Android GPS架构分析
来源:Linux社区 作者:Daniel Wood
看Android的GPS模块有两个月了吧,终于可以写点东西出来。首先来看看GPS模块的代码结构:
Framework:
1.frameworks/base/location/java/Android/location
这里主要是用来被App调用的,API包是
Android.location。
2.frameworks/base/location/java/com/Android/internal/location
这个目录是Framework对Location服务的内部实现。
3.framework\services\java\com\Android\server
这个目录只有一个文件
|-- LocationManagerService.java
是Location服务对内部实现的一种封装。
JNI:
frameworks/base/core/jni/
Android_location_GpsLocationProvider.cpp
JNI层只有一个文件,起到承上启下的作用。上层承接Framework,下层调用HAL层具体硬件抽象实现。
HAL:Hardware Abstract Layer 硬件抽象层
hardware\libhardware_legacy\gps
hardware\libhardware_legacy\include\hardware_legacy\gps.h
HAL层相当于一个linux应用程序接口,通过open,close等操作,操作硬件设备。
Android的源代码只实现了模拟器的gps接口,具体在文件gps_qemu.c中。在2.2版本中提供了对QCOM公司的gps的实现,在以下目录:
\hardware\qcom
下面介绍几个重要的数据结构:
1. GpsInterface接口是gps模块中最重要的数据结构,它是底层驱动实现的接口,如果要porting到自己的板子上,就需要实现这些接口。该接口的定义在gps.h中,模拟器实现在gps_qemu.c中。
/** Represents the standard GPS interface. */ typedef struct { /** * Opens the interface and provides the callback routines * to the implemenation of this interface. */ int (*init)( GpsCallbacks* callbacks ); /** Starts navigating. */ int (*start)( void ); /** Stops navigating. */ int (*stop)( void ); /** Closes the interface. */ void (*cleanup)( void ); /** Injects the current time. */ int (*inject_time)(GpsUtcTime time, int64_t timeReference, int uncertainty); /** Injects current location from another location provider * (typically cell ID). * latitude and longitude are measured in degrees * expected accuracy is measured in meters */ int (*inject_location)(double latitude, double longitude, float accuracy); /** * Specifies that the next call to start will not use the * information defined in the flags. GPS_DELETE_ALL is passed for * a cold start. */ void (*delete_aiding_data)(GpsAidingData flags); /** * fix_frequency represents the time between fixes in seconds. * Set fix_frequency to zero for a single-shot fix. */ int (*set_position_mode)(GpsPositionMode mode, int fix_frequency); /** Get a pointer to extension information. */ const void* (*get_extension)(const char* name); } GpsInterface; |
2. GpsCallbacks回调函数
这个是回调函数结构体,定义也在gps.h中。它们的实现是在Android_location_GpsLocationProvider.cpp中,google已经实现了,我们不需要做任何动作。
/** GPS callback structure. */ typedef struct { gps_location_callback location_cb; gps_status_callback status_cb; gps_sv_status_callback sv_status_cb; gps_nmea_callback nmea_cb; } GpsCallbacks; /** Callback with location information. */ typedef void (* gps_location_callback)(GpsLocation* location); /** Callback with status information. */ typedef void (* gps_status_callback)(GpsStatus* status); /** Callback with SV status information. */ typedef void (* gps_sv_status_callback)(GpsSvStatus* sv_info); /** Callback for reporting NMEA sentences. */ typedef void (* gps_nmea_callback)(GpsUtcTime timestamp, const char* nmea, int length); |
3.GpsLocation
表示Locatin数据信息,底层驱动获得Location的raw信息,通常是nmea码,然后通过解析就得到了location信息。
/** Represents a location. */ typedef struct { /** Contains GpsLocationFlags bits. */ uint16_t flags; /** Represents latitude in degrees. */ double latitude; /** Represents longitude in degrees. */ double longitude; /** Represents altitude in meters above the WGS 84 reference * ellipsoid. */ double altitude; /** Represents speed in meters per second. */ float speed; /** Represents heading in degrees. */ float bearing; /** Represents expected accuracy in meters. */ float accuracy; /** Timestamp for the location fix. */ GpsUtcTime timestamp; } GpsLocation; |
介绍完了主体代码结构以及重要的数据结构后,下面来看看gps的定位服务(LocationManager)的启动过程。我总是喜欢追本溯源地从源头去认识事物。因为“人之初,性本善”,从事物的本性去认识事物。
LocationManager 这项服务是在SystemServer.java 中启动的,也就是系统启动之后,这个服务就已经启动了:
systemServer.java [framework\base\services\java\com\Android\server]
在SystemServer.java的init2函数中启动了一个线程来注册Android的诸多服务,如:Bluetooth Service,NetworkManagement Service,Notification Manager等,当然也包括Location Service。
SystemServer.java [frameworks\base\services\java\com\Android\server]
public static final void init2() { Slog.i(TAG, "Entered the Android system server!"); Thread thr = new ServerThread(); thr.setName("Android.server.ServerThread"); thr.start(); } |
在ServerThread线程的run函数中LocationManager服务的代码段如下:
2.1版本 try { Log.i(TAG, "Location Manager"); ServiceManager.addService(Context.LOCATION_SERVICE, new LocationManagerService(context)); } catch (Throwable e) { Log.e(TAG, "Failure starting Location Manager", e); } 2.2的代码中代码段如下形式: try { Slog.i(TAG, "Location Manager"); location = new LocationManagerService(context); ServiceManager.addService(Context.LOCATION_SERVICE, location); } catch (Throwable e) { Slog.e(TAG, "Failure starting Location Manager |
在run函数的后半部分,是服务对系统的反馈,就是systemReady()函数。 LocationManager服务的反馈函数如下:
if (locationF != null) locationF.systemReady(); |
其中的locationF是LocationManagerService的final类型,就是一旦赋值,不能更改。
final LocationManagerService locationF = location; |
哇!locationManager这项服务的反馈机制只在2.2的代码里面才有啊。2.1中的反馈机制中并没有locationManager(当然有其他的服务反馈)。
而在2.1版本中LocationManagerService的构造函数如下:
LocationManagerService.java [frameworks\base\services\java\com\Android\server]
public LocationManagerService(Context context) { super(); mContext = context; Thread thread = new Thread(null, this, "LocationManagerService"); thread.start(); if (LOCAL_LOGV) { Log.v(TAG, "Constructed LocationManager Service"); } } |
2.2版本
public LocationManagerService(Context context) { super(); mContext = context; if (LOCAL_LOGV) { Slog.v(TAG, "Constructed LocationManager Service"); } } |
2.1是在构造函数的时候就启动一个自身服务线程。见构造函数。
2.2是在反馈机制中通过systemReady函数启动自身服务线程。如下:
void systemReady() { // we defer starting up the service until the system is ready Thread thread = new Thread(null, this, "LocationManagerService"); thread.start(); } |
通过线程run函数,调用initialize函数:
public void run() { Process.setThreadPriority(Process.THREAD_PRIORITY_BACKGROUND); Looper.prepare(); mLocationHandler = new LocationWorkerHandler(); initialize(); Looper.loop(); } |
initialize函数
LocationManagerService.java[frameworks\base\services\java\com\Android\server]
private void initialize() { // Create a wake lock, needs to be done before calling loadProviders() below PowerManager powerManager = (PowerManager) mContext.getSystemService(Context.POWER_SERVICE); mWakeLock = powerManager.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, WAKELOCK_KEY); // Load providers loadProviders(); ... |
initialize函数中最重要的就是loadProviders函数了,该函数调用loadProvidersLocked,然后loadProvidersLocked函数又调用_loadProvidersLocked函数。为什么要这么折腾呢?
先来看一部分的_loadProvidersLocked函数:
private void _loadProvidersLocked() { // Attempt to load "real" providers first if (GpsLocationProvider.isSupported()) { // Create a gps location provider GpsLocationProvider gpsProvider = new GpsLocationProvider(mContext, this); mGpsStatusProvider = gpsProvider.getGpsStatusProvider(); mNetInitiatedListener = gpsProvider.getNetInitiatedListener(); addProvider(gpsProvider); mGpsLocationProvider = gpsProvider; } ... |
注意这个if语句,狠重要,因为在这个语句中得到了HAL层的GPS接口GpsInterface。就是通过调用GpsLocationProvider的isSupported()函数才调用到gps.cpp[hardware/libhardware_legacy/gps]中的gps_get_interface()。这个isSupported函数才是第一个吃螃蟹的人。(而不是JNI层的init函数,这个下面会提到)。
GpsLocationProvider.cpp [frameworks\base\location\java\com\Android\internal\location]
public static boolean isSupported() { return native_is_supported(); } |
然而isSupported只有一句话,果然是高手,一击必中。然后就调用native方法,也就是JNI层定义的方法。native_is_supported函数对于JNI层是Android_location_GpsLocationProvider_is_supported方法。
Android_location_GpsLocationProvider.cpp [frameworks\base\core\jni]
static jboolean Android_location_GpsLocationProvider_is_supported(JNIEnv* env, jclass clazz) { if (!sGpsInterface) sGpsInterface = gps_get_interface(); return (sGpsInterface != NULL); } |
前面已经提到JNI起到承上启下的作用,gps_get_interface函数属于HAL层的调用,在文件gps.cpp中。
gps.cpp [hardware\libhardware_legacy\gps]
const GpsInterface* gps_get_interface() { if (sGpsInterface == NULL) gps_find_hardware(); return sGpsInterface; } |
然后通过
gps_find_hardware函数去得到gps接口,下面只模拟器中的gpsinterface。
static void gps_find_hardware( void ) { #ifdef HAVE_QEMU_GPS_HARDWARE if (qemu_check()) { sGpsInterface = gps_get_qemu_interface(); if (sGpsInterface) { LOGD("using QEMU GPS Hardware emulation\n"); return; } } #endif #ifdef HAVE_GPS_HARDWARE sGpsInterface = gps_get_hardware_interface(); #endif if (!sGpsInterface) LOGD("no GPS hardware on this device\n"); } |
gps_qemu.c [hardware\libhardware_legacy\gps]
const GpsInterface* gps_get_qemu_interface() { return &qemuGpsInterface; } |
qemuGpsInterface的整体实现就在文件gps_qemu.c中。
static const GpsInterface qemuGpsInterface = {
qemu_gps_init,
qemu_gps_start,
qemu_gps_stop,
qemu_gps_cleanup,
qemu_gps_inject_time,
qemu_gps_inject_location,
qemu_gps_delete_aiding_data,
qemu_gps_set_position_mode,
qemu_gps_get_extension,
};
在底层得到gps的接口之后, if (GpsLocationProvider.isSupported())(在文件LocationManagerService.java中调用)语句得到true,然后进行下一步操作,在这里new了一个GpsLocationProvider对象。代码如下:
GpsLocationProvider gpsProvider = new GpsLocationProvider(mContext, this);
注意GpsLocationProvider构造函数里面的两个参数:mContext, this。下面来看看GpsLocationProvider的构造函数的前面几句:
public GpsLocationProvider(Context context, ILocationManager locationManager) { mContext = context; mLocationManager = locationManager; mNIHandler = new GpsNetInitiatedHandler(context, this); ... } |
在GpsLocationProvider类里面的成员变量mLocationManager是构造函数的第二个参数,就是说是LocationManagerService对象。这一点在这里先明确。
接着看_loadProvidersLocked函数。
private void _loadProvidersLocked() { // Attempt to load "real" providers first if (GpsLocationProvider.isSupported()) { // Create a gps location provider GpsLocationProvider gpsProvider = new GpsLocationProvider(mContext, this); mGpsStatusProvider = gpsProvider.getGpsStatusProvider(); mNetInitiatedListener = gpsProvider.getNetInitiatedListener(); addProvider(gpsProvider); mGpsLocationProvider = gpsProvider; } // create a passive location provider, which is always enabled PassiveProvider passiveProvider = new PassiveProvider(this); addProvider(passiveProvider); mEnabledProviders.add(passiveProvider.getName()); // initialize external network location and geocoder services Resources resources = mContext.getResources(); String serviceName = resources.getString( com.Android.internal.R.string.config_networkLocationProvider); if (serviceName != null) { mNetworkLocationProvider = new LocationProviderProxy(mContext, LocationManager.NETWORK_PROVIDER, serviceName, mLocationHandler); addProvider(mNetworkLocationProvider); } serviceName = resources.getString(com.Android.internal.R.string.config_geocodeProvider); if (serviceName != null) { mGeocodeProvider = new GeocoderProxy(mContext, serviceName); } updateProvidersLocked(); } |
在构造完GpsLocationProvider之后将其add到全局变量ArrayList<LocationProviderInterface> mProviders中,备以后调用。
在2.2中采取了一种PassiveProvider的类,而在2.1中是通过LocationProviderProxy代理类的方式。2.1中LocationProviderProxy作为GpsLocationProvider的代理作用在LocationManagerService中,而2.2中的PassiveProvider感觉这个类是个空壳。。。。。。。。有待研究。
然后启动了nerwork location和geocoder 两个service。但是可惜的是这两个服务都无法启动,因为他们是通过配置文件conifg.xml[framework\base\core\res\res\values]得到服务的名字,然后启动服务的。但是在这个配置文件中,两个服务的名字都是null。
conifg.xml [framework\base\core\res\res\values]
<!-- Component name of the service providing network location support. --> <string name="config_networkLocationProvider">@null</string> <!-- Component name of the service providing geocoder API support. --> <string name="config_geocodeProvider">@null</string> |
其实这也导致了,在调用GetFromLocationName和GetFromLocation两个函数时提示“Service not Available”,这个googleAndroid 2.2的bug。
_loadProvidersLocked函数的最后一句是调用updateProvidersLocked函数,仍然在LocationManagerServic.java文件中。
LocationManagerServic.java
private void updateProvidersLocked() { for (int i = mProviders.size() - 1; i >= 0; i--) { LocationProviderInterface p = mProviders.get(i); boolean isEnabled = p.isEnabled(); String name = p.getName(); boolean shouldBeEnabled = isAllowedBySettingsLocked(name); if (isEnabled && !shouldBeEnabled) { updateProviderListenersLocked(name, false); } else if (!isEnabled && shouldBeEnabled) { updateProviderListenersLocked(name, true); } } } |
从上面_loadProvidersLocked函数的代码来看,在mProviders这个ArrayList中有两个元素(这一点未求证),一个是gpsProvider,另一个是passiveProvider。gpsProvider是GpsLocationProvider类型的,它的isEnabled函数返回的是false,因为它并没有被enable。而passiveProvider是PassiveProvider类型,它总是enable的。所以gpsProvider会调用else语句中的updateProviderListenersLocked(name, true)函数。我们主要分析这个else语句,对于passiveProvider不做分析。
private void updateProviderListenersLocked(String provider, boolean enabled) { int listeners = 0; LocationProviderInterface p = mProvidersByName.get(provider); if (p == null) { return; } ArrayList<Receiver> deadReceivers = null; ArrayList<UpdateRecord> records = mRecordsByProvider.get(provider); if (records != null) { final int N = records.size(); for (int i=0; i<N; i++) { UpdateRecord record = records.get(i); // Sends a notification message to the receiver if (!record.mReceiver.callProviderEnabledLocked(provider, enabled)) { if (deadReceivers == null) { deadReceivers = new ArrayList<Receiver>(); } deadReceivers.add(record.mReceiver); } listeners++; } } if (deadReceivers != null) { for (int i=deadReceivers.size()-1; i>=0; i--) { removeUpdatesLocked(deadReceivers.get(i)); } } if (enabled) { //enabled 的值是true p.enable(); if (listeners > 0) { p.setMinTime(getMinTimeLocked(provider)); p.enableLocationTracking(true); } } else { p.enableLocationTracking(false); p.disable(); } } |
我们只关注主体部分代码,就是在if(enabled)这个语句段里面,启动了gps的服务,具体将在下一篇进行分析。