Android4.2 G-Sensor工作流程

 之前解决一个问题的时候，一直把整个 android sensor子系统的流程都搞清了，有想过写一篇文章，但今天看到这篇文章，我觉得写得大概还比较明了，于是就 借用了。

转自： http://blog.csdn.net/myarrow/article/details/9044689 

1. 简介

    在了解Sensor工作流程以前，一直以为其事件是通过Event Hub来进行输送的，可是研究完Android4.0代码之后，才发现自己错了。

    其主要框架如下图所示：

 

2.功能模块

2.1 SensorManager.java

与下层接口功能：
1) 在SensorManager函数中
   (1) 调用native sensors_module_init初始化sensor list，即实例化native中的SensorManager

   (2) 创建SensorThread线程

2) 在类SensorThread中
   (1) 调用native sensors_create_queue创建队列
   (2) 在线程中dead loop地调用native sensors_data_poll以从队列sQueue中获取事件(float[] values = new float[3];)
   (3) 收到事件之后，报告sensor event给所有注册且关心此事件的listener

 

与上层的接口功能：

1) 在onPause时取消listener注册

2) 在onResume时注册listener

3) 把收到的事件报告给注册的listener

2.2 android_hardware_SensorManager.cpp

      实现SensorManager.java中的native函数，它主要调用SenrsorManager.cpp和SensorEventQueue.cpp中的类来完成相关的工作。

2.3 SensorManager.cpp

class SensorManager :
    public ASensorManager,
    public Singleton<SensorManager>
{
public:
    SensorManager(); //调用assertStateLocked
    ~SensorManager();
    //调用assertStateLocked,并返回mSensorList
    ssize_t getSensorList(Sensor const* const** list) const;

    // 返回mSensorList中第一个类型与type一致的sensor
    Sensor const* getDefaultSensor(int type);

    // 调用mSensorServer->createSensorEventConnection创建一个连接(ISensorEventConnection)
    // 并用此连接做为参数创建一个SensorEventQueue对象并返回
    sp<SensorEventQueue> createEventQueue();

private:
    // DeathRecipient interface
    void sensorManagerDied();
    // 调用getService获取SensorService客户端并保存在mSensorServer中
    // 调用mSensorServer->getSensorList获取sensor列表，并保存在mSensors和mSensorList中
    status_t assertStateLocked() const;

private:
    mutable Mutex mLock;
    mutable sp<ISensorServer> mSensorServer; // SensorService客户端
    mutable Sensor const** mSensorList; // sensor列表
    mutable Vector<Sensor> mSensors;    // sensor列表
    mutable sp<IBinder::DeathRecipient> mDeathObserver;
}

class SensorManager :
    public ASensorManager,
    public Singleton<SensorManager>
{
public:
    SensorManager(); //调用assertStateLocked
    ~SensorManager();
    //调用assertStateLocked,并返回mSensorList
    ssize_t getSensorList(Sensor const* const** list) const;

    // 返回mSensorList中第一个类型与type一致的sensor	
    Sensor const* getDefaultSensor(int type);

    // 调用mSensorServer->createSensorEventConnection创建一个连接(ISensorEventConnection)
    // 并用此连接做为参数创建一个SensorEventQueue对象并返回
    sp<SensorEventQueue> createEventQueue();

private:
    // DeathRecipient interface
    void sensorManagerDied();
    // 调用getService获取SensorService客户端并保存在mSensorServer中
    // 调用mSensorServer->getSensorList获取sensor列表，并保存在mSensors和mSensorList中
    status_t assertStateLocked() const;

private:
    mutable Mutex mLock;
    mutable sp<ISensorServer> mSensorServer; // SensorService客户端
    mutable Sensor const** mSensorList; // sensor列表
    mutable Vector<Sensor> mSensors;    // sensor列表
    mutable sp<IBinder::DeathRecipient> mDeathObserver;
}

 

class ISensorEventConnection : public IInterface
{
public:
    DECLARE_META_INTERFACE(SensorEventConnection);

    virtual sp<SensorChannel> getSensorChannel() const = 0;
    virtual status_t enableDisable(int handle, bool enabled) = 0;
    virtual status_t setEventRate(int handle, nsecs_t ns) = 0;
};

class ISensorEventConnection : public IInterface
{
public:
    DECLARE_META_INTERFACE(SensorEventConnection);

    virtual sp<SensorChannel> getSensorChannel() const = 0;
    virtual status_t enableDisable(int handle, bool enabled) = 0;
    virtual status_t setEventRate(int handle, nsecs_t ns) = 0;
};

2.4 SensorService.cpp

       SensorService作为一个轻量级的system service，它运行于SystemServer内，即在system_init<system_init.cpp>调用SensorService::instantiate();

      SensorService主要功能如下：
          1) SensorService::instantiate创建实例对象，并增加到ServiceManager中，且创建并启动线程，并执行threadLoop
          2) threadLoop从sensor驱动获取原始数据，然后通过SensorEventConnection把事件发送给客户端
          3) BnSensorServer的成员函数负责让客户端获取sensor列表和创建SensorEventConnection

      SensorService与客户端的接口定义如下：

class ISensorServer : public IInterface
{
public:
    DECLARE_META_INTERFACE(SensorServer);

    virtual Vector<Sensor> getSensorList() = 0;
    virtual sp<ISensorEventConnection> createSensorEventConnection() = 0;
};

class ISensorServer : public IInterface
{
public:
    DECLARE_META_INTERFACE(SensorServer);

    virtual Vector<Sensor> getSensorList() = 0;
    virtual sp<ISensorEventConnection> createSensorEventConnection() = 0;
};

    SensorService定义如下：

class SensorService :
        public BinderService<SensorService>, //创建SensorService对象，并增加到ServiceManager中
        public BnSensorServer, // 申明了SensorService与客户端(SensorManager)间的binder接口
        protected Thread // 线程辅助类，调用run创建并启动线程，然后在线程主函数内回调threadLoop函数,
                         // 所以在使用它时，做一个派生，并根据需要重写threadLoop即可

{
   friend class BinderService<SensorService>;

   static const nsecs_t MINIMUM_EVENTS_PERIOD =   1000000; // 1000 Hz

            SensorService();
    virtual ~SensorService();

    /*
    在addService时，第一次构建sp强引用对象时，会调用onFirstRef函数
     实现功能如下：
     1) 获取SensorDevice实例
     2) 调用SensorDevice.getSensorList获取sensor_t列表
     3) 根据硬件sensor_t创建HardwareSensor,然后加入mSensorList(Sensor)
            和mSensorMap(HardwareSensor)中
     4) 根据硬件sensor_t创建对应的senosr(如GravitySensor),
            然后加入mVirtualSensorList和mSensorList中
     5) mUserSensorList = mSensorList;
     6) run("SensorService", PRIORITY_URGENT_DISPLAY);运行线程，并执行threadLoop
    */
    virtual void onFirstRef();

    // Thread interface
    /*
      1) 调用SensorDevice.poll获取sensors_event_t事件
      2) 获取已经激活的sensor列表mActiveVirtualSensors
      3) 对每一个事件，执行SensorFusion.process
      4) 对每一个事件，执行HardwareSensor.process(事件无变化,直接copy)
      5) 调用SensorService::SensorEventConnection::sendEvents，把事件发
             送给所有的listener
    */
    virtual bool threadLoop();

    // ISensorServer interface
    // 返回mUserSensorList
    virtual Vector<Sensor> getSensorList();

    // 实例化SensorEventConnection并返回
    virtual sp<ISensorEventConnection> createSensorEventConnection();

    virtual status_t dump(int fd, const Vector<String16>& args);

    //====================================================================
    //============== SensorEventConnection  start ========================
    class SensorEventConnection : public BnSensorEventConnection {

        virtual ~SensorEventConnection();
        virtual void onFirstRef();

    // 返回mChannel
        virtual sp<SensorChannel> getSensorChannel() const;

    // 调用SensorService::enable或SensorService::disable
        virtual status_t enableDisable(int handle, bool enabled);

        // 调用SensorService::setEventRate
        virtual status_t setEventRate(int handle, nsecs_t ns);

        sp<SensorService> const mService; // 保存当前SensorService实例
        sp<SensorChannel> const mChannel; // SensorChannel实例
        mutable Mutex mConnectionLock;

        // protected by SensorService::mLock
        SortedVector<int> mSensorInfo;

    public:
        /*
          1) 把当前service保存在mService中
          2) 创建SensorChannel实例，并保存在mChannel中
             (在SensorChannel::SensorChannel中创建pipe,并把收和发都设置非阻塞)
        */
        SensorEventConnection(const sp<SensorService>& service);

        // 调用连接中的mChannel->write (SensorChannel::write),把符合条件的事件写入pipe
        status_t sendEvents(sensors_event_t const* buffer, size_t count,
                sensors_event_t* scratch = NULL);

        bool hasSensor(int32_t handle) const; //检查handle是否在mSensorInfo中
        bool hasAnySensor() const;   //检查mSensorInfo中是否有sensor
        bool addSensor(int32_t handle); //把handle增加到mSensorInfo列表中
        bool removeSensor(int32_t handle); //把handle从mSensorInfo中删除
    };
    //============== SensorEventConnection  end ========================
    //====================================================================

    class SensorRecord {
        SortedVector< wp<SensorEventConnection> > mConnections;
    public:
        SensorRecord(const sp<SensorEventConnection>& connection);
        bool addConnection(const sp<SensorEventConnection>& connection);
        bool removeConnection(const wp<SensorEventConnection>& connection);
        size_t getNumConnections() const { return mConnections.size(); }
    };

    SortedVector< wp<SensorEventConnection> > getActiveConnections() const;
    DefaultKeyedVector<int, SensorInterface*> getActiveVirtualSensors() const;

    String8 getSensorName(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);

    // constants
    Vector<Sensor> mSensorList;  // Sensor列表
    Vector<Sensor> mUserSensorList; //与mSensorList一样
    DefaultKeyedVector<int, SensorInterface*> mSensorMap; //其成员为HardwareSensor
    Vector<SensorInterface *> mVirtualSensorList; //其成员为HardwareSensor
    status_t mInitCheck;

    // protected by mLock
    mutable Mutex mLock;
    DefaultKeyedVector<int, SensorRecord*> mActiveSensors; //成员为SensorRecord
    DefaultKeyedVector<int, SensorInterface*> mActiveVirtualSensors; //成员为HardwareSensor
    SortedVector< wp<SensorEventConnection> > mActiveConnections;

    // The size of this vector is constant, only the items are mutable
    KeyedVector<int32_t, sensors_event_t> mLastEventSeen;

public:
    static char const* getServiceName() { return "sensorservice"; }

    void cleanupConnection(SensorEventConnection* connection);

    /*
      1) 调用HardwareSensor::activate，即SensorDevice::activate
      2) 然后创建SensorRecord并增加到列表mActiveSensors
      3) 把此HardwareSensor增加到连接的mSensorInfo
      4) 把此连接增加到mActiveConnections中
    */
    status_t enable(const sp<SensorEventConnection>& connection, int handle);

    /*
       1) 把此sensor从连接的mSensorInfo中删除
       2) 把此连接从mActiveConnections中删除
       3) 调用HardwareSensor::activate，即SensorDevice::activate
    */
    status_t disable(const sp<SensorEventConnection>& connection, int handle);
    /*
       1)调用HardwareSensor::setDelay，即SensorDevice::setDelay
     */
    status_t setEventRate(const sp<SensorEventConnection>& connection, int handle, nsecs_t ns);
}

class SensorService :
        public BinderService<SensorService>, //创建SensorService对象，并增加到ServiceManager中
        public BnSensorServer, // 申明了SensorService与客户端(SensorManager)间的binder接口
        protected Thread // 线程辅助类，调用run创建并启动线程，然后在线程主函数内回调threadLoop函数,
                         // 所以在使用它时，做一个派生，并根据需要重写threadLoop即可
                    
{
   friend class BinderService<SensorService>;

   static const nsecs_t MINIMUM_EVENTS_PERIOD =   1000000; // 1000 Hz

            SensorService();
    virtual ~SensorService();
   
    /*
    在addService时，第一次构建sp强引用对象时，会调用onFirstRef函数
     实现功能如下：
     1) 获取SensorDevice实例
     2) 调用SensorDevice.getSensorList获取sensor_t列表
     3) 根据硬件sensor_t创建HardwareSensor,然后加入mSensorList(Sensor)
            和mSensorMap(HardwareSensor)中
     4) 根据硬件sensor_t创建对应的senosr(如GravitySensor),
            然后加入mVirtualSensorList和mSensorList中
     5) mUserSensorList = mSensorList;
     6) run("SensorService", PRIORITY_URGENT_DISPLAY);运行线程，并执行threadLoop
    */
    virtual void onFirstRef(); 

    // Thread interface
    /*
      1) 调用SensorDevice.poll获取sensors_event_t事件
      2) 获取已经激活的sensor列表mActiveVirtualSensors
      3) 对每一个事件，执行SensorFusion.process
      4) 对每一个事件，执行HardwareSensor.process(事件无变化,直接copy)
      5) 调用SensorService::SensorEventConnection::sendEvents，把事件发
             送给所有的listener
    */
    virtual bool threadLoop();

    // ISensorServer interface
    // 返回mUserSensorList
    virtual Vector<Sensor> getSensorList();
    
    // 实例化SensorEventConnection并返回
    virtual sp<ISensorEventConnection> createSensorEventConnection();

    virtual status_t dump(int fd, const Vector<String16>& args);

    //====================================================================
    //============== SensorEventConnection  start ========================
    class SensorEventConnection : public BnSensorEventConnection {

        virtual ~SensorEventConnection();
        virtual void onFirstRef();

	// 返回mChannel
        virtual sp<SensorChannel> getSensorChannel() const;

	// 调用SensorService::enable或SensorService::disable
        virtual status_t enableDisable(int handle, bool enabled);

        // 调用SensorService::setEventRate
        virtual status_t setEventRate(int handle, nsecs_t ns);

        sp<SensorService> const mService; // 保存当前SensorService实例
        sp<SensorChannel> const mChannel; // SensorChannel实例
        mutable Mutex mConnectionLock;

        // protected by SensorService::mLock
        SortedVector<int> mSensorInfo;

    public:
        /*
          1) 把当前service保存在mService中
          2) 创建SensorChannel实例，并保存在mChannel中
             (在SensorChannel::SensorChannel中创建pipe,并把收和发都设置非阻塞)
        */
        SensorEventConnection(const sp<SensorService>& service);

        // 调用连接中的mChannel->write (SensorChannel::write),把符合条件的事件写入pipe
        status_t sendEvents(sensors_event_t const* buffer, size_t count,
                sensors_event_t* scratch = NULL);

        bool hasSensor(int32_t handle) const; //检查handle是否在mSensorInfo中
        bool hasAnySensor() const;   //检查mSensorInfo中是否有sensor
        bool addSensor(int32_t handle); //把handle增加到mSensorInfo列表中
        bool removeSensor(int32_t handle); //把handle从mSensorInfo中删除
    };
    //============== SensorEventConnection  end ========================
    //====================================================================

    class SensorRecord {
        SortedVector< wp<SensorEventConnection> > mConnections;
    public:
        SensorRecord(const sp<SensorEventConnection>& connection);
        bool addConnection(const sp<SensorEventConnection>& connection);
        bool removeConnection(const wp<SensorEventConnection>& connection);
        size_t getNumConnections() const { return mConnections.size(); }
    };

    SortedVector< wp<SensorEventConnection> > getActiveConnections() const;
    DefaultKeyedVector<int, SensorInterface*> getActiveVirtualSensors() const;

    String8 getSensorName(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);

    // constants
    Vector<Sensor> mSensorList;  // Sensor列表
    Vector<Sensor> mUserSensorList; //与mSensorList一样
    DefaultKeyedVector<int, SensorInterface*> mSensorMap; //其成员为HardwareSensor
    Vector<SensorInterface *> mVirtualSensorList; //其成员为HardwareSensor
    status_t mInitCheck;

    // protected by mLock
    mutable Mutex mLock;
    DefaultKeyedVector<int, SensorRecord*> mActiveSensors; //成员为SensorRecord
    DefaultKeyedVector<int, SensorInterface*> mActiveVirtualSensors; //成员为HardwareSensor
    SortedVector< wp<SensorEventConnection> > mActiveConnections;

    // The size of this vector is constant, only the items are mutable
    KeyedVector<int32_t, sensors_event_t> mLastEventSeen;

public:
    static char const* getServiceName() { return "sensorservice"; }

    void cleanupConnection(SensorEventConnection* connection);

    /*
      1) 调用HardwareSensor::activate，即SensorDevice::activate
      2) 然后创建SensorRecord并增加到列表mActiveSensors
      3) 把此HardwareSensor增加到连接的mSensorInfo
      4) 把此连接增加到mActiveConnections中
    */
    status_t enable(const sp<SensorEventConnection>& connection, int handle);

    /*
       1) 把此sensor从连接的mSensorInfo中删除
       2) 把此连接从mActiveConnections中删除
       3) 调用HardwareSensor::activate，即SensorDevice::activate
    */
    status_t disable(const sp<SensorEventConnection>& connection, int handle);
    /*
       1)调用HardwareSensor::setDelay，即SensorDevice::setDelay
     */
    status_t setEventRate(const sp<SensorEventConnection>& connection, int handle, nsecs_t ns);
}

2.5 SensorDevice.cpp

      SensorDevice封装了对SensorHAL层代码的调用，主要包含以下功能：
         1) 获取sensor列表(getSensorList)
         2) 获取sensor事件(poll)
         3) Enable或Disable sensor (activate)
         4) 设置delay时间

 

class SensorDevice : public Singleton<SensorDevice> {

    friend class Singleton<SensorDevice>;

    struct sensors_poll_device_t* mSensorDevice; // sensor设备

    struct sensors_module_t* mSensorModule;

    mutable Mutex mLock; // protect mActivationCount[].rates
    // fixed-size array after construction
    struct Info {
        Info() : delay(0) { }
        KeyedVector<void*, nsecs_t> rates;
        nsecs_t delay;
        status_t setDelayForIdent(void* ident, int64_t ns);
        nsecs_t selectDelay();
    };
    DefaultKeyedVector<int, Info> mActivationCount;

    /*
      1) 调用hw_get_module(SENSORS_HARDWARE_MODULE_ID,..)获取sensors_module_t，
             并保存在mSensorModule中
      2) 调用mSensorModule->common->methods->open,以返回sensors_poll_device_t,
             并保存在mSensorDevice中
      3) 调用mSensorModule->get_sensors_list所有可访问的sensor_t
      4) 调用mSensorDevice->activate激活所有的sensor
    */
    SensorDevice();
public:
    // 调用mSensorModule->get_sensors_list实现
    ssize_t getSensorList(sensor_t const** list);

    status_t initCheck() const;

    // 调用mSensorDevice->poll实现
    ssize_t poll(sensors_event_t* buffer, size_t count);

    // 调用mSensorDevice->activate实现
    status_t activate(void* ident, int handle, int enabled);

    // 调用mSensorDevice->setDelay实现
    status_t setDelay(void* ident, int handle, int64_t ns);
    void dump(String8& result, char* buffer, size_t SIZE);
};

class SensorDevice : public Singleton<SensorDevice> {

    friend class Singleton<SensorDevice>;

    struct sensors_poll_device_t* mSensorDevice; // sensor设备

    struct sensors_module_t* mSensorModule;

    mutable Mutex mLock; // protect mActivationCount[].rates
    // fixed-size array after construction
    struct Info {
        Info() : delay(0) { }
        KeyedVector<void*, nsecs_t> rates;
        nsecs_t delay;
        status_t setDelayForIdent(void* ident, int64_t ns);
        nsecs_t selectDelay();
    };
    DefaultKeyedVector<int, Info> mActivationCount;

    /*
      1) 调用hw_get_module(SENSORS_HARDWARE_MODULE_ID,..)获取sensors_module_t，
             并保存在mSensorModule中
      2) 调用mSensorModule->common->methods->open,以返回sensors_poll_device_t,
             并保存在mSensorDevice中
      3) 调用mSensorModule->get_sensors_list所有可访问的sensor_t
      4) 调用mSensorDevice->activate激活所有的sensor
    */
    SensorDevice();
public:
    // 调用mSensorModule->get_sensors_list实现
    ssize_t getSensorList(sensor_t const** list);

    status_t initCheck() const;

    // 调用mSensorDevice->poll实现
    ssize_t poll(sensors_event_t* buffer, size_t count);

    // 调用mSensorDevice->activate实现
    status_t activate(void* ident, int handle, int enabled);
    
    // 调用mSensorDevice->setDelay实现
    status_t setDelay(void* ident, int handle, int64_t ns);
    void dump(String8& result, char* buffer, size_t SIZE);
};

2.6 Sensor HAL

定义：/hardware/libhardware/include/hardware/sensors.h

实现：/hardware/mychip/sensor/st/sensors.c

2.6.1 struct sensors_poll_device_t 定义     

struct sensors_poll_device_t {
    struct hw_device_t common;

    // Activate/deactivate one sensor.
    int (*activate)(struct sensors_poll_device_t *dev,
            int handle, int enabled);

    // Set the delay between sensor events in nanoseconds for a given sensor.
    int (*setDelay)(struct sensors_poll_device_t *dev,
            int handle, int64_t ns);

    // Returns an array of sensor data.
    int (*poll)(struct sensors_poll_device_t *dev,
            sensors_event_t* data, int count);
};

struct sensors_poll_device_t {
    struct hw_device_t common;

    // Activate/deactivate one sensor.
    int (*activate)(struct sensors_poll_device_t *dev,
            int handle, int enabled);

    // Set the delay between sensor events in nanoseconds for a given sensor.
    int (*setDelay)(struct sensors_poll_device_t *dev,
            int handle, int64_t ns);

    // Returns an array of sensor data.
    int (*poll)(struct sensors_poll_device_t *dev,
            sensors_event_t* data, int count);
};

2.6.2 struct sensors_module_t  定义

struct sensors_module_t {
    struct hw_module_t common;

    /**
     * Enumerate all available sensors. The list is returned in "list".
     * @return number of sensors in the list
     */
    int (*get_sensors_list)(struct sensors_module_t* module,
            struct sensor_t const** list);
};

struct sensors_module_t {
    struct hw_module_t common;

    /**
     * Enumerate all available sensors. The list is returned in "list".
     * @return number of sensors in the list
     */
    int (*get_sensors_list)(struct sensors_module_t* module,
            struct sensor_t const** list);
};

2.6.3  struct sensor_t 定义

struct sensor_t {
    /* name of this sensors */
    const char*     name;
    /* vendor of the hardware part */
    const char*     vendor;
    /* version of the hardware part + driver. The value of this field
     * must increase when the driver is updated in a way that changes the
     * output of this sensor. This is important for fused sensors when the
     * fusion algorithm is updated.
     */
    int             version;
    /* handle that identifies this sensors. This handle is used to activate
     * and deactivate this sensor. The value of the handle must be 8 bits
     * in this version of the API.
     */
    int             handle;
    /* this sensor's type. */
    int             type;
    /* maximaum range of this sensor's value in SI units */
    float           maxRange;
    /* smallest difference between two values reported by this sensor */
    float           resolution;
    /* rough estimate of this sensor's power consumption in mA */
    float           power;
    /* minimum delay allowed between events in microseconds. A value of zero
     * means that this sensor doesn't report events at a constant rate, but
     * rather only when a new data is available */
    int32_t         minDelay;
    /* reserved fields, must be zero */
    void*           reserved[8];
};

struct sensor_t {
    /* name of this sensors */
    const char*     name;
    /* vendor of the hardware part */
    const char*     vendor;
    /* version of the hardware part + driver. The value of this field
     * must increase when the driver is updated in a way that changes the
     * output of this sensor. This is important for fused sensors when the
     * fusion algorithm is updated.
     */    
    int             version;
    /* handle that identifies this sensors. This handle is used to activate
     * and deactivate this sensor. The value of the handle must be 8 bits
     * in this version of the API. 
     */
    int             handle;
    /* this sensor's type. */
    int             type;
    /* maximaum range of this sensor's value in SI units */
    float           maxRange;
    /* smallest difference between two values reported by this sensor */
    float           resolution;
    /* rough estimate of this sensor's power consumption in mA */
    float           power;
    /* minimum delay allowed between events in microseconds. A value of zero
     * means that this sensor doesn't report events at a constant rate, but
     * rather only when a new data is available */
    int32_t         minDelay;
    /* reserved fields, must be zero */
    void*           reserved[8];
};

2.6.4 struct sensors_event_t 定义

typedef struct {
    union {
        float v[3];
        struct {
            float x;
            float y;
            float z;
        };
        struct {
            float azimuth;
            float pitch;
            float roll;
        };
    };
    int8_t status;
    uint8_t reserved[3];
} sensors_vec_t;

/**
 * Union of the various types of sensor data
 * that can be returned.
 */
typedef struct sensors_event_t {
    /* must be sizeof(struct sensors_event_t) */
    int32_t version;

    /* sensor identifier */
    int32_t sensor;

    /* sensor type */
    int32_t type;

    /* reserved */
    int32_t reserved0;

    /* time is in nanosecond */
    int64_t timestamp;

    union {
        float           data[16];

        /* acceleration values are in meter per second per second (m/s^2) */
        sensors_vec_t   acceleration;

        /* magnetic vector values are in micro-Tesla (uT) */
        sensors_vec_t   magnetic;

        /* orientation values are in degrees */
        sensors_vec_t   orientation;

        /* gyroscope values are in rad/s */
        sensors_vec_t   gyro;

        /* temperature is in degrees centigrade (Celsius) */
        float           temperature;

        /* distance in centimeters */
        float           distance;

        /* light in SI lux units */
        float           light;

        /* pressure in hectopascal (hPa) */
        float           pressure;

        /* relative humidity in percent */
        float           relative_humidity;
    };
    uint32_t        reserved1[4];
} sensors_event_t;

typedef struct {
    union {
        float v[3];
        struct {
            float x;
            float y;
            float z;
        };
        struct {
            float azimuth;
            float pitch;
            float roll;
        };
    };
    int8_t status;
    uint8_t reserved[3];
} sensors_vec_t;

/**
 * Union of the various types of sensor data
 * that can be returned.
 */
typedef struct sensors_event_t {
    /* must be sizeof(struct sensors_event_t) */
    int32_t version;

    /* sensor identifier */
    int32_t sensor;

    /* sensor type */
    int32_t type;

    /* reserved */
    int32_t reserved0;

    /* time is in nanosecond */
    int64_t timestamp;

    union {
        float           data[16];

        /* acceleration values are in meter per second per second (m/s^2) */
        sensors_vec_t   acceleration;

        /* magnetic vector values are in micro-Tesla (uT) */
        sensors_vec_t   magnetic;

        /* orientation values are in degrees */
        sensors_vec_t   orientation;

        /* gyroscope values are in rad/s */
        sensors_vec_t   gyro;

        /* temperature is in degrees centigrade (Celsius) */
        float           temperature;

        /* distance in centimeters */
        float           distance;

        /* light in SI lux units */
        float           light;

        /* pressure in hectopascal (hPa) */
        float           pressure;

        /* relative humidity in percent */
        float           relative_humidity;
    };
    uint32_t        reserved1[4];
} sensors_event_t;

2.6.5 struct sensors_module_t 实现

#include <hardware/sensors.h>
#include "nusensors.h"

/*
 * the AK8973 has a 8-bit ADC but the firmware seems to average 16 samples,
 * or at least makes its calibration on 12-bits values. This increases the
 * resolution by 4 bits.
 */
static const struct sensor_t sSensorList[] = {
        { "MMA8452Q 3-axis Accelerometer",
                "Freescale Semiconductor",
                1, SENSORS_HANDLE_BASE+ID_A,
                SENSOR_TYPE_ACCELEROMETER, 4.0f*9.81f, (4.0f*9.81f)/256.0f, 0.2f, 0, { } },
        { "AK8975 3-axis Magnetic field sensor",
                "Asahi Kasei",
                1, SENSORS_HANDLE_BASE+ID_M,
                SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, 1.0f/16.0f, 6.8f, 0, { } },
        { "AK8975 Orientation sensor",
                "Asahi Kasei",
                1, SENSORS_HANDLE_BASE+ID_O,
                SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 7.0f, 0, { } },

    { "ST 3-axis Gyroscope sensor",
          "STMicroelectronics",
          1, SENSORS_HANDLE_BASE+ID_GY,
          SENSOR_TYPE_GYROSCOPE, RANGE_GYRO, CONVERT_GYRO, 6.1f, 1190, { } },

    { "AL3006Proximity sensor",
        "Dyna Image Corporation",
        1, SENSORS_HANDLE_BASE+ID_P,
        SENSOR_TYPE_PROXIMITY,
        PROXIMITY_THRESHOLD_CM, PROXIMITY_THRESHOLD_CM,
        0.5f, 0, { } },

        { "AL3006 light sensor",
                "Dyna Image Corporation",
                1, SENSORS_HANDLE_BASE+ID_L,
                SENSOR_TYPE_LIGHT, 10240.0f, 1.0f, 0.5f, 0, { } },

};

static int open_sensors(const struct hw_module_t* module, const char* name,
        struct hw_device_t** device);

static int sensors__get_sensors_list(struct sensors_module_t* module,
        struct sensor_t const** list)
{
    *list = sSensorList;
    return ARRAY_SIZE(sSensorList);
}

static struct hw_module_methods_t sensors_module_methods = {
    .open = open_sensors
};

const 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 = "MMA8451Q & AK8973A & gyro Sensors Module",
        .author = "The Android Project",
        .methods = &sensors_module_methods,
    },
    .get_sensors_list = sensors__get_sensors_list
};

static int open_sensors(const struct hw_module_t* module, const char* name,
        struct hw_device_t** device)
{
    return init_nusensors(module, device); //待后面讲解
}

#include <hardware/sensors.h>
#include "nusensors.h"

/*
 * the AK8973 has a 8-bit ADC but the firmware seems to average 16 samples,
 * or at least makes its calibration on 12-bits values. This increases the
 * resolution by 4 bits.
 */
static const struct sensor_t sSensorList[] = {
        { "MMA8452Q 3-axis Accelerometer",    
            	"Freescale Semiconductor",
                1, SENSORS_HANDLE_BASE+ID_A,
                SENSOR_TYPE_ACCELEROMETER, 4.0f*9.81f, (4.0f*9.81f)/256.0f, 0.2f, 0, { } },
        { "AK8975 3-axis Magnetic field sensor",
                "Asahi Kasei",
                1, SENSORS_HANDLE_BASE+ID_M,
                SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, 1.0f/16.0f, 6.8f, 0, { } },
        { "AK8975 Orientation sensor",
                "Asahi Kasei",
                1, SENSORS_HANDLE_BASE+ID_O,
                SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 7.0f, 0, { } }, 

	{ "ST 3-axis Gyroscope sensor",
          "STMicroelectronics",
          1, SENSORS_HANDLE_BASE+ID_GY,
          SENSOR_TYPE_GYROSCOPE, RANGE_GYRO, CONVERT_GYRO, 6.1f, 1190, { } },
			
	{ "AL3006Proximity sensor",
		"Dyna Image Corporation",
		1, SENSORS_HANDLE_BASE+ID_P,
		SENSOR_TYPE_PROXIMITY,
		PROXIMITY_THRESHOLD_CM, PROXIMITY_THRESHOLD_CM,
		0.5f, 0, { } },
		
        { "AL3006 light sensor",
                "Dyna Image Corporation",
                1, SENSORS_HANDLE_BASE+ID_L,
                SENSOR_TYPE_LIGHT, 10240.0f, 1.0f, 0.5f, 0, { } },

};

static int open_sensors(const struct hw_module_t* module, const char* name,
        struct hw_device_t** device);

static int sensors__get_sensors_list(struct sensors_module_t* module,
        struct sensor_t const** list)
{
    *list = sSensorList;
    return ARRAY_SIZE(sSensorList);
}

static struct hw_module_methods_t sensors_module_methods = {
    .open = open_sensors
};

const 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 = "MMA8451Q & AK8973A & gyro Sensors Module",
        .author = "The Android Project",
        .methods = &sensors_module_methods,
    },
    .get_sensors_list = sensors__get_sensors_list
};

static int open_sensors(const struct hw_module_t* module, const char* name,
        struct hw_device_t** device)
{
    return init_nusensors(module, device); //待后面讲解
}

2.6.6 struct sensors_poll_device_t 实现

    实现代码位于：/hardware/mychip/sensor/st/nusensors.cpp

    从上面的代码中可以看出，当调用init_nusensors时，它将返回sensors_poll_device_t，然后就可以调用sensors_poll_device_t 的以下方法进行相关操作：

      1) activate 
      2) setDelay
      3) poll

6.1) struct sensors_poll_context_t 定义 

struct sensors_poll_context_t {
    struct sensors_poll_device_t device; // must be first

        sensors_poll_context_t();
        ~sensors_poll_context_t();
    int activate(int handle, int enabled);
    int setDelay(int handle, int64_t ns);
    int pollEvents(sensors_event_t* data, int count);

private:
    enum {
        light           = 0,
        proximity       = 1,
        mma             = 2,
        akm             = 3,
        gyro            = 4,
        numSensorDrivers,
        numFds,
    };

    static const size_t wake = numFds - 1;
    static const char WAKE_MESSAGE = 'W';
    struct pollfd mPollFds[numFds];
    int mWritePipeFd;
    SensorBase* mSensors[numSensorDrivers];

    int handleToDriver(int handle) const {
        switch (handle) {
            case ID_A:
                return mma;
            case ID_M:
            case ID_O:
                return akm;
            case ID_P:
                return proximity;
            case ID_L:
                return light;
            case ID_GY:
                return gyro;
        }
        return -EINVAL;
    }
}

struct sensors_poll_context_t {
    struct sensors_poll_device_t device; // must be first

        sensors_poll_context_t();
        ~sensors_poll_context_t();
    int activate(int handle, int enabled);
    int setDelay(int handle, int64_t ns);
    int pollEvents(sensors_event_t* data, int count);

private:
    enum {		
        light           = 0,
        proximity       = 1,
        mma             = 2,
        akm             = 3,
        gyro            = 4,
        numSensorDrivers,
        numFds,
    };

    static const size_t wake = numFds - 1;
    static const char WAKE_MESSAGE = 'W';
    struct pollfd mPollFds[numFds];
    int mWritePipeFd;
    SensorBase* mSensors[numSensorDrivers];

    int handleToDriver(int handle) const {
        switch (handle) {
            case ID_A:
                return mma;
            case ID_M:
			case ID_O:
                return akm;	
            case ID_P:
                return proximity;
            case ID_L:
                return light;	
			case ID_GY:
				return gyro;
        }
        return -EINVAL;
    }
}

6.2) init_nusensors 实现

int init_nusensors(hw_module_t const* module, hw_device_t** device)
{
    int status = -EINVAL;

    sensors_poll_context_t *dev = new sensors_poll_context_t();
    memset(&dev->device, 0, sizeof(sensors_poll_device_t));

    dev->device.common.tag = HARDWARE_DEVICE_TAG;
    dev->device.common.version  = 0;
    dev->device.common.module   = const_cast<hw_module_t*>(module);
    dev->device.common.close    = poll__close;
    dev->device.activate        = poll__activate;
    dev->device.setDelay        = poll__setDelay;
    dev->device.poll            = poll__poll;

    *device = &dev->device.common;
    status = 0;
    return status;
}

int init_nusensors(hw_module_t const* module, hw_device_t** device)
{
    int status = -EINVAL;

    sensors_poll_context_t *dev = new sensors_poll_context_t();
    memset(&dev->device, 0, sizeof(sensors_poll_device_t));

    dev->device.common.tag = HARDWARE_DEVICE_TAG;
    dev->device.common.version  = 0;
    dev->device.common.module   = const_cast<hw_module_t*>(module);
    dev->device.common.close    = poll__close;
    dev->device.activate        = poll__activate;
    dev->device.setDelay        = poll__setDelay;
    dev->device.poll            = poll__poll;

    *device = &dev->device.common;
    status = 0;
    return status;
}

     由以上代码可见，sensors_poll_device_t的activate、setDelay和poll的实现函数分别为：

        (1)  poll__activate

        (2)   poll__setDelay

        (3)   poll__poll

     下面讲解以上三个关键函数的实现

6.3) struct sensors_poll_context_t 的实现

sensors_poll_context_t::sensors_poll_context_t()
{
    mSensors[light] = new LightSensor();
    mPollFds[light].fd = mSensors[light]->getFd();
    mPollFds[light].events = POLLIN;
    mPollFds[light].revents = 0;

    mSensors[proximity] = new ProximitySensor();
    mPollFds[proximity].fd = mSensors[proximity]->getFd();
    mPollFds[proximity].events = POLLIN;
    mPollFds[proximity].revents = 0;


    mSensors[mma] = new MmaSensor();  //下面MmmaSensor为例进行分析
    mPollFds[mma].fd = mSensors[mma]->getFd();
    mPollFds[mma].events = POLLIN;
    mPollFds[mma].revents = 0;

    mSensors[akm] = new AkmSensor();
    mPollFds[akm].fd = mSensors[akm]->getFd();
    mPollFds[akm].events = POLLIN;
    mPollFds[akm].revents = 0;

    mSensors[gyro] = new GyroSensor();
    mPollFds[gyro].fd = mSensors[gyro]->getFd();
    mPollFds[gyro].events = POLLIN;
    mPollFds[gyro].revents = 0;

    int wakeFds[2];
    int result = pipe(wakeFds);
    LOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
    fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
    fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
    mWritePipeFd = wakeFds[1];

    mPollFds[wake].fd = wakeFds[0];
    mPollFds[wake].events = POLLIN;
    mPollFds[wake].revents = 0;
}

sensors_poll_context_t::~sensors_poll_context_t() {
    for (int i=0 ; i<numSensorDrivers ; i++) {
        delete mSensors[i];
    }
    close(mPollFds[wake].fd);
    close(mWritePipeFd);
}

int sensors_poll_context_t::activate(int handle, int enabled) {
    int index = handleToDriver(handle);
    if (index < 0) return index;
    int err =  mSensors[index]->enable(handle, enabled);
    if (enabled && !err) {
        const char wakeMessage(WAKE_MESSAGE);
        int result = write(mWritePipeFd, &wakeMessage, 1);
        LOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
    }
    return err;
}

int sensors_poll_context_t::setDelay(int handle, int64_t ns) {

    int index = handleToDriver(handle);
    if (index < 0) return index;
    return mSensors[index]->setDelay(handle, ns);
}

int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
{
    int nbEvents = 0;
    int n = 0;

    do {
        // see if we have some leftover from the last poll()
        for (int i=0 ; count && i<numSensorDrivers ; i++) {
            SensorBase* const sensor(mSensors[i]);
            if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
                int nb = sensor->readEvents(data, count);    // num of evens received.
                D("nb = %d.", nb);
                if (nb < count) {
                    // no more data for this sensor
                    mPollFds[i].revents = 0;
                }
                count -= nb;
                nbEvents += nb;
                data += nb;
            }
        }

        if (count) {
            // we still have some room, so try to see if we can get
            // some events immediately or just wait if we don't have
            // anything to return
            n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
            if (n<0) {
                LOGE("poll() failed (%s)", strerror(errno));
                return -errno;
            }
            if (mPollFds[wake].revents & POLLIN) {
                char msg;
                int result = read(mPollFds[wake].fd, &msg, 1);
                LOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
                LOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
                mPollFds[wake].revents = 0;
            }
        }
        // if we have events and space, go read them
    } while (n && count);

    return nbEvents;
}

/*****************************************************************************/

static int poll__close(struct hw_device_t *dev)
{
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    if (ctx) {
        delete ctx;
    }
    return 0;
}

static int poll__activate(struct sensors_poll_device_t *dev,
        int handle, int enabled) {
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    return ctx->activate(handle, enabled);
}

static int poll__setDelay(struct sensors_poll_device_t *dev,
        int handle, int64_t ns) {
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    return ctx->setDelay(handle, ns);
}

static int poll__poll(struct sensors_poll_device_t *dev,
        sensors_event_t* data, int count) {
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    return ctx->pollEvents(data, count);
}

sensors_poll_context_t::sensors_poll_context_t()
{	
    mSensors[light] = new LightSensor();
    mPollFds[light].fd = mSensors[light]->getFd();
    mPollFds[light].events = POLLIN;
    mPollFds[light].revents = 0;

    mSensors[proximity] = new ProximitySensor();
    mPollFds[proximity].fd = mSensors[proximity]->getFd();
    mPollFds[proximity].events = POLLIN;
    mPollFds[proximity].revents = 0;
	

    mSensors[mma] = new MmaSensor();  //下面MmmaSensor为例进行分析
    mPollFds[mma].fd = mSensors[mma]->getFd();
    mPollFds[mma].events = POLLIN;
    mPollFds[mma].revents = 0;

    mSensors[akm] = new AkmSensor();
    mPollFds[akm].fd = mSensors[akm]->getFd();
    mPollFds[akm].events = POLLIN;
    mPollFds[akm].revents = 0;

	mSensors[gyro] = new GyroSensor();
    mPollFds[gyro].fd = mSensors[gyro]->getFd();
    mPollFds[gyro].events = POLLIN;
    mPollFds[gyro].revents = 0;

    int wakeFds[2];
    int result = pipe(wakeFds);
    LOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
    fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
    fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
    mWritePipeFd = wakeFds[1];

    mPollFds[wake].fd = wakeFds[0];
    mPollFds[wake].events = POLLIN;
    mPollFds[wake].revents = 0;
}

sensors_poll_context_t::~sensors_poll_context_t() {
    for (int i=0 ; i<numSensorDrivers ; i++) {
        delete mSensors[i];
    }
    close(mPollFds[wake].fd);
    close(mWritePipeFd);
}

int sensors_poll_context_t::activate(int handle, int enabled) {
    int index = handleToDriver(handle);
    if (index < 0) return index;
    int err =  mSensors[index]->enable(handle, enabled);
    if (enabled && !err) {
        const char wakeMessage(WAKE_MESSAGE);
        int result = write(mWritePipeFd, &wakeMessage, 1);
        LOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
    }
    return err;
}

int sensors_poll_context_t::setDelay(int handle, int64_t ns) {

    int index = handleToDriver(handle);
    if (index < 0) return index;
    return mSensors[index]->setDelay(handle, ns);
}

int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
{
    int nbEvents = 0;
    int n = 0;

    do {
        // see if we have some leftover from the last poll()
        for (int i=0 ; count && i<numSensorDrivers ; i++) {
            SensorBase* const sensor(mSensors[i]);
            if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
                int nb = sensor->readEvents(data, count);	// num of evens received.
				D("nb = %d.", nb);
                if (nb < count) {
                    // no more data for this sensor
                    mPollFds[i].revents = 0;
                }
                count -= nb;
                nbEvents += nb;
                data += nb;
            }
        }

        if (count) {
            // we still have some room, so try to see if we can get
            // some events immediately or just wait if we don't have
            // anything to return
            n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
            if (n<0) {
                LOGE("poll() failed (%s)", strerror(errno));
                return -errno;
            }
            if (mPollFds[wake].revents & POLLIN) {
                char msg;
                int result = read(mPollFds[wake].fd, &msg, 1);
                LOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
                LOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
                mPollFds[wake].revents = 0;
            }
        }
        // if we have events and space, go read them
    } while (n && count);

    return nbEvents;
}

/*****************************************************************************/

static int poll__close(struct hw_device_t *dev)
{
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    if (ctx) {
        delete ctx;
    }
    return 0;
}

static int poll__activate(struct sensors_poll_device_t *dev,
        int handle, int enabled) {
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    return ctx->activate(handle, enabled);
}

static int poll__setDelay(struct sensors_poll_device_t *dev,
        int handle, int64_t ns) {
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    return ctx->setDelay(handle, ns);
}

static int poll__poll(struct sensors_poll_device_t *dev,
        sensors_event_t* data, int count) {
    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    return ctx->pollEvents(data, count);
}

下面MmaSensor为例进行分析。

2.7 MmaSensor.cpp

1)  SensorBase的实现(SensorBase.cpp)

class SensorBase {
protected:
    const char* dev_name; // "/dev/mma8452_daemon"
    const char* data_name; // "gsensor"
    int         dev_fd; // 打开设备"/dev/mma8452_daemon"的fd

    // 打开事件"/dev/input/eventx"的fd,其驱动的名字为"gsensor"
    int         data_fd;

    // 打开与"gsensor"对应的事件"/dev/input/eventx"
    static int openInput(const char* inputName);

    //通过clock_gettime获取当前时间
    static int64_t getTimestamp();


    static int64_t timevalToNano(timeval const& t) {
        return t.tv_sec*1000000000LL + t.tv_usec*1000;
    }

    int open_device(); //打开设备"dev/mma8452_daemon"
    int close_device(); //关闭设备"dev/mma8452_daemon"

public:
    // 调用openInput
            SensorBase(
                    const char* dev_name,
                    const char* data_name);

    virtual ~SensorBase();

    virtual int readEvents(sensors_event_t* data, int count) = 0;
    virtual bool hasPendingEvents() const;
    virtual int getFd() const;  //返回data_fd
    virtual int setDelay(int32_t handle, int64_t ns);
    virtual int enable(int32_t handle, int enabled) = 0;
};

class SensorBase {
protected:
    const char* dev_name; // "/dev/mma8452_daemon"
    const char* data_name; // "gsensor"
    int         dev_fd; // 打开设备"/dev/mma8452_daemon"的fd
    
    // 打开事件"/dev/input/eventx"的fd,其驱动的名字为"gsensor"
    int         data_fd; 
    
    // 打开与"gsensor"对应的事件"/dev/input/eventx"
    static int openInput(const char* inputName); 

    //通过clock_gettime获取当前时间
    static int64_t getTimestamp(); 


    static int64_t timevalToNano(timeval const& t) {
        return t.tv_sec*1000000000LL + t.tv_usec*1000;
    }

    int open_device(); //打开设备"dev/mma8452_daemon"
    int close_device(); //关闭设备"dev/mma8452_daemon"

public:
    // 调用openInput
            SensorBase(
                    const char* dev_name,
                    const char* data_name);

    virtual ~SensorBase();

    virtual int readEvents(sensors_event_t* data, int count) = 0;
    virtual bool hasPendingEvents() const;
    virtual int getFd() const;  //返回data_fd
    virtual int setDelay(int32_t handle, int64_t ns);
    virtual int enable(int32_t handle, int enabled) = 0;
};

2) MmaSensor的实现

class MmaSensor : public SensorBase {
public:
    /*
      1) 设置dev_name为 "/dev/mma8452_daemon"
      2) 设置data_name为 "gsensor"
      3) open设备 "/dev/mma8452_daemon"
    */
            MmaSensor();
    virtual ~MmaSensor();

    enum {
        Accelerometer   = 0,
        numSensors
    };

    // 调用ioctl(MMA_IOCTL_APP_SET_RATE)
    virtual int setDelay(int32_t handle, int64_t ns);

    /*
      1) Activate: ioctl(MMA_IOCTL_START)
      2) Deactivate: ioctl(MMA_IOCTL_CLOSE)
    */
    virtual int enable(int32_t handle, int enabled);

    /*
      1) 从data_fd read input_event
      2) 调用processEvent对事件进行处理
      3) 把事件通过data返回
    */
    virtual int readEvents(sensors_event_t* data, int count);

    void processEvent(int code, int value);

private:
    int update_delay();
    uint32_t mEnabled;
    uint32_t mPendingMask;
    InputEventCircularReader mInputReader;
    sensors_event_t mPendingEvents[numSensors];
    uint64_t mDelays[numSensors];
};

class MmaSensor : public SensorBase {
public:
    /*
      1) 设置dev_name为 "/dev/mma8452_daemon"
      2) 设置data_name为 "gsensor"
      3) open设备 "/dev/mma8452_daemon"
    */
            MmaSensor();
    virtual ~MmaSensor();

    enum {
        Accelerometer   = 0,
        numSensors
    };

    // 调用ioctl(MMA_IOCTL_APP_SET_RATE)
    virtual int setDelay(int32_t handle, int64_t ns);

    /*
      1) Activate: ioctl(MMA_IOCTL_START)
      2) Deactivate: ioctl(MMA_IOCTL_CLOSE)
    */
    virtual int enable(int32_t handle, int enabled);
    
    /*
      1) 从data_fd read input_event
      2) 调用processEvent对事件进行处理
      3) 把事件通过data返回
    */
    virtual int readEvents(sensors_event_t* data, int count);

    void processEvent(int code, int value);

private:
    int update_delay();
    uint32_t mEnabled;
    uint32_t mPendingMask;
    InputEventCircularReader mInputReader;
    sensors_event_t mPendingEvents[numSensors];
    uint64_t mDelays[numSensors];
};

3. 加载HAL

HAL 为一个.so库，其加载过程相关代码如下：

#define HAL_LIBRARY_PATH1 "/system/lib/hw"
#define HAL_LIBRARY_PATH2 "/vendor/lib/hw"
#define SENSORS_HARDWARE_MODULE_ID "sensors"

SensorDevice::SensorDevice()
    :  mSensorDevice(0),
       mSensorModule(0)
{
    status_t err = hw_get_module(SENSORS_HARDWARE_MODULE_ID,
            (hw_module_t const**)&mSensorModule);

    ALOGE_IF(err, "couldn't load %s module (%s)",
            SENSORS_HARDWARE_MODULE_ID, strerror(-err));

    if (mSensorModule) {
        err = sensors_open(&mSensorModule->common, &mSensorDevice);

        ALOGE_IF(err, "couldn't open device for module %s (%s)",
                SENSORS_HARDWARE_MODULE_ID, strerror(-err));

        if (mSensorDevice) {
            sensor_t const* list;
            ssize_t count = mSensorModule->get_sensors_list(mSensorModule, &list);
            mActivationCount.setCapacity(count);
            Info model;
            for (size_t i=0 ; i<size_t(count) ; i++) {
                mActivationCount.add(list[i].handle, model);
                mSensorDevice->activate(mSensorDevice, list[i].handle, 0);
            }
        }
    }
}

int hw_get_module(const char *id, const struct hw_module_t **module)
{
    return hw_get_module_by_class(id, NULL, module);
}


int hw_get_module_by_class(const char *class_id, const char *inst,
                           const struct hw_module_t **module)
{
    int status;
    int i;
    const struct hw_module_t *hmi = NULL;
    char prop[PATH_MAX];
    char path[PATH_MAX];
    char name[PATH_MAX];

    if (inst)
        snprintf(name, PATH_MAX, "%s.%s", class_id, inst);
    else
        strlcpy(name, class_id, PATH_MAX);

    /*
     * Here we rely on the fact that calling dlopen multiple times on
     * the same .so will simply increment a refcount (and not load
     * a new copy of the library).
     * We also assume that dlopen() is thread-safe.
     */

    /* Loop through the configuration variants looking for a module */
    for (i=0 ; i<HAL_VARIANT_KEYS_COUNT+1 ; i++) {
        if (i < HAL_VARIANT_KEYS_COUNT) {
            if (property_get(variant_keys[i], prop, NULL) == 0) {
                continue;
            }
            snprintf(path, sizeof(path), "%s/%s.%s.so",
                     HAL_LIBRARY_PATH2, name, prop);
            if (access(path, R_OK) == 0) break;

            snprintf(path, sizeof(path), "%s/%s.%s.so",
                     HAL_LIBRARY_PATH1, name, prop);
            if (access(path, R_OK) == 0) break;
        } else {
            snprintf(path, sizeof(path), "%s/%s.default.so",
                     HAL_LIBRARY_PATH1, name);
            if (access(path, R_OK) == 0) break;
        }
    }

    status = -ENOENT;
    if (i < HAL_VARIANT_KEYS_COUNT+1) {
        /* load the module, if this fails, we're doomed, and we should not try
         * to load a different variant. */
        status = load(class_id, path, module);
    }

    return status;
}

#define HAL_LIBRARY_PATH1 "/system/lib/hw"
#define HAL_LIBRARY_PATH2 "/vendor/lib/hw"
#define SENSORS_HARDWARE_MODULE_ID "sensors"

SensorDevice::SensorDevice()
    :  mSensorDevice(0),
       mSensorModule(0)
{
    status_t err = hw_get_module(SENSORS_HARDWARE_MODULE_ID,
            (hw_module_t const**)&mSensorModule);

    ALOGE_IF(err, "couldn't load %s module (%s)",
            SENSORS_HARDWARE_MODULE_ID, strerror(-err));

    if (mSensorModule) {
        err = sensors_open(&mSensorModule->common, &mSensorDevice);

        ALOGE_IF(err, "couldn't open device for module %s (%s)",
                SENSORS_HARDWARE_MODULE_ID, strerror(-err));

        if (mSensorDevice) {
            sensor_t const* list;
            ssize_t count = mSensorModule->get_sensors_list(mSensorModule, &list);
            mActivationCount.setCapacity(count);
            Info model;
            for (size_t i=0 ; i<size_t(count) ; i++) {
                mActivationCount.add(list[i].handle, model);
                mSensorDevice->activate(mSensorDevice, list[i].handle, 0);
            }
        }
    }
}

int hw_get_module(const char *id, const struct hw_module_t **module)
{
    return hw_get_module_by_class(id, NULL, module);
}


int hw_get_module_by_class(const char *class_id, const char *inst,
                           const struct hw_module_t **module)
{
    int status;
    int i;
    const struct hw_module_t *hmi = NULL;
    char prop[PATH_MAX];
    char path[PATH_MAX];
    char name[PATH_MAX];

    if (inst)
        snprintf(name, PATH_MAX, "%s.%s", class_id, inst);
    else
        strlcpy(name, class_id, PATH_MAX);

    /*
     * Here we rely on the fact that calling dlopen multiple times on
     * the same .so will simply increment a refcount (and not load
     * a new copy of the library).
     * We also assume that dlopen() is thread-safe.
     */

    /* Loop through the configuration variants looking for a module */
    for (i=0 ; i<HAL_VARIANT_KEYS_COUNT+1 ; i++) {
        if (i < HAL_VARIANT_KEYS_COUNT) {
            if (property_get(variant_keys[i], prop, NULL) == 0) {
                continue;
            }
            snprintf(path, sizeof(path), "%s/%s.%s.so",
                     HAL_LIBRARY_PATH2, name, prop);
            if (access(path, R_OK) == 0) break;

            snprintf(path, sizeof(path), "%s/%s.%s.so",
                     HAL_LIBRARY_PATH1, name, prop);
            if (access(path, R_OK) == 0) break;
        } else {
            snprintf(path, sizeof(path), "%s/%s.default.so",
                     HAL_LIBRARY_PATH1, name);
            if (access(path, R_OK) == 0) break;
        }
    }

    status = -ENOENT;
    if (i < HAL_VARIANT_KEYS_COUNT+1) {
        /* load the module, if this fails, we're doomed, and we should not try
         * to load a different variant. */
        status = load(class_id, path, module);
    }

    return status;
}

 

4. 启动SensorService

    SensorService在SystemServer中启动(system_init.cpp)，其相关代码如下：

extern "C" status_t system_init()
{
    ....
    property_get("system_init.startsensorservice", propBuf, "1");
    if (strcmp(propBuf, "1") == 0) {
        // Start the sensor service
        SensorService::instantiate();
    }
    ...
    return NO_ERROR;
}

extern "C" status_t system_init()
{
    ....
    property_get("system_init.startsensorservice", propBuf, "1");
    if (strcmp(propBuf, "1") == 0) {
        // Start the sensor service
        SensorService::instantiate();
    }
    ...
    return NO_ERROR;
}

 

5. SensorManager注册Listener过程

private SensorManager mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
registerListener(SensorManager.java)->
 registerListenerImpl (SystemSensorManager.java)->
  enableSensorLocked(SystemSensorManager.java)->
   sensors_enable_sensor(android_hardware_SensorManager.cpp)->
    SensorEventQueue::enableSensor(SensorEventQueue.cpp)->
     1>SensorService::SensorEventConnection::enableDisable(handle, true) (SensorService.cpp)->
         SensorService::enable(SensorService.cpp)->
           HardwareSensor::activate(SensorInterface.cpp)->
             SensorDevice::activate(SensorDevice.cpp)->
               sensors_poll_device_t::activate(HAL)

     2>SensorService::SensorEventConnection::setEventRate(SensorService.cpp)->