RK 传感器调用流程 从JNI 到 kernel driver

• 由 b178903294创建, 最后修改于3月 27, 2020 

一、应用开发五步曲

（1）   获取传感器管理器对象；

mSensorManager =(SensorManager) getSystemService(SENSOR_SERVICE);

 

 

（2）   获取传感器对象；

mProximitySensor = mSensorManager.getDefaultSensor(Sensor.TYPE_PROXIMITY);

 

（3）  定义事件监听器；

private final SensorEventListener mProximitySensorListener = new SensorEventListener() {         @Override         public void onSensorChanged(SensorEvent event) {             if (mProximitySensorEnabled) {                 final long time = SystemClock.uptimeMillis();                 final float distance = event.values[0];                 // do something             }         }

 

（4）   注册事件监听器；

mSensorManager.registerListener(mProximitySensorListener, mProximitySensor,                     proximitySensorRate * 1000, mHandler);

 

（5）   卸载事件监听器；

mSensorManager.unregisterListener(mProximitySensorListener);

 

 

二、流程框架

各部分之间架构图如下：

1）SystemServer.java所在目录frameworks/base/services/java/com/android/server

 

public final class SystemServer {     ...         private void run() {         // If a device's clock is before 1970 (before 0), a lot of         // APIs crash dealing with negative numbers, notably         // java.io.File#setLastModified, so instead we fake it and         // hope that time from cell towers or NTP fixes it shortly.         ...         nativeInit();         ...         }         ... }

我们主要看nativeInit()方法，这个方法在哪里定义呢？
在framework下SystemServer的native层定义。

2）com_android_server_SystemServer.cpp文件（ frameworks/base/services/core/jni ）

namespace android {    static void android_server_SystemServer_nativeInit(JNIEnv* env, jobject clazz) {     char propBuf[PROPERTY_VALUE_MAX];     property_get("system_init.startsensorservice", propBuf, "1");     if (strcmp(propBuf, "1") == 0) {         // Start the sensor service         SensorService::instantiate();     } }    /*  * JNI registration.  */ static JNINativeMethod gMethods[] = {     /* name, signature, funcPtr */     { "nativeInit", "()V", (void*) android_server_SystemServer_nativeInit }, };    int register_android_server_SystemServer(JNIEnv* env) {     return jniRegisterNativeMethods(env, "com/android/server/SystemServer",             gMethods, NELEM(gMethods)); } };

nativeInit()方法中调用了SensorService::instantiate()接口初始化了一个实例。
3）通过frameworks/native/services/sensorservice/SensorService.h中SensorService的定义得知其继承于BinderService，我们看BinderService中该方法的实现：

class BinderService { public:     static status_t publish(bool allowIsolated = false) {         sp<IServiceManager> sm(defaultServiceManager());         return sm->addService(                 String16(SERVICE::getServiceName()),                 new SERVICE(), allowIsolated);     }          static void publishAndJoinThreadPool(bool allowIsolated = false) {         publish(allowIsolated);         joinThreadPool();     }          static void instantiate() { publish(); }        static status_t shutdown() { return NO_ERROR; }    private: ... }

调用了静态的publish()方法：
其实就是向ServiceManager注册SensorService，add的service名称为sensor service，后续会调用SensorService::onFirstRef()方法，开始一系列的初始化。

4）onFirstRef()方法。

void SensorService::onFirstRef() {     ALOGD("nuSensorService starting...");        SensorDevice& dev(SensorDevice::getInstance());        if (dev.initCheck() == NO_ERROR) {         sensor_t const* list;         ssize_t count = dev.getSensorList(&list);         if (count > 0) {             ssize_t orientationIndex = -1;             bool hasGyro = false;             uint32_t virtualSensorsNeeds =                     (1<<SENSOR_TYPE_GRAVITY) |                     (1<<SENSOR_TYPE_LINEAR_ACCELERATION) |                     (1<<SENSOR_TYPE_ROTATION_VECTOR);                mLastEventSeen.setCapacity(count);             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;                 }             }                // it's safe to instantiate the SensorFusion object here             // (it wants to be instantiated after h/w sensors have been             // registered)             const SensorFusion& fusion(SensorFusion::getInstance());                // build the sensor list returned to users             mUserSensorList = mSensorList;                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() );             }                // debugging sensor list             mUserSensorListDebug = mSensorList;                // Check if the device really supports batching by looking at the FIFO event             // counts for each sensor.             bool batchingSupported = false;             for (int i = 0; i < mSensorList.size(); ++i) {                 if (mSensorList[i].getFifoMaxEventCount() > 0) {                     batchingSupported = true;                     break;                 }             }                if (batchingSupported) {                 // Increase socket buffer size to a max of 100 KB for batching capabilities.                 mSocketBufferSize = MAX_SOCKET_BUFFER_SIZE_BATCHED;             } else {                 mSocketBufferSize = SOCKET_BUFFER_SIZE_NON_BATCHED;             }                // Compare the socketBufferSize value against the system limits and limit             // it to maxSystemSocketBufferSize if necessary.             FILE *fp = fopen("/proc/sys/net/core/wmem_max", "r");             char line[128];             if (fp != NULL && fgets(line, sizeof(line), fp) != NULL) {                 line[sizeof(line) - 1] = '\0';                 size_t maxSystemSocketBufferSize;                 sscanf(line, "%zu", &maxSystemSocketBufferSize);                 if (mSocketBufferSize > maxSystemSocketBufferSize) {                     mSocketBufferSize = maxSystemSocketBufferSize;                 }             }             if (fp) {                 fclose(fp);             }                mWakeLockAcquired = false;             mLooper = new Looper(false);             const size_t minBufferSize = SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT;             mSensorEventBuffer = new sensors_event_t[minBufferSize];             mSensorEventScratch = new sensors_event_t[minBufferSize];             mMapFlushEventsToConnections = new SensorEventConnection const * [minBufferSize];                mAckReceiver = new SensorEventAckReceiver(this);             mAckReceiver->run("SensorEventAckReceiver", PRIORITY_URGENT_DISPLAY);             mInitCheck = NO_ERROR;             run("SensorService", PRIORITY_URGENT_DISPLAY);         }     } }

 

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~  HAL  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~