Tizen OAL Interface & Sensor

Transcription

1 Tizen OAL Interface & Sensor Minsoo Ryu Real-Time Computing and Communications Lab. Hanyang University

2 Contents Tizen OAL Overview Tizen Sensor Architecture Tizen OAL in sensor Tizen Sensor 2 2

3 Objectives Understand OAL concepts and practical uses Understand about the operation of Tizen Sensor plugin and Architecture Investigate Motion Sensor in Tizen and build/port it to device 3 3

4 TIZEN OAL OVERVIEW 4 4

5 Tizen OAL Overview 5 5

6 Tizen OAL Overview OAL (OEM Adaptation Layer) The OAL interface provides function pointers for OEMs to plugin their device/platform specific code to System framework. OEM interfaces are provided by function pointer and contents of OEM is made by each manufacturing company. 6 6

7 TIZEN SENSOR FRAMEWORK 7 7

8 Sensor Framework Client library Sensor daemon 8 8

9 Sensor Client Architecture Client library Sensor daemon 9 9

10 Sensor Client Sensor Client library Any application that wants to access the sensor server and communicate with it should use the sensor API and the client library. Application can have the sensor framework client library executing within its own process context by using the sensor API

11 Components of Sensor Client Client Commands APIs exposed to the user at application level with which he can connect to a sensor, register for a particular event and start receiving data for that particular event with a time interval the user can select as specified by the driver for that particular sensor. Command Channel Used for sending commands to the interface from the client side to the server to register events for a particular sensor, unregister events, set or unset interval. Also provides a command handler which sends the command from the client side in the form of a packet and expects to receive a command acknowledgement packet which would consist of the header and the return payload

12 Components of Sensor Client Client Information Stores client information regarding events such as registration, deletion, changing registered event information and interval information on the client side. Event handler & Event listener 12 12

13 Components of Sensor Client Client function callback The event handler executes the client call back function which was registered by the client at the time of event registration. The call back function implements a specific set of functionality which needs to be executed in the application based on the sensor event and data that is received

14 Sensor Server Architecture Client library Sensor daemon 14 14

15 Sensor Server Sensor Server The sensor server is a daemon which communicates uniquely to multiple sensors(through drivers) in the system and dispatches sensor data/events back to the application. It takes care of initializing sensors during boot, driver configuration, sensor data fetching/delivery and management of all sensors on the platform

16 Components of Sensor Server Command worker Runs as a separate thread to receive commands from client such as registering event, unregistering event, setting interval, getting interval, getting data on a socket. Each command uses a separate command handler. The socket on the sensor framework server receives the command packets from the application and creates a new worker thread for processing the command. The worker thread then calls the command handler which decodes the received command. The acknowledgement for the command packet received on the server is sent back to the application

17 Components of Sensor Server Server Information Client info manager Server Info Sensor Usage 17 17

18 Components of Sensor Server Event dispatcher Dispatches the event popped from the event queue to clients using client-event registration information stored in the server block to the listener ids listening for that event. Event queue The data read from the device driver using the plugin layer is pushed up the event queue. This is the common event queue for all sensors. In case of virtual sensors it is possible to prioritize events coming from physical sensors that are being used by that virtual sensor

19 Components of Sensor Server Sensor plugin loader Sensor configuration Path used for obtaining sensor configuration information Path = /usr/etc/sensors.xml 19 19

20 TIZEN OAL IN SENSOR 20 20

21 OAL in Sensor Overview OAL in Sensor Sensor plugins retrieve data from sensor hardware and enable the client applications to use the data for specific requirements

22 Example of using OAL in Sensor Server loads plugins before running. # framework/system/sensord/src/server/main.cpp int main(int argc, char *argv[]) {.. sensor_plugin_loader::get_instance().load_plugins(); server::get_instance().run(); server::get_instance().stop(); sensor_plugin_loader::get_instance().destroy();. 1. Creates a new GMainLoop structure 2. Creates and listen command channel 3. Runs a main loop } return 0; 22 22

23 Load sensor plugins How to load sensor plugins in sensor daemon # framework/system/sensord/src/shared/ sensor_plugin_loader.cpp #include <sensor_hal.h> #include <sensor_base.h> #include <sensor_fusion.h> #define PLUGINS_CONFIG_PATH "/usr/etc/sensor_plugins.xml" #define PLUGINS_DIR_PATH "/usr/lib/sensord" 23 23

24 Load sensor plugins How to configure the path before loading # framework/system/sensord/src/shared/ sensor_plugin_loader.cpp bool sensor_plugin_loader::load_plugins(void) { vector<string> hal_paths, sensor_paths; vector<string> unique_hal_paths, unique_sensor_paths; get_paths_from_config(string(plugins_config_path), hal_paths, sensor_paths); get_paths_from_dir(string(plugins_dir_path), hal_paths, sensor_paths); Saves paths in the vector hal_paths and sensor_paths

25 Load sensor plugins Load all sensors to server # framework/system/sensord/src/shared/ sensor_plugin_loader.cpp bool sensor_plugin_loader::load_plugins(void) {. auto insert = [&](plugin_type type, const string &path) { insert_module(type, path); }; } for_each(unique_hal_paths.begin(), unique_hal_paths.end(), [&](const string &path) { insert(plugin_type_hal, path); } ); for_each(unique_sensor_paths.begin(), unique_sensor_paths.end(), [&](const string &path) { insert(plugin_type_sensor, path); } );.. return true; 25 25

26 Load sensor plugins Classify the sensor type before load module # framework/system/sensord/src/shared/ sensor_plugin_loader.cpp bool sensor_plugin_loader::insert_module(plugin_type type, const string &path) { if (type == PLUGIN_TYPE_HAL) { std::vector<void *>hals; void *handle; load_module(path, hals, handle).. } else if (type == PLUGIN_TYPE_SENSOR) { std::vector<void *> sensors; void *handle; } } load_module(path, sensors, handle) sensor_base* sensor;

27 Load sensor plugins Plugin with dynamic loading # framework/system/sensord/src/shared/ sensor_plugin_loader.cpp bool sensor_plugin_loader::load_module(const string &path, vector<void*> &sensors, void* &handle) { void *_handle = dlopen(path.c_str(), RTLD_NOW); create_t create_module = (create_t) dlsym(_handle, "create"); sensor_module *module = create_module();.. sensors.swap(module->sensors);.. return true; } 27 27

28 Load sensor plugins Setting the path to configure before loading # framework/system/sensord/sensor_plugins.xml.in --> usr/etc/sensor_plugins.xml <PLUGIN> <HAL> <MODULE path = "/usr/lib/sensord/libaccel_sensor_hal.so"/> <MODULE path = "/usr/lib/sensord/libgyro_sensor_hal.so"/>. </HAL> This part is the list of hardware sensors shared library. This part is the list of total sensors shared library that include virtual sensors. <SENSOR> <MODULE path = "/usr/lib/sensord/libaccel_sensor.so"/> <MODULE path = "/usr/lib/sensord/libgyro_sensor.so"/> <MODULE path = "/usr/lib/sensord/libmotion_sensor.so"/> <MODULE path = "/usr/lib/sensord/liborientation_sensor.so"/>. </SENSOR> </PLUGIN> 28 28

29 Load sensor plugins How to make libaccel_sensor.so # framework/system/sensord/src/accel/cmakelists.txt SET(SENSOR_NAME accel_sensor) SET(SENSOR_HAL_NAME accel_sensor_hal). add_library(${sensor_name} SHARED accel_sensor.cpp ) add_library(${sensor_hal_name} SHARED accel_sensor_hal.cpp ). install(targets ${SENSOR_NAME} DESTINATION lib/sensord) install(targets ${SENSOR_HAL_NAME} DESTINATION lib/sensord) Hardware sensor provides two shared libraries. One is based on sensor_base and The other is based on sensor_hal

30 TIZEN SENSOR 30 30

31 Tizen Sensor Hardware Sensor Accelerometer sensor Gyroscope sensor Proximity sensor Geomagnetic sensor Light sensor Virtual Sensor Motion sensor Gravity sensor Orientation sensor 31 31

32 Accelerometer sensor Accelerometer sensor The accelerometer sensor is used to measure the acceleration of the device. The three dimensional coordinate system is used to illustrate the direction of the acceleration. When a phone is moving along an axis, the acceleration is positive if it moves in a positive direction. The acceleration sensor measures changes in velocity. It can also be used to determine orientation. The acceleration sensor measures the device's acceleration vector in 3 axes relative to its body frame

33 Accelerometer sensor Accelerometer sensor A 1 g acceleration shift always exists due to gravity. You must compensate for the gravitational pull of the Earth to detect device movement by subtracting the gravity offset. If the device is at rest, or the device is falling and has reached terminal velocity, the sensor data reads 1g (the gravity offset) and tells you the direction of gravity

34 Accelerometer sensor 34 34

35 Accelerometer sensor 35 35

36 Gyroscope sensor Gyroscope sensor A gyroscope is a device used primarily for navigation and measurement of angular velocity. Gyroscopes measure how quickly an object rotates. This rate of rotation can be measured along any of the three axes X, Y, and Z. The gyro sensor detects angular velocity, which is calculated using the measurement data retrieved from a 3-axis gyroscope 36 36

37 Gyroscope sensor 37 37

38 Gyroscope sensor 38 38

39 Proximity sensor Proximity sensor A proximity sensor can detect the presence of nearby objects without any physical contact. That is, it indicates if the device is close or not close to the user. Use the proximity sensor to lock or unlock the device screen. For example, when the device user holds the device to the ear, the proximity sensor detects the user as an object, and automatically locks the device screen. When the user moves the device away from the ear to input data, the proximity sensor determines that there is not a nearby object, and unlocks the screen

40 Geomagnetic sensor Geomagnetic sensor A geomagnetic sensor indicates the strength of the geomagnetic flux density in the X, Y, and Z axes. This sensor is used to find the orientation of a body, which is a description of how it is aligned to the space it is in

41 Light sensor Light sensor A light sensor measures the amount of light that it receives or the surrounding light conditions. The ambient light state is measured as a step value, where 0 is very dark and 10 is bright sunlight. Use the light sensor to control the brightness of the screen. For example, if you are in a dark environment, the light sensor detects the brightness of the environment and increases the device screen backlight brightness level. In a brighter environment, the backlight brightness level is lowered to save battery power

42 Light sensor 42 42

43 Gravity sensor Gravity sensor The gravity sensor is originated from the 3-axis acceleration sensor. Measures the vector components of gravity when the device is at reset or moving slowly. Provides 3 components of acceleration (X,Y,Z) 43 43

44 Gravity sensor 44 44

45 Orientation sensor Orientation sensor The orientation sensor is originated from the 3-axis acceleration sensor. The following 3 rotation axes indicate the angle between the gravity vector and projection of the gravity vector. Yaw, Pitch, Roll 45 45

46 Orientation sensor 46 46

47 Motion sensor Motion sensor A motion sensor is a virtual sensor that uses the accelerometer and gyroscope sensors. Motion sensor detects snap, panning, tilt, shake, overturn, and double tap event

48 LAB 48 48

49 Lab Understand OAL concepts and do practice. Develop a new motion detect sensor based on virtual sensor 49 49

50 Hardware sensors and Virtual sensors Hardware sensor Have to support three interfaces namely sensor_base, physical_sensor and sensor_hal Ex) Accelerometer sensor, Geomagnetic Sensor, Gyroscope Sensor, Light Sensor, Pressure Sensor etc. Virtual sensor Have to support two interfaces namely sensor_base and virtual_sensor Ex) Orientation Sensor, Gravity Sensor, Rotation Vector Sensor, Linear Acceleration Sensor etc

51 Type of sensor Example of Hardware sensor and Virtual sensor Hardware sensor Virtual sensor 51 51

52 Interfaces of sensor sensor_base Connects the sensor plugin to the sensor server Passes on configuration and control information from server to sensor_hal Receives raw sensor data from sensor_hal and sends to server Further processing of raw sensor data to generate sensor events physical_sensor Initializes plugin polling thread for getting sensor data from driver Pushes sensor event from the plugin to the server event queue 52 52

53 Interfaces of sensor sensor_hal Connects with the sensor_base interface Configuration of sensor drivers Reads raw sensor data from the sensor driver Control of the sensors through the driver virtual_sensor Synthesizes virtual sensor events based on sensor events received from hardware sensors

54 Assignment Develop a new motion detect sensor A new motion detect sensor is based on Virtual sensor. When sensor detects left-shake motion, output of sensor is 1. When sensor detects right-shake motion, output of sensor is 2. When sensor detects nothing, output of sensor is

55 New motion sensor To do list 5. Add definition of new sensor enumeration type in sensor_type_t in /framework/api/sensor/src/sensor.c and sensor_type_e in sensor/include/sensor.h 3. Add definition of new sensor enumeration type in sensor_type_t in the file shared/sensor_common.h and new sensor event definition header file in libsensord folder. 4. Update new sensor event information in libsensord/client_common.cpp 2. Register new motion sensor to Virtual Sensor XML Configuration File, sensor_plugins.xml File and /sensord/packaging/sensord.spec File 1. Make new motion sensor based on sensor_base and virtual_sensor 55 55

56 Conclusion Studied about OAL concepts and practical uses Understand about the operation of Tizen Sensor plugin and Architecture Can make new Motion Sensor in Tizen and build/port it to device 56 56

57 SUPPLEMENT 57 57

58 TIZEN OAL IN DEVICE 58 58

59 Tizen OAL in device OAL in device OEM developers should implement API defined in devman_plugin_intf.h and compile their library as libslp_devman_plugin.so. OEM APIs can be grouped as power, battery, haptics, LED, light and memory

60 Tizen OAL in device Flow graph Application daemon Library API IPC Function call deviced libdevice-node (OAL) Kernel node 60 60

61 Example of using OAL in device Application calls device_display_get _brightness() # display_application.c static Evas_Object *create_content(evas_object* parent, Eina_Bool is_horizontal) { Evas_Object *slider, *check; int brightness = 0; slider = create_slider(main_box); elm_slider_horizontal_set(slider, is_horizontal); device_display_get_brightness(0,&brightness); elm_slider_value_set(slider, brightness/10); evas_object_show(slider); Create slider bar with current brightness in Application } return scroller; 61 61

62 Example of using OAL in device Sensor API uses IPC # /framework/api/device/src/display.c #define METHOD_GET_MAX_BRIGHTNESS "GetMaxBrightness" int device_display_get_brightness(int display_index, int *brightness) { int ret; ret = dbus_method_sync( DEVICED_BUS_NAME, DEVICED_PATH_DISPLAY, DEVICED_INTERFACE_DISPLAY, METHOD_GET_BRIGHTNESS, NULL, NULL); 1. Connects to a bus daemon and registers the client with it. 2. Constructs a new message to invoke a method 3. Send a message and blocks a certain period while waiting for a reply 4. Gets arguments from message given a variable argument list. } *brightness = ret; return DEVICE_ERROR_NONE; 62 62

63 Example of using OAL in device device daemon gets the value and reply with IPC # /framework/system/deivced/src/display/display-dbus.c static DBusMessage *edbus_getbrightness (E_DBus_Object *obj, DBusMessage *msg) { DBusMessageIter iter; DBusMessage *reply; int cmd, brt, ret; cmd = DISP_CMD(PROP_DISPLAY_BRIGHTNESS, DEFAULT_DISPLAY); ret = device_get_property(device_type_display, cmd, &brt); 1. Constructs a message that is a reply to method call. 2. Initializes a DBusMessagelter for appending arguments to the end of a message. 3. Append value to the message. } if (ret >= 0) ret = brt; reply = dbus_message_new_method_return(msg); dbus_message_iter_init_append(reply, &iter); dbus_message_iter_append_basic(&iter, DBUS_TYPE_INT32, &brt); return reply; 63 63

64 Example of using OAL in device Composition of function device_get_property # /framework/system/libdevice-node/src/device-node.c API int device_get_property(enum device_type devtype, int property, int *value) { struct device *dev; enum device_type *type; int r; type = find_device(devtype); dev = container_of(type, struct device, type); r = dev->get_prop(property, value); 1. Finds device_type pointer which value is equal with devtype. 2. Returns a pointer to the containing structure. } errno = 0; return 0; 64 64

65 Example of using OAL in device Composition of function display_get_prop # /framework/system/libdevice-node/devices/display.c static int display_get_prop(int prop, int *val) { int prop = PROPERTY_PROP( prop); int index = PROPERTY_INDEX( prop); int disp_cnt; int r; r = PLUGIN_GET(display_count)(&disp_cnt); switch (prop) { case PROP_DISPLAY_BRIGHTNESS: return PLUGIN_GET(backlight_brightness)(index, val, 0); } case PROP_DISPLAY_ONOFF: return PLUGIN_GET(lcd_power)(index, val); } return -1; 65 65

66 Example of using OAL in device How to convert definition to OEM_function # /framework/system/libdevice-node/include/deviceinternal.h #define DEF_SYS(node) #define DEF_GET(node) #define DEF_SET(node) #define OEM_SYS(node) #define OEM_GET(node) #define OEM_SET(node) default_intf->oem_sys_##node default_intf->oem_sys_get_##node default_intf->oem_sys_set_##node oem_intf->oem_sys_##node oem_intf->oem_sys_get_##node oem_intf->oem_sys_set_##node #define PLUGIN_SYS(node) (oem_intf && OEM_SYS(node)? OEM_SYS(node) : DEF_SYS(node)) #define PLUGIN_GET(node) (oem_intf && OEM_GET(node)? OEM_GET(node) : DEF_GET(node)) #define PLUGIN_SET(node) (oem_intf && OEM_SET(node)? OEM_SET(node) : DEF_SET(node)) extern const OEM_sys_devman_plugin_interface *oem_intf; extern const OEM_sys_devman_plugin_interface *default_intf; 66 66

67 Example of using OAL in device Plugin with libdevice-node-generic.so and libslp_devman_plugin.so # /framework/system/libdevice-node/src/device-node.c #define DEVMAN_PLUGIN_PATH "/usr/lib/libslp_devman_plugin.so" #define DEFAULT_PLUGIN_PATH "/usr/lib/libdevice-node-generic.so" static void CONSTRUCTOR module_init(void) { oem_intf = get_plugin_intf(devman_plugin_path, &oem_handle); } default_intf = get_plugin_intf(default_plugin_path, &default_handle); 67 67

68 Example of using OAL in device Plugin with Dynamic Loading # /framework/system/libdevice-node/src/device-node.c static const OEM_sys_devman_plugin_interface *get_plugin_intf(const char *path, void **phandle) { const OEM_sys_devman_plugin_interface *(*OEM_sys_get_devman_plugin_interface) (); const OEM_sys_devman_plugin_interface *plugin; void *handle; char *error; handle = dlopen(path, RTLD_NOW); OEM_sys_get_devman_plugin_interface = dlsym(handle, "OEM_sys_get_devman_plugin_interface"); plugin = OEM_sys_get_devman_plugin_interface(); } *phandle = handle; return plugin; 68 68

69 Example of using OAL in device Install the OEM library as libslp_devman_plugin.so to /usr/lib # /adaptation/ap_samsung/device-manager-pluginexynos/cmakelists.txt PROJECT(slp_devman_plugin C) ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS}) SET(SRCS src/device_manager_io.c src/device_manager_plugin_exynos.c ) INSTALL(TARGETS ${PROJECT_NAME} DESTINATION lib COMPONENT RuntimeLibraries) /* # define DEVMAN_PLUGIN_PATH "/usr/lib/libslp_devman_plugin.so */ 69 69

70 Example of using OAL in device Install the OEM library as libslp_devman_plugin.so to /usr/lib # /adaption/ap_samsung/device-manager-pluginexynos/src/device_manager_plugin_exynos.c int OEM_sys_get_backlight_brightness(int index, int *value, int power_saving) { int ret = -1; char path[max_name+1]; int max_brightness; int pwr_saving_offset; snprintf(path, MAX_NAME, BACKLIGHT_BRIGHTNESS_PATH, disp_info[index].bl_name); ret = sys_get_int(path, value); if (power_saving){ The value of backlight brightness is came from the file which path is BACKLIGHT_BRIGHTNESS_PATH. }.. } return ret; 70 70

71 Example of using OAL in device Install the OEM library as libdevice-node-generic.so to /usr/lib # /framework/system/libdevice-node/plugins/cmakelist.txt PROJECT(device-node-generic C) ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS}) INSTALL(TARGETS ${PROJECT_NAME} DESTINATION lib COMPONENT RuntimeLibraries) # /framework/system/libdevice-node/plugins/device-nodegeneric.c #define BATTERY_CAPACITY_PATH "/sys/class/power_supply/battery/capacity \ static int OEM_sys_get_battery_capacity(int *value) { char buf[buf_max]; int r; } r = read_buf(battery_capacity_path, buf, sizeof(buf)); *value = atoi(buf); return 0; 71 71

72 Tizen OAL Functions Examples of Tizen OAL Functions Function Prototype int (*OEM_sys_set_power_state) (int value); Description (0-success, others -failure) The function sets the device to suspend mode (0: Suspend Mode). int (*OEM_sys_get_power_wakeup_count) (int *value); The function gets the current wakeup_count. int (*OEM_sys_set_power_wakeup_count) (int value); The function sets the wakeup_count with input value. int (*OEM_sys_get_cpufreq_cpuinfo_max_freq) (int *value); The function gets the limitation of max cpu frequency value : cpu frequency (KHz). int (*OEM_sys_get_cpufreq_cpuinfo_min_freq) (int *value); The function gets the limitation of min cpu frequency value : cpu frequency (KHz). int (*OEM_sys_get_cpufreq_scaling_max_freq) (int *value); The function gets the current max cpu frequency(cpuinfo_min_freq <= value <= CPUINFO_MAX_FREQ in KHz). int (*OEM_sys_set_cpufreq_scaling_max_freq) (int value); The function sets the current max cpu frequency (CPUINFO_MIN_FREQ <= value <= CPUINFO_MAX_FREQ in KHz). int (*OEM_sys_get_cpufreq_scaling_min_freq) (int *value); The function gets the current min cpu frequency (CPUINFO_MIN_FREQ <= value <= CPUINFO_MAX_FREQ in KHz). int (*OEM_sys_set_cpufreq_scaling_min_freq) (int value); The function sets the current min cpu frequency (CPUINFO_MIN_FREQ <= value <= CPUINFO_MAX_FREQ in KHz)

73 Tizen OAL Functions Examples of Tizen OAL Functions Function Prototype int (*OEM_sys_get_backlight_max_brightness) (int index, int *value) Description (0: Success, Others: Failed) The function gets the max brightness of backlight unit. Int (*OEM_sys_get_backlight_min_brightness) (int index, int *value) The function gets the min brightness of backlight unit. int (*OEM_sys_get_backlight_brightness) (int index, int *value, int power_saving) The function gets the current brightness of backlight unit(0 <= value <= MAX_BACKLIGHT_BRIG HTNESS). int (*OEM_sys_set_backlight_brightness) (int index, int value, int power_saving) The function sets the current brightness of backlight unit(0 <= value <= MAX_BACKLIGHT_BRIG HTNESS). int (*OEM_sys_set_backlight_dimming) (int index, int value) The function sets the dimming status of backlight unit (0: Off, 1: On). int (*OEM_sys_get_backlight_acl_control) (int index, int *value) The function gets the current ACL control status of backlight unit (0: Off, 1: On). int (*OEM_sys_set_backlight_acl_control) (int index, int value) The function sets the current ACL control status of backlight unit (0: Off, 1: On). int (*OEM_sys_get_lcd_power) (int index, int *value) The function gets the current LCD power status (0: Off, 1: On). int (*OEM_sys_set_lcd_power) (int index, int value) The function sets the current LCD power status (0: Off, 1: On)