Merge "[UWB HAL] Use AsyncFd to read the buffer only when it's readable." into... (249b66bc) · Commits · e / os / android_hardware_interfaces

uwb/aidl/default/Android.bp

+1 −0

Original line number	Diff line number	Diff line
		@@ -20,6 +20,7 @@ rust_binary {
		"libbinder_rs",
		"libbinder_tokio_rs",
		"libtokio",
		"libtokio_util",
		"libnix",
		"libanyhow",
		],

uwb/aidl/default/src/uwb_chip.rs

+144 −60

Original line number	Diff line number	Diff line
		@@ -4,32 +4,34 @@ use android_hardware_uwb::aidl::android::hardware::uwb::{
		};
		use android_hardware_uwb::binder;
		use async_trait::async_trait;
		use binder::{Result, Strong};
		use binder::{DeathRecipient, IBinder, Result, Strong};

		use tokio::fs::{File, OpenOptions};
		use tokio::io::{AsyncReadExt, AsyncWriteExt};
		use log::info;
		use std::sync::Arc;
		use tokio::io::unix::AsyncFd;
		use tokio::select;
		use tokio::sync::Mutex;
		use tokio_util::sync::CancellationToken;

		use std::fs::{File, OpenOptions};
		use std::io::{self, Read, Write};
		use std::os::fd::AsRawFd;

		use std::io;

		use nix::sys::termios;

		enum State {
		Closed,
		Opened {
		callbacks: Strong<dyn IUwbClientCallback>,
		#[allow(dead_code)]
		tasks: tokio::task::JoinSet<()>,
		_handle: tokio::task::JoinHandle<()>,
		serial: File,
		death_recipient: DeathRecipient,
		token: CancellationToken,
		},
		}

		pub struct UwbChip {
		name: String,
		path: String,
		state: Mutex<State>,
		state: Arc<Mutex<State>>,
		}

		impl UwbChip {
		@@ -37,23 +39,59 @@ impl UwbChip {
		Self {
		name,
		path,
		state: Mutex::new(State::Closed),
		state: Arc::new(Mutex::new(State::Closed)),
		}
		}
		}

		impl State {
		/// Terminate the reader task.
		#[allow(dead_code)]
		fn close(&mut self) -> Result<()> {
		if let State::Opened { ref mut token, ref callbacks, ref mut death_recipient, .. } = *self {
		log::info!("waiting for task cancellation");
		callbacks.as_binder().unlink_to_death(death_recipient)?;
		token.cancel();
		log::info!("task successfully cancelled");
		callbacks.onHalEvent(UwbEvent::CLOSE_CPLT, UwbStatus::OK)?;
		*self = State::Closed;
		}
		Ok(())
		}
		}

		pub fn makeraw(file: File) -> io::Result<File> {
		let fd = file.as_raw_fd();

		let mut attrs = termios::tcgetattr(fd)?;

		termios::cfmakeraw(&mut attrs);
		// Configure the file descritpro as raw fd.
		use nix::sys::termios::*;
		let mut attrs = tcgetattr(fd)?;
		cfmakeraw(&mut attrs);
		tcsetattr(fd, SetArg::TCSANOW, &attrs)?;

		termios::tcsetattr(fd, termios::SetArg::TCSANOW, &attrs)?;
		// Configure the file descriptor as non blocking.
		use nix::fcntl::*;
		let flags = OFlag::from_bits(fcntl(fd, FcntlArg::F_GETFL)?).unwrap();
		fcntl(fd, FcntlArg::F_SETFL(flags \| OFlag::O_NONBLOCK))?;

		Ok(file)
		}

		/// Wrapper around Read::read to handle EWOULDBLOCK.
		/// /!\ will actively wait for more data, make sure to call
		/// this method only when data is immediately expected.
		fn read_exact(file: &mut File, mut buf: &mut [u8]) -> io::Result<()> {
		while buf.len() > 0 {
		match file.read(buf) {
		Ok(0) => panic!("unexpectedly reached end of file"),
		Ok(read_len) => buf = &mut buf[read_len..],
		Err(err) if err.kind() == io::ErrorKind::WouldBlock => continue,
		Err(err) => return Err(err),
		}
		}
		Ok(())
		}

		impl binder::Interface for UwbChip {}

		#[async_trait]
		@@ -65,45 +103,95 @@ impl IUwbChipAsyncServer for UwbChip {
		async fn open(&self, callbacks: &Strong<dyn IUwbClientCallback>) -> Result<()> {
		log::debug!("open: {:?}", &self.path);

		let mut state = self.state.lock().await;

		if matches!(*state, State::Opened { .. }) {
		log::error!("the state is already opened");
		return Err(binder::ExceptionCode::ILLEGAL_STATE.into());
		}

		let serial = OpenOptions::new()
		.read(true)
		.write(true)
		.create(false)
		.open(&self.path)
		.await
		.and_then(makeraw)
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR)?;

		let mut state = self.state.lock().await;
		let state_death_recipient = self.state.clone();
		let mut death_recipient = DeathRecipient::new(move \|\| {
		let mut state = state_death_recipient.blocking_lock();
		log::info!("Uwb service has died");
		state.close().unwrap();
		});

		callbacks.as_binder().link_to_death(&mut death_recipient)?;

		let token = CancellationToken::new();
		let cloned_token = token.clone();

		if let State::Closed = *state {
		let client_callbacks = callbacks.clone();

		let mut tasks = tokio::task::JoinSet::new();
		let mut reader = serial
		let reader = serial
		.try_clone()
		.await
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR)?;

		tasks.spawn(async move {
		let join_handle = tokio::task::spawn(async move {
		info!("UCI reader task started");
		let mut reader = AsyncFd::new(reader).unwrap();

		loop {
		const UWB_HEADER_SIZE: usize = 4;

		let mut buffer = vec![0; UWB_HEADER_SIZE];
		reader
		.read_exact(&mut buffer[0..UWB_HEADER_SIZE])
		.await
		.unwrap();

		let length = buffer[3] as usize + UWB_HEADER_SIZE;
		// The only time where the task can be safely
		// cancelled is when no packet bytes have been read.
		//
		// - read_exact() cannot be used here since it is not
		// cancellation safe.
		// - read() cannot be used because it cannot be cancelled:
		// the syscall is executed blocking on the threadpool
		// and completes after termination of the task when
		// the pipe receives more data.
		let read_len = loop {
		// On some platforms, the readiness detecting mechanism
		// relies on edge-triggered notifications. This means that
		// the OS will only notify Tokio when the file descriptor
		// transitions from not-ready to ready. For this to work
		// you should first try to read or write and only poll for
		// readiness if that fails with an error of
		// std::io::ErrorKind::WouldBlock.
		match reader.get_mut().read(&mut buffer) {
		Ok(0) => {
		log::error!("file unexpectedly closed");
		return;
		}
		Ok(read_len) => break read_len,
		Err(err) if err.kind() == io::ErrorKind::WouldBlock => (),
		Err(_) => panic!("unexpected read failure"),
		}

		let mut guard = select! {
		_ = cloned_token.cancelled() => {
		info!("task is cancelled!");
		return;
		},
		result = reader.readable() => result.unwrap()
		};

		guard.clear_ready();
		};

		// Read the remaining header bytes, if truncated.
		read_exact(reader.get_mut(), &mut buffer[read_len..]).unwrap();

		let length = buffer[3] as usize + UWB_HEADER_SIZE;
		buffer.resize(length, 0);
		reader
		.read_exact(&mut buffer[UWB_HEADER_SIZE..length])
		.await
		.unwrap();

		client_callbacks.onUciMessage(&buffer[..]).unwrap();
		// Read the payload bytes.
		read_exact(reader.get_mut(), &mut buffer[UWB_HEADER_SIZE..]).unwrap();

		client_callbacks.onUciMessage(&buffer).unwrap();
		}
		});

		@@ -111,14 +199,13 @@ impl IUwbChipAsyncServer for UwbChip {

		*state = State::Opened {
		callbacks: callbacks.clone(),
		tasks,
		_handle: join_handle,
		serial,
		death_recipient,
		token,
		};

		Ok(())
		} else {
		Err(binder::ExceptionCode::ILLEGAL_STATE.into())
		}
		}

		async fn close(&self) -> Result<()> {
		@@ -126,10 +213,8 @@ impl IUwbChipAsyncServer for UwbChip {

		let mut state = self.state.lock().await;

		if let State::Opened { ref callbacks, .. } = *state {
		callbacks.onHalEvent(UwbEvent::CLOSE_CPLT, UwbStatus::OK)?;
		*state = State::Closed;
		Ok(())
		if matches!(*state, State::Opened { .. }) {
		state.close()
		} else {
		Err(binder::ExceptionCode::ILLEGAL_STATE.into())
		}
		@@ -162,7 +247,6 @@ impl IUwbChipAsyncServer for UwbChip {
		if let State::Opened { ref mut serial, .. } = &mut *self.state.lock().await {
		serial
		.write(data)
		.await
		.map(\|written\| written as i32)
		.map_err(\|_\| binder::StatusCode::UNKNOWN_ERROR.into())
		} else {