Merge "V2: Use resolution to round sensor event values" into rvc-dev am: 1983b724fd (775fd136) · Commits · e / os / android_frameworks_native

services/sensorservice/SensorDevice.cpp

+40 −2

Original line number	Diff line number	Diff line
		@@ -143,6 +143,25 @@ void SensorDevice::initializeSensorList() {
		for (size_t i=0 ; i < count; i++) {
		sensor_t sensor;
		convertToSensor(convertToOldSensorInfo(list[i]), &sensor);

		if (sensor.type < static_cast<int>(SensorType::DEVICE_PRIVATE_BASE)) {
		if(sensor.resolution == 0) {
		// Don't crash here or the device will go into a crashloop.
		ALOGW("%s must have a non-zero resolution", sensor.name);
		// For simple algos, map their resolution to 1 if it's not specified
		sensor.resolution =
		SensorDeviceUtils::defaultResolutionForType(sensor.type);
		}

		double promotedResolution = sensor.resolution;
		double promotedMaxRange = sensor.maxRange;
		if (fmod(promotedMaxRange, promotedResolution) != 0) {
		ALOGW("%s's max range %f is not a multiple of the resolution %f",
		sensor.name, sensor.maxRange, sensor.resolution);
		SensorDeviceUtils::quantizeValue(&sensor.maxRange, promotedResolution);
		}
		}

		// Sanity check and clamp power if it is 0 (or close)
		if (sensor.power < minPowerMa) {
		ALOGI("Reported power %f not deemed sane, clamping to %f",
		@@ -510,7 +529,7 @@ ssize_t SensorDevice::pollHal(sensors_event_t* buffer, size_t count) {
		const auto &events,
		const auto &dynamicSensorsAdded) {
		if (result == Result::OK) {
		convertToSensorEvents(convertToNewEvents(events),
		convertToSensorEventsAndQuantize(convertToNewEvents(events),
		convertToNewSensorInfos(dynamicSensorsAdded), buffer);
		err = (ssize_t)events.size();
		} else {
		@@ -573,6 +592,8 @@ ssize_t SensorDevice::pollFmq(sensors_event_t* buffer, size_t maxNumEventsToRead

		for (size_t i = 0; i < eventsToRead; i++) {
		convertToSensorEvent(mEventBuffer[i], &buffer[i]);
		android::SensorDeviceUtils::quantizeSensorEventValues(&buffer[i],
		getResolutionForSensor(buffer[i].sensor));
		}
		eventsRead = eventsToRead;
		} else {
		@@ -1144,7 +1165,7 @@ void SensorDevice::convertToSensorEvent(
		}
		}

		void SensorDevice::convertToSensorEvents(
		void SensorDevice::convertToSensorEventsAndQuantize(
		const hidl_vec<Event> &src,
		const hidl_vec<SensorInfo> &dynamicSensorsAdded,
		sensors_event_t *dst) {
		@@ -1155,9 +1176,26 @@ void SensorDevice::convertToSensorEvents(

		for (size_t i = 0; i < src.size(); ++i) {
		V2_1::implementation::convertToSensorEvent(src[i], &dst[i]);
		android::SensorDeviceUtils::quantizeSensorEventValues(&dst[i],
		getResolutionForSensor(dst[i].sensor));
		}
		}

		float SensorDevice::getResolutionForSensor(int sensorHandle) {
		for (size_t i = 0; i < mSensorList.size(); i++) {
		if (sensorHandle == mSensorList[i].handle) {
		return mSensorList[i].resolution;
		}
		}

		auto it = mConnectedDynamicSensors.find(sensorHandle);
		if (it != mConnectedDynamicSensors.end()) {
		return it->second->resolution;
		}

		return 0;
		}

		void SensorDevice::handleHidlDeath(const std::string & detail) {
		if (!mSensors->supportsMessageQueues()) {
		// restart is the only option at present.

services/sensorservice/SensorDevice.h

+3 −1

Original line number	Diff line number	Diff line
		@@ -267,11 +267,13 @@ private:

		void convertToSensorEvent(const Event &src, sensors_event_t *dst);

		void convertToSensorEvents(
		void convertToSensorEventsAndQuantize(
		const hardware::hidl_vec<Event> &src,
		const hardware::hidl_vec<SensorInfo> &dynamicSensorsAdded,
		sensors_event_t *dst);

		float getResolutionForSensor(int sensorHandle);

		bool mIsDirectReportSupported;

		typedef hardware::MessageQueue<uint32_t, hardware::kSynchronizedReadWrite> WakeLockQueue;

services/sensorservice/SensorDeviceUtils.cpp

+84 −0

Original line number	Diff line number	Diff line
		@@ -17,17 +17,101 @@
		#include "SensorDeviceUtils.h"

		#include <android/hardware/sensors/1.0/ISensors.h>
		#include <android/hardware/sensors/2.1/ISensors.h>
		#include <utils/Log.h>

		#include <chrono>
		#include <thread>

		using ::android::hardware::Void;
		using SensorTypeV2_1 = android::hardware::sensors::V2_1::SensorType;
		using namespace android::hardware::sensors::V1_0;

		namespace android {
		namespace SensorDeviceUtils {

		void quantizeSensorEventValues(sensors_event_t *event, float resolution) {
		LOG_FATAL_IF(resolution == 0, "Resolution must be specified for all sensors!");
		if (resolution == 0) {
		return;
		}

		size_t axes = 0;
		switch ((SensorTypeV2_1)event->type) {
		case SensorTypeV2_1::ACCELEROMETER:
		case SensorTypeV2_1::MAGNETIC_FIELD:
		case SensorTypeV2_1::ORIENTATION:
		case SensorTypeV2_1::GYROSCOPE:
		case SensorTypeV2_1::GRAVITY:
		case SensorTypeV2_1::LINEAR_ACCELERATION:
		case SensorTypeV2_1::MAGNETIC_FIELD_UNCALIBRATED:
		case SensorTypeV2_1::GYROSCOPE_UNCALIBRATED:
		case SensorTypeV2_1::ACCELEROMETER_UNCALIBRATED:
		axes = 3;
		break;
		case SensorTypeV2_1::GAME_ROTATION_VECTOR:
		axes = 4;
		break;
		case SensorTypeV2_1::ROTATION_VECTOR:
		case SensorTypeV2_1::GEOMAGNETIC_ROTATION_VECTOR:
		axes = 5;
		break;
		case SensorTypeV2_1::DEVICE_ORIENTATION:
		case SensorTypeV2_1::LIGHT:
		case SensorTypeV2_1::PRESSURE:
		case SensorTypeV2_1::TEMPERATURE:
		case SensorTypeV2_1::PROXIMITY:
		case SensorTypeV2_1::RELATIVE_HUMIDITY:
		case SensorTypeV2_1::AMBIENT_TEMPERATURE:
		case SensorTypeV2_1::SIGNIFICANT_MOTION:
		case SensorTypeV2_1::STEP_DETECTOR:
		case SensorTypeV2_1::TILT_DETECTOR:
		case SensorTypeV2_1::WAKE_GESTURE:
		case SensorTypeV2_1::GLANCE_GESTURE:
		case SensorTypeV2_1::PICK_UP_GESTURE:
		case SensorTypeV2_1::WRIST_TILT_GESTURE:
		case SensorTypeV2_1::STATIONARY_DETECT:
		case SensorTypeV2_1::MOTION_DETECT:
		case SensorTypeV2_1::HEART_BEAT:
		case SensorTypeV2_1::LOW_LATENCY_OFFBODY_DETECT:
		case SensorTypeV2_1::HINGE_ANGLE:
		axes = 1;
		break;
		case SensorTypeV2_1::POSE_6DOF:
		axes = 15;
		break;
		default:
		// No other sensors have data that needs to be rounded.
		break;
		}

		// sensor_event_t is a union so we're able to perform the same quanitization action for most
		// sensors by only knowing the number of axes their output data has.
		for (size_t i = 0; i < axes; i++) {
		quantizeValue(&event->data[i], resolution);
		}
		}

		float defaultResolutionForType(int type) {
		switch ((SensorTypeV2_1)type) {
		case SensorTypeV2_1::SIGNIFICANT_MOTION:
		case SensorTypeV2_1::STEP_DETECTOR:
		case SensorTypeV2_1::STEP_COUNTER:
		case SensorTypeV2_1::TILT_DETECTOR:
		case SensorTypeV2_1::WAKE_GESTURE:
		case SensorTypeV2_1::GLANCE_GESTURE:
		case SensorTypeV2_1::PICK_UP_GESTURE:
		case SensorTypeV2_1::WRIST_TILT_GESTURE:
		case SensorTypeV2_1::STATIONARY_DETECT:
		case SensorTypeV2_1::MOTION_DETECT:
		return 1.0f;
		default:
		// fall through and return 0 for all other types
		break;
		}
		return 0.0f;
		}

		HidlServiceRegistrationWaiter::HidlServiceRegistrationWaiter() {
		}

services/sensorservice/SensorDeviceUtils.h

+17 −0

Original line number	Diff line number	Diff line
		@@ -18,7 +18,9 @@
		#define ANDROID_SENSOR_DEVICE_UTIL

		#include <android/hidl/manager/1.0/IServiceNotification.h>
		#include <hardware/sensors.h>

		#include <cmath>
		#include <condition_variable>
		#include <thread>

		@@ -29,6 +31,21 @@ using ::android::hidl::manager::V1_0::IServiceNotification;
		namespace android {
		namespace SensorDeviceUtils {

		// Quantizes a single value using a sensor's resolution.
		inline void quantizeValue(float *value, double resolution) {
		// Increase the value of the sensor's nominal resolution to ensure that
		// sensor accuracy improvements, like runtime calibration, are not masked
		// during requantization.
		double incRes = 0.25 * resolution;
		value = round(static_cast<double>(value) / incRes) * incRes;
		}

		// Ensures a sensor event doesn't provide values finer grained than its sensor resolution allows.
		void quantizeSensorEventValues(sensors_event_t *event, float resolution);

		// Provides a default resolution for simple sensor types if one wasn't provided by the HAL.
		float defaultResolutionForType(int type);

		class HidlServiceRegistrationWaiter : public IServiceNotification {
		public: