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-rw-r--r--emulator/sensors/sensors_qemu.c591
1 files changed, 591 insertions, 0 deletions
diff --git a/emulator/sensors/sensors_qemu.c b/emulator/sensors/sensors_qemu.c
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+++ b/emulator/sensors/sensors_qemu.c
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+/*
+ * Copyright (C) 2009 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/* this implements a sensors hardware library for the Android emulator.
+ * the following code should be built as a shared library that will be
+ * placed into /system/lib/hw/sensors.goldfish.so
+ *
+ * it will be loaded by the code in hardware/libhardware/hardware.c
+ * which is itself called from com_android_server_SensorService.cpp
+ */
+
+
+/* we connect with the emulator through the "sensors" qemud service
+ */
+#define SENSORS_SERVICE_NAME "sensors"
+
+#define LOG_TAG "QemuSensors"
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <cutils/log.h>
+#include <cutils/sockets.h>
+#include <hardware/sensors.h>
+
+#if 0
+#define D(...) LOGD(__VA_ARGS__)
+#else
+#define D(...) ((void)0)
+#endif
+
+#define E(...) LOGE(__VA_ARGS__)
+
+#include <hardware/qemud.h>
+
+/** SENSOR IDS AND NAMES
+ **/
+
+#define MAX_NUM_SENSORS 4
+
+#define SUPPORTED_SENSORS ((1<<MAX_NUM_SENSORS)-1)
+
+#define ID_BASE SENSORS_HANDLE_BASE
+#define ID_ACCELERATION (ID_BASE+0)
+#define ID_MAGNETIC_FIELD (ID_BASE+1)
+#define ID_ORIENTATION (ID_BASE+2)
+#define ID_TEMPERATURE (ID_BASE+3)
+
+#define SENSORS_ACCELERATION (1 << ID_ACCELERATION)
+#define SENSORS_MAGNETIC_FIELD (1 << ID_MAGNETIC_FIELD)
+#define SENSORS_ORIENTATION (1 << ID_ORIENTATION)
+#define SENSORS_TEMPERATURE (1 << ID_TEMPERATURE)
+
+#define ID_CHECK(x) ((unsigned)((x)-ID_BASE) < 4)
+
+#define SENSORS_LIST \
+ SENSOR_(ACCELERATION,"acceleration") \
+ SENSOR_(MAGNETIC_FIELD,"magnetic-field") \
+ SENSOR_(ORIENTATION,"orientation") \
+ SENSOR_(TEMPERATURE,"temperature") \
+
+static const struct {
+ const char* name;
+ int id; } _sensorIds[MAX_NUM_SENSORS] =
+{
+#define SENSOR_(x,y) { y, ID_##x },
+ SENSORS_LIST
+#undef SENSOR_
+};
+
+static const char*
+_sensorIdToName( int id )
+{
+ int nn;
+ for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
+ if (id == _sensorIds[nn].id)
+ return _sensorIds[nn].name;
+ return "<UNKNOWN>";
+}
+
+static int
+_sensorIdFromName( const char* name )
+{
+ int nn;
+
+ if (name == NULL)
+ return -1;
+
+ for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
+ if (!strcmp(name, _sensorIds[nn].name))
+ return _sensorIds[nn].id;
+
+ return -1;
+}
+
+/** SENSORS CONTROL DEVICE
+ **
+ ** This one is used to send commands to the sensors drivers.
+ ** We implement this by sending directly commands to the emulator
+ ** through the QEMUD channel.
+ **/
+
+typedef struct SensorControl {
+ struct sensors_control_device_t device;
+ int fd;
+ uint32_t active_sensors;
+} SensorControl;
+
+/* this must return a file descriptor that will be used to read
+ * the sensors data (it is passed to data__data_open() below
+ */
+static int
+control__open_data_source(struct sensors_control_device_t *dev)
+{
+ SensorControl* ctl = (void*)dev;
+
+ if (ctl->fd < 0) {
+ ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
+ }
+ D("%s: fd=%d", __FUNCTION__, ctl->fd);
+ return ctl->fd;
+}
+
+static int
+control__activate(struct sensors_control_device_t *dev,
+ int handle,
+ int enabled)
+{
+ SensorControl* ctl = (void*)dev;
+ uint32_t mask, sensors, active, new_sensors, changed;
+ char command[128];
+ int ret;
+
+ D("%s: handle=%s (%d) enabled=%d", __FUNCTION__,
+ _sensorIdToName(handle), handle, enabled);
+
+ if (!ID_CHECK(handle)) {
+ E("%s: bad handle ID", __FUNCTION__);
+ return -1;
+ }
+
+ mask = (1<<handle);
+ sensors = enabled ? mask : 0;
+
+ active = ctl->active_sensors;
+ new_sensors = (active & ~mask) | (sensors & mask);
+ changed = active ^ new_sensors;
+
+ if (!changed)
+ return 0;
+
+ snprintf(command, sizeof command, "set:%s:%d",
+ _sensorIdToName(handle), enabled != 0);
+
+ if (ctl->fd < 0) {
+ ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
+ }
+
+ ret = qemud_channel_send(ctl->fd, command, -1);
+ if (ret < 0)
+ return -1;
+
+ ctl->active_sensors = new_sensors;
+
+ return 0;
+}
+
+static int
+control__set_delay(struct sensors_control_device_t *dev, int32_t ms)
+{
+ SensorControl* ctl = (void*)dev;
+ char command[128];
+
+ D("%s: dev=%p delay-ms=%d", __FUNCTION__, dev, ms);
+
+ snprintf(command, sizeof command, "set-delay:%d", ms);
+
+ return qemud_channel_send(ctl->fd, command, -1);
+}
+
+/* this function is used to force-stop the blocking read() in
+ * data__poll. In order to keep the implementation as simple
+ * as possible here, we send a command to the emulator which
+ * shall send back an appropriate data block to the system.
+ */
+static int
+control__wake(struct sensors_control_device_t *dev)
+{
+ SensorControl* ctl = (void*)dev;
+ D("%s: dev=%p", __FUNCTION__, dev);
+ return qemud_channel_send(ctl->fd, "wake", -1);
+}
+
+
+static int
+control__close(struct hw_device_t *dev)
+{
+ SensorControl* ctl = (void*)dev;
+ close(ctl->fd);
+ free(ctl);
+ return 0;
+}
+
+/** SENSORS DATA DEVICE
+ **
+ ** This one is used to read sensor data from the hardware.
+ ** We implement this by simply reading the data from the
+ ** emulator through the QEMUD channel.
+ **/
+
+
+typedef struct SensorData {
+ struct sensors_data_device_t device;
+ sensors_data_t sensors[MAX_NUM_SENSORS];
+ int events_fd;
+ uint32_t pendingSensors;
+ int64_t timeStart;
+ int64_t timeOffset;
+} SensorData;
+
+/* return the current time in nanoseconds */
+static int64_t
+data__now_ns(void)
+{
+ struct timespec ts;
+
+ clock_gettime(CLOCK_MONOTONIC, &ts);
+
+ return (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec;
+}
+
+static int
+data__data_open(struct sensors_data_device_t *dev, int fd)
+{
+ SensorData* data = (void*)dev;
+ int i;
+ D("%s: dev=%p fd=%d", __FUNCTION__, dev, fd);
+ memset(&data->sensors, 0, sizeof(data->sensors));
+
+ for (i=0 ; i<MAX_NUM_SENSORS ; i++) {
+ data->sensors[i].vector.status = SENSOR_STATUS_ACCURACY_HIGH;
+ }
+ data->pendingSensors = 0;
+ data->timeStart = 0;
+ data->timeOffset = 0;
+
+ data->events_fd = dup(fd);
+ return 0;
+}
+
+static int
+data__data_close(struct sensors_data_device_t *dev)
+{
+ SensorData* data = (void*)dev;
+ D("%s: dev=%p", __FUNCTION__, dev);
+ if (data->events_fd > 0) {
+ close(data->events_fd);
+ data->events_fd = -1;
+ }
+ return 0;
+}
+
+static int
+pick_sensor(SensorData* data,
+ sensors_data_t* values)
+{
+ uint32_t mask = SUPPORTED_SENSORS;
+ while (mask) {
+ uint32_t i = 31 - __builtin_clz(mask);
+ mask &= ~(1<<i);
+ if (data->pendingSensors & (1<<i)) {
+ data->pendingSensors &= ~(1<<i);
+ *values = data->sensors[i];
+ values->sensor = (1<<i);
+ LOGD_IF(0, "%s: %d [%f, %f, %f]", __FUNCTION__,
+ (1<<i),
+ values->vector.x,
+ values->vector.y,
+ values->vector.z);
+ return i;
+ }
+ }
+ LOGE("No sensor to return!!! pendingSensors=%08x", data->pendingSensors);
+ // we may end-up in a busy loop, slow things down, just in case.
+ usleep(100000);
+ return -1;
+}
+
+static int
+data__poll(struct sensors_data_device_t *dev, sensors_data_t* values)
+{
+ SensorData* data = (void*)dev;
+ int fd = data->events_fd;
+
+ D("%s: data=%p", __FUNCTION__, dev);
+
+ // there are pending sensors, returns them now...
+ if (data->pendingSensors) {
+ return pick_sensor(data, values);
+ }
+
+ // wait until we get a complete event for an enabled sensor
+ uint32_t new_sensors = 0;
+
+ while (1) {
+ /* read the next event */
+ char buff[256];
+ int len = qemud_channel_recv(data->events_fd, buff, sizeof buff-1);
+ float params[3];
+ int64_t event_time;
+
+ if (len < 0)
+ continue;
+
+ buff[len] = 0;
+
+ /* "wake" is sent from the emulator to exit this loop. This shall
+ * really be because another thread called "control__wake" in this
+ * process.
+ */
+ if (!strcmp((const char*)data, "wake")) {
+ return 0x7FFFFFFF;
+ }
+
+ /* "acceleration:<x>:<y>:<z>" corresponds to an acceleration event */
+ if (sscanf(buff, "acceleration:%g:%g:%g", params+0, params+1, params+2) == 3) {
+ new_sensors |= SENSORS_ACCELERATION;
+ data->sensors[ID_ACCELERATION].acceleration.x = params[0];
+ data->sensors[ID_ACCELERATION].acceleration.y = params[1];
+ data->sensors[ID_ACCELERATION].acceleration.z = params[2];
+ continue;
+ }
+
+ /* "orientation:<azimuth>:<pitch>:<roll>" is sent when orientation changes */
+ if (sscanf(buff, "orientation:%g:%g:%g", params+0, params+1, params+2) == 3) {
+ new_sensors |= SENSORS_ORIENTATION;
+ data->sensors[ID_ORIENTATION].orientation.azimuth = params[0];
+ data->sensors[ID_ORIENTATION].orientation.pitch = params[1];
+ data->sensors[ID_ORIENTATION].orientation.roll = params[2];
+ continue;
+ }
+
+ /* "magnetic:<x>:<y>:<z>" is sent for the params of the magnetic field */
+ if (sscanf(buff, "magnetic:%g:%g:%g", params+0, params+1, params+2) == 3) {
+ new_sensors |= SENSORS_MAGNETIC_FIELD;
+ data->sensors[ID_MAGNETIC_FIELD].magnetic.x = params[0];
+ data->sensors[ID_MAGNETIC_FIELD].magnetic.y = params[1];
+ data->sensors[ID_MAGNETIC_FIELD].magnetic.z = params[2];
+ continue;
+ }
+
+ /* "temperature:<celsius>" */
+ if (sscanf(buff, "temperature:%g", params+0) == 2) {
+ new_sensors |= SENSORS_TEMPERATURE;
+ data->sensors[ID_TEMPERATURE].temperature = params[0];
+ continue;
+ }
+
+ /* "sync:<time>" is sent after a series of sensor events.
+ * where 'time' is expressed in micro-seconds and corresponds
+ * to the VM time when the real poll occured.
+ */
+ if (sscanf(buff, "sync:%lld", &event_time) == 1) {
+ if (new_sensors) {
+ data->pendingSensors = new_sensors;
+ int64_t t = event_time * 1000LL; /* convert to nano-seconds */
+
+ /* use the time at the first sync: as the base for later
+ * time values */
+ if (data->timeStart == 0) {
+ data->timeStart = data__now_ns();
+ data->timeOffset = data->timeStart - t;
+ }
+ t += data->timeOffset;
+
+ while (new_sensors) {
+ uint32_t i = 31 - __builtin_clz(new_sensors);
+ new_sensors &= ~(1<<i);
+ data->sensors[i].time = t;
+ }
+ return pick_sensor(data, values);
+ } else {
+ D("huh ? sync without any sensor data ?");
+ }
+ continue;
+ }
+ D("huh ? unsupported command");
+ }
+}
+
+static int
+data__close(struct hw_device_t *dev)
+{
+ SensorData* data = (SensorData*)dev;
+ if (data) {
+ if (data->events_fd > 0) {
+ //LOGD("(device close) about to close fd=%d", data->events_fd);
+ close(data->events_fd);
+ }
+ free(data);
+ }
+ return 0;
+}
+
+
+/** MODULE REGISTRATION SUPPORT
+ **
+ ** This is required so that hardware/libhardware/hardware.c
+ ** will dlopen() this library appropriately.
+ **/
+
+/*
+ * the following is the list of all supported sensors.
+ * this table is used to build sSensorList declared below
+ * according to which hardware sensors are reported as
+ * available from the emulator (see get_sensors_list below)
+ *
+ * note: numerical values for maxRange/resolution/power were
+ * taken from the reference AK8976A implementation
+ */
+static const struct sensor_t sSensorListInit[] = {
+ { .name = "Goldfish 3-axis Accelerometer",
+ .vendor = "The Android Open Source Project",
+ .version = 1,
+ .handle = ID_ACCELERATION,
+ .type = SENSOR_TYPE_ACCELEROMETER,
+ .maxRange = 2.8f,
+ .resolution = 1.0f/4032.0f,
+ .power = 3.0f,
+ .reserved = {}
+ },
+
+ { .name = "Goldfish 3-axis Magnetic field sensor",
+ .vendor = "The Android Open Source Project",
+ .version = 1,
+ .handle = ID_MAGNETIC_FIELD,
+ .type = SENSOR_TYPE_MAGNETIC_FIELD,
+ .maxRange = 2000.0f,
+ .resolution = 1.0f,
+ .power = 6.7f,
+ .reserved = {}
+ },
+
+ { .name = "Goldfish Orientation sensor",
+ .vendor = "The Android Open Source Project",
+ .version = 1,
+ .handle = ID_ORIENTATION,
+ .type = SENSOR_TYPE_ORIENTATION,
+ .maxRange = 360.0f,
+ .resolution = 1.0f,
+ .power = 9.7f,
+ .reserved = {}
+ },
+
+ { .name = "Goldfish Temperature sensor",
+ .vendor = "The Android Open Source Project",
+ .version = 1,
+ .handle = ID_TEMPERATURE,
+ .type = SENSOR_TYPE_TEMPERATURE,
+ .maxRange = 80.0f,
+ .resolution = 1.0f,
+ .power = 0.0f,
+ .reserved = {}
+ },
+};
+
+static struct sensor_t sSensorList[MAX_NUM_SENSORS];
+
+static uint32_t sensors__get_sensors_list(struct sensors_module_t* module,
+ struct sensor_t const** list)
+{
+ int fd = qemud_channel_open(SENSORS_SERVICE_NAME);
+ char buffer[12];
+ int mask, nn, count;
+
+ int ret;
+ if (fd < 0) {
+ E("%s: no qemud connection", __FUNCTION__);
+ return 0;
+ }
+ ret = qemud_channel_send(fd, "list-sensors", -1);
+ if (ret < 0) {
+ E("%s: could not query sensor list: %s", __FUNCTION__,
+ strerror(errno));
+ close(fd);
+ return 0;
+ }
+ ret = qemud_channel_recv(fd, buffer, sizeof buffer-1);
+ if (ret < 0) {
+ E("%s: could not receive sensor list: %s", __FUNCTION__,
+ strerror(errno));
+ close(fd);
+ return 0;
+ }
+ buffer[ret] = 0;
+ close(fd);
+
+ /* the result is a integer used as a mask for available sensors */
+ mask = atoi(buffer);
+ count = 0;
+ for (nn = 0; nn < MAX_NUM_SENSORS; nn++) {
+ if (((1 << nn) & mask) == 0)
+ continue;
+
+ sSensorList[count++] = sSensorListInit[nn];
+ }
+ D("%s: returned %d sensors (mask=%d)", __FUNCTION__, count, mask);
+ *list = sSensorList;
+ return count;
+}
+
+
+static int
+open_sensors(const struct hw_module_t* module,
+ const char* name,
+ struct hw_device_t* *device)
+{
+ int status = -EINVAL;
+
+ D("%s: name=%s", __FUNCTION__, name);
+
+ if (!strcmp(name, SENSORS_HARDWARE_CONTROL))
+ {
+ SensorControl *dev = malloc(sizeof(*dev));
+
+ memset(dev, 0, sizeof(*dev));
+
+ dev->device.common.tag = HARDWARE_DEVICE_TAG;
+ dev->device.common.version = 0;
+ dev->device.common.module = (struct hw_module_t*) module;
+ dev->device.common.close = control__close;
+ dev->device.open_data_source = control__open_data_source;
+ dev->device.activate = control__activate;
+ dev->device.set_delay = control__set_delay;
+ dev->device.wake = control__wake;
+ dev->fd = -1;
+
+ *device = &dev->device.common;
+ status = 0;
+ }
+ else if (!strcmp(name, SENSORS_HARDWARE_DATA)) {
+ SensorData *dev = malloc(sizeof(*dev));
+
+ memset(dev, 0, sizeof(*dev));
+
+ dev->device.common.tag = HARDWARE_DEVICE_TAG;
+ dev->device.common.version = 0;
+ dev->device.common.module = (struct hw_module_t*) module;
+ dev->device.common.close = data__close;
+ dev->device.data_open = data__data_open;
+ dev->device.data_close = data__data_close;
+ dev->device.poll = data__poll;
+ dev->events_fd = -1;
+
+ *device = &dev->device.common;
+ status = 0;
+ }
+ return status;
+}
+
+
+static struct hw_module_methods_t sensors_module_methods = {
+ .open = open_sensors
+};
+
+const struct sensors_module_t HAL_MODULE_INFO_SYM = {
+ .common = {
+ .tag = HARDWARE_MODULE_TAG,
+ .version_major = 1,
+ .version_minor = 0,
+ .id = SENSORS_HARDWARE_MODULE_ID,
+ .name = "Goldfish SENSORS Module",
+ .author = "The Android Open Source Project",
+ .methods = &sensors_module_methods,
+ },
+ .get_sensors_list = sensors__get_sensors_list
+};
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