Android SensorService启动流程（二）

上一篇我们讲完了SensorService::onFirstRef（）的第一步，实例化一个SensorDevice（），本篇我们继续往下分析～～～

4.2）获取芯片商在Hal层初始化好的SensorList，并返回sensor的数目。

         ssize_t count = dev.getSensorList(&list);

4.3）registerSensor（ new HardwareSensor（list［i］））

            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;
                }    
            }    

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。

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;
}

4.4）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。

4.5）Gyro通常包含其他几种Sensor的数据，诸如下述代码所说，如果hal层没有这几种sensor，那么上层可以通过Gyro数据去虚拟出来这几类sensor。

            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() );
            }

4.6）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。

run("SensorService", PRIORITY_URGENT_DISPLAY);

sensorService的threadLoop方法：

bool SensorService::threadLoop()
{
    ALOGD("nuSensorService thread starting...");

    // each virtual sensor could generate an event per "real" event, that's why we need
    // to size numEventMax much smaller than MAX_RECEIVE_BUFFER_EVENT_COUNT.
    // in practice, this is too aggressive, but guaranteed to be enough.
    const size_t minBufferSize = SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT;
    const size_t numEventMax = minBufferSize / (1 + mVirtualSensorList.size());

    SensorDevice& device(SensorDevice::getInstance());
    const size_t vcount = mVirtualSensorList.size();

    const int halVersion = device.getHalDeviceVersion();
    do {
        ssize_t count = device.poll(mSensorEventBuffer, numEventMax);
        if (count < 0) {
            ALOGE("sensor poll failed (%s)", strerror(-count));
            break;
        }

        // Reset sensors_event_t.flags to zero for all events in the buffer.
        for (int i = 0; i < count; i++) {
             mSensorEventBuffer[i].flags = 0;
        }
        // Make a copy of the connection vector as some connections may be removed during the
        // course of this loop (especially when one-shot sensor events are present in the
        // sensor_event buffer). Promote all connections to StrongPointers before the lock is
        // acquired. If the destructor of the sp gets called when the lock is acquired, it may
        // result in a deadlock as ~SensorEventConnection() needs to acquire mLock again for
        // cleanup. So copy all the strongPointers to a vector before the lock is acquired.
        SortedVector< sp<SensorEventConnection> > activeConnections;
        populateActiveConnections(&activeConnections);
        Mutex::Autolock _l(mLock);
        // Poll has returned. Hold a wakelock if one of the events is from a wake up sensor. The
        // rest of this loop is under a critical section protected by mLock. Acquiring a wakeLock,
        // sending events to clients (incrementing SensorEventConnection::mWakeLockRefCount) should
        // not be interleaved with decrementing SensorEventConnection::mWakeLockRefCount and
        // releasing the wakelock.
        bool bufferHasWakeUpEvent = false;
        for (int i = 0; i < count; i++) {
            if (isWakeUpSensorEvent(mSensorEventBuffer[i])) {
                bufferHasWakeUpEvent = true;
                break;
            }
        }
        if (bufferHasWakeUpEvent && !mWakeLockAcquired) {
            setWakeLockAcquiredLocked(true);
        }
        recordLastValueLocked(mSensorEventBuffer, count);

        // handle virtual sensors
        if (count && vcount) {
            sensors_event_t const * const event = mSensorEventBuffer;
            const size_t activeVirtualSensorCount = mActiveVirtualSensors.size();
            if (activeVirtualSensorCount) {
                size_t k = 0;
                SensorFusion& fusion(SensorFusion::getInstance());
                if (fusion.isEnabled()) {
                    for (size_t i=0 ; i<size_t(count) ; i++) {
                        fusion.process(event[i]);
                    }
                }
                for (size_t i=0 ; i<size_t(count) && k<minBufferSize ; i++) {
                    for (size_t j=0 ; j<activeVirtualSensorCount ; j++) {
                        if (count + k >= minBufferSize) {
                            ALOGE("buffer too small to hold all events: "
                                    "count=%zd, k=%zu, size=%zu",
                                    count, k, minBufferSize);
                            break;
                        }
                        sensors_event_t out;
                        SensorInterface* si = mActiveVirtualSensors.valueAt(j);
                        if (si->process(&out, event[i])) {
                            mSensorEventBuffer[count + k] = out;
                            k++;
                        }
                    }
                }
                if (k) {
                    // record the last synthesized values
                    recordLastValueLocked(&mSensorEventBuffer[count], k);
                    count += k;
                    // sort the buffer by time-stamps
                    sortEventBuffer(mSensorEventBuffer, count);
                }
            }
        }
        // handle backward compatibility for RotationVector sensor
        if (halVersion < SENSORS_DEVICE_API_VERSION_1_0) {
            for (int i = 0; i < count; i++) {
                if (mSensorEventBuffer[i].type == SENSOR_TYPE_ROTATION_VECTOR) {
                    // All the 4 components of the quaternion should be available
                    // No heading accuracy. Set it to -1
                    mSensorEventBuffer[i].data[4] = -1;
                }
            }
        }

        // Map flush_complete_events in the buffer to SensorEventConnections which called
        // flush on the hardware sensor. mapFlushEventsToConnections[i] will be the
        // SensorEventConnection mapped to the corresponding flush_complete_event in
        // mSensorEventBuffer[i] if such a mapping exists (NULL otherwise).
        for (int i = 0; i < count; ++i) {
            mMapFlushEventsToConnections[i] = NULL;
            if (mSensorEventBuffer[i].type == SENSOR_TYPE_META_DATA) {
                const int sensor_handle = mSensorEventBuffer[i].meta_data.sensor;
                SensorRecord* rec = mActiveSensors.valueFor(sensor_handle);
                if (rec != NULL) {
                    mMapFlushEventsToConnections[i] = rec->getFirstPendingFlushConnection();
                    rec->removeFirstPendingFlushConnection();
                }
            }
        }

        // Send our events to clients. Check the state of wake lock for each client and release the
        // lock if none of the clients need it.
        bool needsWakeLock = false;
        size_t numConnections = activeConnections.size();
        for (size_t i=0 ; i < numConnections; ++i) {
            if (activeConnections[i] != 0) {
                activeConnections[i]->sendEvents(mSensorEventBuffer, count, mSensorEventScratch,
                        mMapFlushEventsToConnections);
                needsWakeLock |= activeConnections[i]->needsWakeLock();
                // If the connection has one-shot sensors, it may be cleaned up after first trigger.
                // Early check for one-shot sensors.
                if (activeConnections[i]->hasOneShotSensors()) {
                    cleanupAutoDisabledSensorLocked(activeConnections[i], mSensorEventBuffer,
                            count);
                }
            }
        }

        if (mWakeLockAcquired && !needsWakeLock) {
            setWakeLockAcquiredLocked(false);
        }
    } while (!Thread::exitPending());

    ALOGW("Exiting SensorService::threadLoop => aborting...");
    abort();
    return false;
}

4.6.1）该方法一开始是先调用 ssize_t count = device.poll(mSensorEventBuffer, numEventMax)； 

 dev->device.poll = poll__poll;

实则是调用到了hal层的poll__poll方法：

static int poll__poll(struct sensors_poll_device_t *dev,
        sensors_event_t* data, int count) {
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    return ctx->pollEvents(data, count);
}

继续pollEvents方法：

int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
{
    int nbEvents = 0;
    int n = 0;
    //ALOGE("pollEvents count =%d",count );

    do {
        // see if we have some leftover from the last poll()
        for (int i=0 ; count && i<numSensorDrivers ; i++) {
            SensorBase* const sensor(mSensors[i]);
            if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
                int nb = sensor->readEvents(data, count);
                if (nb < count) {
                    // no more data for this sensor
                    mPollFds[i].revents = 0;
                }   
                //if(nb < 0||nb > count)
                //  ALOGE("pollEvents count error nb:%d, count:%d, nbEvents:%d", nb, count, nbEvents);//for sensor NE debug
                count -= nb; 
                nbEvents += nb; 
                data += nb; 
                //if(nb < 0||nb > count)
                //  ALOGE("pollEvents count error nb:%d, count:%d, nbEvents:%d", nb, count, nbEvents);//for sensor NE debug
            }
        }


        if (count) {
            // we still have some room, so try to see if we can get
            // some events immediately or just wait if we don't have
            // anything to return

            n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
            if (n<0) {
                ALOGE("poll() failed (%s)", strerror(errno));
                return -errno;
            }
            if (mPollFds[wake].revents & POLLIN) {
                char msg;
                int result = read(mPollFds[wake].fd, &msg, 1);
                ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
                ALOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
                mPollFds[wake].revents = 0;
            }
        }



        // if we have events and space, go read them
    } while (n && count);

    return nbEvents;
}

首先调用sensor->readEvents（data，count）方法，此方法为各个sensor读取event事件的方法，以AccelerationSensor为例做分析：

int AccelerationSensor::readEvents(sensors_event_t* data, int count)
{

    //ALOGE("fwq read Event 1\r\n");
    if (count < 1)
        return -EINVAL;

    ssize_t n = mInputReader.fill(mdata_fd);
    if (n < 0)
        return n;
    int numEventReceived = 0;
    input_event const* event;

    while (count && mInputReader.readEvent(&event)) {
        int type = event->type;
        //ALOGE("fwq1....\r\n");
        if (type == EV_ABS) 
        {   
            processEvent(event->code, event->value);
            //ALOGE("fwq2....\r\n");
        }   
        else if (type == EV_SYN) 
        {   
            //ALOGE("fwq3....\r\n");
            int64_t time = timevalToNano(event->time);
            mPendingEvent.timestamp = time;
            if (mEnabled)
            {
                 //ALOGE("fwq4....\r\n");
                 if (mPendingEvent.timestamp >= mEnabledTime)
                 {
                    //ALOGE("fwq5....\r\n");
                    *data++ = mPendingEvent;
                    numEventReceived++;
                 }
                 count--;

            }
        }
        else if (type != EV_ABS)
        {
            ALOGE("AccelerationSensor: unknown event (type=%d, code=%d)",
                    type, event->code);
        }
        mInputReader.next();
    }
    //ALOGE("fwq read Event 2\r\n");
    return numEventReceived;
}

首先调用fill方法，把相应节点的input事件读入缓冲的buffer，然后在while循环中mInputReader.readEvent(&event)读取当前指针所指向的事件，mInputReader.next();将指针指向环形队列下一条事件来读取下一条事件。

fill方法：

ssize_t InputEventCircularReader::fill(int fd) 
{
    size_t numEventsRead = 0;
    if (mFreeSpace) {
        const ssize_t nread = read(fd, mHead, mFreeSpace * sizeof(input_event));
        if (nread<0 || nread % sizeof(input_event)) {
            // we got a partial event!!
            return nread<0 ? -errno : -EINVAL;
        }   

        numEventsRead = nread / sizeof(input_event);
        if (numEventsRead) {
            mHead += numEventsRead;
            mFreeSpace -= numEventsRead;
            if (mHead > mBufferEnd) {
                size_t s = mHead - mBufferEnd;
                memcpy(mBuffer, mBufferEnd, s * sizeof(input_event));
                mHead = mBuffer + s;
            }   
        }   
    }   

    return numEventsRead;
}

从传入的文件节点中读取事件，存入mBuffer。

ssize_t InputEventCircularReader::readEvent(input_event const** events)
{
    *events = mCurr;
    ssize_t available = (mBufferEnd - mBuffer) - mFreeSpace;
    return available ? 1 : 0;
}

void InputEventCircularReader::next()
{
    mCurr++;
    mFreeSpace++;
    if (mCurr >= mBufferEnd) {
        mCurr = mBuffer;
    }
}

每new一个特殊类型的Sensor，都会调用类似SensorBase（NULL, "m_acc_input"），这是Acc传感器中的相关调用，而SensorBase方法会调用openInput：

SensorBase::SensorBase(
        const char* dev_name,
        const char* data_name)
    : dev_name(dev_name), data_name(data_name),
      dev_fd(-1), data_fd(-1)
{
    data_fd = openInput(data_name);
}

我们再来看openInput的实现：

int SensorBase::openInput(const char* inputName) {
    int fd = -1;
    const char *dirname = "/dev/input";
    char devname[PATH_MAX];
    char *filename;
    DIR *dir;
    struct dirent *de;
    dir = opendir(dirname);
    if(dir == NULL)
        return -1;
    strcpy(devname, dirname);
    filename = devname + strlen(devname);
    *filename++ = '/';
    while((de = readdir(dir))) {
        if(de->d_name[0] == '.' &&
                (de->d_name[1] == '\0' ||
                        (de->d_name[1] == '.' && de->d_name[2] == '\0')))
            continue;
        strcpy(filename, de->d_name);
        fd = open(devname, O_RDONLY);
        if (fd>=0) {
            char name[80];
            if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) {
                name[0] = '\0';
            }
            if (!strcmp(name, inputName)) {
                break;
            } else {
                close(fd);
                fd = -1;
            }
        }
    }
    closedir(dir);
    ALOGE_IF(fd<0, "couldn't find '%s' input device", inputName);
    return fd;
}

openInput()实际上是打开各个sensor对应于/dev/input/event*文件节点最后返回的是sensor对应文件节点的fd，也就是上面fill函数的参数data_fd，在adb shell，然后getevent命令也是获取位于/dev/input/下所有的event事件。 之后回到SensorService的threadLoop中，在获取完数据之后就要通过 activeConnections[i]->sendEvents(mSensorEventBuffer, count, mSensorEventScratch,mMapFlushEventsToConnections);调用write函数将数据放到一个管道里面，sensor APP将数据取走。

    ssize_t size = SensorEventQueue::write(mChannel,
                                    reinterpret_cast<ASensorEvent const*>(scratch), count);

        所有的故～～～事～～～～，总要有一个结果，此致，结尾。。。。