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-rw-r--r--services/sensorservice/Android.mk34
-rw-r--r--services/sensorservice/GravitySensor.cpp112
-rw-r--r--services/sensorservice/GravitySensor.h56
-rw-r--r--services/sensorservice/LinearAccelerationSensor.cpp86
-rw-r--r--services/sensorservice/LinearAccelerationSensor.h53
-rw-r--r--services/sensorservice/RotationVectorSensor.cpp174
-rw-r--r--services/sensorservice/RotationVectorSensor.h60
-rw-r--r--services/sensorservice/SecondOrderLowPassFilter.cpp70
-rw-r--r--services/sensorservice/SecondOrderLowPassFilter.h61
-rw-r--r--services/sensorservice/SensorDevice.cpp239
-rw-r--r--services/sensorservice/SensorDevice.h62
-rw-r--r--services/sensorservice/SensorInterface.cpp70
-rw-r--r--services/sensorservice/SensorInterface.h75
-rw-r--r--services/sensorservice/SensorService.cpp544
-rw-r--r--services/sensorservice/SensorService.h141
-rw-r--r--services/sensorservice/tests/Android.mk14
-rw-r--r--services/sensorservice/tests/sensorservicetest.cpp103
17 files changed, 1954 insertions, 0 deletions
diff --git a/services/sensorservice/Android.mk b/services/sensorservice/Android.mk
new file mode 100644
index 0000000..7e17fdd
--- /dev/null
+++ b/services/sensorservice/Android.mk
@@ -0,0 +1,34 @@
+LOCAL_PATH:= $(call my-dir)
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES:= \
+ GravitySensor.cpp \
+ LinearAccelerationSensor.cpp \
+ RotationVectorSensor.cpp \
+ SensorService.cpp \
+ SensorInterface.cpp \
+ SensorDevice.cpp \
+ SecondOrderLowPassFilter.cpp
+
+LOCAL_CFLAGS:= -DLOG_TAG=\"SensorService\"
+
+# need "-lrt" on Linux simulator to pick up clock_gettime
+ifeq ($(TARGET_SIMULATOR),true)
+ ifeq ($(HOST_OS),linux)
+ LOCAL_LDLIBS += -lrt -lpthread
+ endif
+endif
+
+LOCAL_SHARED_LIBRARIES := \
+ libcutils \
+ libhardware \
+ libutils \
+ libbinder \
+ libui \
+ libgui
+
+LOCAL_PRELINK_MODULE := false
+
+LOCAL_MODULE:= libsensorservice
+
+include $(BUILD_SHARED_LIBRARY)
diff --git a/services/sensorservice/GravitySensor.cpp b/services/sensorservice/GravitySensor.cpp
new file mode 100644
index 0000000..18bd359
--- /dev/null
+++ b/services/sensorservice/GravitySensor.cpp
@@ -0,0 +1,112 @@
+/*
+ * 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 <stdint.h>
+#include <math.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+
+#include <hardware/sensors.h>
+
+#include "GravitySensor.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+GravitySensor::GravitySensor(sensor_t const* list, size_t count)
+ : mSensorDevice(SensorDevice::getInstance()),
+ mEnabled(false), mAccTime(0),
+ mLowPass(M_SQRT1_2, 1),
+ mX(mLowPass), mY(mLowPass), mZ(mLowPass)
+
+{
+ for (size_t i=0 ; i<count ; i++) {
+ if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
+ mAccelerometer = Sensor(list + i);
+ break;
+ }
+ }
+}
+
+bool GravitySensor::process(sensors_event_t* outEvent,
+ const sensors_event_t& event)
+{
+ const static double NS2S = 1.0 / 1000000000.0;
+ if (event.type == SENSOR_TYPE_ACCELEROMETER) {
+ float x, y, z;
+ const double now = event.timestamp * NS2S;
+ if (mAccTime == 0) {
+ x = mX.init(event.acceleration.x);
+ y = mY.init(event.acceleration.y);
+ z = mZ.init(event.acceleration.z);
+ } else {
+ double dT = now - mAccTime;
+ mLowPass.setSamplingPeriod(dT);
+ x = mX(event.acceleration.x);
+ y = mY(event.acceleration.y);
+ z = mZ(event.acceleration.z);
+ }
+ mAccTime = now;
+ *outEvent = event;
+ outEvent->data[0] = x;
+ outEvent->data[1] = y;
+ outEvent->data[2] = z;
+ outEvent->sensor = '_grv';
+ outEvent->type = SENSOR_TYPE_GRAVITY;
+ return true;
+ }
+ return false;
+}
+
+bool GravitySensor::isEnabled() const {
+ return mEnabled;
+}
+
+status_t GravitySensor::activate(void* ident, bool enabled) {
+ status_t err = mSensorDevice.activate(this, mAccelerometer.getHandle(), enabled);
+ if (err == NO_ERROR) {
+ mEnabled = enabled;
+ if (enabled) {
+ mAccTime = 0;
+ }
+ }
+ return err;
+}
+
+status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns)
+{
+ return mSensorDevice.setDelay(this, mAccelerometer.getHandle(), ns);
+}
+
+Sensor GravitySensor::getSensor() const {
+ sensor_t hwSensor;
+ hwSensor.name = "Gravity Sensor";
+ hwSensor.vendor = "Google Inc.";
+ hwSensor.version = 1;
+ hwSensor.handle = '_grv';
+ hwSensor.type = SENSOR_TYPE_GRAVITY;
+ hwSensor.maxRange = mAccelerometer.getMaxValue();
+ hwSensor.resolution = mAccelerometer.getResolution();
+ hwSensor.power = mAccelerometer.getPowerUsage();
+ hwSensor.minDelay = mAccelerometer.getMinDelay();
+ Sensor sensor(&hwSensor);
+ return sensor;
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
diff --git a/services/sensorservice/GravitySensor.h b/services/sensorservice/GravitySensor.h
new file mode 100644
index 0000000..f9850b7
--- /dev/null
+++ b/services/sensorservice/GravitySensor.h
@@ -0,0 +1,56 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_GRAVITY_SENSOR_H
+#define ANDROID_GRAVITY_SENSOR_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <gui/Sensor.h>
+
+#include "SensorDevice.h"
+#include "SensorInterface.h"
+#include "SecondOrderLowPassFilter.h"
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+class GravitySensor : public SensorInterface {
+ SensorDevice& mSensorDevice;
+ Sensor mAccelerometer;
+ bool mEnabled;
+ double mAccTime;
+
+ SecondOrderLowPassFilter mLowPass;
+ BiquadFilter mX, mY, mZ;
+
+public:
+ GravitySensor(sensor_t const* list, size_t count);
+ virtual bool process(sensors_event_t* outEvent,
+ const sensors_event_t& event);
+ virtual bool isEnabled() const;
+ virtual status_t activate(void* ident, bool enabled);
+ virtual status_t setDelay(void* ident, int handle, int64_t ns);
+ virtual Sensor getSensor() const;
+ virtual bool isVirtual() const { return true; }
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GRAVITY_SENSOR_H
diff --git a/services/sensorservice/LinearAccelerationSensor.cpp b/services/sensorservice/LinearAccelerationSensor.cpp
new file mode 100644
index 0000000..2dc12dc
--- /dev/null
+++ b/services/sensorservice/LinearAccelerationSensor.cpp
@@ -0,0 +1,86 @@
+/*
+ * 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 <stdint.h>
+#include <math.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+
+#include <hardware/sensors.h>
+
+#include "LinearAccelerationSensor.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+LinearAccelerationSensor::LinearAccelerationSensor(sensor_t const* list, size_t count)
+ : mSensorDevice(SensorDevice::getInstance()),
+ mGravitySensor(list, count)
+{
+ mData[0] = mData[1] = mData[2] = 0;
+}
+
+bool LinearAccelerationSensor::process(sensors_event_t* outEvent,
+ const sensors_event_t& event)
+{
+ bool result = mGravitySensor.process(outEvent, event);
+ if (result) {
+ if (event.type == SENSOR_TYPE_ACCELEROMETER) {
+ mData[0] = event.acceleration.x;
+ mData[1] = event.acceleration.y;
+ mData[2] = event.acceleration.z;
+ }
+ outEvent->data[0] = mData[0] - outEvent->data[0];
+ outEvent->data[1] = mData[1] - outEvent->data[1];
+ outEvent->data[2] = mData[2] - outEvent->data[2];
+ outEvent->sensor = '_lin';
+ outEvent->type = SENSOR_TYPE_LINEAR_ACCELERATION;
+ }
+ return result;
+}
+
+bool LinearAccelerationSensor::isEnabled() const {
+ return mGravitySensor.isEnabled();
+}
+
+status_t LinearAccelerationSensor::activate(void* ident, bool enabled) {
+ return mGravitySensor.activate(ident, enabled);
+}
+
+status_t LinearAccelerationSensor::setDelay(void* ident, int handle, int64_t ns) {
+ return mGravitySensor.setDelay(ident, handle, ns);
+}
+
+Sensor LinearAccelerationSensor::getSensor() const {
+ Sensor gsensor(mGravitySensor.getSensor());
+ sensor_t hwSensor;
+ hwSensor.name = "Linear Acceleration Sensor";
+ hwSensor.vendor = "Google Inc.";
+ hwSensor.version = 1;
+ hwSensor.handle = '_lin';
+ hwSensor.type = SENSOR_TYPE_LINEAR_ACCELERATION;
+ hwSensor.maxRange = gsensor.getMaxValue();
+ hwSensor.resolution = gsensor.getResolution();
+ hwSensor.power = gsensor.getPowerUsage();
+ hwSensor.minDelay = gsensor.getMinDelay();
+ Sensor sensor(&hwSensor);
+ return sensor;
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
diff --git a/services/sensorservice/LinearAccelerationSensor.h b/services/sensorservice/LinearAccelerationSensor.h
new file mode 100644
index 0000000..ee918ce
--- /dev/null
+++ b/services/sensorservice/LinearAccelerationSensor.h
@@ -0,0 +1,53 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_LINEAR_ACCELERATION_SENSOR_H
+#define ANDROID_LINEAR_ACCELERATION_SENSOR_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <gui/Sensor.h>
+
+#include "SensorDevice.h"
+#include "SensorInterface.h"
+#include "GravitySensor.h"
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class LinearAccelerationSensor : public SensorInterface {
+ SensorDevice& mSensorDevice;
+ GravitySensor mGravitySensor;
+ float mData[3];
+
+ virtual bool process(sensors_event_t* outEvent,
+ const sensors_event_t& event);
+public:
+ LinearAccelerationSensor(sensor_t const* list, size_t count);
+ virtual bool isEnabled() const;
+ virtual status_t activate(void* ident, bool enabled);
+ virtual status_t setDelay(void* ident, int handle, int64_t ns);
+ virtual Sensor getSensor() const;
+ virtual bool isVirtual() const { return true; }
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_LINEAR_ACCELERATION_SENSOR_H
diff --git a/services/sensorservice/RotationVectorSensor.cpp b/services/sensorservice/RotationVectorSensor.cpp
new file mode 100644
index 0000000..6f4b8be
--- /dev/null
+++ b/services/sensorservice/RotationVectorSensor.cpp
@@ -0,0 +1,174 @@
+/*
+ * 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 <stdint.h>
+#include <math.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+
+#include <hardware/sensors.h>
+
+#include "RotationVectorSensor.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+template <typename T>
+static inline T clamp(T v) {
+ return v < 0 ? 0 : v;
+}
+
+RotationVectorSensor::RotationVectorSensor(sensor_t const* list, size_t count)
+ : mSensorDevice(SensorDevice::getInstance()),
+ mEnabled(false),
+ mALowPass(M_SQRT1_2, 5.0f),
+ mAX(mALowPass), mAY(mALowPass), mAZ(mALowPass),
+ mMLowPass(M_SQRT1_2, 2.5f),
+ mMX(mMLowPass), mMY(mMLowPass), mMZ(mMLowPass)
+{
+ for (size_t i=0 ; i<count ; i++) {
+ if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
+ mAcc = Sensor(list + i);
+ }
+ if (list[i].type == SENSOR_TYPE_MAGNETIC_FIELD) {
+ mMag = Sensor(list + i);
+ }
+ }
+ memset(mMagData, 0, sizeof(mMagData));
+}
+
+bool RotationVectorSensor::process(sensors_event_t* outEvent,
+ const sensors_event_t& event)
+{
+ const static double NS2S = 1.0 / 1000000000.0;
+ if (event.type == SENSOR_TYPE_MAGNETIC_FIELD) {
+ const double now = event.timestamp * NS2S;
+ if (mMagTime == 0) {
+ mMagData[0] = mMX.init(event.magnetic.x);
+ mMagData[1] = mMY.init(event.magnetic.y);
+ mMagData[2] = mMZ.init(event.magnetic.z);
+ } else {
+ double dT = now - mMagTime;
+ mMLowPass.setSamplingPeriod(dT);
+ mMagData[0] = mMX(event.magnetic.x);
+ mMagData[1] = mMY(event.magnetic.y);
+ mMagData[2] = mMZ(event.magnetic.z);
+ }
+ mMagTime = now;
+ }
+ if (event.type == SENSOR_TYPE_ACCELEROMETER) {
+ const double now = event.timestamp * NS2S;
+ float Ax, Ay, Az;
+ if (mAccTime == 0) {
+ Ax = mAX.init(event.acceleration.x);
+ Ay = mAY.init(event.acceleration.y);
+ Az = mAZ.init(event.acceleration.z);
+ } else {
+ double dT = now - mAccTime;
+ mALowPass.setSamplingPeriod(dT);
+ Ax = mAX(event.acceleration.x);
+ Ay = mAY(event.acceleration.y);
+ Az = mAZ(event.acceleration.z);
+ }
+ mAccTime = now;
+ const float Ex = mMagData[0];
+ const float Ey = mMagData[1];
+ const float Ez = mMagData[2];
+ float Hx = Ey*Az - Ez*Ay;
+ float Hy = Ez*Ax - Ex*Az;
+ float Hz = Ex*Ay - Ey*Ax;
+ const float normH = sqrtf(Hx*Hx + Hy*Hy + Hz*Hz);
+ if (normH < 0.1f) {
+ // device is close to free fall (or in space?), or close to
+ // magnetic north pole. Typical values are > 100.
+ return false;
+ }
+ const float invH = 1.0f / normH;
+ const float invA = 1.0f / sqrtf(Ax*Ax + Ay*Ay + Az*Az);
+ Hx *= invH;
+ Hy *= invH;
+ Hz *= invH;
+ Ax *= invA;
+ Ay *= invA;
+ Az *= invA;
+ const float Mx = Ay*Hz - Az*Hy;
+ const float My = Az*Hx - Ax*Hz;
+ const float Mz = Ax*Hy - Ay*Hx;
+
+ // matrix to rotation vector (normalized quaternion)
+ float qw = sqrtf( clamp( Hx + My + Az + 1) * 0.25f );
+ float qx = sqrtf( clamp( Hx - My - Az + 1) * 0.25f );
+ float qy = sqrtf( clamp(-Hx + My - Az + 1) * 0.25f );
+ float qz = sqrtf( clamp(-Hx - My + Az + 1) * 0.25f );
+ const float n = 1.0f / (qw*qw + qx*qx + qy*qy + qz*qz);
+ qx = copysignf(qx, Ay - Mz) * n;
+ qy = copysignf(qy, Hz - Ax) * n;
+ qz = copysignf(qz, Mx - Hy) * n;
+
+ *outEvent = event;
+ outEvent->data[0] = qx;
+ outEvent->data[1] = qy;
+ outEvent->data[2] = qz;
+ outEvent->sensor = '_rov';
+ outEvent->type = SENSOR_TYPE_ROTATION_VECTOR;
+ return true;
+ }
+ return false;
+}
+
+bool RotationVectorSensor::isEnabled() const {
+ return mEnabled;
+}
+
+status_t RotationVectorSensor::activate(void* ident, bool enabled) {
+ if (mEnabled != enabled) {
+ mSensorDevice.activate(this, mAcc.getHandle(), enabled);
+ mSensorDevice.activate(this, mMag.getHandle(), enabled);
+ mEnabled = enabled;
+ if (enabled) {
+ mMagTime = 0;
+ mAccTime = 0;
+ }
+ }
+ return NO_ERROR;
+}
+
+status_t RotationVectorSensor::setDelay(void* ident, int handle, int64_t ns)
+{
+ mSensorDevice.setDelay(this, mAcc.getHandle(), ns);
+ mSensorDevice.setDelay(this, mMag.getHandle(), ns);
+ return NO_ERROR;
+}
+
+Sensor RotationVectorSensor::getSensor() const {
+ sensor_t hwSensor;
+ hwSensor.name = "Rotation Vector Sensor";
+ hwSensor.vendor = "Google Inc.";
+ hwSensor.version = 1;
+ hwSensor.handle = '_rov';
+ hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR;
+ hwSensor.maxRange = 1;
+ hwSensor.resolution = 1.0f / (1<<24);
+ hwSensor.power = mAcc.getPowerUsage() + mMag.getPowerUsage();
+ hwSensor.minDelay = mAcc.getMinDelay();
+ Sensor sensor(&hwSensor);
+ return sensor;
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
diff --git a/services/sensorservice/RotationVectorSensor.h b/services/sensorservice/RotationVectorSensor.h
new file mode 100644
index 0000000..e7f28c9
--- /dev/null
+++ b/services/sensorservice/RotationVectorSensor.h
@@ -0,0 +1,60 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_ROTATION_VECTOR_SENSOR_H
+#define ANDROID_ROTATION_VECTOR_SENSOR_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <gui/Sensor.h>
+
+#include "SensorDevice.h"
+#include "SensorInterface.h"
+#include "SecondOrderLowPassFilter.h"
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+class RotationVectorSensor : public SensorInterface {
+ SensorDevice& mSensorDevice;
+ Sensor mAcc;
+ Sensor mMag;
+ bool mEnabled;
+ float mMagData[3];
+ double mAccTime;
+ double mMagTime;
+ SecondOrderLowPassFilter mALowPass;
+ BiquadFilter mAX, mAY, mAZ;
+ SecondOrderLowPassFilter mMLowPass;
+ BiquadFilter mMX, mMY, mMZ;
+
+public:
+ RotationVectorSensor(sensor_t const* list, size_t count);
+ virtual bool process(sensors_event_t* outEvent,
+ const sensors_event_t& event);
+ virtual bool isEnabled() const;
+ virtual status_t activate(void* ident, bool enabled);
+ virtual status_t setDelay(void* ident, int handle, int64_t ns);
+ virtual Sensor getSensor() const;
+ virtual bool isVirtual() const { return true; }
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_ROTATION_VECTOR_SENSOR_H
diff --git a/services/sensorservice/SecondOrderLowPassFilter.cpp b/services/sensorservice/SecondOrderLowPassFilter.cpp
new file mode 100644
index 0000000..e13e136
--- /dev/null
+++ b/services/sensorservice/SecondOrderLowPassFilter.cpp
@@ -0,0 +1,70 @@
+/*
+ * 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 <stdint.h>
+#include <sys/types.h>
+#include <math.h>
+
+#include <cutils/log.h>
+
+#include "SecondOrderLowPassFilter.h"
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+SecondOrderLowPassFilter::SecondOrderLowPassFilter(float Q, float fc)
+ : iQ(1.0f / Q), fc(fc)
+{
+}
+
+void SecondOrderLowPassFilter::setSamplingPeriod(float dT)
+{
+ K = tanf(float(M_PI) * fc * dT);
+ iD = 1.0f / (K*K + K*iQ + 1);
+ a0 = K*K*iD;
+ a1 = 2.0f * a0;
+ b1 = 2.0f*(K*K - 1)*iD;
+ b2 = (K*K - K*iQ + 1)*iD;
+}
+
+// ---------------------------------------------------------------------------
+
+BiquadFilter::BiquadFilter(const SecondOrderLowPassFilter& s)
+ : s(s)
+{
+}
+
+float BiquadFilter::init(float x)
+{
+ x1 = x2 = x;
+ y1 = y2 = x;
+ return x;
+}
+
+float BiquadFilter::operator()(float x)
+{
+ float y = (x + x2)*s.a0 + x1*s.a1 - y1*s.b1 - y2*s.b2;
+ x2 = x1;
+ y2 = y1;
+ x1 = x;
+ y1 = y;
+ return y;
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
diff --git a/services/sensorservice/SecondOrderLowPassFilter.h b/services/sensorservice/SecondOrderLowPassFilter.h
new file mode 100644
index 0000000..998ca35
--- /dev/null
+++ b/services/sensorservice/SecondOrderLowPassFilter.h
@@ -0,0 +1,61 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_SECOND_ORDER_LOW_PASS_FILTER_H
+#define ANDROID_SECOND_ORDER_LOW_PASS_FILTER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class BiquadFilter;
+
+/*
+ * State of a 2nd order low-pass IIR filter
+ */
+class SecondOrderLowPassFilter {
+ friend class BiquadFilter;
+ float iQ, fc;
+ float K, iD;
+ float a0, a1;
+ float b1, b2;
+public:
+ SecondOrderLowPassFilter(float Q, float fc);
+ void setSamplingPeriod(float dT);
+};
+
+/*
+ * Implements a Biquad IIR filter
+ */
+class BiquadFilter {
+ float x1, x2;
+ float y1, y2;
+ const SecondOrderLowPassFilter& s;
+public:
+ BiquadFilter(const SecondOrderLowPassFilter& s);
+ float init(float in);
+ float operator()(float in);
+};
+
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_SECOND_ORDER_LOW_PASS_FILTER_H
diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
new file mode 100644
index 0000000..73f85ba
--- /dev/null
+++ b/services/sensorservice/SensorDevice.cpp
@@ -0,0 +1,239 @@
+/*
+ * 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 <stdint.h>
+#include <math.h>
+#include <sys/types.h>
+
+#include <utils/Atomic.h>
+#include <utils/Errors.h>
+#include <utils/Singleton.h>
+
+#include <binder/BinderService.h>
+#include <binder/Parcel.h>
+#include <binder/IServiceManager.h>
+
+#include <hardware/sensors.h>
+
+#include "SensorDevice.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+class BatteryService : public Singleton<BatteryService> {
+ static const int TRANSACTION_noteStartSensor = IBinder::FIRST_CALL_TRANSACTION + 3;
+ static const int TRANSACTION_noteStopSensor = IBinder::FIRST_CALL_TRANSACTION + 4;
+ static const String16 DESCRIPTOR;
+
+ friend class Singleton<BatteryService>;
+ sp<IBinder> mBatteryStatService;
+
+ BatteryService() {
+ const sp<IServiceManager> sm(defaultServiceManager());
+ if (sm != NULL) {
+ const String16 name("batteryinfo");
+ mBatteryStatService = sm->getService(name);
+ }
+ }
+
+ status_t noteStartSensor(int uid, int handle) {
+ Parcel data, reply;
+ data.writeInterfaceToken(DESCRIPTOR);
+ data.writeInt32(uid);
+ data.writeInt32(handle);
+ status_t err = mBatteryStatService->transact(
+ TRANSACTION_noteStartSensor, data, &reply, 0);
+ err = reply.readExceptionCode();
+ return err;
+ }
+
+ status_t noteStopSensor(int uid, int handle) {
+ Parcel data, reply;
+ data.writeInterfaceToken(DESCRIPTOR);
+ data.writeInt32(uid);
+ data.writeInt32(handle);
+ status_t err = mBatteryStatService->transact(
+ TRANSACTION_noteStopSensor, data, &reply, 0);
+ err = reply.readExceptionCode();
+ return err;
+ }
+
+public:
+ void enableSensor(int handle) {
+ if (mBatteryStatService != 0) {
+ int uid = IPCThreadState::self()->getCallingUid();
+ int64_t identity = IPCThreadState::self()->clearCallingIdentity();
+ noteStartSensor(uid, handle);
+ IPCThreadState::self()->restoreCallingIdentity(identity);
+ }
+ }
+ void disableSensor(int handle) {
+ if (mBatteryStatService != 0) {
+ int uid = IPCThreadState::self()->getCallingUid();
+ int64_t identity = IPCThreadState::self()->clearCallingIdentity();
+ noteStopSensor(uid, handle);
+ IPCThreadState::self()->restoreCallingIdentity(identity);
+ }
+ }
+};
+
+const String16 BatteryService::DESCRIPTOR("com.android.internal.app.IBatteryStats");
+
+ANDROID_SINGLETON_STATIC_INSTANCE(BatteryService)
+
+// ---------------------------------------------------------------------------
+
+ANDROID_SINGLETON_STATIC_INSTANCE(SensorDevice)
+
+SensorDevice::SensorDevice()
+ : mSensorDevice(0),
+ mSensorModule(0)
+{
+ status_t err = hw_get_module(SENSORS_HARDWARE_MODULE_ID,
+ (hw_module_t const**)&mSensorModule);
+
+ LOGE_IF(err, "couldn't load %s module (%s)",
+ SENSORS_HARDWARE_MODULE_ID, strerror(-err));
+
+ if (mSensorModule) {
+ err = sensors_open(&mSensorModule->common, &mSensorDevice);
+
+ LOGE_IF(err, "couldn't open device for module %s (%s)",
+ SENSORS_HARDWARE_MODULE_ID, strerror(-err));
+
+ if (mSensorDevice) {
+ sensor_t const* list;
+ ssize_t count = mSensorModule->get_sensors_list(mSensorModule, &list);
+ mActivationCount.setCapacity(count);
+ Info model;
+ for (size_t i=0 ; i<size_t(count) ; i++) {
+ mActivationCount.add(list[i].handle, model);
+ mSensorDevice->activate(mSensorDevice, list[i].handle, 0);
+ }
+ }
+ }
+}
+
+void SensorDevice::dump(String8& result, char* buffer, size_t SIZE)
+{
+ if (!mSensorModule) return;
+ sensor_t const* list;
+ ssize_t count = mSensorModule->get_sensors_list(mSensorModule, &list);
+
+ snprintf(buffer, SIZE, "%d h/w sensors:\n", int(count));
+ result.append(buffer);
+
+ Mutex::Autolock _l(mLock);
+ for (size_t i=0 ; i<size_t(count) ; i++) {
+ snprintf(buffer, SIZE, "handle=0x%08x, active-count=%d / %d\n",
+ list[i].handle,
+ mActivationCount.valueFor(list[i].handle).count,
+ mActivationCount.valueFor(list[i].handle).rates.size());
+ result.append(buffer);
+ }
+}
+
+ssize_t SensorDevice::getSensorList(sensor_t const** list) {
+ if (!mSensorModule) return NO_INIT;
+ ssize_t count = mSensorModule->get_sensors_list(mSensorModule, list);
+ return count;
+}
+
+status_t SensorDevice::initCheck() const {
+ return mSensorDevice && mSensorModule ? NO_ERROR : NO_INIT;
+}
+
+ssize_t SensorDevice::poll(sensors_event_t* buffer, size_t count) {
+ if (!mSensorDevice) return NO_INIT;
+ return mSensorDevice->poll(mSensorDevice, buffer, count);
+}
+
+status_t SensorDevice::activate(void* ident, int handle, int enabled)
+{
+ if (!mSensorDevice) return NO_INIT;
+ status_t err(NO_ERROR);
+ bool actuateHardware = false;
+
+ Info& info( mActivationCount.editValueFor(handle) );
+ int32_t& count(info.count);
+ if (enabled) {
+ if (android_atomic_inc(&count) == 0) {
+ actuateHardware = true;
+ }
+ Mutex::Autolock _l(mLock);
+ if (info.rates.indexOfKey(ident) < 0) {
+ info.rates.add(ident, DEFAULT_EVENTS_PERIOD);
+ }
+ } else {
+ if (android_atomic_dec(&count) == 1) {
+ actuateHardware = true;
+ }
+ Mutex::Autolock _l(mLock);
+ info.rates.removeItem(ident);
+ }
+ if (actuateHardware) {
+ err = mSensorDevice->activate(mSensorDevice, handle, enabled);
+ if (enabled) {
+ LOGE_IF(err, "Error activating sensor %d (%s)", handle, strerror(-err));
+ if (err == 0) {
+ BatteryService::getInstance().enableSensor(handle);
+ }
+ } else {
+ if (err == 0) {
+ BatteryService::getInstance().disableSensor(handle);
+ }
+ }
+ }
+
+ if (!actuateHardware || enabled) {
+ Mutex::Autolock _l(mLock);
+ nsecs_t ns = info.rates.valueAt(0);
+ for (size_t i=1 ; i<info.rates.size() ; i++) {
+ if (info.rates.valueAt(i) < ns) {
+ nsecs_t cur = info.rates.valueAt(i);
+ if (cur < ns) {
+ ns = cur;
+ }
+ }
+ }
+ mSensorDevice->setDelay(mSensorDevice, handle, ns);
+ }
+
+ return err;
+}
+
+status_t SensorDevice::setDelay(void* ident, int handle, int64_t ns)
+{
+ if (!mSensorDevice) return NO_INIT;
+ Info& info( mActivationCount.editValueFor(handle) );
+ { // scope for lock
+ Mutex::Autolock _l(mLock);
+ ssize_t index = info.rates.indexOfKey(ident);
+ if (index < 0) return BAD_INDEX;
+ info.rates.editValueAt(index) = ns;
+ ns = info.rates.valueAt(0);
+ for (size_t i=1 ; i<info.rates.size() ; i++) {
+ nsecs_t cur = info.rates.valueAt(i);
+ if (cur < ns) {
+ ns = cur;
+ }
+ }
+ }
+ return mSensorDevice->setDelay(mSensorDevice, handle, ns);
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
new file mode 100644
index 0000000..63ecbcd
--- /dev/null
+++ b/services/sensorservice/SensorDevice.h
@@ -0,0 +1,62 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_SENSOR_DEVICE_H
+#define ANDROID_SENSOR_DEVICE_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/KeyedVector.h>
+#include <utils/Singleton.h>
+#include <utils/String8.h>
+
+#include <gui/Sensor.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+static const nsecs_t DEFAULT_EVENTS_PERIOD = 200000000; // 5 Hz
+
+class SensorDevice : public Singleton<SensorDevice> {
+ friend class Singleton<SensorDevice>;
+ struct sensors_poll_device_t* mSensorDevice;
+ struct sensors_module_t* mSensorModule;
+ Mutex mLock; // protect mActivationCount[].rates
+ // fixed-size array after construction
+ struct Info {
+ Info() : count(0) { }
+ int32_t count;
+ KeyedVector<void*, nsecs_t> rates;
+ };
+ DefaultKeyedVector<int, Info> mActivationCount;
+
+ SensorDevice();
+public:
+ ssize_t getSensorList(sensor_t const** list);
+ status_t initCheck() const;
+ ssize_t poll(sensors_event_t* buffer, size_t count);
+ status_t activate(void* ident, int handle, int enabled);
+ status_t setDelay(void* ident, int handle, int64_t ns);
+ void dump(String8& result, char* buffer, size_t SIZE);
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_SENSOR_DEVICE_H
diff --git a/services/sensorservice/SensorInterface.cpp b/services/sensorservice/SensorInterface.cpp
new file mode 100644
index 0000000..93d23d9
--- /dev/null
+++ b/services/sensorservice/SensorInterface.cpp
@@ -0,0 +1,70 @@
+/*
+ * 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 <stdint.h>
+#include <sys/types.h>
+
+#include <cutils/log.h>
+
+#include "SensorInterface.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+SensorInterface::~SensorInterface()
+{
+}
+
+// ---------------------------------------------------------------------------
+
+HardwareSensor::HardwareSensor(const sensor_t& sensor)
+ : mSensorDevice(SensorDevice::getInstance()),
+ mSensor(&sensor), mEnabled(false)
+{
+ LOGI("%s", sensor.name);
+}
+
+HardwareSensor::~HardwareSensor() {
+}
+
+bool HardwareSensor::process(sensors_event_t* outEvent,
+ const sensors_event_t& event) {
+ *outEvent = event;
+ return true;
+}
+
+bool HardwareSensor::isEnabled() const {
+ return mEnabled;
+}
+
+status_t HardwareSensor::activate(void* ident,bool enabled) {
+ status_t err = mSensorDevice.activate(ident, mSensor.getHandle(), enabled);
+ if (err == NO_ERROR)
+ mEnabled = enabled;
+ return err;
+}
+
+status_t HardwareSensor::setDelay(void* ident, int handle, int64_t ns) {
+ return mSensorDevice.setDelay(ident, handle, ns);
+}
+
+Sensor HardwareSensor::getSensor() const {
+ return mSensor;
+}
+
+
+// ---------------------------------------------------------------------------
+}; // namespace android
diff --git a/services/sensorservice/SensorInterface.h b/services/sensorservice/SensorInterface.h
new file mode 100644
index 0000000..eebd563
--- /dev/null
+++ b/services/sensorservice/SensorInterface.h
@@ -0,0 +1,75 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_SENSOR_INTERFACE_H
+#define ANDROID_SENSOR_INTERFACE_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Singleton.h>
+
+#include <gui/Sensor.h>
+
+#include "SensorDevice.h"
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class SensorInterface {
+public:
+ virtual ~SensorInterface();
+
+ virtual bool process(sensors_event_t* outEvent,
+ const sensors_event_t& event) = 0;
+
+ virtual bool isEnabled() const = 0;
+ virtual status_t activate(void* ident, bool enabled) = 0;
+ virtual status_t setDelay(void* ident, int handle, int64_t ns) = 0;
+ virtual Sensor getSensor() const = 0;
+ virtual bool isVirtual() const = 0;
+};
+
+// ---------------------------------------------------------------------------
+
+class HardwareSensor : public SensorInterface
+{
+ SensorDevice& mSensorDevice;
+ Sensor mSensor;
+ bool mEnabled;
+
+public:
+ HardwareSensor(const sensor_t& sensor);
+
+ virtual ~HardwareSensor();
+
+ virtual bool process(sensors_event_t* outEvent,
+ const sensors_event_t& event);
+
+ virtual bool isEnabled() const;
+ virtual status_t activate(void* ident, bool enabled);
+ virtual status_t setDelay(void* ident, int handle, int64_t ns);
+ virtual Sensor getSensor() const;
+ virtual bool isVirtual() const { return false; }
+};
+
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_SENSOR_INTERFACE_H
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
new file mode 100644
index 0000000..ea5e5cc
--- /dev/null
+++ b/services/sensorservice/SensorService.cpp
@@ -0,0 +1,544 @@
+/*
+ * 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 <stdint.h>
+#include <math.h>
+#include <sys/types.h>
+
+#include <utils/SortedVector.h>
+#include <utils/KeyedVector.h>
+#include <utils/threads.h>
+#include <utils/Atomic.h>
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <utils/Singleton.h>
+#include <utils/String16.h>
+
+#include <binder/BinderService.h>
+#include <binder/IServiceManager.h>
+
+#include <gui/ISensorServer.h>
+#include <gui/ISensorEventConnection.h>
+
+#include <hardware/sensors.h>
+
+#include "SensorService.h"
+#include "GravitySensor.h"
+#include "LinearAccelerationSensor.h"
+#include "RotationVectorSensor.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+SensorService::SensorService()
+ : Thread(false),
+ mDump("android.permission.DUMP"),
+ mInitCheck(NO_INIT)
+{
+}
+
+void SensorService::onFirstRef()
+{
+ LOGD("nuSensorService starting...");
+
+ SensorDevice& dev(SensorDevice::getInstance());
+
+ if (dev.initCheck() == NO_ERROR) {
+ uint32_t virtualSensorsNeeds =
+ (1<<SENSOR_TYPE_GRAVITY) |
+ (1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
+ (1<<SENSOR_TYPE_ROTATION_VECTOR);
+ sensor_t const* list;
+ int count = dev.getSensorList(&list);
+ mLastEventSeen.setCapacity(count);
+ for (int i=0 ; i<count ; i++) {
+ registerSensor( new HardwareSensor(list[i]) );
+ switch (list[i].type) {
+ case SENSOR_TYPE_GRAVITY:
+ case SENSOR_TYPE_LINEAR_ACCELERATION:
+ case SENSOR_TYPE_ROTATION_VECTOR:
+ virtualSensorsNeeds &= ~(1<<list[i].type);
+ break;
+ }
+ }
+
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) {
+ registerVirtualSensor( new GravitySensor(list, count) );
+ }
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_LINEAR_ACCELERATION)) {
+ registerVirtualSensor( new LinearAccelerationSensor(list, count) );
+ }
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
+ registerVirtualSensor( new RotationVectorSensor(list, count) );
+ }
+
+ run("SensorService", PRIORITY_URGENT_DISPLAY);
+ mInitCheck = NO_ERROR;
+ }
+}
+
+void SensorService::registerSensor(SensorInterface* s)
+{
+ sensors_event_t event;
+ memset(&event, 0, sizeof(event));
+
+ const Sensor sensor(s->getSensor());
+ // add to the sensor list (returned to clients)
+ mSensorList.add(sensor);
+ // add to our handle->SensorInterface mapping
+ mSensorMap.add(sensor.getHandle(), s);
+ // create an entry in the mLastEventSeen array
+ mLastEventSeen.add(sensor.getHandle(), event);
+}
+
+void SensorService::registerVirtualSensor(SensorInterface* s)
+{
+ registerSensor(s);
+ mVirtualSensorList.add( s );
+}
+
+SensorService::~SensorService()
+{
+ for (size_t i=0 ; i<mSensorMap.size() ; i++)
+ delete mSensorMap.valueAt(i);
+}
+
+status_t SensorService::dump(int fd, const Vector<String16>& args)
+{
+ const size_t SIZE = 1024;
+ char buffer[SIZE];
+ String8 result;
+ if (!mDump.checkCalling()) {
+ snprintf(buffer, SIZE, "Permission Denial: "
+ "can't dump SurfaceFlinger from pid=%d, uid=%d\n",
+ IPCThreadState::self()->getCallingPid(),
+ IPCThreadState::self()->getCallingUid());
+ result.append(buffer);
+ } else {
+ Mutex::Autolock _l(mLock);
+ snprintf(buffer, SIZE, "Sensor List:\n");
+ result.append(buffer);
+ for (size_t i=0 ; i<mSensorList.size() ; i++) {
+ const Sensor& s(mSensorList[i]);
+ const sensors_event_t& e(mLastEventSeen.valueFor(s.getHandle()));
+ snprintf(buffer, SIZE, "%-48s| %-32s | 0x%08x | maxRate=%7.2fHz | last=<%5.1f,%5.1f,%5.1f>\n",
+ s.getName().string(),
+ s.getVendor().string(),
+ s.getHandle(),
+ s.getMinDelay() ? (1000000.0f / s.getMinDelay()) : 0.0f,
+ e.data[0], e.data[1], e.data[2]);
+ result.append(buffer);
+ }
+ SensorDevice::getInstance().dump(result, buffer, SIZE);
+
+ snprintf(buffer, SIZE, "%d active connections\n",
+ mActiveConnections.size());
+ result.append(buffer);
+ snprintf(buffer, SIZE, "Active sensors:\n");
+ result.append(buffer);
+ for (size_t i=0 ; i<mActiveSensors.size() ; i++) {
+ int handle = mActiveSensors.keyAt(i);
+ snprintf(buffer, SIZE, "%s (handle=0x%08x, connections=%d)\n",
+ getSensorName(handle).string(),
+ handle,
+ mActiveSensors.valueAt(i)->getNumConnections());
+ result.append(buffer);
+ }
+ }
+ write(fd, result.string(), result.size());
+ return NO_ERROR;
+}
+
+bool SensorService::threadLoop()
+{
+ LOGD("nuSensorService thread starting...");
+
+ const size_t numEventMax = 16 * (1 + mVirtualSensorList.size());
+ sensors_event_t buffer[numEventMax];
+ sensors_event_t scratch[numEventMax];
+ SensorDevice& device(SensorDevice::getInstance());
+ const size_t vcount = mVirtualSensorList.size();
+
+ ssize_t count;
+ do {
+ count = device.poll(buffer, numEventMax);
+ if (count<0) {
+ LOGE("sensor poll failed (%s)", strerror(-count));
+ break;
+ }
+
+ recordLastValue(buffer, count);
+
+ // handle virtual sensors
+ if (count && vcount) {
+ const DefaultKeyedVector<int, SensorInterface*> virtualSensors(
+ getActiveVirtualSensors());
+ const size_t activeVirtualSensorCount = virtualSensors.size();
+ if (activeVirtualSensorCount) {
+ size_t k = 0;
+ for (size_t i=0 ; i<size_t(count) ; i++) {
+ sensors_event_t const * const event = buffer;
+ for (size_t j=0 ; j<activeVirtualSensorCount ; j++) {
+ sensors_event_t out;
+ if (virtualSensors.valueAt(j)->process(&out, event[i])) {
+ buffer[count + k] = out;
+ k++;
+ }
+ }
+ }
+ if (k) {
+ // record the last synthesized values
+ recordLastValue(&buffer[count], k);
+ count += k;
+ // sort the buffer by time-stamps
+ sortEventBuffer(buffer, count);
+ }
+ }
+ }
+
+ // send our events to clients...
+ const SortedVector< wp<SensorEventConnection> > activeConnections(
+ getActiveConnections());
+ size_t numConnections = activeConnections.size();
+ for (size_t i=0 ; i<numConnections ; i++) {
+ sp<SensorEventConnection> connection(
+ activeConnections[i].promote());
+ if (connection != 0) {
+ connection->sendEvents(buffer, count, scratch);
+ }
+ }
+ } while (count >= 0 || Thread::exitPending());
+
+ LOGW("Exiting SensorService::threadLoop!");
+ return false;
+}
+
+void SensorService::recordLastValue(
+ sensors_event_t const * buffer, size_t count)
+{
+ Mutex::Autolock _l(mLock);
+
+ // record the last event for each sensor
+ int32_t prev = buffer[0].sensor;
+ for (size_t i=1 ; i<count ; i++) {
+ // record the last event of each sensor type in this buffer
+ int32_t curr = buffer[i].sensor;
+ if (curr != prev) {
+ mLastEventSeen.editValueFor(prev) = buffer[i-1];
+ prev = curr;
+ }
+ }
+ mLastEventSeen.editValueFor(prev) = buffer[count-1];
+}
+
+void SensorService::sortEventBuffer(sensors_event_t* buffer, size_t count)
+{
+ struct compar {
+ static int cmp(void const* lhs, void const* rhs) {
+ sensors_event_t const* l = static_cast<sensors_event_t const*>(lhs);
+ sensors_event_t const* r = static_cast<sensors_event_t const*>(rhs);
+ return r->timestamp - l->timestamp;
+ }
+ };
+ qsort(buffer, count, sizeof(sensors_event_t), compar::cmp);
+}
+
+SortedVector< wp<SensorService::SensorEventConnection> >
+SensorService::getActiveConnections() const
+{
+ Mutex::Autolock _l(mLock);
+ return mActiveConnections;
+}
+
+DefaultKeyedVector<int, SensorInterface*>
+SensorService::getActiveVirtualSensors() const
+{
+ Mutex::Autolock _l(mLock);
+ return mActiveVirtualSensors;
+}
+
+String8 SensorService::getSensorName(int handle) const {
+ size_t count = mSensorList.size();
+ for (size_t i=0 ; i<count ; i++) {
+ const Sensor& sensor(mSensorList[i]);
+ if (sensor.getHandle() == handle) {
+ return sensor.getName();
+ }
+ }
+ String8 result("unknown");
+ return result;
+}
+
+Vector<Sensor> SensorService::getSensorList()
+{
+ return mSensorList;
+}
+
+sp<ISensorEventConnection> SensorService::createSensorEventConnection()
+{
+ sp<SensorEventConnection> result(new SensorEventConnection(this));
+ return result;
+}
+
+void SensorService::cleanupConnection(const wp<SensorEventConnection>& connection)
+{
+ Mutex::Autolock _l(mLock);
+ size_t size = mActiveSensors.size();
+ for (size_t i=0 ; i<size ; ) {
+ SensorRecord* rec = mActiveSensors.valueAt(i);
+ if (rec && rec->removeConnection(connection)) {
+ int handle = mActiveSensors.keyAt(i);
+ SensorInterface* sensor = mSensorMap.valueFor( handle );
+ if (sensor) {
+ sensor->activate(connection.unsafe_get(), false);
+ }
+ mActiveSensors.removeItemsAt(i, 1);
+ mActiveVirtualSensors.removeItem(handle);
+ delete rec;
+ size--;
+ } else {
+ i++;
+ }
+ }
+ mActiveConnections.remove(connection);
+}
+
+status_t SensorService::enable(const sp<SensorEventConnection>& connection,
+ int handle)
+{
+ if (mInitCheck != NO_ERROR)
+ return mInitCheck;
+
+ Mutex::Autolock _l(mLock);
+ SensorInterface* sensor = mSensorMap.valueFor(handle);
+ status_t err = sensor ? sensor->activate(connection.get(), true) : status_t(BAD_VALUE);
+ if (err == NO_ERROR) {
+ SensorRecord* rec = mActiveSensors.valueFor(handle);
+ if (rec == 0) {
+ rec = new SensorRecord(connection);
+ mActiveSensors.add(handle, rec);
+ if (sensor->isVirtual()) {
+ mActiveVirtualSensors.add(handle, sensor);
+ }
+ } else {
+ if (rec->addConnection(connection)) {
+ // this sensor is already activated, but we are adding a
+ // connection that uses it. Immediately send down the last
+ // known value of the requested sensor.
+ sensors_event_t scratch;
+ sensors_event_t& event(mLastEventSeen.editValueFor(handle));
+ if (event.version == sizeof(sensors_event_t)) {
+ connection->sendEvents(&event, 1);
+ }
+ }
+ }
+ if (err == NO_ERROR) {
+ // connection now active
+ if (connection->addSensor(handle)) {
+ // the sensor was added (which means it wasn't already there)
+ // so, see if this connection becomes active
+ if (mActiveConnections.indexOf(connection) < 0) {
+ mActiveConnections.add(connection);
+ }
+ }
+ }
+ }
+ return err;
+}
+
+status_t SensorService::disable(const sp<SensorEventConnection>& connection,
+ int handle)
+{
+ if (mInitCheck != NO_ERROR)
+ return mInitCheck;
+
+ status_t err = NO_ERROR;
+ Mutex::Autolock _l(mLock);
+ SensorRecord* rec = mActiveSensors.valueFor(handle);
+ if (rec) {
+ // see if this connection becomes inactive
+ connection->removeSensor(handle);
+ if (connection->hasAnySensor() == false) {
+ mActiveConnections.remove(connection);
+ }
+ // see if this sensor becomes inactive
+ if (rec->removeConnection(connection)) {
+ mActiveSensors.removeItem(handle);
+ mActiveVirtualSensors.removeItem(handle);
+ delete rec;
+ }
+ SensorInterface* sensor = mSensorMap.valueFor(handle);
+ err = sensor ? sensor->activate(connection.get(), false) : status_t(BAD_VALUE);
+ }
+ return err;
+}
+
+status_t SensorService::setEventRate(const sp<SensorEventConnection>& connection,
+ int handle, nsecs_t ns)
+{
+ if (mInitCheck != NO_ERROR)
+ return mInitCheck;
+
+ if (ns < 0)
+ return BAD_VALUE;
+
+ if (ns < MINIMUM_EVENTS_PERIOD)
+ ns = MINIMUM_EVENTS_PERIOD;
+
+ SensorInterface* sensor = mSensorMap.valueFor(handle);
+ if (!sensor) return BAD_VALUE;
+ return sensor->setDelay(connection.get(), handle, ns);
+}
+
+// ---------------------------------------------------------------------------
+
+SensorService::SensorRecord::SensorRecord(
+ const sp<SensorEventConnection>& connection)
+{
+ mConnections.add(connection);
+}
+
+bool SensorService::SensorRecord::addConnection(
+ const sp<SensorEventConnection>& connection)
+{
+ if (mConnections.indexOf(connection) < 0) {
+ mConnections.add(connection);
+ return true;
+ }
+ return false;
+}
+
+bool SensorService::SensorRecord::removeConnection(
+ const wp<SensorEventConnection>& connection)
+{
+ ssize_t index = mConnections.indexOf(connection);
+ if (index >= 0) {
+ mConnections.removeItemsAt(index, 1);
+ }
+ return mConnections.size() ? false : true;
+}
+
+// ---------------------------------------------------------------------------
+
+SensorService::SensorEventConnection::SensorEventConnection(
+ const sp<SensorService>& service)
+ : mService(service), mChannel(new SensorChannel())
+{
+}
+
+SensorService::SensorEventConnection::~SensorEventConnection()
+{
+ mService->cleanupConnection(this);
+}
+
+void SensorService::SensorEventConnection::onFirstRef()
+{
+}
+
+bool SensorService::SensorEventConnection::addSensor(int32_t handle) {
+ Mutex::Autolock _l(mConnectionLock);
+ if (mSensorInfo.indexOf(handle) <= 0) {
+ mSensorInfo.add(handle);
+ return true;
+ }
+ return false;
+}
+
+bool SensorService::SensorEventConnection::removeSensor(int32_t handle) {
+ Mutex::Autolock _l(mConnectionLock);
+ if (mSensorInfo.remove(handle) >= 0) {
+ return true;
+ }
+ return false;
+}
+
+bool SensorService::SensorEventConnection::hasSensor(int32_t handle) const {
+ Mutex::Autolock _l(mConnectionLock);
+ return mSensorInfo.indexOf(handle) >= 0;
+}
+
+bool SensorService::SensorEventConnection::hasAnySensor() const {
+ Mutex::Autolock _l(mConnectionLock);
+ return mSensorInfo.size() ? true : false;
+}
+
+status_t SensorService::SensorEventConnection::sendEvents(
+ sensors_event_t const* buffer, size_t numEvents,
+ sensors_event_t* scratch)
+{
+ // filter out events not for this connection
+ size_t count = 0;
+ if (scratch) {
+ Mutex::Autolock _l(mConnectionLock);
+ size_t i=0;
+ while (i<numEvents) {
+ const int32_t curr = buffer[i].sensor;
+ if (mSensorInfo.indexOf(curr) >= 0) {
+ do {
+ scratch[count++] = buffer[i++];
+ } while ((i<numEvents) && (buffer[i].sensor == curr));
+ } else {
+ i++;
+ }
+ }
+ } else {
+ scratch = const_cast<sensors_event_t *>(buffer);
+ count = numEvents;
+ }
+
+ if (count == 0)
+ return 0;
+
+ ssize_t size = mChannel->write(scratch, count*sizeof(sensors_event_t));
+ if (size == -EAGAIN) {
+ // the destination doesn't accept events anymore, it's probably
+ // full. For now, we just drop the events on the floor.
+ LOGW("dropping %d events on the floor", count);
+ return size;
+ }
+
+ LOGE_IF(size<0, "dropping %d events on the floor (%s)",
+ count, strerror(-size));
+
+ return size < 0 ? status_t(size) : status_t(NO_ERROR);
+}
+
+sp<SensorChannel> SensorService::SensorEventConnection::getSensorChannel() const
+{
+ return mChannel;
+}
+
+status_t SensorService::SensorEventConnection::enableDisable(
+ int handle, bool enabled)
+{
+ status_t err;
+ if (enabled) {
+ err = mService->enable(this, handle);
+ } else {
+ err = mService->disable(this, handle);
+ }
+ return err;
+}
+
+status_t SensorService::SensorEventConnection::setEventRate(
+ int handle, nsecs_t ns)
+{
+ return mService->setEventRate(this, handle, ns);
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
diff --git a/services/sensorservice/SensorService.h b/services/sensorservice/SensorService.h
new file mode 100644
index 0000000..540c7e2
--- /dev/null
+++ b/services/sensorservice/SensorService.h
@@ -0,0 +1,141 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_SENSOR_SERVICE_H
+#define ANDROID_SENSOR_SERVICE_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Vector.h>
+#include <utils/SortedVector.h>
+#include <utils/KeyedVector.h>
+#include <utils/threads.h>
+#include <utils/RefBase.h>
+
+#include <binder/BinderService.h>
+#include <binder/Permission.h>
+
+#include <gui/Sensor.h>
+#include <gui/SensorChannel.h>
+#include <gui/ISensorServer.h>
+#include <gui/ISensorEventConnection.h>
+
+#include "SensorInterface.h"
+
+// ---------------------------------------------------------------------------
+
+struct sensors_poll_device_t;
+struct sensors_module_t;
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class SensorService :
+ public BinderService<SensorService>,
+ public BnSensorServer,
+ protected Thread
+{
+ friend class BinderService<SensorService>;
+
+ static const nsecs_t MINIMUM_EVENTS_PERIOD = 1000000; // 1000 Hz
+
+ SensorService();
+ virtual ~SensorService();
+
+ virtual void onFirstRef();
+
+ // Thread interface
+ virtual bool threadLoop();
+
+ // ISensorServer interface
+ virtual Vector<Sensor> getSensorList();
+ virtual sp<ISensorEventConnection> createSensorEventConnection();
+ virtual status_t dump(int fd, const Vector<String16>& args);
+
+
+ class SensorEventConnection : public BnSensorEventConnection {
+ virtual ~SensorEventConnection();
+ virtual void onFirstRef();
+ virtual sp<SensorChannel> getSensorChannel() const;
+ virtual status_t enableDisable(int handle, bool enabled);
+ virtual status_t setEventRate(int handle, nsecs_t ns);
+
+ sp<SensorService> const mService;
+ sp<SensorChannel> const mChannel;
+ mutable Mutex mConnectionLock;
+
+ // protected by SensorService::mLock
+ SortedVector<int> mSensorInfo;
+
+ public:
+ SensorEventConnection(const sp<SensorService>& service);
+
+ status_t sendEvents(sensors_event_t const* buffer, size_t count,
+ sensors_event_t* scratch = NULL);
+ bool hasSensor(int32_t handle) const;
+ bool hasAnySensor() const;
+ bool addSensor(int32_t handle);
+ bool removeSensor(int32_t handle);
+ };
+
+ class SensorRecord {
+ SortedVector< wp<SensorEventConnection> > mConnections;
+ public:
+ SensorRecord(const sp<SensorEventConnection>& connection);
+ bool addConnection(const sp<SensorEventConnection>& connection);
+ bool removeConnection(const wp<SensorEventConnection>& connection);
+ size_t getNumConnections() const { return mConnections.size(); }
+ };
+
+ SortedVector< wp<SensorEventConnection> > getActiveConnections() const;
+ DefaultKeyedVector<int, SensorInterface*> getActiveVirtualSensors() const;
+
+ String8 getSensorName(int handle) const;
+ void recordLastValue(sensors_event_t const * buffer, size_t count);
+ static void sortEventBuffer(sensors_event_t* buffer, size_t count);
+ void registerSensor(SensorInterface* sensor);
+ void registerVirtualSensor(SensorInterface* sensor);
+
+ // constants
+ Vector<Sensor> mSensorList;
+ DefaultKeyedVector<int, SensorInterface*> mSensorMap;
+ Vector<SensorInterface *> mVirtualSensorList;
+ Permission mDump;
+ status_t mInitCheck;
+
+ // protected by mLock
+ mutable Mutex mLock;
+ DefaultKeyedVector<int, SensorRecord*> mActiveSensors;
+ DefaultKeyedVector<int, SensorInterface*> mActiveVirtualSensors;
+ SortedVector< wp<SensorEventConnection> > mActiveConnections;
+
+ // The size of this vector is constant, only the items are mutable
+ KeyedVector<int32_t, sensors_event_t> mLastEventSeen;
+
+public:
+ static char const* getServiceName() { return "sensorservice"; }
+
+ void cleanupConnection(const wp<SensorEventConnection>& connection);
+ status_t enable(const sp<SensorEventConnection>& connection, int handle);
+ status_t disable(const sp<SensorEventConnection>& connection, int handle);
+ status_t setEventRate(const sp<SensorEventConnection>& connection, int handle, nsecs_t ns);
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_SENSOR_SERVICE_H
diff --git a/services/sensorservice/tests/Android.mk b/services/sensorservice/tests/Android.mk
new file mode 100644
index 0000000..45296dd
--- /dev/null
+++ b/services/sensorservice/tests/Android.mk
@@ -0,0 +1,14 @@
+LOCAL_PATH:= $(call my-dir)
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES:= \
+ sensorservicetest.cpp
+
+LOCAL_SHARED_LIBRARIES := \
+ libcutils libutils libui libgui
+
+LOCAL_MODULE:= test-sensorservice
+
+LOCAL_MODULE_TAGS := optional
+
+include $(BUILD_EXECUTABLE)
diff --git a/services/sensorservice/tests/sensorservicetest.cpp b/services/sensorservice/tests/sensorservicetest.cpp
new file mode 100644
index 0000000..aea1062
--- /dev/null
+++ b/services/sensorservice/tests/sensorservicetest.cpp
@@ -0,0 +1,103 @@
+/*
+ * 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 <android/sensor.h>
+#include <gui/Sensor.h>
+#include <gui/SensorManager.h>
+#include <gui/SensorEventQueue.h>
+#include <utils/Looper.h>
+
+using namespace android;
+
+int receiver(int fd, int events, void* data)
+{
+ sp<SensorEventQueue> q((SensorEventQueue*)data);
+ ssize_t n;
+ ASensorEvent buffer[8];
+
+ static nsecs_t oldTimeStamp = 0;
+
+ while ((n = q->read(buffer, 8)) > 0) {
+ for (int i=0 ; i<n ; i++) {
+ if (buffer[i].type == Sensor::TYPE_GYROSCOPE) {
+ printf("time=%lld, value=<%5.1f,%5.1f,%5.1f>\n",
+ buffer[i].timestamp,
+ buffer[i].acceleration.x,
+ buffer[i].acceleration.y,
+ buffer[i].acceleration.z);
+ }
+
+ if (oldTimeStamp) {
+ float t = float(buffer[i].timestamp - oldTimeStamp) / s2ns(1);
+ printf("%f ms (%f Hz)\n", t*1000, 1.0/t);
+ }
+ oldTimeStamp = buffer[i].timestamp;
+
+ }
+ }
+ if (n<0 && n != -EAGAIN) {
+ printf("error reading events (%s)\n", strerror(-n));
+ }
+ return 1;
+}
+
+
+int main(int argc, char** argv)
+{
+ SensorManager& mgr(SensorManager::getInstance());
+
+ Sensor const* const* list;
+ ssize_t count = mgr.getSensorList(&list);
+ printf("numSensors=%d\n", int(count));
+
+ sp<SensorEventQueue> q = mgr.createEventQueue();
+ printf("queue=%p\n", q.get());
+
+ Sensor const* accelerometer = mgr.getDefaultSensor(Sensor::TYPE_GYROSCOPE);
+ printf("accelerometer=%p (%s)\n",
+ accelerometer, accelerometer->getName().string());
+ q->enableSensor(accelerometer);
+
+ q->setEventRate(accelerometer, ms2ns(10));
+
+ sp<Looper> loop = new Looper(false);
+ loop->addFd(q->getFd(), 0, ALOOPER_EVENT_INPUT, receiver, q.get());
+
+ do {
+ //printf("about to poll...\n");
+ int32_t ret = loop->pollOnce(-1);
+ switch (ret) {
+ case ALOOPER_POLL_WAKE:
+ //("ALOOPER_POLL_WAKE\n");
+ break;
+ case ALOOPER_POLL_CALLBACK:
+ //("ALOOPER_POLL_CALLBACK\n");
+ break;
+ case ALOOPER_POLL_TIMEOUT:
+ printf("ALOOPER_POLL_TIMEOUT\n");
+ break;
+ case ALOOPER_POLL_ERROR:
+ printf("ALOOPER_POLL_TIMEOUT\n");
+ break;
+ default:
+ printf("ugh? poll returned %d\n", ret);
+ break;
+ }
+ } while (1);
+
+
+ return 0;
+}