Android sensor架构（二）SystemSensorManager以及JNI、sensorService(and5.1)

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    public SystemSensorManager(Context context, Looper mainLooper) {
        mMainLooper = mainLooper;//这边的mainLooper是应用主线程的looper
        mTargetSdkLevel = context.getApplicationInfo().targetSdkVersion;
        synchronized(sSensorModuleLock) {
            if (!sSensorModuleInitialized) {
                sSensorModuleInitialized = true;

                nativeClassInit();//native方法

                // initialize the sensor list
                final ArrayList<Sensor> fullList = sFullSensorsList;//sFullSensorsList是一个静态变量，保存所有的sensor
                int i = 0;
                do {
                    Sensor sensor = new Sensor();//新建一个sensor
                    i = nativeGetNextSensor(sensor, i);//传到JNI层，把sensor的信息补全
                    if (i>=0) {
                        //Log.d(TAG, "found sensor: " + sensor.getName() +
                        //        ", handle=" + sensor.getHandle());
                        fullList.add(sensor);
                        sHandleToSensor.append(sensor.getHandle(), sensor);
                    }
                } while (i>0);
            }
        }
    }

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static void
nativeClassInit (JNIEnv *_env, jclass _this)
{
    jclass sensorClass = _env->FindClass("android/hardware/Sensor");
    SensorOffsets& sensorOffsets = gSensorOffsets;
    sensorOffsets.name        = _env->GetFieldID(sensorClass, "mName",      "Ljava/lang/String;");
    sensorOffsets.vendor      = _env->GetFieldID(sensorClass, "mVendor",    "Ljava/lang/String;");
    sensorOffsets.version     = _env->GetFieldID(sensorClass, "mVersion",   "I");
    sensorOffsets.handle      = _env->GetFieldID(sensorClass, "mHandle",    "I");
    sensorOffsets.type        = _env->GetFieldID(sensorClass, "mType",      "I");
    sensorOffsets.range       = _env->GetFieldID(sensorClass, "mMaxRange",  "F");
    sensorOffsets.resolution  = _env->GetFieldID(sensorClass, "mResolution","F");
    sensorOffsets.power       = _env->GetFieldID(sensorClass, "mPower",     "F");
    sensorOffsets.minDelay    = _env->GetFieldID(sensorClass, "mMinDelay",  "I");
    sensorOffsets.fifoReservedEventCount =
            _env->GetFieldID(sensorClass, "mFifoReservedEventCount",  "I");
    sensorOffsets.fifoMaxEventCount = _env->GetFieldID(sensorClass, "mFifoMaxEventCount",  "I");
    sensorOffsets.stringType = _env->GetFieldID(sensorClass, "mStringType", "Ljava/lang/String;");
    sensorOffsets.requiredPermission = _env->GetFieldID(sensorClass, "mRequiredPermission",
                                                        "Ljava/lang/String;");
    sensorOffsets.maxDelay    = _env->GetFieldID(sensorClass, "mMaxDelay",  "I");
    sensorOffsets.flags = _env->GetFieldID(sensorClass, "mFlags",  "I");
}

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static jint
nativeGetNextSensor(JNIEnv *env, jclass clazz, jobject sensor, jint next)
{
    SensorManager& mgr(SensorManager::getInstance());

    Sensor const* const* sensorList;
    size_t count = mgr.getSensorList(&sensorList);//获取到sensor的列表
    if (size_t(next) >= count)
        return -1;

    Sensor const* const list = sensorList[next];
    const SensorOffsets& sensorOffsets(gSensorOffsets);
    jstring name = env->NewStringUTF(list->getName().string());
    jstring vendor = env->NewStringUTF(list->getVendor().string());
    jstring stringType = env->NewStringUTF(list->getStringType().string());
    jstring requiredPermission = env->NewStringUTF(list->getRequiredPermission().string());
    env->SetObjectField(sensor, sensorOffsets.name,      name);
    env->SetObjectField(sensor, sensorOffsets.vendor,    vendor);
    env->SetIntField(sensor, sensorOffsets.version,      list->getVersion());
    env->SetIntField(sensor, sensorOffsets.handle,       list->getHandle());
    env->SetIntField(sensor, sensorOffsets.type,         list->getType());
    env->SetFloatField(sensor, sensorOffsets.range,      list->getMaxValue());
    env->SetFloatField(sensor, sensorOffsets.resolution, list->getResolution());
    env->SetFloatField(sensor, sensorOffsets.power,      list->getPowerUsage());
    env->SetIntField(sensor, sensorOffsets.minDelay,     list->getMinDelay());
    env->SetIntField(sensor, sensorOffsets.fifoReservedEventCount,
                     list->getFifoReservedEventCount());
    env->SetIntField(sensor, sensorOffsets.fifoMaxEventCount,
                     list->getFifoMaxEventCount());
    env->SetObjectField(sensor, sensorOffsets.stringType, stringType);
    env->SetObjectField(sensor, sensorOffsets.requiredPermission,
                        requiredPermission);
    env->SetIntField(sensor, sensorOffsets.maxDelay, list->getMaxDelay());
    env->SetIntField(sensor, sensorOffsets.flags, list->getFlags());
    next++;
    return size_t(next) < count ? next : 0;
}

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ssize_t SensorManager::getSensorList(Sensor const* const** list) const
{
    Mutex::Autolock _l(mLock);
    status_t err = assertStateLocked();
    if (err < 0) {
        return ssize_t(err);
    }
    *list = mSensorList;
    return mSensors.size();
}

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status_t SensorManager::assertStateLocked() const {
    if (mSensorServer == NULL) {
        // try for one second
        const String16 name("sensorservice");
        for (int i=0 ; i<4 ; i++) {
            status_t err = getService(name, &mSensorServer);
            if (err == NAME_NOT_FOUND) {
                usleep(250000);
                continue;
            }
            if (err != NO_ERROR) {
                return err;
            }
            break;
        }

        class DeathObserver : public IBinder::DeathRecipient {
            SensorManager& mSensorManger;
            virtual void binderDied(const wp<IBinder>& who) {
                ALOGW("sensorservice died [%p]", who.unsafe_get());
                mSensorManger.sensorManagerDied();
            }
        public:
            DeathObserver(SensorManager& mgr) : mSensorManger(mgr) { }
        };

        mDeathObserver = new DeathObserver(*const_cast<SensorManager *>(this));
        mSensorServer->asBinder()->linkToDeath(mDeathObserver);

        mSensors = mSensorServer->getSensorList();//调用了SensorService的getSensorList方法
        size_t count = mSensors.size();
        mSensorList = (Sensor const**)malloc(count * sizeof(Sensor*));
        for (size_t i=0 ; i<count ; i++) {
            mSensorList[i] = mSensors.array() + i;
        }
    }

    return NO_ERROR;
}

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Vector<Sensor> SensorService::getSensorList()
{
    char value[PROPERTY_VALUE_MAX];
    property_get("debug.sensors", value, "0");
    const Vector<Sensor>& initialSensorList = (atoi(value)) ?
            mUserSensorListDebug : mUserSensorList;
    Vector<Sensor> accessibleSensorList;
    for (size_t i = 0; i < initialSensorList.size(); i++) {
        Sensor sensor = initialSensorList[i];
        if (canAccessSensor(sensor)) {
            accessibleSensorList.add(sensor);
        } else {
            String8 infoMessage;
            infoMessage.appendFormat(
                    "Skipped sensor %s because it requires permission %s",
                    sensor.getName().string(),
                    sensor.getRequiredPermission().string());
            ALOGI(infoMessage.string());
        }
    }
    return accessibleSensorList;
}

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void SensorService::onFirstRef() {

.......
 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);
}

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    /** @hide */
    @Override
    protected boolean registerListenerImpl(SensorEventListener listener, Sensor sensor,
            int delayUs, Handler handler, int maxBatchReportLatencyUs, int reservedFlags) {
        if (listener == null || sensor == null) {
            Log.e(TAG, "sensor or listener is null");
            return false;
        }
        // Trigger Sensors should use the requestTriggerSensor call.
        if (sensor.getReportingMode() == Sensor.REPORTING_MODE_ONE_SHOT) {
            Log.e(TAG, "Trigger Sensors should use the requestTriggerSensor.");
            return false;
        }
        if (maxBatchReportLatencyUs < 0 || delayUs < 0) {
            Log.e(TAG, "maxBatchReportLatencyUs and delayUs should be non-negative");
            return false;
        }

        // Invariants to preserve:
        // - one Looper per SensorEventListener
        // - one Looper per SensorEventQueue
        // We map SensorEventListener to a SensorEventQueue, which holds the looper
        synchronized (mSensorListeners) {
            SensorEventQueue queue = mSensorListeners.get(listener);
            if (queue == null) {
                Looper looper = (handler != null) ? handler.getLooper() : mMainLooper;
                queue = new SensorEventQueue(listener, looper, this);//新建SensorEventQueue
                if (!queue.addSensor(sensor, delayUs, maxBatchReportLatencyUs, reservedFlags)) {
                    queue.dispose();
                    return false;
                }
                mSensorListeners.put(listener, queue);
                return true;
            } else {
                return queue.addSensor(sensor, delayUs, maxBatchReportLatencyUs, reservedFlags);
            }
        }
    }

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    static final class SensorEventQueue extends BaseEventQueue {
        private final SensorEventListener mListener;
        private final SparseArray<SensorEvent> mSensorsEvents = new SparseArray<SensorEvent>();

        public SensorEventQueue(SensorEventListener listener, Looper looper,
                SystemSensorManager manager) {
            super(looper, manager);
            mListener = listener;
        }

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        BaseEventQueue(Looper looper, SystemSensorManager manager) {
            nSensorEventQueue = nativeInitBaseEventQueue(this, looper.getQueue(), mScratch);
            mCloseGuard.open("dispose");
            mManager = manager;
        }

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static jlong nativeInitSensorEventQueue(JNIEnv *env, jclass clazz, jobject eventQ, jobject msgQ, jfloatArray scratch) {
    SensorManager& mgr(SensorManager::getInstance());
    sp<SensorEventQueue> queue(mgr.createEventQueue());//在SensorManager中建一个SensorEventQueue

    sp<MessageQueue> messageQueue = android_os_MessageQueue_getMessageQueue(env, msgQ);
    if (messageQueue == NULL) {
        jniThrowRuntimeException(env, "MessageQueue is not initialized.");
        return 0;
    }

    sp<Receiver> receiver = new Receiver(queue, messageQueue, eventQ, scratch);//新建一个Receiver
    receiver->incStrong((void*)nativeInitSensorEventQueue);
    return jlong(receiver.get());
}

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    Receiver(const sp<SensorEventQueue>& sensorQueue,
            const sp<MessageQueue>& messageQueue,
            jobject receiverObject, jfloatArray scratch) {
        JNIEnv* env = AndroidRuntime::getJNIEnv();
        mSensorQueue = sensorQueue;
        mMessageQueue = messageQueue;
        mReceiverObject = env->NewGlobalRef(receiverObject);
        mScratch = (jfloatArray)env->NewGlobalRef(scratch);
    }

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    virtual void onFirstRef() {
        LooperCallback::onFirstRef();
        mMessageQueue->getLooper()->addFd(mSensorQueue->getFd(), 0,
                ALOOPER_EVENT_INPUT, this, mSensorQueue.get());
    }

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sp<SensorEventQueue> SensorManager::createEventQueue()
{
    sp<SensorEventQueue> queue;

    Mutex::Autolock _l(mLock);
    while (assertStateLocked() == NO_ERROR) {
        sp<ISensorEventConnection> connection =
                mSensorServer->createSensorEventConnection();//调用了SensorService的createSensorEventConnection
        if (connection == NULL) {
            // SensorService just died.
            ALOGE("createEventQueue: connection is NULL. SensorService died.");
            continue;
        }
        queue = new SensorEventQueue(connection);
        break;
    }
    return queue;
}

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SensorEventQueue::SensorEventQueue(const sp<ISensorEventConnection>& connection)
    : mSensorEventConnection(connection), mRecBuffer(NULL), mAvailable(0), mConsumed(0),
      mNumAcksToSend(0) {
    mRecBuffer = new ASensorEvent[MAX_RECEIVE_BUFFER_EVENT_COUNT];
}

SensorEventQueue::~SensorEventQueue() {
    delete [] mRecBuffer;
}

void SensorEventQueue::onFirstRef()
{
    mSensorChannel = mSensorEventConnection->getSensorChannel();
}

int SensorEventQueue::getFd() const
{
    return mSensorChannel->getFd();
}

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sp<ISensorEventConnection> SensorService::createSensorEventConnection()
{
    uid_t uid = IPCThreadState::self()->getCallingUid();
    sp<SensorEventConnection> result(new SensorEventConnection(this, uid));
    return result;
}

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SensorService::SensorEventConnection::SensorEventConnection(
        const sp<SensorService>& service, uid_t uid)
    : mService(service), mUid(uid), mWakeLockRefCount(0), mHasLooperCallbacks(false),
      mDead(false), mEventCache(NULL), mCacheSize(0), mMaxCacheSize(0) {
    mChannel = new BitTube(mService->mSocketBufferSize);
#if DEBUG_CONNECTIONS
    mEventsReceived = mEventsSentFromCache = mEventsSent = 0;
    mTotalAcksNeeded = mTotalAcksReceived = 0;
#endif
}

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BitTube::BitTube()
    : mSendFd(-1), mReceiveFd(-1)
{
    init(DEFAULT_SOCKET_BUFFER_SIZE, DEFAULT_SOCKET_BUFFER_SIZE);
}

BitTube::BitTube(size_t bufsize)
    : mSendFd(-1), mReceiveFd(-1)
{
    init(bufsize, bufsize);
}

BitTube::BitTube(const Parcel& data)
    : mSendFd(-1), mReceiveFd(-1)
{
    mReceiveFd = dup(data.readFileDescriptor());
    if (mReceiveFd < 0) {
        mReceiveFd = -errno;
        ALOGE("BitTube(Parcel): can't dup filedescriptor (%s)",
                strerror(-mReceiveFd));
    }
}

BitTube::~BitTube()
{
    if (mSendFd >= 0)
        close(mSendFd);

    if (mReceiveFd >= 0)
        close(mReceiveFd);
}

void BitTube::init(size_t rcvbuf, size_t sndbuf) {
    int sockets[2];
    if (socketpair(AF_UNIX, SOCK_SEQPACKET, 0, sockets) == 0) {
        size_t size = DEFAULT_SOCKET_BUFFER_SIZE;
        setsockopt(sockets[0], SOL_SOCKET, SO_RCVBUF, &rcvbuf, sizeof(rcvbuf));
        setsockopt(sockets[1], SOL_SOCKET, SO_SNDBUF, &sndbuf, sizeof(sndbuf));
        // sine we don't use the "return channel", we keep it small...
        setsockopt(sockets[0], SOL_SOCKET, SO_SNDBUF, &size, sizeof(size));
        setsockopt(sockets[1], SOL_SOCKET, SO_RCVBUF, &size, sizeof(size));
        fcntl(sockets[0], F_SETFL, O_NONBLOCK);
        fcntl(sockets[1], F_SETFL, O_NONBLOCK);
        mReceiveFd = sockets[0];
        mSendFd = sockets[1];
    } else {
        mReceiveFd = -errno;
        ALOGE("BitTube: pipe creation failed (%s)", strerror(-mReceiveFd));
    }
}

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int BitTube::getFd() const
{
    return mReceiveFd;
}

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sp<ISensorEventConnection> SensorService::createSensorEventConnection()
{
    uid_t uid = IPCThreadState::self()->getCallingUid();
    sp<SensorEventConnection> result(new SensorEventConnection(this, uid));
    return result;
}

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    virtual int handleEvent(int fd, int events, void* data) {
        JNIEnv* env = AndroidRuntime::getJNIEnv();
        sp<SensorEventQueue> q = reinterpret_cast<SensorEventQueue *>(data);
        ssize_t n;
        ASensorEvent buffer[16];
        while ((n = q->read(buffer, 16)) > 0) {
            for (int i=0 ; i<n ; i++) {
                if (buffer[i].type == SENSOR_TYPE_STEP_COUNTER) {
                    // step-counter returns a uint64, but the java API only deals with floats
                    float value = float(buffer[i].u64.step_counter);
                    env->SetFloatArrayRegion(mScratch, 0, 1, &value);
                } else {
                    env->SetFloatArrayRegion(mScratch, 0, 16, buffer[i].data);
                }

                if (buffer[i].type == SENSOR_TYPE_META_DATA) {
                    // This is a flush complete sensor event. Call dispatchFlushCompleteEvent
                    // method.
                    env->CallVoidMethod(mReceiverObject,
                                        gBaseEventQueueClassInfo.dispatchFlushCompleteEvent,
                                        buffer[i].meta_data.sensor);
                } else {
                    int8_t status;
                    switch (buffer[i].type) {
                    case SENSOR_TYPE_ORIENTATION:
                    case SENSOR_TYPE_MAGNETIC_FIELD:
                    case SENSOR_TYPE_ACCELEROMETER:
                    case SENSOR_TYPE_GYROSCOPE:
                        status = buffer[i].vector.status;
                        break;
                    case SENSOR_TYPE_HEART_RATE:
                        status = buffer[i].heart_rate.status;
                        break;
                    default:
                        status = SENSOR_STATUS_ACCURACY_HIGH;
                        break;
                    }
                    env->CallVoidMethod(mReceiverObject,
                                        gBaseEventQueueClassInfo.dispatchSensorEvent,
                                        buffer[i].sensor,
                                        mScratch,
                                        status,
                                        buffer[i].timestamp);
                }
                if (env->ExceptionCheck()) {
                    mSensorQueue->sendAck(buffer, n);
                    ALOGE("Exception dispatching input event.");
                    return 1;
                }
            }
            mSensorQueue->sendAck(buffer, n);//给SensorService返回信息
        }
        if (n<0 && n != -EAGAIN) {
            // FIXME: error receiving events, what to do in this case?
        }
        return 1;
    }

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        protected void dispatchSensorEvent(int handle, float[] values, int inAccuracy,
                long timestamp) {
            final Sensor sensor = sHandleToSensor.get(handle);
            SensorEvent t = null;
            synchronized (mSensorsEvents) {
                t = mSensorsEvents.get(handle);
            }

            if (t == null) {
                // This may happen if the client has unregistered and there are pending events in
                // the queue waiting to be delivered. Ignore.
                return;
            }
            // Copy from the values array.
            System.arraycopy(values, 0, t.values, 0, t.values.length);
            t.timestamp = timestamp;
            t.accuracy = inAccuracy;
            t.sensor = sensor;

            // call onAccuracyChanged() only if the value changes
            final int accuracy = mSensorAccuracies.get(handle);
            if ((t.accuracy >= 0) && (accuracy != t.accuracy)) {
                mSensorAccuracies.put(handle, t.accuracy);
                mListener.onAccuracyChanged(t.sensor, t.accuracy);
            }
            mListener.onSensorChanged(t);
        }

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        public void addSensorEvent(Sensor sensor) {
            SensorEvent t = new SensorEvent(Sensor.getMaxLengthValuesArray(sensor,
                    mManager.mTargetSdkLevel));
            synchronized (mSensorsEvents) {
                mSensorsEvents.put(sensor.getHandle(), t);
            }
        }

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        public boolean addSensor(
                Sensor sensor, int delayUs, int maxBatchReportLatencyUs, int reservedFlags) {
            // Check if already present.
            int handle = sensor.getHandle();
            if (mActiveSensors.get(handle)) return false;

            // Get ready to receive events before calling enable.
            mActiveSensors.put(handle, true);//加入ActiveSensor的列表中去
            addSensorEvent(sensor);//加入
            if (enableSensor(sensor, delayUs, maxBatchReportLatencyUs, reservedFlags) != 0) {//调用enableSensor
                // Try continuous mode if batching fails.
                if (maxBatchReportLatencyUs == 0 ||
                    maxBatchReportLatencyUs > 0 && enableSensor(sensor, delayUs, 0, 0) != 0) {
                  removeSensor(sensor, false);
                  return false;
                }
            }
            return true;
        }

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        private int enableSensor(
                Sensor sensor, int rateUs, int maxBatchReportLatencyUs, int reservedFlags) {
            if (nSensorEventQueue == 0) throw new NullPointerException();
            if (sensor == null) throw new NullPointerException();
            return nativeEnableSensor(nSensorEventQueue, sensor.getHandle(), rateUs,
                    maxBatchReportLatencyUs, reservedFlags);
        }

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static jint nativeEnableSensor(JNIEnv *env, jclass clazz, jlong eventQ, jint handle, jint rate_us,
                               jint maxBatchReportLatency, jint reservedFlags) {
    sp<Receiver> receiver(reinterpret_cast<Receiver *>(eventQ));
    return receiver->getSensorEventQueue()->enableSensor(handle, rate_us, maxBatchReportLatency,
                                                         reservedFlags);
}

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status_t SensorEventQueue::enableSensor(int32_t handle, int32_t samplingPeriodUs,
                                        int maxBatchReportLatencyUs, int reservedFlags) const {
    return mSensorEventConnection->enableDisable(handle, true, us2ns(samplingPeriodUs),
                                                 us2ns(maxBatchReportLatencyUs), reservedFlags);
}

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status_t SensorService::SensorEventConnection::enableDisable(
        int handle, bool enabled, nsecs_t samplingPeriodNs, nsecs_t maxBatchReportLatencyNs,
        int reservedFlags)
{
    status_t err;
    if (enabled) {
        err = mService->enable(this, handle, samplingPeriodNs, maxBatchReportLatencyNs,
                               reservedFlags);

    } else {
        err = mService->disable(this, handle);
    }
    return err;
}

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status_t SensorService::enable(const sp<SensorEventConnection>& connection,
        int handle, nsecs_t samplingPeriodNs,  nsecs_t maxBatchReportLatencyNs, int reservedFlags)
{
.......

    if (connection->addSensor(handle)) {
        BatteryService::enableSensor(connection->getUid(), handle);
        // the sensor was added (which means it wasn't already there)
        // so, see if this connection becomes active
        if (mActiveConnections.indexOf(connection) < 0) {
            mActiveConnections.add(connection);
        }
    }
.....
}

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        bool needsWakeLock = false;
        size_t numConnections = activeConnections.size();
        for (size_t i=0 ; i < numConnections; ++i) {
            if (activeConnections[i] != 0) {
                activeConnections[i]->sendEvents(mSensorEventBuffer, count, mSensorEventScratch,
                        mMapFlushEventsToConnections);