/*
* Copyright (C) 2017 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 "SensorTest.h"
#include <errno.h>
namespace android {
namespace SensorTest {
// Test if test environment is correctly initialized
void SensorTest::testInitialized(JNIEnv *env) {
ASSERT_TRUE(mManager->isValid());
}
// Test if invalid parameter cases are handled correctly
void SensorTest::testInvalidParameter(JNIEnv *env) {
ASensorList dummyList;
ASSERT_EQ(ASensorManager_getSensorList(nullptr, nullptr), -EINVAL);
ASSERT_EQ(ASensorManager_getSensorList(nullptr, &dummyList), -EINVAL);
ASSERT_EQ(ASensorManager_getDefaultSensor(nullptr, ASENSOR_TYPE_ACCELEROMETER), nullptr);
ASSERT_EQ(ASensorManager_getDefaultSensorEx(
nullptr, ASENSOR_TYPE_ACCELEROMETER, false), nullptr);
ALooper *nonNullLooper = reinterpret_cast<ALooper *>(1);
ASensorManager *nonNullManager = reinterpret_cast<ASensorManager *>(1);
ASSERT_EQ(ASensorManager_createEventQueue(nullptr, nullptr, 0, nullptr, nullptr), nullptr);
ASSERT_EQ(ASensorManager_createEventQueue(
nullptr, nonNullLooper, 0, nullptr, nullptr), nullptr);
ASSERT_EQ(ASensorManager_createEventQueue(
nonNullManager, nullptr, 0, nullptr, nullptr), nullptr);
ASensorEventQueue *nonNullQueue = reinterpret_cast<ASensorEventQueue *>(1);
ASSERT_EQ(ASensorManager_destroyEventQueue(nullptr, nullptr), -EINVAL);
ASSERT_EQ(ASensorManager_destroyEventQueue(nullptr, nonNullQueue), -EINVAL);
ASSERT_EQ(ASensorManager_destroyEventQueue(nonNullManager, nullptr), -EINVAL);
int fakeValidFd = 1;
int invalidFd = -1;
ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
nullptr, fakeValidFd, sizeof(ASensorEvent)), -EINVAL);
ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
nonNullManager, invalidFd, sizeof(ASensorEvent)), -EINVAL);
ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
nonNullManager, fakeValidFd, sizeof(ASensorEvent) - 1), -EINVAL);
ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
nonNullManager, fakeValidFd, 0), -EINVAL);
AHardwareBuffer *nonNullHardwareBuffer = reinterpret_cast<AHardwareBuffer *>(1);
ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
nullptr, nonNullHardwareBuffer, sizeof(ASensorEvent)), -EINVAL);
ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
nonNullManager, nullptr, sizeof(ASensorEvent)), -EINVAL);
ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
nonNullManager, nonNullHardwareBuffer, sizeof(ASensorEvent) - 1), -EINVAL);
ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
nonNullManager, nonNullHardwareBuffer, 0), -EINVAL);
// no return value to test, but call this to test if it will crash
ASensorManager_destroyDirectChannel(nullptr, 1);
ASensor *nonNullSensor = reinterpret_cast<ASensor *>(1);
ASSERT_EQ(ASensorManager_configureDirectReport(
nullptr, nullptr, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL);
ASSERT_EQ(ASensorManager_configureDirectReport(
nullptr, nonNullSensor, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL);
ASSERT_EQ(ASensorManager_configureDirectReport(
nullptr, nonNullSensor, 1, ASENSOR_DIRECT_RATE_STOP), -EINVAL);
ASSERT_EQ(ASensorManager_configureDirectReport(
nonNullManager, nullptr, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL);
ASSERT_EQ(ASensorEventQueue_registerSensor(nullptr, nullptr, 1, 1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_registerSensor(nullptr, nonNullSensor, 1, 1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nullptr, 1, 1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, -1, 1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, 1, -1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, -1, -1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_enableSensor(nullptr, nullptr), -EINVAL);
ASSERT_EQ(ASensorEventQueue_enableSensor(nullptr, nonNullSensor), -EINVAL);
ASSERT_EQ(ASensorEventQueue_enableSensor(nonNullQueue, nullptr), -EINVAL);
ASSERT_EQ(ASensorEventQueue_disableSensor(nullptr, nullptr), -EINVAL);
ASSERT_EQ(ASensorEventQueue_disableSensor(nullptr, nonNullSensor), -EINVAL);
ASSERT_EQ(ASensorEventQueue_disableSensor(nonNullQueue, nullptr), -EINVAL);
ASSERT_EQ(ASensorEventQueue_setEventRate(nullptr, nullptr, 1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_setEventRate(nullptr, nonNullSensor, 1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_setEventRate(nonNullQueue, nullptr, 1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_setEventRate(nonNullQueue, nonNullSensor, -1), -EINVAL);
ASSERT_EQ(ASensorEventQueue_hasEvents(nullptr), -EINVAL);
ASensorEvent event;
ASensorEvent *nonNullEvent = &event;
ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nullptr, 1), -EINVAL)
ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nullptr, 0), -EINVAL)
ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nonNullEvent, 1), -EINVAL)
ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nonNullEvent, 0), -EINVAL);
ASSERT_EQ(ASensorEventQueue_getEvents(nonNullQueue, nullptr, 1), -EINVAL)
ASSERT_EQ(ASensorEventQueue_getEvents(nonNullQueue, nullptr, 0), -EINVAL);
ASSERT_NULL(ASensor_getName(nullptr));
ASSERT_NULL(ASensor_getVendor(nullptr));
ASSERT_EQ(ASensor_getType(nullptr), ASENSOR_TYPE_INVALID);
// cannot use ASSERT_EQ as nan compare always returns false
ASSERT_NAN(ASensor_getResolution(nullptr));
ASSERT_EQ(ASensor_getMinDelay(nullptr), ASENSOR_DELAY_INVALID);
ASSERT_EQ(ASensor_getFifoMaxEventCount(nullptr), ASENSOR_FIFO_COUNT_INVALID);
ASSERT_EQ(ASensor_getFifoReservedEventCount(nullptr), ASENSOR_FIFO_COUNT_INVALID);
ASSERT_NULL(ASensor_getStringType(nullptr));
ASSERT_EQ(ASensor_getReportingMode(nullptr), AREPORTING_MODE_INVALID);
ASSERT_EQ(ASensor_isWakeUpSensor(nullptr), false);
ASSERT_EQ(ASensor_isDirectChannelTypeSupported(
nullptr, ASENSOR_DIRECT_CHANNEL_TYPE_SHARED_MEMORY), false);
ASSERT_EQ(ASensor_isDirectChannelTypeSupported(
nullptr, ASENSOR_DIRECT_CHANNEL_TYPE_HARDWARE_BUFFER), false);
ASSERT_EQ(ASensor_getHighestDirectReportRateLevel(nullptr), ASENSOR_DIRECT_RATE_STOP);
}
// Test sensor direct report functionality
void SensorTest::testDirectReport(JNIEnv* env, int32_t sensorType, int32_t channelType, int32_t rateLevel) {
constexpr size_t kEventSize = sizeof(ASensorEvent);
constexpr size_t kNEvent = 4096; // enough to contain 1.5 * 800 * 2.2 events
constexpr size_t kMemSize = kEventSize * kNEvent;
// value check criterion
constexpr float GRAVITY_MIN = 9.81f - 0.5f;
constexpr float GRAVITY_MAX = 9.81f + 0.5f;
constexpr float GYRO_MAX = 0.1f; // ~5 dps
constexpr float RATE_NORMAL_NOMINAL = 50;
constexpr float RATE_FAST_NOMINAL = 200;
constexpr float RATE_VERY_FAST_NOMINAL = 800;
TestSensor sensor = mManager->getDefaultSensor(sensorType);
if (!sensor.isValid()
|| sensor.getHighestDirectReportRateLevel() < rateLevel
|| !sensor.isDirectChannelTypeSupported(channelType)) {
// no sensor of type sensorType or it does not declare support of channelType or rateLevel
return;
}
std::unique_ptr<TestSharedMemory> mem(TestSharedMemory::create(channelType, kMemSize));
ASSERT_NE(mem, nullptr);
ASSERT_NE(mem->getBuffer(), nullptr);
switch (channelType) {
case ASENSOR_DIRECT_CHANNEL_TYPE_SHARED_MEMORY:
ASSERT_GT(mem->getSharedMemoryFd(), 0);
break;
case ASENSOR_DIRECT_CHANNEL_TYPE_HARDWARE_BUFFER:
ASSERT_NOT_NULL(mem->getHardwareBuffer());
break;
}
char* buffer = mem->getBuffer();
// fill memory with data
for (size_t i = 0; i < kMemSize; ++i) {
buffer[i] = '\xcc';
}
int32_t channel;
channel = mManager->createDirectChannel(*mem);
ASSERT_GT(channel, 0);
// check memory is zeroed
for (size_t i = 0; i < kMemSize; ++i) {
ASSERT_EQ(buffer[i], '\0');
}
int32_t eventToken;
eventToken = mManager->configureDirectReport(sensor, channel, rateLevel);
usleep(1500000); // sleep 1 sec for data, plus 0.5 sec for initialization
auto events = mem->parseEvents();
// find norminal rate
float nominalFreq = 0.f;
float nominalTestTimeSec = 1.f;
float maxTestTimeSec = 1.5f;
switch (rateLevel) {
case ASENSOR_DIRECT_RATE_NORMAL:
nominalFreq = RATE_NORMAL_NOMINAL;
break;
case ASENSOR_DIRECT_RATE_FAST:
nominalFreq = RATE_FAST_NOMINAL;
break;
case ASENSOR_DIRECT_RATE_VERY_FAST:
nominalFreq = RATE_VERY_FAST_NOMINAL;
break;
}
// allowed to be between 55% and 220% of nominal freq
ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * nominalTestTimeSec));
ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * maxTestTimeSec));
int64_t lastTimestamp = 0;
for (auto &e : events) {
ASSERT_EQ(e.type, sensorType);
ASSERT_EQ(e.sensor, eventToken);
ASSERT_GT(e.timestamp, lastTimestamp);
// type specific value check
switch(sensorType) {
case ASENSOR_TYPE_ACCELEROMETER: {
ASensorVector &acc = e.vector;
double accNorm = std::sqrt(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accNorm > GRAVITY_MAX || accNorm < GRAVITY_MIN) {
ALOGE("Gravity norm = %f", accNorm);
}
ASSERT_GE(accNorm, GRAVITY_MIN);
ASSERT_LE(accNorm, GRAVITY_MAX);
break;
}
case ASENSOR_TYPE_GYROSCOPE: {
ASensorVector &gyro = e.vector;
double gyroNorm = std::sqrt(gyro.x * gyro.x + gyro.y * gyro.y + gyro.z * gyro.z);
// assert not drifting
ASSERT_LE(gyroNorm, GYRO_MAX); // < ~2.5 degree/s
break;
}
}
lastTimestamp = e.timestamp;
}
// stop sensor and unregister channel
mManager->configureDirectReport(sensor, channel, ASENSOR_DIRECT_RATE_STOP);
mManager->destroyDirectChannel(channel);
}
} // namespace SensorTest
} // namespace android