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Commit 779cc453 authored by Philip Chen's avatar Philip Chen
Browse files

SensorFusion: Do not use the sensor variables if they are not init'ed 

The member variables for the optional sensors (mMag & mGyro) could be
used even when they are not initialized, leading to failed fusion result
in corner cases.

Let's check those variables are properly initialized before using
them.

Also add minor fixes for the coding style.

Bug: 425971589
Test: Run CtsSensorTestCases for auto CF (no mag mode)
Flag: EXEMPT bugfix

Change-Id: Iecd215d585fdab62bb2ff895c4b78694abd70a28
parent 6b3382ff

services/sensorservice/SensorFusion.cpp

+41 −21
Original line number Diff line number Diff line
@@ -82,10 +82,11 @@ SensorFusion::SensorFusion() 


void SensorFusion::process(const sensors_event_t& event) {

    // sensor additional info is not currently used in fusion algorithm

    if (event.type == SENSOR_TYPE_ADDITIONAL_INFO)

    if (event.type == SENSOR_TYPE_ADDITIONAL_INFO) {

        return;

    }



    if (event.sensor == mGyro.getHandle()) {

    if (mGyro.has_value() && event.sensor == mGyro.value().getHandle()) {

        float dT;

        if (event.timestamp - mGyroTime > 0 &&

            event.timestamp - mGyroTime < (int64_t)(5e7) ) { // 0.05sec
@@ -107,19 +108,20 @@ void SensorFusion::process(const sensors_event_t& event) { 
            }

        }

        mGyroTime = event.timestamp;

    } else if (event.sensor == mMag.getHandle()) {

    } else if (mMag.has_value() && event.sensor == mMag.value().getHandle()) {

        const vec3_t mag(event.data);

        for (int i = 0; i < NUM_FUSION_MODE; ++i) {

            if (mEnabled[i]) {

                mFusions[i].handleMag(mag);// fusion in no mag mode will ignore

                // fusion in no mag mode will ignore

                mFusions[i].handleMag(mag);

            }

        }

    } else if (event.sensor == mAcc.getHandle()) {

        float dT;

        if (event.timestamp - mAccTime > 0 &&

            event.timestamp - mAccTime < (int64_t)(1e8) ) { // 0.1sec

            dT = (event.timestamp - mAccTime) / 1000000000.0f;



            dT = (event.timestamp - mAccTime) / 1000000000.0f;

            const vec3_t acc(event.data);

            for (int i = 0; i < NUM_FUSION_MODE; ++i) {

                if (mEnabled[i]) {
@@ -160,14 +162,22 @@ status_t SensorFusion::activate(int mode, void* ident, bool enabled) { 
        }

    }



    if (mode != FUSION_NOMAG && !mMag.has_value()) {

        ALOGE("%s: magnetic sensor is expected but not present!", __func__);

        return NO_INIT;

    }

    if (mode != FUSION_NOGYRO && !mGyro.has_value()) {

        ALOGE("%s: gyroscope is expected but not present!", __func__);

        return NO_INIT;

    }



    mSensorDevice.activate(ident, mAcc.getHandle(), enabled);

    if (mode != FUSION_NOMAG) {

        mSensorDevice.activate(ident, mMag.getHandle(), enabled);

        mSensorDevice.activate(ident, mMag.value().getHandle(), enabled);

    }

    if (mode != FUSION_NOGYRO) {

        mSensorDevice.activate(ident, mGyro.getHandle(), enabled);

        mSensorDevice.batch(ident, mGyro.value().getHandle(), 0, mTargetDelayNs, 0);

    }



    return NO_ERROR;

}
@@ -176,12 +186,22 @@ status_t SensorFusion::setDelay(int mode, void* ident, int64_t ns) { 
    if (ns > (int64_t)5e7) {

        ns = (int64_t)(5e7);

    }



    if (mode != FUSION_NOMAG && !mMag.has_value()) {

        ALOGE("%s: magnetic sensor is expected but not present!", __func__);

        return NO_INIT;

    }

    if (mode != FUSION_NOGYRO && !mGyro.has_value()) {

        ALOGE("%s: gyroscope is expected but not present!", __func__);

        return NO_INIT;

    }



    mSensorDevice.batch(ident, mAcc.getHandle(), 0, ns, 0);

    if (mode != FUSION_NOMAG) {

        mSensorDevice.batch(ident, mMag.getHandle(), 0, ms2ns(10), 0);

        mSensorDevice.batch(ident, mMag.value().getHandle(), 0, ms2ns(10), 0);

    }

    if (mode != FUSION_NOGYRO) {

        mSensorDevice.batch(ident, mGyro.getHandle(), 0, mTargetDelayNs, 0);

        mSensorDevice.batch(ident, mGyro.value().getHandle(), 0, mTargetDelayNs, 0);

    }

    return NO_ERROR;

}
@@ -189,8 +209,8 @@ status_t SensorFusion::setDelay(int mode, void* ident, int64_t ns) { 


float SensorFusion::getPowerUsage(int mode) const {

    float power =   mAcc.getPowerUsage() +

                    ((mode != FUSION_NOMAG) ? mMag.getPowerUsage() : 0) +

                    ((mode != FUSION_NOGYRO) ? mGyro.getPowerUsage() : 0);

                    ((mode != FUSION_NOMAG) ? mMag.value().getPowerUsage() : 0) +

                    ((mode != FUSION_NOGYRO) ? mGyro.value().getPowerUsage() : 0);

    return power;

}

services/sensorservice/SensorFusion.h

+2 −2
Original line number Diff line number Diff line
@@ -42,8 +42,8 @@ class SensorFusion : public Singleton<SensorFusion> { 


    SensorDevice& mSensorDevice;

    Sensor mAcc;

    Sensor mMag;

    Sensor mGyro;

    std::optional<Sensor> mMag;

    std::optional<Sensor> mGyro;



    Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro