upload android base code part4

android/hardware/interfaces/sensors/1.0/Android.bp

@@ -0,0 +1,66 @@
+// This file is autogenerated by hidl-gen. Do not edit manually.
+
+filegroup {
+    name: "android.hardware.sensors@1.0_hal",
+    srcs: [
+        "types.hal",
+        "ISensors.hal",
+    ],
+}
+
+genrule {
+    name: "android.hardware.sensors@1.0_genc++",
+    tools: ["hidl-gen"],
+    cmd: "$(location hidl-gen) -o $(genDir) -Lc++-sources -randroid.hardware:hardware/interfaces -randroid.hidl:system/libhidl/transport android.hardware.sensors@1.0",
+    srcs: [
+        ":android.hardware.sensors@1.0_hal",
+    ],
+    out: [
+        "android/hardware/sensors/1.0/types.cpp",
+        "android/hardware/sensors/1.0/SensorsAll.cpp",
+    ],
+}
+
+genrule {
+    name: "android.hardware.sensors@1.0_genc++_headers",
+    tools: ["hidl-gen"],
+    cmd: "$(location hidl-gen) -o $(genDir) -Lc++-headers -randroid.hardware:hardware/interfaces -randroid.hidl:system/libhidl/transport android.hardware.sensors@1.0",
+    srcs: [
+        ":android.hardware.sensors@1.0_hal",
+    ],
+    out: [
+        "android/hardware/sensors/1.0/types.h",
+        "android/hardware/sensors/1.0/hwtypes.h",
+        "android/hardware/sensors/1.0/ISensors.h",
+        "android/hardware/sensors/1.0/IHwSensors.h",
+        "android/hardware/sensors/1.0/BnHwSensors.h",
+        "android/hardware/sensors/1.0/BpHwSensors.h",
+        "android/hardware/sensors/1.0/BsSensors.h",
+    ],
+}
+
+cc_library {
+    name: "android.hardware.sensors@1.0",
+    defaults: ["hidl-module-defaults"],
+    generated_sources: ["android.hardware.sensors@1.0_genc++"],
+    generated_headers: ["android.hardware.sensors@1.0_genc++_headers"],
+    export_generated_headers: ["android.hardware.sensors@1.0_genc++_headers"],
+    vendor_available: true,
+    vndk: {
+        enabled: true,
+    },
+    shared_libs: [
+        "libhidlbase",
+        "libhidltransport",
+        "libhwbinder",
+        "liblog",
+        "libutils",
+        "libcutils",
+    ],
+    export_shared_lib_headers: [
+        "libhidlbase",
+        "libhidltransport",
+        "libhwbinder",
+        "libutils",
+    ],
+}

android/hardware/interfaces/sensors/1.0/Android.mk

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+# This file is autogenerated by hidl-gen. Do not edit manually.
+
+LOCAL_PATH := $(call my-dir)
+
+################################################################################
+
+include $(CLEAR_VARS)
+LOCAL_MODULE := android.hardware.sensors-V1.0-java-constants
+LOCAL_MODULE_CLASS := JAVA_LIBRARIES
+
+intermediates := $(call local-generated-sources-dir, COMMON)
+
+HIDL := $(HOST_OUT_EXECUTABLES)/hidl-gen$(HOST_EXECUTABLE_SUFFIX)
+#
+GEN := $(intermediates)/android/hardware/sensors/V1_0/Constants.java
+$(GEN): $(HIDL)
+$(GEN): $(LOCAL_PATH)/types.hal
+$(GEN): $(LOCAL_PATH)/ISensors.hal
+
+$(GEN): PRIVATE_HIDL := $(HIDL)
+$(GEN): PRIVATE_OUTPUT_DIR := $(intermediates)
+$(GEN): PRIVATE_CUSTOM_TOOL = \
+        $(PRIVATE_HIDL) -o $(PRIVATE_OUTPUT_DIR) \
+        -Ljava-constants \
+        -randroid.hardware:hardware/interfaces \
+        -randroid.hidl:system/libhidl/transport \
+        android.hardware.sensors@1.0
+
+$(GEN):
+	$(transform-generated-source)
+LOCAL_GENERATED_SOURCES += $(GEN)
+# Avoid dependency cycle of framework.jar -> this-library -> framework.jar
+LOCAL_NO_STANDARD_LIBRARIES := true
+LOCAL_JAVA_LIBRARIES := core-oj
+
+include $(BUILD_STATIC_JAVA_LIBRARY)
+
+
+
+include $(call all-makefiles-under,$(LOCAL_PATH))

android/hardware/interfaces/sensors/1.0/ISensors.hal

@@ -0,0 +1,196 @@
+/*
+ * Copyright (C) 2016 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.sensors@1.0;
+
+interface ISensors {
+    /**
+     * Enumerate all available (static) sensors.
+     */
+    getSensorsList() generates (vec<SensorInfo> list);
+
+    /**
+     * Place the module in a specific mode. The following modes are defined
+     *
+     *  SENSOR_HAL_NORMAL_MODE - Normal operation. Default state of the module.
+     *
+     *  SENSOR_HAL_DATA_INJECTION_MODE - Loopback mode.
+     *    Data is injected for the supported sensors by the sensor service in
+     *    this mode.
+     *
+     * @return OK on success
+     *         BAD_VALUE if requested mode is not supported
+     *         PERMISSION_DENIED if operation is not allowed
+     */
+    setOperationMode(OperationMode mode) generates (Result result);
+
+    /**
+     * Activate/de-activate one sensor.
+     *
+     * After sensor de-activation, existing sensor events that have not
+     * been picked up by poll() must be abandoned immediately so that
+     * subsequent activation will not get stale sensor events (events
+     * that are generated prior to the latter activation).
+     *
+     * @param  sensorHandle is the handle of the sensor to change.
+     * @param  enabled set to true to enable, or false to disable the sensor.
+     *
+     * @return result OK on success, BAD_VALUE if sensorHandle is invalid.
+     */
+    activate(int32_t sensorHandle, bool enabled) generates (Result result);
+
+    /**
+     * Generate a vector of sensor events containing at most "maxCount"
+     * entries.
+     *
+     * Additionally a vector of SensorInfos is returned for any dynamic sensors
+     * connected as notified by returned events of type DYNAMIC_SENSOR_META.
+     *
+     * If there is no sensor event when this function is being called, block
+     * until there are sensor events available.
+     *
+     * @param  maxCount max number of samples can be returned, must be > 0.
+     *         Actual number of events returned in data must be <= maxCount
+     *         and > 0.
+     * @return result OK on success or BAD_VALUE if maxCount <= 0.
+     * @return data vector of Event contains sensor events.
+     * @return dynamicSensorsAdded vector of SensorInfo contains dynamic sensor
+     *         added. Each element corresponds to a dynamic sensor meta events
+     *         in data.
+     */
+    poll(int32_t maxCount)
+        generates (
+                Result result,
+                vec<Event> data,
+                vec<SensorInfo> dynamicSensorsAdded);
+
+    /**
+     * Sets a sensor’s parameters, including sampling frequency and maximum
+     * report latency. This function can be called while the sensor is
+     * activated, in which case it must not cause any sensor measurements to
+     * be lost: transitioning from one sampling rate to the other cannot cause
+     * lost events, nor can transitioning from a high maximum report latency to
+     * a low maximum report latency.
+     * See the Batching sensor results page for details:
+     * http://source.android.com/devices/sensors/batching.html
+     *
+     * @param  sensorHandle handle of sensor to be changed.
+     * @param  samplingPeriodNs specifies sensor sample period in nanoseconds.
+     * @param  maxReportLatencyNs allowed delay time before an event is sampled
+     *         to time of report.
+     * @return result OK on success, BAD_VALUE if any parameters are invalid.
+     */
+    batch(int32_t sensorHandle,
+          int64_t samplingPeriodNs,
+          int64_t maxReportLatencyNs) generates (Result result);
+
+    /**
+     * Trigger a flush of internal FIFO.
+     *
+     * Flush adds a FLUSH_COMPLETE metadata event to the end of the "batch mode"
+     * FIFO for the specified sensor and flushes the FIFO.  If the FIFO is empty
+     * or if the sensor doesn't support batching (FIFO size zero), return
+     * SUCCESS and add a trivial FLUSH_COMPLETE event added to the event stream.
+     * This applies to all sensors other than one-shot sensors. If the sensor
+     * is a one-shot sensor, flush must return BAD_VALUE and not generate any
+     * flush complete metadata.  If the sensor is not active at the time flush()
+     * is called, flush() return BAD_VALUE.
+     *
+     * @param   sensorHandle handle of sensor to be flushed.
+     * @return  result OK on success and BAD_VALUE if sensorHandle is invalid.
+     */
+    flush(int32_t sensorHandle) generates (Result result);
+
+    /**
+     * Inject a single sensor event or push operation environment parameters to
+     * device.
+     *
+     * When device is in NORMAL mode, this function is called to push operation
+     * environment data to device. In this operation, Event is always of
+     * SensorType::AdditionalInfo type. See operation evironment parameters
+     * section in AdditionalInfoType.
+     *
+     * When device is in DATA_INJECTION mode, this function is also used for
+     * injecting sensor events.
+     *
+     * Regardless of OperationMode, injected SensorType::ADDITIONAL_INFO
+     * type events should not be routed back to poll() function.
+     *
+     * @see AdditionalInfoType
+     * @see OperationMode
+     * @param   event sensor event to be injected
+     * @return  result OK on success; PERMISSION_DENIED if operation is not
+     *          allowed; INVALID_OPERATION, if this functionality is
+     *          unsupported; BAD_VALUE if sensor event cannot be injected.
+     */
+    injectSensorData(Event event) generates (Result result);
+
+    /**
+     * Register direct report channel.
+     *
+     * Register a direct channel with supplied shared memory information. Upon
+     * return, the sensor hardware is responsible for resetting the memory
+     * content to initial value (depending on memory format settings).
+     *
+     * @param   mem shared memory info data structure.
+     * @return  result OK on success; BAD_VALUE if shared memory information is
+     *          not consistent; NO_MEMORY if shared memory cannot be used by
+     *          sensor system; INVALID_OPERATION if functionality is not
+     *          supported.
+     * @return  channelHandle a positive integer used for referencing registered
+     *          direct channel (>0) in configureDirectReport and
+     *          unregisterDirectChannel if result is OK, -1 otherwise.
+     */
+    registerDirectChannel(SharedMemInfo mem)
+            generates (Result result, int32_t channelHandle);
+
+    /**
+     * Unregister direct report channel.
+     *
+     * Unregister a direct channel previously registered using
+     * registerDirectChannel, and remove all active sensor report configured in
+     * still active sensor report configured in the direct channel.
+     *
+     * @param   channelHandle handle of direct channel to be unregistered.
+     * @return  result OK if direct report is supported; INVALID_OPERATION
+     *          otherwise.
+     */
+    unregisterDirectChannel(int32_t channelHandle) generates (Result result);
+
+    /**
+     * Configure direct sensor event report in direct channel.
+     *
+     * This function start, modify rate or stop direct report of a sensor in a
+     * certain direct channel.
+     *
+     * @param   sensorHandle handle of sensor to be configured. When combined
+     *          with STOP rate, sensorHandle can be -1 to denote all active
+     *          sensors in the direct channel specified by channel Handle.
+     * @param   channelHandle handle of direct channel to be configured.
+     * @param   rate rate level, see RateLevel enum.
+     *
+     * @return  result OK on success; BAD_VALUE if parameter is invalid (such as
+     *          rate level is not supported by sensor, channelHandle does not
+     *          exist, etc); INVALID_OPERATION if functionality is not
+     *          supported.
+     * @return  reportToken positive integer to identify multiple sensors of
+     *          the same type in a single direct channel. Ignored if rate is
+     *          STOP. See SharedMemFormat.
+     */
+    configDirectReport(
+            int32_t sensorHandle, int32_t channelHandle, RateLevel rate)
+            generates (Result result, int32_t reportToken);
+};

android/hardware/interfaces/sensors/1.0/default/Android.bp

@@ -0,0 +1,46 @@
+cc_library_shared {
+    name: "android.hardware.sensors@1.0-impl",
+    defaults: ["hidl_defaults"],
+    proprietary: true,
+    relative_install_path: "hw",
+    srcs: ["Sensors.cpp"],
+    shared_libs: [
+        "liblog",
+        "libcutils",
+        "libhardware",
+        "libbase",
+        "libutils",
+        "libhidlbase",
+        "libhidltransport",
+        "android.hardware.sensors@1.0",
+    ],
+    static_libs: [
+        "android.hardware.sensors@1.0-convert",
+        "multihal",
+    ],
+    local_include_dirs: ["include/sensors"],
+}
+
+cc_library_static {
+    name: "android.hardware.sensors@1.0-convert",
+    vendor_available: true,
+    defaults: ["hidl_defaults"],
+    srcs: ["convert.cpp"],
+    export_include_dirs: ["include"],
+    shared_libs: [
+        "liblog",
+        "libcutils",
+        "libhardware",
+        "libbase",
+        "libutils",
+        "libhidlbase",
+        "libhidltransport",
+        "android.hardware.sensors@1.0",
+    ],
+    local_include_dirs: ["include/sensors"],
+    export_shared_lib_headers: [
+        "libhardware",
+    ],
+}
+
+

android/hardware/interfaces/sensors/1.0/default/Android.mk

@@ -0,0 +1,23 @@
+LOCAL_PATH:= $(call my-dir)
+
+include $(CLEAR_VARS)
+LOCAL_MODULE_RELATIVE_PATH := hw
+LOCAL_PROPRIETARY_MODULE := true
+LOCAL_MODULE := android.hardware.sensors@1.0-service
+LOCAL_INIT_RC := android.hardware.sensors@1.0-service.rc
+LOCAL_SRC_FILES := \
+        service.cpp \
+
+LOCAL_SHARED_LIBRARIES := \
+        liblog \
+        libcutils \
+        libdl \
+        libbase \
+        libutils \
+
+LOCAL_SHARED_LIBRARIES += \
+        libhidlbase \
+        libhidltransport \
+        android.hardware.sensors@1.0 \
+
+include $(BUILD_EXECUTABLE)

android/hardware/interfaces/sensors/1.0/default/Sensors.cpp

@@ -0,0 +1,360 @@
+/*
+ * Copyright (C) 2016 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "Sensors.h"
+#include "convert.h"
+#include "multihal.h"
+
+#include <android-base/logging.h>
+
+#include <sys/stat.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V1_0 {
+namespace implementation {
+
+/*
+ * If a multi-hal configuration file exists in the proper location,
+ * return true indicating we need to use multi-hal functionality.
+ */
+static bool UseMultiHal() {
+    const std::string& name = MULTI_HAL_CONFIG_FILE_PATH;
+    struct stat buffer;
+    return (stat (name.c_str(), &buffer) == 0);
+}
+
+static Result ResultFromStatus(status_t err) {
+    switch (err) {
+        case OK:
+            return Result::OK;
+        case PERMISSION_DENIED:
+            return Result::PERMISSION_DENIED;
+        case NO_MEMORY:
+            return Result::NO_MEMORY;
+        case BAD_VALUE:
+            return Result::BAD_VALUE;
+        default:
+            return Result::INVALID_OPERATION;
+    }
+}
+
+Sensors::Sensors()
+    : mInitCheck(NO_INIT),
+      mSensorModule(nullptr),
+      mSensorDevice(nullptr) {
+    status_t err = OK;
+    if (UseMultiHal()) {
+        mSensorModule = ::get_multi_hal_module_info();
+    } else {
+        err = hw_get_module(
+            SENSORS_HARDWARE_MODULE_ID,
+            (hw_module_t const **)&mSensorModule);
+    }
+    if (mSensorModule == NULL) {
+        err = UNKNOWN_ERROR;
+    }
+
+    if (err != OK) {
+        LOG(ERROR) << "Couldn't load "
+                   << SENSORS_HARDWARE_MODULE_ID
+                   << " module ("
+                   << strerror(-err)
+                   << ")";
+
+        mInitCheck = err;
+        return;
+    }
+
+    err = sensors_open_1(&mSensorModule->common, &mSensorDevice);
+
+    if (err != OK) {
+        LOG(ERROR) << "Couldn't open device for module "
+                   << SENSORS_HARDWARE_MODULE_ID
+                   << " ("
+                   << strerror(-err)
+                   << ")";
+
+        mInitCheck = err;
+        return;
+    }
+
+    // Require all the old HAL APIs to be present except for injection, which
+    // is considered optional.
+    CHECK_GE(getHalDeviceVersion(), SENSORS_DEVICE_API_VERSION_1_3);
+
+    if (getHalDeviceVersion() == SENSORS_DEVICE_API_VERSION_1_4) {
+        if (mSensorDevice->inject_sensor_data == nullptr) {
+            LOG(ERROR) << "HAL specifies version 1.4, but does not implement inject_sensor_data()";
+        }
+        if (mSensorModule->set_operation_mode == nullptr) {
+            LOG(ERROR) << "HAL specifies version 1.4, but does not implement set_operation_mode()";
+        }
+    }
+
+    mInitCheck = OK;
+}
+
+status_t Sensors::initCheck() const {
+    return mInitCheck;
+}
+
+Return<void> Sensors::getSensorsList(getSensorsList_cb _hidl_cb) {
+    sensor_t const *list;
+    size_t count = mSensorModule->get_sensors_list(mSensorModule, &list);
+
+    hidl_vec<SensorInfo> out;
+    out.resize(count);
+
+    for (size_t i = 0; i < count; ++i) {
+        const sensor_t *src = &list[i];
+        SensorInfo *dst = &out[i];
+
+        convertFromSensor(*src, dst);
+    }
+
+    _hidl_cb(out);
+
+    return Void();
+}
+
+int Sensors::getHalDeviceVersion() const {
+    if (!mSensorDevice) {
+        return -1;
+    }
+
+    return mSensorDevice->common.version;
+}
+
+Return<Result> Sensors::setOperationMode(OperationMode mode) {
+    if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_4
+            || mSensorModule->set_operation_mode == nullptr) {
+        return Result::INVALID_OPERATION;
+    }
+    return ResultFromStatus(mSensorModule->set_operation_mode((uint32_t)mode));
+}
+
+Return<Result> Sensors::activate(
+        int32_t sensor_handle, bool enabled) {
+    return ResultFromStatus(
+            mSensorDevice->activate(
+                reinterpret_cast<sensors_poll_device_t *>(mSensorDevice),
+                sensor_handle,
+                enabled));
+}
+
+Return<void> Sensors::poll(int32_t maxCount, poll_cb _hidl_cb) {
+
+    hidl_vec<Event> out;
+    hidl_vec<SensorInfo> dynamicSensorsAdded;
+
+    std::unique_ptr<sensors_event_t[]> data;
+    int err = android::NO_ERROR;
+
+    { // scope of reentry lock
+
+        // This enforces a single client, meaning that a maximum of one client can call poll().
+        // If this function is re-entred, it means that we are stuck in a state that may prevent
+        // the system from proceeding normally.
+        //
+        // Exit and let the system restart the sensor-hal-implementation hidl service.
+        //
+        // This function must not call _hidl_cb(...) or return until there is no risk of blocking.
+        std::unique_lock<std::mutex> lock(mPollLock, std::try_to_lock);
+        if(!lock.owns_lock()){
+            // cannot get the lock, hidl service will go into deadlock if it is not restarted.
+            // This is guaranteed to not trigger in passthrough mode.
+            LOG(ERROR) <<
+                    "ISensors::poll() re-entry. I do not know what to do except killing myself.";
+            ::exit(-1);
+        }
+
+        if (maxCount <= 0) {
+            err = android::BAD_VALUE;
+        } else {
+            int bufferSize = maxCount <= kPollMaxBufferSize ? maxCount : kPollMaxBufferSize;
+            data.reset(new sensors_event_t[bufferSize]);
+            err = mSensorDevice->poll(
+                    reinterpret_cast<sensors_poll_device_t *>(mSensorDevice),
+                    data.get(), bufferSize);
+        }
+    }
+
+    if (err < 0) {
+        _hidl_cb(ResultFromStatus(err), out, dynamicSensorsAdded);
+        return Void();
+    }
+
+    const size_t count = (size_t)err;
+
+    for (size_t i = 0; i < count; ++i) {
+        if (data[i].type != SENSOR_TYPE_DYNAMIC_SENSOR_META) {
+            continue;
+        }
+
+        const dynamic_sensor_meta_event_t *dyn = &data[i].dynamic_sensor_meta;
+
+        if (!dyn->connected) {
+            continue;
+        }
+
+        CHECK(dyn->sensor != nullptr);
+        CHECK_EQ(dyn->sensor->handle, dyn->handle);
+
+        SensorInfo info;
+        convertFromSensor(*dyn->sensor, &info);
+
+        size_t numDynamicSensors = dynamicSensorsAdded.size();
+        dynamicSensorsAdded.resize(numDynamicSensors + 1);
+        dynamicSensorsAdded[numDynamicSensors] = info;
+    }
+
+    out.resize(count);
+    convertFromSensorEvents(err, data.get(), &out);
+
+    _hidl_cb(Result::OK, out, dynamicSensorsAdded);
+
+    return Void();
+}
+
+Return<Result> Sensors::batch(
+        int32_t sensor_handle,
+        int64_t sampling_period_ns,
+        int64_t max_report_latency_ns) {
+    return ResultFromStatus(
+            mSensorDevice->batch(
+                mSensorDevice,
+                sensor_handle,
+                0, /*flags*/
+                sampling_period_ns,
+                max_report_latency_ns));
+}
+
+Return<Result> Sensors::flush(int32_t sensor_handle) {
+    return ResultFromStatus(mSensorDevice->flush(mSensorDevice, sensor_handle));
+}
+
+Return<Result> Sensors::injectSensorData(const Event& event) {
+    if (getHalDeviceVersion() < SENSORS_DEVICE_API_VERSION_1_4
+            || mSensorDevice->inject_sensor_data == nullptr) {
+        return Result::INVALID_OPERATION;
+    }
+
+    sensors_event_t out;
+    convertToSensorEvent(event, &out);
+
+    return ResultFromStatus(
+            mSensorDevice->inject_sensor_data(mSensorDevice, &out));
+}
+
+Return<void> Sensors::registerDirectChannel(
+        const SharedMemInfo& mem, registerDirectChannel_cb _hidl_cb) {
+    if (mSensorDevice->register_direct_channel == nullptr
+            || mSensorDevice->config_direct_report == nullptr) {
+        // HAL does not support
+        _hidl_cb(Result::INVALID_OPERATION, -1);
+        return Void();
+    }
+
+    sensors_direct_mem_t m;
+    if (!convertFromSharedMemInfo(mem, &m)) {
+      _hidl_cb(Result::BAD_VALUE, -1);
+      return Void();
+    }
+
+    int err = mSensorDevice->register_direct_channel(mSensorDevice, &m, -1);
+
+    if (err < 0) {
+        _hidl_cb(ResultFromStatus(err), -1);
+    } else {
+        int32_t channelHandle = static_cast<int32_t>(err);
+        _hidl_cb(Result::OK, channelHandle);
+    }
+    return Void();
+}
+
+Return<Result> Sensors::unregisterDirectChannel(int32_t channelHandle) {
+    if (mSensorDevice->register_direct_channel == nullptr
+            || mSensorDevice->config_direct_report == nullptr) {
+        // HAL does not support
+        return Result::INVALID_OPERATION;
+    }
+
+    mSensorDevice->register_direct_channel(mSensorDevice, nullptr, channelHandle);
+
+    return Result::OK;
+}
+
+Return<void> Sensors::configDirectReport(
+        int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+        configDirectReport_cb _hidl_cb) {
+    if (mSensorDevice->register_direct_channel == nullptr
+            || mSensorDevice->config_direct_report == nullptr) {
+        // HAL does not support
+        _hidl_cb(Result::INVALID_OPERATION, -1);
+        return Void();
+    }
+
+    sensors_direct_cfg_t cfg = {
+        .rate_level = convertFromRateLevel(rate)
+    };
+    if (cfg.rate_level < 0) {
+        _hidl_cb(Result::BAD_VALUE, -1);
+        return Void();
+    }
+
+    int err = mSensorDevice->config_direct_report(mSensorDevice,
+            sensorHandle, channelHandle, &cfg);
+
+    if (rate == RateLevel::STOP) {
+        _hidl_cb(ResultFromStatus(err), -1);
+    } else {
+        _hidl_cb(err > 0 ? Result::OK : ResultFromStatus(err), err);
+    }
+    return Void();
+}
+
+// static
+void Sensors::convertFromSensorEvents(
+        size_t count,
+        const sensors_event_t *srcArray,
+        hidl_vec<Event> *dstVec) {
+    for (size_t i = 0; i < count; ++i) {
+        const sensors_event_t &src = srcArray[i];
+        Event *dst = &(*dstVec)[i];
+
+        convertFromSensorEvent(src, dst);
+    }
+}
+
+ISensors *HIDL_FETCH_ISensors(const char * /* hal */) {
+    Sensors *sensors = new Sensors;
+    if (sensors->initCheck() != OK) {
+        delete sensors;
+        sensors = nullptr;
+
+        return nullptr;
+    }
+
+    return sensors;
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android

android/hardware/interfaces/sensors/1.0/default/Sensors.h

@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2016 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_SENSORS_H_
+
+#define HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_SENSORS_H_
+
+#include <android-base/macros.h>
+#include <android/hardware/sensors/1.0/ISensors.h>
+#include <hardware/sensors.h>
+#include <mutex>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V1_0 {
+namespace implementation {
+
+
+struct Sensors : public ::android::hardware::sensors::V1_0::ISensors {
+    Sensors();
+
+    status_t initCheck() const;
+
+    Return<void> getSensorsList(getSensorsList_cb _hidl_cb) override;
+
+    Return<Result> setOperationMode(OperationMode mode) override;
+
+    Return<Result> activate(
+            int32_t sensor_handle, bool enabled) override;
+
+    Return<void> poll(int32_t maxCount, poll_cb _hidl_cb) override;
+
+    Return<Result> batch(
+            int32_t sensor_handle,
+            int64_t sampling_period_ns,
+            int64_t max_report_latency_ns) override;
+
+    Return<Result> flush(int32_t sensor_handle) override;
+
+    Return<Result> injectSensorData(const Event& event) override;
+
+    Return<void> registerDirectChannel(
+            const SharedMemInfo& mem, registerDirectChannel_cb _hidl_cb) override;
+
+    Return<Result> unregisterDirectChannel(int32_t channelHandle) override;
+
+    Return<void> configDirectReport(
+            int32_t sensorHandle, int32_t channelHandle, RateLevel rate,
+            configDirectReport_cb _hidl_cb) override;
+
+private:
+    static constexpr int32_t kPollMaxBufferSize = 128;
+    status_t mInitCheck;
+    sensors_module_t *mSensorModule;
+    sensors_poll_device_1_t *mSensorDevice;
+    std::mutex mPollLock;
+
+    int getHalDeviceVersion() const;
+
+    static void convertFromSensorEvents(
+            size_t count, const sensors_event_t *src, hidl_vec<Event> *dst);
+
+    DISALLOW_COPY_AND_ASSIGN(Sensors);
+};
+
+extern "C" ISensors *HIDL_FETCH_ISensors(const char *name);
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_SENSORS_H_

android/hardware/interfaces/sensors/1.0/default/android.hardware.sensors@1.0-service.rc

@@ -0,0 +1,5 @@
+service sensors-hal-1-0 /vendor/bin/hw/android.hardware.sensors@1.0-service
+    class hal
+    user system
+    group system wakelock input
+    capabilities BLOCK_SUSPEND SYS_NICE

android/hardware/interfaces/sensors/1.0/default/convert.cpp

@@ -0,0 +1,408 @@
+/*
+ * Copyright (C) 2016 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "convert.h"
+
+#include <android-base/logging.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V1_0 {
+namespace implementation {
+
+void convertFromSensor(const sensor_t &src, SensorInfo *dst) {
+    dst->name = src.name;
+    dst->vendor = src.vendor;
+    dst->version = src.version;
+    dst->sensorHandle = src.handle;
+    dst->type = (SensorType)src.type;
+    dst->maxRange = src.maxRange;
+    dst->resolution = src.resolution;
+    dst->power = src.power;
+    dst->minDelay = src.minDelay;
+    dst->fifoReservedEventCount = src.fifoReservedEventCount;
+    dst->fifoMaxEventCount = src.fifoMaxEventCount;
+    dst->typeAsString = src.stringType;
+    dst->requiredPermission = src.requiredPermission;
+    dst->maxDelay = src.maxDelay;
+    dst->flags = src.flags;
+}
+
+void convertToSensor(
+        const ::android::hardware::sensors::V1_0::SensorInfo &src,
+        sensor_t *dst) {
+    dst->name = strdup(src.name.c_str());
+    dst->vendor = strdup(src.vendor.c_str());
+    dst->version = src.version;
+    dst->handle = src.sensorHandle;
+    dst->type = (int)src.type;
+    dst->maxRange = src.maxRange;
+    dst->resolution = src.resolution;
+    dst->power = src.power;
+    dst->minDelay = src.minDelay;
+    dst->fifoReservedEventCount = src.fifoReservedEventCount;
+    dst->fifoMaxEventCount = src.fifoMaxEventCount;
+    dst->stringType = strdup(src.typeAsString.c_str());
+    dst->requiredPermission = strdup(src.requiredPermission.c_str());
+    dst->maxDelay = src.maxDelay;
+    dst->flags = src.flags;
+    dst->reserved[0] = dst->reserved[1] = 0;
+}
+
+void convertFromSensorEvent(const sensors_event_t &src, Event *dst) {
+    typedef ::android::hardware::sensors::V1_0::SensorType SensorType;
+    typedef ::android::hardware::sensors::V1_0::MetaDataEventType MetaDataEventType;
+
+    *dst = {
+        .sensorHandle = src.sensor,
+        .sensorType = (SensorType)src.type,
+        .timestamp = src.timestamp
+    };
+
+    switch (dst->sensorType) {
+        case SensorType::META_DATA:
+        {
+            dst->u.meta.what = (MetaDataEventType)src.meta_data.what;
+            // Legacy HALs contain the handle reference in the meta data field.
+            // Copy that over to the handle of the event. In legacy HALs this
+            // field was expected to be 0.
+            dst->sensorHandle = src.meta_data.sensor;
+            break;
+        }
+
+        case SensorType::ACCELEROMETER:
+        case SensorType::MAGNETIC_FIELD:
+        case SensorType::ORIENTATION:
+        case SensorType::GYROSCOPE:
+        case SensorType::GRAVITY:
+        case SensorType::LINEAR_ACCELERATION:
+        {
+            dst->u.vec3.x = src.acceleration.x;
+            dst->u.vec3.y = src.acceleration.y;
+            dst->u.vec3.z = src.acceleration.z;
+            dst->u.vec3.status = (SensorStatus)src.acceleration.status;
+            break;
+        }
+
+        case SensorType::ROTATION_VECTOR:
+        case SensorType::GAME_ROTATION_VECTOR:
+        case SensorType::GEOMAGNETIC_ROTATION_VECTOR:
+        {
+            dst->u.vec4.x = src.data[0];
+            dst->u.vec4.y = src.data[1];
+            dst->u.vec4.z = src.data[2];
+            dst->u.vec4.w = src.data[3];
+            break;
+        }
+
+      case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+      case SensorType::GYROSCOPE_UNCALIBRATED:
+      case SensorType::ACCELEROMETER_UNCALIBRATED:
+      {
+          dst->u.uncal.x = src.uncalibrated_gyro.x_uncalib;
+          dst->u.uncal.y = src.uncalibrated_gyro.y_uncalib;
+          dst->u.uncal.z = src.uncalibrated_gyro.z_uncalib;
+          dst->u.uncal.x_bias = src.uncalibrated_gyro.x_bias;
+          dst->u.uncal.y_bias = src.uncalibrated_gyro.y_bias;
+          dst->u.uncal.z_bias = src.uncalibrated_gyro.z_bias;
+          break;
+      }
+
+      case SensorType::DEVICE_ORIENTATION:
+      case SensorType::LIGHT:
+      case SensorType::PRESSURE:
+      case SensorType::TEMPERATURE:
+      case SensorType::PROXIMITY:
+      case SensorType::RELATIVE_HUMIDITY:
+      case SensorType::AMBIENT_TEMPERATURE:
+      case SensorType::SIGNIFICANT_MOTION:
+      case SensorType::STEP_DETECTOR:
+      case SensorType::TILT_DETECTOR:
+      case SensorType::WAKE_GESTURE:
+      case SensorType::GLANCE_GESTURE:
+      case SensorType::PICK_UP_GESTURE:
+      case SensorType::WRIST_TILT_GESTURE:
+      case SensorType::STATIONARY_DETECT:
+      case SensorType::MOTION_DETECT:
+      case SensorType::HEART_BEAT:
+      case SensorType::LOW_LATENCY_OFFBODY_DETECT:
+      {
+          dst->u.scalar = src.data[0];
+          break;
+      }
+
+      case SensorType::STEP_COUNTER:
+      {
+          dst->u.stepCount = src.u64.step_counter;
+          break;
+      }
+
+      case SensorType::HEART_RATE:
+      {
+          dst->u.heartRate.bpm = src.heart_rate.bpm;
+          dst->u.heartRate.status = (SensorStatus)src.heart_rate.status;
+          break;
+      }
+
+      case SensorType::POSE_6DOF:  // 15 floats
+      {
+          for (size_t i = 0; i < 15; ++i) {
+              dst->u.pose6DOF[i] = src.data[i];
+          }
+          break;
+      }
+
+      case SensorType::DYNAMIC_SENSOR_META:
+      {
+          dst->u.dynamic.connected = src.dynamic_sensor_meta.connected;
+          dst->u.dynamic.sensorHandle = src.dynamic_sensor_meta.handle;
+
+          memcpy(dst->u.dynamic.uuid.data(),
+                 src.dynamic_sensor_meta.uuid,
+                 16);
+
+          break;
+      }
+
+      case SensorType::ADDITIONAL_INFO:
+      {
+          ::android::hardware::sensors::V1_0::AdditionalInfo *dstInfo =
+              &dst->u.additional;
+
+          const additional_info_event_t &srcInfo = src.additional_info;
+
+          dstInfo->type =
+              (::android::hardware::sensors::V1_0::AdditionalInfoType)
+                  srcInfo.type;
+
+          dstInfo->serial = srcInfo.serial;
+
+          CHECK_EQ(sizeof(dstInfo->u), sizeof(srcInfo.data_int32));
+          memcpy(&dstInfo->u, srcInfo.data_int32, sizeof(srcInfo.data_int32));
+          break;
+      }
+
+      default:
+      {
+          CHECK_GE((int32_t)dst->sensorType,
+                   (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+
+          memcpy(dst->u.data.data(), src.data, 16 * sizeof(float));
+          break;
+      }
+  }
+}
+
+void convertToSensorEvent(const Event &src, sensors_event_t *dst) {
+  *dst = {
+      .version = sizeof(sensors_event_t),
+      .sensor = src.sensorHandle,
+      .type = (int32_t)src.sensorType,
+      .reserved0 = 0,
+      .timestamp = src.timestamp
+  };
+
+  switch (src.sensorType) {
+      case SensorType::META_DATA:
+      {
+          // Legacy HALs expect the handle reference in the meta data field.
+          // Copy it over from the handle of the event.
+          dst->meta_data.what = (int32_t)src.u.meta.what;
+          dst->meta_data.sensor = src.sensorHandle;
+          // Set the sensor handle to 0 to maintain compatibility.
+          dst->sensor = 0;
+          break;
+      }
+
+      case SensorType::ACCELEROMETER:
+      case SensorType::MAGNETIC_FIELD:
+      case SensorType::ORIENTATION:
+      case SensorType::GYROSCOPE:
+      case SensorType::GRAVITY:
+      case SensorType::LINEAR_ACCELERATION:
+      {
+          dst->acceleration.x = src.u.vec3.x;
+          dst->acceleration.y = src.u.vec3.y;
+          dst->acceleration.z = src.u.vec3.z;
+          dst->acceleration.status = (int8_t)src.u.vec3.status;
+          break;
+      }
+
+      case SensorType::ROTATION_VECTOR:
+      case SensorType::GAME_ROTATION_VECTOR:
+      case SensorType::GEOMAGNETIC_ROTATION_VECTOR:
+      {
+          dst->data[0] = src.u.vec4.x;
+          dst->data[1] = src.u.vec4.y;
+          dst->data[2] = src.u.vec4.z;
+          dst->data[3] = src.u.vec4.w;
+          break;
+      }
+
+      case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
+        case SensorType::GYROSCOPE_UNCALIBRATED:
+        case SensorType::ACCELEROMETER_UNCALIBRATED:
+        {
+            dst->uncalibrated_gyro.x_uncalib = src.u.uncal.x;
+            dst->uncalibrated_gyro.y_uncalib = src.u.uncal.y;
+            dst->uncalibrated_gyro.z_uncalib = src.u.uncal.z;
+            dst->uncalibrated_gyro.x_bias = src.u.uncal.x_bias;
+            dst->uncalibrated_gyro.y_bias = src.u.uncal.y_bias;
+            dst->uncalibrated_gyro.z_bias = src.u.uncal.z_bias;
+            break;
+        }
+
+        case SensorType::DEVICE_ORIENTATION:
+        case SensorType::LIGHT:
+        case SensorType::PRESSURE:
+        case SensorType::TEMPERATURE:
+        case SensorType::PROXIMITY:
+        case SensorType::RELATIVE_HUMIDITY:
+        case SensorType::AMBIENT_TEMPERATURE:
+        case SensorType::SIGNIFICANT_MOTION:
+        case SensorType::STEP_DETECTOR:
+        case SensorType::TILT_DETECTOR:
+        case SensorType::WAKE_GESTURE:
+        case SensorType::GLANCE_GESTURE:
+        case SensorType::PICK_UP_GESTURE:
+        case SensorType::WRIST_TILT_GESTURE:
+        case SensorType::STATIONARY_DETECT:
+        case SensorType::MOTION_DETECT:
+        case SensorType::HEART_BEAT:
+        case SensorType::LOW_LATENCY_OFFBODY_DETECT:
+        {
+            dst->data[0] = src.u.scalar;
+            break;
+        }
+
+        case SensorType::STEP_COUNTER:
+        {
+            dst->u64.step_counter = src.u.stepCount;
+            break;
+        }
+
+        case SensorType::HEART_RATE:
+        {
+            dst->heart_rate.bpm = src.u.heartRate.bpm;
+            dst->heart_rate.status = (int8_t)src.u.heartRate.status;
+            break;
+        }
+
+        case SensorType::POSE_6DOF:  // 15 floats
+        {
+            for (size_t i = 0; i < 15; ++i) {
+                dst->data[i] = src.u.pose6DOF[i];
+            }
+            break;
+        }
+
+        case SensorType::DYNAMIC_SENSOR_META:
+        {
+            dst->dynamic_sensor_meta.connected = src.u.dynamic.connected;
+            dst->dynamic_sensor_meta.handle = src.u.dynamic.sensorHandle;
+            dst->dynamic_sensor_meta.sensor = NULL;  // to be filled in later
+
+            memcpy(dst->dynamic_sensor_meta.uuid,
+                   src.u.dynamic.uuid.data(),
+                   16);
+
+            break;
+        }
+
+        case SensorType::ADDITIONAL_INFO:
+        {
+            const ::android::hardware::sensors::V1_0::AdditionalInfo &srcInfo =
+                src.u.additional;
+
+            additional_info_event_t *dstInfo = &dst->additional_info;
+            dstInfo->type = (int32_t)srcInfo.type;
+            dstInfo->serial = srcInfo.serial;
+
+            CHECK_EQ(sizeof(srcInfo.u), sizeof(dstInfo->data_int32));
+
+            memcpy(dstInfo->data_int32,
+                   &srcInfo.u,
+                   sizeof(dstInfo->data_int32));
+
+            break;
+        }
+
+        default:
+        {
+            CHECK_GE((int32_t)src.sensorType,
+                     (int32_t)SensorType::DEVICE_PRIVATE_BASE);
+
+            memcpy(dst->data, src.u.data.data(), 16 * sizeof(float));
+            break;
+        }
+    }
+}
+
+bool convertFromSharedMemInfo(const SharedMemInfo& memIn, sensors_direct_mem_t *memOut) {
+    if (memOut == nullptr) {
+        return false;
+    }
+
+    switch(memIn.type) {
+        case SharedMemType::ASHMEM:
+            memOut->type = SENSOR_DIRECT_MEM_TYPE_ASHMEM;
+            break;
+        case SharedMemType::GRALLOC:
+            memOut->type = SENSOR_DIRECT_MEM_TYPE_GRALLOC;
+            break;
+        default:
+            return false;
+    }
+
+    switch(memIn.format) {
+        case SharedMemFormat::SENSORS_EVENT:
+            memOut->format = SENSOR_DIRECT_FMT_SENSORS_EVENT;
+            break;
+        default:
+            return false;
+    }
+
+    if (memIn.memoryHandle == nullptr) {
+        return false;
+    }
+
+    memOut->size = memIn.size;
+    memOut->handle = memIn.memoryHandle;
+    return true;
+}
+
+int convertFromRateLevel(RateLevel rate) {
+    switch(rate) {
+        case RateLevel::STOP:
+            return SENSOR_DIRECT_RATE_STOP;
+        case RateLevel::NORMAL:
+            return SENSOR_DIRECT_RATE_NORMAL;
+        case RateLevel::FAST:
+            return SENSOR_DIRECT_RATE_FAST;
+        case RateLevel::VERY_FAST:
+            return SENSOR_DIRECT_RATE_VERY_FAST;
+        default:
+            return -1;
+    }
+}
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+

android/hardware/interfaces/sensors/1.0/default/include/sensors/convert.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2016 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_INCLUDE_CONVERT_H_
+
+#define HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_INCLUDE_CONVERT_H_
+
+#include <android/hardware/sensors/1.0/ISensors.h>
+#include <hardware/sensors.h>
+
+namespace android {
+namespace hardware {
+namespace sensors {
+namespace V1_0 {
+namespace implementation {
+
+void convertFromSensor(const sensor_t &src, SensorInfo *dst);
+void convertToSensor(const SensorInfo &src, sensor_t *dst);
+
+void convertFromSensorEvent(const sensors_event_t &src, Event *dst);
+void convertToSensorEvent(const Event &src, sensors_event_t *dst);
+
+bool convertFromSharedMemInfo(const SharedMemInfo& memIn, sensors_direct_mem_t *memOut);
+int convertFromRateLevel(RateLevel rate);
+
+}  // namespace implementation
+}  // namespace V1_0
+}  // namespace sensors
+}  // namespace hardware
+}  // namespace android
+
+#endif  // HARDWARE_INTERFACES_SENSORS_V1_0_DEFAULT_INCLUDE_CONVERT_H_

android/hardware/interfaces/sensors/1.0/default/service.cpp

@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2016 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "android.hardware.sensors@1.0-service"
+
+#include <android/hardware/sensors/1.0/ISensors.h>
+#include <hidl/LegacySupport.h>
+
+using android::hardware::sensors::V1_0::ISensors;
+using android::hardware::defaultPassthroughServiceImplementation;
+
+int main() {
+    /* Sensors framework service needs at least two threads.
+     * One thread blocks on a "poll"
+     * The second thread is needed for all other HAL methods.
+     */
+    return defaultPassthroughServiceImplementation<ISensors>(2);
+}

android/hardware/interfaces/sensors/1.0/vts/functional/Android.bp

@@ -0,0 +1,23 @@
+//
+// Copyright (C) 2016 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+cc_test {
+    name: "VtsHalSensorsV1_0TargetTest",
+    defaults: ["VtsHalTargetTestDefaults"],
+    srcs: ["VtsHalSensorsV1_0TargetTest.cpp"],
+    static_libs: ["android.hardware.sensors@1.0"],
+}
+