various fixes to the sensorservice
1) "google" sensors are now reporting AOSP as the vendor string
2) don't expose the system's sensor fusion if the HAL provides it
3) use uncalibrated gyro if availble for the system's sensor fusion
Change-Id: I25140436cdb29d55e39fd6fbbf8c44a410a83d5c
diff --git a/services/sensorservice/CorrectedGyroSensor.cpp b/services/sensorservice/CorrectedGyroSensor.cpp
index 1857443..09f60a9 100644
--- a/services/sensorservice/CorrectedGyroSensor.cpp
+++ b/services/sensorservice/CorrectedGyroSensor.cpp
@@ -69,7 +69,7 @@
Sensor CorrectedGyroSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Corrected Gyroscope Sensor";
- hwSensor.vendor = "Google Inc.";
+ hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_cgy';
hwSensor.type = SENSOR_TYPE_GYROSCOPE;
diff --git a/services/sensorservice/GravitySensor.cpp b/services/sensorservice/GravitySensor.cpp
index c57715f..0bf20db 100644
--- a/services/sensorservice/GravitySensor.cpp
+++ b/services/sensorservice/GravitySensor.cpp
@@ -77,7 +77,7 @@
Sensor GravitySensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Gravity Sensor";
- hwSensor.vendor = "Google Inc.";
+ hwSensor.vendor = "AOSP";
hwSensor.version = 3;
hwSensor.handle = '_grv';
hwSensor.type = SENSOR_TYPE_GRAVITY;
diff --git a/services/sensorservice/LinearAccelerationSensor.cpp b/services/sensorservice/LinearAccelerationSensor.cpp
index f0054f2..25ae473 100644
--- a/services/sensorservice/LinearAccelerationSensor.cpp
+++ b/services/sensorservice/LinearAccelerationSensor.cpp
@@ -62,7 +62,7 @@
Sensor gsensor(mGravitySensor.getSensor());
sensor_t hwSensor;
hwSensor.name = "Linear Acceleration Sensor";
- hwSensor.vendor = "Google Inc.";
+ hwSensor.vendor = "AOSP";
hwSensor.version = gsensor.getVersion();
hwSensor.handle = '_lin';
hwSensor.type = SENSOR_TYPE_LINEAR_ACCELERATION;
diff --git a/services/sensorservice/OrientationSensor.cpp b/services/sensorservice/OrientationSensor.cpp
index 037adaa..b146332 100644
--- a/services/sensorservice/OrientationSensor.cpp
+++ b/services/sensorservice/OrientationSensor.cpp
@@ -33,6 +33,9 @@
: mSensorDevice(SensorDevice::getInstance()),
mSensorFusion(SensorFusion::getInstance())
{
+ // FIXME: instead of using the SensorFusion code, we should use
+ // the SENSOR_TYPE_ROTATION_VECTOR instead. This way we could use the
+ // HAL's implementation.
}
bool OrientationSensor::process(sensors_event_t* outEvent,
@@ -73,7 +76,7 @@
Sensor OrientationSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Orientation Sensor";
- hwSensor.vendor = "Google Inc.";
+ hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_ypr';
hwSensor.type = SENSOR_TYPE_ORIENTATION;
diff --git a/services/sensorservice/RotationVectorSensor.cpp b/services/sensorservice/RotationVectorSensor.cpp
index 5ea9568..725deb4 100644
--- a/services/sensorservice/RotationVectorSensor.cpp
+++ b/services/sensorservice/RotationVectorSensor.cpp
@@ -63,7 +63,7 @@
Sensor RotationVectorSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Rotation Vector Sensor";
- hwSensor.vendor = "Google Inc.";
+ hwSensor.vendor = "AOSP";
hwSensor.version = 3;
hwSensor.handle = '_rov';
hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR;
@@ -112,7 +112,7 @@
Sensor GyroDriftSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Gyroscope Bias (debug)";
- hwSensor.vendor = "Google Inc.";
+ hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_gbs';
hwSensor.type = SENSOR_TYPE_ACCELEROMETER;
diff --git a/services/sensorservice/SensorFusion.cpp b/services/sensorservice/SensorFusion.cpp
index d23906d..4837b97 100644
--- a/services/sensorservice/SensorFusion.cpp
+++ b/services/sensorservice/SensorFusion.cpp
@@ -28,6 +28,7 @@
mEnabled(false), mGyroTime(0)
{
sensor_t const* list;
+ Sensor uncalibratedGyro;
ssize_t count = mSensorDevice.getSensorList(&list);
if (count > 0) {
for (size_t i=0 ; i<size_t(count) ; i++) {
@@ -39,18 +40,27 @@
}
if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
mGyro = Sensor(list + i);
- // 200 Hz for gyro events is a good compromise between precision
- // and power/cpu usage.
- mGyroRate = 200;
- mTargetDelayNs = 1000000000LL/mGyroRate;
+ }
+ if (list[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+ uncalibratedGyro = Sensor(list + i);
}
}
+
+ // Use the uncalibrated gyroscope for sensor fusion when available
+ if (uncalibratedGyro.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+ mGyro = uncalibratedGyro;
+ }
+
+ // 200 Hz for gyro events is a good compromise between precision
+ // and power/cpu usage.
+ mGyroRate = 200;
+ mTargetDelayNs = 1000000000LL/mGyroRate;
mFusion.init();
}
}
void SensorFusion::process(const sensors_event_t& event) {
- if (event.type == SENSOR_TYPE_GYROSCOPE) {
+ if (event.type == mGyro.getType()) {
if (mGyroTime != 0) {
const float dT = (event.timestamp - mGyroTime) / 1000000000.0f;
const float freq = 1 / dT;
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
index ebf5cf0..4718447 100644
--- a/services/sensorservice/SensorService.cpp
+++ b/services/sensorservice/SensorService.cpp
@@ -93,6 +93,7 @@
orientationIndex = i;
break;
case SENSOR_TYPE_GYROSCOPE:
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
hasGyro = true;
break;
case SENSOR_TYPE_GRAVITY:
@@ -108,54 +109,44 @@
// registered)
const SensorFusion& fusion(SensorFusion::getInstance());
- if (hasGyro) {
- // Always instantiate Android's virtual sensors. Since they are
- // instantiated behind sensors from the HAL, they won't
- // interfere with applications, unless they looks specifically
- // for them (by name).
-
- registerVirtualSensor( new RotationVectorSensor() );
- registerVirtualSensor( new GravitySensor(list, count) );
- registerVirtualSensor( new LinearAccelerationSensor(list, count) );
-
- // these are optional
- registerVirtualSensor( new OrientationSensor() );
- registerVirtualSensor( new CorrectedGyroSensor(list, count) );
- }
-
// build the sensor list returned to users
mUserSensorList = mSensorList;
if (hasGyro) {
+ Sensor aSensor;
+
+ // Add Android virtual sensors if they're not already
+ // available in the HAL
+
+ aSensor = registerVirtualSensor( new RotationVectorSensor() );
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
+ mUserSensorList.add(aSensor);
+ }
+
+ aSensor = registerVirtualSensor( new GravitySensor(list, count) );
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) {
+ mUserSensorList.add(aSensor);
+ }
+
+ aSensor = registerVirtualSensor( new LinearAccelerationSensor(list, count) );
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_LINEAR_ACCELERATION)) {
+ mUserSensorList.add(aSensor);
+ }
+
+ aSensor = registerVirtualSensor( new OrientationSensor() );
+ if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
+ // if we are doing our own rotation-vector, also add
+ // the orientation sensor and remove the HAL provided one.
+ mUserSensorList.replaceAt(aSensor, orientationIndex);
+ }
+
// virtual debugging sensors are not added to mUserSensorList
+ registerVirtualSensor( new CorrectedGyroSensor(list, count) );
registerVirtualSensor( new GyroDriftSensor() );
}
- if (hasGyro &&
- (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR))) {
- // if we have the fancy sensor fusion, and it's not provided by the
- // HAL, use our own (fused) orientation sensor by removing the
- // HAL supplied one form the user list.
- if (orientationIndex >= 0) {
- mUserSensorList.removeItemsAt(orientationIndex);
- }
- }
-
// debugging sensor list
- for (size_t i=0 ; i<mSensorList.size() ; i++) {
- switch (mSensorList[i].getType()) {
- case SENSOR_TYPE_GRAVITY:
- case SENSOR_TYPE_LINEAR_ACCELERATION:
- case SENSOR_TYPE_ROTATION_VECTOR:
- if (strstr(mSensorList[i].getVendor().string(), "Google")) {
- mUserSensorListDebug.add(mSensorList[i]);
- }
- break;
- default:
- mUserSensorListDebug.add(mSensorList[i]);
- break;
- }
- }
+ mUserSensorListDebug = mSensorList;
run("SensorService", PRIORITY_URGENT_DISPLAY);
mInitCheck = NO_ERROR;
@@ -163,7 +154,7 @@
}
}
-void SensorService::registerSensor(SensorInterface* s)
+Sensor SensorService::registerSensor(SensorInterface* s)
{
sensors_event_t event;
memset(&event, 0, sizeof(event));
@@ -175,12 +166,15 @@
mSensorMap.add(sensor.getHandle(), s);
// create an entry in the mLastEventSeen array
mLastEventSeen.add(sensor.getHandle(), event);
+
+ return sensor;
}
-void SensorService::registerVirtualSensor(SensorInterface* s)
+Sensor SensorService::registerVirtualSensor(SensorInterface* s)
{
- registerSensor(s);
+ Sensor sensor = registerSensor(s);
mVirtualSensorList.add( s );
+ return sensor;
}
SensorService::~SensorService()
diff --git a/services/sensorservice/SensorService.h b/services/sensorservice/SensorService.h
index ff3b555..67489cc 100644
--- a/services/sensorservice/SensorService.h
+++ b/services/sensorservice/SensorService.h
@@ -114,8 +114,8 @@
int getSensorType(int handle) const;
void recordLastValue(sensors_event_t const * buffer, size_t count);
static void sortEventBuffer(sensors_event_t* buffer, size_t count);
- void registerSensor(SensorInterface* sensor);
- void registerVirtualSensor(SensorInterface* sensor);
+ Sensor registerSensor(SensorInterface* sensor);
+ Sensor registerVirtualSensor(SensorInterface* sensor);
status_t cleanupWithoutDisable(const sp<SensorEventConnection>& connection,
int handle);
void cleanupAutoDisabledSensor(const sp<SensorEventConnection>& connection,