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Commit adbb40af authored by Arthur Ishiguro's avatar Arthur Ishiguro
Browse files

Add AidlSensorHalWrapper code 

Bug: 195593357
Test: Verify on cuttlefish
Change-Id: I632d1322d0aa5f606477a35a43a3d60c1f7113d5
parent 65b59819

services/sensorservice/AidlSensorHalWrapper.cpp

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Original line number Diff line number Diff line 
/*

 * Copyright (C) 2021 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 "AidlSensorHalWrapper.h"

#include "ISensorsWrapper.h"

#include "SensorDeviceUtils.h"

#include "android/hardware/sensors/2.0/types.h"



#include <aidl/android/hardware/sensors/BnSensorsCallback.h>

#include <aidlcommonsupport/NativeHandle.h>

#include <android-base/logging.h>

#include <android/binder_manager.h>



using ::aidl::android::hardware::sensors::AdditionalInfo;

using ::aidl::android::hardware::sensors::DynamicSensorInfo;

using ::aidl::android::hardware::sensors::Event;

using ::aidl::android::hardware::sensors::ISensors;

using ::aidl::android::hardware::sensors::SensorInfo;

using ::aidl::android::hardware::sensors::SensorStatus;

using ::aidl::android::hardware::sensors::SensorType;

using ::android::AidlMessageQueue;

using ::android::hardware::EventFlag;

using ::android::hardware::sensors::V2_1::implementation::MAX_RECEIVE_BUFFER_EVENT_COUNT;



namespace android {



namespace {



status_t convertToStatus(ndk::ScopedAStatus status) {

    if (status.isOk()) {

        return OK;

    } else {

        switch (status.getExceptionCode()) {

            case EX_ILLEGAL_ARGUMENT: {

                return BAD_VALUE;

            }

            case EX_SECURITY: {

                return PERMISSION_DENIED;

            }

            case EX_UNSUPPORTED_OPERATION: {

                return INVALID_OPERATION;

            }

            case EX_SERVICE_SPECIFIC: {

                switch (status.getServiceSpecificError()) {

                    case ISensors::ERROR_BAD_VALUE: {

                        return BAD_VALUE;

                    }

                    case ISensors::ERROR_NO_MEMORY: {

                        return NO_MEMORY;

                    }

                    default: {

                        return UNKNOWN_ERROR;

                    }

                }

            }

            default: {

                return UNKNOWN_ERROR;

            }

        }

    }

}



void convertToSensor(const SensorInfo &src, sensor_t *dst) {

    dst->name = strdup(src.name.c_str());

    dst->vendor = strdup(src.vendor.c_str());

    dst->version = src.version;

    dst->handle = src.sensorHandle;

    dst->type = (int)src.type;

    dst->maxRange = src.maxRange;

    dst->resolution = src.resolution;

    dst->power = src.power;

    dst->minDelay = src.minDelayUs;

    dst->fifoReservedEventCount = src.fifoReservedEventCount;

    dst->fifoMaxEventCount = src.fifoMaxEventCount;

    dst->stringType = strdup(src.typeAsString.c_str());

    dst->requiredPermission = strdup(src.requiredPermission.c_str());

    dst->maxDelay = src.maxDelayUs;

    dst->flags = src.flags;

    dst->reserved[0] = dst->reserved[1] = 0;

}



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

    *dst = {.version = sizeof(sensors_event_t),

            .sensor = src.sensorHandle,

            .type = (int32_t)src.sensorType,

            .reserved0 = 0,

            .timestamp = src.timestamp};



    switch (src.sensorType) {

        case SensorType::META_DATA: {

            // Legacy HALs expect the handle reference in the meta data field.

            // Copy it over from the handle of the event.

            dst->meta_data.what = (int32_t)src.payload.get<Event::EventPayload::meta>().what;

            dst->meta_data.sensor = src.sensorHandle;

            // Set the sensor handle to 0 to maintain compatibility.

            dst->sensor = 0;

            break;

        }



        case SensorType::ACCELEROMETER:

        case SensorType::MAGNETIC_FIELD:

        case SensorType::ORIENTATION:

        case SensorType::GYROSCOPE:

        case SensorType::GRAVITY:

        case SensorType::LINEAR_ACCELERATION: {

            dst->acceleration.x = src.payload.get<Event::EventPayload::vec3>().x;

            dst->acceleration.y = src.payload.get<Event::EventPayload::vec3>().y;

            dst->acceleration.z = src.payload.get<Event::EventPayload::vec3>().z;

            dst->acceleration.status = (int32_t)src.payload.get<Event::EventPayload::vec3>().status;

            break;

        }



        case SensorType::GAME_ROTATION_VECTOR: {

            dst->data[0] = src.payload.get<Event::EventPayload::vec4>().x;

            dst->data[1] = src.payload.get<Event::EventPayload::vec4>().y;

            dst->data[2] = src.payload.get<Event::EventPayload::vec4>().z;

            dst->data[3] = src.payload.get<Event::EventPayload::vec4>().w;

            break;

        }



        case SensorType::ROTATION_VECTOR:

        case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {

            dst->data[0] = src.payload.get<Event::EventPayload::data>().values[0];

            dst->data[1] = src.payload.get<Event::EventPayload::data>().values[1];

            dst->data[2] = src.payload.get<Event::EventPayload::data>().values[2];

            dst->data[3] = src.payload.get<Event::EventPayload::data>().values[3];

            dst->data[4] = src.payload.get<Event::EventPayload::data>().values[4];

            break;

        }



        case SensorType::MAGNETIC_FIELD_UNCALIBRATED:

        case SensorType::GYROSCOPE_UNCALIBRATED:

        case SensorType::ACCELEROMETER_UNCALIBRATED: {

            dst->uncalibrated_gyro.x_uncalib = src.payload.get<Event::EventPayload::uncal>().x;

            dst->uncalibrated_gyro.y_uncalib = src.payload.get<Event::EventPayload::uncal>().y;

            dst->uncalibrated_gyro.z_uncalib = src.payload.get<Event::EventPayload::uncal>().z;

            dst->uncalibrated_gyro.x_bias = src.payload.get<Event::EventPayload::uncal>().xBias;

            dst->uncalibrated_gyro.y_bias = src.payload.get<Event::EventPayload::uncal>().yBias;

            dst->uncalibrated_gyro.z_bias = src.payload.get<Event::EventPayload::uncal>().zBias;

            break;

        }



        case SensorType::HINGE_ANGLE:

        case SensorType::DEVICE_ORIENTATION:

        case SensorType::LIGHT:

        case SensorType::PRESSURE:

        case SensorType::PROXIMITY:

        case SensorType::RELATIVE_HUMIDITY:

        case SensorType::AMBIENT_TEMPERATURE:

        case SensorType::SIGNIFICANT_MOTION:

        case SensorType::STEP_DETECTOR:

        case SensorType::TILT_DETECTOR:

        case SensorType::WAKE_GESTURE:

        case SensorType::GLANCE_GESTURE:

        case SensorType::PICK_UP_GESTURE:

        case SensorType::WRIST_TILT_GESTURE:

        case SensorType::STATIONARY_DETECT:

        case SensorType::MOTION_DETECT:

        case SensorType::HEART_BEAT:

        case SensorType::LOW_LATENCY_OFFBODY_DETECT: {

            dst->data[0] = src.payload.get<Event::EventPayload::scalar>();

            break;

        }



        case SensorType::STEP_COUNTER: {

            dst->u64.step_counter = src.payload.get<Event::EventPayload::stepCount>();

            break;

        }



        case SensorType::HEART_RATE: {

            dst->heart_rate.bpm = src.payload.get<Event::EventPayload::heartRate>().bpm;

            dst->heart_rate.status =

                    (int8_t)src.payload.get<Event::EventPayload::heartRate>().status;

            break;

        }



        case SensorType::POSE_6DOF: { // 15 floats

            for (size_t i = 0; i < 15; ++i) {

                dst->data[i] = src.payload.get<Event::EventPayload::pose6DOF>().values[i];

            }

            break;

        }



        case SensorType::DYNAMIC_SENSOR_META: {

            dst->dynamic_sensor_meta.connected =

                    src.payload.get<Event::EventPayload::dynamic>().connected;

            dst->dynamic_sensor_meta.handle =

                    src.payload.get<Event::EventPayload::dynamic>().sensorHandle;

            dst->dynamic_sensor_meta.sensor = NULL; // to be filled in later



            memcpy(dst->dynamic_sensor_meta.uuid,

                   src.payload.get<Event::EventPayload::dynamic>().uuid.values.data(), 16);



            break;

        }



        case SensorType::ADDITIONAL_INFO: {

            const AdditionalInfo &srcInfo = src.payload.get<Event::EventPayload::additional>();



            additional_info_event_t *dstInfo = &dst->additional_info;

            dstInfo->type = (int32_t)srcInfo.type;

            dstInfo->serial = srcInfo.serial;



            // TODO(b/195593357): Finish additional info conversion

            // CHECK_EQ(sizeof(srcInfo.payload.values), sizeof(dstInfo->data_int32));



            // memcpy(dstInfo->data_int32,

            //        &srcInfo.u,

            //        sizeof(dstInfo->data_int32));



            break;

        }



        default: {

            CHECK_GE((int32_t)src.sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);



            memcpy(dst->data, src.payload.get<Event::EventPayload::data>().values.data(),

                   16 * sizeof(float));

            break;

        }

    }

}



void convertFromSensorEvent(const sensors_event_t &src, Event *dst) {

    *dst = {

            .timestamp = src.timestamp,

            .sensorHandle = src.sensor,

    };



    switch (dst->sensorType) {

        case SensorType::META_DATA: {

            Event::EventPayload::MetaData meta;

            meta.what = (Event::EventPayload::MetaData::MetaDataEventType)src.meta_data.what;

            // Legacy HALs contain the handle reference in the meta data field.

            // Copy that over to the handle of the event. In legacy HALs this

            // field was expected to be 0.

            dst->sensorHandle = src.meta_data.sensor;

            dst->payload.set<Event::EventPayload::Tag::meta>(meta);

            break;

        }



        case SensorType::ACCELEROMETER:

        case SensorType::MAGNETIC_FIELD:

        case SensorType::ORIENTATION:

        case SensorType::GYROSCOPE:

        case SensorType::GRAVITY:

        case SensorType::LINEAR_ACCELERATION: {

            Event::EventPayload::Vec3 vec3;

            vec3.x = src.acceleration.x;

            vec3.y = src.acceleration.y;

            vec3.z = src.acceleration.z;

            vec3.status = (SensorStatus)src.acceleration.status;

            dst->payload.set<Event::EventPayload::Tag::vec3>(vec3);

            break;

        }



        case SensorType::GAME_ROTATION_VECTOR: {

            Event::EventPayload::Vec4 vec4;

            vec4.x = src.data[0];

            vec4.y = src.data[1];

            vec4.z = src.data[2];

            vec4.w = src.data[3];

            dst->payload.set<Event::EventPayload::Tag::vec4>(vec4);

            break;

        }



        case SensorType::ROTATION_VECTOR:

        case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {

            Event::EventPayload::Data data;

            memcpy(data.values.data(), src.data, 5 * sizeof(float));

            dst->payload.set<Event::EventPayload::Tag::data>(data);

            break;

        }



        case SensorType::MAGNETIC_FIELD_UNCALIBRATED:

        case SensorType::GYROSCOPE_UNCALIBRATED:

        case SensorType::ACCELEROMETER_UNCALIBRATED: {

            Event::EventPayload::Uncal uncal;

            uncal.x = src.uncalibrated_gyro.x_uncalib;

            uncal.y = src.uncalibrated_gyro.y_uncalib;

            uncal.z = src.uncalibrated_gyro.z_uncalib;

            uncal.xBias = src.uncalibrated_gyro.x_bias;

            uncal.yBias = src.uncalibrated_gyro.y_bias;

            uncal.zBias = src.uncalibrated_gyro.z_bias;

            dst->payload.set<Event::EventPayload::Tag::uncal>(uncal);

            break;

        }



        case SensorType::DEVICE_ORIENTATION:

        case SensorType::LIGHT:

        case SensorType::PRESSURE:

        case SensorType::PROXIMITY:

        case SensorType::RELATIVE_HUMIDITY:

        case SensorType::AMBIENT_TEMPERATURE:

        case SensorType::SIGNIFICANT_MOTION:

        case SensorType::STEP_DETECTOR:

        case SensorType::TILT_DETECTOR:

        case SensorType::WAKE_GESTURE:

        case SensorType::GLANCE_GESTURE:

        case SensorType::PICK_UP_GESTURE:

        case SensorType::WRIST_TILT_GESTURE:

        case SensorType::STATIONARY_DETECT:

        case SensorType::MOTION_DETECT:

        case SensorType::HEART_BEAT:

        case SensorType::LOW_LATENCY_OFFBODY_DETECT:

        case SensorType::HINGE_ANGLE: {

            dst->payload.set<Event::EventPayload::Tag::scalar>((float)src.data[0]);

            break;

        }



        case SensorType::STEP_COUNTER: {

            dst->payload.set<Event::EventPayload::Tag::stepCount>(src.u64.step_counter);

            break;

        }



        case SensorType::HEART_RATE: {

            Event::EventPayload::HeartRate heartRate;

            heartRate.bpm = src.heart_rate.bpm;

            heartRate.status = (SensorStatus)src.heart_rate.status;

            dst->payload.set<Event::EventPayload::Tag::heartRate>(heartRate);

            break;

        }



        case SensorType::POSE_6DOF: { // 15 floats

            Event::EventPayload::Pose6Dof pose6DOF;

            for (size_t i = 0; i < 15; ++i) {

                pose6DOF.values[i] = src.data[i];

            }

            dst->payload.set<Event::EventPayload::Tag::pose6DOF>(pose6DOF);

            break;

        }



        case SensorType::DYNAMIC_SENSOR_META: {

            DynamicSensorInfo dynamic;

            dynamic.connected = src.dynamic_sensor_meta.connected;

            dynamic.sensorHandle = src.dynamic_sensor_meta.handle;



            memcpy(dynamic.uuid.values.data(), src.dynamic_sensor_meta.uuid, 16);

            dst->payload.set<Event::EventPayload::Tag::dynamic>(dynamic);

            break;

        }



        case SensorType::ADDITIONAL_INFO: {

            AdditionalInfo info;

            const additional_info_event_t &srcInfo = src.additional_info;

            info.type = (AdditionalInfo::AdditionalInfoType)srcInfo.type;

            info.serial = srcInfo.serial;



            // TODO(b/195593357): Finish additional info conversion



            dst->payload.set<Event::EventPayload::Tag::additional>(info);

            break;

        }



        default: {

            CHECK_GE((int32_t)dst->sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);



            Event::EventPayload::Data data;

            memcpy(data.values.data(), src.data, 16 * sizeof(float));

            dst->payload.set<Event::EventPayload::Tag::data>(data);

            break;

        }

    }

}



template <typename EnumType>

constexpr typename std::underlying_type<EnumType>::type asBaseType(EnumType value) {

    return static_cast<typename std::underlying_type<EnumType>::type>(value);

}



enum EventQueueFlagBitsInternal : uint32_t {

    INTERNAL_WAKE = 1 << 16,

};



} // anonymous namespace



class AidlSensorsCallback : public ::aidl::android::hardware::sensors::BnSensorsCallback {

public:

    AidlSensorsCallback(AidlSensorHalWrapper::SensorDeviceCallback *sensorDeviceCallback)

          : mSensorDeviceCallback(sensorDeviceCallback) {}



    ::ndk::ScopedAStatus onDynamicSensorsConnected(

            const std::vector<SensorInfo> &sensorInfos) override {

        std::vector<sensor_t> sensors;

        for (const SensorInfo &sensorInfo : sensorInfos) {

            sensor_t sensor;

            convertToSensor(sensorInfo, &sensor);

            sensors.push_back(sensor);

        }



        mSensorDeviceCallback->onDynamicSensorsConnected(sensors);

        return ::ndk::ScopedAStatus::ok();

    }



    ::ndk::ScopedAStatus onDynamicSensorsDisconnected(

            const std::vector<int32_t> &sensorHandles) override {

        mSensorDeviceCallback->onDynamicSensorsDisconnected(sensorHandles);

        return ::ndk::ScopedAStatus::ok();

    }



private:

    ISensorHalWrapper::SensorDeviceCallback *mSensorDeviceCallback;

};



bool AidlSensorHalWrapper::supportsPolling() {

    return false;

}



bool AidlSensorHalWrapper::supportsMessageQueues() {

    return true;

}



bool AidlSensorHalWrapper::connect(SensorDeviceCallback *callback) {

    mSensorDeviceCallback = callback;

    mSensors = nullptr;



    auto aidlServiceName = std::string() + ISensors::descriptor + "/default";

    if (AServiceManager_isDeclared(aidlServiceName.c_str())) {

        ndk::SpAIBinder binder(AServiceManager_waitForService(aidlServiceName.c_str()));

        if (binder.get() != nullptr) {

            mSensors = ISensors::fromBinder(binder);

            mEventQueue = std::make_unique<AidlMessageQueue<

                    Event, SynchronizedReadWrite>>(MAX_RECEIVE_BUFFER_EVENT_COUNT,

                                                   /*configureEventFlagWord=*/true);



            mWakeLockQueue = std::make_unique<AidlMessageQueue<

                    int32_t, SynchronizedReadWrite>>(MAX_RECEIVE_BUFFER_EVENT_COUNT,

                                                     /*configureEventFlagWord=*/true);

            if (mEventQueueFlag != nullptr) {

                EventFlag::deleteEventFlag(&mEventQueueFlag);

            }

            EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag);

            if (mWakeLockQueueFlag != nullptr) {

                EventFlag::deleteEventFlag(&mWakeLockQueueFlag);

            }

            EventFlag::createEventFlag(mWakeLockQueue->getEventFlagWord(), &mWakeLockQueueFlag);



            CHECK(mEventQueue != nullptr && mEventQueueFlag != nullptr &&

                  mWakeLockQueue != nullptr && mWakeLockQueueFlag != nullptr);



            mCallback = ndk::SharedRefBase::make<AidlSensorsCallback>(mSensorDeviceCallback);

            mSensors->initialize(mEventQueue->dupeDesc(), mWakeLockQueue->dupeDesc(), mCallback);

        } else {

            // TODO(b/195593357): Handle AIDL HAL crash

            ALOGE("Could not connect to declared sensors AIDL HAL");

        }

    }



    return mSensors != nullptr;

}



void AidlSensorHalWrapper::prepareForReconnect() {

    mReconnecting = true;

    if (mEventQueueFlag != nullptr) {

        mEventQueueFlag->wake(asBaseType(INTERNAL_WAKE));

    }

}



ssize_t AidlSensorHalWrapper::poll(sensors_event_t * /* buffer */, size_t /* count */) {

    return 0;

}



ssize_t AidlSensorHalWrapper::pollFmq(sensors_event_t *buffer, size_t maxNumEventsToRead) {

    ssize_t eventsRead = 0;

    size_t availableEvents = mEventQueue->availableToRead();



    if (availableEvents == 0) {

        uint32_t eventFlagState = 0;



        // Wait for events to become available. This is necessary so that the Event FMQ's read() is

        // able to be called with the correct number of events to read. If the specified number of

        // events is not available, then read() would return no events, possibly introducing

        // additional latency in delivering events to applications.

        if (mEventQueueFlag != nullptr) {

            mEventQueueFlag->wait(asBaseType(ISensors::EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS) |

                                          asBaseType(INTERNAL_WAKE),

                                  &eventFlagState);

        }

        availableEvents = mEventQueue->availableToRead();



        if ((eventFlagState & asBaseType(INTERNAL_WAKE)) && mReconnecting) {

            ALOGD("Event FMQ internal wake, returning from poll with no events");

            return DEAD_OBJECT;

        }

    }



    size_t eventsToRead = std::min({availableEvents, maxNumEventsToRead, mEventBuffer.size()});

    if (eventsToRead > 0) {

        if (mEventQueue->read(mEventBuffer.data(), eventsToRead)) {

            // Notify the Sensors HAL that sensor events have been read. This is required to support

            // the use of writeBlocking by the Sensors HAL.

            if (mEventQueueFlag != nullptr) {

                mEventQueueFlag->wake(asBaseType(ISensors::EVENT_QUEUE_FLAG_BITS_EVENTS_READ));

            }



            for (size_t i = 0; i < eventsToRead; i++) {

                convertToSensorEvent(mEventBuffer[i], &buffer[i]);

            }

            eventsRead = eventsToRead;

        } else {

            ALOGW("Failed to read %zu events, currently %zu events available", eventsToRead,

                  availableEvents);

        }

    }



    return eventsRead;

}



std::vector<sensor_t> AidlSensorHalWrapper::getSensorsList() {

    std::vector<sensor_t> sensorsFound;



    if (mSensors != nullptr) {

        std::vector<SensorInfo> list;

        mSensors->getSensorsList(&list);

        for (size_t i = 0; i < list.size(); i++) {

            sensor_t sensor;

            convertToSensor(list[i], &sensor);

            sensorsFound.push_back(sensor);

        }

    }



    return sensorsFound;

}



status_t AidlSensorHalWrapper::setOperationMode(SensorService::Mode mode) {

    if (mSensors == nullptr) return NO_INIT;

    return convertToStatus(mSensors->setOperationMode(static_cast<ISensors::OperationMode>(mode)));

}



status_t AidlSensorHalWrapper::activate(int32_t sensorHandle, bool enabled) {

    if (mSensors == nullptr) return NO_INIT;

    return convertToStatus(mSensors->activate(sensorHandle, enabled));

}



status_t AidlSensorHalWrapper::batch(int32_t sensorHandle, int64_t samplingPeriodNs,

                                     int64_t maxReportLatencyNs) {

    if (mSensors == nullptr) return NO_INIT;

    return convertToStatus(mSensors->batch(sensorHandle, samplingPeriodNs, maxReportLatencyNs));

}



status_t AidlSensorHalWrapper::flush(int32_t sensorHandle) {

    if (mSensors == nullptr) return NO_INIT;

    return convertToStatus(mSensors->flush(sensorHandle));

}



status_t AidlSensorHalWrapper::injectSensorData(const sensors_event_t *event) {

    if (mSensors == nullptr) return NO_INIT;



    Event ev;

    convertFromSensorEvent(*event, &ev);

    return convertToStatus(mSensors->injectSensorData(ev));

}



status_t AidlSensorHalWrapper::registerDirectChannel(const sensors_direct_mem_t *memory,

                                                     int32_t *channelHandle) {

    if (mSensors == nullptr) return NO_INIT;



    ISensors::SharedMemInfo::SharedMemType type;

    switch (memory->type) {

        case SENSOR_DIRECT_MEM_TYPE_ASHMEM:

            type = ISensors::SharedMemInfo::SharedMemType::ASHMEM;

            break;

        case SENSOR_DIRECT_MEM_TYPE_GRALLOC:

            type = ISensors::SharedMemInfo::SharedMemType::GRALLOC;

            break;

        default:

            return BAD_VALUE;

    }



    if (memory->format != SENSOR_DIRECT_FMT_SENSORS_EVENT) {

        return BAD_VALUE;

    }

    ISensors::SharedMemInfo::SharedMemFormat format =

            ISensors::SharedMemInfo::SharedMemFormat::SENSORS_EVENT;



    ISensors::SharedMemInfo mem = {

            .type = type,

            .format = format,

            .size = static_cast<int32_t>(memory->size),

            .memoryHandle = makeToAidl(memory->handle),

    };



    return convertToStatus(mSensors->registerDirectChannel(mem, channelHandle));

}



status_t AidlSensorHalWrapper::unregisterDirectChannel(int32_t channelHandle) {

    if (mSensors == nullptr) return NO_INIT;

    return convertToStatus(mSensors->unregisterDirectChannel(channelHandle));

}



status_t AidlSensorHalWrapper::configureDirectChannel(int32_t sensorHandle, int32_t channelHandle,

                                                      const struct sensors_direct_cfg_t *config) {

    if (mSensors == nullptr) return NO_INIT;



    ISensors::RateLevel rate;

    switch (config->rate_level) {

        case SENSOR_DIRECT_RATE_STOP:

            rate = ISensors::RateLevel::STOP;

            break;

        case SENSOR_DIRECT_RATE_NORMAL:

            rate = ISensors::RateLevel::NORMAL;

            break;

        case SENSOR_DIRECT_RATE_FAST:

            rate = ISensors::RateLevel::FAST;

            break;

        case SENSOR_DIRECT_RATE_VERY_FAST:

            rate = ISensors::RateLevel::VERY_FAST;

            break;

        default:

            return BAD_VALUE;

    }



    int32_t token;

    mSensors->configDirectReport(sensorHandle, channelHandle, rate, &token);

    return token;

}



void AidlSensorHalWrapper::writeWakeLockHandled(uint32_t count) {

    int signedCount = (int)count;

    if (mWakeLockQueue->write(&signedCount)) {

        mWakeLockQueueFlag->wake(asBaseType(ISensors::WAKE_LOCK_QUEUE_FLAG_BITS_DATA_WRITTEN));

    } else {

        ALOGW("Failed to write wake lock handled");

    }

}



} // namespace android

services/sensorservice/AidlSensorHalWrapper.h

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services/sensorservice/Android.bp

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services/sensorservice/SensorDevice.cpp

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