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/*
* Copyright (C) 2008 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 <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <unistd.h>
#include <dirent.h>
#include <sys/select.h>
#include <cutils/log.h>
#include <cstring>
#include "GyroSensor.h"
#define LOGTAG "GyroSensor"
#define FETCH_FULL_EVENT_BEFORE_RETURN 1
#define IGNORE_EVENT_TIME 350000000
/*****************************************************************************/
GyroSensor::GyroSensor()
: SensorBase(NULL, "gyro_sensor"),
mEnabled(0),
mInputReader(4),
mHasPendingEvent(false),
mEnabledTime(0)
{
mPendingEvent.version = sizeof(sensors_event_t);
mPendingEvent.sensor = ID_GY;
mPendingEvent.type = SENSOR_TYPE_GYROSCOPE;
memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
if (data_fd) {
strcpy(input_sysfs_path, "/sys/class/input/");
strcat(input_sysfs_path, input_name);
strcat(input_sysfs_path, "/device/");
input_sysfs_path_len = strlen(input_sysfs_path);
enable(0, 1);
}
}
GyroSensor::~GyroSensor() {
if (mEnabled) {
enable(0, 0);
}
}
int GyroSensor::setInitialState() {
struct input_absinfo absinfo_x;
struct input_absinfo absinfo_y;
struct input_absinfo absinfo_z;
float value;
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_x) &&
!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_y) &&
!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_z)) {
value = absinfo_x.value;
mPendingEvent.data[0] = value * CONVERT_GYRO_X;
value = absinfo_x.value;
mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
value = absinfo_x.value;
mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
mHasPendingEvent = true;
}
return 0;
}
int GyroSensor::enable(int32_t handle, int en) {
int flags = en ? 1 : 0;
int err;
if (flags != mEnabled) {
err = sspEnable(LOGTAG, SSP_GYRO, en);
if(err >= 0){
mEnabled = flags;
setInitialState();
return 0;
}
return -1;
}
return 0;
}
bool GyroSensor::hasPendingEvents() const {
return mHasPendingEvent;
}
int GyroSensor::setDelay(int32_t handle, int64_t ns)
{
int fd;
strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay");
fd = open(input_sysfs_path, O_RDWR);
if (fd >= 0) {
char buf[80];
sprintf(buf, "%lld", ns);
write(fd, buf, strlen(buf)+1);
close(fd);
return 0;
}
return -1;
}
int GyroSensor::readEvents(sensors_event_t* data, int count)
{
if (count < 1)
return -EINVAL;
if (mHasPendingEvent) {
mHasPendingEvent = false;
mPendingEvent.timestamp = getTimestamp();
*data = mPendingEvent;
return mEnabled ? 1 : 0;
}
ssize_t n = mInputReader.fill(data_fd);
if (n < 0)
return n;
int numEventReceived = 0;
input_event const* event;
#if FETCH_FULL_EVENT_BEFORE_RETURN
again:
#endif
while (count && mInputReader.readEvent(&event)) {
int type = event->type;
if (type == EV_REL) {
float value = event->value;
if (event->code == EVENT_TYPE_GYRO_X) {
mPendingEvent.data[0] = value * CONVERT_GYRO_X;
} else if (event->code == EVENT_TYPE_GYRO_Y) {
mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
} else if (event->code == EVENT_TYPE_GYRO_Z) {
mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
}
} else if (type == EV_SYN) {
mPendingEvent.timestamp = timevalToNano(event->time);
if (mEnabled) {
if (mPendingEvent.timestamp >= mEnabledTime) {
*data++ = mPendingEvent;
numEventReceived++;
}
count--;
}
} else {
ALOGE("%s: unknown event (type=%d, code=%d)", LOGTAG,
type, event->code);
}
mInputReader.next();
}
#if FETCH_FULL_EVENT_BEFORE_RETURN
/* if we didn't read a complete event, see if we can fill and
try again instead of returning with nothing and redoing poll. */
if (numEventReceived == 0 && mEnabled == 1) {
n = mInputReader.fill(data_fd);
if (n)
goto again;
}
#endif
return numEventReceived;
}
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