CN114020364A - Sensor device adapting method and device, electronic device and storage medium - Google Patents
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Abstract
The disclosure provides a sensor device adapting method, a sensor device adapting device, electronic equipment and a storage medium, and relates to the technical field of computers. The method comprises the following steps: starting an android hardware abstraction layer in a Linux system, operating a sensor frame in the android hardware abstraction layer, and communicating with sensor equipment through an interface of the sensor hardware abstraction layer in the sensor frame. According to the technical scheme, data analysis and conversion are not required to be respectively carried out by users according to the characteristics of the sensor devices of different manufacturers, the requirements on the users are reduced, the efficiency of adaptation work of the sensor devices of the Linux system is greatly improved, and the complexity and the error rate are reduced.
Description
Technical Field
The present disclosure relates to the field of computer technology, and more particularly, to the field of operating system technology.
Background
The data of the sensor equipment is acquired in the Linux system, and a mode of directly reading the node numerical value of the sensor equipment can be adopted, and a mode of reading the node numerical value of the sensor equipment by using a third-party open source library can be also adopted, for example, the node numerical value of the sensor equipment is read by using a c + + development kit libsensors-cpp of lm-sensors.
However, since the types of sensor devices are various, sensor parameters and data formats of various manufacturers are basically different. Therefore, in any of the above manners, the user needs to be particularly familiar with how the hardware of the sensor device is configured and how the node values are obtained and then analyzed and converted, and the adaptation work is very complicated and is prone to errors.
Disclosure of Invention
The present disclosure provides a sensor device adaptation method, apparatus, electronic device, storage medium, and computer program product.
According to an aspect of the present disclosure, there is provided a method of sensor device adaptation, comprising:
starting an Android Hardware Abstraction Layer (Android HAL) in a Linux system;
running a sensor framework within the android hardware abstraction layer;
and communicating with the Sensor equipment through an interface of a Sensor hardware abstraction layer Sensor HAL in the Sensor frame.
According to another aspect of the present disclosure, there is provided an apparatus for sensor device adaptation, including:
the starting module is used for starting the android hardware abstraction layer in the Linux system;
the operation module is used for operating the sensor framework in the android hardware abstraction layer;
and the adaptation module is used for communicating with the sensor equipment through an interface of a sensor hardware abstraction layer in the sensor frame.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method in any embodiment of the disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform a method in any one of the embodiments of the present disclosure.
According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method in any of the embodiments of the present disclosure.
According to the technical scheme, the Android hardware abstraction layer is started in the Linux system, the sensor frame runs in the Android hardware abstraction layer, communication with the sensor device is achieved through the interface of the sensor hardware abstraction layer in the sensor frame, hardware differences are shielded through the sensor hardware abstraction layer by the sensor frame of the Android system, and adaptation work of the sensor is completed by a hardware manufacturer.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram of a method of sensor device adaptation according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a method of sensor device adaptation according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an internal framework of a Linux system according to one embodiment of the present disclosure;
FIG. 4 is a block diagram of an apparatus for sensor device adaptation in an embodiment in accordance with the present disclosure;
fig. 5 is a block diagram of an electronic device used to implement the method of sensor device adaptation of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The technical scheme of the embodiment of the disclosure is applied to a scene that a Linux system is adaptive to sensor equipment. The Linux system runs an Android HAL, and the Android HAL runs a sensor frame. The sensor frame includes: sensor Manager (Sensor Manager), Sensor Service (Sensor Service), and Sensor hardware abstraction layer (Sensor HAL). In general, a host Linux system may connect one or more sensor devices, which may be of various types, including but not limited to: temperature sensors, humidity sensors, position sensors, velocity sensors, acceleration sensors, gyroscopes, barometers, compasses, or nine-axis inertial measurement sensors, among others. By utilizing the perfect sensor framework to communicate with the sensor equipment in the Linux system, the efficiency of the adaptation work of the sensor equipment of the Linux system can be improved, and the complexity and the error rate are reduced.
Fig. 1 is a schematic diagram of a method for adapting a sensor device according to an embodiment of the present disclosure. As shown in fig. 1, the method includes:
s101: starting an android hardware abstraction layer in a Linux system;
s102: running a sensor framework within the android hardware abstraction layer;
s103: the sensor device is communicated with through an interface of a sensor hardware abstraction layer in the sensor framework.
In the embodiment of the disclosure, the Android system is developed based on Linux, and HAL (Hardware Abstraction Layer), Framework Layer and Systems Apps Layer are developed in Android on the Framework of a Hardware Layer, a kernel Layer and an application Layer of a standard Linux system. The Android HAL is an important bridge for connecting Android Framework and Linux kernel device drivers, and can realize various actions of controlling hardware devices. The Sensor frame in the Android HAL comprises a Sensor HAL, the Sensor HAL can shield the difference of different Sensor hardware devices, and a standard interface for acquiring the related information of various Sensor devices is provided for the Android system. This way of migrating the Android HAL to the Linux system enables the Sensor hardware to be manipulated directly using the standard interface provided by the Sensor HAL. Different sensor manufacturers realize the hardware control logic of the manufacturers according to the HAL standard, developers do not need to concern about the difference of hardware equipment, and only need to access the sensor equipment according to the standard interface provided by the HAL, so that the development difficulty of application developers is reduced.
In one embodiment, communicating with a sensor device through an interface of a sensor hardware abstraction layer within a sensor framework includes:
a sensor hardware abstraction layer in the sensor frame acquires data of the sensor equipment by calling an interface;
the sensor service in the sensor frame analyzes the data of the sensor equipment and sends the analyzed data to a sensor manager in the sensor frame;
the Linux system obtains the parsed data from the sensor manager.
In one embodiment, the Linux system obtains parsed data from a sensor manager, comprising:
and the sensor server in the Linux system is driven based on the binder, and acquires the analyzed data from the sensor manager.
In one embodiment, the method further comprises:
and the sensor server forwards the analyzed data to the application in the Linux system through a message bus system dbus.
In one embodiment, communicating with a sensor device through an interface of a sensor hardware abstraction layer within a sensor framework includes:
and a sensor hardware abstraction layer in the sensor frame initiates a calling interface, and then communicates with the sensor equipment through the sensor drive.
In one embodiment, a sensor framework is run within an android hardware abstraction layer, comprising:
running a sensor manager, sensor services and a sensor hardware abstraction layer within the android hardware abstraction layer.
According to the method provided by the embodiment of the disclosure, the Android hardware abstraction layer is started in the Linux system, the sensor frame is operated in the Android hardware abstraction layer, and then the communication with the sensor device is realized through the interface of the sensor hardware abstraction layer in the sensor frame.
Fig. 2 is a schematic diagram of a method for adapting a sensor device according to an embodiment of the present disclosure. As shown in fig. 2, the method includes:
s201: starting an android hardware abstraction layer in a Linux system;
s202: running a sensor framework within the android hardware abstraction layer;
in one embodiment, the step S202 may include:
a Sensor Manager (Sensor Manager), a Sensor Service (Sensor Service) and a Sensor hardware abstraction layer (Sensor HAL) run within the android hardware abstraction layer.
S203: a sensor hardware abstraction layer in the sensor frame acquires data of the sensor equipment by calling an interface;
in one embodiment, the step S203 may include:
and a sensor hardware abstraction layer in the sensor frame initiates a calling interface, and then data of the sensor equipment is acquired through sensor driving.
S204: the sensor service in the sensor frame analyzes the data of the sensor equipment and sends the analyzed data to a sensor manager in the sensor frame;
s205: a sensor server in the Linux system is driven based on the binder, and analyzed data are obtained from a sensor manager;
in the embodiment of the disclosure, since the Android system bottom layer uses the bionic library and the Linux system bottom layer uses the glibc library, the two c libraries cannot be directly compatible. Therefore, the two parties communicate by means of the binder driver. The binder driver is located in a Linux kernel core and is used for realizing communication between a Sensor server (Sensorfw server) in a Linux system and a Sensor Manager (Sensor Manager) in an Android HAL, so that operation such as open or ioctl is realized, and the problem of adaptation of the Sensor HAL is further solved.
S206: and the sensor server forwards the analyzed data to the application in the Linux system through a message bus system dbus.
In the embodiment of the disclosure, a plurality of Applications (APPs) may exist in the Linux system, each APP may initiate access and control to the sensor device, and receive data of the sensor device or control parameters of the sensor device through dbus.
Fig. 3 is a schematic diagram of an internal framework of the Linux system according to an embodiment of the present disclosure. As shown in FIG. 3, in one embodiment, the Linux system runs applications (apps) and sensor servers (sensorfw servers) and communicates via dbus. The method using the Ixc container runs the Android system in the Linux system, wherein the Android HAL is included. In Android HAL, a Sensor framework is run, including a Sensor Manager (Sensor Manager), a Sensor Service (Sensor Service), and a Sensor hardware abstraction layer (Sensor HAL). The Sensor HAL communicates with the Sensor device through a Sensor driver in Linux Kernel, including acquiring Sensor device data and controlling parameters of the Sensor. The Sensor device data acquired by the Sensor HAL is forwarded to the Sensor Manager through the Sensor Service. The Sensor Manager is then forwarded to the sensorfw server through the binder driver in the Linux kernel, and further, the sensorfw server can also send the data of the Sensor equipment to the application in the Linux system, so that the Linux system can access and control the Sensor equipment.
According to the method provided by the embodiment of the disclosure, the Android hardware abstraction layer is started in the Linux system, the sensor frame is operated in the Android hardware abstraction layer, and then the communication with the sensor device is realized through the interface of the sensor hardware abstraction layer in the sensor frame.
FIG. 4 is a block diagram of an apparatus for sensor device adaptation in an embodiment in accordance with the present disclosure. As shown in fig. 4, the apparatus includes:
the starting module 401 is configured to start an android hardware abstraction layer in a Linux system;
an execution module 402 for executing a sensor framework within an android hardware abstraction layer;
an adaptation module 403, configured to communicate with the sensor device through an interface of a sensor hardware abstraction layer in the sensor framework.
In one embodiment, the adaptation module 403 includes:
the interface unit is used for acquiring data of the sensor equipment by a sensor hardware abstraction layer in the sensor frame through calling an interface;
the analysis unit is used for analyzing the data of the sensor equipment through the sensor service in the sensor frame and sending the analyzed data to the sensor manager in the sensor frame;
and the sensor unit is used for acquiring the analyzed data from the sensor manager by the Linux system.
In one embodiment, the sensor unit is configured to:
and acquiring analyzed data from the sensor manager through a sensor server in the Linux system based on binder driving.
In one embodiment, the sensor unit is further configured to:
and the sensor server forwards the analyzed data to the application in the Linux system through a message bus system dbus.
In one embodiment, the adaptation module 403 is configured to:
and initiating a calling interface by a sensor hardware abstraction layer in the sensor frame, and communicating with the sensor equipment through a sensor driver.
In one embodiment, the execution module 402 is configured to:
running a sensor manager, sensor services and a sensor hardware abstraction layer within the android hardware abstraction layer.
The above-mentioned device that this disclosed embodiment provided, through starting Android hardware abstraction layer in Linux system, run the sensor frame in Android hardware abstraction layer, sensor hardware abstraction layer's in the rethread sensor frame interface has realized communicating with sensor device, because Android system's sensor frame has shielded the hardware difference through sensor hardware abstraction layer, the adaptation work of sensor is all accomplished by hardware manufacturer oneself, therefore, need not that the user of service carries out data analysis and conversion respectively according to the characteristics of different firm sensor device, the requirement to the user of service has been reduced, the efficiency of Linux system's sensor device adaptation work has greatly been improved, complexity and error rate have been reduced.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the apparatus 500 comprises a computing unit 501 which may perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the device 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 performs the respective methods and processes described above. For example, in some embodiments, the above-described methods may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM503 and executed by the computing unit 501, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the above-described method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (14)
1. A method of sensor device adaptation, comprising:
starting an android hardware abstraction layer in a Linux system;
running a sensor framework within the android hardware abstraction layer;
communicating with a sensor device through an interface of a sensor hardware abstraction layer within the sensor framework.
2. The method of claim 1, wherein the communicating with a sensor device through an interface of a sensor hardware abstraction layer within the sensor framework comprises:
a sensor hardware abstraction layer in the sensor frame acquires data of the sensor equipment through a calling interface;
the sensor service in the sensor frame analyzes the data of the sensor equipment and sends the analyzed data to a sensor manager in the sensor frame;
and the Linux system acquires the analyzed data from the sensor manager.
3. The method of claim 2, wherein the Linux system obtaining the parsed data from the sensor manager comprises:
and the sensor server in the Linux system is driven based on the binder, and acquires the analyzed data from the sensor manager.
4. The method of claim 3, further comprising:
and the sensor server forwards the analyzed data to the application in the Linux system through a message bus system dbus.
5. The method of claim 1, wherein the communicating with a sensor device through an interface of a sensor hardware abstraction layer within the sensor framework comprises:
and a sensor hardware abstraction layer in the sensor frame initiates a calling interface, and then communicates with the sensor equipment through a sensor driver.
6. The method of any of claims 1-5, wherein the running a sensor framework within the android hardware abstraction layer comprises:
running a sensor manager, sensor services and a sensor hardware abstraction layer within the android hardware abstraction layer.
7. An apparatus for sensor device adaptation, comprising:
the starting module is used for starting the android hardware abstraction layer in the Linux system;
the operation module is used for operating the sensor framework in the android hardware abstraction layer;
and the adaptation module is used for communicating with the sensor equipment through an interface of a sensor hardware abstraction layer in the sensor frame.
8. The apparatus of claim 7, wherein the adaptation module comprises:
the interface unit is used for acquiring data of the sensor equipment by a sensor hardware abstraction layer in the sensor frame through calling an interface;
the analysis unit is used for analyzing the data of the sensor equipment through the sensor service in the sensor frame and sending the analyzed data to a sensor manager in the sensor frame;
and the sensor unit is used for acquiring the analyzed data from the sensor manager by the Linux system.
9. The apparatus of claim 8, wherein the sensor unit is to:
and acquiring the analyzed data from the sensor manager through a sensor server in the Linux system based on binder driving.
10. The apparatus of claim 9, the sensor unit further to:
and the sensor server forwards the analyzed data to the application in the Linux system through a message bus system dbus.
11. The apparatus of claim 7, wherein the adaptation module is to:
and initiating a calling interface by a sensor hardware abstraction layer in the sensor frame, and communicating with the sensor equipment through a sensor driver.
12. The apparatus of any of claims 7-11, wherein the execution module is to:
running a sensor manager, sensor services and a sensor hardware abstraction layer within the android hardware abstraction layer.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.
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| PCT/CN2022/131612 WO2023088199A1 (en) | 2021-11-16 | 2022-11-14 | Sensor device adaptation method and apparatus, electronic device, and storage medium |
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| WO2023088199A1 (en) * | 2021-11-16 | 2023-05-25 | 北京字节跳动网络技术有限公司 | Sensor device adaptation method and apparatus, electronic device, and storage medium |
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| WO2023088199A1 (en) * | 2021-11-16 | 2023-05-25 | 北京字节跳动网络技术有限公司 | Sensor device adaptation method and apparatus, electronic device, and storage medium |
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| CN114020364B (en) | 2024-04-26 |
| WO2023088199A1 (en) | 2023-05-25 |
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