android sensors
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前段时间在调试Android的时候,涉及到sensors的移植,在Android中 Sensors子系统架构如下:其中Sensor HAL以上都已由android实现的,在具体Android Sensors移植中,需要用户实现的sensor Hal及以下,下面我们来分析一下sensors HAL的具体实现
Sensors的硬件抽像层中,有几个关键的结构体需要用户处理,它的定义位于libhardware/include/hardware/sensors.h文件中,sensors_module_t结构体用来定义sensor模块,sensor_t结构体用来定义一个sensors设备,sensors_event_t用来定义sensor数据,sensors_poll_device_t用来定义sensor的控制
sensors.c主要实现sensors_module_t和sensor_t结构体,定义了sensors模块的主要功能
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include "SensorsControl.h"
#ifdef LOG_TAG
#undef LOG_TAG
#endif
#define LOG_TAG "yamaha_sensors"
#define YLOGD(...) LOGD(__VA_ARGS__)
#define YLOGI(...) LOGI(__VA_ARGS__)
#define YLOGE(...) LOGE(__VA_ARGS__)
#define YLOGW(...) LOGW(__VA_ARGS__)
//--------------------------------------------------------------------------------------------------------
#define POLLTIMEOUT (-1)
#define MAX_DEVICE_NAME (32)
#define MAX_CLASS_PATH (256)
//--------------------------------------------------------------------------------------------------------
static const struct sensor_t sSupportedSensors[NUM_SENSORS] = {
#if defined(SENSOR_SUPPORT_ACCELEROMETER)
{
.name = "BMA150 3-axis Accelerometer",
.vendor = "Bosh",
.version = 120,
.handle = ID_ACCELEROMETER,
.type = SENSOR_TYPE_ACCELEROMETER,
.maxRange = 4.0f * 9.81f,
.resolution = (4.0f * 9.81f)/256.0f,
.power = 2.0f,
.reserved = {0},
},
#endif
#if defined(SENSOR_SUPPORT_MAGNETIC_FIELD)
{
.name = "MS-3C Magnetic Sensor",
.vendor = "Yamaha Corporation",
.version = 120,
.handle = ID_MAGNETIC_FIELD,
.type = SENSOR_TYPE_MAGNETIC_FIELD,
.maxRange = 2000.0f,
.resolution = 1.0f/16.0f,
.power = 4.0f, /* typ 4mA (Normal), typ 1uA (Standby) */
.reserved = {0},
},
#endif
#if defined(SENSOR_SUPPORT_ORIENTATION)
{
.name = "MS-3C Orientation Sensor",
.vendor = "Yamaha Corporation",
.version = 120,
.handle = ID_ORIENTATION,
.type = SENSOR_TYPE_ORIENTATION,
.maxRange = 360.0f,
.resolution = 1.0f,
.power = 1.0f,
.reserved = {0},
},
#endif
};
//--------------------------------------------------------------------------------------------------------
static int sensors_list(struct sensors_module_t *module, struct sensor_t const**sensor)
{
*sensor = sSupportedSensors;
return NUM_SENSORS;
}
//--------------------------------------------------------------------------------------------------------
static int open_sensors(const struct hw_module_t* module, const char* name,struct hw_device_t** device)
{
YLOGD("open_sensors");
return init_sensors_control(module, device);
}
//--------------------------------------------------------------------------------------------------------
static struct hw_module_methods_t sensors_module_methods = {
.open = open_sensors,
};
//--------------------------------------------------------------------------------------------------------
const struct sensors_module_t HAL_MODULE_INFO_SYM = {
.common = {
.tag = HARDWARE_MODULE_TAG,
.version_major = 1,
.version_minor = 2,
.id = SENSORS_HARDWARE_MODULE_ID,
.name = "Yamaha Sensors module",
.author = "Yamaha Corporation",
.methods = &sensors_module_methods,
},
.get_sensors_list = sensors_list,
};
SensorBace.cpp:为各sensors实现的基类,openDataFd会返回sensors EVENT设备文件的句柄
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
//--------------------------------------------------------------------------------------------------------
#include "SensorBase.h"
//--------------------------------------------------------------------------------------------------------
#ifdef LOG_TAG
#undef LOG_TAG
#endif
#define LOG_TAG "SensorBase"
#define YLOGD(...) LOGD(__VA_ARGS__)
#define YLOGI(...) LOGI(__VA_ARGS__)
#define YLOGE(...) LOGE(__VA_ARGS__)
#define YLOGW(...) LOGW(__VA_ARGS__)
//--------------------------------------------------------------------------------------------------------
SensorBase::SensorBase(const char* name) : name(name), data_fd(-1),mHasPendingEvent(false), mEnabled(0)
{
data_fd = openDataFd(name);
// sysfs classpath read
if (getInputClasspath(name) < 0) YLOGE("getInputClasspath failed [%s]\n", name);
YLOGD("SensorBase::SensorBase : [Name : %s, data_fd : %d, classname : %s]\n", name, data_fd, classpath);
}
//--------------------------------------------------------------------------------------------------------
SensorBase::~SensorBase() {
if (data_fd >= 0) close(data_fd);
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::getFd() const {
return data_fd;
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::setDelay(int32_t handle, int64_t ns) {
int err = 0;
int msDelay = (int)(ns / 1000000LL); // convert to ms
YLOGD("SensorBase::setDelay : [Name : %s, Handle : %d, ns : %lld, delay = %d]\n", name, handle, ns, msDelay);
if (setInputAttr("delay", msDelay) < 0) {
YLOGE("setInputAttr failed -> delay : [%s]\n", name); err = -1;
}
return err;
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::enable(int32_t handle, int enabled) {
int err = 0;
YLOGD("SensorBase::enable : [Name : %s, Handle : %d, enabled : %d]\n",name, handle, enabled);
// class path -> set enable, set wake
if (setInputAttr("enable", enabled) < 0) {
YLOGE("setInputAttr failed -> enable : [%s]\n", name); err = -1;
}
if (setInputAttr("wake", enabled) < 0) {
YLOGE("setInputAttr failed -> wake : [%s]\n", name); err = -1;
}
mEnabled = enabled; mHasPendingEvent = true;
return err;
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::getInitialValues(sensors_vec_t* sensor, float divf) {
char buf[sizeof("-2147483647") * 3 + 1]; /* including spaces, LF and '\0' */
char *p, space[] = " ";
int i;
if (getInputAttr("data", buf, sizeof(buf)) < 0) {
for (i = 0; i < 3; i++) sensor->v[i] = 0;
return 0;
}
for (i = 0; i < 3; i++) {
if (i == 0) p = strtok(buf, space);
else p = strtok(NULL, space);
if (p == NULL) sensor->v[i] = 0;
else sensor->v[i] = atoi(p) / divf;
YLOGD("initial value[%s] [%.3f]\n", name, sensor->v[i]);
}
return 0;
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::getInitialStatus(sensors_vec_t* sensor) {
int status;
if (getInputAttr("status", &status) < 0) sensor->status = 0;
else sensor->status =(int8_t)status;
YLOGD("SensorBase::getInitialStatus : [Name : %s, status : %d]\n", name,status);
return 0;
}
//--------------------------------------------------------------------------------------------------------
bool SensorBase::hasPendingEvents() const {
return mHasPendingEvent;
}
//--------------------------------------------------------------------------------------------------------
int64_t SensorBase::getTimestamp() {
struct timespec t;
t.tv_sec = t.tv_nsec = 0;
clock_gettime(CLOCK_MONOTONIC, &t);
return int64_t(t.tv_sec)*1000000000LL + t.tv_nsec;
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::getInputClasspath(const char *inputName) {
DIR *dir;
const char *dirname = "/sys/class/input";
char buf[PATH_MAX];
struct dirent *de;
int fd = -1, nread, found = 0;
if (name == NULL || classpath == NULL) return -EINVAL;
// Open Input class dir
if((dir = opendir(dirname)) == NULL) return -errno;
while((de = readdir(dir))) {
if (strncmp(de->d_name, "input", strlen("input")) != 0) continue;
memset(classpath, 0x00, sizeof(classpath));
snprintf(classpath, PATH_MAX, "%s/%s/", dirname, de->d_name);
snprintf(buf, sizeof(buf), "%s/name", classpath);
if((fd = open(buf, O_RDONLY)) < 0) continue;
if ((nread = read(fd, buf, sizeof(buf))) < 0) {
close(fd);
continue;
}
buf[nread - 1] = '\0';
if (strcmp(buf, inputName) == 0) {
close(fd); closedir(dir); return 0; // Classpath found!!
}
close(fd); fd = -1;
}
closedir(dir); *classpath = '\0';
return -EINVAL; // Classpath not found
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::getInputAttr(const char *attr, char *value, int len) {
char fname[PATH_MAX];
int fd, nread;
if (classpath == NULL || *classpath == '\0' || attr == NULL || value ==NULL || len < 1) return -EINVAL;
memset(fname, 0x00, sizeof(fname));
snprintf(fname, sizeof(fname), "%s/%s", classpath, attr); fname[sizeof(fname) - 1] = '\0';
if((fd = open(fname, O_RDONLY)) < 0) return -errno;
if ((nread = read(fd, value, len)) < 0) {
close(fd); return -errno;
}
close(fd);
value[nread - 1] = '\0';
return 0;
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::getInputAttr(const char *attr, int *value) {
char buf[sizeof("-2147483647")];
int rt;
if (value == NULL) return -EINVAL;
if ((rt = getInputAttr(attr, buf, sizeof(buf))) < 0) return rt;
*value = atoi(buf);
return 0;
}
//--------------------------------------------------------------------------------------------------------
int SensorBase::setInputAttr(const char *attr, char *value, int len) {
char fname[PATH_MAX];
int fd;
if (classpath == NULL || *classpath == '\0' || attr == NULL || value ==NULL || len < 1) return -EINVAL;
memset(fname, 0x00, sizeof(fname));
snprintf(fname, sizeof(fname), "%s/%s", classpath, attr); fname[sizeof(fname) - 1] = '\0';
if((fd = open(fname, O_WRONLY)) < 0) return -errno;
if (write(fd, value, len) < 0) {
close(fd); return -errno;
}
close(fd);
return 0;
}
int SensorBase::setInputAttr(const char *attr, int value) {
char buf[sizeof("-2147483647")];
memset(buf, 0x00, sizeof(buf));
sprintf(buf, "%d", value);
return setInputAttr(attr, buf, sizeof(buf));
}
int SensorBase::openDataFd(const char *inputName) {
DIR *dir;
struct dirent *de;
const char *dirname = "/dev/input";
char *filename, devname[PATH_MAX];
int fd = -1;
if((dir = opendir(dirname)) == NULL) return -1;
memset(devname, 0x00, sizeof(devname)); strcpy(devname, dirname);
filename = devname + strlen(devname); *filename++ = '/';
while((de = readdir(dir))) {
if(de->d_name[0] == '.' && (de->d_name[1] == '\0' || (de->d_name[1] =='.' && de->d_name[2] == '\0')))
continue;
strcpy(filename, de->d_name);
if((fd = open(devname, O_RDONLY)) >= 0) {
char name[80];
if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) name[0]= '\0';
if (!strcmp(name, inputName)) break;
else {
close(fd); fd = -1;
}
}
}
closedir(dir);
LOGE_IF(fd < 0, "couldn't find '%s' input device", inputName);
return fd;
}
InputEventReader.cpp文件的主要功能会读取sensors的输入事件
#include
#include
#include
#include
#include
#include
#include
#include
#include "InputEventReader.h"
/*****************************************************************************/
struct input_event;
InputEventCircularReader::InputEventCircularReader(size_t numEvents)
: mBuffer(new input_event[numEvents * 2]),
mBufferEnd(mBuffer + numEvents),
mHead(mBuffer),
mCurr(mBuffer),
mFreeSpace(numEvents)
{
}
InputEventCircularReader::~InputEventCircularReader()
{
delete [] mBuffer;
}
ssize_t InputEventCircularReader::fill(int fd)
{
size_t numEventsRead = 0;
if (mFreeSpace) {
const ssize_t nread = read(fd, mHead, mFreeSpace * sizeof(input_event));
if (nread<0 || nread % sizeof(input_event)) {
// we got a partial event!!
return nread<0 ? -errno : -EINVAL;
}
numEventsRead = nread / sizeof(input_event);
if (numEventsRead) {
mHead += numEventsRead;
mFreeSpace -= numEventsRead;
if (mHead > mBufferEnd) {
size_t s = mHead - mBufferEnd;
memcpy(mBuffer, mBufferEnd, s * sizeof(input_event));
mHead = mBuffer + s;
}
}
}
return numEventsRead;
}
ssize_t InputEventCircularReader::readEvent(input_event const** events)
{
*events = mCurr;
ssize_t available = (mBufferEnd - mBuffer) - mFreeSpace;
return available ? 1 : 0;
}
void InputEventCircularReader::next()
{
mCurr++;
mFreeSpace++;
if (mCurr >= mBufferEnd) {
mCurr = mBuffer;
}
}
SensorsControl.cpp文件为sensors的控制文件,实现sensors_poll_device_t结构体,在init_sensors_control函数中写义了sensors_poll_context_t类的对像,在sensors_poll_context_t类的构造函数中, 定义了具体sensors类的对像,init_sensors_control函数是在sensors模块被打开时调用的
//-------------------------------------------------------------------
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
//-------------------------------------------------------------------
#include "SensorsControl.h"
#include "AccelerometerSensor.h"
#include "GeomagneticSensor.h"
#include "OrientationSensor.h"
//-------------------------------------------------------------------
#ifdef LOG_TAG
#undef LOG_TAG
#endif
#define LOG_TAG "SensorsControl"
#define YLOGD(...)
//#define YLOGD(...) LOGD(__VA_ARGS__)
#define YLOGI(...) LOGI(__VA_ARGS__)
#define YLOGE(...) LOGE(__VA_ARGS__)
#define YLOGW(...) LOGW(__VA_ARGS__)
//-------------------------------------------------------------------
struct sensors_poll_context_t {
struct sensors_poll_device_t device; // must be first
sensors_poll_context_t ();
~sensors_poll_context_t ();
int activate (int handle, int enabled);
int setDelay (int handle, int64_t ns);
int pollEvents (sensors_event_t* data, int count);
private:
enum {
Accelerometer = 0,
Geomagnetic = 1,
Orientation = 2,
numSensorDrivers,
numFds,
};
static const size_t wake = numFds - 1;
static const char WAKE_MESSAGE = 'W';
struct pollfd mPollFds[numFds];
int mWritePipeFd;
SensorBase* mSensors[numSensorDrivers];
int handleToDriver(int handle) const {
if(handle < numSensorDrivers) return handle;
return -EINVAL;
}
};
//-------------------------------------------------------------------
sensors_poll_context_t::sensors_poll_context_t()
{
mSensors[Accelerometer] = new AccelerometerSensor();
mPollFds[Accelerometer].fd = mSensors[Accelerometer]->getFd();
mPollFds[Accelerometer].events = POLLIN;
mPollFds[Accelerometer].revents = 0;
mSensors[Geomagnetic] = new GeomagneticSensor();
mPollFds[Geomagnetic].fd = mSensors[Geomagnetic]->getFd();
mPollFds[Geomagnetic].events = POLLIN;
mPollFds[Geomagnetic].revents = 0;
mSensors[Orientation] = new OrientationSensor();
mPollFds[Orientation].fd = mSensors[Orientation]->getFd();
mPollFds[Orientation].events = POLLIN;
mPollFds[Orientation].revents = 0;
int wakeFds[2];
int result = pipe(wakeFds);
LOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
mWritePipeFd = wakeFds[1];
mPollFds[wake].fd = wakeFds[0];
mPollFds[wake].events = POLLIN;
mPollFds[wake].revents = 0;
}
//--------------------------------------------------------------------------------------------------------
sensors_poll_context_t::~sensors_poll_context_t() {
for (int i=0 ; i<numSensorDrivers ; i++) {
delete mSensors[i];
}
close(mPollFds[wake].fd);
close(mWritePipeFd);
}
//--------------------------------------------------------------------------------------------------------
int sensors_poll_context_t::activate(int handle, int enabled) {
YLOGD("sensors_poll_context_t::activate : [Handle : %d, enabled : %d]\n",handle, enabled);
int index = handleToDriver(handle);
if (index < 0) return index;
int err = mSensors[index]->enable(handle, enabled);
if (enabled && !err) {
const char wakeMessage(WAKE_MESSAGE);
int result = write(mWritePipeFd, &wakeMessage, 1);
LOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
}
return err;
}
//-------------------------------------------------------------------
int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
int index = handleToDriver(handle);
if (index < 0) return index;
return mSensors[index]->setDelay(handle, ns);
}
//-------------------------------------------------------------------
int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
{
int nbEvents = 0;
int n = 0;
YLOGD("IN ----> sensors_poll_context_t::pollEvents : [count : %d]\n",count);
do {
// see if we have some leftover from the last poll()
for (int i=0 ; count && i<numSensorDrivers ; i++) {
SensorBase* const sensor(mSensors[i]);
if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())){
int nb = sensor->readEvents(data, count);
if (nb < count) {
// no more data for this sensor
mPollFds[i].revents = 0;
}
count -= nb;
nbEvents += nb;
data += nb;
}
}
if (count) {
YLOGD("sensors_poll_context_t :: %d\n", count);
// we still have some room, so try to see if we can get
// some events immediately or just wait if we don't have
// anything to return
n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
if (n<0) {
LOGE("poll() failed (%s)", strerror(errno));
return -errno;
}
if (mPollFds[wake].revents & POLLIN) {
char msg;
int result = read(mPollFds[wake].fd, &msg, 1);
LOGE_IF(result<0, "error reading from wake pipe (%s)",strerror(errno));
LOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
mPollFds[wake].revents = 0;
}
}
// if we have events and space, go read them
} while (n && count);
YLOGD("OUT ----> sensors_poll_context_t::pollEvents : [count : %d, nbEvents]\n", count, nbEvents);
return nbEvents;
}
//-------------------------------------------------------------------
static int poll__close(struct hw_device_t *dev)
{
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
if (ctx) {
delete ctx;
}
return 0;
}
//-------------------------------------------------------------------
static int poll__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 poll__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 poll__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->pollEvents(data, count);
}
//-------------------------------------------------------------------
int init_sensors_control(hw_module_t const* module, hw_device_t** device)
{
int status = -EINVAL;
sensors_poll_context_t *dev = new sensors_poll_context_t();
memset(&dev->device, 0, sizeof(sensors_poll_device_t));
dev->device.common.tag = HARDWARE_DEVICE_TAG;
dev->device.common.version = 0;
dev->device.common.module = const_cast<hw_module_t*>(module);
dev->device.common.close = poll__close;
dev->device.activate = poll__activate;
dev->device.setDelay = poll__setDelay;
dev->device.poll = poll__poll;
*device = &dev->device.common;
status = 0;
return status;
}
AccelerometerSensor.cpp文件为具体重力加速度传感器的实现
//-------------------------------------------------------------------#include
#include
#include
#include
#include
#include
#include
#include
//-------------------------------------------------------------------
#include "AccelerometerSensor.h"
//-------------------------------------------------------------------
#ifdef LOG_TAG
#undef LOG_TAG
#endif
#define LOG_TAG "AccelerometerSensor"
#define YLOGD(...) LOGD(__VA_ARGS__)
#define YLOGI(...) LOGI(__VA_ARGS__)
#define YLOGE(...) LOGE(__VA_ARGS__)
#define YLOGW(...) LOGW(__VA_ARGS__)
//-------------------------------------------------------------------
AccelerometerSensor::AccelerometerSensor() :
SensorBase(INPUT_CLASSNAME_ACCELEROMETER), mfdiv(1000000), mInputReader(4)
{
memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
mPendingEvent.version = sizeof(sensors_event_t);
mPendingEvent.sensor = ID_ACCELEROMETER;
mPendingEvent.type = SENSOR_TYPE_ACCELEROMETER;
// Initialize AccelerometerSensor
getInitialStatus(&mPendingEvent.acceleration);
getInitialValues(&mPendingEvent.acceleration, mfdiv);
}
//-------------------------------------------------------------------
AccelerometerSensor::~AccelerometerSensor() {
}
//-------------------------------------------------------------------intAccelerometerSensor::readEvents(sensors_event_t* data, int count)
{
if (count < 1) return -EINVAL;
if (mHasPendingEvent) {
mHasPendingEvent = false;
mPendingEvent.timestamp = getTimestamp();
*data = mPendingEvent;
return mEnabled ? 1 : 0;
}
ssize_t n = mInputReader.fill(data_fd);
if (n < 0) return n;
int numEventReceived = 0, breaked = 0;
input_event const* event;
while (count && mInputReader.readEvent(&event)) {
switch(event->type) {
case EV_ABS:
switch(event->code) {
case ABS_X: mPendingEvent.acceleration.x = event->value / mfdiv; break;
case ABS_Y: mPendingEvent.acceleration.y = event->value / mfdiv; break;
case ABS_Z: mPendingEvent.acceleration.z = event->value / mfdiv; break;
case ABS_STATUS: mPendingEvent.acceleration.status =event->value; break;
case ABS_WAKE: breaked =1; break;
default :
break;
}
break;
case EV_SYN:
mPendingEvent.timestamp = timevalToNano(event->time);
if (mEnabled) {
*data++ = mPendingEvent;
count--;
numEventReceived++;
}
break;
default :
YLOGE("unknown event (type=%d, code=%d)", event->type, event->code);
break;
}
mInputReader.next();
}
if(breaked) {
YLOGE("ABS_WAKE event (type=%d, code=%d) : break!!", event->type,event->code);
return 0;
}
return numEventReceived;
}
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