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-rw-r--r--cmds/atrace/atrace.cpp1
-rw-r--r--cmds/dumpstate/dumpstate.c14
-rw-r--r--include/gui/SensorManager.h26
-rw-r--r--libs/gui/SensorManager.cpp93
-rw-r--r--services/sensorservice/CorrectedGyroSensor.cpp4
-rw-r--r--services/sensorservice/Fusion.cpp167
-rw-r--r--services/sensorservice/Fusion.h21
-rw-r--r--services/sensorservice/GravitySensor.cpp8
-rw-r--r--services/sensorservice/OrientationSensor.cpp4
-rw-r--r--services/sensorservice/RotationVectorSensor.cpp69
-rw-r--r--services/sensorservice/RotationVectorSensor.h17
-rw-r--r--services/sensorservice/SensorFusion.cpp162
-rw-r--r--services/sensorservice/SensorFusion.h46
-rw-r--r--[-rwxr-xr-x]services/sensorservice/SensorService.cpp126
-rw-r--r--services/sensorservice/SensorService.h2
-rw-r--r--services/surfaceflinger/Android.mk4
-rw-r--r--services/surfaceflinger/main_surfaceflinger.cpp7
17 files changed, 192 insertions, 579 deletions
diff --git a/cmds/atrace/atrace.cpp b/cmds/atrace/atrace.cpp
index 9a5a81e59a..55282cf9aa 100644
--- a/cmds/atrace/atrace.cpp
+++ b/cmds/atrace/atrace.cpp
@@ -93,6 +93,7 @@ static const TracingCategory k_categories[] = {
{ "sched", "CPU Scheduling", 0, {
{ REQ, "/sys/kernel/debug/tracing/events/sched/sched_switch/enable" },
{ REQ, "/sys/kernel/debug/tracing/events/sched/sched_wakeup/enable" },
+ { OPT, "/sys/kernel/debug/tracing/events/sched/sched_blocked_reason/enable" },
} },
{ "irq", "IRQ Events", 0, {
{ REQ, "/sys/kernel/debug/tracing/events/irq/enable" },
diff --git a/cmds/dumpstate/dumpstate.c b/cmds/dumpstate/dumpstate.c
index b88b60551a..a2e4f4bd59 100644
--- a/cmds/dumpstate/dumpstate.c
+++ b/cmds/dumpstate/dumpstate.c
@@ -262,6 +262,8 @@ static unsigned long logcat_timeout(char *name) {
/* End copy from system/core/logd/LogBuffer.cpp */
+static const unsigned long logcat_min_timeout = 40000; /* ms */
+
/* dumps the current system state to stdout */
static void dumpstate() {
unsigned long timeout;
@@ -334,18 +336,18 @@ static void dumpstate() {
// dump_file("EVENT LOG TAGS", "/etc/event-log-tags");
// calculate timeout
timeout = logcat_timeout("main") + logcat_timeout("system") + logcat_timeout("crash");
- if (timeout < 20000) {
- timeout = 20000;
+ if (timeout < logcat_min_timeout) {
+ timeout = logcat_min_timeout;
}
run_command("SYSTEM LOG", timeout / 1000, "logcat", "-v", "threadtime", "-d", "*:v", NULL);
timeout = logcat_timeout("events");
- if (timeout < 20000) {
- timeout = 20000;
+ if (timeout < logcat_min_timeout) {
+ timeout = logcat_min_timeout;
}
run_command("EVENT LOG", timeout / 1000, "logcat", "-b", "events", "-v", "threadtime", "-d", "*:v", NULL);
timeout = logcat_timeout("radio");
- if (timeout < 20000) {
- timeout = 20000;
+ if (timeout < logcat_min_timeout) {
+ timeout = logcat_min_timeout;
}
run_command("RADIO LOG", timeout / 1000, "logcat", "-b", "radio", "-v", "threadtime", "-d", "*:v", NULL);
diff --git a/include/gui/SensorManager.h b/include/gui/SensorManager.h
index f039caf36f..0cff46c076 100644
--- a/include/gui/SensorManager.h
+++ b/include/gui/SensorManager.h
@@ -22,11 +22,9 @@
#include <stdint.h>
#include <sys/types.h>
-#include <binder/BinderService.h>
#include <binder/IBinder.h>
#include <binder/IPCThreadState.h>
#include <binder/IServiceManager.h>
-#include <binder/PermissionCache.h>
#include <utils/Errors.h>
#include <utils/RefBase.h>
@@ -56,8 +54,7 @@ public:
static SensorManager& getInstanceForPackage(const String16& packageName);
~SensorManager();
- ssize_t getSensorList(Sensor const* const** list);
- ssize_t getAvailableSensorList(Sensor const* const** list);
+ ssize_t getSensorList(Sensor const* const** list) const;
Sensor const* getDefaultSensor(int type);
sp<SensorEventQueue> createEventQueue(String8 packageName = String8(""), int mode = 0);
bool isDataInjectionEnabled();
@@ -67,27 +64,18 @@ private:
void sensorManagerDied();
SensorManager(const String16& opPackageName);
- status_t assertStateLocked();
- void updateAvailableSensorList();
+ status_t assertStateLocked() const;
private:
static Mutex sLock;
static std::map<String16, SensorManager*> sPackageInstances;
- Mutex mLock;
- sp<ISensorServer> mSensorServer;
-
- // for Java API
- Sensor const** mSensorList;
-
- // for NDK API
- Sensor const** mAvailableSensorList;
- ssize_t mNumAvailableSensor;
-
- Vector<Sensor> mSensors;
- sp<IBinder::DeathRecipient> mDeathObserver;
+ mutable Mutex mLock;
+ mutable sp<ISensorServer> mSensorServer;
+ mutable Sensor const** mSensorList;
+ mutable Vector<Sensor> mSensors;
+ mutable sp<IBinder::DeathRecipient> mDeathObserver;
const String16 mOpPackageName;
- bool mBodyPermission;
};
// ----------------------------------------------------------------------------
diff --git a/libs/gui/SensorManager.cpp b/libs/gui/SensorManager.cpp
index 4277032fa7..33608b5bd2 100644
--- a/libs/gui/SensorManager.cpp
+++ b/libs/gui/SensorManager.cpp
@@ -89,8 +89,7 @@ SensorManager& SensorManager::getInstanceForPackage(const String16& packageName)
}
SensorManager::SensorManager(const String16& opPackageName)
- : mSensorList(NULL), mAvailableSensorList(NULL), mNumAvailableSensor(0),
- mOpPackageName(opPackageName), mBodyPermission(false)
+ : mSensorList(0), mOpPackageName(opPackageName)
{
// okay we're not locked here, but it's not needed during construction
assertStateLocked();
@@ -99,9 +98,6 @@ SensorManager::SensorManager(const String16& opPackageName)
SensorManager::~SensorManager()
{
free(mSensorList);
- if (mAvailableSensorList) {
- free(mAvailableSensorList);
- }
}
void SensorManager::sensorManagerDied()
@@ -110,14 +106,10 @@ void SensorManager::sensorManagerDied()
mSensorServer.clear();
free(mSensorList);
mSensorList = NULL;
- if (mAvailableSensorList) {
- free(mAvailableSensorList);
- mAvailableSensorList = NULL;
- }
mSensors.clear();
}
-status_t SensorManager::assertStateLocked() {
+status_t SensorManager::assertStateLocked() const {
bool initSensorManager = false;
if (mSensorServer == NULL) {
initSensorManager = true;
@@ -167,14 +159,13 @@ status_t SensorManager::assertStateLocked() {
for (size_t i=0 ; i<count ; i++) {
mSensorList[i] = mSensors.array() + i;
}
-
- updateAvailableSensorList();
}
return NO_ERROR;
}
-ssize_t SensorManager::getSensorList(Sensor const* const** list) {
+ssize_t SensorManager::getSensorList(Sensor const* const** list) const
+{
Mutex::Autolock _l(mLock);
status_t err = assertStateLocked();
if (err < 0) {
@@ -184,76 +175,10 @@ ssize_t SensorManager::getSensorList(Sensor const* const** list) {
return static_cast<ssize_t>(mSensors.size());
}
-void SensorManager::updateAvailableSensorList() {
- const int uid = static_cast<int>(IPCThreadState::self()->getCallingUid());
- const int pid = static_cast<int>(IPCThreadState::self()->getCallingPid());
- const String16 BODY_SENSOR_PERMISSION("android.permission.BODY_SENSORS");
- const String8 BODY_SENSOR_PERMISSION8("android.permission.BODY_SENSORS");
-
- bool bodySensorPermission = false;
-
- sp<IBinder> binder = defaultServiceManager()->getService(String16("permission"));
- if (binder != NULL) {
- bodySensorPermission = interface_cast<IPermissionController>(binder)->
- checkPermission(BODY_SENSOR_PERMISSION, pid, uid);
- }
-
- // only update if app got BODY_SENSORS permission after last call or the sensor list has not
- // been populated.
- //
- // it is not possible for the reverse transition, as the app will be killed when permission is
- // revoked.
- if ( (bodySensorPermission && !mBodyPermission) || mAvailableSensorList == NULL) {
-
- // allocate only when necessary
- if (mAvailableSensorList == NULL) {
- // allocate a list big enough to fit all sensors (including those requires permission
- // that the app do not have;
- mAvailableSensorList =
- static_cast<Sensor const**>(malloc(mSensors.size() * sizeof(Sensor*)));
-
- // first populate all sensors that do not need body sensor permission
- ssize_t& n = mNumAvailableSensor;
- for (size_t i = 0; i < mSensors.size() ; i++) {
- if (mSensors[i].getRequiredPermission() != BODY_SENSOR_PERMISSION8) {
- mAvailableSensorList[n++] = mSensors.array() + i;
- }
- }
- }
-
- if (bodySensorPermission) {
- // if the app just got the sensor permission back, fill the sensor at the end of list
- ssize_t& n = mNumAvailableSensor;
- for (size_t i = 0; i < mSensors.size() ; i++) {
- if (mSensors[i].getRequiredPermission() == BODY_SENSOR_PERMISSION8) {
- mAvailableSensorList[n++] = mSensors.array() + i;
- }
- }
- }
-
- mBodyPermission = bodySensorPermission;
- }
-}
-
-ssize_t SensorManager::getAvailableSensorList(Sensor const* const** list) {
- Mutex::Autolock _l(mLock);
- status_t err = assertStateLocked();
- if (err < 0) {
- return static_cast<ssize_t>(err);
- }
-
- updateAvailableSensorList();
-
- *list = mAvailableSensorList;
- return mNumAvailableSensor;
-}
-
-Sensor const* SensorManager::getDefaultSensor(int type) {
+Sensor const* SensorManager::getDefaultSensor(int type)
+{
Mutex::Autolock _l(mLock);
if (assertStateLocked() == NO_ERROR) {
-
- updateAvailableSensorList();
-
bool wakeUpSensor = false;
// For the following sensor types, return a wake-up sensor. These types are by default
// defined as wake-up sensors. For the rest of the sensor types defined in sensors.h return
@@ -267,9 +192,9 @@ Sensor const* SensorManager::getDefaultSensor(int type) {
// in the future it will make sense to let the SensorService make
// that decision.
for (size_t i=0 ; i<mSensors.size() ; i++) {
- if (mAvailableSensorList[i]->getType() == type &&
- mAvailableSensorList[i]->isWakeUpSensor() == wakeUpSensor) {
- return mAvailableSensorList[i];
+ if (mSensorList[i]->getType() == type &&
+ mSensorList[i]->isWakeUpSensor() == wakeUpSensor) {
+ return mSensorList[i];
}
}
}
diff --git a/services/sensorservice/CorrectedGyroSensor.cpp b/services/sensorservice/CorrectedGyroSensor.cpp
index 7b1f3460ea..b07d5448a6 100644
--- a/services/sensorservice/CorrectedGyroSensor.cpp
+++ b/services/sensorservice/CorrectedGyroSensor.cpp
@@ -58,12 +58,12 @@ bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
- return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
+ return mSensorFusion.activate(ident, enabled);
}
status_t CorrectedGyroSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
mSensorDevice.setDelay(ident, mGyro.getHandle(), ns);
- return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
+ return mSensorFusion.setDelay(ident, ns);
}
Sensor CorrectedGyroSensor::getSensor() const {
diff --git a/services/sensorservice/Fusion.cpp b/services/sensorservice/Fusion.cpp
index 359d289773..4f63c31d16 100644
--- a/services/sensorservice/Fusion.cpp
+++ b/services/sensorservice/Fusion.cpp
@@ -24,44 +24,28 @@ namespace android {
// -----------------------------------------------------------------------
-/*==================== BEGIN FUSION SENSOR PARAMETER =========================*/
-
-/* Note:
- * If a platform uses software fusion, it is necessary to tune the following
- * parameters to fit the hardware sensors prior to release.
- *
- * The DEFAULT_ parameters will be used in FUSION_9AXIS and FUSION_NOMAG mode.
- * The GEOMAG_ parameters will be used in FUSION_NOGYRO mode.
- */
-
/*
- * GYRO_VAR gives the measured variance of the gyro's output per
+ * gyroVAR gives the measured variance of the gyro's output per
* Hz (or variance at 1 Hz). This is an "intrinsic" parameter of the gyro,
* which is independent of the sampling frequency.
*
* The variance of gyro's output at a given sampling period can be
* calculated as:
- * variance(T) = GYRO_VAR / T
+ * variance(T) = gyroVAR / T
*
* The variance of the INTEGRATED OUTPUT at a given sampling period can be
* calculated as:
- * variance_integrate_output(T) = GYRO_VAR * T
+ * variance_integrate_output(T) = gyroVAR * T
+ *
*/
-static const float DEFAULT_GYRO_VAR = 1e-7; // (rad/s)^2 / Hz
-static const float DEFAULT_GYRO_BIAS_VAR = 1e-12; // (rad/s)^2 / s (guessed)
-static const float GEOMAG_GYRO_VAR = 1e-4; // (rad/s)^2 / Hz
-static const float GEOMAG_GYRO_BIAS_VAR = 1e-8; // (rad/s)^2 / s (guessed)
+static const float gyroVAR = 1e-7; // (rad/s)^2 / Hz
+static const float biasVAR = 1e-8; // (rad/s)^2 / s (guessed)
/*
* Standard deviations of accelerometer and magnetometer
*/
-static const float DEFAULT_ACC_STDEV = 0.015f; // m/s^2 (measured 0.08 / CDD 0.05)
-static const float DEFAULT_MAG_STDEV = 0.1f; // uT (measured 0.7 / CDD 0.5)
-static const float GEOMAG_ACC_STDEV = 0.05f; // m/s^2 (measured 0.08 / CDD 0.05)
-static const float GEOMAG_MAG_STDEV = 0.1f; // uT (measured 0.7 / CDD 0.5)
-
-
-/* ====================== END FUSION SENSOR PARAMETER ========================*/
+static const float accSTDEV = 0.05f; // m/s^2 (measured 0.08 / CDD 0.05)
+static const float magSTDEV = 0.5f; // uT (measured 0.7 / CDD 0.5)
static const float SYMMETRY_TOLERANCE = 1e-10f;
@@ -70,8 +54,7 @@ static const float SYMMETRY_TOLERANCE = 1e-10f;
* ill-conditioning and div by zeros.
* Threshhold: 10% of g, in m/s^2
*/
-static const float NOMINAL_GRAVITY = 9.81f;
-static const float FREE_FALL_THRESHOLD = 0.1f * (NOMINAL_GRAVITY);
+static const float FREE_FALL_THRESHOLD = 0.981f;
static const float FREE_FALL_THRESHOLD_SQ =
FREE_FALL_THRESHOLD*FREE_FALL_THRESHOLD;
@@ -104,9 +87,6 @@ static const float MIN_VALID_CROSS_PRODUCT_MAG = 1.0e-3;
static const float MIN_VALID_CROSS_PRODUCT_MAG_SQ =
MIN_VALID_CROSS_PRODUCT_MAG*MIN_VALID_CROSS_PRODUCT_MAG;
-static const float W_EPS = 1e-4f;
-static const float SQRT_3 = 1.732f;
-static const float WVEC_EPS = 1e-4f/SQRT_3;
// -----------------------------------------------------------------------
template <typename TYPE, size_t C, size_t R>
@@ -193,7 +173,7 @@ Fusion::Fusion() {
init();
}
-void Fusion::init(int mode) {
+void Fusion::init() {
mInitState = 0;
mGyroRate = 0;
@@ -203,19 +183,6 @@ void Fusion::init(int mode) {
mCount[2] = 0;
mData = 0;
- mMode = mode;
-
- if (mMode != FUSION_NOGYRO) { //normal or game rotation
- mParam.gyroVar = DEFAULT_GYRO_VAR;
- mParam.gyroBiasVar = DEFAULT_GYRO_BIAS_VAR;
- mParam.accStdev = DEFAULT_ACC_STDEV;
- mParam.magStdev = DEFAULT_MAG_STDEV;
- } else {
- mParam.gyroVar = GEOMAG_GYRO_VAR;
- mParam.gyroBiasVar = GEOMAG_GYRO_BIAS_VAR;
- mParam.accStdev = GEOMAG_ACC_STDEV;
- mParam.magStdev = GEOMAG_MAG_STDEV;
- }
}
void Fusion::initFusion(const vec4_t& q, float dT)
@@ -238,11 +205,11 @@ void Fusion::initFusion(const vec4_t& q, float dT)
const float dT3 = dT2*dT;
// variance of integrated output at 1/dT Hz (random drift)
- const float q00 = mParam.gyroVar * dT + 0.33333f * mParam.gyroBiasVar * dT3;
+ const float q00 = gyroVAR * dT + 0.33333f * biasVAR * dT3;
// variance of drift rate ramp
- const float q11 = mParam.gyroBiasVar * dT;
- const float q10 = 0.5f * mParam.gyroBiasVar * dT2;
+ const float q11 = biasVAR * dT;
+ const float q10 = 0.5f * biasVAR * dT2;
const float q01 = q10;
GQGt[0][0] = q00; // rad^2
@@ -256,9 +223,7 @@ void Fusion::initFusion(const vec4_t& q, float dT)
}
bool Fusion::hasEstimate() const {
- return ((mInitState & MAG) || (mMode == FUSION_NOMAG)) &&
- ((mInitState & GYRO) || (mMode == FUSION_NOGYRO)) &&
- (mInitState & ACC);
+ return (mInitState == (MAG|ACC|GYRO));
}
bool Fusion::checkInitComplete(int what, const vec3_t& d, float dT) {
@@ -269,9 +234,6 @@ bool Fusion::checkInitComplete(int what, const vec3_t& d, float dT) {
mData[0] += d * (1/length(d));
mCount[0]++;
mInitState |= ACC;
- if (mMode == FUSION_NOGYRO ) {
- mGyroRate = dT;
- }
} else if (what == MAG) {
mData[1] += d * (1/length(d));
mCount[1]++;
@@ -280,29 +242,25 @@ bool Fusion::checkInitComplete(int what, const vec3_t& d, float dT) {
mGyroRate = dT;
mData[2] += d*dT;
mCount[2]++;
- mInitState |= GYRO;
+ if (mCount[2] == 64) {
+ // 64 samples is good enough to estimate the gyro drift and
+ // doesn't take too much time.
+ mInitState |= GYRO;
+ }
}
- if (hasEstimate()) {
+ if (mInitState == (MAG|ACC|GYRO)) {
// Average all the values we collected so far
mData[0] *= 1.0f/mCount[0];
- if (mMode != FUSION_NOMAG) {
- mData[1] *= 1.0f/mCount[1];
- }
+ mData[1] *= 1.0f/mCount[1];
mData[2] *= 1.0f/mCount[2];
// calculate the MRPs from the data collection, this gives us
// a rough estimate of our initial state
mat33_t R;
- vec3_t up(mData[0]);
- vec3_t east;
-
- if (mMode != FUSION_NOMAG) {
- east = normalize(cross_product(mData[1], up));
- } else {
- east = getOrthogonal(up);
- }
-
+ vec3_t up(mData[0]);
+ vec3_t east(cross_product(mData[1], up));
+ east *= 1/length(east);
vec3_t north(cross_product(up, east));
R << east << north << up;
const vec4_t q = matrixToQuat(R);
@@ -320,43 +278,21 @@ void Fusion::handleGyro(const vec3_t& w, float dT) {
predict(w, dT);
}
-status_t Fusion::handleAcc(const vec3_t& a, float dT) {
- if (!checkInitComplete(ACC, a, dT))
- return BAD_VALUE;
-
+status_t Fusion::handleAcc(const vec3_t& a) {
// ignore acceleration data if we're close to free-fall
- const float l = length(a);
- if (l < FREE_FALL_THRESHOLD) {
+ if (length_squared(a) < FREE_FALL_THRESHOLD_SQ) {
return BAD_VALUE;
}
- const float l_inv = 1.0f/l;
-
- if ( mMode == FUSION_NOGYRO ) {
- //geo mag
- vec3_t w_dummy;
- w_dummy = x1; //bias
- predict(w_dummy, dT);
- }
-
- if ( mMode == FUSION_NOMAG) {
- vec3_t m;
- m = getRotationMatrix()*Bm;
- update(m, Bm, mParam.magStdev);
- }
-
- vec3_t unityA = a * l_inv;
- const float d = sqrtf(fabsf(l- NOMINAL_GRAVITY));
- const float p = l_inv * mParam.accStdev*expf(d);
+ if (!checkInitComplete(ACC, a))
+ return BAD_VALUE;
- update(unityA, Ba, p);
+ const float l = 1/length(a);
+ update(a*l, Ba, accSTDEV*l);
return NO_ERROR;
}
status_t Fusion::handleMag(const vec3_t& m) {
- if (!checkInitComplete(MAG, m))
- return BAD_VALUE;
-
// the geomagnetic-field should be between 30uT and 60uT
// reject if too large to avoid spurious magnetic sources
const float magFieldSq = length_squared(m);
@@ -368,6 +304,9 @@ status_t Fusion::handleMag(const vec3_t& m) {
return BAD_VALUE;
}
+ if (!checkInitComplete(MAG, m))
+ return BAD_VALUE;
+
// Orthogonalize the magnetic field to the gravity field, mapping it into
// tangent to Earth.
const vec3_t up( getRotationMatrix() * Ba );
@@ -385,10 +324,10 @@ status_t Fusion::handleMag(const vec3_t& m) {
// then pass it in as the update.
vec3_t north( cross_product(up, east) );
- const float l_inv = 1 / length(north);
- north *= l_inv;
+ const float l = 1 / length(north);
+ north *= l;
- update(north, Bm, mParam.magStdev*l_inv);
+ update(north, Bm, magSTDEV*l);
return NO_ERROR;
}
@@ -433,11 +372,8 @@ mat34_t Fusion::getF(const vec4_t& q) {
void Fusion::predict(const vec3_t& w, float dT) {
const vec4_t q = x0;
const vec3_t b = x1;
- vec3_t we = w - b;
+ const vec3_t we = w - b;
- if (length(we) < WVEC_EPS) {
- we = (we[0]>0.f)?WVEC_EPS:-WVEC_EPS;
- }
// q(k+1) = O(we)*q(k)
// --------------------
//
@@ -470,7 +406,7 @@ void Fusion::predict(const vec3_t& w, float dT) {
const mat33_t wx2(wx*wx);
const float lwedT = length(we)*dT;
const float hlwedT = 0.5f*lwedT;
- const float ilwe = 1.f/length(we);
+ const float ilwe = 1/length(we);
const float k0 = (1-cosf(lwedT))*(ilwe*ilwe);
const float k1 = sinf(lwedT);
const float k2 = cosf(hlwedT);
@@ -486,7 +422,6 @@ void Fusion::predict(const vec3_t& w, float dT) {
Phi[1][0] = wx*k0 - I33dT - wx2*(ilwe*ilwe*ilwe)*(lwedT-k1);
x0 = O*q;
-
if (x0.w < 0)
x0 = -x0;
@@ -531,37 +466,15 @@ void Fusion::update(const vec3_t& z, const vec3_t& Bi, float sigma) {
const vec3_t e(z - Bb);
const vec3_t dq(K[0]*e);
+ const vec3_t db(K[1]*e);
q += getF(q)*(0.5f*dq);
x0 = normalize_quat(q);
-
- if (mMode != FUSION_NOMAG) {
- const vec3_t db(K[1]*e);
- x1 += db;
- }
+ x1 += db;
checkState();
}
-vec3_t Fusion::getOrthogonal(const vec3_t &v) {
- vec3_t w;
- if (fabsf(v[0])<= fabsf(v[1]) && fabsf(v[0]) <= fabsf(v[2])) {
- w[0]=0.f;
- w[1] = v[2];
- w[2] = -v[1];
- } else if (fabsf(v[1]) <= fabsf(v[2])) {
- w[0] = v[2];
- w[1] = 0.f;
- w[2] = -v[0];
- }else {
- w[0] = v[1];
- w[1] = -v[0];
- w[2] = 0.f;
- }
- return normalize(w);
-}
-
-
// -----------------------------------------------------------------------
}; // namespace android
diff --git a/services/sensorservice/Fusion.h b/services/sensorservice/Fusion.h
index 602779f539..7062999b75 100644
--- a/services/sensorservice/Fusion.h
+++ b/services/sensorservice/Fusion.h
@@ -27,13 +27,6 @@ namespace android {
typedef mat<float, 3, 4> mat34_t;
-enum FUSION_MODE{
- FUSION_9AXIS, // use accel gyro mag
- FUSION_NOMAG, // use accel gyro (game rotation, gravity)
- FUSION_NOGYRO, // use accel mag (geomag rotation)
- NUM_FUSION_MODE
-};
-
class Fusion {
/*
* the state vector is made of two sub-vector containing respectively:
@@ -62,9 +55,9 @@ class Fusion {
public:
Fusion();
- void init(int mode = FUSION_9AXIS);
+ void init();
void handleGyro(const vec3_t& w, float dT);
- status_t handleAcc(const vec3_t& a, float dT);
+ status_t handleAcc(const vec3_t& a);
status_t handleMag(const vec3_t& m);
vec4_t getAttitude() const;
vec3_t getBias() const;
@@ -72,21 +65,12 @@ public:
bool hasEstimate() const;
private:
- struct Parameter {
- float gyroVar;
- float gyroBiasVar;
- float accStdev;
- float magStdev;
- } mParam;
-
mat<mat33_t, 2, 2> Phi;
vec3_t Ba, Bm;
uint32_t mInitState;
float mGyroRate;
vec<vec3_t, 3> mData;
size_t mCount[3];
- int mMode;
-
enum { ACC=0x1, MAG=0x2, GYRO=0x4 };
bool checkInitComplete(int, const vec3_t& w, float d = 0);
void initFusion(const vec4_t& q0, float dT);
@@ -94,7 +78,6 @@ private:
void predict(const vec3_t& w, float dT);
void update(const vec3_t& z, const vec3_t& Bi, float sigma);
static mat34_t getF(const vec4_t& p);
- static vec3_t getOrthogonal(const vec3_t &v);
};
}; // namespace android
diff --git a/services/sensorservice/GravitySensor.cpp b/services/sensorservice/GravitySensor.cpp
index f8279d262d..3cb3745202 100644
--- a/services/sensorservice/GravitySensor.cpp
+++ b/services/sensorservice/GravitySensor.cpp
@@ -47,9 +47,9 @@ bool GravitySensor::process(sensors_event_t* outEvent,
const static double NS2S = 1.0 / 1000000000.0;
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
vec3_t g;
- if (!mSensorFusion.hasEstimate(FUSION_NOMAG))
+ if (!mSensorFusion.hasEstimate())
return false;
- const mat33_t R(mSensorFusion.getRotationMatrix(FUSION_NOMAG));
+ const mat33_t R(mSensorFusion.getRotationMatrix());
// FIXME: we need to estimate the length of gravity because
// the accelerometer may have a small scaling error. This
// translates to an offset in the linear-acceleration sensor.
@@ -67,11 +67,11 @@ bool GravitySensor::process(sensors_event_t* outEvent,
}
status_t GravitySensor::activate(void* ident, bool enabled) {
- return mSensorFusion.activate(FUSION_NOMAG, ident, enabled);
+ return mSensorFusion.activate(ident, enabled);
}
status_t GravitySensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
- return mSensorFusion.setDelay(FUSION_NOMAG, ident, ns);
+ return mSensorFusion.setDelay(ident, ns);
}
Sensor GravitySensor::getSensor() const {
diff --git a/services/sensorservice/OrientationSensor.cpp b/services/sensorservice/OrientationSensor.cpp
index d55f336c00..6d85cca0f6 100644
--- a/services/sensorservice/OrientationSensor.cpp
+++ b/services/sensorservice/OrientationSensor.cpp
@@ -66,11 +66,11 @@ bool OrientationSensor::process(sensors_event_t* outEvent,
}
status_t OrientationSensor::activate(void* ident, bool enabled) {
- return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
+ return mSensorFusion.activate(ident, enabled);
}
status_t OrientationSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
- return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
+ return mSensorFusion.setDelay(ident, ns);
}
Sensor OrientationSensor::getSensor() const {
diff --git a/services/sensorservice/RotationVectorSensor.cpp b/services/sensorservice/RotationVectorSensor.cpp
index 238845bd83..cb305ebf8d 100644
--- a/services/sensorservice/RotationVectorSensor.cpp
+++ b/services/sensorservice/RotationVectorSensor.cpp
@@ -27,10 +27,9 @@
namespace android {
// ---------------------------------------------------------------------------
-RotationVectorSensor::RotationVectorSensor(int mode)
+RotationVectorSensor::RotationVectorSensor()
: mSensorDevice(SensorDevice::getInstance()),
- mSensorFusion(SensorFusion::getInstance()),
- mMode(mode)
+ mSensorFusion(SensorFusion::getInstance())
{
}
@@ -38,15 +37,15 @@ bool RotationVectorSensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
- if (mSensorFusion.hasEstimate(mMode)) {
- const vec4_t q(mSensorFusion.getAttitude(mMode));
+ if (mSensorFusion.hasEstimate()) {
+ const vec4_t q(mSensorFusion.getAttitude());
*outEvent = event;
outEvent->data[0] = q.x;
outEvent->data[1] = q.y;
outEvent->data[2] = q.z;
outEvent->data[3] = q.w;
- outEvent->sensor = getSensorToken();
- outEvent->type = getSensorType();
+ outEvent->sensor = '_rov';
+ outEvent->type = SENSOR_TYPE_ROTATION_VECTOR;
return true;
}
}
@@ -54,20 +53,20 @@ bool RotationVectorSensor::process(sensors_event_t* outEvent,
}
status_t RotationVectorSensor::activate(void* ident, bool enabled) {
- return mSensorFusion.activate(mMode, ident, enabled);
+ return mSensorFusion.activate(ident, enabled);
}
status_t RotationVectorSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
- return mSensorFusion.setDelay(mMode, ident, ns);
+ return mSensorFusion.setDelay(ident, ns);
}
Sensor RotationVectorSensor::getSensor() const {
sensor_t hwSensor;
- hwSensor.name = getSensorName();
+ hwSensor.name = "Rotation Vector Sensor";
hwSensor.vendor = "AOSP";
hwSensor.version = 3;
- hwSensor.handle = getSensorToken();
- hwSensor.type = getSensorType();
+ hwSensor.handle = '_rov';
+ hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR;
hwSensor.maxRange = 1;
hwSensor.resolution = 1.0f / (1<<24);
hwSensor.power = mSensorFusion.getPowerUsage();
@@ -76,48 +75,6 @@ Sensor RotationVectorSensor::getSensor() const {
return sensor;
}
-int RotationVectorSensor::getSensorType() const {
- switch(mMode) {
- case FUSION_9AXIS:
- return SENSOR_TYPE_ROTATION_VECTOR;
- case FUSION_NOMAG:
- return SENSOR_TYPE_GAME_ROTATION_VECTOR;
- case FUSION_NOGYRO:
- return SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR;
- default:
- assert(0);
- return 0;
- }
-}
-
-const char* RotationVectorSensor::getSensorName() const {
- switch(mMode) {
- case FUSION_9AXIS:
- return "Rotation Vector Sensor";
- case FUSION_NOMAG:
- return "Game Rotation Vector Sensor";
- case FUSION_NOGYRO:
- return "GeoMag Rotation Vector Sensor";
- default:
- assert(0);
- return NULL;
- }
-}
-
-int RotationVectorSensor::getSensorToken() const {
- switch(mMode) {
- case FUSION_9AXIS:
- return '_rov';
- case FUSION_NOMAG:
- return '_gar';
- case FUSION_NOGYRO:
- return '_geo';
- default:
- assert(0);
- return 0;
- }
-}
-
// ---------------------------------------------------------------------------
GyroDriftSensor::GyroDriftSensor()
@@ -145,11 +102,11 @@ bool GyroDriftSensor::process(sensors_event_t* outEvent,
}
status_t GyroDriftSensor::activate(void* ident, bool enabled) {
- return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
+ return mSensorFusion.activate(ident, enabled);
}
status_t GyroDriftSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
- return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
+ return mSensorFusion.setDelay(ident, ns);
}
Sensor GyroDriftSensor::getSensor() const {
diff --git a/services/sensorservice/RotationVectorSensor.h b/services/sensorservice/RotationVectorSensor.h
index 1fc316be80..bb97fe189e 100644
--- a/services/sensorservice/RotationVectorSensor.h
+++ b/services/sensorservice/RotationVectorSensor.h
@@ -35,14 +35,9 @@ namespace android {
class RotationVectorSensor : public SensorInterface {
SensorDevice& mSensorDevice;
SensorFusion& mSensorFusion;
- int mMode;
-
- int getSensorType() const;
- const char* getSensorName() const ;
- int getSensorToken() const ;
public:
- RotationVectorSensor(int mode = FUSION_9AXIS);
+ RotationVectorSensor();
virtual bool process(sensors_event_t* outEvent,
const sensors_event_t& event);
virtual status_t activate(void* ident, bool enabled);
@@ -51,16 +46,6 @@ public:
virtual bool isVirtual() const { return true; }
};
-class GameRotationVectorSensor : public RotationVectorSensor {
-public:
- GameRotationVectorSensor() : RotationVectorSensor(FUSION_NOMAG) {}
-};
-
-class GeoMagRotationVectorSensor : public RotationVectorSensor {
-public:
- GeoMagRotationVectorSensor() : RotationVectorSensor(FUSION_NOGYRO) {}
-};
-
class GyroDriftSensor : public SensorInterface {
SensorDevice& mSensorDevice;
SensorFusion& mSensorFusion;
diff --git a/services/sensorservice/SensorFusion.cpp b/services/sensorservice/SensorFusion.cpp
index 9863f62853..6d93009176 100644
--- a/services/sensorservice/SensorFusion.cpp
+++ b/services/sensorservice/SensorFusion.cpp
@@ -25,17 +25,11 @@ ANDROID_SINGLETON_STATIC_INSTANCE(SensorFusion)
SensorFusion::SensorFusion()
: mSensorDevice(SensorDevice::getInstance()),
- mAttitude(mAttitudes[FUSION_9AXIS]),
- mGyroTime(0), mAccTime(0)
+ mEnabled(false), mGyroTime(0)
{
sensor_t const* list;
Sensor uncalibratedGyro;
ssize_t count = mSensorDevice.getSensorList(&list);
-
- mEnabled[FUSION_9AXIS] = false;
- mEnabled[FUSION_NOMAG] = false;
- mEnabled[FUSION_NOGYRO] = false;
-
if (count > 0) {
for (size_t i=0 ; i<size_t(count) ; i++) {
if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
@@ -61,121 +55,81 @@ SensorFusion::SensorFusion()
// and power/cpu usage.
mEstimatedGyroRate = 200;
mTargetDelayNs = 1000000000LL/mEstimatedGyroRate;
-
- for (int i = 0; i<NUM_FUSION_MODE; ++i) {
- mFusions[i].init(i);
- }
+ mFusion.init();
}
}
void SensorFusion::process(const sensors_event_t& event) {
-
if (event.type == mGyro.getType()) {
- float dT;
- if ( event.timestamp - mGyroTime> 0 &&
- event.timestamp - mGyroTime< (int64_t)(5e7) ) { //0.05sec
-
- dT = (event.timestamp - mGyroTime) / 1000000000.0f;
+ if (mGyroTime != 0) {
+ const float dT = (event.timestamp - mGyroTime) / 1000000000.0f;
+ mFusion.handleGyro(vec3_t(event.data), dT);
// here we estimate the gyro rate (useful for debugging)
const float freq = 1 / dT;
if (freq >= 100 && freq<1000) { // filter values obviously wrong
const float alpha = 1 / (1 + dT); // 1s time-constant
mEstimatedGyroRate = freq + (mEstimatedGyroRate - freq)*alpha;
}
-
- const vec3_t gyro(event.data);
- for (int i = 0; i<NUM_FUSION_MODE; ++i) {
- if (mEnabled[i]) {
- // fusion in no gyro mode will ignore
- mFusions[i].handleGyro(gyro, dT);
- }
- }
}
mGyroTime = event.timestamp;
} else if (event.type == SENSOR_TYPE_MAGNETIC_FIELD) {
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
- }
- }
+ mFusion.handleMag(mag);
} else if (event.type == SENSOR_TYPE_ACCELEROMETER) {
- float dT;
- if ( event.timestamp - mAccTime> 0 &&
- event.timestamp - mAccTime< (int64_t)(1e8) ) { //0.1sec
- dT = (event.timestamp - mAccTime) / 1000000000.0f;
-
- const vec3_t acc(event.data);
- for (int i = 0; i<NUM_FUSION_MODE; ++i) {
- if (mEnabled[i]) {
- mFusions[i].handleAcc(acc, dT);
- mAttitudes[i] = mFusions[i].getAttitude();
- }
- }
- }
- mAccTime = event.timestamp;
+ const vec3_t acc(event.data);
+ mFusion.handleAcc(acc);
+ mAttitude = mFusion.getAttitude();
}
}
template <typename T> inline T min(T a, T b) { return a<b ? a : b; }
template <typename T> inline T max(T a, T b) { return a>b ? a : b; }
-status_t SensorFusion::activate(int mode, void* ident, bool enabled) {
+status_t SensorFusion::activate(void* ident, bool enabled) {
ALOGD_IF(DEBUG_CONNECTIONS,
- "SensorFusion::activate(mode=%d, ident=%p, enabled=%d)",
- mode, ident, enabled);
+ "SensorFusion::activate(ident=%p, enabled=%d)",
+ ident, enabled);
- const ssize_t idx = mClients[mode].indexOf(ident);
+ const ssize_t idx = mClients.indexOf(ident);
if (enabled) {
if (idx < 0) {
- mClients[mode].add(ident);
+ mClients.add(ident);
}
} else {
if (idx >= 0) {
- mClients[mode].removeItemsAt(idx);
+ mClients.removeItemsAt(idx);
}
}
- const bool newState = mClients[mode].size() != 0;
- if (newState != mEnabled[mode]) {
- mEnabled[mode] = newState;
+ mSensorDevice.activate(ident, mAcc.getHandle(), enabled);
+ mSensorDevice.activate(ident, mMag.getHandle(), enabled);
+ mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
+
+ const bool newState = mClients.size() != 0;
+ if (newState != mEnabled) {
+ mEnabled = newState;
if (newState) {
- mFusions[mode].init(mode);
+ mFusion.init();
+ mGyroTime = 0;
}
}
-
- mSensorDevice.activate(ident, mAcc.getHandle(), enabled);
- if (mode != FUSION_NOMAG) {
- mSensorDevice.activate(ident, mMag.getHandle(), enabled);
- }
- if (mode != FUSION_NOGYRO) {
- mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
- }
-
return NO_ERROR;
}
-status_t SensorFusion::setDelay(int mode, void* ident, int64_t ns) {
+status_t SensorFusion::setDelay(void* ident, int64_t ns) {
// Call batch with timeout zero instead of setDelay().
- if (ns > (int64_t)5e7) {
- ns = (int64_t)(5e7);
- }
mSensorDevice.batch(ident, mAcc.getHandle(), 0, ns, 0);
- if (mode != FUSION_NOMAG) {
- mSensorDevice.batch(ident, mMag.getHandle(), 0, ms2ns(20), 0);
- }
- if (mode != FUSION_NOGYRO) {
- mSensorDevice.batch(ident, mGyro.getHandle(), 0, mTargetDelayNs, 0);
- }
+ mSensorDevice.batch(ident, mMag.getHandle(), 0, ms2ns(20), 0);
+ mSensorDevice.batch(ident, mGyro.getHandle(), 0, mTargetDelayNs, 0);
return NO_ERROR;
}
-float SensorFusion::getPowerUsage(int mode) const {
+float SensorFusion::getPowerUsage() const {
float power = mAcc.getPowerUsage() +
- ((mode != FUSION_NOMAG) ? mMag.getPowerUsage() : 0) +
- ((mode != FUSION_NOGYRO) ? mGyro.getPowerUsage() : 0);
+ mMag.getPowerUsage() +
+ mGyro.getPowerUsage();
return power;
}
@@ -184,55 +138,21 @@ int32_t SensorFusion::getMinDelay() const {
}
void SensorFusion::dump(String8& result) {
- const Fusion& fusion_9axis(mFusions[FUSION_9AXIS]);
+ const Fusion& fusion(mFusion);
result.appendFormat("9-axis fusion %s (%zd clients), gyro-rate=%7.2fHz, "
"q=< %g, %g, %g, %g > (%g), "
"b=< %g, %g, %g >\n",
- mEnabled[FUSION_9AXIS] ? "enabled" : "disabled",
- mClients[FUSION_9AXIS].size(),
- mEstimatedGyroRate,
- fusion_9axis.getAttitude().x,
- fusion_9axis.getAttitude().y,
- fusion_9axis.getAttitude().z,
- fusion_9axis.getAttitude().w,
- length(fusion_9axis.getAttitude()),
- fusion_9axis.getBias().x,
- fusion_9axis.getBias().y,
- fusion_9axis.getBias().z);
-
- const Fusion& fusion_nomag(mFusions[FUSION_NOMAG]);
- result.appendFormat("game fusion(no mag) %s (%zd clients), "
- "gyro-rate=%7.2fHz, "
- "q=< %g, %g, %g, %g > (%g), "
- "b=< %g, %g, %g >\n",
- mEnabled[FUSION_NOMAG] ? "enabled" : "disabled",
- mClients[FUSION_NOMAG].size(),
- mEstimatedGyroRate,
- fusion_nomag.getAttitude().x,
- fusion_nomag.getAttitude().y,
- fusion_nomag.getAttitude().z,
- fusion_nomag.getAttitude().w,
- length(fusion_nomag.getAttitude()),
- fusion_nomag.getBias().x,
- fusion_nomag.getBias().y,
- fusion_nomag.getBias().z);
-
- const Fusion& fusion_nogyro(mFusions[FUSION_NOGYRO]);
- result.appendFormat("geomag fusion (no gyro) %s (%zd clients), "
- "gyro-rate=%7.2fHz, "
- "q=< %g, %g, %g, %g > (%g), "
- "b=< %g, %g, %g >\n",
- mEnabled[FUSION_NOGYRO] ? "enabled" : "disabled",
- mClients[FUSION_NOGYRO].size(),
+ mEnabled ? "enabled" : "disabled",
+ mClients.size(),
mEstimatedGyroRate,
- fusion_nogyro.getAttitude().x,
- fusion_nogyro.getAttitude().y,
- fusion_nogyro.getAttitude().z,
- fusion_nogyro.getAttitude().w,
- length(fusion_nogyro.getAttitude()),
- fusion_nogyro.getBias().x,
- fusion_nogyro.getBias().y,
- fusion_nogyro.getBias().z);
+ fusion.getAttitude().x,
+ fusion.getAttitude().y,
+ fusion.getAttitude().z,
+ fusion.getAttitude().w,
+ length(fusion.getAttitude()),
+ fusion.getBias().x,
+ fusion.getBias().y,
+ fusion.getBias().z);
}
// ---------------------------------------------------------------------------
diff --git a/services/sensorservice/SensorFusion.h b/services/sensorservice/SensorFusion.h
index ad636d5dad..432adbcfd0 100644
--- a/services/sensorservice/SensorFusion.h
+++ b/services/sensorservice/SensorFusion.h
@@ -42,52 +42,30 @@ class SensorFusion : public Singleton<SensorFusion> {
Sensor mAcc;
Sensor mMag;
Sensor mGyro;
-
- Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro
-
- bool mEnabled[NUM_FUSION_MODE];
-
- vec4_t &mAttitude;
- vec4_t mAttitudes[NUM_FUSION_MODE];
-
- SortedVector<void*> mClients[3];
-
+ Fusion mFusion;
+ bool mEnabled;
float mEstimatedGyroRate;
nsecs_t mTargetDelayNs;
-
nsecs_t mGyroTime;
- nsecs_t mAccTime;
+ vec4_t mAttitude;
+ SortedVector<void*> mClients;
SensorFusion();
public:
void process(const sensors_event_t& event);
- bool isEnabled() const {
- return mEnabled[FUSION_9AXIS] ||
- mEnabled[FUSION_NOMAG] ||
- mEnabled[FUSION_NOGYRO];
- }
-
- bool hasEstimate(int mode = FUSION_9AXIS) const {
- return mFusions[mode].hasEstimate();
- }
-
- mat33_t getRotationMatrix(int mode = FUSION_9AXIS) const {
- return mFusions[mode].getRotationMatrix();
- }
-
- vec4_t getAttitude(int mode = FUSION_9AXIS) const {
- return mAttitudes[mode];
- }
-
- vec3_t getGyroBias() const { return mFusions[FUSION_9AXIS].getBias(); }
+ bool isEnabled() const { return mEnabled; }
+ bool hasEstimate() const { return mFusion.hasEstimate(); }
+ mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
+ vec4_t getAttitude() const { return mAttitude; }
+ vec3_t getGyroBias() const { return mFusion.getBias(); }
float getEstimatedRate() const { return mEstimatedGyroRate; }
- status_t activate(int mode, void* ident, bool enabled);
- status_t setDelay(int mode, void* ident, int64_t ns);
+ status_t activate(void* ident, bool enabled);
+ status_t setDelay(void* ident, int64_t ns);
- float getPowerUsage(int mode=FUSION_9AXIS) const;
+ float getPowerUsage() const;
int32_t getMinDelay() const;
void dump(String8& result);
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
index c73af3a427..2f6455847a 100755..100644
--- a/services/sensorservice/SensorService.cpp
+++ b/services/sensorservice/SensorService.cpp
@@ -88,14 +88,11 @@ void SensorService::onFirstRef()
uint32_t virtualSensorsNeeds =
(1<<SENSOR_TYPE_GRAVITY) |
(1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
- (1<<SENSOR_TYPE_ROTATION_VECTOR) |
- (1<<SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR) |
- (1<<SENSOR_TYPE_GAME_ROTATION_VECTOR);
+ (1<<SENSOR_TYPE_ROTATION_VECTOR);
mLastEventSeen.setCapacity(count);
for (ssize_t i=0 ; i<count ; i++) {
- bool useThisSensor=true;
-
+ registerSensor( new HardwareSensor(list[i]) );
switch (list[i].type) {
case SENSOR_TYPE_ACCELEROMETER:
hasAccel = true;
@@ -113,18 +110,9 @@ void SensorService::onFirstRef()
case SENSOR_TYPE_GRAVITY:
case SENSOR_TYPE_LINEAR_ACCELERATION:
case SENSOR_TYPE_ROTATION_VECTOR:
- case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:
- case SENSOR_TYPE_GAME_ROTATION_VECTOR:
- if (IGNORE_HARDWARE_FUSION) {
- useThisSensor = false;
- } else {
- virtualSensorsNeeds &= ~(1<<list[i].type);
- }
+ virtualSensorsNeeds &= ~(1<<list[i].type);
break;
}
- if (useThisSensor) {
- registerSensor( new HardwareSensor(list[i]) );
- }
}
// it's safe to instantiate the SensorFusion object here
@@ -136,15 +124,26 @@ void SensorService::onFirstRef()
mUserSensorList = mSensorList;
if (hasGyro && hasAccel && hasMag) {
+ Sensor aSensor;
+
// Add Android virtual sensors if they're not already
// available in the HAL
- Sensor aSensor;
aSensor = registerVirtualSensor( new RotationVectorSensor() );
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
mUserSensorList.add(aSensor);
}
+ aSensor = registerVirtualSensor( new GravitySensor(list, count) );
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) {
+ mUserSensorList.add(aSensor);
+ }
+
+ aSensor = registerVirtualSensor( new LinearAccelerationSensor(list, count) );
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_LINEAR_ACCELERATION)) {
+ mUserSensorList.add(aSensor);
+ }
+
aSensor = registerVirtualSensor( new OrientationSensor() );
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
// if we are doing our own rotation-vector, also add
@@ -152,46 +151,11 @@ void SensorService::onFirstRef()
mUserSensorList.replaceAt(aSensor, orientationIndex);
}
- aSensor = registerVirtualSensor(
- new LinearAccelerationSensor(list, count) );
- if (virtualSensorsNeeds &
- (1<<SENSOR_TYPE_LINEAR_ACCELERATION)) {
- mUserSensorList.add(aSensor);
- }
-
// virtual debugging sensors are not added to mUserSensorList
registerVirtualSensor( new CorrectedGyroSensor(list, count) );
registerVirtualSensor( new GyroDriftSensor() );
}
- if (hasAccel && hasGyro) {
- Sensor aSensor;
-
- aSensor = registerVirtualSensor(
- new GravitySensor(list, count) );
- if (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) {
- mUserSensorList.add(aSensor);
- }
-
- aSensor = registerVirtualSensor(
- new GameRotationVectorSensor() );
- if (virtualSensorsNeeds &
- (1<<SENSOR_TYPE_GAME_ROTATION_VECTOR)) {
- mUserSensorList.add(aSensor);
- }
- }
-
- if (hasAccel && hasMag) {
- Sensor aSensor;
-
- aSensor = registerVirtualSensor(
- new GeoMagRotationVectorSensor() );
- if (virtualSensorsNeeds &
- (1<<SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR)) {
- mUserSensorList.add(aSensor);
- }
- }
-
// debugging sensor list
mUserSensorListDebug = mSensorList;
@@ -759,7 +723,14 @@ Vector<Sensor> SensorService::getSensorList(const String16& opPackageName)
Vector<Sensor> accessibleSensorList;
for (size_t i = 0; i < initialSensorList.size(); i++) {
Sensor sensor = initialSensorList[i];
- accessibleSensorList.add(sensor);
+ if (canAccessSensor(sensor, "getSensorList", opPackageName)) {
+ accessibleSensorList.add(sensor);
+ } else {
+ ALOGI("Skipped sensor %s because it requires permission %s and app op %d",
+ sensor.getName().string(),
+ sensor.getRequiredPermission().string(),
+ sensor.getRequiredAppOp());
+ }
}
return accessibleSensorList;
}
@@ -1655,26 +1626,21 @@ status_t SensorService::SensorEventConnection::sendEvents(
reAllocateCacheLocked(scratch, count);
return status_t(NO_ERROR);
}
- if (count >= mMaxCacheSize) {
- //count is larger than MaxCacheSize,
- //so copy the end MaxCacheSize data in scratch buffer to cache
- countFlushCompleteEventsLocked(mEventCache, mCacheSize);
- countFlushCompleteEventsLocked(scratch, count - mMaxCacheSize);
- memcpy(&mEventCache[0], &scratch[count-mMaxCacheSize],
- mMaxCacheSize * sizeof(sensors_event_t));
- mCacheSize = mMaxCacheSize;
- } else {
- //count is smaller than MaxCacheSize, so numEventsDropped data in cache
- //should be dropped, then copy the scratch to the end of cache
- int numEventsDropped = count + mCacheSize - mMaxCacheSize;
- countFlushCompleteEventsLocked(mEventCache, numEventsDropped);
- memmove(mEventCache, &mEventCache[numEventsDropped],
+ // Some events need to be dropped.
+ int remaningCacheSize = mMaxCacheSize - mCacheSize;
+ if (remaningCacheSize != 0) {
+ memcpy(&mEventCache[mCacheSize], scratch,
+ remaningCacheSize * sizeof(sensors_event_t));
+ }
+ int numEventsDropped = count - remaningCacheSize;
+ countFlushCompleteEventsLocked(mEventCache, numEventsDropped);
+ // Drop the first "numEventsDropped" in the cache.
+ memmove(mEventCache, &mEventCache[numEventsDropped],
(mCacheSize - numEventsDropped) * sizeof(sensors_event_t));
- memcpy(&mEventCache[mCacheSize - numEventsDropped], scratch,
- count * sizeof(sensors_event_t));
- mCacheSize = mMaxCacheSize;
- }
+ // Copy the remainingEvents in scratch buffer to the end of cache.
+ memcpy(&mEventCache[mCacheSize - numEventsDropped], scratch + remaningCacheSize,
+ numEventsDropped * sizeof(sensors_event_t));
}
return status_t(NO_ERROR);
}
@@ -1693,7 +1659,6 @@ status_t SensorService::SensorEventConnection::sendEvents(
reinterpret_cast<ASensorEvent const*>(scratch), count);
if (size < 0) {
// Write error, copy events to local cache.
- ALOGE("write failed, size=%d err=%d:%s ", size, errno, strerror(errno));
if (index_wake_up_event >= 0) {
// If there was a wake_up sensor_event, reset the flag.
scratch[index_wake_up_event].flags &= ~WAKE_UP_SENSOR_EVENT_NEEDS_ACK;
@@ -1709,21 +1674,8 @@ status_t SensorService::SensorEventConnection::sendEvents(
mEventCache = new sensors_event_t[mMaxCacheSize];
mCacheSize = 0;
}
- //here mCacheSize must be 0 because if (mCacheSize != 0) has been executed above
- if (count <= mMaxCacheSize) {
- //count is no more than free size of cache,
- //copy the scratch to the end of cache
- memcpy(&mEventCache[0], scratch, count * sizeof(sensors_event_t));
- mCacheSize = count;
- } else {
- //count is larger than free size of cache,
- //so just copy the free size of scratch to the end of cache
- ALOGI("count > MaxCache count=%d mMaxCacheSize=%d", count, mMaxCacheSize);
- countFlushCompleteEventsLocked(scratch, count - mMaxCacheSize);
- memcpy(&mEventCache[0], &scratch[count - mMaxCacheSize],
- mMaxCacheSize * sizeof(sensors_event_t));
- mCacheSize = mMaxCacheSize;
- }
+ memcpy(&mEventCache[mCacheSize], scratch, count * sizeof(sensors_event_t));
+ mCacheSize += count;
// Add this file descriptor to the looper to get a callback when this fd is available for
// writing.
@@ -1776,7 +1728,6 @@ void SensorService::SensorEventConnection::sendPendingFlushEventsLocked() {
}
ssize_t size = SensorEventQueue::write(mChannel, &flushCompleteEvent, 1);
if (size < 0) {
- ALOGE("write failed, size=%d err=%d:%s ", size, errno, strerror(errno));
if (wakeUpSensor) --mWakeLockRefCount;
return;
}
@@ -1812,7 +1763,6 @@ void SensorService::SensorEventConnection::writeToSocketFromCache() {
reinterpret_cast<ASensorEvent const*>(mEventCache + numEventsSent),
numEventsToWrite);
if (size < 0) {
- ALOGE("write failed, size=%d err=%d:%s ", size, errno, strerror(errno));
if (index_wake_up_event >= 0) {
// If there was a wake_up sensor_event, reset the flag.
mEventCache[index_wake_up_event + numEventsSent].flags &=
diff --git a/services/sensorservice/SensorService.h b/services/sensorservice/SensorService.h
index 7d81d6e104..9a573ae78c 100644
--- a/services/sensorservice/SensorService.h
+++ b/services/sensorservice/SensorService.h
@@ -46,7 +46,7 @@
#endif
// ---------------------------------------------------------------------------
-#define IGNORE_HARDWARE_FUSION false
+
#define DEBUG_CONNECTIONS false
// Max size is 100 KB which is enough to accept a batch of about 1000 events.
#define MAX_SOCKET_BUFFER_SIZE_BATCHED 100 * 1024
diff --git a/services/surfaceflinger/Android.mk b/services/surfaceflinger/Android.mk
index 1eb23616c3..1901ef982c 100644
--- a/services/surfaceflinger/Android.mk
+++ b/services/surfaceflinger/Android.mk
@@ -122,6 +122,10 @@ LOCAL_LDFLAGS := -Wl,--version-script,art/sigchainlib/version-script.txt -Wl,--e
LOCAL_CFLAGS := -DLOG_TAG=\"SurfaceFlinger\"
LOCAL_CPPFLAGS := -std=c++11
+ifneq ($(ENABLE_CPUSETS),)
+ LOCAL_CFLAGS += -DENABLE_CPUSETS
+endif
+
LOCAL_SRC_FILES := \
main_surfaceflinger.cpp
diff --git a/services/surfaceflinger/main_surfaceflinger.cpp b/services/surfaceflinger/main_surfaceflinger.cpp
index a74bc4cd91..6fa8b5317b 100644
--- a/services/surfaceflinger/main_surfaceflinger.cpp
+++ b/services/surfaceflinger/main_surfaceflinger.cpp
@@ -41,6 +41,13 @@ int main(int, char**) {
set_sched_policy(0, SP_FOREGROUND);
+#ifdef ENABLE_CPUSETS
+ // Put most SurfaceFlinger threads in the system-background cpuset
+ // Keeps us from unnecessarily using big cores
+ // Do this after the binder thread pool init
+ set_cpuset_policy(0, SP_SYSTEM);
+#endif
+
// initialize before clients can connect
flinger->init();
generated by cgit v1.2.3-59-g8ed1b (git 2.39.0) at 2025-11-01 22:06:49 +0000