陀螺仪

一、

首先获取SystemSensorManager，并强制转换成父类SensorManager来使用

sensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);

二、

之后通过getDefaultSensor，利用钩子函数，从SystemSensorManager的ArrayList<Sensor> sFullSensorsList = new ArrayList<Sensor>();中获取到指定类型的传感器对象

gyroscopeSensor = sensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);

三、
注册监听：

	sensorManager.registerListener(this, gyroscopeSensor,SensorManager.SENSOR_DELAY_NORMAL);

registerListener最后会调用到（SensorManager.java）

    public boolean registerListener(SensorEventListener listener, Sensor sensor, int rate) {
        return registerListener(listener, sensor, rate, null);
    }

这会调用到钩子：registerListenerImpl

public boolean registerListener(SensorEventListener listener, Sensor sensor, int rate,
            Handler handler) {
        if (listener == null || sensor == null) {
            return false;
        }

        int delay = -1;
        switch (rate) {
            case SENSOR_DELAY_FASTEST:
                delay = 0;
                break;
            case SENSOR_DELAY_GAME:
                delay = 20000;
                break;
            case SENSOR_DELAY_UI:
                delay = 66667;
                break;
            case SENSOR_DELAY_NORMAL:
                delay = 200000;
                break;
            default:
                delay = rate;
                break;
        }

        return registerListenerImpl(listener, sensor, delay, handler);
    }

    /** @hide */
    protected abstract boolean registerListenerImpl(SensorEventListener listener, Sensor sensor,
            int delay, Handler handler);

显然，其实现是在SystemSensorManager中：

    /** @hide */
    @Override
    protected boolean registerListenerImpl(SensorEventListener listener, Sensor sensor,
            int delay, Handler handler)
    {
        // Invariants to preserve:
        // - one Looper per SensorEventListener
        // - one Looper per SensorEventQueue
        // We map SensorEventListener to a SensorEventQueue, which holds the looper
        if (sensor == null) throw new IllegalArgumentException("sensor cannot be null");

        // Trigger Sensors should use the requestTriggerSensor call.
        if (Sensor.getReportingMode(sensor) == Sensor.REPORTING_MODE_ONE_SHOT) return false;

        synchronized (mSensorListeners) {
            SensorEventQueue queue = mSensorListeners.get(listener);
            if (queue == null) {
                Looper looper = (handler != null) ? handler.getLooper() : mMainLooper;
                queue = new SensorEventQueue(listener, looper, this);
                if (!queue.addSensor(sensor, delay)) {
                    queue.dispose();
                    return false;
                }
                mSensorListeners.put(listener, queue);
                return true;
            } else {
                return queue.addSensor(sensor, delay);
            }
        }
    }

这里只是查看是否已经注册了监听，如果没有就创建一个监听加入到监听列表mSensorListeners中

    // Listener list
    private final HashMap<SensorEventListener, SensorEventQueue> mSensorListeners =
            new HashMap<SensorEventListener, SensorEventQueue>();

那么SystemSensorManager中的监听是怎么被触发的呢？

在android_hardware_SensorManager.cpp中会继承LooperCallback的handEvent接口，因此每次有事件到达时，就会触发handlerEvent。

virtual int handleEvent(int fd, int events, void* data) {
        JNIEnv* env = AndroidRuntime::getJNIEnv();
        sp<SensorEventQueue> q = reinterpret_cast<SensorEventQueue *>(data);
        ssize_t n;
        ASensorEvent buffer[16];
        while ((n = q->read(buffer, 16)) > 0) {
            for (int i=0 ; i<n ; i++) {

                env->SetFloatArrayRegion(mScratch, 0, 16, buffer[i].data);

                env->CallVoidMethod(mReceiverObject,
                        gBaseEventQueueClassInfo.dispatchSensorEvent,
                        buffer[i].sensor,
                        mScratch,
                        buffer[i].vector.status,
                        buffer[i].timestamp);

                if (env->ExceptionCheck()) {
                    ALOGE("Exception dispatching input event.");
                    return 1;
                }
            }
        }
        if (n<0 && n != -EAGAIN) {
            // FIXME: error receiving events, what to do in this case?
        }

        return 1;
    }
};

handEvent再通过jni调用java层的SensorEventQueue->dispatchSensorEvent。SensorEventQueue->dispatchSensorEvent最终调用mListener.onSensorChanged(t);

（这里android_hardware_SensorManager.cpp和SystemSensorManager中很多函数都是对应的jni回调）