| /* |
| * Copyright (C) 2022 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 "aidl/sensors/convert.h" |
| #include "android-base/logging.h" |
| |
| namespace android { |
| namespace hardware { |
| namespace sensors { |
| namespace implementation { |
| |
| 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; |
| |
| 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: { |
| LOG(ERROR) << "Invalid sensor additional info tag: ", |
| (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 convertFromASensorEvent(const ASensorEvent& src, Event* dst) { |
| convertFromSensorEvent(common::convertASensorEvent(src), dst); |
| } |
| |
| } // namespace implementation |
| } // namespace sensors |
| } // namespace hardware |
| } // namespace android |