/*
* Copyright (C) 2012 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.
*/
#define LOG_TAG "Sensors"
//#define FUNC_LOG ALOGV("%s", __PRETTY_FUNCTION__)
#define FUNC_LOG
#include <hardware/sensors.h>
#include <fcntl.h>
#include <errno.h>
#include <dirent.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <stdlib.h>
#include <utils/Atomic.h>
#include <utils/Log.h>
#include "sensors.h"
#include "MPLSensor.h"
#include "LightSensor.h"
#include "PressureSensor.h"
/*****************************************************************************/
#define DELAY_OUT_TIME 0x7FFFFFFF
#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV)
#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA)
#define SENSORS_GRAVITY_HANDLE (ID_GR)
#define SENSORS_GYROSCOPE_HANDLE (ID_GY)
#define SENSORS_RAW_GYROSCOPE_HANDLE (ID_RG)
#define SENSORS_ACCELERATION_HANDLE (ID_A)
#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M)
#define SENSORS_ORIENTATION_HANDLE (ID_O)
#define SENSORS_LIGHT_HANDLE (ID_L)
#define SENSORS_PROXIMITY_HANDLE (ID_P)
#define SENSORS_PRESSURE_HANDLE (ID_PR)
#define AKM_FTRACE 0
#define AKM_DEBUG 0
#define AKM_DATA 0
/*****************************************************************************/
/* The SENSORS Module */
#define LOCAL_SENSORS 2
static struct sensor_t sSensorList[LOCAL_SENSORS + MPLSensor::numSensors] = {
{ "BH1721fvc Light sensor",
"Rohm",
1, SENSORS_LIGHT_HANDLE,
SENSOR_TYPE_LIGHT, 65528.0f, 1.0f, 0.20f, 16000, 0, 0, 0, 0, 0, 0, { } },
{ "BMP182 Pressure sensor",
"Bosch",
1, SENSORS_PRESSURE_HANDLE,
SENSOR_TYPE_PRESSURE, 1100.0f, 0.01f, 0.06f, 50000, 0, 0, 0, 0, 0, 0, { } },
};
static int numSensors = LOCAL_SENSORS;
static int open_sensors(const struct hw_module_t* module, const char* id,
struct hw_device_t** device);
static int sensors__get_sensors_list(struct sensors_module_t* module,
struct sensor_t const** list)
{
*list = sSensorList;
return numSensors;
}
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 = "Samsung Sensor module",
.author = "Samsung Electronic Company",
.methods = &sensors_module_methods,
.dso = 0,
.reserved = {},
},
.get_sensors_list = sensors__get_sensors_list,
};
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);
// Will return true if the constructor completed
bool isValid() { return mInitialized; };
private:
// Will be true if the constructor completed
bool mInitialized;
enum {
mpl = 0,
compass,
#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
dmpOrient,
#endif
light,
pressure,
numSensorDrivers, // wake pipe goes here
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 {
switch (handle) {
case ID_RV:
case ID_LA:
case ID_GR:
case ID_GY:
case ID_RG:
case ID_A:
case ID_M:
case ID_O:
return mpl;
#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
case ID_SO:
return dmpOrient;
#endif
case ID_L:
return light;
case ID_PR:
return pressure;
}
return -EINVAL;
}
};
/*****************************************************************************/
sensors_poll_context_t::sensors_poll_context_t()
{
FUNC_LOG;
CompassSensor *p_compasssensor = new CompassSensor();
MPLSensor *p_mplsen = new MPLSensor(p_compasssensor);
mInitialized = false;
// Must clean this up early or else the destructor will make a mess.
memset(mSensors, 0, sizeof(mSensors));
setCallbackObject(p_mplsen); //setup the callback object for handing mpl callbacks
numSensors =
LOCAL_SENSORS +
p_mplsen->populateSensorList(sSensorList + LOCAL_SENSORS,
sizeof(sSensorList[0]) * (ARRAY_SIZE(sSensorList) - LOCAL_SENSORS));
mSensors[mpl] = p_mplsen;
mPollFds[mpl].fd = mSensors[mpl]->getFd();
mPollFds[mpl].events = POLLIN;
mPollFds[mpl].revents = 0;
mSensors[compass] = p_mplsen;
mPollFds[compass].fd = ((MPLSensor*)mSensors[mpl])->getCompassFd();
mPollFds[compass].events = POLLIN;
mPollFds[compass].revents = 0;
#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
mPollFds[dmpOrient].fd = ((MPLSensor*)mSensors[mpl])->getDmpOrientFd();
mPollFds[dmpOrient].events = POLLPRI;
mPollFds[dmpOrient].revents = 0;
#endif
mSensors[light] = new LightSensor();
mPollFds[light].fd = mSensors[light]->getFd();
mPollFds[light].events = POLLIN;
mPollFds[light].revents = 0;
mSensors[pressure] = new PressureSensor();
mPollFds[pressure].fd = mSensors[pressure]->getFd();
mPollFds[pressure].events = POLLIN;
mPollFds[pressure].revents = 0;
int wakeFds[2];
int result = pipe(wakeFds);
ALOGE_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;
mInitialized = true;
}
sensors_poll_context_t::~sensors_poll_context_t()
{
FUNC_LOG;
for (int i=0 ; i<numSensorDrivers ; i++) {
delete mSensors[i];
}
close(mPollFds[wake].fd);
close(mWritePipeFd);
mInitialized = false;
}
int sensors_poll_context_t::activate(int handle, int enabled)
{
FUNC_LOG;
if (!mInitialized) return -EINVAL;
int index = handleToDriver(handle);
if (index < 0) return index;
int err = mSensors[index]->enable(handle, enabled);
if (!err) {
const char wakeMessage(WAKE_MESSAGE);
int result = write(mWritePipeFd, &wakeMessage, 1);
ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
}
return err;
}
int sensors_poll_context_t::setDelay(int handle, int64_t ns)
{
FUNC_LOG;
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)
{
//FUNC_LOG;
int nbEvents = 0;
int n = 0;
int polltime = -1;
do {
for (int i=0 ; count && i<numSensorDrivers ; i++) {
SensorBase* const sensor(mSensors[i]);
// See if we have some pending events from the last poll()
if ((mPollFds[i].revents & (POLLIN | POLLPRI)) || (sensor->hasPendingEvents())) {
int nb;
if (i == compass) {
/* result is hardcoded to 0 */
((MPLSensor*) sensor)->readCompassEvents(NULL, count);
nb = ((MPLSensor*) mSensors[mpl])->executeOnData(data, count);
}
else if (i == mpl) {
/* result is hardcoded to 0 */
sensor->readEvents(NULL, count);
nb = ((MPLSensor*) mSensors[mpl])->executeOnData(data, count);
mPollFds[i].revents = 0;
}
#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
else if (i == dmpOrient) {
nb = ((MPLSensor*) mSensors[mpl])->readDmpOrientEvents(data, count);
mPollFds[dmpOrient].revents= 0;
if (!isDmpScreenAutoRotationEnabled()) {
/* ignore the data */
nb = 0;
}
}
#endif
else {
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) {
do {
n = poll(mPollFds, numFds, nbEvents ? 0 : polltime);
} while (n < 0 && errno == EINTR);
if (n < 0) {
ALOGE("poll() failed (%s)", strerror(errno));
return -errno;
}
if (mPollFds[wake].revents & (POLLIN | POLLPRI)) {
char msg;
int result = read(mPollFds[wake].fd, &msg, 1);
ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
ALOGE_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);
return nbEvents;
}
/*****************************************************************************/
static int poll__close(struct hw_device_t *dev)
{
FUNC_LOG;
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)
{
FUNC_LOG;
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)
{
FUNC_LOG;
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)
{
FUNC_LOG;
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
return ctx->pollEvents(data, count);
}
/*****************************************************************************/
/** Open a new instance of a sensor device using name */
static int open_sensors(const struct hw_module_t* module, const char* id,
struct hw_device_t** device)
{
FUNC_LOG;
int status = -EINVAL;
sensors_poll_context_t *dev = new sensors_poll_context_t();
if (!dev->isValid()) {
ALOGE("Failed to open the sensors");
return status;
}
memset(&dev->device, 0, sizeof(sensors_poll_device_t));
dev->device.common.tag = HARDWARE_DEVICE_TAG;
dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_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;
}