sensord cleanup (#2111)
* sensors_qcom cleanup * include vector and map * abstract sensor init * use a set * add to relase files * fix this up * no ui changes * cleanup Co-authored-by: Comma Device <device@comma.ai>
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@ -10,7 +10,8 @@
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#include <sys/types.h>
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#include <sys/resource.h>
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#include <pthread.h>
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#include <map>
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#include <set>
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#include <cutils/log.h>
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#include <hardware/sensors.h>
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@ -20,15 +21,14 @@
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#include "common/timing.h"
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#include "common/swaglog.h"
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// ACCELEROMETER_UNCALIBRATED is only in Android O
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// https://developer.android.com/reference/android/hardware/Sensor.html#STRING_TYPE_ACCELEROMETER_UNCALIBRATED
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#define SENSOR_ACCELEROMETER 1
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#define SENSOR_MAGNETOMETER 2
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#define SENSOR_GYRO 4
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// ACCELEROMETER_UNCALIBRATED is only in Android O
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// https://developer.android.com/reference/android/hardware/Sensor.html#STRING_TYPE_ACCELEROMETER_UNCALIBRATED
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#define SENSOR_MAGNETOMETER_UNCALIBRATED 3
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#define SENSOR_GYRO_UNCALIBRATED 5
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#define SENSOR_PROXIMITY 6
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#define SENSOR_LIGHT 7
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@ -70,30 +70,33 @@ void sensor_loop() {
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LOGD("sensor %4d: %4d %60s %d-%ld us", i, list[i].handle, list[i].name, list[i].minDelay, list[i].maxDelay);
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}
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device->activate(device, SENSOR_MAGNETOMETER_UNCALIBRATED, 0);
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device->activate(device, SENSOR_GYRO_UNCALIBRATED, 0);
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device->activate(device, SENSOR_ACCELEROMETER, 0);
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device->activate(device, SENSOR_MAGNETOMETER, 0);
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device->activate(device, SENSOR_GYRO, 0);
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device->activate(device, SENSOR_PROXIMITY, 0);
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device->activate(device, SENSOR_LIGHT, 0);
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std::set<int> sensor_types = {
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SENSOR_TYPE_ACCELEROMETER,
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SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED,
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SENSOR_TYPE_MAGNETIC_FIELD,
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SENSOR_TYPE_GYROSCOPE_UNCALIBRATED,
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SENSOR_TYPE_GYROSCOPE,
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SENSOR_TYPE_PROXIMITY,
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SENSOR_TYPE_LIGHT,
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};
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device->activate(device, SENSOR_MAGNETOMETER_UNCALIBRATED, 1);
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device->activate(device, SENSOR_GYRO_UNCALIBRATED, 1);
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device->activate(device, SENSOR_ACCELEROMETER, 1);
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device->activate(device, SENSOR_MAGNETOMETER, 1);
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device->activate(device, SENSOR_GYRO, 1);
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device->activate(device, SENSOR_PROXIMITY, 1);
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device->activate(device, SENSOR_LIGHT, 1);
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std::map<int, int64_t> sensors = {
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{SENSOR_GYRO_UNCALIBRATED, ms2ns(10)},
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{SENSOR_MAGNETOMETER_UNCALIBRATED, ms2ns(100)},
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{SENSOR_ACCELEROMETER, ms2ns(10)},
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{SENSOR_GYRO, ms2ns(10)},
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{SENSOR_MAGNETOMETER, ms2ns(100)},
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{SENSOR_PROXIMITY, ms2ns(100)},
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{SENSOR_LIGHT, ms2ns(100)}
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};
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device->setDelay(device, SENSOR_GYRO_UNCALIBRATED, ms2ns(10));
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device->setDelay(device, SENSOR_MAGNETOMETER_UNCALIBRATED, ms2ns(100));
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device->setDelay(device, SENSOR_ACCELEROMETER, ms2ns(10));
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device->setDelay(device, SENSOR_GYRO, ms2ns(10));
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device->setDelay(device, SENSOR_MAGNETOMETER, ms2ns(100));
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device->setDelay(device, SENSOR_PROXIMITY, ms2ns(100));
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device->setDelay(device, SENSOR_LIGHT, ms2ns(100));
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for (auto &s : sensors) {
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device->activate(device, s.first, 0);
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device->activate(device, s.first, 1);
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device->setDelay(device, s.first, s.second);
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}
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// TODO: why is this 16?
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static const size_t numEvents = 16;
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sensors_event_t buffer[numEvents];
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@ -107,26 +110,14 @@ void sensor_loop() {
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int log_events = 0;
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for (int i=0; i < n; i++) {
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switch (buffer[i].type) {
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case SENSOR_TYPE_ACCELEROMETER:
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case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
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case SENSOR_TYPE_MAGNETIC_FIELD:
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case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
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case SENSOR_TYPE_GYROSCOPE:
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case SENSOR_TYPE_PROXIMITY:
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case SENSOR_TYPE_LIGHT:
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if (sensor_types.find(buffer[i].type) != sensor_types.end()) {
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log_events++;
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break;
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default:
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continue;
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}
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}
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uint64_t log_time = nanos_since_boot();
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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(log_time);
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event.setLogMonoTime(nanos_since_boot());
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auto sensor_events = event.initSensorEvents(log_events);
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@ -135,21 +126,11 @@ void sensor_loop() {
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const sensors_event_t& data = buffer[i];
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switch (data.type) {
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case SENSOR_TYPE_ACCELEROMETER:
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case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
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case SENSOR_TYPE_MAGNETIC_FIELD:
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case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
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case SENSOR_TYPE_GYROSCOPE:
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case SENSOR_TYPE_PROXIMITY:
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case SENSOR_TYPE_LIGHT:
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break;
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default:
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if (sensor_types.find(data.type) == sensor_types.end()) {
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continue;
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}
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auto log_event = sensor_events[log_i];
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log_event.setSource(cereal::SensorEventData::SensorSource::ANDROID);
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log_event.setVersion(data.version);
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log_event.setSensor(data.sensor);
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