1 /*
2 * Copyright (C) 2009 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 /* this implements a sensors hardware library for the Android emulator.
18 * the following code should be built as a shared library that will be
19 * placed into /system/lib/hw/sensors.goldfish.so
20 *
21 * it will be loaded by the code in hardware/libhardware/hardware.c
22 * which is itself called from com_android_server_SensorService.cpp
23 */
24
25
26 /* we connect with the emulator through the "sensors" qemud service
27 */
28 #define SENSORS_SERVICE_NAME "sensors"
29
30 #define LOG_TAG "QemuSensors"
31
32 #include <unistd.h>
33 #include <fcntl.h>
34 #include <errno.h>
35 #include <string.h>
36 #include <cutils/log.h>
37 #include <cutils/native_handle.h>
38 #include <cutils/sockets.h>
39 #include <hardware/sensors.h>
40
41 #if 0
42 #define D(...) LOGD(__VA_ARGS__)
43 #else
44 #define D(...) ((void)0)
45 #endif
46
47 #define E(...) LOGE(__VA_ARGS__)
48
49 #include <hardware/qemud.h>
50
51 /** SENSOR IDS AND NAMES
52 **/
53
54 #define MAX_NUM_SENSORS 5
55
56 #define SUPPORTED_SENSORS ((1<<MAX_NUM_SENSORS)-1)
57
58 #define ID_BASE SENSORS_HANDLE_BASE
59 #define ID_ACCELERATION (ID_BASE+0)
60 #define ID_MAGNETIC_FIELD (ID_BASE+1)
61 #define ID_ORIENTATION (ID_BASE+2)
62 #define ID_TEMPERATURE (ID_BASE+3)
63 #define ID_PROXIMITY (ID_BASE+4)
64
65 #define SENSORS_ACCELERATION (1 << ID_ACCELERATION)
66 #define SENSORS_MAGNETIC_FIELD (1 << ID_MAGNETIC_FIELD)
67 #define SENSORS_ORIENTATION (1 << ID_ORIENTATION)
68 #define SENSORS_TEMPERATURE (1 << ID_TEMPERATURE)
69 #define SENSORS_PROXIMITY (1 << ID_PROXIMITY)
70
71 #define ID_CHECK(x) ((unsigned)((x)-ID_BASE) < MAX_NUM_SENSORS)
72
73 #define SENSORS_LIST \
74 SENSOR_(ACCELERATION,"acceleration") \
75 SENSOR_(MAGNETIC_FIELD,"magnetic-field") \
76 SENSOR_(ORIENTATION,"orientation") \
77 SENSOR_(TEMPERATURE,"temperature") \
78 SENSOR_(PROXIMITY,"proximity") \
79
80 static const struct {
81 const char* name;
82 int id; } _sensorIds[MAX_NUM_SENSORS] =
83 {
84 #define SENSOR_(x,y) { y, ID_##x },
85 SENSORS_LIST
86 #undef SENSOR_
87 };
88
89 static const char*
_sensorIdToName(int id)90 _sensorIdToName( int id )
91 {
92 int nn;
93 for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
94 if (id == _sensorIds[nn].id)
95 return _sensorIds[nn].name;
96 return "<UNKNOWN>";
97 }
98
99 static int
_sensorIdFromName(const char * name)100 _sensorIdFromName( const char* name )
101 {
102 int nn;
103
104 if (name == NULL)
105 return -1;
106
107 for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
108 if (!strcmp(name, _sensorIds[nn].name))
109 return _sensorIds[nn].id;
110
111 return -1;
112 }
113
114 /** SENSORS POLL DEVICE
115 **
116 ** This one is used to read sensor data from the hardware.
117 ** We implement this by simply reading the data from the
118 ** emulator through the QEMUD channel.
119 **/
120
121 typedef struct SensorPoll {
122 struct sensors_poll_device_t device;
123 sensors_event_t sensors[MAX_NUM_SENSORS];
124 int events_fd;
125 uint32_t pendingSensors;
126 int64_t timeStart;
127 int64_t timeOffset;
128 int fd;
129 uint32_t active_sensors;
130 } SensorPoll;
131
132 /* this must return a file descriptor that will be used to read
133 * the sensors data (it is passed to data__data_open() below
134 */
135 static native_handle_t*
control__open_data_source(struct sensors_poll_device_t * dev)136 control__open_data_source(struct sensors_poll_device_t *dev)
137 {
138 SensorPoll* ctl = (void*)dev;
139 native_handle_t* handle;
140
141 if (ctl->fd < 0) {
142 ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
143 }
144 D("%s: fd=%d", __FUNCTION__, ctl->fd);
145 handle = native_handle_create(1, 0);
146 handle->data[0] = dup(ctl->fd);
147 return handle;
148 }
149
150 static int
control__activate(struct sensors_poll_device_t * dev,int handle,int enabled)151 control__activate(struct sensors_poll_device_t *dev,
152 int handle,
153 int enabled)
154 {
155 SensorPoll* ctl = (void*)dev;
156 uint32_t mask, sensors, active, new_sensors, changed;
157 char command[128];
158 int ret;
159
160 D("%s: handle=%s (%d) fd=%d enabled=%d", __FUNCTION__,
161 _sensorIdToName(handle), handle, ctl->fd, enabled);
162
163 if (!ID_CHECK(handle)) {
164 E("%s: bad handle ID", __FUNCTION__);
165 return -1;
166 }
167
168 mask = (1<<handle);
169 sensors = enabled ? mask : 0;
170
171 active = ctl->active_sensors;
172 new_sensors = (active & ~mask) | (sensors & mask);
173 changed = active ^ new_sensors;
174
175 if (!changed)
176 return 0;
177
178 snprintf(command, sizeof command, "set:%s:%d",
179 _sensorIdToName(handle), enabled != 0);
180
181 if (ctl->fd < 0) {
182 ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
183 }
184
185 ret = qemud_channel_send(ctl->fd, command, -1);
186 if (ret < 0) {
187 E("%s: when sending command errno=%d: %s", __FUNCTION__, errno, strerror(errno));
188 return -1;
189 }
190 ctl->active_sensors = new_sensors;
191
192 return 0;
193 }
194
195 static int
control__set_delay(struct sensors_poll_device_t * dev,int32_t ms)196 control__set_delay(struct sensors_poll_device_t *dev, int32_t ms)
197 {
198 SensorPoll* ctl = (void*)dev;
199 char command[128];
200
201 D("%s: dev=%p delay-ms=%d", __FUNCTION__, dev, ms);
202
203 snprintf(command, sizeof command, "set-delay:%d", ms);
204
205 return qemud_channel_send(ctl->fd, command, -1);
206 }
207
208 static int
control__close(struct hw_device_t * dev)209 control__close(struct hw_device_t *dev)
210 {
211 SensorPoll* ctl = (void*)dev;
212 close(ctl->fd);
213 free(ctl);
214 return 0;
215 }
216
217 /* return the current time in nanoseconds */
218 static int64_t
data__now_ns(void)219 data__now_ns(void)
220 {
221 struct timespec ts;
222
223 clock_gettime(CLOCK_MONOTONIC, &ts);
224
225 return (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec;
226 }
227
228 static int
data__data_open(struct sensors_poll_device_t * dev,native_handle_t * handle)229 data__data_open(struct sensors_poll_device_t *dev, native_handle_t* handle)
230 {
231 SensorPoll* data = (void*)dev;
232 int i;
233 D("%s: dev=%p fd=%d", __FUNCTION__, dev, handle->data[0]);
234 memset(&data->sensors, 0, sizeof(data->sensors));
235
236 for (i=0 ; i<MAX_NUM_SENSORS ; i++) {
237 data->sensors[i].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
238 }
239 data->pendingSensors = 0;
240 data->timeStart = 0;
241 data->timeOffset = 0;
242
243 data->events_fd = dup(handle->data[0]);
244 D("%s: dev=%p fd=%d (was %d)", __FUNCTION__, dev, data->events_fd, handle->data[0]);
245 native_handle_close(handle);
246 native_handle_delete(handle);
247 return 0;
248 }
249
250 static int
data__data_close(struct sensors_poll_device_t * dev)251 data__data_close(struct sensors_poll_device_t *dev)
252 {
253 SensorPoll* data = (void*)dev;
254 D("%s: dev=%p", __FUNCTION__, dev);
255 if (data->events_fd >= 0) {
256 close(data->events_fd);
257 data->events_fd = -1;
258 }
259 return 0;
260 }
261
262 static int
pick_sensor(SensorPoll * data,sensors_event_t * values)263 pick_sensor(SensorPoll* data,
264 sensors_event_t* values)
265 {
266 uint32_t mask = SUPPORTED_SENSORS;
267 while (mask) {
268 uint32_t i = 31 - __builtin_clz(mask);
269 mask &= ~(1<<i);
270 if (data->pendingSensors & (1<<i)) {
271 data->pendingSensors &= ~(1<<i);
272 *values = data->sensors[i];
273 values->sensor = i;
274 values->version = sizeof(*values);
275
276 D("%s: %d [%f, %f, %f]", __FUNCTION__,
277 i,
278 values->data[0],
279 values->data[1],
280 values->data[2]);
281 return i;
282 }
283 }
284 LOGE("No sensor to return!!! pendingSensors=%08x", data->pendingSensors);
285 // we may end-up in a busy loop, slow things down, just in case.
286 usleep(100000);
287 return -EINVAL;
288 }
289
290 static int
data__poll(struct sensors_poll_device_t * dev,sensors_event_t * values)291 data__poll(struct sensors_poll_device_t *dev, sensors_event_t* values)
292 {
293 SensorPoll* data = (void*)dev;
294 int fd = data->events_fd;
295
296 D("%s: data=%p", __FUNCTION__, dev);
297
298 // there are pending sensors, returns them now...
299 if (data->pendingSensors) {
300 return pick_sensor(data, values);
301 }
302
303 // wait until we get a complete event for an enabled sensor
304 uint32_t new_sensors = 0;
305
306 while (1) {
307 /* read the next event */
308 char buff[256];
309 int len = qemud_channel_recv(data->events_fd, buff, sizeof buff-1);
310 float params[3];
311 int64_t event_time;
312
313 if (len < 0) {
314 E("%s: len=%d, errno=%d: %s", __FUNCTION__, len, errno, strerror(errno));
315 return -errno;
316 }
317
318 buff[len] = 0;
319
320 /* "wake" is sent from the emulator to exit this loop. */
321 if (!strcmp((const char*)data, "wake")) {
322 return 0x7FFFFFFF;
323 }
324
325 /* "acceleration:<x>:<y>:<z>" corresponds to an acceleration event */
326 if (sscanf(buff, "acceleration:%g:%g:%g", params+0, params+1, params+2) == 3) {
327 new_sensors |= SENSORS_ACCELERATION;
328 data->sensors[ID_ACCELERATION].acceleration.x = params[0];
329 data->sensors[ID_ACCELERATION].acceleration.y = params[1];
330 data->sensors[ID_ACCELERATION].acceleration.z = params[2];
331 continue;
332 }
333
334 /* "orientation:<azimuth>:<pitch>:<roll>" is sent when orientation changes */
335 if (sscanf(buff, "orientation:%g:%g:%g", params+0, params+1, params+2) == 3) {
336 new_sensors |= SENSORS_ORIENTATION;
337 data->sensors[ID_ORIENTATION].orientation.azimuth = params[0];
338 data->sensors[ID_ORIENTATION].orientation.pitch = params[1];
339 data->sensors[ID_ORIENTATION].orientation.roll = params[2];
340 continue;
341 }
342
343 /* "magnetic-field:<x>:<y>:<z>" is sent for the params of the magnetic field */
344 if (sscanf(buff, "magnetic-field:%g:%g:%g", params+0, params+1, params+2) == 3) {
345 new_sensors |= SENSORS_MAGNETIC_FIELD;
346 data->sensors[ID_MAGNETIC_FIELD].magnetic.x = params[0];
347 data->sensors[ID_MAGNETIC_FIELD].magnetic.y = params[1];
348 data->sensors[ID_MAGNETIC_FIELD].magnetic.z = params[2];
349 continue;
350 }
351
352 /* "temperature:<celsius>" */
353 if (sscanf(buff, "temperature:%g", params+0) == 2) {
354 new_sensors |= SENSORS_TEMPERATURE;
355 data->sensors[ID_TEMPERATURE].temperature = params[0];
356 continue;
357 }
358
359 /* "proximity:<value>" */
360 if (sscanf(buff, "proximity:%g", params+0) == 1) {
361 new_sensors |= SENSORS_PROXIMITY;
362 data->sensors[ID_PROXIMITY].distance = params[0];
363 continue;
364 }
365
366 /* "sync:<time>" is sent after a series of sensor events.
367 * where 'time' is expressed in micro-seconds and corresponds
368 * to the VM time when the real poll occured.
369 */
370 if (sscanf(buff, "sync:%lld", &event_time) == 1) {
371 if (new_sensors) {
372 data->pendingSensors = new_sensors;
373 int64_t t = event_time * 1000LL; /* convert to nano-seconds */
374
375 /* use the time at the first sync: as the base for later
376 * time values */
377 if (data->timeStart == 0) {
378 data->timeStart = data__now_ns();
379 data->timeOffset = data->timeStart - t;
380 }
381 t += data->timeOffset;
382
383 while (new_sensors) {
384 uint32_t i = 31 - __builtin_clz(new_sensors);
385 new_sensors &= ~(1<<i);
386 data->sensors[i].timestamp = t;
387 }
388 return pick_sensor(data, values);
389 } else {
390 D("huh ? sync without any sensor data ?");
391 }
392 continue;
393 }
394 D("huh ? unsupported command");
395 }
396 return -1;
397 }
398
399 static int
data__close(struct hw_device_t * dev)400 data__close(struct hw_device_t *dev)
401 {
402 SensorPoll* data = (SensorPoll*)dev;
403 if (data) {
404 if (data->events_fd >= 0) {
405 //LOGD("(device close) about to close fd=%d", data->events_fd);
406 close(data->events_fd);
407 }
408 free(data);
409 }
410 return 0;
411 }
412
413 /** SENSORS POLL DEVICE FUNCTIONS **/
414
poll__close(struct hw_device_t * dev)415 static int poll__close(struct hw_device_t* dev)
416 {
417 SensorPoll* ctl = (void*)dev;
418 close(ctl->fd);
419 if (ctl->fd >= 0) {
420 close(ctl->fd);
421 }
422 if (ctl->events_fd >= 0) {
423 close(ctl->events_fd);
424 }
425 free(ctl);
426 return 0;
427 }
428
poll__poll(struct sensors_poll_device_t * dev,sensors_event_t * data,int count)429 static int poll__poll(struct sensors_poll_device_t *dev,
430 sensors_event_t* data, int count)
431 {
432 SensorPoll* datadev = (void*)dev;
433 int ret;
434 int i;
435 D("%s: dev=%p data=%p count=%d ", __FUNCTION__, dev, data, count);
436
437 for (i = 0; i < count; i++) {
438 ret = data__poll(dev, data);
439 data++;
440 if (ret > MAX_NUM_SENSORS || ret < 0) {
441 return i;
442 }
443 if (!datadev->pendingSensors) {
444 return i + 1;
445 }
446 }
447 return count;
448 }
449
poll__activate(struct sensors_poll_device_t * dev,int handle,int enabled)450 static int poll__activate(struct sensors_poll_device_t *dev,
451 int handle, int enabled)
452 {
453 int ret;
454 native_handle_t* hdl;
455 SensorPoll* ctl = (void*)dev;
456 D("%s: dev=%p handle=%x enable=%d ", __FUNCTION__, dev, handle, enabled);
457 if (ctl->fd < 0) {
458 D("%s: OPEN CTRL and DATA ", __FUNCTION__);
459 hdl = control__open_data_source(dev);
460 ret = data__data_open(dev,hdl);
461 }
462 ret = control__activate(dev, handle, enabled);
463 return ret;
464 }
465
poll__setDelay(struct sensors_poll_device_t * dev,int handle,int64_t ns)466 static int poll__setDelay(struct sensors_poll_device_t *dev,
467 int handle, int64_t ns)
468 {
469 // TODO
470 return 0;
471 }
472
473 /** MODULE REGISTRATION SUPPORT
474 **
475 ** This is required so that hardware/libhardware/hardware.c
476 ** will dlopen() this library appropriately.
477 **/
478
479 /*
480 * the following is the list of all supported sensors.
481 * this table is used to build sSensorList declared below
482 * according to which hardware sensors are reported as
483 * available from the emulator (see get_sensors_list below)
484 *
485 * note: numerical values for maxRange/resolution/power were
486 * taken from the reference AK8976A implementation
487 */
488 static const struct sensor_t sSensorListInit[] = {
489 { .name = "Goldfish 3-axis Accelerometer",
490 .vendor = "The Android Open Source Project",
491 .version = 1,
492 .handle = ID_ACCELERATION,
493 .type = SENSOR_TYPE_ACCELEROMETER,
494 .maxRange = 2.8f,
495 .resolution = 1.0f/4032.0f,
496 .power = 3.0f,
497 .reserved = {}
498 },
499
500 { .name = "Goldfish 3-axis Magnetic field sensor",
501 .vendor = "The Android Open Source Project",
502 .version = 1,
503 .handle = ID_MAGNETIC_FIELD,
504 .type = SENSOR_TYPE_MAGNETIC_FIELD,
505 .maxRange = 2000.0f,
506 .resolution = 1.0f,
507 .power = 6.7f,
508 .reserved = {}
509 },
510
511 { .name = "Goldfish Orientation sensor",
512 .vendor = "The Android Open Source Project",
513 .version = 1,
514 .handle = ID_ORIENTATION,
515 .type = SENSOR_TYPE_ORIENTATION,
516 .maxRange = 360.0f,
517 .resolution = 1.0f,
518 .power = 9.7f,
519 .reserved = {}
520 },
521
522 { .name = "Goldfish Temperature sensor",
523 .vendor = "The Android Open Source Project",
524 .version = 1,
525 .handle = ID_TEMPERATURE,
526 .type = SENSOR_TYPE_TEMPERATURE,
527 .maxRange = 80.0f,
528 .resolution = 1.0f,
529 .power = 0.0f,
530 .reserved = {}
531 },
532
533 { .name = "Goldfish Proximity sensor",
534 .vendor = "The Android Open Source Project",
535 .version = 1,
536 .handle = ID_PROXIMITY,
537 .type = SENSOR_TYPE_PROXIMITY,
538 .maxRange = 1.0f,
539 .resolution = 1.0f,
540 .power = 20.0f,
541 .reserved = {}
542 },
543 };
544
545 static struct sensor_t sSensorList[MAX_NUM_SENSORS];
546
sensors__get_sensors_list(struct sensors_module_t * module,struct sensor_t const ** list)547 static int sensors__get_sensors_list(struct sensors_module_t* module,
548 struct sensor_t const** list)
549 {
550 int fd = qemud_channel_open(SENSORS_SERVICE_NAME);
551 char buffer[12];
552 int mask, nn, count;
553
554 int ret;
555 if (fd < 0) {
556 E("%s: no qemud connection", __FUNCTION__);
557 return 0;
558 }
559 ret = qemud_channel_send(fd, "list-sensors", -1);
560 if (ret < 0) {
561 E("%s: could not query sensor list: %s", __FUNCTION__,
562 strerror(errno));
563 close(fd);
564 return 0;
565 }
566 ret = qemud_channel_recv(fd, buffer, sizeof buffer-1);
567 if (ret < 0) {
568 E("%s: could not receive sensor list: %s", __FUNCTION__,
569 strerror(errno));
570 close(fd);
571 return 0;
572 }
573 buffer[ret] = 0;
574 close(fd);
575
576 /* the result is a integer used as a mask for available sensors */
577 mask = atoi(buffer);
578 count = 0;
579 for (nn = 0; nn < MAX_NUM_SENSORS; nn++) {
580 if (((1 << nn) & mask) == 0)
581 continue;
582
583 sSensorList[count++] = sSensorListInit[nn];
584 }
585 D("%s: returned %d sensors (mask=%d)", __FUNCTION__, count, mask);
586 *list = sSensorList;
587 return count;
588 }
589
590
591 static int
open_sensors(const struct hw_module_t * module,const char * name,struct hw_device_t ** device)592 open_sensors(const struct hw_module_t* module,
593 const char* name,
594 struct hw_device_t* *device)
595 {
596 int status = -EINVAL;
597
598 D("%s: name=%s", __FUNCTION__, name);
599
600 if (!strcmp(name, SENSORS_HARDWARE_POLL)) {
601 SensorPoll *dev = malloc(sizeof(*dev));
602
603 memset(dev, 0, sizeof(*dev));
604
605 dev->device.common.tag = HARDWARE_DEVICE_TAG;
606 dev->device.common.version = 0;
607 dev->device.common.module = (struct hw_module_t*) module;
608 dev->device.common.close = poll__close;
609 dev->device.poll = poll__poll;
610 dev->device.activate = poll__activate;
611 dev->device.setDelay = poll__setDelay;
612 dev->events_fd = -1;
613 dev->fd = -1;
614
615 *device = &dev->device.common;
616 status = 0;
617 }
618 return status;
619 }
620
621
622 static struct hw_module_methods_t sensors_module_methods = {
623 .open = open_sensors
624 };
625
626 const struct sensors_module_t HAL_MODULE_INFO_SYM = {
627 .common = {
628 .tag = HARDWARE_MODULE_TAG,
629 .version_major = 1,
630 .version_minor = 0,
631 .id = SENSORS_HARDWARE_MODULE_ID,
632 .name = "Goldfish SENSORS Module",
633 .author = "The Android Open Source Project",
634 .methods = &sensors_module_methods,
635 },
636 .get_sensors_list = sensors__get_sensors_list
637 };
638