2 * Copyright (C) 2014-2015 Intel Corporation.
7 #include <sys/socket.h>
14 #include <hardware/sensors.h>
15 #include <utils/Log.h>
19 fprintf(stderr, "sens start [sensors.gmin.so]\n");
20 fprintf(stderr, "sens [activate | deactivate] sensor_id\n");
21 fprintf(stderr, "sens set_delay sensor_id delay\n");
22 fprintf(stderr, "sens poll\n");
26 static struct sensors_module_t *hmi;
28 static const char* types[] = {
39 "linear acceleration",
42 "ambient temperature",
43 "uncalibrated magnetometer",
44 "game rotation vector",
45 "uncalibrated gyrocope",
49 "geomagnetic rotation vector",
52 static const char *type_str(int type)
54 int type_count = sizeof(types)/sizeof(char *);
56 if (type < 0 || type >= type_count)
62 static struct sensors_module_t *hmi;
63 static struct hw_device_t *dev;
65 static pthread_mutex_t client_mutex = PTHREAD_MUTEX_INITIALIZER;
68 static void print_event(struct sensors_event_t *e)
72 pthread_mutex_lock(&client_mutex);
75 pthread_mutex_unlock(&client_mutex);
80 fprintf(f, "event: version=%d sensor=%d type=%s timestamp=%lld\n",
81 e->version, e->sensor, type_str(e->type), (long long)e->timestamp);
84 case SENSOR_TYPE_META_DATA:
86 case SENSOR_TYPE_ACCELEROMETER:
87 case SENSOR_TYPE_LINEAR_ACCELERATION:
88 case SENSOR_TYPE_GRAVITY:
89 fprintf(f, "event: x=%10.2f y=%10.2f z=%10.2f status=%d\n",
90 e->acceleration.x, e->acceleration.y, e->acceleration.z,
91 e->acceleration.status);
93 case SENSOR_TYPE_MAGNETIC_FIELD:
94 fprintf(f, "event: x=%10.2f y=%10.2f z=%10.2f status=%d\n",
95 e->magnetic.x, e->magnetic.y, e->magnetic.z,
98 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
99 fprintf(f, "event: x=%10.2f y=%10.2f z=%10.2f bias_x=%10.2f bias_y=%10.2f bias_z=%10.2f \n",
100 e->uncalibrated_magnetic.x_uncalib,
101 e->uncalibrated_magnetic.y_uncalib,
102 e->uncalibrated_magnetic.z_uncalib,
103 e->uncalibrated_magnetic.x_bias,
104 e->uncalibrated_magnetic.y_bias,
105 e->uncalibrated_magnetic.z_bias);
107 case SENSOR_TYPE_ORIENTATION:
108 fprintf(f, "event: azimuth=%10.2f pitch=%10.2f roll=%10.2f status=%d\n",
109 e->orientation.azimuth, e->orientation.pitch, e->orientation.roll,
110 e->orientation.status);
112 case SENSOR_TYPE_GYROSCOPE:
113 fprintf(f, "event: x=%10.2f y=%10.2f z=%10.2f status=%d\n",
114 e->gyro.x, e->gyro.y, e->gyro.z, e->gyro.status);
116 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
117 fprintf(f, "event: x=%10.2f y=%10.2f z=%10.2f bias_x=%10.2f bias_y=%10.2f bias_z=%10.2f \n",
118 e->uncalibrated_gyro.x_uncalib,
119 e->uncalibrated_gyro.y_uncalib,
120 e->uncalibrated_gyro.z_uncalib,
121 e->uncalibrated_gyro.x_bias,
122 e->uncalibrated_gyro.y_bias,
123 e->uncalibrated_gyro.z_bias);
125 case SENSOR_TYPE_LIGHT:
126 fprintf(f, "event: light=%10.2f\n", e->light);
128 case SENSOR_TYPE_PRESSURE:
129 fprintf(f, "event: pressure=%10.2f\n", e->pressure);
131 case SENSOR_TYPE_TEMPERATURE:
132 case SENSOR_TYPE_AMBIENT_TEMPERATURE:
133 fprintf(f, "event: temperature=%10.2f\n", e->temperature);
135 case SENSOR_TYPE_PROXIMITY:
136 fprintf(f, "event: distance=%10.2f\n", e->distance);
138 case SENSOR_TYPE_ROTATION_VECTOR:
139 case SENSOR_TYPE_GAME_ROTATION_VECTOR:
140 case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:
141 fprintf(f, "event: rot_x=%10.2f rot_y=%10.2f rot_z=%10.2f cos=%10.2f estimated_accuracy=%10.2f\n",
142 e->data[0], e->data[1], e->data[2], e->data[3], e->data[4]);
144 case SENSOR_TYPE_RELATIVE_HUMIDITY:
145 fprintf(f, "event: humidity=%10.2f\n", e->relative_humidity);
147 case SENSOR_TYPE_SIGNIFICANT_MOTION:
148 fprintf(f, "event: significant_motion=%10.2f\n", e->data[0]);
150 case SENSOR_TYPE_STEP_DETECTOR:
151 fprintf(f, "event: step_detector=%10.2f\n", e->data[0]);
153 case SENSOR_TYPE_STEP_COUNTER:
154 fprintf(f, "event: step_counter=%llu\n",
155 (unsigned long long)e->u64.step_counter);
162 pthread_mutex_unlock(&client_mutex);
165 static void run_sensors_poll_v0(void)
167 struct sensors_poll_device_t *poll_dev = (struct sensors_poll_device_t *)dev;
170 sensors_event_t events[256];
173 count = poll_dev->poll(poll_dev, events, sizeof(events)/sizeof(sensors_event_t));
175 for(i = 0; i < count; i++)
176 print_event(&events[i]);
180 static void sig_pipe(int sig)
185 static void *run_sensors_thread(void *arg __attribute((unused)))
188 signal(SIGPIPE, sig_pipe);
190 switch (dev->version) {
191 case SENSORS_DEVICE_API_VERSION_0_1:
193 run_sensors_poll_v0();
200 void print_sensor(const struct sensor_t *s, FILE *f)
205 fprintf(f, "sensor%d: name=%s vendor=%s version=%d type=%s\n",
206 s->handle, s->name, s->vendor, s->version, type_str(s->type));
207 fprintf(f, "sensor%d: maxRange=%10.2f resolution=%10.2f power=%10.2f\n",
208 s->handle, s->maxRange, s->resolution, s->power);
209 fprintf(f, "sensor%d: minDelay=%d fifoReservedEventCount=%d fifoMaxEventCount=%d\n",
210 s->handle, s->minDelay, s->fifoReservedEventCount,
211 s->fifoMaxEventCount);
215 static int sensor_set_delay(int handle, int64_t delay)
217 switch (dev->version) {
219 case SENSORS_DEVICE_API_VERSION_0_1:
221 struct sensors_poll_device_t *poll_dev = (struct sensors_poll_device_t *)dev;
223 return poll_dev->setDelay(poll_dev, handle, delay);
229 static int sensor_activate(int handle, int enable)
231 switch (dev->version) {
233 case SENSORS_DEVICE_API_VERSION_0_1:
235 struct sensors_poll_device_t *poll_dev = (struct sensors_poll_device_t *)dev;
237 return poll_dev->activate(poll_dev, handle, enable);
242 #define CLIENT_ERR(f, fmt...) \
243 { if (f) { fprintf(f, fmt); fprintf(f, "\n"); } ALOGE(fmt); }
245 static int dispatch_cmd(char *cmd, FILE *f)
247 char *argv[16], *tmp;
248 int argc = 0, handle;
250 tmp = strtok(cmd, " ");
253 tmp = strtok(NULL, " ");
259 CLIENT_ERR(f, "invalid cmd: %s", cmd);
263 if (!strcmp(argv[0], "ls")) {
264 struct sensor_t const* list;
265 int i, count = hmi->get_sensors_list(hmi, &list);
267 for(i = 0; i < count; i++)
268 print_sensor(&list[i], f);;
271 } else if (!strcmp(argv[0], "activate")) {
274 CLIENT_ERR(f, "activate: no sensor handle");
278 handle = atoi(argv[1]);
280 return sensor_activate(handle, 1);
282 } else if (!strcmp(argv[0], "deactivate")) {
285 CLIENT_ERR(f, "activate: no sensor handle");
289 handle = atoi(argv[1]);
291 return sensor_activate(handle, 0);
293 } else if (!strcmp(argv[0], "set_delay")) {
297 CLIENT_ERR(f, "setDelay: no sensor handle and/or delay");
301 handle=atoi(argv[1]);
302 delay=atoll(argv[2]);
304 return sensor_set_delay(handle, delay);
306 } else if (!strcmp(argv[0], "poll")) {
308 pthread_mutex_lock(&client_mutex);
312 pthread_mutex_unlock(&client_mutex);
315 } else if (!strcmp(argv[0], "stop")) {
318 CLIENT_ERR(f, "invalid command: %s", cmd);
325 #define NAME_PREFIX "/dev/socket/"
327 #define NAME_PREFIX "/tmp/"
330 #define SENS_SERVER_NAME NAME_PREFIX "sens-server"
332 struct sockaddr_un server_addr = {
333 .sun_family = AF_UNIX,
334 .sun_path = SENS_SERVER_NAME,
337 static int start_server(void)
339 int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0), conn;
342 unlink(SENS_SERVER_NAME);
345 ALOGE("failed to create socket: %s", strerror(errno));
349 err = bind(sock, (struct sockaddr *)&server_addr, sizeof(server_addr));
351 ALOGE("failed to bind socket: %s", strerror(errno));
358 char data_buff[1024], cmsg_buffer[1024];
359 struct iovec recv_buff = {
360 .iov_base = data_buff,
361 .iov_len = sizeof(data_buff),
363 struct sockaddr_un from;
364 struct msghdr msg = {
366 .msg_namelen = sizeof(from),
367 .msg_iov = &recv_buff,
369 .msg_control = cmsg_buffer,
370 .msg_controllen = sizeof(cmsg_buffer),
373 struct cmsghdr *cmsg;
375 conn = accept(sock, NULL, NULL);
377 ALOGE("failed to accept connection: %s", strerror(errno));
381 err = recvmsg(conn, &msg, 0);
383 ALOGE("error in recvmsg: %s", strerror(errno));
391 for (cmsg = CMSG_FIRSTHDR(&msg); cmsg != NULL;
392 cmsg = CMSG_NXTHDR(&msg,cmsg)) {
393 if (cmsg->cmsg_level == SOL_SOCKET
394 && cmsg->cmsg_type == SCM_RIGHTS) {
395 int *fd = (int *)CMSG_DATA(cmsg);
396 f = fdopen(*fd, "w");
401 if (data_buff[err - 1] != 0) {
402 ALOGE("command is not NULL terminated\n");
407 err = dispatch_cmd(data_buff, f);
409 ALOGE("error dispatching command: %d", err);
416 write(conn, data_buff, 1);
424 static const char *hal_paths[] = {
425 "/system/lib/hw/sensors.gmin.so",
427 "/lib/sensors.gmin.so",
430 static int start_hal(int argc, char **argv)
435 pthread_t sensors_thread;
436 const char *hal_path = NULL;
441 for(i = 0; i < sizeof(hal_paths)/sizeof(const char*); i++) {
442 if (!access(hal_paths[i], R_OK)) {
443 hal_path = hal_paths[i];
449 fprintf(stderr, "unable to find HAL\n");
455 hal = dlopen(hal_path, RTLD_NOW);
457 fprintf(stderr, "unable to load HAL %s: %s\n", hal_path,
462 hmi = dlsym(hal, HAL_MODULE_INFO_SYM_AS_STR);
464 fprintf(stderr, "unable to find %s entry point in HAL\n",
465 HAL_MODULE_INFO_SYM_AS_STR);
469 printf("HAL loaded: name %s vendor %s version %d.%d id %s\n",
470 hmi->common.name, hmi->common.author,
471 hmi->common.version_major, hmi->common.version_minor,
480 if (setsid() == (pid_t)-1) {
481 fprintf(stderr, "failed to send process to background\n");
485 close(0); close(1); close(2);
487 ALOGI("Initializing HAL");
489 err = hmi->common.methods->open((struct hw_module_t *)hmi,
490 SENSORS_HARDWARE_POLL, &dev);
493 ALOGE("failed to initialize HAL: %d\n", err);
497 if (pthread_create(&sensors_thread, NULL, run_sensors_thread, NULL)) {
498 ALOGE("failed to create sensor thread");
502 return start_server();
505 int main(int argc, char **argv)
509 struct iovec buff = {
517 .cmsg_level = SOL_SOCKET,
518 .cmsg_type = SCM_RIGHTS,
519 .cmsg_len = CMSG_LEN(sizeof(int)),
523 struct msghdr msg = {
528 .msg_control = &cmsg_buff,
529 .msg_controllen = sizeof(cmsg_buff),
538 if (!strcmp(argv[1], "start")) {
542 return start_hal(argc, argv);
545 if (strlen(argv[1]) >= sizeof(cmd))
547 strncpy(cmd, argv[1], sizeof(cmd) - 1);
548 strncat(cmd, " ", sizeof(cmd) - strlen(cmd) - 1);
549 for(i = 2; i < argc; i++) {
550 strncat(cmd, argv[i], sizeof(cmd) - strlen(cmd) - 1);
551 strncat(cmd, " ", sizeof(cmd) - strlen(cmd) - 1);
554 sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
556 fprintf(stderr, "failed to create socket: %s\n", strerror(errno));
560 if (connect(sock, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
561 fprintf(stderr, "failed to connect to server: %s\n", strerror(errno));
565 buff.iov_len = strlen(cmd) + 1;
566 if (sendmsg(sock, &msg, 0) < 0) {
567 fprintf(stderr, "failed sending command to server: %s\n", strerror(errno));
571 buff.iov_len = sizeof(cmd);
572 if (read(sock, cmd, 1) < 0) {
573 fprintf(stderr, "failed getting ack from server: %s\n", strerror(errno));