keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2015 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 | package com.android.car; |
| 18 | |
Keun-young Park | e54ac27 | 2016-02-16 19:02:18 -0800 | [diff] [blame] | 19 | import android.car.Car; |
| 20 | import android.car.hardware.CarSensorEvent; |
| 21 | import android.car.hardware.CarSensorManager; |
| 22 | import android.car.hardware.ICarSensor; |
| 23 | import android.car.hardware.ICarSensorEventListener; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 24 | import android.content.Context; |
| 25 | import android.content.pm.PackageManager; |
| 26 | import android.os.Binder; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 27 | import android.os.Handler; |
| 28 | import android.os.HandlerThread; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 29 | import android.os.IBinder; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 30 | import android.os.Looper; |
| 31 | import android.os.Message; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 32 | import android.os.Process; |
| 33 | import android.os.RemoteException; |
| 34 | import android.os.SystemClock; |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 35 | import android.util.ArrayMap; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 36 | import android.util.Log; |
| 37 | import android.util.SparseArray; |
| 38 | import android.util.SparseBooleanArray; |
| 39 | |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 40 | import static com.android.car.Listeners.ClientWithRate; |
Enrico Granata | 7096f5e | 2017-02-03 14:54:20 -0800 | [diff] [blame] | 41 | import com.android.car.hal.SensorBase; |
| 42 | import com.android.car.hal.SensorHalService.SensorListener; |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 43 | import com.google.android.collect.Lists; |
| 44 | |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 45 | import com.android.car.hal.SensorHalService; |
| 46 | import com.android.car.hal.SensorHalServiceBase; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 47 | import com.android.internal.annotations.GuardedBy; |
| 48 | |
| 49 | import java.io.PrintWriter; |
| 50 | import java.util.Arrays; |
| 51 | import java.util.ConcurrentModificationException; |
| 52 | import java.util.LinkedList; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 53 | import java.util.List; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 54 | import java.util.concurrent.TimeUnit; |
| 55 | import java.util.concurrent.atomic.AtomicBoolean; |
| 56 | import java.util.concurrent.locks.ReentrantLock; |
| 57 | |
| 58 | |
| 59 | public class CarSensorService extends ICarSensor.Stub |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 60 | implements CarServiceBase, SensorHalService.SensorListener { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 61 | |
| 62 | /** |
| 63 | * Abstraction for logical sensor which is not physical sensor but presented as sensor to |
| 64 | * upper layer. Currently {@link CarSensorManager#SENSOR_TYPE_NIGHT} and |
| 65 | * {@link CarSensorManager#SENSOR_TYPE_DRIVING_STATUS} falls into this category. |
| 66 | * Implementation can call {@link CarSensorService#onSensorData(CarSensorEvent)} when there |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 67 | * is state change for the given sensor after {@link SensorHalServiceBase#init()} |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 68 | * is called. |
| 69 | */ |
Enrico Granata | 7096f5e | 2017-02-03 14:54:20 -0800 | [diff] [blame] | 70 | public static abstract class LogicalSensor implements SensorBase { |
| 71 | private final LinkedList<CarSensorEvent> mDispatchQ = new LinkedList<>(); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 72 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 73 | /** Sensor service is ready and all vehicle sensors are available. */ |
| 74 | public abstract void onSensorServiceReady(); |
Enrico Granata | 7096f5e | 2017-02-03 14:54:20 -0800 | [diff] [blame] | 75 | |
| 76 | /** |
| 77 | * Utility to help service to send one event as listener only takes list form. |
| 78 | * @param listener |
| 79 | * @param event |
| 80 | */ |
| 81 | protected void dispatchCarSensorEvent(SensorListener listener, CarSensorEvent event) { |
| 82 | synchronized (mDispatchQ) { |
| 83 | mDispatchQ.add(event); |
| 84 | listener.onSensorEvents(mDispatchQ); |
| 85 | mDispatchQ.clear(); |
| 86 | } |
| 87 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 88 | } |
| 89 | |
keunyoung | fe30ba0 | 2015-09-17 17:56:35 -0700 | [diff] [blame] | 90 | /** |
| 91 | * When set, sensor service sets its own dispatching rate limit. |
| 92 | * VehicleNetworkService is already doing this, so not necessary to set it for now. |
| 93 | */ |
| 94 | private static final boolean ENABLE_DISPATCHING_LIMIT = false; |
| 95 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 96 | /** {@link #mSensorLock} is not waited forever for handling disconnection */ |
| 97 | private static final long MAX_SENSOR_LOCK_WAIT_MS = 1000; |
| 98 | |
| 99 | /** lock to access sensor structures */ |
| 100 | private final ReentrantLock mSensorLock = new ReentrantLock(); |
| 101 | /** hold clients callback */ |
| 102 | @GuardedBy("mSensorLock") |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 103 | private final LinkedList<SensorClient> mClients = new LinkedList<>(); |
| 104 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 105 | /** key: sensor type. */ |
| 106 | @GuardedBy("mSensorLock") |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 107 | private final SparseArray<Listeners<SensorClient>> mSensorListeners = new SparseArray<>(); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 108 | /** key: sensor type. */ |
| 109 | @GuardedBy("mSensorLock") |
| 110 | private final SparseArray<SensorRecord> mSensorRecords = new SparseArray<>(); |
| 111 | |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 112 | private final SensorHalService mSensorHal; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 113 | private int[] mCarProvidedSensors; |
| 114 | private int[] mSupportedSensors; |
| 115 | private final AtomicBoolean mSensorDiscovered = new AtomicBoolean(false); |
| 116 | |
| 117 | private final Context mContext; |
| 118 | |
| 119 | private final DrivingStatePolicy mDrivingStatePolicy; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 120 | private boolean mUseDefaultDrivingPolicy = true; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 121 | private final DayNightModePolicy mDayNightModePolicy; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 122 | private boolean mUseDefaultDayNightModePolicy = true; |
| 123 | |
| 124 | private final HandlerThread mHandlerThread; |
| 125 | private final SensorDispatchHandler mSensorDispatchHandler; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 126 | |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 127 | public CarSensorService(Context context, SensorHalService sensorHal) { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 128 | mContext = context; |
keunyoung | fe30ba0 | 2015-09-17 17:56:35 -0700 | [diff] [blame] | 129 | if (ENABLE_DISPATCHING_LIMIT) { |
| 130 | mHandlerThread = new HandlerThread("SENSOR", Process.THREAD_PRIORITY_AUDIO); |
| 131 | mHandlerThread.start(); |
| 132 | mSensorDispatchHandler = new SensorDispatchHandler(mHandlerThread.getLooper()); |
| 133 | } else { |
| 134 | mHandlerThread = null; |
| 135 | mSensorDispatchHandler = null; |
| 136 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 137 | // This triggers sensor hal init as well. |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 138 | mSensorHal = sensorHal; |
| 139 | mDrivingStatePolicy = new DrivingStatePolicy(context, this); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 140 | mDayNightModePolicy = new DayNightModePolicy(context); |
| 141 | } |
| 142 | |
| 143 | @Override |
| 144 | public void init() { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 145 | mSensorLock.lock(); |
| 146 | try { |
Keun-young Park | 9ec0547 | 2016-04-26 21:18:18 -0700 | [diff] [blame] | 147 | mSensorHal.registerSensorListener(this); |
| 148 | mCarProvidedSensors = mSensorHal.getSupportedSensors(); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 149 | mSupportedSensors = refreshSupportedSensorsLocked(); |
Pavel Maltsev | 1e5a88b | 2016-12-15 17:51:29 -0800 | [diff] [blame] | 150 | |
| 151 | addNewSensorRecordLocked(CarSensorManager.SENSOR_TYPE_DRIVING_STATUS, |
| 152 | getInitialDrivingStatus()); |
| 153 | addNewSensorRecordLocked(CarSensorManager.SENSOR_TYPE_NIGHT, getInitialNightMode()); |
| 154 | addNewSensorRecordLocked(CarSensorManager.SENSOR_TYPE_IGNITION_STATE, |
| 155 | getInitialIgnitionState()); |
| 156 | |
Keun-young Park | 9ec0547 | 2016-04-26 21:18:18 -0700 | [diff] [blame] | 157 | notifyDefaultPoliciesLocked(); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 158 | } finally { |
| 159 | mSensorLock.unlock(); |
| 160 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 161 | } |
| 162 | |
Pavel Maltsev | 1e5a88b | 2016-12-15 17:51:29 -0800 | [diff] [blame] | 163 | private CarSensorEvent getInitialIgnitionState() { |
| 164 | return mSensorHal.getCurrentSensorValue(CarSensorManager.SENSOR_TYPE_IGNITION_STATE); |
| 165 | } |
| 166 | |
| 167 | private CarSensorEvent getInitialNightMode() { |
| 168 | CarSensorEvent event = null; |
| 169 | if (mUseDefaultDayNightModePolicy) { |
| 170 | mDayNightModePolicy.init(); |
| 171 | mDayNightModePolicy.registerSensorListener(this); |
| 172 | } else { |
| 173 | event = mSensorHal.getCurrentSensorValue(CarSensorManager.SENSOR_TYPE_NIGHT); |
| 174 | Log.i(CarLog.TAG_SENSOR, "initial daynight: " |
| 175 | + ((event == null) ? "not ready" : + event.intValues[0])); |
| 176 | } |
| 177 | if (event == null) { |
| 178 | event = DayNightModePolicy.getDefaultValue(CarSensorManager.SENSOR_TYPE_NIGHT); |
| 179 | if (!mUseDefaultDayNightModePolicy) { |
| 180 | Log.w(CarLog.TAG_SENSOR, "Default daynight set as sensor not ready"); |
| 181 | } |
| 182 | } |
| 183 | return event; |
| 184 | } |
| 185 | |
| 186 | private CarSensorEvent getInitialDrivingStatus() { |
| 187 | CarSensorEvent event = null; |
| 188 | if (mUseDefaultDrivingPolicy) { |
| 189 | mDrivingStatePolicy.init(); |
| 190 | mDrivingStatePolicy.registerSensorListener(this); |
| 191 | } else { |
| 192 | event = mSensorHal.getCurrentSensorValue( |
| 193 | CarSensorManager.SENSOR_TYPE_DRIVING_STATUS); |
| 194 | Log.i(CarLog.TAG_SENSOR, "initial driving status:" + ((event == null)? |
| 195 | "not ready" : " 0x" + Integer.toHexString(event.intValues[0]))); |
| 196 | } |
| 197 | if (event == null) { |
| 198 | event = DrivingStatePolicy.getDefaultValue( |
| 199 | CarSensorManager.SENSOR_TYPE_DRIVING_STATUS); |
| 200 | if (!mUseDefaultDrivingPolicy) { |
| 201 | Log.w(CarLog.TAG_SENSOR, "Default driving status set as sensor not ready"); |
| 202 | } |
| 203 | } |
| 204 | return event; |
| 205 | } |
| 206 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 207 | private void addNewSensorRecordLocked(int type, CarSensorEvent event) { |
| 208 | SensorRecord record = new SensorRecord(); |
| 209 | record.lastEvent = event; |
| 210 | mSensorRecords.put(type,record); |
| 211 | } |
| 212 | |
| 213 | @Override |
| 214 | public void release() { |
keunyoung | 1ab8e18 | 2015-09-24 09:25:22 -0700 | [diff] [blame] | 215 | if (mHandlerThread != null) { |
| 216 | mHandlerThread.quit(); |
| 217 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 218 | tryHoldSensorLock(); |
| 219 | try { |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 220 | if (mUseDefaultDrivingPolicy) { |
| 221 | mDrivingStatePolicy.release(); |
| 222 | } |
| 223 | if (mUseDefaultDayNightModePolicy) { |
| 224 | mDayNightModePolicy.release(); |
| 225 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 226 | for (int i = mSensorListeners.size() - 1; i >= 0; --i) { |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 227 | Listeners listener = mSensorListeners.valueAt(i); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 228 | listener.release(); |
| 229 | } |
| 230 | mSensorListeners.clear(); |
| 231 | mSensorRecords.clear(); |
| 232 | mClients.clear(); |
| 233 | } finally { |
| 234 | releaseSensorLockSafely(); |
| 235 | } |
| 236 | } |
| 237 | |
| 238 | private void tryHoldSensorLock() { |
| 239 | try { |
| 240 | mSensorLock.tryLock(MAX_SENSOR_LOCK_WAIT_MS, TimeUnit.MILLISECONDS); |
| 241 | } catch (InterruptedException e) { |
| 242 | //ignore |
| 243 | } |
| 244 | } |
| 245 | |
| 246 | private void releaseSensorLockSafely() { |
| 247 | if (mSensorLock.isHeldByCurrentThread()) { |
| 248 | mSensorLock.unlock(); |
| 249 | } |
| 250 | } |
| 251 | |
Keun-young Park | 9ec0547 | 2016-04-26 21:18:18 -0700 | [diff] [blame] | 252 | private void notifyDefaultPoliciesLocked() { |
| 253 | if (mUseDefaultDrivingPolicy) { |
| 254 | mDrivingStatePolicy.onSensorServiceReady(); |
| 255 | } |
| 256 | if (mUseDefaultDayNightModePolicy) { |
| 257 | mDayNightModePolicy.onSensorServiceReady(); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 258 | } |
| 259 | } |
| 260 | |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 261 | private void processSensorData(List<CarSensorEvent> events) { |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 262 | ArrayMap<SensorClient, List<CarSensorEvent>> eventsByClient = new ArrayMap<>(); |
| 263 | |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 264 | mSensorLock.lock(); |
| 265 | for (CarSensorEvent event: events) { |
| 266 | SensorRecord record = mSensorRecords.get(event.sensorType); |
| 267 | if (record != null) { |
| 268 | if (record.lastEvent == null) { |
| 269 | record.lastEvent = event; |
Jason Tholstrup | d72b535 | 2016-09-22 16:32:14 -0700 | [diff] [blame] | 270 | } else if (record.lastEvent.timestamp < event.timestamp) { |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 271 | record.lastEvent = event; |
Keun-young Park | f921520 | 2016-10-10 12:34:08 -0700 | [diff] [blame] | 272 | //TODO recycle event, bug: 32094595 |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 273 | } else { // wrong timestamp, throw away this. |
Keun-young Park | f921520 | 2016-10-10 12:34:08 -0700 | [diff] [blame] | 274 | //TODO recycle new event, bug: 32094595 |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 275 | continue; |
| 276 | } |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 277 | |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 278 | Listeners<SensorClient> listeners = mSensorListeners.get(event.sensorType); |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 279 | if (listeners == null) { |
| 280 | continue; |
| 281 | } |
| 282 | |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 283 | for (ClientWithRate<SensorClient> clientWithRate : listeners.getClients()) { |
| 284 | SensorClient client = clientWithRate.getClient(); |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 285 | List<CarSensorEvent> clientEvents = eventsByClient.get(client); |
| 286 | if (clientEvents == null) { |
| 287 | clientEvents = new LinkedList<>(); |
| 288 | eventsByClient.put(client, clientEvents); |
| 289 | } |
| 290 | clientEvents.add(event); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 291 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 292 | } |
| 293 | } |
Keun-young Park | 901392c | 2016-05-06 14:50:11 -0700 | [diff] [blame] | 294 | mSensorLock.unlock(); |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 295 | |
| 296 | for (ArrayMap.Entry<SensorClient, List<CarSensorEvent>> entry : eventsByClient.entrySet()) { |
| 297 | SensorClient client = entry.getKey(); |
| 298 | List<CarSensorEvent> clientEvents = entry.getValue(); |
| 299 | |
| 300 | client.dispatchSensorUpdate(clientEvents); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 301 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 302 | } |
| 303 | |
| 304 | /** |
| 305 | * Received sensor data from car. |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 306 | */ |
| 307 | @Override |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 308 | public void onSensorEvents(List<CarSensorEvent> events) { |
keunyoung | fe30ba0 | 2015-09-17 17:56:35 -0700 | [diff] [blame] | 309 | if (ENABLE_DISPATCHING_LIMIT) { |
| 310 | mSensorDispatchHandler.handleSensorEvents(events); |
| 311 | } else { |
| 312 | processSensorData(events); |
| 313 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 314 | } |
| 315 | |
| 316 | @Override |
| 317 | public int[] getSupportedSensors() { |
Vitalii Tomkiv | a838636 | 2016-07-29 12:27:25 -0700 | [diff] [blame] | 318 | mSensorLock.lock(); |
Vitalii Tomkiv | bb05104 | 2016-07-27 17:13:24 -0700 | [diff] [blame] | 319 | int[] supportedSensors = mSupportedSensors; |
Vitalii Tomkiv | a838636 | 2016-07-29 12:27:25 -0700 | [diff] [blame] | 320 | mSensorLock.unlock(); |
Vitalii Tomkiv | bb05104 | 2016-07-27 17:13:24 -0700 | [diff] [blame] | 321 | return supportedSensors; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 322 | } |
| 323 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 324 | @Override |
| 325 | public boolean registerOrUpdateSensorListener(int sensorType, int rate, |
Keun-young Park | e54ac27 | 2016-02-16 19:02:18 -0800 | [diff] [blame] | 326 | ICarSensorEventListener listener) { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 327 | boolean shouldStartSensors = false; |
| 328 | SensorRecord sensorRecord = null; |
| 329 | SensorClient sensorClient = null; |
| 330 | Integer oldRate = null; |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 331 | Listeners<SensorClient> sensorListeners = null; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 332 | mSensorLock.lock(); |
| 333 | try { |
| 334 | sensorRecord = mSensorRecords.get(sensorType); |
| 335 | if (sensorRecord == null) { |
| 336 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.INFO)) { |
| 337 | Log.i(CarLog.TAG_SENSOR, "Requested sensor " + sensorType + " not supported"); |
| 338 | } |
| 339 | return false; |
| 340 | } |
| 341 | if (Binder.getCallingUid() != Process.myUid()) { |
| 342 | switch (getSensorPermission(sensorType)) { |
| 343 | case PackageManager.PERMISSION_DENIED: |
| 344 | throw new SecurityException("client does not have permission:" |
| 345 | + getPermissionName(sensorType) |
| 346 | + " pid:" + Binder.getCallingPid() |
| 347 | + " uid:" + Binder.getCallingUid()); |
| 348 | case PackageManager.PERMISSION_GRANTED: |
| 349 | break; |
| 350 | } |
| 351 | } |
| 352 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 353 | Log.d(CarLog.TAG_SENSOR, "registerOrUpdateSensorListener " + sensorType + " " + |
| 354 | listener); |
| 355 | } |
| 356 | sensorClient = findSensorClientLocked(listener); |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 357 | ClientWithRate<SensorClient> sensorClientWithRate = null; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 358 | sensorListeners = mSensorListeners.get(sensorType); |
| 359 | if (sensorClient == null) { |
| 360 | sensorClient = new SensorClient(listener); |
| 361 | try { |
| 362 | listener.asBinder().linkToDeath(sensorClient, 0); |
| 363 | } catch (RemoteException e) { |
| 364 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.INFO)) { |
| 365 | Log.i(CarLog.TAG_SENSOR, "Adding listener failed."); |
| 366 | } |
| 367 | return false; |
| 368 | } |
| 369 | mClients.add(sensorClient); |
| 370 | } |
| 371 | // If we have a cached event for this sensor, send the event. |
| 372 | SensorRecord record = mSensorRecords.get(sensorType); |
| 373 | if (record != null && record.lastEvent != null) { |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 374 | sensorClient.dispatchSensorUpdate(Lists.newArrayList(record.lastEvent)); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 375 | } |
| 376 | if (sensorListeners == null) { |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 377 | sensorListeners = new Listeners<>(rate); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 378 | mSensorListeners.put(sensorType, sensorListeners); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 379 | shouldStartSensors = true; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 380 | } else { |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 381 | oldRate = sensorListeners.getRate(); |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 382 | sensorClientWithRate = sensorListeners.findClientWithRate(sensorClient); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 383 | } |
| 384 | if (sensorClientWithRate == null) { |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 385 | sensorClientWithRate = new ClientWithRate<>(sensorClient, rate); |
| 386 | sensorListeners.addClientWithRate(sensorClientWithRate); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 387 | } else { |
| 388 | sensorClientWithRate.setRate(rate); |
| 389 | } |
| 390 | if (sensorListeners.getRate() > rate) { |
| 391 | sensorListeners.setRate(rate); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 392 | shouldStartSensors = sensorSupportRate(sensorType); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 393 | } |
| 394 | sensorClient.addSensor(sensorType); |
| 395 | } finally { |
| 396 | mSensorLock.unlock(); |
| 397 | } |
| 398 | // start sensor outside lock as it can take time. |
| 399 | if (shouldStartSensors) { |
| 400 | if (!startSensor(sensorRecord, sensorType, rate)) { |
| 401 | // failed. so remove from active sensor list. |
| 402 | mSensorLock.lock(); |
| 403 | try { |
| 404 | sensorClient.removeSensor(sensorType); |
| 405 | if (oldRate != null) { |
| 406 | sensorListeners.setRate(oldRate); |
| 407 | } else { |
| 408 | mSensorListeners.remove(sensorType); |
| 409 | } |
| 410 | } finally { |
| 411 | mSensorLock.unlock(); |
| 412 | } |
| 413 | return false; |
| 414 | } |
| 415 | } |
| 416 | return true; |
| 417 | } |
| 418 | |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 419 | private boolean sensorSupportRate(int sensorType) { |
| 420 | switch (sensorType) { |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 421 | case CarSensorManager.SENSOR_TYPE_CAR_SPEED: |
| 422 | case CarSensorManager.SENSOR_TYPE_RPM: |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 423 | return true; |
| 424 | case CarSensorManager.SENSOR_TYPE_ODOMETER: |
| 425 | case CarSensorManager.SENSOR_TYPE_FUEL_LEVEL: |
| 426 | case CarSensorManager.SENSOR_TYPE_PARKING_BRAKE: |
| 427 | case CarSensorManager.SENSOR_TYPE_GEAR: |
| 428 | case CarSensorManager.SENSOR_TYPE_NIGHT: |
| 429 | case CarSensorManager.SENSOR_TYPE_DRIVING_STATUS: |
| 430 | case CarSensorManager.SENSOR_TYPE_ENVIRONMENT: |
| 431 | return false; |
| 432 | default: |
| 433 | Log.w(CarLog.TAG_SENSOR, "sensorSupportRate not listed sensor:" + sensorType); |
| 434 | return false; |
| 435 | } |
| 436 | } |
| 437 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 438 | private int getSensorPermission(int sensorType) { |
| 439 | String permission = getPermissionName(sensorType); |
| 440 | int result = PackageManager.PERMISSION_GRANTED; |
| 441 | if (permission != null) { |
Keun-young Park | 064ddd8 | 2015-12-21 23:57:50 +0000 | [diff] [blame] | 442 | return mContext.checkCallingOrSelfPermission(permission); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 443 | } |
| 444 | // If no permission is required, return granted. |
| 445 | return result; |
| 446 | } |
| 447 | |
Keun-young Park | f921520 | 2016-10-10 12:34:08 -0700 | [diff] [blame] | 448 | //TODO handle per property OEM permission. bug: 32094983 |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 449 | private String getPermissionName(int sensorType) { |
Keun-young Park | 064ddd8 | 2015-12-21 23:57:50 +0000 | [diff] [blame] | 450 | if ((sensorType >= CarSensorManager.SENSOR_TYPE_VENDOR_EXTENSION_START) && |
| 451 | (sensorType >= CarSensorManager.SENSOR_TYPE_VENDOR_EXTENSION_END)) { |
| 452 | return Car.PERMISSION_VENDOR_EXTENSION; |
| 453 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 454 | String permission = null; |
| 455 | switch (sensorType) { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 456 | case CarSensorManager.SENSOR_TYPE_CAR_SPEED: |
| 457 | permission = Car.PERMISSION_SPEED; |
| 458 | break; |
| 459 | case CarSensorManager.SENSOR_TYPE_ODOMETER: |
| 460 | permission = Car.PERMISSION_MILEAGE; |
| 461 | break; |
| 462 | case CarSensorManager.SENSOR_TYPE_FUEL_LEVEL: |
| 463 | permission = Car.PERMISSION_FUEL; |
| 464 | break; |
| 465 | default: |
| 466 | break; |
| 467 | } |
| 468 | return permission; |
| 469 | } |
| 470 | |
| 471 | private boolean startSensor(SensorRecord record, int sensorType, int rate) { |
Keun-young Park | f921520 | 2016-10-10 12:34:08 -0700 | [diff] [blame] | 472 | //TODO handle sensor rate properly. bug: 32095903 |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 473 | //Some sensors which report only when there is change should be always set with maximum |
| 474 | //rate. For now, set every sensor to the maximum. |
| 475 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.VERBOSE)) { |
| 476 | Log.v(CarLog.TAG_SENSOR, "startSensor " + sensorType + " with rate " + rate); |
| 477 | } |
Enrico Granata | 7096f5e | 2017-02-03 14:54:20 -0800 | [diff] [blame] | 478 | SensorBase sensorHal = getSensorHal(sensorType); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 479 | if (sensorHal != null) { |
| 480 | if (!sensorHal.isReady()) { |
| 481 | Log.w(CarLog.TAG_SENSOR, "Sensor channel not available."); |
| 482 | return false; |
| 483 | } |
| 484 | if (record.enabled) { |
| 485 | return true; |
| 486 | } |
| 487 | if (sensorHal.requestSensorStart(sensorType, 0)) { |
| 488 | record.enabled = true; |
| 489 | return true; |
| 490 | } |
| 491 | } |
Keun-young Park | 05f4481 | 2016-02-10 15:32:48 -0800 | [diff] [blame] | 492 | Log.w(CarLog.TAG_SENSOR, "requestSensorStart failed, sensor type:" + sensorType); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 493 | return false; |
| 494 | } |
| 495 | |
| 496 | @Override |
| 497 | public void unregisterSensorListener(int sensorType, ICarSensorEventListener listener) { |
| 498 | boolean shouldStopSensor = false; |
| 499 | boolean shouldRestartSensor = false; |
| 500 | SensorRecord record = null; |
| 501 | int newRate = 0; |
| 502 | mSensorLock.lock(); |
| 503 | try { |
| 504 | record = mSensorRecords.get(sensorType); |
| 505 | if (record == null) { |
| 506 | // unregister not supported sensor. ignore. |
| 507 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 508 | Log.d(CarLog.TAG_SENSOR, "unregister for unsupported sensor"); |
| 509 | } |
| 510 | return; |
| 511 | } |
| 512 | SensorClient sensorClient = findSensorClientLocked(listener); |
| 513 | if (sensorClient == null) { |
| 514 | // never registered or already unregistered. |
| 515 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 516 | Log.d(CarLog.TAG_SENSOR, "unregister for not existing client"); |
| 517 | } |
| 518 | return; |
| 519 | } |
| 520 | sensorClient.removeSensor(sensorType); |
| 521 | if (sensorClient.getNumberOfActiveSensor() == 0) { |
| 522 | sensorClient.release(); |
| 523 | mClients.remove(sensorClient); |
| 524 | } |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 525 | Listeners<SensorClient> sensorListeners = mSensorListeners.get(sensorType); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 526 | if (sensorListeners == null) { |
| 527 | // sensor not active |
| 528 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 529 | Log.d(CarLog.TAG_SENSOR, "unregister for non-active sensor"); |
| 530 | } |
| 531 | return; |
| 532 | } |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 533 | ClientWithRate<SensorClient> clientWithRate = |
| 534 | sensorListeners.findClientWithRate(sensorClient); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 535 | if (clientWithRate == null) { |
| 536 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 537 | Log.d(CarLog.TAG_SENSOR, "unregister for not registered sensor"); |
| 538 | } |
| 539 | return; |
| 540 | } |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 541 | sensorListeners.removeClientWithRate(clientWithRate); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 542 | if (sensorListeners.getNumberOfClients() == 0) { |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 543 | shouldStopSensor = true; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 544 | mSensorListeners.remove(sensorType); |
| 545 | } else if (sensorListeners.updateRate()) { // rate changed |
| 546 | newRate = sensorListeners.getRate(); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 547 | shouldRestartSensor = sensorSupportRate(sensorType); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 548 | } |
| 549 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 550 | Log.d(CarLog.TAG_SENSOR, "unregister succeeded"); |
| 551 | } |
| 552 | } finally { |
| 553 | mSensorLock.unlock(); |
| 554 | } |
| 555 | if (shouldStopSensor) { |
| 556 | stopSensor(record, sensorType); |
| 557 | } else if (shouldRestartSensor) { |
| 558 | startSensor(record, sensorType, newRate); |
| 559 | } |
| 560 | } |
| 561 | |
| 562 | private void stopSensor(SensorRecord record, int sensorType) { |
| 563 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 564 | Log.d(CarLog.TAG_SENSOR, "stopSensor " + sensorType); |
| 565 | } |
Enrico Granata | 7096f5e | 2017-02-03 14:54:20 -0800 | [diff] [blame] | 566 | SensorBase sensorHal = getSensorHal(sensorType); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 567 | if (sensorHal == null || !sensorHal.isReady()) { |
| 568 | Log.w(CarLog.TAG_SENSOR, "Sensor channel not available."); |
| 569 | return; |
| 570 | } |
| 571 | if (!record.enabled) { |
| 572 | return; |
| 573 | } |
| 574 | record.enabled = false; |
| 575 | // make lastEvent invalid as old data can be sent to client when subscription is restarted |
| 576 | // later. |
| 577 | record.lastEvent = null; |
| 578 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 579 | Log.d(CarLog.TAG_SENSOR, "stopSensor requestStop " + sensorType); |
| 580 | } |
| 581 | sensorHal.requestSensorStop(sensorType); |
| 582 | } |
| 583 | |
Enrico Granata | 7096f5e | 2017-02-03 14:54:20 -0800 | [diff] [blame] | 584 | private SensorBase getSensorHal(int sensorType) { |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 585 | try { |
| 586 | mSensorLock.lock(); |
| 587 | switch (sensorType) { |
| 588 | case CarSensorManager.SENSOR_TYPE_DRIVING_STATUS: |
| 589 | if (mUseDefaultDrivingPolicy) { |
| 590 | return mDrivingStatePolicy; |
| 591 | } |
| 592 | break; |
| 593 | case CarSensorManager.SENSOR_TYPE_NIGHT: |
| 594 | if (mUseDefaultDayNightModePolicy) { |
| 595 | return mDayNightModePolicy; |
| 596 | } |
| 597 | break; |
| 598 | } |
| 599 | return mSensorHal; |
| 600 | } finally { |
| 601 | mSensorLock.unlock(); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 602 | } |
| 603 | } |
| 604 | |
| 605 | @Override |
| 606 | public CarSensorEvent getLatestSensorEvent(int sensorType) { |
| 607 | SensorRecord record = null; |
| 608 | mSensorLock.lock(); |
| 609 | try { |
| 610 | record = mSensorRecords.get(sensorType); |
| 611 | } finally { |
| 612 | mSensorLock.unlock(); |
| 613 | } |
| 614 | if (record != null) { |
| 615 | return record.lastEvent; |
| 616 | } |
| 617 | return null; |
| 618 | } |
| 619 | |
| 620 | private int[] refreshSupportedSensorsLocked() { |
| 621 | int numCarSensors = (mCarProvidedSensors == null) ? 0 : mCarProvidedSensors.length; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 622 | for (int i = 0; i < numCarSensors; i++) { |
| 623 | int sensor = mCarProvidedSensors[i]; |
| 624 | if (sensor == CarSensorManager.SENSOR_TYPE_DRIVING_STATUS) { |
| 625 | mUseDefaultDrivingPolicy = false; |
| 626 | } else if (sensor == CarSensorManager.SENSOR_TYPE_NIGHT) { |
| 627 | mUseDefaultDayNightModePolicy = false; |
| 628 | } |
| 629 | } |
| 630 | int totalNumSensors = numCarSensors; |
| 631 | if (mUseDefaultDrivingPolicy) { |
| 632 | totalNumSensors++; |
| 633 | } |
| 634 | if (mUseDefaultDayNightModePolicy) { |
| 635 | totalNumSensors++; |
| 636 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 637 | // Two logical sensors are always added. |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 638 | int[] supportedSensors = new int[totalNumSensors]; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 639 | int index = 0; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 640 | if (mUseDefaultDrivingPolicy) { |
| 641 | supportedSensors[index] = CarSensorManager.SENSOR_TYPE_DRIVING_STATUS; |
| 642 | index++; |
| 643 | } |
| 644 | if (mUseDefaultDayNightModePolicy) { |
| 645 | supportedSensors[index] = CarSensorManager.SENSOR_TYPE_NIGHT; |
| 646 | index++; |
| 647 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 648 | |
| 649 | for (int i = 0; i < numCarSensors; i++) { |
| 650 | int sensor = mCarProvidedSensors[i]; |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 651 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 652 | if (mSensorRecords.get(sensor) == null) { |
| 653 | SensorRecord record = new SensorRecord(); |
| 654 | mSensorRecords.put(sensor, record); |
| 655 | } |
| 656 | supportedSensors[index] = sensor; |
| 657 | index++; |
| 658 | } |
| 659 | |
| 660 | return supportedSensors; |
| 661 | } |
| 662 | |
| 663 | private boolean isSensorRealLocked(int sensorType) { |
| 664 | if (mCarProvidedSensors != null) { |
| 665 | for (int sensor : mCarProvidedSensors) { |
| 666 | if (sensor == sensorType ) { |
| 667 | return true; |
| 668 | } |
| 669 | } |
| 670 | } |
| 671 | return false; |
| 672 | } |
| 673 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 674 | /** |
| 675 | * Find SensorClient from client list and return it. |
| 676 | * This should be called with mClients locked. |
| 677 | * @param listener |
| 678 | * @return null if not found. |
| 679 | */ |
| 680 | private SensorClient findSensorClientLocked(ICarSensorEventListener listener) { |
| 681 | IBinder binder = listener.asBinder(); |
| 682 | for (SensorClient sensorClient : mClients) { |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 683 | if (sensorClient.isHoldingListenerBinder(binder)) { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 684 | return sensorClient; |
| 685 | } |
| 686 | } |
| 687 | return null; |
| 688 | } |
| 689 | |
| 690 | private void removeClient(SensorClient sensorClient) { |
| 691 | mSensorLock.lock(); |
| 692 | try { |
| 693 | for (int sensor: sensorClient.getSensorArray()) { |
| 694 | unregisterSensorListener(sensor, |
| 695 | sensorClient.getICarSensorEventListener()); |
| 696 | } |
| 697 | mClients.remove(sensorClient); |
| 698 | } finally { |
| 699 | mSensorLock.unlock(); |
| 700 | } |
| 701 | } |
| 702 | |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 703 | private class SensorDispatchHandler extends Handler { |
| 704 | private static final long SENSOR_DISPATCH_MIN_INTERVAL_MS = 16; // over 60Hz |
| 705 | |
| 706 | private static final int MSG_SENSOR_DATA = 0; |
| 707 | |
| 708 | private long mLastSensorDispatchTime = -1; |
| 709 | private int mFreeListIndex = 0; |
| 710 | private final LinkedList<CarSensorEvent>[] mSensorDataList = new LinkedList[2]; |
| 711 | |
| 712 | private SensorDispatchHandler(Looper looper) { |
| 713 | super(looper); |
| 714 | for (int i = 0; i < mSensorDataList.length; i++) { |
| 715 | mSensorDataList[i] = new LinkedList<CarSensorEvent>(); |
| 716 | } |
| 717 | } |
| 718 | |
| 719 | private synchronized void handleSensorEvents(List<CarSensorEvent> data) { |
| 720 | LinkedList<CarSensorEvent> list = mSensorDataList[mFreeListIndex]; |
| 721 | list.addAll(data); |
| 722 | requestDispatchLocked(); |
| 723 | } |
| 724 | |
| 725 | private synchronized void handleSensorEvent(CarSensorEvent event) { |
| 726 | LinkedList<CarSensorEvent> list = mSensorDataList[mFreeListIndex]; |
| 727 | list.add(event); |
| 728 | requestDispatchLocked(); |
| 729 | } |
| 730 | |
| 731 | private void requestDispatchLocked() { |
| 732 | Message msg = obtainMessage(MSG_SENSOR_DATA); |
| 733 | long now = SystemClock.uptimeMillis(); |
| 734 | long delta = now - mLastSensorDispatchTime; |
| 735 | if (delta > SENSOR_DISPATCH_MIN_INTERVAL_MS) { |
| 736 | sendMessage(msg); |
| 737 | } else { |
| 738 | sendMessageDelayed(msg, SENSOR_DISPATCH_MIN_INTERVAL_MS - delta); |
| 739 | } |
| 740 | } |
| 741 | |
| 742 | @Override |
| 743 | public void handleMessage(Message msg) { |
| 744 | switch (msg.what) { |
| 745 | case MSG_SENSOR_DATA: |
| 746 | doHandleSensorData(); |
| 747 | break; |
| 748 | default: |
| 749 | break; |
| 750 | } |
| 751 | } |
| 752 | |
| 753 | private void doHandleSensorData() { |
| 754 | List<CarSensorEvent> listToDispatch = null; |
| 755 | synchronized (this) { |
| 756 | mLastSensorDispatchTime = SystemClock.uptimeMillis(); |
| 757 | int nonFreeListIndex = mFreeListIndex ^ 0x1; |
| 758 | List<CarSensorEvent> nonFreeList = mSensorDataList[nonFreeListIndex]; |
| 759 | List<CarSensorEvent> freeList = mSensorDataList[mFreeListIndex]; |
| 760 | if (nonFreeList.size() > 0) { |
| 761 | Log.w(CarLog.TAG_SENSOR, "non free list not empty"); |
| 762 | // copy again, but this should not be normal case |
| 763 | nonFreeList.addAll(freeList); |
| 764 | listToDispatch = nonFreeList; |
| 765 | freeList.clear(); |
| 766 | } else if (freeList.size() > 0) { |
| 767 | listToDispatch = freeList; |
| 768 | mFreeListIndex = nonFreeListIndex; |
| 769 | } |
| 770 | } |
| 771 | // leave this part outside lock so that time-taking dispatching can be done without |
| 772 | // blocking sensor event notification. |
| 773 | if (listToDispatch != null) { |
| 774 | processSensorData(listToDispatch); |
| 775 | listToDispatch.clear(); |
| 776 | } |
| 777 | } |
| 778 | |
| 779 | } |
| 780 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 781 | /** internal instance for pending client request */ |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 782 | private class SensorClient implements Listeners.IListener { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 783 | /** callback for sensor events */ |
| 784 | private final ICarSensorEventListener mListener; |
| 785 | private final SparseBooleanArray mActiveSensors = new SparseBooleanArray(); |
| 786 | |
| 787 | /** when false, it is already released */ |
| 788 | private volatile boolean mActive = true; |
| 789 | |
| 790 | SensorClient(ICarSensorEventListener listener) { |
| 791 | this.mListener = listener; |
| 792 | } |
| 793 | |
| 794 | @Override |
| 795 | public boolean equals(Object o) { |
| 796 | if (o instanceof SensorClient && |
| 797 | mListener.asBinder() == ((SensorClient) o).mListener.asBinder()) { |
| 798 | return true; |
| 799 | } |
| 800 | return false; |
| 801 | } |
| 802 | |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 803 | boolean isHoldingListenerBinder(IBinder listenerBinder) { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 804 | return mListener.asBinder() == listenerBinder; |
| 805 | } |
| 806 | |
| 807 | void addSensor(int sensor) { |
| 808 | mActiveSensors.put(sensor, true); |
| 809 | } |
| 810 | |
| 811 | void removeSensor(int sensor) { |
| 812 | mActiveSensors.delete(sensor); |
| 813 | } |
| 814 | |
| 815 | int getNumberOfActiveSensor() { |
| 816 | return mActiveSensors.size(); |
| 817 | } |
| 818 | |
| 819 | int[] getSensorArray() { |
| 820 | int[] sensors = new int[mActiveSensors.size()]; |
| 821 | for (int i = sensors.length - 1; i >= 0; --i) { |
| 822 | sensors[i] = mActiveSensors.keyAt(i); |
| 823 | } |
| 824 | return sensors; |
| 825 | } |
| 826 | |
| 827 | ICarSensorEventListener getICarSensorEventListener() { |
| 828 | return mListener; |
| 829 | } |
| 830 | |
| 831 | /** |
| 832 | * Client dead. should remove all sensor requests from client |
| 833 | */ |
| 834 | @Override |
| 835 | public void binderDied() { |
| 836 | mListener.asBinder().unlinkToDeath(this, 0); |
| 837 | removeClient(this); |
| 838 | } |
| 839 | |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 840 | void dispatchSensorUpdate(List<CarSensorEvent> events) { |
| 841 | if (events.size() == 0) { |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 842 | return; |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 843 | } |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 844 | if (mActive) { |
| 845 | try { |
Pavel Maltsev | 0d07c76 | 2016-11-03 16:40:15 -0700 | [diff] [blame] | 846 | mListener.onSensorChanged(events); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 847 | } catch (RemoteException e) { |
| 848 | //ignore. crash will be handled by death handler |
| 849 | } |
| 850 | } else { |
| 851 | if (Log.isLoggable(CarLog.TAG_SENSOR, Log.DEBUG)) { |
| 852 | Log.d(CarLog.TAG_SENSOR, "sensor update while client is already released"); |
| 853 | } |
| 854 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 855 | } |
| 856 | |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 857 | @Override |
| 858 | public void release() { |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 859 | if (mActive) { |
| 860 | mListener.asBinder().unlinkToDeath(this, 0); |
| 861 | mActiveSensors.clear(); |
| 862 | mActive = false; |
| 863 | } |
| 864 | } |
| 865 | } |
| 866 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 867 | private static class SensorRecord { |
| 868 | /** Record the lastly received sensor event */ |
| 869 | CarSensorEvent lastEvent = null; |
| 870 | /** sensor was enabled by at least one client */ |
| 871 | boolean enabled = false; |
| 872 | } |
| 873 | |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 874 | @Override |
| 875 | public void dump(PrintWriter writer) { |
keunyoung | a3b28d8 | 2015-08-25 13:05:15 -0700 | [diff] [blame] | 876 | writer.println("*CarSensorService*"); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 877 | writer.println("supported sensors:" + Arrays.toString(mSupportedSensors)); |
| 878 | writer.println("**last events for sensors**"); |
| 879 | if (mSensorRecords != null) { |
| 880 | try { |
| 881 | int sensorRecordSize = mSensorRecords.size(); |
| 882 | for (int i = 0; i < sensorRecordSize; i++) { |
| 883 | int sensor = mSensorRecords.keyAt(i); |
| 884 | SensorRecord record = mSensorRecords.get(sensor); |
| 885 | if (record != null && record.lastEvent != null) { |
| 886 | writer.println("sensor: " + sensor |
| 887 | + " active: " + record.enabled); |
Keun-young Park | 4afc6ee | 2016-03-04 18:18:19 -0800 | [diff] [blame] | 888 | writer.println(" " + record.lastEvent.toString()); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 889 | } |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 890 | Listeners listeners = mSensorListeners.get(sensor); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 891 | if (listeners != null) { |
| 892 | writer.println(" rate: " + listeners.getRate()); |
| 893 | } |
| 894 | } |
| 895 | } catch (ConcurrentModificationException e) { |
| 896 | writer.println("concurrent modification happened"); |
| 897 | } |
| 898 | } else { |
| 899 | writer.println("null records"); |
| 900 | } |
| 901 | writer.println("**clients**"); |
| 902 | try { |
| 903 | for (SensorClient client: mClients) { |
| 904 | if (client != null) { |
| 905 | try { |
| 906 | writer.println("binder:" + client.mListener |
| 907 | + " active sensors:" + Arrays.toString(client.getSensorArray())); |
| 908 | } catch (ConcurrentModificationException e) { |
| 909 | writer.println("concurrent modification happened"); |
| 910 | } |
| 911 | } else { |
| 912 | writer.println("null client"); |
| 913 | } |
| 914 | } |
| 915 | } catch (ConcurrentModificationException e) { |
| 916 | writer.println("concurrent modification happened"); |
| 917 | } |
| 918 | writer.println("**sensor listeners**"); |
| 919 | try { |
| 920 | int sensorListenerSize = mSensorListeners.size(); |
| 921 | for (int i = 0; i < sensorListenerSize; i++) { |
| 922 | int sensor = mSensorListeners.keyAt(i); |
Enrico Granata | 43f9280 | 2017-02-06 14:30:07 -0800 | [diff] [blame] | 923 | Listeners sensorListeners = mSensorListeners.get(sensor); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 924 | if (sensorListeners != null) { |
| 925 | writer.println(" Sensor:" + sensor |
| 926 | + " num client:" + sensorListeners.getNumberOfClients() |
| 927 | + " rate:" + sensorListeners.getRate()); |
| 928 | } |
| 929 | } |
| 930 | } catch (ConcurrentModificationException e) { |
| 931 | writer.println("concurrent modification happened"); |
| 932 | } |
Keun-young Park | 9ec0547 | 2016-04-26 21:18:18 -0700 | [diff] [blame] | 933 | writer.println("mUseDefaultDrivingPolicy:" + mUseDefaultDrivingPolicy + |
| 934 | ",mUseDefaultDayNightModePolicy" + mUseDefaultDayNightModePolicy); |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 935 | writer.println("**driving policy**"); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 936 | if (mUseDefaultDrivingPolicy) { |
| 937 | mDrivingStatePolicy.dump(writer); |
| 938 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 939 | writer.println("**day/night policy**"); |
keunyoung | cc449f7 | 2015-08-12 10:46:27 -0700 | [diff] [blame] | 940 | if (mUseDefaultDayNightModePolicy) { |
| 941 | mDayNightModePolicy.dump(writer); |
| 942 | } |
keunyoung | ca51507 | 2015-07-10 12:21:47 -0700 | [diff] [blame] | 943 | } |
| 944 | } |