| /* |
| * 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. |
| */ |
| |
| package com.android.car; |
| |
| import android.Manifest; |
| import android.car.Car; |
| import android.car.hardware.CarSensorEvent; |
| import android.car.hardware.CarSensorManager; |
| import android.car.hardware.ICarSensor; |
| import android.car.hardware.ICarSensorEventListener; |
| import android.car.hardware.CarSensorManager.CarSensorEventListener; |
| import android.content.Context; |
| import android.content.pm.PackageManager; |
| import android.hardware.SensorEvent; |
| import android.os.Binder; |
| import android.os.Handler; |
| import android.os.HandlerThread; |
| import android.os.IBinder; |
| import android.os.Looper; |
| import android.os.Message; |
| import android.os.Process; |
| import android.os.RemoteException; |
| import android.os.SystemClock; |
| import android.util.Log; |
| import android.util.SparseArray; |
| import android.util.SparseBooleanArray; |
| |
| import com.android.car.hal.VehicleHal; |
| import com.android.car.hal.SensorHalService; |
| import com.android.car.hal.SensorHalServiceBase; |
| import com.android.car.hal.SensorHalServiceBase.SensorListener; |
| import com.android.internal.annotations.GuardedBy; |
| |
| import java.io.PrintWriter; |
| import java.util.Arrays; |
| import java.util.ConcurrentModificationException; |
| import java.util.HashMap; |
| import java.util.LinkedList; |
| import java.util.List; |
| import java.util.concurrent.TimeUnit; |
| import java.util.concurrent.atomic.AtomicBoolean; |
| import java.util.concurrent.locks.ReentrantLock; |
| |
| |
| public class CarSensorService extends ICarSensor.Stub |
| implements CarServiceBase, SensorHalService.SensorListener { |
| |
| /** |
| * Abstraction for logical sensor which is not physical sensor but presented as sensor to |
| * upper layer. Currently {@link CarSensorManager#SENSOR_TYPE_NIGHT} and |
| * {@link CarSensorManager#SENSOR_TYPE_DRIVING_STATUS} falls into this category. |
| * Implementation can call {@link CarSensorService#onSensorData(CarSensorEvent)} when there |
| * is state change for the given sensor after {@link SensorHalServiceBase#init()} |
| * is called. |
| */ |
| public static abstract class LogicalSensorHalBase extends SensorHalServiceBase { |
| |
| /** Sensor service is ready and all vehicle sensors are available. */ |
| public abstract void onSensorServiceReady(); |
| } |
| |
| /** |
| * When set, sensor service sets its own dispatching rate limit. |
| * VehicleNetworkService is already doing this, so not necessary to set it for now. |
| */ |
| private static final boolean ENABLE_DISPATCHING_LIMIT = false; |
| |
| /** {@link #mSensorLock} is not waited forever for handling disconnection */ |
| private static final long MAX_SENSOR_LOCK_WAIT_MS = 1000; |
| |
| /** lock to access sensor structures */ |
| private final ReentrantLock mSensorLock = new ReentrantLock(); |
| /** hold clients callback */ |
| @GuardedBy("mSensorLock") |
| private final LinkedList<SensorClient> mClients = new LinkedList<SensorClient>(); |
| /** key: sensor type. */ |
| @GuardedBy("mSensorLock") |
| private final SparseArray<SensorListeners> mSensorListeners = new SparseArray<>(); |
| /** key: sensor type. */ |
| @GuardedBy("mSensorLock") |
| private final SparseArray<SensorRecord> mSensorRecords = new SparseArray<>(); |
| |
| private final SensorHalService mSensorHal; |
| private int[] mCarProvidedSensors; |
| private int[] mSupportedSensors; |
| private final AtomicBoolean mSensorDiscovered = new AtomicBoolean(false); |
| |
| private final Context mContext; |
| |
| private final DrivingStatePolicy mDrivingStatePolicy; |
| private boolean mUseDefaultDrivingPolicy = true; |
| private final DayNightModePolicy mDayNightModePolicy; |
| private boolean mUseDefaultDayNightModePolicy = true; |
| |
| private final HandlerThread mHandlerThread; |
| private final SensorDispatchHandler mSensorDispatchHandler; |
| |
| public CarSensorService(Context context) { |
| mContext = context; |
| if (ENABLE_DISPATCHING_LIMIT) { |
| mHandlerThread = new HandlerThread("SENSOR", Process.THREAD_PRIORITY_AUDIO); |
| mHandlerThread.start(); |
| mSensorDispatchHandler = new SensorDispatchHandler(mHandlerThread.getLooper()); |
| } else { |
| mHandlerThread = null; |
| mSensorDispatchHandler = null; |
| } |
| // This triggers sensor hal init as well. |
| mSensorHal = VehicleHal.getInstance().getSensorHal(); |
| mDrivingStatePolicy = new DrivingStatePolicy(context); |
| mDayNightModePolicy = new DayNightModePolicy(context); |
| } |
| |
| @Override |
| public void init() { |
| // Watch out the order. registerSensorListener can lead into onSensorHalReady call. |
| // So it should be done last. |
| mSensorLock.lock(); |
| try { |
| mSupportedSensors = refreshSupportedSensorsLocked(); |
| CarSensorEvent event = null; |
| if (mUseDefaultDrivingPolicy) { |
| mDrivingStatePolicy.init(); |
| mDrivingStatePolicy.registerSensorListener(this); |
| } else { |
| event = mSensorHal.getCurrentSensorValue( |
| CarSensorManager.SENSOR_TYPE_DRIVING_STATUS); |
| } |
| if (event == null) { |
| event = DrivingStatePolicy.getDefaultValue( |
| CarSensorManager.SENSOR_TYPE_DRIVING_STATUS); |
| } |
| // always populate default value |
| addNewSensorRecordLocked(CarSensorManager.SENSOR_TYPE_DRIVING_STATUS, event); |
| event = null; |
| if (mUseDefaultDayNightModePolicy) { |
| mDayNightModePolicy.init(); |
| mDayNightModePolicy.registerSensorListener(this); |
| } else { |
| event = mSensorHal.getCurrentSensorValue(CarSensorManager.SENSOR_TYPE_NIGHT); |
| } |
| if (event == null) { |
| event = DayNightModePolicy.getDefaultValue(CarSensorManager.SENSOR_TYPE_NIGHT); |
| } |
| // always populate default value |
| addNewSensorRecordLocked(CarSensorManager.SENSOR_TYPE_NIGHT, event); |
| } finally { |
| mSensorLock.unlock(); |
| } |
| mSensorHal.registerSensorListener(this); |
| } |
| |
| private void addNewSensorRecordLocked(int type, CarSensorEvent event) { |
| SensorRecord record = new SensorRecord(); |
| record.lastEvent = event; |
| mSensorRecords.put(type,record); |
| } |
| |
| @Override |
| public void release() { |
| if (mHandlerThread != null) { |
| mHandlerThread.quit(); |
| } |
| tryHoldSensorLock(); |
| try { |
| if (mUseDefaultDrivingPolicy) { |
| mDrivingStatePolicy.release(); |
| } |
| if (mUseDefaultDayNightModePolicy) { |
| mDayNightModePolicy.release(); |
| } |
| for (int i = mSensorListeners.size() - 1; i >= 0; --i) { |
| SensorListeners listener = mSensorListeners.valueAt(i); |
| listener.release(); |
| } |
| mSensorListeners.clear(); |
| mSensorRecords.clear(); |
| mClients.clear(); |
| } finally { |
| releaseSensorLockSafely(); |
| } |
| } |
| |
| private void tryHoldSensorLock() { |
| try { |
| mSensorLock.tryLock(MAX_SENSOR_LOCK_WAIT_MS, TimeUnit.MILLISECONDS); |
| } catch (InterruptedException e) { |
| //ignore |
| } |
| } |
| |
| private void releaseSensorLockSafely() { |
| if (mSensorLock.isHeldByCurrentThread()) { |
| mSensorLock.unlock(); |
| } |
| } |
| |
| @Override |
| public void onSensorHalReady(SensorHalServiceBase hal) { |
| if (hal == mSensorHal) { |
| mCarProvidedSensors = mSensorHal.getSupportedSensors(); |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.VERBOSE)) { |
| Log.v(CarLog.TAG_SENSOR, "sensor Hal ready, available sensors:" + |
| Arrays.toString(mCarProvidedSensors)); |
| } |
| mSensorLock.lock(); |
| try { |
| mSupportedSensors = refreshSupportedSensorsLocked(); |
| if (mUseDefaultDrivingPolicy) { |
| mDrivingStatePolicy.onSensorServiceReady(); |
| } |
| if (mUseDefaultDayNightModePolicy) { |
| mDayNightModePolicy.onSensorServiceReady(); |
| } |
| } finally { |
| mSensorLock.unlock(); |
| } |
| } |
| } |
| |
| private void processSensorData(List<CarSensorEvent> events) { |
| mSensorLock.lock(); |
| for (CarSensorEvent event: events) { |
| SensorRecord record = mSensorRecords.get(event.sensorType); |
| if (record != null) { |
| if (record.lastEvent == null) { |
| record.lastEvent = event; |
| } else if (record.lastEvent.timeStampNs < event.timeStampNs) { |
| record.lastEvent = event; |
| //TODO recycle event |
| } else { // wrong timestamp, throw away this. |
| //TODO recycle new event |
| continue; |
| } |
| SensorListeners listeners = mSensorListeners.get(event.sensorType); |
| if (listeners != null) { |
| listeners.queueSensorEvent(event); |
| } |
| } |
| } |
| for (SensorClient client: mClients) { |
| client.dispatchSensorUpdate(); |
| } |
| mSensorLock.unlock(); |
| } |
| |
| /** |
| * Received sensor data from car. |
| * |
| * @param event |
| */ |
| @Override |
| public void onSensorEvents(List<CarSensorEvent> events) { |
| if (ENABLE_DISPATCHING_LIMIT) { |
| mSensorDispatchHandler.handleSensorEvents(events); |
| } else { |
| processSensorData(events); |
| } |
| } |
| |
| @Override |
| public int[] getSupportedSensors() { |
| return mSupportedSensors; |
| } |
| |
| @Override |
| public boolean registerOrUpdateSensorListener(int sensorType, int rate, |
| ICarSensorEventListener listener) { |
| boolean shouldStartSensors = false; |
| SensorRecord sensorRecord = null; |
| SensorClient sensorClient = null; |
| Integer oldRate = null; |
| SensorListeners sensorListeners = null; |
| mSensorLock.lock(); |
| try { |
| sensorRecord = mSensorRecords.get(sensorType); |
| if (sensorRecord == null) { |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.INFO)) { |
| Log.i(CarLog.TAG_SENSOR, "Requested sensor " + sensorType + " not supported"); |
| } |
| return false; |
| } |
| if (Binder.getCallingUid() != Process.myUid()) { |
| switch (getSensorPermission(sensorType)) { |
| case PackageManager.PERMISSION_DENIED: |
| throw new SecurityException("client does not have permission:" |
| + getPermissionName(sensorType) |
| + " pid:" + Binder.getCallingPid() |
| + " uid:" + Binder.getCallingUid()); |
| case PackageManager.PERMISSION_GRANTED: |
| break; |
| } |
| } |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "registerOrUpdateSensorListener " + sensorType + " " + |
| listener); |
| } |
| sensorClient = findSensorClientLocked(listener); |
| SensorClientWithRate sensorClientWithRate = null; |
| sensorListeners = mSensorListeners.get(sensorType); |
| if (sensorClient == null) { |
| sensorClient = new SensorClient(listener); |
| try { |
| listener.asBinder().linkToDeath(sensorClient, 0); |
| } catch (RemoteException e) { |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.INFO)) { |
| Log.i(CarLog.TAG_SENSOR, "Adding listener failed."); |
| } |
| return false; |
| } |
| mClients.add(sensorClient); |
| } |
| // If we have a cached event for this sensor, send the event. |
| SensorRecord record = mSensorRecords.get(sensorType); |
| if (record != null && record.lastEvent != null) { |
| sensorClient.queueSensorEvent(record.lastEvent); |
| sensorClient.dispatchSensorUpdate(); |
| } |
| if (sensorListeners == null) { |
| sensorListeners = new SensorListeners(rate); |
| mSensorListeners.put(sensorType, sensorListeners); |
| shouldStartSensors = true; |
| } else { |
| oldRate = Integer.valueOf(sensorListeners.getRate()); |
| sensorClientWithRate = sensorListeners.findSensorClientWithRate(sensorClient); |
| } |
| if (sensorClientWithRate == null) { |
| sensorClientWithRate = new SensorClientWithRate(sensorClient, rate); |
| sensorListeners.addSensorClientWithRate(sensorClientWithRate); |
| } else { |
| sensorClientWithRate.setRate(rate); |
| } |
| if (sensorListeners.getRate() > rate) { |
| sensorListeners.setRate(rate); |
| shouldStartSensors = sensorSupportRate(sensorType); |
| } |
| sensorClient.addSensor(sensorType); |
| } finally { |
| mSensorLock.unlock(); |
| } |
| // start sensor outside lock as it can take time. |
| if (shouldStartSensors) { |
| if (!startSensor(sensorRecord, sensorType, rate)) { |
| // failed. so remove from active sensor list. |
| mSensorLock.lock(); |
| try { |
| sensorClient.removeSensor(sensorType); |
| if (oldRate != null) { |
| sensorListeners.setRate(oldRate); |
| } else { |
| mSensorListeners.remove(sensorType); |
| } |
| } finally { |
| mSensorLock.unlock(); |
| } |
| return false; |
| } |
| } |
| return true; |
| } |
| |
| private boolean sensorSupportRate(int sensorType) { |
| switch (sensorType) { |
| case CarSensorManager.SENSOR_TYPE_CAR_SPEED: |
| case CarSensorManager.SENSOR_TYPE_RPM: |
| return true; |
| case CarSensorManager.SENSOR_TYPE_ODOMETER: |
| case CarSensorManager.SENSOR_TYPE_FUEL_LEVEL: |
| case CarSensorManager.SENSOR_TYPE_PARKING_BRAKE: |
| case CarSensorManager.SENSOR_TYPE_GEAR: |
| case CarSensorManager.SENSOR_TYPE_NIGHT: |
| case CarSensorManager.SENSOR_TYPE_DRIVING_STATUS: |
| case CarSensorManager.SENSOR_TYPE_ENVIRONMENT: |
| return false; |
| default: |
| Log.w(CarLog.TAG_SENSOR, "sensorSupportRate not listed sensor:" + sensorType); |
| return false; |
| } |
| } |
| |
| private int getSensorPermission(int sensorType) { |
| String permission = getPermissionName(sensorType); |
| int result = PackageManager.PERMISSION_GRANTED; |
| if (permission != null) { |
| return mContext.checkCallingOrSelfPermission(permission); |
| } |
| // If no permission is required, return granted. |
| return result; |
| } |
| |
| //TODO handle per property OEM permission |
| private String getPermissionName(int sensorType) { |
| if ((sensorType >= CarSensorManager.SENSOR_TYPE_VENDOR_EXTENSION_START) && |
| (sensorType >= CarSensorManager.SENSOR_TYPE_VENDOR_EXTENSION_END)) { |
| return Car.PERMISSION_VENDOR_EXTENSION; |
| } |
| String permission = null; |
| switch (sensorType) { |
| case CarSensorManager.SENSOR_TYPE_CAR_SPEED: |
| permission = Car.PERMISSION_SPEED; |
| break; |
| case CarSensorManager.SENSOR_TYPE_ODOMETER: |
| permission = Car.PERMISSION_MILEAGE; |
| break; |
| case CarSensorManager.SENSOR_TYPE_FUEL_LEVEL: |
| permission = Car.PERMISSION_FUEL; |
| break; |
| default: |
| break; |
| } |
| return permission; |
| } |
| |
| private boolean startSensor(SensorRecord record, int sensorType, int rate) { |
| //TODO choose proper sensor rate per each sensor. |
| //Some sensors which report only when there is change should be always set with maximum |
| //rate. For now, set every sensor to the maximum. |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.VERBOSE)) { |
| Log.v(CarLog.TAG_SENSOR, "startSensor " + sensorType + " with rate " + rate); |
| } |
| SensorHalServiceBase sensorHal = getSensorHal(sensorType); |
| if (sensorHal != null) { |
| if (!sensorHal.isReady()) { |
| Log.w(CarLog.TAG_SENSOR, "Sensor channel not available."); |
| return false; |
| } |
| if (record.enabled) { |
| return true; |
| } |
| if (sensorHal.requestSensorStart(sensorType, 0)) { |
| record.enabled = true; |
| return true; |
| } |
| } |
| Log.w(CarLog.TAG_SENSOR, "requestSensorStart failed, sensor type:" + sensorType); |
| return false; |
| } |
| |
| @Override |
| public void unregisterSensorListener(int sensorType, ICarSensorEventListener listener) { |
| boolean shouldStopSensor = false; |
| boolean shouldRestartSensor = false; |
| SensorRecord record = null; |
| int newRate = 0; |
| mSensorLock.lock(); |
| try { |
| record = mSensorRecords.get(sensorType); |
| if (record == null) { |
| // unregister not supported sensor. ignore. |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "unregister for unsupported sensor"); |
| } |
| return; |
| } |
| SensorClient sensorClient = findSensorClientLocked(listener); |
| if (sensorClient == null) { |
| // never registered or already unregistered. |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "unregister for not existing client"); |
| } |
| return; |
| } |
| sensorClient.removeSensor(sensorType); |
| if (sensorClient.getNumberOfActiveSensor() == 0) { |
| sensorClient.release(); |
| mClients.remove(sensorClient); |
| } |
| SensorListeners sensorListeners = mSensorListeners.get(sensorType); |
| if (sensorListeners == null) { |
| // sensor not active |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "unregister for non-active sensor"); |
| } |
| return; |
| } |
| SensorClientWithRate clientWithRate = |
| sensorListeners.findSensorClientWithRate(sensorClient); |
| if (clientWithRate == null) { |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "unregister for not registered sensor"); |
| } |
| return; |
| } |
| sensorListeners.removeSensorClientWithRate(clientWithRate); |
| if (sensorListeners.getNumberOfClients() == 0) { |
| shouldStopSensor = true; |
| mSensorListeners.remove(sensorType); |
| } else if (sensorListeners.updateRate()) { // rate changed |
| newRate = sensorListeners.getRate(); |
| shouldRestartSensor = sensorSupportRate(sensorType); |
| } |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "unregister succeeded"); |
| } |
| } finally { |
| mSensorLock.unlock(); |
| } |
| if (shouldStopSensor) { |
| stopSensor(record, sensorType); |
| } else if (shouldRestartSensor) { |
| startSensor(record, sensorType, newRate); |
| } |
| } |
| |
| private void stopSensor(SensorRecord record, int sensorType) { |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "stopSensor " + sensorType); |
| } |
| SensorHalServiceBase sensorHal = getSensorHal(sensorType); |
| if (sensorHal == null || !sensorHal.isReady()) { |
| Log.w(CarLog.TAG_SENSOR, "Sensor channel not available."); |
| return; |
| } |
| if (!record.enabled) { |
| return; |
| } |
| record.enabled = false; |
| // make lastEvent invalid as old data can be sent to client when subscription is restarted |
| // later. |
| record.lastEvent = null; |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "stopSensor requestStop " + sensorType); |
| } |
| sensorHal.requestSensorStop(sensorType); |
| } |
| |
| private SensorHalServiceBase getSensorHal(int sensorType) { |
| try { |
| mSensorLock.lock(); |
| switch (sensorType) { |
| case CarSensorManager.SENSOR_TYPE_DRIVING_STATUS: |
| if (mUseDefaultDrivingPolicy) { |
| return mDrivingStatePolicy; |
| } |
| break; |
| case CarSensorManager.SENSOR_TYPE_NIGHT: |
| if (mUseDefaultDayNightModePolicy) { |
| return mDayNightModePolicy; |
| } |
| break; |
| } |
| return mSensorHal; |
| } finally { |
| mSensorLock.unlock(); |
| } |
| } |
| |
| @Override |
| public CarSensorEvent getLatestSensorEvent(int sensorType) { |
| SensorRecord record = null; |
| mSensorLock.lock(); |
| try { |
| record = mSensorRecords.get(sensorType); |
| } finally { |
| mSensorLock.unlock(); |
| } |
| if (record != null) { |
| return record.lastEvent; |
| } |
| return null; |
| } |
| |
| private int[] refreshSupportedSensorsLocked() { |
| int numCarSensors = (mCarProvidedSensors == null) ? 0 : mCarProvidedSensors.length; |
| for (int i = 0; i < numCarSensors; i++) { |
| int sensor = mCarProvidedSensors[i]; |
| if (sensor == CarSensorManager.SENSOR_TYPE_DRIVING_STATUS) { |
| mUseDefaultDrivingPolicy = false; |
| } else if (sensor == CarSensorManager.SENSOR_TYPE_NIGHT) { |
| mUseDefaultDayNightModePolicy = false; |
| } |
| } |
| int totalNumSensors = numCarSensors; |
| if (mUseDefaultDrivingPolicy) { |
| totalNumSensors++; |
| } |
| if (mUseDefaultDayNightModePolicy) { |
| totalNumSensors++; |
| } |
| // Two logical sensors are always added. |
| int[] supportedSensors = new int[totalNumSensors]; |
| int index = 0; |
| if (mUseDefaultDrivingPolicy) { |
| supportedSensors[index] = CarSensorManager.SENSOR_TYPE_DRIVING_STATUS; |
| index++; |
| } |
| if (mUseDefaultDayNightModePolicy) { |
| supportedSensors[index] = CarSensorManager.SENSOR_TYPE_NIGHT; |
| index++; |
| } |
| |
| for (int i = 0; i < numCarSensors; i++) { |
| int sensor = mCarProvidedSensors[i]; |
| |
| if (mSensorRecords.get(sensor) == null) { |
| SensorRecord record = new SensorRecord(); |
| mSensorRecords.put(sensor, record); |
| } |
| supportedSensors[index] = sensor; |
| index++; |
| } |
| |
| return supportedSensors; |
| } |
| |
| private boolean isSensorRealLocked(int sensorType) { |
| if (mCarProvidedSensors != null) { |
| for (int sensor : mCarProvidedSensors) { |
| if (sensor == sensorType ) { |
| return true; |
| } |
| } |
| } |
| return false; |
| } |
| |
| /** |
| * Find SensorClient from client list and return it. |
| * This should be called with mClients locked. |
| * @param listener |
| * @return null if not found. |
| */ |
| private SensorClient findSensorClientLocked(ICarSensorEventListener listener) { |
| IBinder binder = listener.asBinder(); |
| for (SensorClient sensorClient : mClients) { |
| if (sensorClient.isHoldingListernerBinder(binder)) { |
| return sensorClient; |
| } |
| } |
| return null; |
| } |
| |
| private void removeClient(SensorClient sensorClient) { |
| mSensorLock.lock(); |
| try { |
| for (int sensor: sensorClient.getSensorArray()) { |
| unregisterSensorListener(sensor, |
| sensorClient.getICarSensorEventListener()); |
| } |
| mClients.remove(sensorClient); |
| } finally { |
| mSensorLock.unlock(); |
| } |
| } |
| |
| private class SensorDispatchHandler extends Handler { |
| private static final long SENSOR_DISPATCH_MIN_INTERVAL_MS = 16; // over 60Hz |
| |
| private static final int MSG_SENSOR_DATA = 0; |
| |
| private long mLastSensorDispatchTime = -1; |
| private int mFreeListIndex = 0; |
| private final LinkedList<CarSensorEvent>[] mSensorDataList = new LinkedList[2]; |
| |
| private SensorDispatchHandler(Looper looper) { |
| super(looper); |
| for (int i = 0; i < mSensorDataList.length; i++) { |
| mSensorDataList[i] = new LinkedList<CarSensorEvent>(); |
| } |
| } |
| |
| private synchronized void handleSensorEvents(List<CarSensorEvent> data) { |
| LinkedList<CarSensorEvent> list = mSensorDataList[mFreeListIndex]; |
| list.addAll(data); |
| requestDispatchLocked(); |
| } |
| |
| private synchronized void handleSensorEvent(CarSensorEvent event) { |
| LinkedList<CarSensorEvent> list = mSensorDataList[mFreeListIndex]; |
| list.add(event); |
| requestDispatchLocked(); |
| } |
| |
| private void requestDispatchLocked() { |
| Message msg = obtainMessage(MSG_SENSOR_DATA); |
| long now = SystemClock.uptimeMillis(); |
| long delta = now - mLastSensorDispatchTime; |
| if (delta > SENSOR_DISPATCH_MIN_INTERVAL_MS) { |
| sendMessage(msg); |
| } else { |
| sendMessageDelayed(msg, SENSOR_DISPATCH_MIN_INTERVAL_MS - delta); |
| } |
| } |
| |
| @Override |
| public void handleMessage(Message msg) { |
| switch (msg.what) { |
| case MSG_SENSOR_DATA: |
| doHandleSensorData(); |
| break; |
| default: |
| break; |
| } |
| } |
| |
| private void doHandleSensorData() { |
| List<CarSensorEvent> listToDispatch = null; |
| synchronized (this) { |
| mLastSensorDispatchTime = SystemClock.uptimeMillis(); |
| int nonFreeListIndex = mFreeListIndex ^ 0x1; |
| List<CarSensorEvent> nonFreeList = mSensorDataList[nonFreeListIndex]; |
| List<CarSensorEvent> freeList = mSensorDataList[mFreeListIndex]; |
| if (nonFreeList.size() > 0) { |
| Log.w(CarLog.TAG_SENSOR, "non free list not empty"); |
| // copy again, but this should not be normal case |
| nonFreeList.addAll(freeList); |
| listToDispatch = nonFreeList; |
| freeList.clear(); |
| } else if (freeList.size() > 0) { |
| listToDispatch = freeList; |
| mFreeListIndex = nonFreeListIndex; |
| } |
| } |
| // leave this part outside lock so that time-taking dispatching can be done without |
| // blocking sensor event notification. |
| if (listToDispatch != null) { |
| processSensorData(listToDispatch); |
| listToDispatch.clear(); |
| } |
| } |
| |
| } |
| |
| /** internal instance for pending client request */ |
| private class SensorClient implements IBinder.DeathRecipient { |
| /** callback for sensor events */ |
| private final ICarSensorEventListener mListener; |
| private final SparseBooleanArray mActiveSensors = new SparseBooleanArray(); |
| private final LinkedList<CarSensorEvent> mSensorsToDispatch = |
| new LinkedList<CarSensorEvent>(); |
| |
| /** when false, it is already released */ |
| private volatile boolean mActive = true; |
| |
| SensorClient(ICarSensorEventListener listener) { |
| this.mListener = listener; |
| } |
| |
| @Override |
| public boolean equals(Object o) { |
| if (o instanceof SensorClient && |
| mListener.asBinder() == ((SensorClient) o).mListener.asBinder()) { |
| return true; |
| } |
| return false; |
| } |
| |
| boolean isHoldingListernerBinder(IBinder listenerBinder) { |
| return mListener.asBinder() == listenerBinder; |
| } |
| |
| void addSensor(int sensor) { |
| mActiveSensors.put(sensor, true); |
| } |
| |
| void removeSensor(int sensor) { |
| mActiveSensors.delete(sensor); |
| } |
| |
| int getNumberOfActiveSensor() { |
| return mActiveSensors.size(); |
| } |
| |
| int[] getSensorArray() { |
| int[] sensors = new int[mActiveSensors.size()]; |
| for (int i = sensors.length - 1; i >= 0; --i) { |
| sensors[i] = mActiveSensors.keyAt(i); |
| } |
| return sensors; |
| } |
| |
| ICarSensorEventListener getICarSensorEventListener() { |
| return mListener; |
| } |
| |
| /** |
| * Client dead. should remove all sensor requests from client |
| */ |
| @Override |
| public void binderDied() { |
| mListener.asBinder().unlinkToDeath(this, 0); |
| removeClient(this); |
| } |
| |
| void queueSensorEvent(CarSensorEvent event) { |
| mSensorsToDispatch.add(event); |
| } |
| |
| void dispatchSensorUpdate() { |
| if (mSensorsToDispatch.size() == 0) { |
| return; |
| } |
| if (mActive) { |
| try { |
| mListener.onSensorChanged(mSensorsToDispatch); |
| } catch (RemoteException e) { |
| //ignore. crash will be handled by death handler |
| } |
| } else { |
| if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| Log.d(CarLog.TAG_SENSOR, "sensor update while client is already released"); |
| } |
| } |
| mSensorsToDispatch.clear(); |
| } |
| |
| void release() { |
| if (mActive) { |
| mListener.asBinder().unlinkToDeath(this, 0); |
| mActiveSensors.clear(); |
| mSensorsToDispatch.clear(); |
| mActive = false; |
| } |
| } |
| } |
| |
| private class SensorClientWithRate { |
| private final SensorClient mSensorClient; |
| /** rate requested from client */ |
| private int mRate; |
| |
| SensorClientWithRate(SensorClient client, int rate) { |
| mSensorClient = client; |
| mRate = rate; |
| } |
| |
| @Override |
| public boolean equals(Object o) { |
| if (o instanceof SensorClientWithRate && |
| mSensorClient == ((SensorClientWithRate) o).mSensorClient) { |
| return true; |
| } |
| return false; |
| } |
| |
| int getRate() { |
| return mRate; |
| } |
| |
| void setRate(int rate) { |
| mRate = rate; |
| } |
| |
| SensorClient getSensorClient() { |
| return mSensorClient; |
| } |
| } |
| |
| private static class SensorRecord { |
| /** Record the lastly received sensor event */ |
| CarSensorEvent lastEvent = null; |
| /** sensor was enabled by at least one client */ |
| boolean enabled = false; |
| } |
| |
| private static class SensorListeners { |
| private final LinkedList<SensorClientWithRate> mSensorClients = |
| new LinkedList<SensorClientWithRate>(); |
| /** rate for this sensor, sent to car */ |
| private int mRate; |
| |
| SensorListeners(int rate) { |
| mRate = rate; |
| } |
| |
| int getRate() { |
| return mRate; |
| } |
| |
| void setRate(int rate) { |
| mRate = rate; |
| } |
| |
| /** update rate from existing clients and return true if rate is changed. */ |
| boolean updateRate() { |
| int fastestRate = CarSensorManager.SENSOR_RATE_NORMAL; |
| for (SensorClientWithRate clientWithRate: mSensorClients) { |
| int clientRate = clientWithRate.getRate(); |
| if (clientRate < fastestRate) { |
| fastestRate = clientRate; |
| } |
| } |
| if (mRate != fastestRate) { |
| mRate = fastestRate; |
| return true; |
| } |
| return false; |
| } |
| |
| void addSensorClientWithRate(SensorClientWithRate clientWithRate) { |
| mSensorClients.add(clientWithRate); |
| } |
| |
| void removeSensorClientWithRate(SensorClientWithRate clientWithRate) { |
| mSensorClients.remove(clientWithRate); |
| } |
| |
| int getNumberOfClients() { |
| return mSensorClients.size(); |
| } |
| |
| SensorClientWithRate findSensorClientWithRate(SensorClient sensorClient) { |
| for (SensorClientWithRate clientWithRates: mSensorClients) { |
| if (clientWithRates.getSensorClient() == sensorClient) { |
| return clientWithRates; |
| } |
| } |
| return null; |
| } |
| |
| void queueSensorEvent(CarSensorEvent event) { |
| for (SensorClientWithRate clientWithRate: mSensorClients) { |
| clientWithRate.getSensorClient().queueSensorEvent(event); |
| } |
| } |
| |
| void release() { |
| for (SensorClientWithRate clientWithRate: mSensorClients) { |
| clientWithRate.mSensorClient.release(); |
| } |
| mSensorClients.clear(); |
| } |
| } |
| |
| @Override |
| public void dump(PrintWriter writer) { |
| writer.println("*CarSensorService*"); |
| writer.println("supported sensors:" + Arrays.toString(mSupportedSensors)); |
| writer.println("**last events for sensors**"); |
| if (mSensorRecords != null) { |
| try { |
| int sensorRecordSize = mSensorRecords.size(); |
| for (int i = 0; i < sensorRecordSize; i++) { |
| int sensor = mSensorRecords.keyAt(i); |
| SensorRecord record = mSensorRecords.get(sensor); |
| if (record != null && record.lastEvent != null) { |
| writer.println("sensor: " + sensor |
| + " active: " + record.enabled); |
| writer.println(" " + record.lastEvent.toString()); |
| } |
| SensorListeners listeners = mSensorListeners.get(sensor); |
| if (listeners != null) { |
| writer.println(" rate: " + listeners.getRate()); |
| } |
| } |
| } catch (ConcurrentModificationException e) { |
| writer.println("concurrent modification happened"); |
| } |
| } else { |
| writer.println("null records"); |
| } |
| writer.println("**clients**"); |
| try { |
| for (SensorClient client: mClients) { |
| if (client != null) { |
| try { |
| writer.println("binder:" + client.mListener |
| + " active sensors:" + Arrays.toString(client.getSensorArray())); |
| } catch (ConcurrentModificationException e) { |
| writer.println("concurrent modification happened"); |
| } |
| } else { |
| writer.println("null client"); |
| } |
| } |
| } catch (ConcurrentModificationException e) { |
| writer.println("concurrent modification happened"); |
| } |
| writer.println("**sensor listeners**"); |
| try { |
| int sensorListenerSize = mSensorListeners.size(); |
| for (int i = 0; i < sensorListenerSize; i++) { |
| int sensor = mSensorListeners.keyAt(i); |
| SensorListeners sensorListeners = mSensorListeners.get(sensor); |
| if (sensorListeners != null) { |
| writer.println(" Sensor:" + sensor |
| + " num client:" + sensorListeners.getNumberOfClients() |
| + " rate:" + sensorListeners.getRate()); |
| } |
| } |
| } catch (ConcurrentModificationException e) { |
| writer.println("concurrent modification happened"); |
| } |
| writer.println("**driving policy**"); |
| if (mUseDefaultDrivingPolicy) { |
| mDrivingStatePolicy.dump(writer); |
| } |
| writer.println("**day/night policy**"); |
| if (mUseDefaultDayNightModePolicy) { |
| mDayNightModePolicy.dump(writer); |
| } |
| } |
| } |
