/*
* 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 <string>
#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 char* LEGAL_SUBHAL_ALTERNATE_PATH_PREFIX = "/system/vendor/lib/";
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 in 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;
}
// Returns the local handle, or -1 if it does not exist.
static int get_local_handle(int global_handle) {
if (global_to_full.count(global_handle) == 0) {
ALOGW("Unknown global_handle %d", global_handle);
return -1;
}
return global_to_full[global_handle].localHandle;
}
// Returns the sub_hw_modules index of the module that contains the sensor associates with this
// global_handle, or -1 if that global_handle does not exist.
static int get_module_index(int global_handle) {
if (global_to_full.count(global_handle) == 0) {
ALOGW("Unknown global_handle %d", global_handle);
return -1;
}
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;
}
// Returns the global handle for this full_handle, or -1 if the full_handle is unknown.
static int get_global_handle(FullHandle* full_handle) {
int global_handle = -1;
if (full_to_global.count(*full_handle)) {
global_handle = full_to_global[*full_handle];
} else {
ALOGW("Unknown FullHandle: moduleIndex %d, localHandle %d",
full_handle->moduleIndex, full_handle->localHandle);
}
return global_handle;
}
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);
}
// Returns the device pointer, or NULL if the global handle is invalid.
sensors_poll_device_t* sensors_poll_context_t::get_v0_device_by_handle(int global_handle) {
int sub_index = get_module_index(global_handle);
if (sub_index < 0 || sub_index >= this->sub_hw_devices.size()) {
return NULL;
}
return (sensors_poll_device_t*) this->sub_hw_devices[sub_index];
}
// Returns the device pointer, or NULL if the global handle is invalid.
sensors_poll_device_1_t* sensors_poll_context_t::get_v1_device_by_handle(int global_handle) {
int sub_index = get_module_index(global_handle);
if (sub_index < 0 || sub_index >= this->sub_hw_devices.size()) {
return NULL;
}
return (sensors_poll_device_1_t*) this->sub_hw_devices[sub_index];
}
// Returns the device version, or -1 if the handle is invalid.
int sensors_poll_context_t::get_device_version_by_handle(int handle) {
sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle);
if (v0) {
return v0->common.version;
} else {
return -1;
}
}
// Android L requires sensor HALs to be either 1_0 or 1_3 compliant
#define HAL_VERSION_IS_COMPLIANT(version) \
(version == SENSORS_DEVICE_API_VERSION_1_0 || version >= SENSORS_DEVICE_API_VERSION_1_3)
// Returns true if HAL is compliant, false if HAL is not compliant or if handle is invalid
static bool halIsCompliant(sensors_poll_context_t *ctx, int handle) {
int version = ctx->get_device_version_by_handle(handle);
return version != -1 && HAL_VERSION_IS_COMPLIANT(version);
}
const char *apiNumToStr(int version) {
switch(version) {
case SENSORS_DEVICE_API_VERSION_1_0:
return "SENSORS_DEVICE_API_VERSION_1_0";
case SENSORS_DEVICE_API_VERSION_1_1:
return "SENSORS_DEVICE_API_VERSION_1_1";
case SENSORS_DEVICE_API_VERSION_1_2:
return "SENSORS_DEVICE_API_VERSION_1_2";
case SENSORS_DEVICE_API_VERSION_1_3:
return "SENSORS_DEVICE_API_VERSION_1_3";
default:
return "UNKNOWN";
}
}
int sensors_poll_context_t::activate(int handle, int enabled) {
int retval = -EINVAL;
ALOGV("activate");
int local_handle = get_local_handle(handle);
sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle);
if (halIsCompliant(this, handle) && local_handle >= 0 && v0) {
retval = v0->activate(v0, local_handle, enabled);
} else {
ALOGE("IGNORING activate(enable %d) call to non-API-compliant sensor handle=%d !",
enabled, handle);
}
ALOGV("retval %d", retval);
return retval;
}
int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
int retval = -EINVAL;
ALOGV("setDelay");
int local_handle = get_local_handle(handle);
sensors_poll_device_t* v0 = this->get_v0_device_by_handle(handle);
if (halIsCompliant(this, handle) && local_handle >= 0 && v0) {
retval = v0->setDelay(v0, local_handle, ns);
} else {
ALOGE("IGNORING setDelay() call for non-API-compliant sensor handle=%d !", handle);
}
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 the event's sensor field is unregistered for any reason, rewrite the sensor field
// with a -1, instead of writing an incorrect but plausible sensor number, because
// get_global_handle() returns -1 for unknown FullHandles.
if (dest->type == SENSOR_TYPE_META_DATA) {
full_handle.localHandle = dest->meta_data.sensor;
dest->meta_data.sensor = get_global_handle(&full_handle);
} else {
full_handle.localHandle = dest->sensor;
dest->sensor = get_global_handle(&full_handle);
}
}
int sensors_poll_context_t::poll(sensors_event_t *data, int maxReads) {
ALOGV("poll");
int empties = 0;
int queueCount = 0;
int eventsRead = 0;
pthread_mutex_lock(&queue_mutex);
queueCount = (int)this->queues.size();
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);
if (data[eventsRead].sensor == -1) {
// Bad handle, do not pass corrupted event upstream !
ALOGW("Dropping bad local handle event packet on the floor");
} else {
eventsRead++;
}
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 local_handle = get_local_handle(handle);
sensors_poll_device_1_t* v1 = this->get_v1_device_by_handle(handle);
if (halIsCompliant(this, handle) && local_handle >= 0 && v1) {
retval = v1->batch(v1, local_handle, flags, period_ns, timeout);
} else {
ALOGE("IGNORING batch() call to non-API-compliant sensor handle=%d !", handle);
}
ALOGV("retval %d", retval);
return retval;
}
int sensors_poll_context_t::flush(int handle) {
ALOGV("flush");
int retval = -EINVAL;
int local_handle = get_local_handle(handle);
sensors_poll_device_1_t* v1 = this->get_v1_device_by_handle(handle);
if (halIsCompliant(this, handle) && local_handle >= 0 && v1) {
retval = v1->flush(v1, local_handle);
} else {
ALOGE("IGNORING flush() call to non-API-compliant sensor handle=%d !", 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;
}
ALOGV("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) ||
starts_with(real_path, LEGAL_SUBHAL_ALTERNATE_PATH_PREFIX)) {
ALOGV("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' or '%s'",
real_path, LEGAL_SUBHAL_PATH_PREFIX, LEGAL_SUBHAL_ALTERNATE_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("Loaded library from %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 {
ALOGV("Loaded symbols from \"%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;
ALOGV("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(__unused 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 : 1,
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) {
ALOGV("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_3;
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);
if (!sub_open_result) {
if (!HAL_VERSION_IS_COMPLIANT(sub_hw_device->version)) {
ALOGE("SENSORS_DEVICE_API_VERSION_1_3 is required for all sensor HALs");
ALOGE("This HAL reports non-compliant API level : %s",
apiNumToStr(sub_hw_device->version));
ALOGE("Sensors belonging to this HAL will get ignored !");
}
dev->addSubHwDevice(sub_hw_device);
}
}
// Prepare the output param and return
*hw_device_out = &dev->proxy_device.common;
ALOGV("...open_sensors end");
return 0;
}