From 079083281e2a9e479b09ae3fc4d2dc5c738e3d31 Mon Sep 17 00:00:00 2001 From: Mike Lockwood Date: Thu, 17 Oct 2013 08:05:00 -0700 Subject: Move sensors multi HAL to libhardware Change-Id: I12ba76291990264a2db61069f9610c40e96a9695 --- modules/Android.mk | 2 +- modules/sensors/Android.mk | 48 +++++ modules/sensors/multihal.cpp | 496 +++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 545 insertions(+), 1 deletion(-) create mode 100644 modules/sensors/Android.mk create mode 100644 modules/sensors/multihal.cpp (limited to 'modules') 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..6298ca0 --- /dev/null +++ b/modules/sensors/Android.mk @@ -0,0 +1,48 @@ +# +# 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. +# + +ifeq ($(USE_SENSOR_MULTI_HAL),true) + +LOCAL_PATH := $(call my-dir) + +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 + +LOCAL_SHARED_LIBRARIES := \ + liblog \ + libcutils \ + libdl \ + libstlport \ + libutils \ + libcutils \ + liblog \ + +LOCAL_PRELINK_MODULE := false +LOCAL_STRIP_MODULE := false + +LOCAL_C_INCLUDES := \ + external/stlport/stlport \ + bionic / + +include $(BUILD_SHARED_LIBRARY) + +endif # USE_SENSOR_MULTI_HAL diff --git a/modules/sensors/multihal.cpp b/modules/sensors/multihal.cpp new file mode 100644 index 0000000..45099b5 --- /dev/null +++ b/modules/sensors/multihal.cpp @@ -0,0 +1,496 @@ +/* + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +// comment out to disable debug-level logging +#define LOG_NDEBUG 0 + +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; + +/* + * Vector of sub modules, whose indexes are referred to ni this file as module_index. + */ +static std::vector *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 global_to_full; +std::map full_to_global; +int next_global_handle = 1; + +static int assign_global_handle(int module_index, int local_handle) { + ALOGD("assign_global_handle %d %d", module_index, local_handle); + int global_handle = next_global_handle++; + FullHandle *full_handle = new FullHandle(); + 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) { + ALOGD("get_module_index %d", global_handle); + FullHandle f = global_to_full[global_handle]; + ALOGD("FullHandle moduleIndex %d, localHandle %d", f.moduleIndex, f.localHandle); + return f.moduleIndex; +} + + +/* + * 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 sub_hw_devices; + + 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 sensors_poll_context_t::addSubHwDevice(struct hw_device_t* sub_hw_device) { + ALOGD("addSubHwDevice"); + this->sub_hw_devices.push_back(sub_hw_device); +} + +sensors_poll_device_t* sensors_poll_context_t::get_v0_device_by_handle(int handle) { + ALOGD("get_v0_device_by_handle(%d)", handle); + int sub_index = get_module_index(handle); + ALOGD("sub_index: %d", sub_index); + 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) { + ALOGD("activate"); + sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle); + int retval = v0->activate(v0, get_local_handle(handle), enabled); + ALOGD("retval %d", retval); + return retval; +} + +int sensors_poll_context_t::setDelay(int handle, int64_t ns) { + ALOGD("setDelay"); + sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle); + int retval = v0->setDelay(v0, get_local_handle(handle), ns); + ALOGD("retval %d", retval); + return retval; +} + +int sensors_poll_context_t::poll(sensors_event_t *data, int count) { + ALOGD("poll"); + + // This only gets the first device. Parallel polling of multiple devices is coming soon. + int sub_index = 0; + sensors_poll_device_t* v0 = (sensors_poll_device_t*) this->sub_hw_devices[sub_index]; + + ALOGD("poll's blocking read begins..."); + int retval = v0->poll(v0, data, count); + ALOGD("...poll's blocking read ends"); + ALOGD("rewriting %d sensor handles...", retval); + // A normal event's "sensor" field is a local handles. 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; + for (int i = 0; i < retval; i++) { + sensors_event_t *event = &data[i]; + // If it's a metadata event, rewrite the inner payload, not the sensor field. + if (event->type == SENSOR_TYPE_META_DATA) { + full_handle.localHandle = event->meta_data.sensor; + event->meta_data.sensor = full_to_global[full_handle]; + } else { + full_handle.localHandle = event->sensor; + event->sensor = full_to_global[full_handle]; + } + } + return retval; +} + +int sensors_poll_context_t::batch(int handle, int flags, int64_t period_ns, int64_t timeout) { + ALOGD("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); + } + ALOGD("retval %d", retval); + return retval; +} + +int sensors_poll_context_t::flush(int handle) { + ALOGD("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)); + } + ALOGD("retval %d", retval); + return retval; +} + +int sensors_poll_context_t::close() { + ALOGD("close"); + for (std::vector::iterator it = this->sub_hw_devices.begin(); + it != this->sub_hw_devices.end(); it++) { + hw_device_t* dev = *it; + int retval = dev->close(dev); + ALOGD("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 *so_paths) { + FILE *conf_file = fopen(CONFIG_FILENAME, "r"); + if (conf_file == NULL) { + ALOGD("No multihal config file found at %s", CONFIG_FILENAME); + return; + } + ALOGD("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'; + } + ALOGD("config file line #%d: '%s'", ++line_count, line); + char *real_path = realpath(line, NULL); + if (starts_with(real_path, LEGAL_SUBHAL_PATH_PREFIX)) { + ALOGD("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 { + ALOGD("rejecting path '%s' because it does not start with '%s'", + real_path, LEGAL_SUBHAL_PATH_PREFIX); + } + free(real_path); + } + free(line); + fclose(conf_file); + ALOGD("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 *so_paths = new std::vector(); + get_so_paths(so_paths); + + // dlopen the module files and cache their module symbols in sub_hw_modules + sub_hw_modules = new std::vector(); + dlerror(); // clear any old errors + const char* sym = HAL_MODULE_INFO_SYM_AS_STR; + for (std::vector::iterator it = so_paths->begin(); it != so_paths->end(); it++) { + char* path = *it; + void* lib_handle = dlopen(path, RTLD_LAZY); + if (lib_handle == NULL) { + ALOGD("dlerror(): %s", dlerror()); + } else { + ALOGD("hal lib was loaded: %s", path); + ALOGD("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) { + ALOGD("Error calling dlsym: %s", error); + } else if (module == NULL) { + ALOGD("module == NULL"); + } else { + ALOGD("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() { + ALOGD("lazy_init_sensors_list"); + pthread_mutex_lock(&init_sensors_mutex); + if (global_sensors_list != NULL) { + // already initialized + pthread_mutex_unlock(&init_sensors_mutex); + ALOGD("lazy_init_sensors_list - early return"); + return; + } + + ALOGD("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::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); + ALOGD("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::iterator it = sub_hw_modules->begin(); + it != sub_hw_modules->end(); it++) { + hw_module_t *hw_module = *it; + ALOGD("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); + ALOGD("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++) { + ALOGD("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; + ALOGD("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); + ALOGD("end lazy_init_sensors_list"); +} + +static int module__get_sensors_list(struct sensors_module_t* module, + struct sensor_t const** list) { + ALOGD("module__get_sensors_list"); + lazy_init_sensors_list(); + *list = global_sensors_list; + 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) { + ALOGD("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); + 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; + + // Open() the subhal modules. Remember their devices in a vector parallel to sub_hw_modules. + for (std::vector::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; + ALOGD("...open_sensors end"); + return 0; +} -- cgit v1.1