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Merge "emulator: Move platform-specific modules to development.git"

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This commit is contained in:
David 'Digit' Turner
2011-03-14 09:42:01 -07:00
committed by Android Code Review
parent 5ac5e8d7b5 e59bd87056
commit 2876ff6b93
8 changed files with 3559 additions and 0 deletions
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39
tools/emulator/system/gps/Android.mk Normal file
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# Copyright (C) 2010 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.
# We're moving the emulator-specific platform libs to
# development.git/tools/emulator/. The following test is to ensure
# smooth builds even if the tree contains both versions.
#
ifndef BUILD_EMULATOR_GPS_MODULE
BUILD_EMULATOR_GPS_MODULE := true
LOCAL_PATH := $(call my-dir)
ifneq ($(TARGET_PRODUCT),sim)
# HAL module implemenation, not prelinked and stored in
# hw/<GPS_HARDWARE_MODULE_ID>.<ro.hardware>.so
include $(CLEAR_VARS)
LOCAL_PRELINK_MODULE := false
LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
LOCAL_CFLAGS += -DQEMU_HARDWARE
LOCAL_SHARED_LIBRARIES := liblog libcutils libhardware
LOCAL_SRC_FILES := gps_qemu.c
LOCAL_MODULE := gps.goldfish
LOCAL_MODULE_TAGS := debug
include $(BUILD_SHARED_LIBRARY)
endif
endif # BUILD_EMULATOR_GPS_MODULE

941
tools/emulator/system/gps/gps_qemu.c Normal file
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/*
* Copyright (C) 2010 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.
*/
/* this implements a GPS hardware library for the Android emulator.
* the following code should be built as a shared library that will be
* placed into /system/lib/hw/gps.goldfish.so
*
* it will be loaded by the code in hardware/libhardware/hardware.c
* which is itself called from android_location_GpsLocationProvider.cpp
*/
#include <errno.h>
#include <pthread.h>
#include <fcntl.h>
#include <sys/epoll.h>
#include <math.h>
#include <time.h>
#define LOG_TAG "gps_qemu"
#include <cutils/log.h>
#include <cutils/sockets.h>
#include <hardware/gps.h>
#include <hardware/qemud.h>
/* the name of the qemud-controlled socket */
#define QEMU_CHANNEL_NAME "gps"
#define GPS_DEBUG 0
#if GPS_DEBUG
# define D(...) LOGD(__VA_ARGS__)
#else
# define D(...) ((void)0)
#endif
/*****************************************************************/
/*****************************************************************/
/***** *****/
/***** N M E A T O K E N I Z E R *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/
typedef struct {
const char* p;
const char* end;
} Token;
#define MAX_NMEA_TOKENS 16
typedef struct {
int count;
Token tokens[ MAX_NMEA_TOKENS ];
} NmeaTokenizer;
static int
nmea_tokenizer_init( NmeaTokenizer* t, const char* p, const char* end )
{
int count = 0;
char* q;
// the initial '$' is optional
if (p < end && p[0] == '$')
p += 1;
// remove trailing newline
if (end > p && end[-1] == '\n') {
end -= 1;
if (end > p && end[-1] == '\r')
end -= 1;
}
// get rid of checksum at the end of the sentecne
if (end >= p+3 && end[-3] == '*') {
end -= 3;
}
while (p < end) {
const char* q = p;
q = memchr(p, ',', end-p);
if (q == NULL)
q = end;
if (q > p) {
if (count < MAX_NMEA_TOKENS) {
t->tokens[count].p = p;
t->tokens[count].end = q;
count += 1;
}
}
if (q < end)
q += 1;
p = q;
}
t->count = count;
return count;
}
static Token
nmea_tokenizer_get( NmeaTokenizer* t, int index )
{
Token tok;
static const char* dummy = "";
if (index < 0 || index >= t->count) {
tok.p = tok.end = dummy;
} else
tok = t->tokens[index];
return tok;
}
static int
str2int( const char* p, const char* end )
{
int result = 0;
int len = end - p;
for ( ; len > 0; len--, p++ )
{
int c;
if (p >= end)
goto Fail;
c = *p - '0';
if ((unsigned)c >= 10)
goto Fail;
result = result*10 + c;
}
return result;
Fail:
return -1;
}
static double
str2float( const char* p, const char* end )
{
int result = 0;
int len = end - p;
char temp[16];
if (len >= (int)sizeof(temp))
return 0.;
memcpy( temp, p, len );
temp[len] = 0;
return strtod( temp, NULL );
}
/*****************************************************************/
/*****************************************************************/
/***** *****/
/***** N M E A P A R S E R *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/
#define NMEA_MAX_SIZE 83
typedef struct {
int pos;
int overflow;
int utc_year;
int utc_mon;
int utc_day;
int utc_diff;
GpsLocation fix;
gps_location_callback callback;
char in[ NMEA_MAX_SIZE+1 ];
} NmeaReader;
static void
nmea_reader_update_utc_diff( NmeaReader* r )
{
time_t now = time(NULL);
struct tm tm_local;
struct tm tm_utc;
long time_local, time_utc;
gmtime_r( &now, &tm_utc );
localtime_r( &now, &tm_local );
time_local = tm_local.tm_sec +
60*(tm_local.tm_min +
60*(tm_local.tm_hour +
24*(tm_local.tm_yday +
365*tm_local.tm_year)));
time_utc = tm_utc.tm_sec +
60*(tm_utc.tm_min +
60*(tm_utc.tm_hour +
24*(tm_utc.tm_yday +
365*tm_utc.tm_year)));
r->utc_diff = time_utc - time_local;
}
static void
nmea_reader_init( NmeaReader* r )
{
memset( r, 0, sizeof(*r) );
r->pos = 0;
r->overflow = 0;
r->utc_year = -1;
r->utc_mon = -1;
r->utc_day = -1;
r->callback = NULL;
r->fix.size = sizeof(r->fix);
nmea_reader_update_utc_diff( r );
}
static void
nmea_reader_set_callback( NmeaReader* r, gps_location_callback cb )
{
r->callback = cb;
if (cb != NULL && r->fix.flags != 0) {
D("%s: sending latest fix to new callback", __FUNCTION__);
r->callback( &r->fix );
r->fix.flags = 0;
}
}
static int
nmea_reader_update_time( NmeaReader* r, Token tok )
{
int hour, minute;
double seconds;
struct tm tm;
time_t fix_time;
if (tok.p + 6 > tok.end)
return -1;
if (r->utc_year < 0) {
// no date yet, get current one
time_t now = time(NULL);
gmtime_r( &now, &tm );
r->utc_year = tm.tm_year + 1900;
r->utc_mon = tm.tm_mon + 1;
r->utc_day = tm.tm_mday;
}
hour = str2int(tok.p, tok.p+2);
minute = str2int(tok.p+2, tok.p+4);
seconds = str2float(tok.p+4, tok.end);
tm.tm_hour = hour;
tm.tm_min = minute;
tm.tm_sec = (int) seconds;
tm.tm_year = r->utc_year - 1900;
tm.tm_mon = r->utc_mon - 1;
tm.tm_mday = r->utc_day;
tm.tm_isdst = -1;
fix_time = mktime( &tm ) + r->utc_diff;
r->fix.timestamp = (long long)fix_time * 1000;
return 0;
}
static int
nmea_reader_update_date( NmeaReader* r, Token date, Token time )
{
Token tok = date;
int day, mon, year;
if (tok.p + 6 != tok.end) {
D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
return -1;
}
day = str2int(tok.p, tok.p+2);
mon = str2int(tok.p+2, tok.p+4);
year = str2int(tok.p+4, tok.p+6) + 2000;
if ((day|mon|year) < 0) {
D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
return -1;
}
r->utc_year = year;
r->utc_mon = mon;
r->utc_day = day;
return nmea_reader_update_time( r, time );
}
static double
convert_from_hhmm( Token tok )
{
double val = str2float(tok.p, tok.end);
int degrees = (int)(floor(val) / 100);
double minutes = val - degrees*100.;
double dcoord = degrees + minutes / 60.0;
return dcoord;
}
static int
nmea_reader_update_latlong( NmeaReader* r,
Token latitude,
char latitudeHemi,
Token longitude,
char longitudeHemi )
{
double lat, lon;
Token tok;
tok = latitude;
if (tok.p + 6 > tok.end) {
D("latitude is too short: '%.*s'", tok.end-tok.p, tok.p);
return -1;
}
lat = convert_from_hhmm(tok);
if (latitudeHemi == 'S')
lat = -lat;
tok = longitude;
if (tok.p + 6 > tok.end) {
D("longitude is too short: '%.*s'", tok.end-tok.p, tok.p);
return -1;
}
lon = convert_from_hhmm(tok);
if (longitudeHemi == 'W')
lon = -lon;
r->fix.flags |= GPS_LOCATION_HAS_LAT_LONG;
r->fix.latitude = lat;
r->fix.longitude = lon;
return 0;
}
static int
nmea_reader_update_altitude( NmeaReader* r,
Token altitude,
Token units )
{
double alt;
Token tok = altitude;
if (tok.p >= tok.end)
return -1;
r->fix.flags |= GPS_LOCATION_HAS_ALTITUDE;
r->fix.altitude = str2float(tok.p, tok.end);
return 0;
}
static int
nmea_reader_update_bearing( NmeaReader* r,
Token bearing )
{
double alt;
Token tok = bearing;
if (tok.p >= tok.end)
return -1;
r->fix.flags |= GPS_LOCATION_HAS_BEARING;
r->fix.bearing = str2float(tok.p, tok.end);
return 0;
}
static int
nmea_reader_update_speed( NmeaReader* r,
Token speed )
{
double alt;
Token tok = speed;
if (tok.p >= tok.end)
return -1;
r->fix.flags |= GPS_LOCATION_HAS_SPEED;
r->fix.speed = str2float(tok.p, tok.end);
return 0;
}
static void
nmea_reader_parse( NmeaReader* r )
{
/* we received a complete sentence, now parse it to generate
* a new GPS fix...
*/
NmeaTokenizer tzer[1];
Token tok;
D("Received: '%.*s'", r->pos, r->in);
if (r->pos < 9) {
D("Too short. discarded.");
return;
}
nmea_tokenizer_init(tzer, r->in, r->in + r->pos);
#if GPS_DEBUG
{
int n;
D("Found %d tokens", tzer->count);
for (n = 0; n < tzer->count; n++) {
Token tok = nmea_tokenizer_get(tzer,n);
D("%2d: '%.*s'", n, tok.end-tok.p, tok.p);
}
}
#endif
tok = nmea_tokenizer_get(tzer, 0);
if (tok.p + 5 > tok.end) {
D("sentence id '%.*s' too short, ignored.", tok.end-tok.p, tok.p);
return;
}
// ignore first two characters.
tok.p += 2;
if ( !memcmp(tok.p, "GGA", 3) ) {
// GPS fix
Token tok_time = nmea_tokenizer_get(tzer,1);
Token tok_latitude = nmea_tokenizer_get(tzer,2);
Token tok_latitudeHemi = nmea_tokenizer_get(tzer,3);
Token tok_longitude = nmea_tokenizer_get(tzer,4);
Token tok_longitudeHemi = nmea_tokenizer_get(tzer,5);
Token tok_altitude = nmea_tokenizer_get(tzer,9);
Token tok_altitudeUnits = nmea_tokenizer_get(tzer,10);
nmea_reader_update_time(r, tok_time);
nmea_reader_update_latlong(r, tok_latitude,
tok_latitudeHemi.p[0],
tok_longitude,
tok_longitudeHemi.p[0]);
nmea_reader_update_altitude(r, tok_altitude, tok_altitudeUnits);
} else if ( !memcmp(tok.p, "GSA", 3) ) {
// do something ?
} else if ( !memcmp(tok.p, "RMC", 3) ) {
Token tok_time = nmea_tokenizer_get(tzer,1);
Token tok_fixStatus = nmea_tokenizer_get(tzer,2);
Token tok_latitude = nmea_tokenizer_get(tzer,3);
Token tok_latitudeHemi = nmea_tokenizer_get(tzer,4);
Token tok_longitude = nmea_tokenizer_get(tzer,5);
Token tok_longitudeHemi = nmea_tokenizer_get(tzer,6);
Token tok_speed = nmea_tokenizer_get(tzer,7);
Token tok_bearing = nmea_tokenizer_get(tzer,8);
Token tok_date = nmea_tokenizer_get(tzer,9);
D("in RMC, fixStatus=%c", tok_fixStatus.p[0]);
if (tok_fixStatus.p[0] == 'A')
{
nmea_reader_update_date( r, tok_date, tok_time );
nmea_reader_update_latlong( r, tok_latitude,
tok_latitudeHemi.p[0],
tok_longitude,
tok_longitudeHemi.p[0] );
nmea_reader_update_bearing( r, tok_bearing );
nmea_reader_update_speed ( r, tok_speed );
}
} else {
tok.p -= 2;
D("unknown sentence '%.*s", tok.end-tok.p, tok.p);
}
if (r->fix.flags != 0) {
#if GPS_DEBUG
char temp[256];
char* p = temp;
char* end = p + sizeof(temp);
struct tm utc;
p += snprintf( p, end-p, "sending fix" );
if (r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) {
p += snprintf(p, end-p, " lat=%g lon=%g", r->fix.latitude, r->fix.longitude);
}
if (r->fix.flags & GPS_LOCATION_HAS_ALTITUDE) {
p += snprintf(p, end-p, " altitude=%g", r->fix.altitude);
}
if (r->fix.flags & GPS_LOCATION_HAS_SPEED) {
p += snprintf(p, end-p, " speed=%g", r->fix.speed);
}
if (r->fix.flags & GPS_LOCATION_HAS_BEARING) {
p += snprintf(p, end-p, " bearing=%g", r->fix.bearing);
}
if (r->fix.flags & GPS_LOCATION_HAS_ACCURACY) {
p += snprintf(p,end-p, " accuracy=%g", r->fix.accuracy);
}
gmtime_r( (time_t*) &r->fix.timestamp, &utc );
p += snprintf(p, end-p, " time=%s", asctime( &utc ) );
D(temp);
#endif
if (r->callback) {
r->callback( &r->fix );
r->fix.flags = 0;
}
else {
D("no callback, keeping data until needed !");
}
}
}
static void
nmea_reader_addc( NmeaReader* r, int c )
{
if (r->overflow) {
r->overflow = (c != '\n');
return;
}
if (r->pos >= (int) sizeof(r->in)-1 ) {
r->overflow = 1;
r->pos = 0;
return;
}
r->in[r->pos] = (char)c;
r->pos += 1;
if (c == '\n') {
nmea_reader_parse( r );
r->pos = 0;
}
}
/*****************************************************************/
/*****************************************************************/
/***** *****/
/***** C O N N E C T I O N S T A T E *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/
/* commands sent to the gps thread */
enum {
CMD_QUIT = 0,
CMD_START = 1,
CMD_STOP = 2
};
/* this is the state of our connection to the qemu_gpsd daemon */
typedef struct {
int init;
int fd;
GpsCallbacks callbacks;
pthread_t thread;
int control[2];
} GpsState;
static GpsState _gps_state[1];
static void
gps_state_done( GpsState* s )
{
// tell the thread to quit, and wait for it
char cmd = CMD_QUIT;
void* dummy;
write( s->control[0], &cmd, 1 );
pthread_join(s->thread, &dummy);
// close the control socket pair
close( s->control[0] ); s->control[0] = -1;
close( s->control[1] ); s->control[1] = -1;
// close connection to the QEMU GPS daemon
close( s->fd ); s->fd = -1;
s->init = 0;
}
static void
gps_state_start( GpsState* s )
{
char cmd = CMD_START;
int ret;
do { ret=write( s->control[0], &cmd, 1 ); }
while (ret < 0 && errno == EINTR);
if (ret != 1)
D("%s: could not send CMD_START command: ret=%d: %s",
__FUNCTION__, ret, strerror(errno));
}
static void
gps_state_stop( GpsState* s )
{
char cmd = CMD_STOP;
int ret;
do { ret=write( s->control[0], &cmd, 1 ); }
while (ret < 0 && errno == EINTR);
if (ret != 1)
D("%s: could not send CMD_STOP command: ret=%d: %s",
__FUNCTION__, ret, strerror(errno));
}
static int
epoll_register( int epoll_fd, int fd )
{
struct epoll_event ev;
int ret, flags;
/* important: make the fd non-blocking */
flags = fcntl(fd, F_GETFL);
fcntl(fd, F_SETFL, flags | O_NONBLOCK);
ev.events = EPOLLIN;
ev.data.fd = fd;
do {
ret = epoll_ctl( epoll_fd, EPOLL_CTL_ADD, fd, &ev );
} while (ret < 0 && errno == EINTR);
return ret;
}
static int
epoll_deregister( int epoll_fd, int fd )
{
int ret;
do {
ret = epoll_ctl( epoll_fd, EPOLL_CTL_DEL, fd, NULL );
} while (ret < 0 && errno == EINTR);
return ret;
}
/* this is the main thread, it waits for commands from gps_state_start/stop and,
* when started, messages from the QEMU GPS daemon. these are simple NMEA sentences
* that must be parsed to be converted into GPS fixes sent to the framework
*/
static void
gps_state_thread( void* arg )
{
GpsState* state = (GpsState*) arg;
NmeaReader reader[1];
int epoll_fd = epoll_create(2);
int started = 0;
int gps_fd = state->fd;
int control_fd = state->control[1];
nmea_reader_init( reader );
// register control file descriptors for polling
epoll_register( epoll_fd, control_fd );
epoll_register( epoll_fd, gps_fd );
D("gps thread running");
// now loop
for (;;) {
struct epoll_event events[2];
int ne, nevents;
nevents = epoll_wait( epoll_fd, events, 2, -1 );
if (nevents < 0) {
if (errno != EINTR)
LOGE("epoll_wait() unexpected error: %s", strerror(errno));
continue;
}
D("gps thread received %d events", nevents);
for (ne = 0; ne < nevents; ne++) {
if ((events[ne].events & (EPOLLERR|EPOLLHUP)) != 0) {
LOGE("EPOLLERR or EPOLLHUP after epoll_wait() !?");
return;
}
if ((events[ne].events & EPOLLIN) != 0) {
int fd = events[ne].data.fd;
if (fd == control_fd)
{
char cmd = 255;
int ret;
D("gps control fd event");
do {
ret = read( fd, &cmd, 1 );
} while (ret < 0 && errno == EINTR);
if (cmd == CMD_QUIT) {
D("gps thread quitting on demand");
return;
}
else if (cmd == CMD_START) {
if (!started) {
D("gps thread starting location_cb=%p", state->callbacks.location_cb);
started = 1;
nmea_reader_set_callback( reader, state->callbacks.location_cb );
}
}
else if (cmd == CMD_STOP) {
if (started) {
D("gps thread stopping");
started = 0;
nmea_reader_set_callback( reader, NULL );
}
}
}
else if (fd == gps_fd)
{
char buff[32];
D("gps fd event");
for (;;) {
int nn, ret;
ret = read( fd, buff, sizeof(buff) );
if (ret < 0) {
if (errno == EINTR)
continue;
if (errno != EWOULDBLOCK)
LOGE("error while reading from gps daemon socket: %s:", strerror(errno));
break;
}
D("received %d bytes: %.*s", ret, ret, buff);
for (nn = 0; nn < ret; nn++)
nmea_reader_addc( reader, buff[nn] );
}
D("gps fd event end");
}
else
{
LOGE("epoll_wait() returned unkown fd %d ?", fd);
}
}
}
}
}
static void
gps_state_init( GpsState* state, GpsCallbacks* callbacks )
{
state->init = 1;
state->control[0] = -1;
state->control[1] = -1;
state->fd = -1;
state->fd = qemud_channel_open(QEMU_CHANNEL_NAME);
if (state->fd < 0) {
D("no gps emulation detected");
return;
}
D("gps emulation will read from '%s' qemud channel", QEMU_CHANNEL_NAME );
if ( socketpair( AF_LOCAL, SOCK_STREAM, 0, state->control ) < 0 ) {
LOGE("could not create thread control socket pair: %s", strerror(errno));
goto Fail;
}
state->thread = callbacks->create_thread_cb( "gps_state_thread", gps_state_thread, state );
if ( !state->thread ) {
LOGE("could not create gps thread: %s", strerror(errno));
goto Fail;
}
state->callbacks = *callbacks;
D("gps state initialized");
return;
Fail:
gps_state_done( state );
}
/*****************************************************************/
/*****************************************************************/
/***** *****/
/***** I N T E R F A C E *****/
/***** *****/
/*****************************************************************/
/*****************************************************************/
static int
qemu_gps_init(GpsCallbacks* callbacks)
{
GpsState* s = _gps_state;
if (!s->init)
gps_state_init(s, callbacks);
if (s->fd < 0)
return -1;
return 0;
}
static void
qemu_gps_cleanup(void)
{
GpsState* s = _gps_state;
if (s->init)
gps_state_done(s);
}
static int
qemu_gps_start()
{
GpsState* s = _gps_state;
if (!s->init) {
D("%s: called with uninitialized state !!", __FUNCTION__);
return -1;
}
D("%s: called", __FUNCTION__);
gps_state_start(s);
return 0;
}
static int
qemu_gps_stop()
{
GpsState* s = _gps_state;
if (!s->init) {
D("%s: called with uninitialized state !!", __FUNCTION__);
return -1;
}
D("%s: called", __FUNCTION__);
gps_state_stop(s);
return 0;
}
static int
qemu_gps_inject_time(GpsUtcTime time, int64_t timeReference, int uncertainty)
{
return 0;
}
static int
qemu_gps_inject_location(double latitude, double longitude, float accuracy)
{
return 0;
}
static void
qemu_gps_delete_aiding_data(GpsAidingData flags)
{
}
static int qemu_gps_set_position_mode(GpsPositionMode mode, int fix_frequency)
{
// FIXME - support fix_frequency
return 0;
}
static const void*
qemu_gps_get_extension(const char* name)
{
// no extensions supported
return NULL;
}
static const GpsInterface qemuGpsInterface = {
sizeof(GpsInterface),
qemu_gps_init,
qemu_gps_start,
qemu_gps_stop,
qemu_gps_cleanup,
qemu_gps_inject_time,
qemu_gps_inject_location,
qemu_gps_delete_aiding_data,
qemu_gps_set_position_mode,
qemu_gps_get_extension,
};
const GpsInterface* gps__get_gps_interface(struct gps_device_t* dev)
{
return &qemuGpsInterface;
}
static int open_gps(const struct hw_module_t* module, char const* name,
struct hw_device_t** device)
{
struct gps_device_t *dev = malloc(sizeof(struct gps_device_t));
memset(dev, 0, sizeof(*dev));
dev->common.tag = HARDWARE_DEVICE_TAG;
dev->common.version = 0;
dev->common.module = (struct hw_module_t*)module;
// dev->common.close = (int (*)(struct hw_device_t*))close_lights;
dev->get_gps_interface = gps__get_gps_interface;
*device = (struct hw_device_t*)dev;
return 0;
}
static struct hw_module_methods_t gps_module_methods = {
.open = open_gps
};
const struct hw_module_t HAL_MODULE_INFO_SYM = {
.tag = HARDWARE_MODULE_TAG,
.version_major = 1,
.version_minor = 0,
.id = GPS_HARDWARE_MODULE_ID,
.name = "Goldfish GPS Module",
.author = "The Android Open Source Project",
.methods = &gps_module_methods,
};

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# Copyright (C) 2009 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.
# this file is used to build emulator-specific program tools
# that should only run in the emulator.
#
# We're moving the emulator-specific platform libs to
# development.git/tools/emulator/. The following test is to ensure
# smooth builds even if the tree contains both versions.
#
ifndef BUILD_EMULATOR_QEMU_PROPS
BUILD_EMULATOR_QEMU_PROPS := true
LOCAL_PATH := $(call my-dir)
ifneq ($(TARGET_PRODUCT),sim)
# The 'qemu-props' program is run from /system/etc/init.goldfish.rc
# to setup various system properties sent by the emulator program.
#
include $(CLEAR_VARS)
LOCAL_MODULE := qemu-props
LOCAL_SRC_FILES := qemu-props.c
LOCAL_SHARED_LIBRARIES := libcutils
# we don't want this in 'user' builds which don't have
# emulator-specific binaries.
LOCAL_MODULE_TAGS := debug
include $(BUILD_EXECUTABLE)
endif # TARGET_PRODUCT != sim
endif # BUILD_EMULATOR_QEMU_PROPS

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/*
* Copyright (C) 2009 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.
*/
/* this program is used to read a set of system properties and their values
* from the emulator program and set them in the currently-running emulated
* system. It does so by connecting to the 'boot-properties' qemud service.
*
* This program should be run as root and called from
* /system/etc/init.goldfish.rc exclusively.
*/
#define LOG_TAG "qemu-props"
#define DEBUG 1
#if DEBUG
# include <cutils/log.h>
# define DD(...) LOGI(__VA_ARGS__)
#else
# define DD(...) ((void)0)
#endif
#include <cutils/properties.h>
#include <unistd.h>
#include <hardware/qemud.h>
/* Name of the qemud service we want to connect to.
*/
#define QEMUD_SERVICE "boot-properties"
#define MAX_TRIES 5
int main(void)
{
int qemud_fd, count = 0;
/* try to connect to the qemud service */
{
int tries = MAX_TRIES;
while (1) {
qemud_fd = qemud_channel_open( "boot-properties" );
if (qemud_fd >= 0)
break;
if (--tries <= 0) {
DD("Could not connect after too many tries. Aborting");
return 1;
}
DD("waiting 1s to wait for qemud.");
sleep(1);
}
}
DD("connected to '%s' qemud service.", QEMUD_SERVICE);
/* send the 'list' command to the service */
if (qemud_channel_send(qemud_fd, "list", -1) < 0) {
DD("could not send command to '%s' service", QEMUD_SERVICE);
return 1;
}
/* read each system property as a single line from the service,
* until exhaustion.
*/
for (;;)
{
#define BUFF_SIZE (PROPERTY_KEY_MAX + PROPERTY_VALUE_MAX + 2)
DD("receiving..");
char* q;
char temp[BUFF_SIZE];
int len = qemud_channel_recv(qemud_fd, temp, sizeof temp - 1);
/* lone NUL-byte signals end of properties */
if (len < 0 || len > BUFF_SIZE-1 || temp[0] == '\0')
break;
temp[len] = '\0'; /* zero-terminate string */
DD("received: %.*s", len, temp);
/* separate propery name from value */
q = strchr(temp, '=');
if (q == NULL) {
DD("invalid format, ignored.");
continue;
}
*q++ = '\0';
if (property_set(temp, q) < 0) {
DD("could not set property '%s' to '%s'", temp, q);
} else {
count += 1;
}
}
/* finally, close the channel and exit */
close(qemud_fd);
DD("exiting (%d properties set).", count);
return 0;
}

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# Copyright 2008 The Android Open Source Project
# We're moving the emulator-specific platform libs to
# development.git/tools/emulator/. The following test is to ensure
# smooth builds even if the tree contains both versions.
#
ifndef BUILD_EMULATOR_QEMUD
BUILD_EMULATOR_QEMUD := true
LOCAL_PATH:= $(call my-dir)
include $(CLEAR_VARS)
LOCAL_SRC_FILES:= \
qemud.c
LOCAL_SHARED_LIBRARIES := \
libcutils \
LOCAL_MODULE:= qemud
LOCAL_MODULE_TAGS := debug
include $(BUILD_EXECUTABLE)
endif # BUILD_EMULATOR_QEMUD

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# Copyright (C) 2009 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.
# We're moving the emulator-specific platform libs to
# development.git/tools/emulator/. The following test is to ensure
# smooth builds even if the tree contains both versions.
#
ifndef BUILD_EMULATOR_SENSORS_MODULE
BUILD_EMULATOR_SENSORS_MODULE := true
LOCAL_PATH := $(call my-dir)
ifneq ($(TARGET_PRODUCT),sim)
# HAL module implemenation, not prelinked and stored in
# hw/<SENSORS_HARDWARE_MODULE_ID>.<ro.hardware>.so
include $(CLEAR_VARS)
LOCAL_PRELINK_MODULE := false
LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
LOCAL_SHARED_LIBRARIES := liblog libcutils
LOCAL_SRC_FILES := sensors_qemu.c
LOCAL_MODULE := sensors.goldfish
LOCAL_MODULE_TAGS := debug
include $(BUILD_SHARED_LIBRARY)
endif
endif # BUILD_EMULATOR_SENSORS_MODULE

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/*
* Copyright (C) 2009 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.
*/
/* this implements a sensors hardware library for the Android emulator.
* the following code should be built as a shared library that will be
* placed into /system/lib/hw/sensors.goldfish.so
*
* it will be loaded by the code in hardware/libhardware/hardware.c
* which is itself called from com_android_server_SensorService.cpp
*/
/* we connect with the emulator through the "sensors" qemud service
*/
#define SENSORS_SERVICE_NAME "sensors"
#define LOG_TAG "QemuSensors"
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <string.h>
#include <cutils/log.h>
#include <cutils/native_handle.h>
#include <cutils/sockets.h>
#include <hardware/sensors.h>
#if 0
#define D(...) LOGD(__VA_ARGS__)
#else
#define D(...) ((void)0)
#endif
#define E(...) LOGE(__VA_ARGS__)
#include <hardware/qemud.h>
/** SENSOR IDS AND NAMES
**/
#define MAX_NUM_SENSORS 5
#define SUPPORTED_SENSORS ((1<<MAX_NUM_SENSORS)-1)
#define ID_BASE SENSORS_HANDLE_BASE
#define ID_ACCELERATION (ID_BASE+0)
#define ID_MAGNETIC_FIELD (ID_BASE+1)
#define ID_ORIENTATION (ID_BASE+2)
#define ID_TEMPERATURE (ID_BASE+3)
#define ID_PROXIMITY (ID_BASE+4)
#define SENSORS_ACCELERATION (1 << ID_ACCELERATION)
#define SENSORS_MAGNETIC_FIELD (1 << ID_MAGNETIC_FIELD)
#define SENSORS_ORIENTATION (1 << ID_ORIENTATION)
#define SENSORS_TEMPERATURE (1 << ID_TEMPERATURE)
#define SENSORS_PROXIMITY (1 << ID_PROXIMITY)
#define ID_CHECK(x) ((unsigned)((x)-ID_BASE) < MAX_NUM_SENSORS)
#define SENSORS_LIST \
SENSOR_(ACCELERATION,"acceleration") \
SENSOR_(MAGNETIC_FIELD,"magnetic-field") \
SENSOR_(ORIENTATION,"orientation") \
SENSOR_(TEMPERATURE,"temperature") \
SENSOR_(PROXIMITY,"proximity") \
static const struct {
const char* name;
int id; } _sensorIds[MAX_NUM_SENSORS] =
{
#define SENSOR_(x,y) { y, ID_##x },
SENSORS_LIST
#undef SENSOR_
};
static const char*
_sensorIdToName( int id )
{
int nn;
for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
if (id == _sensorIds[nn].id)
return _sensorIds[nn].name;
return "<UNKNOWN>";
}
static int
_sensorIdFromName( const char* name )
{
int nn;
if (name == NULL)
return -1;
for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
if (!strcmp(name, _sensorIds[nn].name))
return _sensorIds[nn].id;
return -1;
}
/** SENSORS POLL DEVICE
**
** This one is used to read sensor data from the hardware.
** We implement this by simply reading the data from the
** emulator through the QEMUD channel.
**/
typedef struct SensorPoll {
struct sensors_poll_device_t device;
sensors_event_t sensors[MAX_NUM_SENSORS];
int events_fd;
uint32_t pendingSensors;
int64_t timeStart;
int64_t timeOffset;
int fd;
uint32_t active_sensors;
} SensorPoll;
/* this must return a file descriptor that will be used to read
* the sensors data (it is passed to data__data_open() below
*/
static native_handle_t*
control__open_data_source(struct sensors_poll_device_t *dev)
{
SensorPoll* ctl = (void*)dev;
native_handle_t* handle;
if (ctl->fd < 0) {
ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
}
D("%s: fd=%d", __FUNCTION__, ctl->fd);
handle = native_handle_create(1, 0);
handle->data[0] = dup(ctl->fd);
return handle;
}
static int
control__activate(struct sensors_poll_device_t *dev,
int handle,
int enabled)
{
SensorPoll* ctl = (void*)dev;
uint32_t mask, sensors, active, new_sensors, changed;
char command[128];
int ret;
D("%s: handle=%s (%d) fd=%d enabled=%d", __FUNCTION__,
_sensorIdToName(handle), handle, ctl->fd, enabled);
if (!ID_CHECK(handle)) {
E("%s: bad handle ID", __FUNCTION__);
return -1;
}
mask = (1<<handle);
sensors = enabled ? mask : 0;
active = ctl->active_sensors;
new_sensors = (active & ~mask) | (sensors & mask);
changed = active ^ new_sensors;
if (!changed)
return 0;
snprintf(command, sizeof command, "set:%s:%d",
_sensorIdToName(handle), enabled != 0);
if (ctl->fd < 0) {
ctl->fd = qemud_channel_open(SENSORS_SERVICE_NAME);
}
ret = qemud_channel_send(ctl->fd, command, -1);
if (ret < 0) {
E("%s: when sending command errno=%d: %s", __FUNCTION__, errno, strerror(errno));
return -1;
}
ctl->active_sensors = new_sensors;
return 0;
}
static int
control__set_delay(struct sensors_poll_device_t *dev, int32_t ms)
{
SensorPoll* ctl = (void*)dev;
char command[128];
D("%s: dev=%p delay-ms=%d", __FUNCTION__, dev, ms);
snprintf(command, sizeof command, "set-delay:%d", ms);
return qemud_channel_send(ctl->fd, command, -1);
}
static int
control__close(struct hw_device_t *dev)
{
SensorPoll* ctl = (void*)dev;
close(ctl->fd);
free(ctl);
return 0;
}
/* return the current time in nanoseconds */
static int64_t
data__now_ns(void)
{
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec;
}
static int
data__data_open(struct sensors_poll_device_t *dev, native_handle_t* handle)
{
SensorPoll* data = (void*)dev;
int i;
D("%s: dev=%p fd=%d", __FUNCTION__, dev, handle->data[0]);
memset(&data->sensors, 0, sizeof(data->sensors));
for (i=0 ; i<MAX_NUM_SENSORS ; i++) {
data->sensors[i].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
}
data->pendingSensors = 0;
data->timeStart = 0;
data->timeOffset = 0;
data->events_fd = dup(handle->data[0]);
D("%s: dev=%p fd=%d (was %d)", __FUNCTION__, dev, data->events_fd, handle->data[0]);
native_handle_close(handle);
native_handle_delete(handle);
return 0;
}
static int
data__data_close(struct sensors_poll_device_t *dev)
{
SensorPoll* data = (void*)dev;
D("%s: dev=%p", __FUNCTION__, dev);
if (data->events_fd >= 0) {
close(data->events_fd);
data->events_fd = -1;
}
return 0;
}
static int
pick_sensor(SensorPoll* data,
sensors_event_t* values)
{
uint32_t mask = SUPPORTED_SENSORS;
while (mask) {
uint32_t i = 31 - __builtin_clz(mask);
mask &= ~(1<<i);
if (data->pendingSensors & (1<<i)) {
data->pendingSensors &= ~(1<<i);
*values = data->sensors[i];
values->sensor = i;
values->version = sizeof(*values);
D("%s: %d [%f, %f, %f]", __FUNCTION__,
i,
values->data[0],
values->data[1],
values->data[2]);
return i;
}
}
LOGE("No sensor to return!!! pendingSensors=%08x", data->pendingSensors);
// we may end-up in a busy loop, slow things down, just in case.
usleep(100000);
return -EINVAL;
}
static int
data__poll(struct sensors_poll_device_t *dev, sensors_event_t* values)
{
SensorPoll* data = (void*)dev;
int fd = data->events_fd;
D("%s: data=%p", __FUNCTION__, dev);
// there are pending sensors, returns them now...
if (data->pendingSensors) {
return pick_sensor(data, values);
}
// wait until we get a complete event for an enabled sensor
uint32_t new_sensors = 0;
while (1) {
/* read the next event */
char buff[256];
int len = qemud_channel_recv(data->events_fd, buff, sizeof buff-1);
float params[3];
int64_t event_time;
if (len < 0) {
E("%s: len=%d, errno=%d: %s", __FUNCTION__, len, errno, strerror(errno));
return -errno;
}
buff[len] = 0;
/* "wake" is sent from the emulator to exit this loop. */
if (!strcmp((const char*)data, "wake")) {
return 0x7FFFFFFF;
}
/* "acceleration:<x>:<y>:<z>" corresponds to an acceleration event */
if (sscanf(buff, "acceleration:%g:%g:%g", params+0, params+1, params+2) == 3) {
new_sensors |= SENSORS_ACCELERATION;
data->sensors[ID_ACCELERATION].acceleration.x = params[0];
data->sensors[ID_ACCELERATION].acceleration.y = params[1];
data->sensors[ID_ACCELERATION].acceleration.z = params[2];
continue;
}
/* "orientation:<azimuth>:<pitch>:<roll>" is sent when orientation changes */
if (sscanf(buff, "orientation:%g:%g:%g", params+0, params+1, params+2) == 3) {
new_sensors |= SENSORS_ORIENTATION;
data->sensors[ID_ORIENTATION].orientation.azimuth = params[0];
data->sensors[ID_ORIENTATION].orientation.pitch = params[1];
data->sensors[ID_ORIENTATION].orientation.roll = params[2];
continue;
}
/* "magnetic:<x>:<y>:<z>" is sent for the params of the magnetic field */
if (sscanf(buff, "magnetic:%g:%g:%g", params+0, params+1, params+2) == 3) {
new_sensors |= SENSORS_MAGNETIC_FIELD;
data->sensors[ID_MAGNETIC_FIELD].magnetic.x = params[0];
data->sensors[ID_MAGNETIC_FIELD].magnetic.y = params[1];
data->sensors[ID_MAGNETIC_FIELD].magnetic.z = params[2];
continue;
}
/* "temperature:<celsius>" */
if (sscanf(buff, "temperature:%g", params+0) == 2) {
new_sensors |= SENSORS_TEMPERATURE;
data->sensors[ID_TEMPERATURE].temperature = params[0];
continue;
}
/* "proximity:<value>" */
if (sscanf(buff, "proximity:%g", params+0) == 1) {
new_sensors |= SENSORS_PROXIMITY;
data->sensors[ID_PROXIMITY].distance = params[0];
continue;
}
/* "sync:<time>" is sent after a series of sensor events.
* where 'time' is expressed in micro-seconds and corresponds
* to the VM time when the real poll occured.
*/
if (sscanf(buff, "sync:%lld", &event_time) == 1) {
if (new_sensors) {
data->pendingSensors = new_sensors;
int64_t t = event_time * 1000LL; /* convert to nano-seconds */
/* use the time at the first sync: as the base for later
* time values */
if (data->timeStart == 0) {
data->timeStart = data__now_ns();
data->timeOffset = data->timeStart - t;
}
t += data->timeOffset;
while (new_sensors) {
uint32_t i = 31 - __builtin_clz(new_sensors);
new_sensors &= ~(1<<i);
data->sensors[i].timestamp = t;
}
return pick_sensor(data, values);
} else {
D("huh ? sync without any sensor data ?");
}
continue;
}
D("huh ? unsupported command");
}
return -1;
}
static int
data__close(struct hw_device_t *dev)
{
SensorPoll* data = (SensorPoll*)dev;
if (data) {
if (data->events_fd >= 0) {
//LOGD("(device close) about to close fd=%d", data->events_fd);
close(data->events_fd);
}
free(data);
}
return 0;
}
/** SENSORS POLL DEVICE FUNCTIONS **/
static int poll__close(struct hw_device_t* dev)
{
SensorPoll* ctl = (void*)dev;
close(ctl->fd);
if (ctl->fd >= 0) {
close(ctl->fd);
}
if (ctl->events_fd >= 0) {
close(ctl->events_fd);
}
free(ctl);
return 0;
}
static int poll__poll(struct sensors_poll_device_t *dev,
sensors_event_t* data, int count)
{
SensorPoll* datadev = (void*)dev;
int ret;
int i;
D("%s: dev=%p data=%p count=%d ", __FUNCTION__, dev, data, count);
for (i = 0; i < count; i++) {
ret = data__poll(dev, data);
data++;
if (ret > MAX_NUM_SENSORS || ret < 0) {
return i;
}
if (!datadev->pendingSensors) {
return i + 1;
}
}
return count;
}
static int poll__activate(struct sensors_poll_device_t *dev,
int handle, int enabled)
{
int ret;
native_handle_t* hdl;
SensorPoll* ctl = (void*)dev;
D("%s: dev=%p handle=%x enable=%d ", __FUNCTION__, dev, handle, enabled);
if (ctl->fd < 0) {
D("%s: OPEN CTRL and DATA ", __FUNCTION__);
hdl = control__open_data_source(dev);
ret = data__data_open(dev,hdl);
}
ret = control__activate(dev, handle, enabled);
return ret;
}
static int poll__setDelay(struct sensors_poll_device_t *dev,
int handle, int64_t ns)
{
// TODO
return 0;
}
/** MODULE REGISTRATION SUPPORT
**
** This is required so that hardware/libhardware/hardware.c
** will dlopen() this library appropriately.
**/
/*
* the following is the list of all supported sensors.
* this table is used to build sSensorList declared below
* according to which hardware sensors are reported as
* available from the emulator (see get_sensors_list below)
*
* note: numerical values for maxRange/resolution/power were
* taken from the reference AK8976A implementation
*/
static const struct sensor_t sSensorListInit[] = {
{ .name = "Goldfish 3-axis Accelerometer",
.vendor = "The Android Open Source Project",
.version = 1,
.handle = ID_ACCELERATION,
.type = SENSOR_TYPE_ACCELEROMETER,
.maxRange = 2.8f,
.resolution = 1.0f/4032.0f,
.power = 3.0f,
.reserved = {}
},
{ .name = "Goldfish 3-axis Magnetic field sensor",
.vendor = "The Android Open Source Project",
.version = 1,
.handle = ID_MAGNETIC_FIELD,
.type = SENSOR_TYPE_MAGNETIC_FIELD,
.maxRange = 2000.0f,
.resolution = 1.0f,
.power = 6.7f,
.reserved = {}
},
{ .name = "Goldfish Orientation sensor",
.vendor = "The Android Open Source Project",
.version = 1,
.handle = ID_ORIENTATION,
.type = SENSOR_TYPE_ORIENTATION,
.maxRange = 360.0f,
.resolution = 1.0f,
.power = 9.7f,
.reserved = {}
},
{ .name = "Goldfish Temperature sensor",
.vendor = "The Android Open Source Project",
.version = 1,
.handle = ID_TEMPERATURE,
.type = SENSOR_TYPE_TEMPERATURE,
.maxRange = 80.0f,
.resolution = 1.0f,
.power = 0.0f,
.reserved = {}
},
{ .name = "Goldfish Proximity sensor",
.vendor = "The Android Open Source Project",
.version = 1,
.handle = ID_PROXIMITY,
.type = SENSOR_TYPE_PROXIMITY,
.maxRange = 1.0f,
.resolution = 1.0f,
.power = 20.0f,
.reserved = {}
},
};
static struct sensor_t sSensorList[MAX_NUM_SENSORS];
static int sensors__get_sensors_list(struct sensors_module_t* module,
struct sensor_t const** list)
{
int fd = qemud_channel_open(SENSORS_SERVICE_NAME);
char buffer[12];
int mask, nn, count;
int ret;
if (fd < 0) {
E("%s: no qemud connection", __FUNCTION__);
return 0;
}
ret = qemud_channel_send(fd, "list-sensors", -1);
if (ret < 0) {
E("%s: could not query sensor list: %s", __FUNCTION__,
strerror(errno));
close(fd);
return 0;
}
ret = qemud_channel_recv(fd, buffer, sizeof buffer-1);
if (ret < 0) {
E("%s: could not receive sensor list: %s", __FUNCTION__,
strerror(errno));
close(fd);
return 0;
}
buffer[ret] = 0;
close(fd);
/* the result is a integer used as a mask for available sensors */
mask = atoi(buffer);
count = 0;
for (nn = 0; nn < MAX_NUM_SENSORS; nn++) {
if (((1 << nn) & mask) == 0)
continue;
sSensorList[count++] = sSensorListInit[nn];
}
D("%s: returned %d sensors (mask=%d)", __FUNCTION__, count, mask);
*list = sSensorList;
return count;
}
static int
open_sensors(const struct hw_module_t* module,
const char* name,
struct hw_device_t* *device)
{
int status = -EINVAL;
D("%s: name=%s", __FUNCTION__, name);
if (!strcmp(name, SENSORS_HARDWARE_POLL)) {
SensorPoll *dev = malloc(sizeof(*dev));
memset(dev, 0, sizeof(*dev));
dev->device.common.tag = HARDWARE_DEVICE_TAG;
dev->device.common.version = 0;
dev->device.common.module = (struct hw_module_t*) module;
dev->device.common.close = poll__close;
dev->device.poll = poll__poll;
dev->device.activate = poll__activate;
dev->device.setDelay = poll__setDelay;
dev->events_fd = -1;
dev->fd = -1;
*device = &dev->device.common;
status = 0;
}
return status;
}
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 = "Goldfish SENSORS Module",
.author = "The Android Open Source Project",
.methods = &sensors_module_methods,
},
.get_sensors_list = sensors__get_sensors_list
};