1 /* 2 * Copyright (C) 2017 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #include "SensorTest.h" 18 #include <errno.h> 19 20 namespace android { 21 namespace SensorTest { 22 23 // Test if test environment is correctly initialized 24 void SensorTest::testInitialized(JNIEnv *env) { 25 ASSERT_TRUE(mManager->isValid()); 26 } 27 28 // Test if invalid parameter cases are handled correctly 29 void SensorTest::testInvalidParameter(JNIEnv *env) { 30 ASensorList dummyList; 31 ASSERT_EQ(ASensorManager_getSensorList(nullptr, nullptr), -EINVAL); 32 ASSERT_EQ(ASensorManager_getSensorList(nullptr, &dummyList), -EINVAL); 33 34 ASSERT_EQ(ASensorManager_getDefaultSensor(nullptr, ASENSOR_TYPE_ACCELEROMETER), nullptr); 35 36 ASSERT_EQ(ASensorManager_getDefaultSensorEx( 37 nullptr, ASENSOR_TYPE_ACCELEROMETER, false), nullptr); 38 39 ALooper *nonNullLooper = reinterpret_cast<ALooper *>(1); 40 ASensorManager *nonNullManager = reinterpret_cast<ASensorManager *>(1); 41 ASSERT_EQ(ASensorManager_createEventQueue(nullptr, nullptr, 0, nullptr, nullptr), nullptr); 42 ASSERT_EQ(ASensorManager_createEventQueue( 43 nullptr, nonNullLooper, 0, nullptr, nullptr), nullptr); 44 ASSERT_EQ(ASensorManager_createEventQueue( 45 nonNullManager, nullptr, 0, nullptr, nullptr), nullptr); 46 47 ASensorEventQueue *nonNullQueue = reinterpret_cast<ASensorEventQueue *>(1); 48 ASSERT_EQ(ASensorManager_destroyEventQueue(nullptr, nullptr), -EINVAL); 49 ASSERT_EQ(ASensorManager_destroyEventQueue(nullptr, nonNullQueue), -EINVAL); 50 ASSERT_EQ(ASensorManager_destroyEventQueue(nonNullManager, nullptr), -EINVAL); 51 52 int fakeValidFd = 1; 53 int invalidFd = -1; 54 ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel( 55 nullptr, fakeValidFd, sizeof(ASensorEvent)), -EINVAL); 56 ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel( 57 nonNullManager, invalidFd, sizeof(ASensorEvent)), -EINVAL); 58 ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel( 59 nonNullManager, fakeValidFd, sizeof(ASensorEvent) - 1), -EINVAL); 60 ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel( 61 nonNullManager, fakeValidFd, 0), -EINVAL); 62 63 AHardwareBuffer *nonNullHardwareBuffer = reinterpret_cast<AHardwareBuffer *>(1); 64 ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel( 65 nullptr, nonNullHardwareBuffer, sizeof(ASensorEvent)), -EINVAL); 66 ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel( 67 nonNullManager, nullptr, sizeof(ASensorEvent)), -EINVAL); 68 ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel( 69 nonNullManager, nonNullHardwareBuffer, sizeof(ASensorEvent) - 1), -EINVAL); 70 ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel( 71 nonNullManager, nonNullHardwareBuffer, 0), -EINVAL); 72 73 // no return value to test, but call this to test if it will crash 74 ASensorManager_destroyDirectChannel(nullptr, 1); 75 76 ASensor *nonNullSensor = reinterpret_cast<ASensor *>(1); 77 ASSERT_EQ(ASensorManager_configureDirectReport( 78 nullptr, nullptr, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL); 79 ASSERT_EQ(ASensorManager_configureDirectReport( 80 nullptr, nonNullSensor, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL); 81 ASSERT_EQ(ASensorManager_configureDirectReport( 82 nullptr, nonNullSensor, 1, ASENSOR_DIRECT_RATE_STOP), -EINVAL); 83 ASSERT_EQ(ASensorManager_configureDirectReport( 84 nonNullManager, nullptr, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL); 85 86 ASSERT_EQ(ASensorEventQueue_registerSensor(nullptr, nullptr, 1, 1), -EINVAL); 87 ASSERT_EQ(ASensorEventQueue_registerSensor(nullptr, nonNullSensor, 1, 1), -EINVAL); 88 ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nullptr, 1, 1), -EINVAL); 89 ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, -1, 1), -EINVAL); 90 ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, 1, -1), -EINVAL); 91 ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, -1, -1), -EINVAL); 92 93 ASSERT_EQ(ASensorEventQueue_enableSensor(nullptr, nullptr), -EINVAL); 94 ASSERT_EQ(ASensorEventQueue_enableSensor(nullptr, nonNullSensor), -EINVAL); 95 ASSERT_EQ(ASensorEventQueue_enableSensor(nonNullQueue, nullptr), -EINVAL); 96 97 ASSERT_EQ(ASensorEventQueue_disableSensor(nullptr, nullptr), -EINVAL); 98 ASSERT_EQ(ASensorEventQueue_disableSensor(nullptr, nonNullSensor), -EINVAL); 99 ASSERT_EQ(ASensorEventQueue_disableSensor(nonNullQueue, nullptr), -EINVAL); 100 101 ASSERT_EQ(ASensorEventQueue_setEventRate(nullptr, nullptr, 1), -EINVAL); 102 ASSERT_EQ(ASensorEventQueue_setEventRate(nullptr, nonNullSensor, 1), -EINVAL); 103 ASSERT_EQ(ASensorEventQueue_setEventRate(nonNullQueue, nullptr, 1), -EINVAL); 104 ASSERT_EQ(ASensorEventQueue_setEventRate(nonNullQueue, nonNullSensor, -1), -EINVAL); 105 106 ASSERT_EQ(ASensorEventQueue_hasEvents(nullptr), -EINVAL); 107 108 ASensorEvent event; 109 ASensorEvent *nonNullEvent = &event; 110 ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nullptr, 1), -EINVAL) 111 ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nullptr, 0), -EINVAL) 112 ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nonNullEvent, 1), -EINVAL) 113 ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nonNullEvent, 0), -EINVAL); 114 ASSERT_EQ(ASensorEventQueue_getEvents(nonNullQueue, nullptr, 1), -EINVAL) 115 ASSERT_EQ(ASensorEventQueue_getEvents(nonNullQueue, nullptr, 0), -EINVAL); 116 117 ASSERT_NULL(ASensor_getName(nullptr)); 118 ASSERT_NULL(ASensor_getVendor(nullptr)); 119 ASSERT_EQ(ASensor_getType(nullptr), ASENSOR_TYPE_INVALID); 120 // cannot use ASSERT_EQ as nan compare always returns false 121 ASSERT_NAN(ASensor_getResolution(nullptr)); 122 ASSERT_EQ(ASensor_getMinDelay(nullptr), ASENSOR_DELAY_INVALID); 123 ASSERT_EQ(ASensor_getFifoMaxEventCount(nullptr), ASENSOR_FIFO_COUNT_INVALID); 124 ASSERT_EQ(ASensor_getFifoReservedEventCount(nullptr), ASENSOR_FIFO_COUNT_INVALID); 125 ASSERT_NULL(ASensor_getStringType(nullptr)); 126 ASSERT_EQ(ASensor_getReportingMode(nullptr), AREPORTING_MODE_INVALID); 127 ASSERT_EQ(ASensor_isWakeUpSensor(nullptr), false); 128 ASSERT_EQ(ASensor_isDirectChannelTypeSupported( 129 nullptr, ASENSOR_DIRECT_CHANNEL_TYPE_SHARED_MEMORY), false); 130 ASSERT_EQ(ASensor_isDirectChannelTypeSupported( 131 nullptr, ASENSOR_DIRECT_CHANNEL_TYPE_HARDWARE_BUFFER), false); 132 ASSERT_EQ(ASensor_getHighestDirectReportRateLevel(nullptr), ASENSOR_DIRECT_RATE_STOP); 133 } 134 135 // Test sensor direct report functionality 136 void SensorTest::testDirectReport(JNIEnv* env, int32_t sensorType, int32_t channelType, int32_t rateLevel) { 137 constexpr size_t kEventSize = sizeof(ASensorEvent); 138 constexpr size_t kNEvent = 4096; // enough to contain 1.5 * 800 * 2.2 events 139 constexpr size_t kMemSize = kEventSize * kNEvent; 140 141 // value check criterion 142 constexpr float GRAVITY_MIN = 9.81f - 0.5f; 143 constexpr float GRAVITY_MAX = 9.81f + 0.5f; 144 constexpr float GYRO_MAX = 0.1f; // ~5 dps 145 146 constexpr float RATE_NORMAL_NOMINAL = 50; 147 constexpr float RATE_FAST_NOMINAL = 200; 148 constexpr float RATE_VERY_FAST_NOMINAL = 800; 149 150 TestSensor sensor = mManager->getDefaultSensor(sensorType); 151 if (!sensor.isValid() 152 || sensor.getHighestDirectReportRateLevel() < rateLevel 153 || !sensor.isDirectChannelTypeSupported(channelType)) { 154 // no sensor of type sensorType or it does not declare support of channelType or rateLevel 155 return; 156 } 157 158 std::unique_ptr<TestSharedMemory> mem(TestSharedMemory::create(channelType, kMemSize)); 159 ASSERT_NE(mem, nullptr); 160 ASSERT_NE(mem->getBuffer(), nullptr); 161 switch (channelType) { 162 case ASENSOR_DIRECT_CHANNEL_TYPE_SHARED_MEMORY: 163 ASSERT_GT(mem->getSharedMemoryFd(), 0); 164 break; 165 case ASENSOR_DIRECT_CHANNEL_TYPE_HARDWARE_BUFFER: 166 ASSERT_NOT_NULL(mem->getHardwareBuffer()); 167 break; 168 } 169 170 char* buffer = mem->getBuffer(); 171 // fill memory with data 172 for (size_t i = 0; i < kMemSize; ++i) { 173 buffer[i] = '\xcc'; 174 } 175 176 int32_t channel; 177 channel = mManager->createDirectChannel(*mem); 178 ASSERT_GT(channel, 0); 179 180 // check memory is zeroed 181 for (size_t i = 0; i < kMemSize; ++i) { 182 ASSERT_EQ(buffer[i], '\0'); 183 } 184 185 int32_t eventToken; 186 eventToken = mManager->configureDirectReport(sensor, channel, rateLevel); 187 usleep(1500000); // sleep 1 sec for data, plus 0.5 sec for initialization 188 auto events = mem->parseEvents(); 189 190 // find norminal rate 191 float nominalFreq = 0.f; 192 float nominalTestTimeSec = 1.f; 193 float maxTestTimeSec = 1.5f; 194 switch (rateLevel) { 195 case ASENSOR_DIRECT_RATE_NORMAL: 196 nominalFreq = RATE_NORMAL_NOMINAL; 197 break; 198 case ASENSOR_DIRECT_RATE_FAST: 199 nominalFreq = RATE_FAST_NOMINAL; 200 break; 201 case ASENSOR_DIRECT_RATE_VERY_FAST: 202 nominalFreq = RATE_VERY_FAST_NOMINAL; 203 break; 204 } 205 206 // allowed to be between 55% and 220% of nominal freq 207 ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * nominalTestTimeSec)); 208 ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * maxTestTimeSec)); 209 210 int64_t lastTimestamp = 0; 211 for (auto &e : events) { 212 ASSERT_EQ(e.type, sensorType); 213 ASSERT_EQ(e.sensor, eventToken); 214 ASSERT_GT(e.timestamp, lastTimestamp); 215 216 // type specific value check 217 switch(sensorType) { 218 case ASENSOR_TYPE_ACCELEROMETER: { 219 ASensorVector &acc = e.vector; 220 double accNorm = std::sqrt(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); 221 if (accNorm > GRAVITY_MAX || accNorm < GRAVITY_MIN) { 222 ALOGE("Gravity norm = %f", accNorm); 223 } 224 ASSERT_GE(accNorm, GRAVITY_MIN); 225 ASSERT_LE(accNorm, GRAVITY_MAX); 226 break; 227 } 228 case ASENSOR_TYPE_GYROSCOPE: { 229 ASensorVector &gyro = e.vector; 230 double gyroNorm = std::sqrt(gyro.x * gyro.x + gyro.y * gyro.y + gyro.z * gyro.z); 231 // assert not drifting 232 ASSERT_LE(gyroNorm, GYRO_MAX); // < ~2.5 degree/s 233 break; 234 } 235 } 236 237 lastTimestamp = e.timestamp; 238 } 239 240 // stop sensor and unregister channel 241 mManager->configureDirectReport(sensor, channel, ASENSOR_DIRECT_RATE_STOP); 242 mManager->destroyDirectChannel(channel); 243 } 244 } // namespace SensorTest 245 } // namespace android 246
