diff options
| -rw-r--r-- | modules/Android.mk | 2 | ||||
| -rw-r--r-- | modules/sensors/Android.mk | 52 | ||||
| -rw-r--r-- | modules/sensors/SensorEventQueue.cpp | 91 | ||||
| -rw-r--r-- | modules/sensors/SensorEventQueue.h | 76 | ||||
| -rw-r--r-- | modules/sensors/multihal.cpp | 586 | ||||
| -rw-r--r-- | modules/sensors/tests/Android.mk | 17 | ||||
| -rw-r--r-- | modules/sensors/tests/SensorEventQueue_test.cpp | 199 |
7 files changed, 1022 insertions, 1 deletions
diff --git a/modules/Android.mk b/modules/Android.mk index b2d5a2a..1935b11 100644 --- a/modules/Android.mk +++ b/modules/Android.mk @@ -1,3 +1,3 @@ hardware_modules := gralloc hwcomposer audio nfc nfc-nci local_time \ - power usbaudio audio_remote_submix camera consumerir + power usbaudio audio_remote_submix camera consumerir sensors include $(call all-named-subdir-makefiles,$(hardware_modules)) diff --git a/modules/sensors/Android.mk b/modules/sensors/Android.mk new file mode 100644 index 0000000..5b787d4 --- /dev/null +++ b/modules/sensors/Android.mk @@ -0,0 +1,52 @@ +# +# 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. +# + +LOCAL_PATH := $(call my-dir) + +ifeq ($(USE_SENSOR_MULTI_HAL),true) + +include $(CLEAR_VARS) + +LOCAL_MODULE := sensors.$(TARGET_DEVICE) + +LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw + +LOCAL_CFLAGS := -DLOG_TAG=\"MultiHal\" + +LOCAL_SRC_FILES := \ + multihal.cpp \ + SensorEventQueue.h \ + SensorEventQueue.cpp \ + +LOCAL_SHARED_LIBRARIES := \ + libcutils \ + libdl \ + liblog \ + libstlport \ + libutils \ + +LOCAL_PRELINK_MODULE := false +LOCAL_STRIP_MODULE := false + +LOCAL_C_INCLUDES := \ + external/stlport/stlport \ + 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..f6144f8 --- /dev/null +++ b/modules/sensors/SensorEventQueue.cpp @@ -0,0 +1,91 @@ +/* + * 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 <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(&mSpaceAvailableCondition, NULL); +} + +SensorEventQueue::~SensorEventQueue() { + delete[] mData; + mData = NULL; + pthread_cond_destroy(&mSpaceAvailableCondition); +} + +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; +} + +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; + if (mSize == mCapacity) { + pthread_cond_broadcast(&mSpaceAvailableCondition); + } + mSize--; + mStart = (mStart + 1) % mCapacity; +} + +// returns true if it waited, or false if it was a no-op. +bool SensorEventQueue::waitForSpace(pthread_mutex_t* mutex) { + bool waited = false; + while (mSize == mCapacity) { + waited = true; + pthread_cond_wait(&mSpaceAvailableCondition, mutex); + } + return waited; +} diff --git a/modules/sensors/SensorEventQueue.h b/modules/sensors/SensorEventQueue.h new file mode 100644 index 0000000..11e1f41 --- /dev/null +++ b/modules/sensors/SensorEventQueue.h @@ -0,0 +1,76 @@ +/* + * 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 mSpaceAvailableCondition; + +public: + SensorEventQueue(int capacity); + ~SensorEventQueue(); + + // 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(); + + // Blocks until space is available. No-op if there is already space. + // Returns true if it had to wait. + bool waitForSpace(pthread_mutex_t* mutex); +}; + +#endif // SENSOREVENTQUEUE_H_ diff --git a/modules/sensors/multihal.cpp b/modules/sensors/multihal.cpp new file mode 100644 index 0000000..a145c37 --- /dev/null +++ b/modules/sensors/multihal.cpp @@ -0,0 +1,586 @@ +/* + * 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 <fcntl.h> +#include <errno.h> +#include <dirent.h> +#include <math.h> +#include <poll.h> +#include <pthread.h> +#include <cutils/atomic.h> + +#define LOG_NDEBUG 1 +#include <cutils/log.h> + +#include <vector> +#include <map> + +#include <stdio.h> +#include <dlfcn.h> +#include <SensorEventQueue.h> + + +static const char* CONFIG_FILENAME = "/system/etc/sensors/hals.conf"; +static const char* LEGAL_SUBHAL_PATH_PREFIX = "/system/lib/hw/"; +static const int MAX_CONF_LINE_LENGTH = 1024; + +static pthread_mutex_t init_modules_mutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t init_sensors_mutex = PTHREAD_MUTEX_INITIALIZER; + +// This mutex is shared by all queues +static pthread_mutex_t queue_mutex = PTHREAD_MUTEX_INITIALIZER; + +// Used to pause the multihal poll(). Broadcasted by sub-polling tasks if waiting_for_data. +static pthread_cond_t data_available_cond = PTHREAD_COND_INITIALIZER; +bool waiting_for_data = false; + +/* + * Vector of sub modules, whose indexes are referred to ni this file as module_index. + */ +static std::vector<hw_module_t *> *sub_hw_modules = NULL; + +/* + * Comparable class that globally identifies a sensor, by module index and local handle. + * A module index is the module's index in sub_hw_modules. + * A local handle is the handle the sub-module assigns to a sensor. + */ +struct FullHandle { + int moduleIndex; + int localHandle; + + bool operator<(const FullHandle &that) const { + if (moduleIndex < that.moduleIndex) { + return true; + } + if (moduleIndex > that.moduleIndex) { + return false; + } + return localHandle < that.localHandle; + } + + bool operator==(const FullHandle &that) const { + return moduleIndex == that.moduleIndex && localHandle == that.localHandle; + } +}; + +std::map<int, FullHandle> global_to_full; +std::map<FullHandle, int> full_to_global; +int next_global_handle = 1; + +static int assign_global_handle(int module_index, int local_handle) { + int global_handle = next_global_handle++; + FullHandle full_handle; + full_handle.moduleIndex = module_index; + full_handle.localHandle = local_handle; + full_to_global[full_handle] = global_handle; + global_to_full[global_handle] = full_handle; + return global_handle; +} + +static int get_local_handle(int global_handle) { + return global_to_full[global_handle].localHandle; +} + +static int get_module_index(int global_handle) { + FullHandle f = global_to_full[global_handle]; + ALOGV("FullHandle for global_handle %d: moduleIndex %d, localHandle %d", + global_handle, f.moduleIndex, f.localHandle); + return f.moduleIndex; +} + +static const int SENSOR_EVENT_QUEUE_CAPACITY = 20; + +struct TaskContext { + sensors_poll_device_t* device; + SensorEventQueue* queue; +}; + +void *writerTask(void* ptr) { + ALOGV("writerTask STARTS"); + TaskContext* ctx = (TaskContext*)ptr; + sensors_poll_device_t* device = ctx->device; + SensorEventQueue* queue = ctx->queue; + sensors_event_t* buffer; + int eventsPolled; + while (1) { + pthread_mutex_lock(&queue_mutex); + if (queue->waitForSpace(&queue_mutex)) { + ALOGV("writerTask waited for space"); + } + int bufferSize = queue->getWritableRegion(SENSOR_EVENT_QUEUE_CAPACITY, &buffer); + // Do blocking poll outside of lock + pthread_mutex_unlock(&queue_mutex); + + ALOGV("writerTask before poll() - bufferSize = %d", bufferSize); + eventsPolled = device->poll(device, buffer, bufferSize); + ALOGV("writerTask poll() got %d events.", eventsPolled); + if (eventsPolled == 0) { + continue; + } + pthread_mutex_lock(&queue_mutex); + queue->markAsWritten(eventsPolled); + ALOGV("writerTask wrote %d events", eventsPolled); + if (waiting_for_data) { + ALOGV("writerTask - broadcast data_available_cond"); + pthread_cond_broadcast(&data_available_cond); + } + pthread_mutex_unlock(&queue_mutex); + } + // never actually returns + return NULL; +} + +/* + * Cache of all sensors, with original handles replaced by global handles. + * This will be handled to get_sensors_list() callers. + */ +static struct sensor_t const* global_sensors_list = NULL; +static int global_sensors_count = -1; + +/* + * Extends a sensors_poll_device_1 by including all the sub-module's devices. + */ +struct sensors_poll_context_t { + /* + * This is the device that SensorDevice.cpp uses to make API calls + * to the multihal, which fans them out to sub-HALs. + */ + sensors_poll_device_1 proxy_device; // must be first + + void addSubHwDevice(struct hw_device_t*); + + int activate(int handle, int enabled); + int setDelay(int handle, int64_t ns); + int poll(sensors_event_t* data, int count); + int batch(int handle, int flags, int64_t period_ns, int64_t timeout); + int flush(int handle); + int close(); + + std::vector<hw_device_t*> sub_hw_devices; + std::vector<SensorEventQueue*> queues; + std::vector<pthread_t> threads; + int nextReadIndex; + + sensors_poll_device_t* get_v0_device_by_handle(int global_handle); + sensors_poll_device_1_t* get_v1_device_by_handle(int global_handle); + int get_device_version_by_handle(int global_handle); + + void copy_event_remap_handle(sensors_event_t* src, sensors_event_t* dest, int sub_index); +}; + +void sensors_poll_context_t::addSubHwDevice(struct hw_device_t* sub_hw_device) { + ALOGV("addSubHwDevice"); + this->sub_hw_devices.push_back(sub_hw_device); + + SensorEventQueue *queue = new SensorEventQueue(SENSOR_EVENT_QUEUE_CAPACITY); + this->queues.push_back(queue); + + TaskContext* taskContext = new TaskContext(); + taskContext->device = (sensors_poll_device_t*) sub_hw_device; + taskContext->queue = queue; + + pthread_t writerThread; + pthread_create(&writerThread, NULL, writerTask, taskContext); + this->threads.push_back(writerThread); +} + +sensors_poll_device_t* sensors_poll_context_t::get_v0_device_by_handle(int handle) { + int sub_index = get_module_index(handle); + return (sensors_poll_device_t*) this->sub_hw_devices[sub_index]; +} + +sensors_poll_device_1_t* sensors_poll_context_t::get_v1_device_by_handle(int handle) { + int sub_index = get_module_index(handle); + return (sensors_poll_device_1_t*) this->sub_hw_devices[sub_index]; +} + +int sensors_poll_context_t::get_device_version_by_handle(int handle) { + sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle); + return v0->common.version; +} + +int sensors_poll_context_t::activate(int handle, int enabled) { + ALOGV("activate"); + sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle); + int retval = v0->activate(v0, get_local_handle(handle), enabled); + ALOGV("retval %d", retval); + return retval; +} + +int sensors_poll_context_t::setDelay(int handle, int64_t ns) { + ALOGV("setDelay"); + sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle); + int retval = v0->setDelay(v0, get_local_handle(handle), ns); + ALOGV("retval %d", retval); + return retval; +} + +void sensors_poll_context_t::copy_event_remap_handle(sensors_event_t* dest, sensors_event_t* src, + int sub_index) { + memcpy(dest, src, sizeof(struct sensors_event_t)); + // A normal event's "sensor" field is a local handle. Convert it to a global handle. + // A meta-data event must have its sensor set to 0, but it has a nested event + // with a local handle that needs to be converted to a global handle. + FullHandle full_handle; + full_handle.moduleIndex = sub_index; + // If it's a metadata event, rewrite the inner payload, not the sensor field. + if (dest->type == SENSOR_TYPE_META_DATA) { + full_handle.localHandle = dest->meta_data.sensor; + dest->meta_data.sensor = full_to_global[full_handle]; + } else { + full_handle.localHandle = dest->sensor; + dest->sensor = full_to_global[full_handle]; + } +} + +int sensors_poll_context_t::poll(sensors_event_t *data, int maxReads) { + ALOGV("poll"); + int empties = 0; + int queueCount = (int)this->queues.size(); + int eventsRead = 0; + + pthread_mutex_lock(&queue_mutex); + while (eventsRead == 0) { + while (empties < queueCount && eventsRead < maxReads) { + SensorEventQueue* queue = this->queues.at(this->nextReadIndex); + sensors_event_t* event = queue->peek(); + if (event == NULL) { + empties++; + } else { + empties = 0; + this->copy_event_remap_handle(&data[eventsRead++], event, nextReadIndex); + queue->dequeue(); + } + this->nextReadIndex = (this->nextReadIndex + 1) % queueCount; + } + if (eventsRead == 0) { + // The queues have been scanned and none contain data, so wait. + ALOGV("poll stopping to wait for data"); + waiting_for_data = true; + pthread_cond_wait(&data_available_cond, &queue_mutex); + waiting_for_data = false; + empties = 0; + } + } + pthread_mutex_unlock(&queue_mutex); + ALOGV("poll returning %d events.", eventsRead); + + return eventsRead; +} + +int sensors_poll_context_t::batch(int handle, int flags, int64_t period_ns, int64_t timeout) { + ALOGV("batch"); + int retval = -EINVAL; + int version = this->get_device_version_by_handle(handle); + if (version >= SENSORS_DEVICE_API_VERSION_1_0) { + sensors_poll_device_1_t* v1 = this->get_v1_device_by_handle(handle); + retval = v1->batch(v1, get_local_handle(handle), flags, period_ns, timeout); + } + ALOGV("retval %d", retval); + return retval; +} + +int sensors_poll_context_t::flush(int handle) { + ALOGV("flush"); + int retval = -EINVAL; + int version = this->get_device_version_by_handle(handle); + if (version >= SENSORS_DEVICE_API_VERSION_1_0) { + sensors_poll_device_1_t* v1 = this->get_v1_device_by_handle(handle); + retval = v1->flush(v1, get_local_handle(handle)); + } + ALOGV("retval %d", retval); + return retval; +} + +int sensors_poll_context_t::close() { + ALOGV("close"); + for (std::vector<hw_device_t*>::iterator it = this->sub_hw_devices.begin(); + it != this->sub_hw_devices.end(); it++) { + hw_device_t* dev = *it; + int retval = dev->close(dev); + ALOGV("retval %d", retval); + } + return 0; +} + + +static int device__close(struct hw_device_t *dev) { + sensors_poll_context_t* ctx = (sensors_poll_context_t*) dev; + if (ctx != NULL) { + int retval = ctx->close(); + delete ctx; + } + return 0; +} + +static int device__activate(struct sensors_poll_device_t *dev, int handle, + int enabled) { + sensors_poll_context_t* ctx = (sensors_poll_context_t*) dev; + return ctx->activate(handle, enabled); +} + +static int device__setDelay(struct sensors_poll_device_t *dev, int handle, + int64_t ns) { + sensors_poll_context_t* ctx = (sensors_poll_context_t*) dev; + return ctx->setDelay(handle, ns); +} + +static int device__poll(struct sensors_poll_device_t *dev, sensors_event_t* data, + int count) { + sensors_poll_context_t* ctx = (sensors_poll_context_t*) dev; + return ctx->poll(data, count); +} + +static int device__batch(struct sensors_poll_device_1 *dev, int handle, + int flags, int64_t period_ns, int64_t timeout) { + sensors_poll_context_t* ctx = (sensors_poll_context_t*) dev; + return ctx->batch(handle, flags, period_ns, timeout); +} + +static int device__flush(struct sensors_poll_device_1 *dev, int handle) { + sensors_poll_context_t* ctx = (sensors_poll_context_t*) dev; + return ctx->flush(handle); +} + +static int open_sensors(const struct hw_module_t* module, const char* name, + struct hw_device_t** device); + +static bool starts_with(const char* s, const char* prefix) { + if (s == NULL || prefix == NULL) { + return false; + } + size_t s_size = strlen(s); + size_t prefix_size = strlen(prefix); + return s_size >= prefix_size && strncmp(s, prefix, prefix_size) == 0; +} + +/* + * Adds valid paths from the config file to the vector passed in. + * The vector must not be null. + */ +static void get_so_paths(std::vector<char*> *so_paths) { + FILE *conf_file = fopen(CONFIG_FILENAME, "r"); + if (conf_file == NULL) { + ALOGW("No multihal config file found at %s", CONFIG_FILENAME); + return; + } + ALOGI("Multihal config file found at %s", CONFIG_FILENAME); + char *line = NULL; + size_t len = 0; + int line_count = 0; + while (getline(&line, &len, conf_file) != -1) { + // overwrite trailing eoln with null char + char* pch = strchr(line, '\n'); + if (pch != NULL) { + *pch = '\0'; + } + ALOGV("config file line #%d: '%s'", ++line_count, line); + char *real_path = realpath(line, NULL); + if (starts_with(real_path, LEGAL_SUBHAL_PATH_PREFIX)) { + ALOGI("accepting valid path '%s'", real_path); + char* compact_line = new char[strlen(real_path) + 1]; + strcpy(compact_line, real_path); + so_paths->push_back(compact_line); + } else { + ALOGW("rejecting path '%s' because it does not start with '%s'", + real_path, LEGAL_SUBHAL_PATH_PREFIX); + } + free(real_path); + } + free(line); + fclose(conf_file); + ALOGV("hals.conf contained %d lines", line_count); +} + +/* + * Ensures that the sub-module array is initialized. + * This can be first called from get_sensors_list or from open_sensors. + */ +static void lazy_init_modules() { + pthread_mutex_lock(&init_modules_mutex); + if (sub_hw_modules != NULL) { + pthread_mutex_unlock(&init_modules_mutex); + return; + } + std::vector<char*> *so_paths = new std::vector<char*>(); + get_so_paths(so_paths); + + // dlopen the module files and cache their module symbols in sub_hw_modules + sub_hw_modules = new std::vector<hw_module_t *>(); + dlerror(); // clear any old errors + const char* sym = HAL_MODULE_INFO_SYM_AS_STR; + for (std::vector<char*>::iterator it = so_paths->begin(); it != so_paths->end(); it++) { + char* path = *it; + void* lib_handle = dlopen(path, RTLD_LAZY); + if (lib_handle == NULL) { + ALOGW("dlerror(): %s", dlerror()); + } else { + ALOGI("hal lib was loaded: %s", path); + ALOGV("Opening symbol \"%s\"", sym); + // clear old errors + dlerror(); + struct hw_module_t* module = (hw_module_t*) dlsym(lib_handle, sym); + const char* error; + if ((error = dlerror()) != NULL) { + ALOGW("Error calling dlsym: %s", error); + } else if (module == NULL) { + ALOGW("module == NULL"); + } else { + ALOGI("OK, dlsym()'ed \"%s\"", sym); + sub_hw_modules->push_back(module); + } + } + } + pthread_mutex_unlock(&init_modules_mutex); +} + +/* + * Lazy-initializes global_sensors_count, global_sensors_list, and module_sensor_handles. + */ +static void lazy_init_sensors_list() { + ALOGV("lazy_init_sensors_list"); + pthread_mutex_lock(&init_sensors_mutex); + if (global_sensors_list != NULL) { + // already initialized + pthread_mutex_unlock(&init_sensors_mutex); + ALOGV("lazy_init_sensors_list - early return"); + return; + } + + ALOGV("lazy_init_sensors_list needs to do work"); + lazy_init_modules(); + + // Count all the sensors, then allocate an array of blanks. + global_sensors_count = 0; + const struct sensor_t *subhal_sensors_list; + for (std::vector<hw_module_t*>::iterator it = sub_hw_modules->begin(); + it != sub_hw_modules->end(); it++) { + struct sensors_module_t *module = (struct sensors_module_t*) *it; + global_sensors_count += module->get_sensors_list(module, &subhal_sensors_list); + ALOGV("increased global_sensors_count to %d", global_sensors_count); + } + + // The global_sensors_list is full of consts. + // Manipulate this non-const list, and point the const one to it when we're done. + sensor_t* mutable_sensor_list = new sensor_t[global_sensors_count]; + + // index of the next sensor to set in mutable_sensor_list + int mutable_sensor_index = 0; + int module_index = 0; + + for (std::vector<hw_module_t*>::iterator it = sub_hw_modules->begin(); + it != sub_hw_modules->end(); it++) { + hw_module_t *hw_module = *it; + ALOGV("examine one module"); + // Read the sub-module's sensor list. + struct sensors_module_t *module = (struct sensors_module_t*) hw_module; + int module_sensor_count = module->get_sensors_list(module, &subhal_sensors_list); + ALOGV("the module has %d sensors", module_sensor_count); + + // Copy the HAL's sensor list into global_sensors_list, + // with the handle changed to be a global handle. + for (int i = 0; i < module_sensor_count; i++) { + ALOGV("examining one sensor"); + const struct sensor_t *local_sensor = &subhal_sensors_list[i]; + int local_handle = local_sensor->handle; + memcpy(&mutable_sensor_list[mutable_sensor_index], local_sensor, + sizeof(struct sensor_t)); + + // Overwrite the global version's handle with a global handle. + int global_handle = assign_global_handle(module_index, local_handle); + + mutable_sensor_list[mutable_sensor_index].handle = global_handle; + ALOGI("module_index %d, local_handle %d, global_handle %d", + module_index, local_handle, global_handle); + + mutable_sensor_index++; + } + module_index++; + } + // Set the const static global_sensors_list to the mutable one allocated by this function. + global_sensors_list = mutable_sensor_list; + + pthread_mutex_unlock(&init_sensors_mutex); + ALOGV("end lazy_init_sensors_list"); +} + +static int module__get_sensors_list(struct sensors_module_t* module, + struct sensor_t const** list) { + ALOGV("module__get_sensors_list start"); + lazy_init_sensors_list(); + *list = global_sensors_list; + ALOGV("global_sensors_count: %d", global_sensors_count); + for (int i = 0; i < global_sensors_count; i++) { + ALOGV("sensor type: %d", global_sensors_list[i].type); + } + return global_sensors_count; +} + +static struct hw_module_methods_t sensors_module_methods = { + open : open_sensors +}; + +struct sensors_module_t HAL_MODULE_INFO_SYM = { + common :{ + tag : HARDWARE_MODULE_TAG, + version_major : 1, + version_minor : 0, + id : SENSORS_HARDWARE_MODULE_ID, + name : "MultiHal Sensor Module", + author : "Google, Inc", + methods : &sensors_module_methods, + dso : NULL, + reserved : {0}, + }, + get_sensors_list : module__get_sensors_list +}; + +static int open_sensors(const struct hw_module_t* hw_module, const char* name, + struct hw_device_t** hw_device_out) { + ALOGI("open_sensors begin..."); + + lazy_init_modules(); + + // Create proxy device, to return later. + sensors_poll_context_t *dev = new sensors_poll_context_t(); + memset(dev, 0, sizeof(sensors_poll_device_1_t)); + dev->proxy_device.common.tag = HARDWARE_DEVICE_TAG; + dev->proxy_device.common.version = SENSORS_DEVICE_API_VERSION_1_0; + dev->proxy_device.common.module = const_cast<hw_module_t*>(hw_module); + dev->proxy_device.common.close = device__close; + dev->proxy_device.activate = device__activate; + dev->proxy_device.setDelay = device__setDelay; + dev->proxy_device.poll = device__poll; + dev->proxy_device.batch = device__batch; + dev->proxy_device.flush = device__flush; + + dev->nextReadIndex = 0; + + // Open() the subhal modules. Remember their devices in a vector parallel to sub_hw_modules. + for (std::vector<hw_module_t*>::iterator it = sub_hw_modules->begin(); + it != sub_hw_modules->end(); it++) { + sensors_module_t *sensors_module = (sensors_module_t*) *it; + struct hw_device_t* sub_hw_device; + int sub_open_result = sensors_module->common.methods->open(*it, name, &sub_hw_device); + dev->addSubHwDevice(sub_hw_device); + } + + // Prepare the output param and return + *hw_device_out = &dev->proxy_device.common; + ALOGI("...open_sensors end"); + return 0; +} 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..3218bb9 --- /dev/null +++ b/modules/sensors/tests/SensorEventQueue_test.cpp @@ -0,0 +1,199 @@ +#include <stdio.h> +#include <stdlib.h> +#include <hardware/sensors.h> +#include <pthread.h> +#include <cutils/atomic.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\n", expected, actual); + return false; + } + return true; +} + +bool checkInt(char* msg, int expected, int actual) { + if (actual != expected) { + printf("%s; expected %d; actual was %d\n", msg, expected, actual); + return false; + } + return true; +} + +bool testSimpleWriteSizeCounts() { + printf("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("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; +} + + + +struct TaskContext { + bool success; + SensorEventQueue* queue; +}; + +static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_cond_t dataAvailableCond = PTHREAD_COND_INITIALIZER; + +int FULL_QUEUE_CAPACITY = 5; +int FULL_QUEUE_EVENT_COUNT = 31; + +void *fullQueueWriterTask(void* ptr) { + TaskContext* ctx = (TaskContext*)ptr; + SensorEventQueue* queue = ctx->queue; + ctx->success = true; + int totalWaits = 0; + int totalWrites = 0; + sensors_event_t* buffer; + + while (totalWrites < FULL_QUEUE_EVENT_COUNT) { + pthread_mutex_lock(&mutex); + if (queue->waitForSpace(&mutex)) { + totalWaits++; + printf("."); + } + int writableSize = queue->getWritableRegion(FULL_QUEUE_CAPACITY, &buffer); + queue->markAsWritten(writableSize); + totalWrites += writableSize; + for (int i = 0; i < writableSize; i++) { + printf("w"); + } + pthread_cond_broadcast(&dataAvailableCond); + pthread_mutex_unlock(&mutex); + } + printf("\n"); + + ctx->success = + checkInt("totalWrites", FULL_QUEUE_EVENT_COUNT, totalWrites) && + checkInt("totalWaits", FULL_QUEUE_EVENT_COUNT - FULL_QUEUE_CAPACITY, totalWaits); + return NULL; +} + +bool fullQueueReaderShouldRead(int queueSize, int totalReads) { + if (queueSize == 0) { + return false; + } + int totalWrites = totalReads + queueSize; + return queueSize == FULL_QUEUE_CAPACITY || totalWrites == FULL_QUEUE_EVENT_COUNT; +} + +void* fullQueueReaderTask(void* ptr) { + TaskContext* ctx = (TaskContext*)ptr; + SensorEventQueue* queue = ctx->queue; + int totalReads = 0; + while (totalReads < FULL_QUEUE_EVENT_COUNT) { + pthread_mutex_lock(&mutex); + // Only read if there are events, + // and either the queue is full, or if we're reading the last few events. + while (!fullQueueReaderShouldRead(queue->getSize(), totalReads)) { + pthread_cond_wait(&dataAvailableCond, &mutex); + } + queue->dequeue(); + totalReads++; + printf("r"); + pthread_mutex_unlock(&mutex); + } + printf("\n"); + ctx->success = ctx->success && checkInt("totalreads", FULL_QUEUE_EVENT_COUNT, totalReads); + return NULL; +} + +// Test internal queue-full waiting and broadcasting. +bool testFullQueueIo() { + printf("testFullQueueIo\n"); + SensorEventQueue* queue = new SensorEventQueue(FULL_QUEUE_CAPACITY); + + TaskContext readerCtx; + readerCtx.success = true; + readerCtx.queue = queue; + + TaskContext writerCtx; + writerCtx.success = true; + writerCtx.queue = queue; + + pthread_t writer, reader; + pthread_create(&reader, NULL, fullQueueReaderTask, &readerCtx); + pthread_create(&writer, NULL, fullQueueWriterTask, &writerCtx); + + pthread_join(writer, NULL); + pthread_join(reader, NULL); + + if (!readerCtx.success || !writerCtx.success) return false; + printf("passed\n"); + return true; +} + + +int main(int argc, char **argv) { + if (testSimpleWriteSizeCounts() && + testWrappingWriteSizeCounts() && + testFullQueueIo()) { + printf("ALL PASSED\n"); + } else { + printf("SOMETHING FAILED\n"); + } + return EXIT_SUCCESS; +} |