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Commit c809cec6 authored by Devin Moore's avatar Devin Moore Committed by Automerger Merge Worker
Browse files

sensorservice: move the AIDL sensors conversion code out am: 8299a81c 

Original change: https://android-review.googlesource.com/c/platform/frameworks/native/+/2298621



Change-Id: I71379df28e859cb95c7998f6471e394ff5adcac4
Signed-off-by: default avatarAutomerger Merge Worker <android-build-automerger-merge-worker@system.gserviceaccount.com>
parents 5a853510 8299a81c

services/sensorservice/AidlSensorHalWrapper.cpp

+6 −458
Original line number Diff line number Diff line
@@ -23,6 +23,7 @@ 
#include <aidlcommonsupport/NativeHandle.h>

#include <android-base/logging.h>

#include <android/binder_manager.h>

#include <aidl/sensors/convert.h>



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

using ::aidl::android::hardware::sensors::DynamicSensorInfo;
@@ -34,469 +35,16 @@ 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;

using ::android::hardware::sensors::implementation::convertToStatus;

using ::android::hardware::sensors::implementation::convertToSensor;

using ::android::hardware::sensors::implementation::convertToSensorEvent;

using ::android::hardware::sensors::implementation::convertFromSensorEvent;





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;



            switch (srcInfo.payload.getTag()) {

                case AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32: {

                    const auto &values =

                            srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataInt32>()

                                    .values;

                    CHECK_EQ(values.size() * sizeof(int32_t), sizeof(dstInfo->data_int32));

                    memcpy(dstInfo->data_int32, values.data(), sizeof(dstInfo->data_int32));

                    break;

                }

                case AdditionalInfo::AdditionalInfoPayload::Tag::dataFloat: {

                    const auto &values =

                            srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataFloat>()

                                    .values;

                    CHECK_EQ(values.size() * sizeof(float), sizeof(dstInfo->data_float));

                    memcpy(dstInfo->data_float, values.data(), sizeof(dstInfo->data_float));

                    break;

                }

                default: {

                    ALOGE("Invalid sensor additional info tag: %d", (int)srcInfo.payload.getTag());

                }

            }

            break;

        }



        case SensorType::HEAD_TRACKER: {

            const auto &ht = src.payload.get<Event::EventPayload::headTracker>();

            dst->head_tracker.rx = ht.rx;

            dst->head_tracker.ry = ht.ry;

            dst->head_tracker.rz = ht.rz;

            dst->head_tracker.vx = ht.vx;

            dst->head_tracker.vy = ht.vy;

            dst->head_tracker.vz = ht.vz;

            dst->head_tracker.discontinuity_count = ht.discontinuityCount;

            break;

        }



        case SensorType::ACCELEROMETER_LIMITED_AXES:

        case SensorType::GYROSCOPE_LIMITED_AXES:

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

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

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

            dst->limited_axes_imu.x_supported =

                    src.payload.get<Event::EventPayload::limitedAxesImu>().xSupported;

            dst->limited_axes_imu.y_supported =

                    src.payload.get<Event::EventPayload::limitedAxesImu>().ySupported;

            dst->limited_axes_imu.z_supported =

                    src.payload.get<Event::EventPayload::limitedAxesImu>().zSupported;

            break;



        case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:

        case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED:

            dst->limited_axes_imu_uncalibrated.x_uncalib =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().x;

            dst->limited_axes_imu_uncalibrated.y_uncalib =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().y;

            dst->limited_axes_imu_uncalibrated.z_uncalib =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().z;

            dst->limited_axes_imu_uncalibrated.x_bias =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xBias;

            dst->limited_axes_imu_uncalibrated.y_bias =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().yBias;

            dst->limited_axes_imu_uncalibrated.z_bias =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zBias;

            dst->limited_axes_imu_uncalibrated.x_supported =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xSupported;

            dst->limited_axes_imu_uncalibrated.y_supported =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().ySupported;

            dst->limited_axes_imu_uncalibrated.z_supported =

                    src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zSupported;

            break;



        case SensorType::HEADING:

            dst->heading.heading = src.payload.get<Event::EventPayload::heading>().heading;

            dst->heading.accuracy = src.payload.get<Event::EventPayload::heading>().accuracy;

            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,

            .sensorType = (SensorType)src.type,

    };



    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;



            AdditionalInfo::AdditionalInfoPayload::Int32Values data;

            CHECK_EQ(data.values.size() * sizeof(int32_t), sizeof(srcInfo.data_int32));

            memcpy(data.values.data(), srcInfo.data_int32, sizeof(srcInfo.data_int32));

            info.payload.set<AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32>(data);



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

            break;

        }



        case SensorType::HEAD_TRACKER: {

            Event::EventPayload::HeadTracker headTracker;

            headTracker.rx = src.head_tracker.rx;

            headTracker.ry = src.head_tracker.ry;

            headTracker.rz = src.head_tracker.rz;

            headTracker.vx = src.head_tracker.vx;

            headTracker.vy = src.head_tracker.vy;

            headTracker.vz = src.head_tracker.vz;

            headTracker.discontinuityCount = src.head_tracker.discontinuity_count;



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

            break;

        }



        case SensorType::ACCELEROMETER_LIMITED_AXES:

        case SensorType::GYROSCOPE_LIMITED_AXES: {

            Event::EventPayload::LimitedAxesImu limitedAxesImu;

            limitedAxesImu.x = src.limited_axes_imu.x;

            limitedAxesImu.y = src.limited_axes_imu.y;

            limitedAxesImu.z = src.limited_axes_imu.z;

            limitedAxesImu.xSupported = src.limited_axes_imu.x_supported;

            limitedAxesImu.ySupported = src.limited_axes_imu.y_supported;

            limitedAxesImu.zSupported = src.limited_axes_imu.z_supported;

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

            break;

        }



        case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:

        case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED: {

            Event::EventPayload::LimitedAxesImuUncal limitedAxesImuUncal;

            limitedAxesImuUncal.x = src.limited_axes_imu_uncalibrated.x_uncalib;

            limitedAxesImuUncal.y = src.limited_axes_imu_uncalibrated.y_uncalib;

            limitedAxesImuUncal.z = src.limited_axes_imu_uncalibrated.z_uncalib;

            limitedAxesImuUncal.xBias = src.limited_axes_imu_uncalibrated.x_bias;

            limitedAxesImuUncal.yBias = src.limited_axes_imu_uncalibrated.y_bias;

            limitedAxesImuUncal.zBias = src.limited_axes_imu_uncalibrated.z_bias;

            limitedAxesImuUncal.xSupported = src.limited_axes_imu_uncalibrated.x_supported;

            limitedAxesImuUncal.ySupported = src.limited_axes_imu_uncalibrated.y_supported;

            limitedAxesImuUncal.zSupported = src.limited_axes_imu_uncalibrated.z_supported;

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

            break;

        }



        case SensorType::HEADING: {

            Event::EventPayload::Heading heading;

            heading.heading = src.heading.heading;

            heading.accuracy = src.heading.accuracy;

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

            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;

        }

    }

}



void serviceDied(void *cookie) {

    ALOGW("Sensors HAL died, attempting to reconnect.");

    ((AidlSensorHalWrapper *)cookie)->prepareForReconnect();

services/sensorservice/Android.bp

+1 −0
Original line number Diff line number Diff line
@@ -75,6 +75,7 @@ cc_library_shared { 
    static_libs: [

        "libaidlcommonsupport",

        "android.hardware.sensors@1.0-convert",

        "android.hardware.sensors-V1-convert",

        "android.hardware.sensors-V1-ndk",

    ],