationWaiter()) {
	if (!connectHidlService()) {
	return;
	}

	float minPowerMa = 0.001; // 1 microAmp

	checkReturn(mSensors->getSensorsList(
	[&](const auto &list) {
	const size_t count = list.size();

	mActivationCount.setCapacity(count);
	Info model;
	for (size_t i=0 ; i < count; i++) {
	sensor_t sensor;
	convertToSensor(list[i], &sensor);
	// Sanity check and clamp power if it is 0 (or close)
	if (sensor.power < minPowerMa) {
	ALOGE("Reported power %f not deemed sane, clamping to %f",
	sensor.power, minPowerMa);
	sensor.power = minPowerMa;
	}
	mSensorList.push_back(sensor);

	mActivationCount.add(list[i].sensorHandle, model);

	checkReturn(mSensors->activate(list[i].sensorHandle, 0 /* enabled */));
	}
	}));

	mIsDirectReportSupported =
	(checkReturn(mSensors->unregisterDirectChannel(-1)) != Result::INVALID_OPERATION);
	}

	bool SensorDevice::connectHidlService() {
	// SensorDevice will wait for HAL service to start if HAL is declared in device manifest.
	size_t retry = 10;

	while (retry-- > 0) {
	mSensors = ISensors::getService();
	if (mSensors == nullptr) {
	// no sensor hidl service found
	break;
	}

	mRestartWaiter->reset();
	// Poke ISensor service. If it has lingering connection from previous generation of
	// system server, it will kill itself. There is no intention to handle the poll result,
	// which will be done since the size is 0.
	if(mSensors->poll(0, [](auto, const auto &, const auto &) {}).isOk()) {
	// ok to continue
	break;
	}

	// hidl service is restarting, pointer is invalid.
	mSensors = nullptr;
	ALOGI("%s unsuccessful, remaining retry %zu.", __FUNCTION__, retry);
	mRestartWaiter->wait();
	}
	return (mSensors != nullptr);
	}

	void SensorDevice::handleDynamicSensorConnection(int handle, bool connected) {
	// not need to check mSensors because this is is only called after successful poll()
	if (connected) {
	Info model;
	mActivationCount.add(handle, model);
	checkReturn(mSensors->activate(handle, 0 /* enabled */));
	} else {
	mActivationCount.removeItem(handle);
	}
	}

	std::string SensorDevice::dump() const {
	if (mSensors == nullptr) return "HAL not initialized\n";

	String8 result;
	result.appendFormat("Total %zu h/w sensors, %zu running:\n",
	mSensorList.size(), mActivationCount.size());

	Mutex::Autolock _l(mLock);
	for (const auto & s : mSensorList) {
	int32_t handle = s.handle;
	const Info& info = mActivationCount.valueFor(handle);
	if (info.batchParams.isEmpty()) continue;

	result.appendFormat("0x%08x) active-count = %zu; ", handle, info.batchParams.size());

	result.append("sampling_period(ms) = {");
	for (size_t j = 0; j < info.batchParams.size(); j++) {
	const BatchParams& params = info.batchParams[j];
	result.appendFormat("%.1f%s", params.mTSample / 1e6f,
	j < info.batchParams.size() - 1 ? ", " : "");
	}
	result.appendFormat("}, selected = %.2f ms; ", info.bestBatchParams.mTSample / 1e6f);

	result.append("batching_period(ms) = {");
	for (size_t j = 0; j < info.batchParams.size(); j++) {
	const BatchParams& params = info.batchParams[j];
	result.appendFormat("%.1f%s", params.mTBatch / 1e6f,
	j < info.batchParams.size() - 1 ? ", " : "");
	}
	result.appendFormat("}, selected = %.2f ms\n", info.bestBatchParams.mTBatch / 1e6f);
	}

	return result.string();
	}

	ssize_t SensorDevice::getSensorList(sensor_t const** list) {
	*list = &mSensorList[0];

	return mSensorList.size();
	}

	status_t SensorDevice::initCheck() const {
	return mSensors != nullptr ? NO_ERROR : NO_INIT;
	}

	ssize_t SensorDevice::poll(sensors_event_t* buffer, size_t count) {
	if (mSensors == nullptr) return NO_INIT;

	ssize_t err;
	int numHidlTransportErrors = 0;
	bool hidlTransportError = false;

	do {
	auto ret = mSensors->poll(
	count,
	[&](auto result,
	const auto &events,
	const auto &dynamicSensorsAdded) {
	if (result == Result::OK) {
	convertToSensorEvents(events, dynamicSensorsAdded, buffer);
	err = (ssize_t)events.size();
	} else {
	err = StatusFromResult(result);
	}
	});

	if (ret.isOk()) {
	hidlTransportError = false;
	} else {
	hidlTransportError = true;
	numHidlTransportErrors++;
	if (numHidlTransportErrors > 50) {
	// Log error and bail
	ALOGE("Max Hidl transport errors this cycle : %d", numHidlTransportErrors);
	handleHidlDeath(ret.description());
	} else {
	std::this_thread::sleep_for(std::chrono::milliseconds(10));
	}
	}
	} while (hidlTransportError);

	if(numHidlTransportErrors > 0) {
	ALOGE("Saw %d Hidl transport failures", numHidlTransportErrors);
	HidlTransportErrorLog errLog(time(NULL), numHidlTransportErrors);
	mHidlTransportErrors.add(errLog);
	mTotalHidlTransportErrors++;
	}

	return err;
	}

	void SensorDevice::autoDisable(void *ident, int handle) {
	Mutex::Autolock _l(mLock);
	ssize_t activationIndex = mActivationCount.indexOfKey(handle);
	if (activationIndex < 0) {
	ALOGW("Handle %d cannot be found in activation record", handle);
	return;
	}
	Info& info(mActivationCount.editValueAt(activationIndex));
	info.removeBatchParamsForIdent(ident);
	}

	status_t SensorDevice::activate(void* ident, int handle, int enabled) {
	if (mSensors == nullptr) return NO_INIT;

	status_t err(NO_ERROR);
	bool actuateHardware = false;

	Mutex::Autolock _l(mLock);
	ssize_t activationIndex = mActivationCount.indexOfKey(handle);
	if (activationIndex < 0) {
	ALOGW("Handle %d cannot be found in activation record", handle);
	return BAD_VALUE;
	}
	Info& info(mActivationCount.editValueAt(activationIndex));

	ALOGD_IF(DEBUG_CONNECTIONS,
	"SensorDevice::activate: ident=%p, handle=0x%08x, enabled=%d, count=%zu",
	ident, handle, enabled, info.batchParams.size());

	if (enabled) {
	ALOGD_IF(DEBUG_CONNECTIONS, "enable index=%zd", info.batchParams.indexOfKey(ident));

	if (isClientDisabledLocked(ident)) {
	ALOGE("SensorDevice::activate, isClientDisabledLocked(%p):true, handle:%d",
	ident, handle);
	return INVALID_OPERATION;
	}

	if (info.batchParams.indexOfKey(ident) >= 0) {
	if (info.numActiveClients() == 1) {
	// This is the first connection, we need to activate the underlying h/w sensor.
	actuateHardware = true;
	}
	} else {
	// Log error. Every activate call should be preceded by a batch() call.
	ALOGE("\t >>>ERROR: activate called without batch");
	}
	} else {
	ALOGD_IF(DEBUG_CONNECTIONS, "disable index=%zd", info.batchParams.indexOfKey(ident));

	// If a connected dynamic sensor is deactivated, remove it from the
	// dictionary.
	auto it = mConnectedDynamicSensors.find(handle);
	if (it != mConnectedDynamicSensors.end()) {
	delete it->second;
	mConnectedDynamicSensors.erase(it);
	}

	if (info.removeBatchParamsForIdent(ident) >= 0) {
	if (info.numActiveClients() == 0) {
	// This is the last connection, we need to de-activate the underlying h/w sensor.
	actuateHardware = true;
	} else {
	// Call batch for this sensor with the previously calculated best effort
	// batch_rate and timeout. One of the apps has unregistered for sensor
	// events, and the best effort batch parameters might have changed.
	ALOGD_IF(DEBUG_CONNECTIONS,
	"\t>>> actuating h/w batch 0x%08x %" PRId64 " %" PRId64, handle,
	info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch);
	checkReturn(mSensors->batch(
	handle, info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch));
	}
	} else {
	// sensor wasn't enabled for this ident
	}

	if (isClientDisabledLocked(ident)) {
	return NO_ERROR;
	}
	}

	if (actuateHardware) {
	ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w activate handle=%d enabled=%d", handle,
	enabled);
	err = StatusFromResult(checkReturn(mSensors->activate(handle, enabled)));
	ALOGE_IF(err, "Error %s sensor %d (%s)", enabled ? "activating" : "disabling", handle,
	strerror(-err));

	if (err != NO_ERROR && enabled) {
	// Failure when enabling the sensor. Clean up on failure.
	info.removeBatchParamsForIdent(ident);
	}
	}

	return err;
	}

	status_t SensorDevice::batch(
	void* ident,
	int handle,
	int flags,
	int64_t samplingPeriodNs,
	int64_t maxBatchReportLatencyNs) {
	if (mSensors == nullptr) return NO_INIT;

	if (samplingPeriodNs < MINIMUM_EVENTS_PERIOD) {
	samplingPeriodNs = MINIMUM_EVENTS_PERIOD;
	}
	if (maxBatchReportLatencyNs < 0) {
	maxBatchReportLatencyNs = 0;
	}

	ALOGD_IF(DEBUG_CONNECTIONS,
	"SensorDevice::batch: ident=%p, handle=0x%08x, flags=%d, period_ns=%" PRId64 " timeout=%" PRId64,
	ident, handle, flags, samplingPeriodNs, maxBatchReportLatencyNs);

	Mutex::Autolock _l(mLock);
	ssize_t activationIndex = mActivationCount.indexOfKey(handle);
	if (activationIndex < 0) {
	ALOGW("Handle %d cannot be found in activation record", handle);
	return BAD_VALUE;
	}
	Info& info(mActivationCount.editValueAt(activationIndex));

	if (info.batchParams.indexOfKey(ident) < 0) {
	BatchParams params(samplingPeriodNs, maxBatchReportLatencyNs);
	info.batchParams.add(ident, params);
	} else {
	// A batch has already been called with this ident. Update the batch parameters.
	info.setBatchParamsForIdent(ident, flags, samplingPeriodNs, maxBatchReportLatencyNs);
	}

	BatchParams prevBestBatchParams = info.bestBatchParams;
	// Find the minimum of all timeouts and batch_rates for this sensor.
	info.selectBatchParams();

	ALOGD_IF(DEBUG_CONNECTIONS,
	"\t>>> curr_period=%" PRId64 " min_period=%" PRId64
	" curr_timeout=%" PRId64 " min_timeout=%" PRId64,
	prevBestBatchParams.mTSample, info.bestBatchParams.mTSample,
	prevBestBatchParams.mTBatch, info.bestBatchParams.mTBatch);

	status_t err(NO_ERROR);
	// If the min period or min timeout has changed since the last batch call, call batch.
	if (prevBestBatchParams != info.bestBatchParams) {
	ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w BATCH 0x%08x %" PRId64 " %" PRId64, handle,
	info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch);
	err = StatusFromResult(
	checkReturn(mSensors->batch(
	handle, info.bestBatchParams.mTSample, info.bestBatchParams.mTBatch)));
	if (err != NO_ERROR) {
	ALOGE("sensor batch failed %p 0x%08x %" PRId64 " %" PRId64 " err=%s",
	mSensors.get(), handle, info.bestBatchParams.mTSample,
	info.bestBatchParams.mTBatch, strerror(-err));
	info.removeBatchParamsForIdent(ident);
	}
	}
	return err;
	}

	status_t SensorDevice::setDelay(void* ident, int handle, int64_t samplingPeriodNs) {
	return batch(ident, handle, 0, samplingPeriodNs, 0);
	}

	int SensorDevice::getHalDeviceVersion() const {
	if (mSensors == nullptr) return -1;
	return SENSORS_DEVICE_API_VERSION_1_4;
	}

	status_t SensorDevice::flush(void* ident, int handle) {
	if (mSensors == nullptr) return NO_INIT;
	if (isClientDisabled(ident)) return INVALID_OPERATION;
	ALOGD_IF(DEBUG_CONNECTIONS, "\t>>> actuating h/w flush %d", handle);
	return StatusFromResult(checkReturn(mSensors->flush(handle)));
	}

	bool SensorDevice::isClientDisabled(void* ident) {
	Mutex::Autolock _l(mLock);
	return isClientDisabledLocked(ident);
	}

	bool SensorDevice::isClientDisabledLocked(void* ident) {
	return mDisabledClients.indexOf(ident) >= 0;
	}

	void SensorDevice::enableAllSensors() {
	if (mSensors == nullptr) return;
	Mutex::Autolock _l(mLock);
	mDisabledClients.clear();
	ALOGI("cleared mDisabledClients");
	for (size_t i = 0; i< mActivationCount.size(); ++i) {
	Info& info = mActivationCount.editValueAt(i);
	if (info.batchParams.isEmpty()) continue;
	info.selectBatchParams();
	const int sensor_handle = mActivationCount.keyAt(i);
	ALOGD_IF(DEBUG_CONNECTIONS, "\t>> reenable actuating h/w sensor enable handle=%d ",
	sensor_handle);
	status_t err = StatusFromResult(
	checkReturn(mSensors->batch(
	sensor_handle,
	info.bestBatchParams.mTSample,
	info.bestBatchParams.mTBatch)));
	ALOGE_IF(err, "Error calling batch on sensor %d (%s)", sensor_handle, strerror(-err));

	if (err == NO_ERROR) {
	err = StatusFromResult(
	checkReturn(mSensors->activate(sensor_handle, 1 /* enabled */)));
	ALOGE_IF(err, "Error activating sensor %d (%s)", sensor_handle, strerror(-err));
	}
	}
	}

	void SensorDevice::disableAllSensors() {
	if (mSensors == nullptr) return;
	Mutex::Autolock _l(mLock);
	for (size_t i = 0; i< mActivationCount.size(); ++i) {
	const Info& info = mActivationCount.valueAt(i);
	// Check if this sensor has been activated previously and disable it.
	if (info.batchParams.size() > 0) {
	const int sensor_handle = mActivationCount.keyAt(i);
	ALOGD_IF(DEBUG_CONNECTIONS, "\t>> actuating h/w sensor disable handle=%d ",
	sensor_handle);
	checkReturn(mSensors->activate(sensor_handle, 0 /* enabled */));

	// Add all the connections that were registered for this sensor to the disabled
	// clients list.
	for (size_t j = 0; j < info.batchParams.size(); ++j) {
	mDisabledClients.add(info.batchParams.keyAt(j));
	ALOGI("added %p to mDisabledClients", info.batchParams.keyAt(j));
	}
	}
	}
	}

	status_t SensorDevice::injectSensorData(
	const sensors_event_t *injected_sensor_event) {
	if (mSensors == nullptr) return NO_INIT;
	ALOGD_IF(DEBUG_CONNECTIONS,
	"sensor_event handle=%d ts=%" PRId64 " data=%.2f, %.2f, %.2f %.2f %.2f %.2f",
	injected_sensor_event->sensor,
	injected_sensor_event->timestamp, injected_sensor_event->data[0],
	injected_sensor_event->data[1], injected_sensor_event->data[2],
	injected_sensor_event->data[3], injected_sensor_event->data[4],
	injected_sensor_event->data[5]);

	Event ev;
	convertFromSensorEvent(*injected_sensor_event, &ev);

	return StatusFromResult(checkReturn(mSensors->injectSensorData(ev)));
	}

	status_t SensorDevice::setMode(uint32_t mode) {
	if (mSensors == nullptr) return NO_INIT;
	return StatusFromResult(
	checkReturn(mSensors->setOperationMode(
	static_cast<hardware::sensors::V1_0::OperationMode>(mode))));
	}

	int32_t SensorDevice::registerDirectChannel(const sensors_direct_mem_t* memory) {
	if (mSensors == nullptr) return NO_INIT;
	Mutex::Autolock _l(mLock);

	SharedMemType type;
	switch (memory->type) {
	case SENSOR_DIRECT_MEM_TYPE_ASHMEM:
	type = SharedMemType::ASHMEM;
	break;
	case SENSOR_DIRECT_MEM_TYPE_GRALLOC:
	type = SharedMemType::GRALLOC;
	break;
	default:
	return BAD_VALUE;
	}

	SharedMemFormat format;
	if (memory->format != SENSOR_DIRECT_FMT_SENSORS_EVENT) {
	return BAD_VALUE;
	}
	format = SharedMemFormat::SENSORS_EVENT;

	SharedMemInfo mem = {
	.type = type,
	.format = format,
	.size = static_cast<uint32_t>(memory->size),
	.memoryHandle = memory->handle,
	};

	int32_t ret;
	checkReturn(mSensors->registerDirectChannel(mem,
	[&ret](auto result, auto channelHandle) {
	if (result == Result::OK) {
	ret = channelHandle;
	} else {
	ret = StatusFromResult(result);
	}
	}));
	return ret;
	}

	void SensorDevice::unregisterDirectChannel(int32_t channelHandle) {
	if (mSensors == nullptr) return;
	Mutex::Autolock _l(mLock);
	checkReturn(mSensors->unregisterDirectChannel(channelHandle));
	}

	int32_t SensorDevice::configureDirectChannel(int32_t sensorHandle,
	int32_t channelHandle, const struct sensors_direct_cfg_t *config) {
	if (mSensors == nullptr) return NO_INIT;
	Mutex::Autolock _l(mLock);

	RateLevel rate;
	switch(config->rate_level) {
	case SENSOR_DIRECT_RATE_STOP:
	rate = RateLevel::STOP;
	break;
	case SENSOR_DIRECT_RATE_NORMAL:
	rate = RateLevel::NORMAL;
	break;
	case SENSOR_DIRECT_RATE_FAST:
	rate = RateLevel::FAST;
	break;
	case SENSOR_DIRECT_RATE_VERY_FAST:
	rate = RateLevel::VERY_FAST;
	break;
	default:
	return BAD_VALUE;
	}

	int32_t ret;
	checkReturn(mSensors->configDirectReport(sensorHandle, channelHandle, rate,
	[&ret, rate] (auto result, auto token) {
	if (rate == RateLevel::STOP) {
	ret = StatusFromResult(result);
	} else {
	if (result == Result::OK) {
	ret = token;
	} else {
	ret = StatusFromResult(result);
	}
	}
	}));

	return ret;
	}

	// ---------------------------------------------------------------------------

	int SensorDevice::Info::numActiveClients() {
	SensorDevice& device(SensorDevice::getInstance());
	int num = 0;
	for (size_t i = 0; i < batchParams.size(); ++i) {
	if (!device.isClientDisabledLocked(batchParams.keyAt(i))) {
	++num;
	}
	}
	return num;
	}

	status_t SensorDevice::Info::setBatchParamsForIdent(void* ident, int,
	int64_t samplingPeriodNs,
	int64_t maxBatchReportLatencyNs) {
	ssize_t index = batchParams.indexOfKey(ident);
	if (index < 0) {
	ALOGE("Info::setBatchParamsForIdent(ident=%p, period_ns=%" PRId64
	" timeout=%" PRId64 ") failed (%s)",
	ident, samplingPeriodNs, maxBatchReportLatencyNs, strerror(-index));
	return BAD_INDEX;
	}
	BatchParams& params = batchParams.editValueAt(index);
	params.mTSample = samplingPeriodNs;
	params.mTBatch = maxBatchReportLatencyNs;
	return NO_ERROR;
	}

	void SensorDevice::Info::selectBatchParams() {
	BatchParams bestParams; // default to max Tsample and max Tbatch
	SensorDevice& device(SensorDevice::getInstance());

	for (size_t i = 0; i < batchParams.size(); ++i) {
	if (device.isClientDisabledLocked(batchParams.keyAt(i))) {
	continue;
	}
	bestParams.merge(batchParams[i]);
	}
	// if mTBatch <= mTSample, it is in streaming mode. set mTbatch to 0 to demand this explicitly.
	if (bestParams.mTBatch <= bestParams.mTSample) {
	bestParams.mTBatch = 0;
	}
	bestBatchParams = bestParams;
	}

	ssize_t SensorDevice::Info::removeBatchParamsForIdent(void* ident) {
	ssize_t idx = batchParams.removeItem(ident);
	if (idx >= 0) {
	selectBatchParams();
	}
	return idx;
	}

	void SensorDevice::notifyConnectionDestroyed(void* ident) {
	Mutex::Autolock _l(mLock);
	mDisabledClients.remove(ident);
	}

	bool SensorDevice::isDirectReportSupported() const {
	return mIsDirectReportSupported;
	}

	void SensorDevice::convertToSensorEvent(
	const Event &src, sensors_event_t *dst) {
	::android::hardware::sensors::V1_0::implementation::convertToSensorEvent(
	src, dst);

	if (src.sensorType == SensorType::DYNAMIC_SENSOR_META) {
	const DynamicSensorInfo &dyn = src.u.dynamic;

	dst->dynamic_sensor_meta.connected = dyn.connected;
	dst->dynamic_sensor_meta.handle = dyn.sensorHandle;
	if (dyn.connected) {
	auto it = mConnectedDynamicSensors.find(dyn.sensorHandle);
	CHECK(it != mConnectedDynamicSensors.end());

	dst->dynamic_sensor_meta.sensor = it->second;

	memcpy(dst->dynamic_sensor_meta.uuid,
	dyn.uuid.data(),
	sizeof(dst->dynamic_sensor_meta.uuid));
	}
	}
	}

	void SensorDevice::convertToSensorEvents(
	const hidl_vec<Event> &src,
	const hidl_vec<SensorInfo> &dynamicSensorsAdded,
	sensors_event_t *dst) {
	// Allocate a sensor_t structure for each dynamic sensor added and insert
	// it into the dictionary of connected dynamic sensors keyed by handle.
	for (size_t i = 0; i < dynamicSensorsAdded.size(); ++i) {
	const SensorInfo &info = dynamicSensorsAdded[i];

	auto it = mConnectedDynamicSensors.find(info.sensorHandle);
	CHECK(it == mConnectedDynamicSensors.end());

	sensor_t *sensor = new sensor_t;
	convertToSensor(info, sensor);

	mConnectedDynamicSensors.insert(
	std::make_pair(sensor->handle, sensor));
	}

	for (size_t i = 0; i < src.size(); ++i) {
	convertToSensorEvent(src[i], &dst[i]);
	}
	}

	void SensorDevice::handleHidlDeath(const std::string & detail) {
	// restart is the only option at present.
	LOG_ALWAYS_FATAL("Abort due to ISensors hidl service failure, detail: %s.", detail.c_str());
	}

	// ---------------------------------------------------------------------------
	}; // namespace android