4 * Copyright (c) 2017 Samsung Electronics Co., Ltd.
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
20 #include "sensor_manager.h"
23 #include <sensor_log.h>
25 #include <command_types.h>
31 #include "sensor_event_handler.h"
32 #include "sensor_loader.h"
33 #include "physical_sensor_handler.h"
34 #include "fusion_sensor_handler.h"
35 #include "external_sensor_handler.h"
36 #include "fusion_sensor_handler.h"
38 using namespace sensor;
40 #define DEVICE_HAL_DIR_PATH_LEGACY LIBDIR "/sensor"
41 #define DEVICE_HAL_DIR_PATH LIBDIR "/sensor/hal"
42 #define PHYSICAL_SENSOR_DIR_PATH LIBDIR "/sensor/physical"
43 #define VIRTUAL_SENSOR_DIR_PATH LIBDIR "/sensor/fusion"
44 #define EXTERNAL_SENSOR_DIR_PATH LIBDIR "/sensor/external"
46 static device_sensor_registry_t devices;
47 static physical_sensor_registry_t physical_sensors;
48 static fusion_sensor_registry_t fusion_sensors;
49 static external_sensor_registry_t external_sensors;
51 sensor_manager::sensor_manager(ipc::event_loop *loop)
56 sensor_manager::~sensor_manager()
60 bool sensor_manager::init(void)
62 m_loader.load_hal(DEVICE_HAL_DIR_PATH_LEGACY, devices);
63 m_loader.load_hal(DEVICE_HAL_DIR_PATH, devices);
64 m_loader.load_physical_sensor(PHYSICAL_SENSOR_DIR_PATH, physical_sensors);
65 m_loader.load_fusion_sensor(VIRTUAL_SENSOR_DIR_PATH, fusion_sensors);
66 m_loader.load_external_sensor(EXTERNAL_SENSOR_DIR_PATH, external_sensors);
68 retvm_if(devices.empty() && external_sensors.empty(), false, "There is no sensors");
70 /* TODO: support dynamic sensor */
71 create_physical_sensors(devices, physical_sensors);
72 create_fusion_sensors(fusion_sensors);
73 create_external_sensors(external_sensors);
82 bool sensor_manager::deinit(void)
84 for (auto it = m_sensors.begin(); it != m_sensors.end(); ++it)
88 external_sensors.clear();
89 fusion_sensors.clear();
90 physical_sensors.clear();
98 bool sensor_manager::is_supported(std::string uri)
100 for (auto it = m_sensors.begin(); it != m_sensors.end(); ++it) {
101 sensor_info info = it->second->get_sensor_info();
103 if (info.get_uri() == uri)
110 int sensor_manager::serialize(sensor_info *info, char **bytes)
113 raw_data_t *raw = new(std::nothrow) raw_data_t;
114 retvm_if(!raw, -ENOMEM, "Failed to allocated memory");
116 info->serialize(*raw);
118 *bytes = new(std::nothrow) char[raw->size()];
119 retvm_if(!*bytes, -ENOMEM, "Failed to allocate memory");
121 std::copy(raw->begin(), raw->end(), *bytes);
129 void sensor_manager::send(ipc::message &msg)
131 for (auto it = m_channels.begin(); it != m_channels.end(); ++it)
132 (*it)->send_sync(&msg);
135 void sensor_manager::send_added_msg(sensor_info *info)
140 size = serialize(info, &bytes);
142 ipc::message msg((const char *)bytes, size);
143 msg.set_type(CMD_MANAGER_SENSOR_ADDED);
148 void sensor_manager::send_removed_msg(const std::string &uri)
151 msg.set_type(CMD_MANAGER_SENSOR_REMOVED);
152 msg.enclose(uri.c_str(), uri.size());
157 bool sensor_manager::register_sensor(sensor_handler *sensor)
159 retvm_if(!sensor, false, "Invalid sensor");
161 sensor_info info = sensor->get_sensor_info();
163 auto it = m_sensors.find(info.get_uri());
164 retvm_if(it != m_sensors.end(), false, "There is already a sensor with the same name");
166 m_sensors[info.get_uri()] = sensor;
168 send_added_msg(&info);
170 _I("Registered[%s]", info.get_uri().c_str());
175 void sensor_manager::deregister_sensor(const std::string uri)
177 auto it = m_sensors.find(uri);
178 ret_if(it == m_sensors.end());
183 send_removed_msg(uri);
185 _I("Deregistered[%s]", uri.c_str());
188 void sensor_manager::register_channel(ipc::channel *ch)
191 m_channels.push_back(ch);
194 void sensor_manager::deregister_channel(ipc::channel *ch)
198 for (auto it = m_channels.begin(); it != m_channels.end(); ++it) {
200 m_channels.erase(it);
206 sensor_handler *sensor_manager::get_sensor_by_type(const std::string uri)
208 for (auto it = m_sensors.begin(); it != m_sensors.end(); ++it) {
209 if (it->first == uri)
212 std::size_t found = it->first.find_last_of("/");
213 if (found == std::string::npos)
216 if (it->first.substr(0, found) == uri)
223 sensor_handler *sensor_manager::get_sensor(const std::string uri)
225 auto it = m_sensors.find(uri);
226 retv_if(it == m_sensors.end(), NULL);
228 return m_sensors[uri];
231 std::vector<sensor_handler *> sensor_manager::get_sensors(void)
233 std::vector<sensor_handler *> sensors;
235 for (auto it = m_sensors.begin(); it != m_sensors.end(); ++it)
236 sensors.push_back(it->second);
241 void sensor_manager::create_physical_sensors(device_sensor_registry_t &devices,
242 physical_sensor_registry_t &psensors)
244 const sensor_info_t *info;
245 physical_sensor_handler *psensor;
247 for (auto it = devices.begin(); it != devices.end(); ++it) {
248 int count = (*it)->get_sensors(&info);
250 for (int i = 0; i < count; ++i) {
252 psensor = new(std::nothrow) physical_sensor_handler(
253 info[i], it->get(), info[i].id, NULL);
254 retm_if(!psensor, "Failed to allocate memory");
256 sensor_info sinfo = psensor->get_sensor_info();
257 m_sensors[sinfo.get_uri()] = psensor;
262 void sensor_manager::create_fusion_sensors(fusion_sensor_registry_t &fsensors)
264 const sensor_info2_t *info;
265 const required_sensor_s *required_sensors;
266 fusion_sensor_handler *fsensor;
267 sensor_handler *sensor = NULL;
269 for (auto it = fsensors.begin(); it != fsensors.end(); ++it) {
272 (*it)->get_sensor_info(&info);
274 fsensor = new(std::nothrow) fusion_sensor_handler(info[0], it->get());
275 retm_if(!fsensor, "Failed to allocate memory");
277 int count = (*it)->get_required_sensors(&required_sensors);
278 for (int i = 0; i < count; ++i) {
279 sensor = get_sensor_by_type(required_sensors[i].uri);
281 if (sensor == NULL) {
286 fsensor->add_required_sensor(required_sensors[i].id, sensor);
294 sensor_info sinfo = fsensor->get_sensor_info();
295 m_sensors[sinfo.get_uri()] = fsensor;
299 void sensor_manager::create_external_sensors(external_sensor_registry_t &esensors)
301 const sensor_info2_t *info;
302 external_sensor_handler *esensor;
304 for (auto it = esensors.begin(); it != esensors.end(); ++it) {
305 (*it)->get_sensor_info(&info);
307 esensor = new(std::nothrow) external_sensor_handler(info[0], it->get());
308 retm_if(!esensor, "Failed to allocate memory");
310 sensor_info sinfo = esensor->get_sensor_info();
311 m_sensors[sinfo.get_uri()] = esensor;
315 static void put_int_to_vec(std::vector<char> &data, int value)
317 char buf[sizeof(value)];
319 int *temp = (int *)buf;
322 std::copy(&buf[0], &buf[sizeof(buf)], back_inserter(data));
325 /* TODO: remove socket fd parameter */
327 * [count:4] {[size:4] [info:n] [size:4] [info:n] ...}
329 size_t sensor_manager::serialize(int sock_fd, char **bytes)
332 std::vector<char> raw_list;
334 put_int_to_vec(raw_list, m_sensors.size());
336 for (auto it = m_sensors.begin(); it != m_sensors.end(); ++it) {
337 info = it->second->get_sensor_info();
339 raw_data_t *raw = new(std::nothrow) raw_data_t();
340 retvm_if(!raw, -ENOMEM, "Failed to allocated memory");
342 info.serialize(*raw);
345 put_int_to_vec(raw_list, raw->size());
348 std::copy(raw->begin(), raw->end(), std::back_inserter(raw_list));
353 *bytes = new(std::nothrow) char[raw_list.size()];
354 retvm_if(!*bytes, -ENOMEM, "Failed to allocate memory");
356 std::copy(raw_list.begin(), raw_list.end(), *bytes);
358 return raw_list.size();
361 void sensor_manager::init_sensors(void)
363 physical_sensor_handler *sensor;
365 for (auto it = m_sensors.begin(); it != m_sensors.end(); ++it) {
366 sensor = dynamic_cast<physical_sensor_handler *>(it->second);
370 /* it doesn't need to deregister handlers, they are consumed in event_loop */
371 register_handler(sensor);
375 void sensor_manager::register_handler(physical_sensor_handler *sensor)
377 ret_if(sensor->get_poll_fd() < 0);
379 sensor_event_handler *handler = new(std::nothrow) sensor_event_handler(sensor);
380 retm_if(!handler, "Failed to allocate memory");
382 m_loop->add_event(sensor->get_poll_fd(),
383 ipc::EVENT_IN | ipc::EVENT_HUP | ipc::EVENT_NVAL, handler);
386 void sensor_manager::show(void)
390 _I("========== Loaded sensor information ==========\n");
391 for (auto it = m_sensors.begin(); it != m_sensors.end(); ++it) {
392 sensor_info info = it->second->get_sensor_info();
394 _I("Sensor #%d[%s]: ", ++index, it->first.c_str());
397 _I("===============================================\n");