一.首先看一下sensor的整体架构:
第一层是应用层:代表上层使用frameworks的接口注册或使用一个sensor:
Sensor sensor = sensorManager.getDefaultSensor(sensortype);
sensorManager.registerListener(mListener, sensor, SensorManager.SENSOR_DELAY_FASTEST);
第二层Frameworks层: 包含SensorService, 接收HAl层传上来的 sensor event 数据,并让应用层做出相应的动作,如陀螺仪转动,横竖屏切换等
第三层HAL层: kernel层的硬件驱动等, 有SensorDevice 的poll函数读取数据
二.分析SensorServier 的启动流程:
在android系统中每一个功能点都是由Service来调度, 如熟知的ActivityManagerService, PackageManagerService等等, 这些我会在以后的博客中逐个分析
先看调用时序图
SystemServer中唯一的一个JNI调用启动SensorService
SystemServer.java :
<span class="hljs-javadoc" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">/**
* Start the sensor service.
*/</span>
<span class="hljs-function" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; background: transparent;"><span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">private</span> <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">static</span> <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">native</span> <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">void</span> <span class="hljs-title" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(25, 70, 157); background: transparent;">startSensorService</span><span class="hljs-params" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 0, 255); background: transparent;">()</span></span>;
com_android_server_SystemServer.cpp:
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">void</span>* sensorInit(<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">void</span> *arg) {
ALOGI(<span class="hljs-string" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(33, 145, 97); background: transparent;">"System server: starting sensor init.\n"</span>);
<span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// Start the sensor service</span>
SensorService::instantiate();
ALOGI(<span class="hljs-string" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(33, 145, 97); background: transparent;">"System server: sensor init done.\n"</span>);
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">return</span> NULL;
}
使用Binder机制将SensorService启动。
SensorService的初始化:
Service的初始在SensorService::onFirstRef函数中
SensorDevice& dev(SensorDevice::getInstance()); // 实例化SensorDevice
if (dev.initCheck() == NO_ERROR) {
sensor_t const* list;
ssize_t count = dev.getSensorList(&list); // 获取sensor list
if (count > 0) {
ssize_t orientationIndex = -1;
bool hasGyro = false, hasAccel = false, hasMag = false;
... ...
mLastEventSeen.setCapacity(count);
for (ssize_t i=0 ; i<span class="hljs-tag" style="border: 0px; margin: 0px; padding: 0px; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 0, 128); background: transparent;"><<span class="hljs-title" style="border: 0px; margin: 0px; padding: 0px; font-style: inherit; font-family: inherit; vertical-align: baseline; background: transparent;">count</span> ; <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">i</span>++) {
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">registerSensor</span>( <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">new</span> <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">HardwareSensor</span>(<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">list</span>[<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">i</span>]) ); // 向<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">HAL</span>层注册触感器
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">...</span> <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">...</span>
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">mNextSensorRegIndex</span> = <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">0</span>;
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">for</span> (<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">int</span> <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">i</span> = <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">0</span>; <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">i</span> < <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">SENSOR_REGISTRATIONS_BUF_SIZE</span>; ++<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">i</span>) {
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">mLastNSensorRegistrations.push</span>();
}
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">mInitCheck</span> = <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">NO_ERROR</span>;
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">mAckReceiver</span> = <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">new</span> <span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">SensorEventAckReceiver</span>(<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">this</span>);
<span class="hljs-attribute" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 128, 128); background: transparent;">mAckReceiver-</span>></span>run("SensorEventAckReceiver", PRIORITY_URGENT_DISPLAY);
run("SensorService", PRIORITY_URGENT_DISPLAY);
}
}
SensorService的初始化主要有:
1. 创建SensorDevice实例,获取Sensor列表
2. 调用SensorDevice.getSensorList(),获取Sensor模块所有传感器列表并为为每个传感器注册监听器
SensorDevice的初始化:
SensorDevice::SensorDevice()
: mSensorDevice(<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>),
mSensorModule(<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>)
{
status_t err = hw_get_module(SENSORS_HARDWARE_MODULE_ID,
(hw_module_t <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">const</span>**)&mSensorModule);
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">if</span> (mSensorModule) {
err = sensors_open_1(&mSensorModule->common, &mSensorDevice);
... ...
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">if</span> (mSensorDevice) {
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">if</span> (mSensorDevice->common.version == SENSORS_DEVICE_API_VERSION_1_1 ||
mSensorDevice->common.version == SENSORS_DEVICE_API_VERSION_1_2) {
}
sensor_t <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">const</span>* <span class="hljs-built_in" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 134, 179); background: transparent;">list</span>;
ssize_t count = mSensorModule->get_sensors_list(mSensorModule, &<span class="hljs-built_in" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 134, 179); background: transparent;">list</span>);
mActivationCount.setCapacity(count);
Info model;
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">for</span> (size_t i=<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span> ; i<size_t(count) ; i++) {
mActivationCount.add(<span class="hljs-built_in" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 134, 179); background: transparent;">list</span>[i].handle, model);
mSensorDevice->activate( <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">reinterpret_cast</span><<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">struct</span> sensors_poll_device_t *>(mSensorDevice),<span class="hljs-built_in" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 134, 179); background: transparent;">list</span>[i].handle, <span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>);
... ...
}
SensorService 及SensorDevice的启动主要实现一下几件事:
1. 调用HAL层的hw_get_modele()方法,加载Sensor模块so文件
2. 调用sensor.h的sensors_open方法打开设备
3. 调用sensors_poll_device_t->activate()对Sensor模块使能
启动一个线程,获取HAL层的数据:
SensorService::threadLoop():
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">bool</span> SensorService::threadLoop()
{
SensorDevice& device(SensorDevice::getInstance());
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">const</span> size_t vcount = mVirtualSensorList.size();
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">const</span> <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int</span> halVersion = device.getHalDeviceVersion();
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">do</span> {
ssize_t count = device.poll(mSensorEventBuffer, numEventMax); <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 从HAL层读取数据</span>
<span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// Reset sensors_event_t.flags to zero for all events in the buffer.</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">for</span> (<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int</span> i = <span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>; i < count; i++) {
mSensorEventBuffer[i].flags = <span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>;
}
SortedVector< sp<SensorEventConnection> > activeConnections;
populateActiveConnections(&activeConnections);
... ...
<span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// Send our events to clients. Check the state of wake lock for each client and release the</span>
<span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// lock if none of the clients need it.</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">bool</span> needsWakeLock = <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">false</span>;
size_t numConnections = activeConnections.size();
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">for</span> (size_t i=<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span> ; i < numConnections; ++i) {
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">if</span> (activeConnections[i] != <span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>) {
activeConnections[i]->sendEvents(mSensorEventBuffer, count, mSensorEventScratch,
mMapFlushEventsToConnections); <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 向客户端发数据</span>
needsWakeLock |= activeConnections[i]->needsWakeLock();
<span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// If the connection has one-shot sensors, it may be cleaned up after first trigger.</span>
<span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// Early check for one-shot sensors.</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">if</span> (activeConnections[i]->hasOneShotSensors()) {
cleanupAutoDisabledSensorLocked(activeConnections[i], mSensorEventBuffer,
count);
}
}
}
... ...
<span class="hljs-built_in" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(0, 134, 179); background: transparent;">abort</span>();
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">return</span> <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">false</span>;
}
进入while循环, 不停的从底层poll数据, 并sendEvent到上层
三. 客户端与服务端之间Sensor数据传递
先看服务器与客户端状态图:
1. 上图涉及两个线程:
橘黄色服务端: SensorService::threadLoop 它通过SensorDevice::poll 不停的从HAL获取数据
蓝色客户端:android_hardware_SensorManager::Receiver 从EventQueue中读数据
2. 传递数据是的一个关键宏:sensors_event_t
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int32_t</span> version; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// sensor 的version</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int32_t</span> sensor; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">//sensor 标识每个sensor都唯一</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int32_t</span> type; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// sensor 的类型一个sensor可有多个类型 如: 陀螺仪有校准后与校准前类型</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int32_t</span> reserved0;
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int64_t</span> timestamp; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// sensor产生时间戳</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">union</span> {
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">union</span> {
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">float</span> data[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">16</span>];
sensors_vec_t acceleration; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">//加速sensor</span>
sensors_vec_t magnetic; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 磁场感应sensor</span>
sensors_vec_t orientation; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 横竖屏sensor</span>
sensors_vec_t gyro; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 陀螺仪sensor</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">float</span> temperature; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">//温度sensor</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">float</span> distance; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 距离sensor</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">float</span> light; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 光感sensor</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">float</span> pressure; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">//压力sensor</span>
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">float</span> relative_humidity; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 相对湿度sensor</span>
uncalibrated_event_t uncalibrated_gyro; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 无定向的陀螺仪sensor</span>
uncalibrated_event_t uncalibrated_magnetic; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 无定向的磁场sensor</span>
heart_rate_event_t heart_rate; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 心率检测sensor</span>
meta_data_event_t meta_data;
};
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">union</span> {
uint64_t data[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">8</span>];
uint64_t step_counter; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// 步数检测sensor</span>
} u64;
};
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">uint32_t</span> flags;
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">uint32_t</span> reserved1[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">3</span>];
} sensors_event_t;
4. 使用管道传递数据的原因是由于sensor数据量较大, Binder不能胜任此任务, 所以需要BitTube管道来传递这些数据
5. 数据时序图:
根据图示可以看出客户端与服务端通过Binder建立链接, 通过BitTube管道进行数据传递。
BitTube init函数:
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">void</span> BitTube::init(size_t rcvbuf, size_t sndbuf) {
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">int</span> sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">2</span>];
<span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">if</span> (socketpair(AF_UNIX, SOCK_SEQPACKET, <span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>, sockets) == <span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>) {
size_t size = DEFAULT_SOCKET_BUFFER_SIZE;
setsockopt(sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>], SOL_SOCKET, SO_RCVBUF, &rcvbuf, <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">sizeof</span>(rcvbuf));
setsockopt(sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">1</span>], SOL_SOCKET, SO_SNDBUF, &sndbuf, <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">sizeof</span>(sndbuf));
<span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// sine we don't use the "return channel", we keep it small...</span>
setsockopt(sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>], SOL_SOCKET, SO_SNDBUF, &size, <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">sizeof</span>(size));
setsockopt(sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">1</span>], SOL_SOCKET, SO_RCVBUF, &size, <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">sizeof</span>(size));
fcntl(sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>], F_SETFL, O_NONBLOCK);
fcntl(sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">1</span>], F_SETFL, O_NONBLOCK);
mReceiveFd = sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">0</span>]; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">//socket[0]接受数据</span>
mSendFd = sockets[<span class="hljs-number" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(64, 160, 112); background: transparent;">1</span>]; <span class="hljs-comment" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: italic; font-family: inherit; vertical-align: baseline; color: rgb(64, 128, 128); background: transparent;">// socket[1]发送数据</span>
} <span class="hljs-keyword" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(149, 65, 33); background: transparent;">else</span> {
mReceiveFd = -errno;
ALOGE(<span class="hljs-string" style="border: 0px; margin: 0px; padding: 0px; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; color: rgb(33, 145, 97); background: transparent;">"BitTube: pipe creation failed (%s)"</span>, strerror(-mReceiveFd));
}
}
1. 使用socket[0] 来接收数据
2. 使用socket[1] 来发送数据
3.通过pipe(fds)创建管道,通过fcntl来设置操作管道的方式,设置通道两端的操作方式为O_NONBLOCK ,非阻塞IO方式,read或write调用返回-1和EAGAIN错误。