android sensor sevice 2.0启动流程简介

Android Service是一种应用程序组件，可以在后台执行长时间运行的操作而不提供用户界面。

从native层调用connectHidlService()连接service，调用initializeSensorList();进行初始化

SensorDevice.cpp (linux\android\frameworks\native\services\sensorservice)    37979    2022/8/9

SensorDevice::SensorDevice()
        : mHidlTransportErrors(20),
          mRestartWaiter(new HidlServiceRegistrationWaiter()),
          mEventQueueFlag(nullptr),
          mWakeLockQueueFlag(nullptr),
          mReconnecting(false) {
    if (!connectHidlService()) {
        return;
    }

    initializeSensorList();

    mIsDirectReportSupported =
            (checkReturnAndGetStatus(mSensors->unregisterDirectChannel(-1)) != INVALID_OPERATION);
}

connectHidlService()连接service

bool SensorDevice::connectHidlService() {
    HalConnectionStatus status = connectHidlServiceV2_0();
    if (status == HalConnectionStatus::DOES_NOT_EXIST) {
        status = connectHidlServiceV1_0();
    }
    return (status == HalConnectionStatus::CONNECTED);
}

获取service接口

SensorDevice::HalConnectionStatus SensorDevice::connectHidlServiceV2_0() {
    HalConnectionStatus connectionStatus = HalConnectionStatus::UNKNOWN;
    sp<V2_0::ISensors> sensors = V2_0::ISensors::getService();

    if (sensors == nullptr) {
        connectionStatus = HalConnectionStatus::DOES_NOT_EXIST;
    } else {
        mSensors = new SensorServiceUtil::SensorsWrapperV2_0(sensors);

        mEventQueue = std::make_unique<EventMessageQueue>(
                SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT,
                true /* configureEventFlagWord */);

        mWakeLockQueue = std::make_unique<WakeLockQueue>(
                SensorEventQueue::MAX_RECEIVE_BUFFER_EVENT_COUNT,
                true /* configureEventFlagWord */);

        hardware::EventFlag::deleteEventFlag(&mEventQueueFlag);
        hardware::EventFlag::createEventFlag(mEventQueue->getEventFlagWord(), &mEventQueueFlag);

        hardware::EventFlag::deleteEventFlag(&mWakeLockQueueFlag);
        hardware::EventFlag::createEventFlag(mWakeLockQueue->getEventFlagWord(),
                                             &mWakeLockQueueFlag);

        CHECK(mSensors != nullptr && mEventQueue != nullptr &&
                mWakeLockQueue != nullptr && mEventQueueFlag != nullptr &&
                mWakeLockQueueFlag != nullptr);

        status_t status = checkReturnAndGetStatus(mSensors->initialize(
                *mEventQueue->getDesc(),
                *mWakeLockQueue->getDesc(),
                new SensorsCallback()));

        if (status != NO_ERROR) {
            connectionStatus = HalConnectionStatus::FAILED_TO_CONNECT;
            ALOGE("Failed to initialize Sensors HAL (%s)", strerror(-status));
        } else {
            connectionStatus = HalConnectionStatus::CONNECTED;
            mSensorsHalDeathReceiver = new SensorsHalDeathReceivier();
            sensors->linkToDeath(mSensorsHalDeathReceiver, 0 /* cookie */);
        }
    }

    return connectionStatus;
}
 

service 启动

Service.cpp (linux\android\vendor\qcom\proprietary\sensors-see\hal-2.0-hidl-impl)    967    2022/8/9
int main(int /* argc */, char** /* argv */) {
    configureRpcThreadpool(1, true);
    android::sp<ISensors> sensor_module = new sensors_hw_module;
    if (sensor_module->registerAsService() != ::android::OK) {
        ALOGE("Failed to register Sensors HAL instance");
        return -1;
    }
    joinRpcThreadpool();
    return 1;  // joinRpcThreadpool shouldn't exit
}
 

获取 hal层接口

Sensors_hw_module.cpp (linux\android\vendor\qcom\proprietary\sensors-see\hal-2.0-hidl-impl)    12913    2022/8/9
sensors_hw_module::sensors_hw_module()
{
    _hal = sensors_hal::get_instance();
    _is_hal_configured = false;
}

Sensors_hal.cpp (linux\android\vendor\qcom\proprietary\sensors-see\sensors-hal-2.0\framework) 

sensors_hal* sensors_hal::get_instance()
{
    if(nullptr != _self) {
      return _self;
    } else {
      _self = new sensors_hal();
      return _self;
    }
}

sensors_hal构造函数创建sensors_hal对象

sensors_hal::sensors_hal()
  : _ssr_handler(nullptr)
{
    using namespace std::chrono;
    auto tp_start = steady_clock::now();
    sensors_log::set_tag("sensors-hal");
    get_system_config();
    sensors_log::set_level(_sysconfig.log_level);
    check_ssc_trace_support_flag();
    _is_rt_thread_enable =  is_rt_thread_enabled();
    _is_worker_bypass_enable = is_worker_bypass_enabled();
    _atrace_delay_checktime_ms = get_atrace_delay_checktime_ms();

#ifdef SNS_DIRECT_REPORT_SUPPORT
    pthread_mutex_init(&open_direct_channels_mutex, NULL);
    _offset_update_timer = NULL;
    _dlhandler = NULL;
    _llcmstubhandler = NULL;
#endif
    if (false == sensors_restricted()) {
        sns_logi("initializing sensors_hal");
        try {
            init_sensors();
#ifdef SNS_DIRECT_REPORT_SUPPORT
            open_direct_channels = std::list<direct_channel *>();
            struct sigevent sigev = {};
            sigev.sigev_notify = SIGEV_THREAD;
            sigev.sigev_notify_attributes = nullptr;
            sigev.sigev_value.sival_ptr = (void *) this;
            sigev.sigev_notify_function = on_offset_timer_update;
            if (timer_create(CLOCK_BOOTTIME, &sigev, &_offset_update_timer) != 0) {
                sns_loge("offset update timer creation failed: %s", strerror(errno));
            }
#endif
        } catch (const runtime_error& e) {
            sns_loge("FATAL: failed to initialize sensors_hal: %s", e.what());
            return;
        }
    }
    else{
        sns_logi(" enabling sensors from HAL is restricted ");
    }
    auto tp_end = steady_clock::now();
    sns_logi("sensors_hal initialized, init_time = %fs",
            duration_cast<duration<double>>(tp_end - tp_start).count());
    _crashon_qmierror = crashon_qmierror();
}

initializeSensorList();进行初始化

调用mSensors->getSensorsList获取有哪些sensor，调用mSensors->activate进行初始化使能

void SensorDevice::initializeSensorList() {
    float minPowerMa = 0.001; // 1 microAmp

    checkReturn(mSensors->getSensorsList(
            [&](const auto &list) {
                const size_t count = list.size();

                mActivationCount.setCapacity(count);
                Info model;
                for (size_t i=0 ; i < count; i++) {
                    sensor_t sensor;
                    convertToSensor(list[i], &sensor);
                    // Sanity check and clamp power if it is 0 (or close)
                    if (sensor.power < minPowerMa) {
                        ALOGI("Reported power %f not deemed sane, clamping to %f",
                              sensor.power, minPowerMa);
                        sensor.power = minPowerMa;
                    }
                    mSensorList.push_back(sensor);

                    mActivationCount.add(list[i].sensorHandle, model);

                    checkReturn(mSensors->activate(list[i].sensorHandle, 0 /* enabled */));
                }
            }));
}

使能流程如下：

Sensors_hw_module.cpp (linux\android\vendor\qcom\proprietary\sensors-see\hal-2.0-hidl-impl)    12913    2022/8/9
 

Return<Result> sensors_hw_module::activate(int32_t handle, bool en)
{
    return ResultFromStatus(_hal->activate((int)handle,(int)en));
}

int sensors_hal::activate(int handle, int enable)
{
    auto it = _sensors.find(handle);//_sensors来自哪里
    if (it == _sensors.end()) {
        sns_loge("handle %d not supported", handle);
        return -EINVAL;
    }
    auto& sensor = it->second;
    try {
        sns_logi("%s/%d en=%d", sensor->get_sensor_info().stringType,
                 handle, enable);
        if (enable) {
            sensor->activate();
        } else {
            sensor->deactivate();
        }
    } catch (const exception& e) {
        sns_loge("failed: %s", e.what());
        if (true == _crashon_qmierror)
            trigger_ssr();
        return -1;
    }
    sns_logi("%s/%d en=%d completed", sensor->get_sensor_info().stringType,
             handle, enable);
    return 0;
}

以Accelerometer为例

Accelerometer.cpp (linux\android\vendor\qcom\proprietary\sensors-see\sensors-hal-2.0\sensors)    19681    2022/8/9
void accelerometer::activate()
{
    _process_in_qmicallback = _is_rt_thread_enable;
    if(_is_worker_bypass){
    _process_in_qmicallback = _is_worker_bypass;
    }
    if (!is_active()) {
        if (_accelcal_available) {
            sns_logd("start accelcal");
            start_accelcal();
        }
        ssc_sensor::activate();
    }
}

Accelerometer.cpp (linux\android\vendor\qcom\proprietary\sensors-see\sensors-hal-2.0\sensors)    19681    2022/8/9
 

void ssc_sensor::activate()
{
    _previous_ts = 0;
    std::memset(&_prev_sample, 0x00, sizeof(sensors_event_t));
    _activate_ts = android::elapsedRealtimeNano();

    std::lock_guard<mutex> lk(_mutex);
    if (!is_active()) {
        /* establish a new connection to ssc */
        _ssc_conn = make_unique<ssc_connection>(
        [this](const uint8_t *data, size_t size, uint64_t ts)
        {
            ssc_conn_event_cb(data, size, ts);
        });
        string thread_name = "see_"+to_string(get_sensor_info().handle) ;
        _ssc_conn->set_worker_name(thread_name.c_str());
        _ssc_conn->ssc_configuration(_is_rt_thread_enable , _atrace_delay_checktime_ms );
        if ( _wakeup_type == SENSOR_WAKEUP)
            _ssc_conn->set_unsuspendable_channel();
        _ssc_conn->register_error_cb([this](auto e){ this->ssc_conn_error_cb(e); });
        _ssc_conn->register_resp_cb([this](uint32_t resp_value){ ssc_conn_resp_cb(resp_value); });

        if(true == _is_stats_enable) {
          _ts_diff_acc = 0;
          _sample_cnt = 0;
          _max_ts_rxved = 0;
          _min_ts_rxved = MAX_UINT64;

          _ts_diff_acc_hal = 0;
          _max_ts_rxved_hal = 0;
          _min_ts_rxved_hal = MAX_UINT64;

          _ts_diff_acc_qmi = 0;
          _max_ts_rxved_qmi = 0;
          _min_ts_rxved_qmi = MAX_UINT64;

          _previous_ssc_ts = 0;
          _current_ssc_ts = 0;
          _ssc_ts_diff_bw_samples = 0;
          _acc_ssc_ts = 0;
          _min_ssc_ts_diff = MAX_INT64;
          _max_ssc_ts_diff = 0;

        }

        if(true == _is_ssc_latency_enable) {
          _slpi_delay_til_CM = 0;
          _slpi_sample_cnt = 0;
        }

        send_sensor_config_request();
        _set_thread_name = true;
    }
}
send_sensor_config_request();函数将发送请求到sensorhub中。

_sensors来自哪里？

Sensors_hal.cpp (linux\android\vendor\qcom\proprietary\sensors-see\sensors-hal-2.0\framework) 
 

void sensors_hal::init_sensors()
{

    auto sensors = sensor_factory::instance().get_all_available_sensors();

    sns_logi("initializing sensors");

    for (unique_ptr<sensor>& s : sensors) {
        s->update_system_prop_details(_is_rt_thread_enable, _atrace_delay_checktime_ms, _is_worker_bypass_enable);
        const sensor_t& sensor_info = s->get_sensor_info();
        sns_logd("%s: %s/%d wakeup=%d", sensor_info.name,
                 sensor_info.stringType, sensor_info.handle,
                 (sensor_info.flags & SENSOR_FLAG_WAKE_UP) != 0);
        _hal_sensors.push_back(sensor_info);
        _sensors[sensor_info.handle] = std::move(s);
    }

#ifdef SNS_DIRECT_REPORT_SUPPORT
    update_remote_handlers();
#endif
    //make persist QMI connection to catch SSR
    if (_ssr_handler == nullptr) {
        _ssr_handler = new ssc_connection(
                                [](const uint8_t *data, size_t size, uint64_t ts) {
                                    sns_logd("don't expect anything here");
                                });
        if (_ssr_handler != nullptr) {
            _ssr_handler->ssc_configuration(false, 0);
            _ssr_handler->register_resp_cb(
                [](uint32_t resp_value) {
                    sns_logd("don't expect anything here");
                });
            _ssr_handler->register_error_cb(
                [this](ssc_error_type e) {
                    if (e == SSC_CONNECTION_RESET) {
                        sns_logi("connection is reset. it's SSR");
                        for (auto& it : _sensors) {
                            auto& sensor = it.second;
                            const sensor_t& sensor_info = sensor->get_sensor_info();
                            sns_logd("%s: %s/%d : reset sensor", sensor_info.name,
                                sensor_info.stringType, sensor_info.handle);
                            sensor->reset();
                        }
#ifdef SNS_DIRECT_REPORT_SUPPORT
                        close_all_direct_channels();
                        sns_close_staticpd_channel();
                        sns_logi("dlcose(%s) llcmhandler=%p !", SNS_LOW_LAT_STUB_NAME, _llcmstubhandler);
                        dlclose(_llcmstubhandler);
                        _llcmstubhandler = NULL;
                        sns_logi("dlcose(%s) _dlhandler =%p !", _rpclib_name.c_str(), _dlhandler);
                        dlclose(_dlhandler);
                        _dlhandler = NULL;
                        update_remote_handlers();
#endif
                    };
                });
            sns_logi("SSR handler is registered");
        } else {
            sns_loge("fails to register SSR Handler");
        }
    }
}

Sensor_factory.cpp (linux\android\vendor\qcom\proprietary\sensors-see\sensors-hal\framework)    25865    2022/8/9
vector<unique_ptr<sensor>> sensor_factory::get_all_available_sensors() const
{
    vector<unique_ptr<sensor>> all_sensors;
    for (const auto& item : callbacks()) {
        const auto& get_sensors = item.second;
        vector<unique_ptr<sensor>> sensors = get_sensors();
        if(sensors.size() == 0){
          continue;
        }
        sns_logd("type=%d, num_sensors=%u", item.first, (unsigned int)sensors.size());
        for (auto&& s : sensors) {
            if(nullptr != s ) {
              all_sensors.push_back(std::move(s));
            }
        }
    }
    return all_sensors;
}

    static void register_sensor(int type, get_available_sensors_func func)
    {
        try {
            callbacks().emplace(type, func);
        } catch (const std::exception& e) {
            sns_loge("failed to register type %d", type);
        }
    }

Accelerometer.cpp (linux\android\vendor\qcom\proprietary\sensors-see\sensors-hal-2.0\sensors)    19681    2022/8/9

static bool accelerometer_module_init()
{
    /* register supported sensor types with factory */
    sensor_factory::register_sensor(SENSOR_TYPE_ACCELEROMETER,
                                    get_available_accel_calibrated);
    sensor_factory::register_sensor(SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED,
                                    get_available_accel_uncalibrated);
    sensor_factory::request_datatype(SSC_DATATYPE_ACCEL, false);

    char debug_prop[PROPERTY_VALUE_MAX];
    int enable_accel_cal = 0;
    int len;
    len = property_get("persist.vendor.sensors.accel_cal", debug_prop, "0");
    if (len > 0) {
        enable_accel_cal = atoi(debug_prop);
    }
    if (enable_accel_cal)
    {
      sensor_factory::request_datatype(SSC_DATATYPE_ACCELCAL, false);
    }
    return true;
}

Accelerometer.cpp (linux\android\vendor\qcom\proprietary\sensors-see\sensors-hal-2.0\sensors)    19681    2022/8/9
 

static vector<unique_ptr<sensor>> get_available_accel_calibrated()
{
    const vector<sensor_uid>& accel_suids =
         sensor_factory::instance().get_suids(SSC_DATATYPE_ACCEL);
    vector<unique_ptr<sensor>> sensors;
    for (const auto& suid : accel_suids) {
        bool default_sensor = sensor_factory::instance().is_default_sensor(SSC_DATATYPE_ACCEL, suid);
        if (!(sensor_factory::instance().get_settings()
                                    & DISABLE_WAKEUP_SENSORS_FLAG)) {
            try {
                sensors.push_back(make_unique<accelerometer>(suid, SENSOR_WAKEUP,
                                                         SENSOR_CALIBRATED, default_sensor));
            } catch (const exception& e) {
                sns_loge("failed for wakeup, %s", e.what());
            }
        }
        try {
            sensors.push_back(make_unique<accelerometer>(suid, SENSOR_NO_WAKEUP,
                                                     SENSOR_CALIBRATED, default_sensor));
        } catch (const exception& e) {
            sns_loge("failed for nowakeup, %s", e.what());
        }
    }
    return sensors;
}