1 /*
2  * Copyright (C) 2017 The Android Open Source Project
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  *      http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #include "SensorTest.h"
18 #include <errno.h>
19 
20 namespace android {
21 namespace SensorTest {
22 
23 // Test if test environment is correctly initialized
testInitialized(JNIEnv * env)24 void SensorTest::testInitialized(JNIEnv *env) {
25     ASSERT_TRUE(mManager->isValid());
26 }
27 
28 // Test if invalid parameter cases are handled correctly
testInvalidParameter(JNIEnv * env)29 void SensorTest::testInvalidParameter(JNIEnv *env) {
30     ASensorList dummyList;
31     ASSERT_EQ(ASensorManager_getSensorList(nullptr, nullptr), -EINVAL);
32     ASSERT_EQ(ASensorManager_getSensorList(nullptr, &dummyList), -EINVAL);
33 
34     ASSERT_EQ(ASensorManager_getDefaultSensor(nullptr, ASENSOR_TYPE_ACCELEROMETER), nullptr);
35 
36     ASSERT_EQ(ASensorManager_getDefaultSensorEx(
37             nullptr, ASENSOR_TYPE_ACCELEROMETER, false), nullptr);
38 
39     ALooper *nonNullLooper = reinterpret_cast<ALooper *>(1);
40     ASensorManager *nonNullManager = reinterpret_cast<ASensorManager *>(1);
41     ASSERT_EQ(ASensorManager_createEventQueue(nullptr, nullptr, 0, nullptr, nullptr), nullptr);
42     ASSERT_EQ(ASensorManager_createEventQueue(
43             nullptr, nonNullLooper, 0, nullptr, nullptr), nullptr);
44     ASSERT_EQ(ASensorManager_createEventQueue(
45             nonNullManager, nullptr, 0, nullptr, nullptr), nullptr);
46 
47     ASensorEventQueue *nonNullQueue = reinterpret_cast<ASensorEventQueue *>(1);
48     ASSERT_EQ(ASensorManager_destroyEventQueue(nullptr, nullptr), -EINVAL);
49     ASSERT_EQ(ASensorManager_destroyEventQueue(nullptr, nonNullQueue), -EINVAL);
50     ASSERT_EQ(ASensorManager_destroyEventQueue(nonNullManager, nullptr), -EINVAL);
51 
52     int fakeValidFd = 1;
53     int invalidFd = -1;
54     ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
55             nullptr, fakeValidFd, sizeof(ASensorEvent)), -EINVAL);
56     ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
57             nonNullManager, invalidFd, sizeof(ASensorEvent)), -EINVAL);
58     ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
59             nonNullManager, fakeValidFd, sizeof(ASensorEvent) - 1), -EINVAL);
60     ASSERT_EQ(ASensorManager_createSharedMemoryDirectChannel(
61             nonNullManager, fakeValidFd, 0), -EINVAL);
62 
63     AHardwareBuffer *nonNullHardwareBuffer = reinterpret_cast<AHardwareBuffer *>(1);
64     ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
65             nullptr, nonNullHardwareBuffer, sizeof(ASensorEvent)), -EINVAL);
66     ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
67             nonNullManager, nullptr, sizeof(ASensorEvent)), -EINVAL);
68     ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
69             nonNullManager, nonNullHardwareBuffer, sizeof(ASensorEvent) - 1), -EINVAL);
70     ASSERT_EQ(ASensorManager_createHardwareBufferDirectChannel(
71             nonNullManager, nonNullHardwareBuffer, 0), -EINVAL);
72 
73     // no return value to test, but call this to test if it will crash
74     ASensorManager_destroyDirectChannel(nullptr, 1);
75 
76     ASensor *nonNullSensor = reinterpret_cast<ASensor *>(1);
77     ASSERT_EQ(ASensorManager_configureDirectReport(
78             nullptr, nullptr, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL);
79     ASSERT_EQ(ASensorManager_configureDirectReport(
80             nullptr, nonNullSensor, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL);
81     ASSERT_EQ(ASensorManager_configureDirectReport(
82             nullptr, nonNullSensor, 1, ASENSOR_DIRECT_RATE_STOP), -EINVAL);
83     ASSERT_EQ(ASensorManager_configureDirectReport(
84             nonNullManager, nullptr, 1, ASENSOR_DIRECT_RATE_NORMAL), -EINVAL);
85 
86     ASSERT_EQ(ASensorEventQueue_registerSensor(nullptr, nullptr, 1, 1), -EINVAL);
87     ASSERT_EQ(ASensorEventQueue_registerSensor(nullptr, nonNullSensor, 1, 1), -EINVAL);
88     ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nullptr, 1, 1), -EINVAL);
89     ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, -1, 1), -EINVAL);
90     ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, 1, -1), -EINVAL);
91     ASSERT_EQ(ASensorEventQueue_registerSensor(nonNullQueue, nonNullSensor, -1, -1), -EINVAL);
92 
93     ASSERT_EQ(ASensorEventQueue_enableSensor(nullptr, nullptr), -EINVAL);
94     ASSERT_EQ(ASensorEventQueue_enableSensor(nullptr, nonNullSensor), -EINVAL);
95     ASSERT_EQ(ASensorEventQueue_enableSensor(nonNullQueue, nullptr), -EINVAL);
96 
97     ASSERT_EQ(ASensorEventQueue_disableSensor(nullptr, nullptr), -EINVAL);
98     ASSERT_EQ(ASensorEventQueue_disableSensor(nullptr, nonNullSensor), -EINVAL);
99     ASSERT_EQ(ASensorEventQueue_disableSensor(nonNullQueue, nullptr), -EINVAL);
100 
101     ASSERT_EQ(ASensorEventQueue_setEventRate(nullptr, nullptr, 1), -EINVAL);
102     ASSERT_EQ(ASensorEventQueue_setEventRate(nullptr, nonNullSensor, 1), -EINVAL);
103     ASSERT_EQ(ASensorEventQueue_setEventRate(nonNullQueue, nullptr, 1), -EINVAL);
104     ASSERT_EQ(ASensorEventQueue_setEventRate(nonNullQueue, nonNullSensor, -1), -EINVAL);
105 
106     ASSERT_EQ(ASensorEventQueue_hasEvents(nullptr), -EINVAL);
107 
108     ASensorEvent event;
109     ASensorEvent *nonNullEvent = &event;
110     ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nullptr, 1), -EINVAL)
111     ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nullptr, 0), -EINVAL)
112     ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nonNullEvent, 1), -EINVAL)
113     ASSERT_EQ(ASensorEventQueue_getEvents(nullptr, nonNullEvent, 0), -EINVAL);
114     ASSERT_EQ(ASensorEventQueue_getEvents(nonNullQueue, nullptr, 1), -EINVAL)
115     ASSERT_EQ(ASensorEventQueue_getEvents(nonNullQueue, nullptr, 0), -EINVAL);
116 
117     ASSERT_NULL(ASensor_getName(nullptr));
118     ASSERT_NULL(ASensor_getVendor(nullptr));
119     ASSERT_EQ(ASensor_getType(nullptr), ASENSOR_TYPE_INVALID);
120     // cannot use ASSERT_EQ as nan compare always returns false
121     ASSERT_NAN(ASensor_getResolution(nullptr));
122     ASSERT_EQ(ASensor_getMinDelay(nullptr), ASENSOR_DELAY_INVALID);
123     ASSERT_EQ(ASensor_getFifoMaxEventCount(nullptr), ASENSOR_FIFO_COUNT_INVALID);
124     ASSERT_EQ(ASensor_getFifoReservedEventCount(nullptr), ASENSOR_FIFO_COUNT_INVALID);
125     ASSERT_NULL(ASensor_getStringType(nullptr));
126     ASSERT_EQ(ASensor_getReportingMode(nullptr), AREPORTING_MODE_INVALID);
127     ASSERT_EQ(ASensor_isWakeUpSensor(nullptr), false);
128     ASSERT_EQ(ASensor_isDirectChannelTypeSupported(
129             nullptr, ASENSOR_DIRECT_CHANNEL_TYPE_SHARED_MEMORY), false);
130     ASSERT_EQ(ASensor_isDirectChannelTypeSupported(
131             nullptr, ASENSOR_DIRECT_CHANNEL_TYPE_HARDWARE_BUFFER), false);
132     ASSERT_EQ(ASensor_getHighestDirectReportRateLevel(nullptr), ASENSOR_DIRECT_RATE_STOP);
133 }
134 
135 // Test sensor direct report functionality
testDirectReport(JNIEnv * env,int32_t sensorType,int32_t channelType,int32_t rateLevel)136 void SensorTest::testDirectReport(JNIEnv* env, int32_t sensorType, int32_t channelType, int32_t rateLevel) {
137     constexpr size_t kEventSize = sizeof(ASensorEvent);
138     constexpr size_t kNEvent = 4096; // enough to contain 1.5 * 800 * 2.2 events
139     constexpr size_t kMemSize = kEventSize * kNEvent;
140 
141     // value check criterion
142     constexpr float GRAVITY_MIN = 9.81f - 0.5f;
143     constexpr float GRAVITY_MAX = 9.81f + 0.5f;
144     constexpr float GYRO_MAX = 0.1f; // ~5 dps
145 
146     constexpr float RATE_NORMAL_NOMINAL = 50;
147     constexpr float RATE_FAST_NOMINAL = 200;
148     constexpr float RATE_VERY_FAST_NOMINAL = 800;
149 
150     TestSensor sensor = mManager->getDefaultSensor(sensorType);
151     if (!sensor.isValid()
152         || sensor.getHighestDirectReportRateLevel() < rateLevel
153         || !sensor.isDirectChannelTypeSupported(channelType)) {
154         // no sensor of type sensorType or it does not declare support of channelType or rateLevel
155         return;
156     }
157 
158     std::unique_ptr<TestSharedMemory> mem(TestSharedMemory::create(channelType, kMemSize));
159     ASSERT_NE(mem, nullptr);
160     ASSERT_NE(mem->getBuffer(), nullptr);
161     switch (channelType) {
162         case ASENSOR_DIRECT_CHANNEL_TYPE_SHARED_MEMORY:
163             ASSERT_GT(mem->getSharedMemoryFd(), 0);
164             break;
165         case ASENSOR_DIRECT_CHANNEL_TYPE_HARDWARE_BUFFER:
166             ASSERT_NOT_NULL(mem->getHardwareBuffer());
167             break;
168     }
169 
170     char* buffer = mem->getBuffer();
171     // fill memory with data
172     for (size_t i = 0; i < kMemSize; ++i) {
173         buffer[i] = '\xcc';
174     }
175 
176     int32_t channel;
177     channel = mManager->createDirectChannel(*mem);
178     ASSERT_GT(channel, 0);
179 
180     // check memory is zeroed
181     for (size_t i = 0; i < kMemSize; ++i) {
182         ASSERT_EQ(buffer[i], '\0');
183     }
184 
185     int32_t eventToken;
186     eventToken = mManager->configureDirectReport(sensor, channel, rateLevel);
187     usleep(1500000); // sleep 1 sec for data, plus 0.5 sec for initialization
188     auto events = mem->parseEvents();
189 
190     // find norminal rate
191     float nominalFreq = 0.f;
192     float nominalTestTimeSec = 1.f;
193     float maxTestTimeSec = 1.5f;
194     switch (rateLevel) {
195         case ASENSOR_DIRECT_RATE_NORMAL:
196             nominalFreq = RATE_NORMAL_NOMINAL;
197             break;
198         case ASENSOR_DIRECT_RATE_FAST:
199             nominalFreq = RATE_FAST_NOMINAL;
200             break;
201         case ASENSOR_DIRECT_RATE_VERY_FAST:
202             nominalFreq = RATE_VERY_FAST_NOMINAL;
203             break;
204     }
205 
206     // allowed to be between 55% and 220% of nominal freq
207     ASSERT_GT(events.size(), static_cast<size_t>(nominalFreq * 0.55f * nominalTestTimeSec));
208     ASSERT_LT(events.size(), static_cast<size_t>(nominalFreq * 2.2f * maxTestTimeSec));
209 
210     int64_t lastTimestamp = 0;
211     for (auto &e : events) {
212         ASSERT_EQ(e.type, sensorType);
213         ASSERT_EQ(e.sensor, eventToken);
214         ASSERT_GT(e.timestamp, lastTimestamp);
215 
216         // type specific value check
217         switch(sensorType) {
218             case ASENSOR_TYPE_ACCELEROMETER: {
219                 ASensorVector &acc = e.vector;
220                 double accNorm = std::sqrt(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
221                 if (accNorm > GRAVITY_MAX || accNorm < GRAVITY_MIN) {
222                     ALOGE("Gravity norm = %f", accNorm);
223                 }
224                 ASSERT_GE(accNorm, GRAVITY_MIN);
225                 ASSERT_LE(accNorm, GRAVITY_MAX);
226                 break;
227             }
228             case ASENSOR_TYPE_GYROSCOPE: {
229                 ASensorVector &gyro = e.vector;
230                 double gyroNorm = std::sqrt(gyro.x * gyro.x + gyro.y * gyro.y + gyro.z * gyro.z);
231                 // assert not drifting
232                 ASSERT_LE(gyroNorm, GYRO_MAX);  // < ~2.5 degree/s
233                 break;
234             }
235         }
236 
237         lastTimestamp = e.timestamp;
238     }
239 
240     // stop sensor and unregister channel
241     mManager->configureDirectReport(sensor, channel, ASENSOR_DIRECT_RATE_STOP);
242     mManager->destroyDirectChannel(channel);
243 }
244 } // namespace SensorTest
245 } // namespace android
246