diff options
author | Aaron Whyte <awhyte@google.com> | 2013-10-22 17:17:17 -0700 |
---|---|---|
committer | Mike Lockwood <lockwood@google.com> | 2013-11-14 11:24:15 -0800 |
commit | ab6ec384c456022f37a9c6183d3afbcefcb436a9 (patch) | |
tree | 2efe5a0ba86680b7a168e834cc05fa94d1f97d20 /modules/sensors | |
parent | 079083281e2a9e479b09ae3fc4d2dc5c738e3d31 (diff) | |
download | hardware_libhardware-ab6ec384c456022f37a9c6183d3afbcefcb436a9.zip hardware_libhardware-ab6ec384c456022f37a9c6183d3afbcefcb436a9.tar.gz hardware_libhardware-ab6ec384c456022f37a9c6183d3afbcefcb436a9.tar.bz2 |
Added a SensorEventQueue, a circular buffer meant for reading with one thread
and polling a subhal with another. The writing thread gets access to pointers
in the internal buffer. This design avoids a memcpy on write when the multihal
fetches subhal events using poll().
Unit-tests include multithreaded reading and writing lots of events, in
random-sized chunks.
This is not used by the multihal yet. That will be a different CL.
Change-Id: I58418d69eebebeb96befb08ba3aed080f0f08551
Diffstat (limited to 'modules/sensors')
-rw-r--r-- | modules/sensors/Android.mk | 18 | ||||
-rw-r--r-- | modules/sensors/SensorEventQueue.cpp | 110 | ||||
-rw-r--r-- | modules/sensors/SensorEventQueue.h | 78 | ||||
-rw-r--r-- | modules/sensors/tests/Android.mk | 17 | ||||
-rw-r--r-- | modules/sensors/tests/SensorEventQueue_test.cpp | 173 |
5 files changed, 389 insertions, 7 deletions
diff --git a/modules/sensors/Android.mk b/modules/sensors/Android.mk index 6298ca0..5b787d4 100644 --- a/modules/sensors/Android.mk +++ b/modules/sensors/Android.mk @@ -14,10 +14,10 @@ # limitations under the License. # -ifeq ($(USE_SENSOR_MULTI_HAL),true) - LOCAL_PATH := $(call my-dir) +ifeq ($(USE_SENSOR_MULTI_HAL),true) + include $(CLEAR_VARS) LOCAL_MODULE := sensors.$(TARGET_DEVICE) @@ -25,24 +25,28 @@ LOCAL_MODULE := sensors.$(TARGET_DEVICE) LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw LOCAL_CFLAGS := -DLOG_TAG=\"MultiHal\" -LOCAL_SRC_FILES := multihal.cpp + +LOCAL_SRC_FILES := \ + multihal.cpp \ + SensorEventQueue.h \ + SensorEventQueue.cpp \ LOCAL_SHARED_LIBRARIES := \ - liblog \ libcutils \ libdl \ + liblog \ libstlport \ libutils \ - libcutils \ - liblog \ LOCAL_PRELINK_MODULE := false LOCAL_STRIP_MODULE := false LOCAL_C_INCLUDES := \ external/stlport/stlport \ - bionic / + bionic \ include $(BUILD_SHARED_LIBRARY) endif # USE_SENSOR_MULTI_HAL + +include $(call all-subdir-makefiles) diff --git a/modules/sensors/SensorEventQueue.cpp b/modules/sensors/SensorEventQueue.cpp new file mode 100644 index 0000000..c139944 --- /dev/null +++ b/modules/sensors/SensorEventQueue.cpp @@ -0,0 +1,110 @@ +/* + * Copyright (C) 2013 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 <hardware/sensors.h> +#include <algorithm> +#include <pthread.h> + +#include <linux/input.h> +#include <cutils/atomic.h> +#include <cutils/log.h> + +#include "SensorEventQueue.h" + +SensorEventQueue::SensorEventQueue(int capacity) { + mCapacity = capacity; + mStart = 0; + mSize = 0; + mData = new sensors_event_t[mCapacity]; + pthread_cond_init(&mDataAvailableCondition, NULL); + pthread_cond_init(&mSpaceAvailableCondition, NULL); + pthread_mutex_init(&mMutex, NULL); +} + +SensorEventQueue::~SensorEventQueue() { + delete[] mData; + mData = NULL; + pthread_cond_destroy(&mDataAvailableCondition); + pthread_cond_destroy(&mSpaceAvailableCondition); + pthread_mutex_destroy(&mMutex); +} + +void SensorEventQueue::lock() { + pthread_mutex_lock(&mMutex); +} + +void SensorEventQueue::unlock() { + pthread_mutex_unlock(&mMutex); +} + +void SensorEventQueue::waitForSpaceAndLock() { + lock(); + while (mSize >= mCapacity) { + pthread_cond_wait(&mSpaceAvailableCondition, &mMutex); + } +} + +void SensorEventQueue::waitForDataAndLock() { + lock(); + while (mSize <= 0) { + pthread_cond_wait(&mDataAvailableCondition, &mMutex); + } +} + +int SensorEventQueue::getWritableRegion(int requestedLength, sensors_event_t** out) { + if (mSize >= mCapacity || requestedLength <= 0) { + *out = NULL; + return 0; + } + // Start writing after the last readable record. + int firstWritable = (mStart + mSize) % mCapacity; + + int lastWritable = firstWritable + requestedLength - 1; + + // Don't go past the end of the data array. + if (lastWritable > mCapacity - 1) { + lastWritable = mCapacity - 1; + } + // Don't go into the readable region. + if (firstWritable < mStart && lastWritable >= mStart) { + lastWritable = mStart - 1; + } + *out = &mData[firstWritable]; + return lastWritable - firstWritable + 1; +} + +void SensorEventQueue::markAsWritten(int count) { + mSize += count; + if (mSize) { + pthread_cond_broadcast(&mDataAvailableCondition); + } +} + +int SensorEventQueue::getSize() { + return mSize; +} + +sensors_event_t* SensorEventQueue::peek() { + if (mSize <= 0) return NULL; + return &mData[mStart]; +} + +void SensorEventQueue::dequeue() { + if (mSize <= 0) return; + mSize--; + mStart = (mStart + 1) % mCapacity; + pthread_cond_broadcast(&mSpaceAvailableCondition); +} diff --git a/modules/sensors/SensorEventQueue.h b/modules/sensors/SensorEventQueue.h new file mode 100644 index 0000000..fd833fa --- /dev/null +++ b/modules/sensors/SensorEventQueue.h @@ -0,0 +1,78 @@ +/* + * Copyright (C) 2013 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 SENSOREVENTQUEUE_H_ +#define SENSOREVENTQUEUE_H_ + +#include <hardware/sensors.h> +#include <pthread.h> + +/* + * Fixed-size circular queue, with an API developed around the sensor HAL poll() method. + * Poll() takes a pointer to a buffer, which is written by poll() before it returns. + * This class can provide a pointer to a spot in its internal buffer for poll() to + * write to, instead of using an intermediate buffer and a memcpy. + * + * Thread safety: + * Reading can be done safely after grabbing the mutex lock, while poll() writing in a separate + * thread without a mutex lock. But there can only be one writer at a time. + */ +class SensorEventQueue { + int mCapacity; + int mStart; // start of readable region + int mSize; // number of readable items + sensors_event_t* mData; + pthread_cond_t mDataAvailableCondition; + pthread_cond_t mSpaceAvailableCondition; + pthread_mutex_t mMutex; + +public: + SensorEventQueue(int capacity); + ~SensorEventQueue(); + void lock(); + void unlock(); + void waitForSpaceAndLock(); + void waitForDataAndLock(); + + // Returns length of region, between zero and min(capacity, requestedLength). If there is any + // writable space, it will return a region of at least one. Because it must return + // a pointer to a contiguous region, it may return smaller regions as we approach the end of + // the data array. + // Only call while holding the lock. + // The region is not marked internally in any way. Subsequent calls may return overlapping + // regions. This class expects there to be exactly one writer at a time. + int getWritableRegion(int requestedLength, sensors_event_t** out); + + // After writing to the region returned by getWritableRegion(), call this to indicate how + // many records were actually written. + // This increases size() by count. + // Only call while holding the lock. + void markAsWritten(int count); + + // Gets the number of readable records. + // Only call while holding the lock. + int getSize(); + + // Returns pointer to the first readable record, or NULL if size() is zero. + // Only call this while holding the lock. + sensors_event_t* peek(); + + // This will decrease the size by one, freeing up the oldest readable event's slot for writing. + // Only call while holding the lock. + void dequeue(); +}; + +#endif // SENSOREVENTQUEUE_H_ diff --git a/modules/sensors/tests/Android.mk b/modules/sensors/tests/Android.mk new file mode 100644 index 0000000..010bb90 --- /dev/null +++ b/modules/sensors/tests/Android.mk @@ -0,0 +1,17 @@ +LOCAL_PATH := $(call my-dir) + +include $(CLEAR_VARS) + +LOCAL_SRC_FILES := \ + SensorEventQueue_test.cpp + +#LOCAL_CFLAGS := -g +LOCAL_MODULE := sensorstests + +LOCAL_STATIC_LIBRARIES := libcutils libutils + +LOCAL_C_INCLUDES := $(LOCAL_PATH)/.. bionic + +LOCAL_LDLIBS += -lpthread + +include $(BUILD_HOST_EXECUTABLE) diff --git a/modules/sensors/tests/SensorEventQueue_test.cpp b/modules/sensors/tests/SensorEventQueue_test.cpp new file mode 100644 index 0000000..3b89964 --- /dev/null +++ b/modules/sensors/tests/SensorEventQueue_test.cpp @@ -0,0 +1,173 @@ +#include <stdio.h> +#include <stdlib.h> +#include <hardware/sensors.h> +#include <pthread.h> +#include "SensorEventQueue.cpp" + +// Unit tests for the SensorEventQueue. + +// Run it like this: +// +// make sensorstests -j32 && \ +// out/host/linux-x86/obj/EXECUTABLES/sensorstests_intermediates/sensorstests + +bool checkWritableBufferSize(SensorEventQueue* queue, int requested, int expected) { + sensors_event_t* buffer; + int actual = queue->getWritableRegion(requested, &buffer); + if (actual != expected) { + printf("Expected buffer size was %d; actual was %d\n", expected, actual); + return false; + } + return true; +} + +bool checkSize(SensorEventQueue* queue, int expected) { + int actual = queue->getSize(); + if (actual != expected) { + printf("Expected queue size was %d; actual was %d", expected, actual); + return false; + } + return true; +} + +bool testSimpleWriteSizeCounts() { + printf("TEST testSimpleWriteSizeCounts\n"); + SensorEventQueue* queue = new SensorEventQueue(10); + if (!checkSize(queue, 0)) return false; + if (!checkWritableBufferSize(queue, 11, 10)) return false; + if (!checkWritableBufferSize(queue, 10, 10)) return false; + if (!checkWritableBufferSize(queue, 9, 9)) return false; + + queue->markAsWritten(7); + if (!checkSize(queue, 7)) return false; + if (!checkWritableBufferSize(queue, 4, 3)) return false; + if (!checkWritableBufferSize(queue, 3, 3)) return false; + if (!checkWritableBufferSize(queue, 2, 2)) return false; + + queue->markAsWritten(3); + if (!checkSize(queue, 10)) return false; + if (!checkWritableBufferSize(queue, 1, 0)) return false; + + printf("passed\n"); + return true; +} + +bool testWrappingWriteSizeCounts() { + printf("TEST testWrappingWriteSizeCounts\n"); + SensorEventQueue* queue = new SensorEventQueue(10); + queue->markAsWritten(9); + if (!checkSize(queue, 9)) return false; + + // dequeue from the front + queue->dequeue(); + queue->dequeue(); + if (!checkSize(queue, 7)) return false; + if (!checkWritableBufferSize(queue, 100, 1)) return false; + + // Write all the way to the end. + queue->markAsWritten(1); + if (!checkSize(queue, 8)) return false; + // Now the two free spots in the front are available. + if (!checkWritableBufferSize(queue, 100, 2)) return false; + + // Fill the queue again + queue->markAsWritten(2); + if (!checkSize(queue, 10)) return false; + + printf("passed\n"); + return true; +} + +static const int TTOQ_EVENT_COUNT = 10000; + +struct TaskContext { + bool success; + SensorEventQueue* queue; +}; + +void* writerTask(void* ptr) { + printf("writerTask starts\n"); + TaskContext* ctx = (TaskContext*)ptr; + SensorEventQueue* queue = ctx->queue; + int totalWrites = 0; + sensors_event_t* buffer; + while (totalWrites < TTOQ_EVENT_COUNT) { + queue->waitForSpaceAndLock(); + int writableSize = queue->getWritableRegion(rand() % 10 + 1, &buffer); + queue->unlock(); + for (int i = 0; i < writableSize; i++) { + // serialize the events + buffer[i].timestamp = totalWrites++; + } + queue->lock(); + queue->markAsWritten(writableSize); + queue->unlock(); + } + printf("writerTask ends normally\n"); + return NULL; +} + +void* readerTask(void* ptr) { + printf("readerTask starts\n"); + TaskContext* ctx = (TaskContext*)ptr; + SensorEventQueue* queue = ctx->queue; + int totalReads = 0; + while (totalReads < TTOQ_EVENT_COUNT) { + queue->waitForDataAndLock(); + int maxReads = rand() % 20 + 1; + int reads = 0; + while (queue->getSize() && reads < maxReads) { + sensors_event_t* event = queue->peek(); + if (totalReads != event->timestamp) { + printf("FAILURE: readerTask expected timestamp %d; actual was %d\n", + totalReads, (int)(event->timestamp)); + ctx->success = false; + return NULL; + } + queue->dequeue(); + totalReads++; + reads++; + } + queue->unlock(); + } + printf("readerTask ends normally\n"); + return NULL; +} + + +// Create a short queue, and write and read a ton of data through it. +// Write serial timestamps into the events, and expect to read them in the right order. +bool testTwoThreadsOneQueue() { + printf("TEST testTwoThreadsOneQueue\n"); + SensorEventQueue* queue = new SensorEventQueue(100); + + TaskContext readerCtx; + readerCtx.success = true; + readerCtx.queue = queue; + + TaskContext writerCtx; + writerCtx.success = true; + writerCtx.queue = queue; + + pthread_t writer, reader; + pthread_create(&reader, NULL, readerTask, &readerCtx); + pthread_create(&writer, NULL, writerTask, &writerCtx); + + pthread_join(writer, NULL); + pthread_join(reader, NULL); + + printf("testTwoThreadsOneQueue done\n"); + return readerCtx.success && writerCtx.success; +} + + +int main(int argc, char **argv) { + if (testSimpleWriteSizeCounts() && + testWrappingWriteSizeCounts() && + testTwoThreadsOneQueue()) { + printf("ALL PASSED\n"); + } else { + printf("SOMETHING FAILED\n"); + } + return EXIT_SUCCESS; +} |