sensors/mraa/SensorsHAL.cpp

/*
 * Copyright (C) 2015 Intel Corporation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include <string.h>
#include <cutils/log.h>
#include <stdexcept>
#include <errno.h>
#include <sys/epoll.h>
#include "SensorsHAL.hpp"

Sensor * (*SensorContext::sensorFactoryFuncs[MAX_DEVICES])(int);
struct sensor_t SensorContext::sensorDescs[MAX_DEVICES];
int SensorContext::sensorsNum = 0;
android::Mutex SensorContext::mutex;

SensorContext::SensorContext(const hw_module_t *module) {
  /* create the epoll fd used to register the incoming fds */
  pollFd = epoll_create(MAX_DEVICES);
  if (pollFd == -1) {
    throw std::runtime_error("Failed to create poll file descriptor");
  }

  memset(&device, 0, sizeof(device));

  device.common.tag = HARDWARE_DEVICE_TAG;
  device.common.version = SENSORS_DEVICE_API_VERSION_1_0;
  device.common.module = const_cast<hw_module_t*>(module);
  device.common.close = CloseWrapper;
  device.activate = ActivateWrapper;
  device.setDelay = SetDelayWrapper;
  device.poll = PollEventsWrapper;
  device.batch = BatchWrapper;
  device.flush = FlushWrapper;

  memset(sensors, 0, sizeof(Sensor *) * MAX_DEVICES);
}

SensorContext::~SensorContext() {
  int rc;

  for (int i = 0; i < sensorsNum; i++) {
    if (sensors[i]) {
      delete sensors[i];
      sensors[i] = nullptr;
    }
  }

  rc = close(pollFd);
  if (rc != 0) {
    ALOGE("Cannot close poll file descriptor");
  }
}

int SensorContext::addSensorModule(struct sensor_t *sensorDesc,
    Sensor * (*sensorFactoryFunc)(int)) {
  android::Mutex::Autolock autolock(mutex);

  if ((sensorDesc == nullptr) || (sensorFactoryFunc == nullptr)) {
    ALOGE("%s: cannot add a null sensor", __func__);
    return -EINVAL;
  }

  if (sensorsNum >= MAX_DEVICES) {
    ALOGE("%s: Cannot add more than %d sensors.", __func__, MAX_DEVICES);
    return -E2BIG;
  }

  sensorDesc->handle = sensorsNum;
  sensorDescs[sensorsNum] = *sensorDesc;
  sensorFactoryFuncs[sensorsNum] = sensorFactoryFunc;
  sensorsNum++;

  return 0;
}

int SensorContext::OpenWrapper(const struct hw_module_t *module,
                        const char* id, struct hw_device_t **device) {
  SensorContext *ctx;

  try {
    ctx = new SensorContext(module);
  } catch (const std::runtime_error& e) {
    ALOGE("%s: Failed to open sensors hal. Error message: %s",
        __func__, e.what());
    return -1;
  }

  *device = &ctx->device.common;

  return 0;
}

int SensorContext::GetSensorsListWrapper(struct sensors_module_t *module,
                            struct sensor_t const **list) {
  android::Mutex::Autolock autolock(mutex);

  if (!list || (sensorsNum == 0)) {
    return 0;
  }

  *list = sensorDescs;
  return sensorsNum;
}

int SensorContext::activate(int handle, int enabled) {
  int rc = 0;

  if (enabled != 0 && enabled != 1) {
    ALOGE("%s: Invalid parameter", __func__);
    return -EINVAL;
  }

  if (handle < 0 || handle >= sensorsNum) {
    return -EINVAL;
  }

  try {
    if (enabled) {
      if (sensors[handle] == nullptr) {
        sensors[handle] = sensorFactoryFuncs[handle](pollFd);
        if (sensors[handle] == nullptr) {
          return -1;
        }
        rc = sensors[handle]->activate(handle, enabled);
        if (rc != 0) {
          goto delete_sensor;
        }
      } else {
        return 0;
      }
    } else {
      if (sensors[handle] != nullptr) {
        rc = sensors[handle]->activate(handle, enabled);
        delete sensors[handle];
        sensors[handle] = nullptr;
      } else {
        return 0;
      }
    }

    return rc;
  } catch (const std::exception& e) {
    /* The upper layer doesn't expect exceptions. Catch them all. */
    ALOGE("%s: Failed to %s sensor %d. Error message: %s.",
        __func__, enabled ? "activate" : "deactivate", handle, e.what());
  }

delete_sensor:
  if (sensors[handle] != nullptr) {
    delete sensors[handle];
    sensors[handle] = nullptr;
  }

  return -1;
}

int SensorContext::setDelay(int handle, int64_t ns) {
  if (handle < 0 || handle >= sensorsNum) {
    return -EINVAL;
  }

  if (sensors[handle] == nullptr) {
    ALOGE("%s: cannot set delay. sensor %d is not activated", __func__, handle);
    return -EINVAL;
  }

  return sensors[handle]->setDelay(handle, ns);
}

int SensorContext::pollEvents(sensors_event_t *data, int count) {
  int nfds, i;
  struct epoll_event ev[MAX_DEVICES];
  int returnedEvents = 0, sensorIndex = -1;

  /* return only when at least one event is available */
  while(true) {
    nfds = epoll_wait(pollFd, ev, MAX_DEVICES, -1);
    if (nfds < 0) {
      ALOGE("%s: epoll_wait returned an error: %d", __func__, errno);
      return nfds;
    }

    { // Autolock scope
      android::Mutex::Autolock autolock(mutex);
      for(i = 0; i < nfds && returnedEvents < count; i++) {
        if (ev[i].events == EPOLLIN) {
          sensorIndex = ev[i].data.u32;
          if ((sensorIndex < 0) || (sensorIndex > sensorsNum)) {
            ALOGE("%s: Invalid sensor index", __func__);
            return -1;
          }

          if (sensors[sensorIndex] == nullptr) {
            /* The sensor might have been deactivated by another thread */
            continue;
          }

          /*
          * The read operation might fail if the data is read by another
          * pollEvents call executed by another thread.
          */
          if (sensors[sensorIndex]->readOneEvent(data + returnedEvents)) {
            returnedEvents++;
          }
        }
      }
    } // Autolock scope

    if (returnedEvents > 0) {
      return returnedEvents;
    }
  }
}

int SensorContext::batch(int handle, int flags,
                         int64_t period_ns, int64_t timeout) {
  if (handle < 0 || handle >= sensorsNum) {
    return -EINVAL;
  }

  if (sensors[handle] == nullptr) {
    ALOGE("%s: cannot set delay. sensor %d is not activated", __func__, handle);
    return -EINVAL;
  }

  return sensors[handle]->batch(handle, flags, period_ns, timeout);
}

int SensorContext::flush(int handle) {
  if (handle < 0 || handle >= sensorsNum) {
    return -EINVAL;
  }

  if (sensors[handle] == nullptr) {
    ALOGE("%s: cannot set delay. sensor %d is not activated", __func__, handle);
    return -EINVAL;
  }

  /* flush doesn't apply to one-shot sensors */
  if (sensorDescs[handle].flags & SENSOR_FLAG_ONE_SHOT_MODE)
    return -EINVAL;

  return sensors[handle]->flush(handle);
}

int SensorContext::CloseWrapper(hw_device_t *dev) {
  SensorContext *sensorContext = reinterpret_cast<SensorContext *>(dev);
  android::Mutex::Autolock autolock(mutex);

  if (sensorContext != nullptr) {
    delete sensorContext;
  }

  return 0;
}

int SensorContext::ActivateWrapper(sensors_poll_device_t *dev,
                                   int handle, int enabled) {
  android::Mutex::Autolock autolock(mutex);

  return reinterpret_cast<SensorContext *>(dev)->activate(handle, enabled);
}

int SensorContext::SetDelayWrapper(sensors_poll_device_t *dev,
                                   int handle, int64_t ns) {
  android::Mutex::Autolock autolock(mutex);

  return reinterpret_cast<SensorContext *>(dev)->setDelay(handle, ns);
}

int SensorContext::PollEventsWrapper(sensors_poll_device_t *dev,
                                     sensors_event_t *data, int count) {
  return reinterpret_cast<SensorContext *>(dev)->pollEvents(data, count);
}

int SensorContext::BatchWrapper(sensors_poll_device_1_t *dev, int handle,
                                int flags, int64_t period_ns, int64_t timeout) {
  android::Mutex::Autolock autolock(mutex);

  return reinterpret_cast<SensorContext *>(dev)->batch(handle, flags, period_ns,
                                                      timeout);
}

int SensorContext::FlushWrapper(sensors_poll_device_1_t *dev,
                                int handle) {
  android::Mutex::Autolock autolock(mutex);

  return reinterpret_cast<SensorContext *>(dev)->flush(handle);
}

static struct hw_module_methods_t sensors_module_methods = {
  .open = SensorContext::OpenWrapper,
};

struct sensors_module_t HAL_MODULE_INFO_SYM = {
    .common = {
        .tag = HARDWARE_MODULE_TAG,
        .version_major = 1,
        .version_minor = 0,
        .id = SENSORS_HARDWARE_MODULE_ID,
        .name = "Edison Sensor HAL",
        .author = "Intel",
        .methods = &sensors_module_methods,
        .dso = nullptr,
        .reserved = {0},
    },
    .get_sensors_list = SensorContext::GetSensorsListWrapper,
    .set_operation_mode = nullptr
};