android-5.0 sensor工作原理—sensorservice的启动(二)

3.2 dev.getSensorList(&list);获取厂商在HAL层初始化的sensor_t类型结构体的sSensorList，并返回sensor device的数目。

3.3 registerSensor( new HardwareSensor(list[i]) );在for循环中注册这些sensor。根据硬件sensor_t创建HardwareSensor,然后加入mSensorList(Sensor) 和mSensorMap(HardwareSensor)中，后面的switch是判断是否存在电子罗盘，GYRO以及GYRO对应所需要的对应的一些所对应的一些虚拟sensor

 for (ssize_t i=0 ; i<count ; i++) {
                registerSensor( new HardwareSensor(list[i]) );
                switch (list[i].type) {
                    case SENSOR_TYPE_ORIENTATION:
                        orientationIndex = i;
                        break;
                    case SENSOR_TYPE_GYROSCOPE:
                    case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
                        hasGyro = true;
                        break;
                    case SENSOR_TYPE_GRAVITY:
                    case SENSOR_TYPE_LINEAR_ACCELERATION:
                    case SENSOR_TYPE_ROTATION_VECTOR:
                        virtualSensorsNeeds &= ~(1<<list[i].type);
                        break;
                }

Sensor SensorService::registerSensor(SensorInterface* s)
{
    sensors_event_t event;
    memset(&event, 0, sizeof(event));

    const Sensor sensor(s->getSensor());
    // add to the sensor list (returned to clients)
    mSensorList.add(sensor);
    // add to our handle->SensorInterface mapping
    mSensorMap.add(sensor.getHandle(), s);
    // create an entry in the mLastEventSeen array
    mLastEventSeen.add(sensor.getHandle(), event);

    return sensor;
}

3.4 mUserSensorList = mSensorList;将mSensorList传感器列表赋值给mUserSensorList，mSensorList是由registerSensor初始化的，mUserSensorList是要提交给Java框架层的传感器列表。

3.5 如果有GYRO就注册这样一些上面提到的三种虚拟sensor来实现GYRO的功能，此处我是这么理解的。

 if (hasGyro) {
                Sensor aSensor;

                // Add Android virtual sensors if they're not already
                // available in the HAL

                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
                    // the orientation sensor and remove the HAL provided one.
                    mUserSensorList.replaceAt(aSensor, orientationIndex);
                }

                // virtual debugging sensors are not added to mUserSensorList
                registerVirtualSensor( new CorrectedGyroSensor(list, count) );
                registerVirtualSensor( new GyroDriftSensor() );
            }

3.6 run("SensorService", PRIORITY_URGENT_DISPLAY);启动sensorService线程，sensorService父类有一个Thread线程，调用run方法会创建线程并调用threadLoop方法。

bool SensorService::threadLoop()
{
    ALOGD("nuSensorSe