Sensor系列之Sensor HAL层数据获取，基于Qualcomm平台

前面我们分析了Android Sensor HAL层源码分析(基于Qualcomm平台)，该篇博文主要讲解了Sensor HAL的初始化，以及hal层是怎样获取所有sensor列表的。今天我们来进一步了解下sensor hal层的数据获取流程。

我们知道Native层SensorService启动后，会进入我们的treadLoop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;
}

其中在do…while循环体中通过device->poll方法进行去hal层读取sensor上报的数据。device的类型为sensors_poll_device_1_t结构体，在sensors_open方法中我们已经将其中的方法进行了初始化：

static int sensors_open(const struct hw_module_t* module, const char* id,
                        struct hw_device_t** device)
{
    UNREFERENCED_PARAMETER(id);
    int ret = -EINVAL;
    SensorsContext *dev = SensorsContext::getInstance();

    memset(&dev->device, 0, sizeof(sensors_poll_device_1_t));

    dev->device.common.tag       = HARDWARE_DEVICE_TAG;
    dev->device.common.version   = SENSORS_DEVICE_API_VERSION_1_3;
    dev->device.common.module    = const_cast<hw_module_t*>(module);
    dev->device.common.close     = sensors_close;
    dev->device.activate         = sensors_activate;
    dev->device.setDelay         = sensors_set_delay;
    dev->device.poll             = sensors_poll;
    dev->device.batch            = sensors_batch;
    dev->device.flush            = sensors_flush;

    *device = &dev->device.common;
    ret = 0;
    return ret;
}

所以device->poll方法最终会调用到hal层的sensors_poll,因此我们跟进sensors_poll方法：

static int sensors_poll(struct sensors_poll_device_t *dev,
        sensors_event_t* data, int count)
{
    SensorsContext *ctx = (SensorsContext *)dev;
    return ctx->poll(data, count);
}

继而调用我们之前介绍过的SensorsContext对象的poll方法，其中数据将会填充到由类型为sensors_event_t* data的数据结构中。这个结构体定义在hal层，其结构体如下：