sensorhal/hubconnection.h - device/google/contexthub - Git at Google

 /*
  * Copyright (C) 2015 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.
  */

 #ifndef HUB_CONNECTION_H_

 #define HUB_CONNECTION_H_

 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
 #include <poll.h>

 #include <utils/Errors.h>
 #include <utils/Mutex.h>
 #include <utils/Thread.h>

 #include <list>

 #include "directchannel.h"
 #include "eventnums.h"
 #include "halIntf.h"
 #include "hubdefs.h"
 #include "ring.h"

 #include <unordered_map>

 #define WAKELOCK_NAME "sensorHal"

 #define ACCEL_BIAS_TAG     "accel"
 #define ACCEL_SW_BIAS_TAG  "accel_sw"
 #define GYRO_BIAS_TAG      "gyro"
 #define GYRO_OTC_DATA_TAG  "gyro_otc"
 #define GYRO_SW_BIAS_TAG   "gyro_sw"
 #define MAG_BIAS_TAG       "mag"

 #define MAX_ALTERNATES     2

 namespace android {

 struct HubConnection : public Thread {
     static HubConnection *getInstance();

     status_t initCheck() const;

     enum ProximitySensorType {
         PROXIMITY_UNKNOWN,
         PROXIMITY_ROHM,
         PROXIMITY_AMS,
     };

     // Blocks until it can return a status
     status_t getAliveCheck();

     virtual bool threadLoop();

     void queueActivate(int handle, bool enable);
     void queueSetDelay(int handle, nsecs_t delayNs);
     void queueBatch(int handle, nsecs_t sampling_period_ns,
             nsecs_t max_report_latency_ns);
     void queueFlush(int handle);
     void queueData(int handle, void *data, size_t length);

     void setOperationParameter(const additional_info_event_t &info);

     void releaseWakeLockIfAppropriate();

     //TODO: factor out event ring buffer functionality into a separate class
     ssize_t read(sensors_event_t *ev, size_t size);
     ssize_t write(const sensors_event_t *ev, size_t n);

     void saveSensorSettings() const;

     void setRawScale(float scaleAccel, float scaleMag) {
         mScaleAccel = scaleAccel;
         mScaleMag = scaleMag;
     }

     void setLeftyMode(bool enable);

 protected:
     HubConnection();
     virtual ~HubConnection();

     virtual void onFirstRef();

 private:
     typedef uint32_t rate_q10_t;  // q10 means lower 10 bits are for fractions

     bool mWakelockHeld;
     int32_t mWakeEventCount;

     void protectIfWakeEventLocked(int32_t sensor);
     ssize_t decrementIfWakeEventLocked(int32_t sensor);

     static inline uint64_t period_ns_to_frequency_q10(nsecs_t period_ns) {
         return 1024000000000ULL / period_ns;
     }

     static inline nsecs_t frequency_q10_to_period_ns(uint64_t frequency_q10) {
         if (frequency_q10)
             return 1024000000000LL / frequency_q10;
         else
             return (nsecs_t)0;
     }

     static inline uint64_t frequency_to_frequency_q10(float frequency) {
         return period_ns_to_frequency_q10(static_cast<nsecs_t>(1e9f/frequency));
     }

     enum
     {
         CONFIG_CMD_DISABLE      = 0,
         CONFIG_CMD_ENABLE       = 1,
         CONFIG_CMD_FLUSH        = 2,
         CONFIG_CMD_CFG_DATA     = 3,
         CONFIG_CMD_CALIBRATE    = 4,
     };

     struct ConfigCmd
     {
         uint32_t evtType;
         uint64_t latency;
         rate_q10_t rate;
         uint8_t sensorType;
         uint8_t cmd;
         uint16_t flags;
         uint8_t data[];
     } __attribute__((packed));

     struct MsgCmd
     {
         uint32_t evtType;
         struct HostHubRawPacket msg;
     } __attribute__((packed));

     struct LeftyState
     {
         bool accel; // Process wrist-aware accel samples as lefty mode
         bool gyro; // Process wrist-aware gyro samples as lefty mode
         bool hub; // Sensor hub is currently operating in lefty mode
     };

     struct Flush
     {
         int handle;
         uint8_t count;

         // Used to synchronize the transition in and out of
         // lefty mode between nanohub and the AP.
         bool internal;
     };

     struct SensorState {
         uint64_t latency;
         uint64_t lastTimestamp;
         uint64_t desiredTSample;
         rate_q10_t rate;
         uint8_t sensorType;
         uint8_t primary;
         uint8_t alt[MAX_ALTERNATES];
         bool enable;
     };

     struct FirstSample
     {
         uint8_t numSamples;
         uint8_t numFlushes;
         uint8_t highAccuracy : 1;
         uint8_t biasPresent : 1;
         uint8_t biasSample : 6;
         uint8_t pad;
     };

     struct RawThreeAxisSample
     {
         uint32_t deltaTime;
         int16_t ix, iy, iz;
     } __attribute__((packed));

     struct ThreeAxisSample
     {
         uint32_t deltaTime;
         float x, y, z;
     } __attribute__((packed));

     struct OneAxisSample
     {
         uint32_t deltaTime;
         union
         {
             float fdata;
             uint32_t idata;
         };
     } __attribute__((packed));

     // The following structure should match struct HostIntfDataBuffer found in
     // firmware/inc/hostIntf.h
     struct nAxisEvent
     {
         uint32_t evtType;
         union
         {
             struct
             {
                 uint64_t referenceTime;
                 union
                 {
                     struct FirstSample firstSample;
                     struct OneAxisSample oneSamples[];
                     struct RawThreeAxisSample rawThreeSamples[];
                     struct ThreeAxisSample threeSamples[];
                 };
             };
             uint8_t buffer[];
         };
     } __attribute__((packed));

     static Mutex sInstanceLock;
     static HubConnection *sInstance;

     // This lock is used for synchronization between the write thread (from
     // sensorservice) and the read thread polling from the nanohub driver.
     Mutex mLock;

     RingBuffer mRing;
     int32_t mWriteFailures;

     float mMagBias[3];
     uint8_t mMagAccuracy;
     uint8_t mMagAccuracyRestore;

     float mGyroBias[3], mAccelBias[3], mAccelEnabledBias[3];
     bool mAccelEnabledBiasStored;
     GyroOtcData mGyroOtcData;

     float mScaleAccel, mScaleMag;

     LeftyState mLefty;

     SensorState mSensorState[NUM_COMMS_SENSORS_PLUS_1];
     std::list<struct Flush> mFlushesPending[NUM_COMMS_SENSORS_PLUS_1];

     uint64_t mStepCounterOffset;
     uint64_t mLastStepCount;

     int mFd;
     int mInotifyPollIndex;
     struct pollfd mPollFds[4];
     int mNumPollFds;

     sensors_event_t *initEv(sensors_event_t *ev, uint64_t timestamp, uint32_t type, uint32_t sensor);
     uint8_t magAccuracyUpdate(sensors_vec_t *sv);
     void processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct OneAxisSample *sample, bool highAccuracy);
     void processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct RawThreeAxisSample *sample, bool highAccuracy);
     void processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct ThreeAxisSample *sample, bool highAccuracy);
     void postOsLog(uint8_t *buf, ssize_t len);
     void processAppData(uint8_t *buf, ssize_t len);
     ssize_t processBuf(uint8_t *buf, size_t len);

     inline bool isValidHandle(int handle) {
         return handle >= 0
             && handle < NUM_COMMS_SENSORS_PLUS_1
             && mSensorState[handle].sensorType;
     }

     ssize_t sendCmd(const void *buf, size_t count);
     void initConfigCmd(struct ConfigCmd *cmd, int handle);

     void queueFlushInternal(int handle, bool internal);

     void queueDataInternal(int handle, void *data, size_t length);

     void discardInotifyEvent();
     void waitOnNanohubLock();

     void initNanohubLock();

     void restoreSensorState();
     void sendCalibrationOffsets();

     // Enable SCHED_FIFO priority for main thread
     void enableSchedFifoMode();

 #ifdef LID_STATE_REPORTING_ENABLED
     int mUinputFd;

     status_t initializeUinputNode();
     void sendFolioEvent(int32_t data);
 #endif  // LID_STATE_REPORTING_ENABLED

 #ifdef USB_MAG_BIAS_REPORTING_ENABLED
     int mMagBiasPollIndex;
     float mUsbMagBias;

     void queueUsbMagBias();
 #endif  // USB_MAG_BIAS_REPORTING_ENABLED

 #ifdef DOUBLE_TOUCH_ENABLED
     int mDoubleTouchPollIndex;
 #endif  // DOUBLE_TOUCH_ENABLED

     // Direct report functions
 public:
     int addDirectChannel(const struct sensors_direct_mem_t *mem);
     int removeDirectChannel(int channel_handle);
     int configDirectReport(int sensor_handle, int channel_handle, int rate_level);
     bool isDirectReportSupported() const;
 private:
     void sendDirectReportEvent(const sensors_event_t *nev, size_t n);
     void mergeDirectReportRequest(struct ConfigCmd *cmd, int handle);
     bool isSampleIntervalSatisfied(int handle, uint64_t timestamp);
     void updateSampleRate(int handle, int reason);
 #ifdef DIRECT_REPORT_ENABLED
     int stopAllDirectReportOnChannel(
             int channel_handle, std::vector<int32_t> *unstoppedSensors);
     uint64_t rateLevelToDeviceSamplingPeriodNs(int handle, int rateLevel) const;
     inline static bool intervalLargeEnough(uint64_t actual, uint64_t desired) {
         return (actual + (actual >> 4)) >= desired; // >= 94.11% of desired
     }

     struct DirectChannelTimingInfo{
         uint64_t lastTimestamp;
         int rateLevel;
     };
     Mutex mDirectChannelLock;
     //sensor_handle=>(channel_handle => DirectChannelTimingInfo)
     std::unordered_map<int32_t,
             std::unordered_map<int32_t, DirectChannelTimingInfo> > mSensorToChannel;
     //channel_handle=>ptr of Channel obj
     std::unordered_map<int32_t, std::unique_ptr<DirectChannelBase>> mDirectChannel;
     int32_t mDirectChannelHandle;
 #endif

     DISALLOW_EVIL_CONSTRUCTORS(HubConnection);
 };

 }  // namespace android

 #endif  // HUB_CONNECTION_H_
	/*
	* Copyright (C) 2015 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.
	*/

	#ifndef HUB_CONNECTION_H_

	#define HUB_CONNECTION_H_

	#include <sys/types.h>
	#include <sys/stat.h>
	#include <fcntl.h>
	#include <poll.h>

	#include <utils/Errors.h>
	#include <utils/Mutex.h>
	#include <utils/Thread.h>

	#include <list>

	#include "directchannel.h"
	#include "eventnums.h"
	#include "halIntf.h"
	#include "hubdefs.h"
	#include "ring.h"

	#include <unordered_map>

	#define WAKELOCK_NAME "sensorHal"

	#define ACCEL_BIAS_TAG "accel"
	#define ACCEL_SW_BIAS_TAG "accel_sw"
	#define GYRO_BIAS_TAG "gyro"
	#define GYRO_OTC_DATA_TAG "gyro_otc"
	#define GYRO_SW_BIAS_TAG "gyro_sw"
	#define MAG_BIAS_TAG "mag"

	#define MAX_ALTERNATES 2

	namespace android {

	struct HubConnection : public Thread {
	static HubConnection *getInstance();

	status_t initCheck() const;

	enum ProximitySensorType {
	PROXIMITY_UNKNOWN,
	PROXIMITY_ROHM,
	PROXIMITY_AMS,
	};

	// Blocks until it can return a status
	status_t getAliveCheck();

	virtual bool threadLoop();

	void queueActivate(int handle, bool enable);
	void queueSetDelay(int handle, nsecs_t delayNs);
	void queueBatch(int handle, nsecs_t sampling_period_ns,
	nsecs_t max_report_latency_ns);
	void queueFlush(int handle);
	void queueData(int handle, void *data, size_t length);

	void setOperationParameter(const additional_info_event_t &info);

	void releaseWakeLockIfAppropriate();

	//TODO: factor out event ring buffer functionality into a separate class
	ssize_t read(sensors_event_t *ev, size_t size);
	ssize_t write(const sensors_event_t *ev, size_t n);

	void saveSensorSettings() const;

	void setRawScale(float scaleAccel, float scaleMag) {
	mScaleAccel = scaleAccel;
	mScaleMag = scaleMag;
	}

	void setLeftyMode(bool enable);

	protected:
	HubConnection();
	virtual ~HubConnection();

	virtual void onFirstRef();

	private:
	typedef uint32_t rate_q10_t; // q10 means lower 10 bits are for fractions

	bool mWakelockHeld;
	int32_t mWakeEventCount;

	void protectIfWakeEventLocked(int32_t sensor);
	ssize_t decrementIfWakeEventLocked(int32_t sensor);

	static inline uint64_t period_ns_to_frequency_q10(nsecs_t period_ns) {
	return 1024000000000ULL / period_ns;
	}

	static inline nsecs_t frequency_q10_to_period_ns(uint64_t frequency_q10) {
	if (frequency_q10)
	return 1024000000000LL / frequency_q10;
	else
	return (nsecs_t)0;
	}

	static inline uint64_t frequency_to_frequency_q10(float frequency) {
	return period_ns_to_frequency_q10(static_cast<nsecs_t>(1e9f/frequency));
	}

	enum
	{
	CONFIG_CMD_DISABLE = 0,
	CONFIG_CMD_ENABLE = 1,
	CONFIG_CMD_FLUSH = 2,
	CONFIG_CMD_CFG_DATA = 3,
	CONFIG_CMD_CALIBRATE = 4,
	};

	struct ConfigCmd
	{
	uint32_t evtType;
	uint64_t latency;
	rate_q10_t rate;
	uint8_t sensorType;
	uint8_t cmd;
	uint16_t flags;
	uint8_t data[];
	} __attribute__((packed));

	struct MsgCmd
	{
	uint32_t evtType;
	struct HostHubRawPacket msg;
	} __attribute__((packed));

	struct LeftyState
	{
	bool accel; // Process wrist-aware accel samples as lefty mode
	bool gyro; // Process wrist-aware gyro samples as lefty mode
	bool hub; // Sensor hub is currently operating in lefty mode
	};

	struct Flush
	{
	int handle;
	uint8_t count;

	// Used to synchronize the transition in and out of
	// lefty mode between nanohub and the AP.
	bool internal;
	};

	struct SensorState {
	uint64_t latency;
	uint64_t lastTimestamp;
	uint64_t desiredTSample;
	rate_q10_t rate;
	uint8_t sensorType;
	uint8_t primary;
	uint8_t alt[MAX_ALTERNATES];
	bool enable;
	};

	struct FirstSample
	{
	uint8_t numSamples;
	uint8_t numFlushes;
	uint8_t highAccuracy : 1;
	uint8_t biasPresent : 1;
	uint8_t biasSample : 6;
	uint8_t pad;
	};

	struct RawThreeAxisSample
	{
	uint32_t deltaTime;
	int16_t ix, iy, iz;
	} __attribute__((packed));

	struct ThreeAxisSample
	{
	uint32_t deltaTime;
	float x, y, z;
	} __attribute__((packed));

	struct OneAxisSample
	{
	uint32_t deltaTime;
	union
	{
	float fdata;
	uint32_t idata;
	};
	} __attribute__((packed));

	// The following structure should match struct HostIntfDataBuffer found in
	// firmware/inc/hostIntf.h
	struct nAxisEvent
	{
	uint32_t evtType;
	union
	{
	struct
	{
	uint64_t referenceTime;
	union
	{
	struct FirstSample firstSample;
	struct OneAxisSample oneSamples[];
	struct RawThreeAxisSample rawThreeSamples[];
	struct ThreeAxisSample threeSamples[];
	};
	};
	uint8_t buffer[];
	};
	} __attribute__((packed));

	static Mutex sInstanceLock;
	static HubConnection *sInstance;

	// This lock is used for synchronization between the write thread (from
	// sensorservice) and the read thread polling from the nanohub driver.
	Mutex mLock;

	RingBuffer mRing;
	int32_t mWriteFailures;

	float mMagBias[3];
	uint8_t mMagAccuracy;
	uint8_t mMagAccuracyRestore;

	float mGyroBias[3], mAccelBias[3], mAccelEnabledBias[3];
	bool mAccelEnabledBiasStored;
	GyroOtcData mGyroOtcData;

	float mScaleAccel, mScaleMag;

	LeftyState mLefty;

	SensorState mSensorState[NUM_COMMS_SENSORS_PLUS_1];
	std::list<struct Flush> mFlushesPending[NUM_COMMS_SENSORS_PLUS_1];

	uint64_t mStepCounterOffset;
	uint64_t mLastStepCount;

	int mFd;
	int mInotifyPollIndex;
	struct pollfd mPollFds[4];
	int mNumPollFds;

	sensors_event_t initEv(sensors_event_t ev, uint64_t timestamp, uint32_t type, uint32_t sensor);
	uint8_t magAccuracyUpdate(sensors_vec_t *sv);
	void processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct OneAxisSample *sample, bool highAccuracy);
	void processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct RawThreeAxisSample *sample, bool highAccuracy);
	void processSample(uint64_t timestamp, uint32_t type, uint32_t sensor, struct ThreeAxisSample *sample, bool highAccuracy);
	void postOsLog(uint8_t *buf, ssize_t len);
	void processAppData(uint8_t *buf, ssize_t len);
	ssize_t processBuf(uint8_t *buf, size_t len);

	inline bool isValidHandle(int handle) {
	return handle >= 0
	&& handle < NUM_COMMS_SENSORS_PLUS_1
	&& mSensorState[handle].sensorType;
	}

	ssize_t sendCmd(const void *buf, size_t count);
	void initConfigCmd(struct ConfigCmd *cmd, int handle);

	void queueFlushInternal(int handle, bool internal);

	void queueDataInternal(int handle, void *data, size_t length);

	void discardInotifyEvent();
	void waitOnNanohubLock();

	void initNanohubLock();

	void restoreSensorState();
	void sendCalibrationOffsets();

	// Enable SCHED_FIFO priority for main thread
	void enableSchedFifoMode();

	#ifdef LID_STATE_REPORTING_ENABLED
	int mUinputFd;

	status_t initializeUinputNode();
	void sendFolioEvent(int32_t data);
	#endif // LID_STATE_REPORTING_ENABLED

	#ifdef USB_MAG_BIAS_REPORTING_ENABLED
	int mMagBiasPollIndex;
	float mUsbMagBias;

	void queueUsbMagBias();
	#endif // USB_MAG_BIAS_REPORTING_ENABLED

	#ifdef DOUBLE_TOUCH_ENABLED
	int mDoubleTouchPollIndex;
	#endif // DOUBLE_TOUCH_ENABLED

	// Direct report functions
	public:
	int addDirectChannel(const struct sensors_direct_mem_t *mem);
	int removeDirectChannel(int channel_handle);
	int configDirectReport(int sensor_handle, int channel_handle, int rate_level);
	bool isDirectReportSupported() const;
	private:
	void sendDirectReportEvent(const sensors_event_t *nev, size_t n);
	void mergeDirectReportRequest(struct ConfigCmd *cmd, int handle);
	bool isSampleIntervalSatisfied(int handle, uint64_t timestamp);
	void updateSampleRate(int handle, int reason);
	#ifdef DIRECT_REPORT_ENABLED
	int stopAllDirectReportOnChannel(
	int channel_handle, std::vector<int32_t> *unstoppedSensors);
	uint64_t rateLevelToDeviceSamplingPeriodNs(int handle, int rateLevel) const;
	inline static bool intervalLargeEnough(uint64_t actual, uint64_t desired) {
	return (actual + (actual >> 4)) >= desired; // >= 94.11% of desired
	}

	struct DirectChannelTimingInfo{
	uint64_t lastTimestamp;
	int rateLevel;
	};
	Mutex mDirectChannelLock;
	//sensor_handle=>(channel_handle => DirectChannelTimingInfo)
	std::unordered_map<int32_t,
	std::unordered_map<int32_t, DirectChannelTimingInfo> > mSensorToChannel;
	//channel_handle=>ptr of Channel obj
	std::unordered_map<int32_t, std::unique_ptr<DirectChannelBase>> mDirectChannel;
	int32_t mDirectChannelHandle;
	#endif

	DISALLOW_EVIL_CONSTRUCTORS(HubConnection);
	};

	} // namespace android

	#endif // HUB_CONNECTION_H_