WO2023124968A1

WO2023124968A1 - Method for calling android dynamic library hal interface by software operating system, device and medium

Info

Publication number: WO2023124968A1
Application number: PCT/CN2022/138657
Authority: WO
Inventors: 李翔; 刘成城
Original assignee: 北京字节跳动网络技术有限公司
Priority date: 2021-04-07
Filing date: 2022-12-13
Publication date: 2023-07-06
Also published as: CN114077460B; CN113190280A; CN114077460A

Abstract

Disclosed herein are a method for calling an Android dynamic library HAL interface by a software operating system, a device and a medium. The method for calling the Android dynamic library HAL interface by a software operating system is applied to a software operating system running on a device based on Android HAL, and comprises: when a software process of a software operating system calls a function in a packaging library of the software operating system, controlling the software process of the software operating system to call the packaging library of the software operating system, and calling a preset compatible link when the packaging library is initialized; calling a target function method corresponding to the function method in the packaging library of the Android HAL on the basis of the compatible link, so as to complete calling of the Android dynamic library HAL interface by the software operating system.

Description

Method, device and medium for calling Android dynamic library HAL interface by software operating system

This application claims priority to a Chinese patent application with application number 202111672017.8 filed with the China Patent Office on December 31, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the field of computer technology, for example, to a method, device and medium for a software operating system to call an Android dynamic library hardware abstraction layer (Hardware Abstract Layer, HAL) interface.

Background technique

Android is an operating system (Operating System) based on the Linux kernel, which is widely used in mobile devices such as mobile phones and tablet PCs (Tablet PC). Android's system architecture from top to bottom is mainly the system application layer (System Apps), framework layer (Framework), HAL and Linux kernel layer (Linux Kernel). Among them, HAL provides a virtual hardware platform for Android, which can encapsulate the Linux kernel layer and provide an interface upward, shielding the implementation details of the bottom layer of Android. The interface of Android HAL (Android HAL interface) mainly includes dynamic library passthrough (Passthrough) HAL interface (Android dynamic library HAL interface) and Binder cross-process interface (Android HIDL interface).

Because Android is widely used in different types of mobile devices, some hardware device suppliers only provide hardware drivers for Android, and because other software operating systems such as Linux kernel-based operating systems are not compatible with the Android HAL interface, other software operations The system cannot run normally on Android HAL-based mobile devices, which greatly limits the application prospects of other software operating systems on such mobile devices.

Contents of the invention

The application provides a method, device and medium for a software operating system to call an Android dynamic library HAL interface.

This application provides a method for a software operating system to call an Android dynamic library HAL interface, which is applied to a software operating system running on an Android HAL-based device, including:

When the software process of the software operating system calls any function method function in the packaging library of the software operating system, control the software process to call the packaging library of the software operating system, and call the preset when the packaging library is initialized compatible linker;

Call the target function method function corresponding to a function method function in the encapsulation library of the Android HAL based on the compatible linker, to complete the calling of the Android dynamic library HAL interface by the software operating system.

The present application provides a computer device, which includes a processor and a storage device, the storage device is suitable for storing a plurality of program codes, and the program codes are suitable for being loaded and run by the processor to perform the above-mentioned software operations The system calls the method of the Android dynamic library HAL interface.

The present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a plurality of program codes, and the program codes are suitable for being loaded and run by a processor to execute the above-mentioned software operating system calling the Android dynamic library HAL interface Methods.

Description of drawings

Fig. 1 is the schematic flow chart of the method that a kind of software operating system that the embodiment of the application provides calls the Android dynamic library HAL interface;

Fig. 2 is the operational flow schematic diagram of the method that a kind of software operating system calls Android dynamic storehouse HAL interface that the embodiment of the application provides;

Fig. 3 is a schematic diagram of the operation flow of a method for resource isolation of a software operating system and an Android HAL provided by an embodiment of the present application;

Fig. 4 is a schematic diagram of the operation flow of another method for resource isolation of a software operating system and an Android HAL provided by an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a computer device provided by an embodiment of the present application.

Detailed ways

Some embodiments of the present application are described below with reference to the accompanying drawings. These embodiments are only used to explain the technical principle of the present application.

In the description of this application, "module" and "processor" may include hardware, software or a combination of both. A module may include hardware circuits, a variety of suitable sensors, communication ports, memory, and may also include software parts, such as program codes, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, a digital signal processor or any other suitable processor. The processor has data and/or signal processing functions. The processor can be implemented in software, hardware or a combination of both. The non-transitory computer readable storage medium includes any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read only memory, random access memory, and the like.

Some terms involved in this application are first explained here.

The software operating system refers to the operating system (operating system) written based on computer programming language, that is, the computer management control program. In this embodiment, the software operating system may be an operating system other than Android. In one embodiment, the software operating system may be a Linux operating system, which refers to an operating system based on a Linux kernel, that is, a Linux system.

The Android dynamic library HAL interface refers to the dynamic library passthrough HAL interface in the Android HAL interface (Android HAL interface). And calling the Android HAL dynamic library is actually calling the Android dynamic library HAL interface.

The NameSpace mechanism refers to a resource isolation mechanism based on the Linux kernel. The resources under each NameSpace (container) are transparent to the resources under other NameSpaces. Different NameSpaces can have processes with the same process number at the same time, because these processes belong to different NameSpace, so there will be no conflicts. In user mode, each user can only see the processes in their own NameSpace. Among them, user mode (user mode) refers to the running state of the process when executing the user's own program code. At this time, the processor runs in the user code with the lowest privilege level; correspondingly, the kernel mode refers to the process falling into the Linux kernel. The running state of the program code, at this time the processor is running in the kernel code with the highest privilege level.

The C basic library refers to a basic library based on the C language (computer programming language), that is, the basic C library, which contains functions and methods that are essential for the operation of the operating system. The C basic library of Android contains functions and methods essential for running Android, and the C basic library of software operating systems such as Linux operating systems contains functions and methods essential for the operation of software operating systems. Android's C base library includes: Bionic. When the software operating system is a Linux operating system, the C basic library of the Linux operating system includes: Glibc.

A function method refers to a piece of program code that can be called by name or symbol, and this piece of program code can transfer and/or process data. In addition, the function method function can also be described as a symbol function or directly described as a function.

A software process is an execution entity of a software operating system program. When the software operating system is a Linux operating system, the software process may be a Linux process.

Referring to accompanying drawing 1, Fig. 1 is the flow diagram of a kind of software operating system that the embodiment of the application provides calls the method for Android dynamic library HAL interface, and this method can be applied to the software operating system running on the device based on Android HAL, this Devices refer to devices capable of loading and running computer program codes, such devices include computer devices, mobile phones and tablet computers, etc. The software operating system refers to software operating systems other than Android, such as operating systems based on the Linux kernel. As shown in FIG. 1 , the method for the software operating system in the embodiment of the present application to call the Android dynamic library HAL interface includes the following steps S101 and S102.

S101: When the software process of the software operating system calls any function method function in the packaging library of the software operating system, the software process of the control software operating system calls the packaging library of the software operating system, and calls the preset compatible library when the packaging library is initialized. Linker.

Due to the incompatibility between the C basic library of Android (such as the Bionic library) and the C basic library of the software operating system (such as the Glibc library), the program (software process) compiled using the C basic library of the software operating system cannot be dynamically linked normally. To the C basic library of Android, therefore, when the Android HAL interface of the Android HAL-based device adopts the Android dynamic library HAL interface, the software operating system will not be able to normally call the Android dynamic library HAL interface. That is to say, when the software operating system runs on a device based on the Android HAL, the software operating system cannot directly call the functions and methods in the package library of the Android HAL. In this embodiment, when the software operating system wants to call the target function method function in the packaging library of the Android HAL, the software operating system can be controlled to directly call the function corresponding to the target function method function in the packaging library of the software operating system itself. Method function, this package library will call the preset compatible linker when it is initialized, and then call the target function method function in the package library of Android HAL through this compatible linker, so that the software operating system calls the package library of the software operating system Any one of the function methods in the function can be based on the compatible linker to actually call the corresponding function method function in the Android HAL package library. For example, when the Linux operating system needs to call the Android dynamic library HAL interface in the Android HAL interface to communicate with the hardware of the device, such as communicating with the audio device of the device to obtain audio data, the Linux process can be controlled to call the package library of the Linux operating system. Call the preset compatible linker by calling this package library, and then communicate with the audio device of the device based on the compatible linker to obtain audio data.

The compatible linker will generate a symbolic address mapping table. This symbolic address mapping table contains the method address of the function method function that the software process wants to call. This method address can be obtained by querying this symbolic address mapping table, and this method address can point to The function method function in the package library of Android HAL. That is to say, the compatible linker opens the packaging library of Android HAL through the mode specified by the above method, and calls the corresponding function method function in the packaging library of Android HAL.

The package library of the software operating system is a dynamic library of the software operating system. In one embodiment, the software process can be controlled to call the package library of the software operating system by linking the dynamic library. In this embodiment, the conventional way of linking the dynamic library in the field of software technology can be used to call the encapsulation library of the software operating system, and the way of linking the dynamic library will not be described here.

S102: call the corresponding function method function in the package library of Android HAL based on the compatible linker, so as to complete the call of the Android dynamic library HAL interface by the software operating system.

Since the symbolic address mapping table generated by the compatible linker contains the method address of the function method function that the software process wants to call, and this method address can point to the function method function in the Android HAL package library, therefore, based on this method address, you can Call the corresponding function method function from the package library of Android HAL, that is to say, when the software operating system wants to call a function method function, it can directly call the package library of the software operating system itself, which will be called when the package library is initialized. The preset compatible linker, and then use this compatible linker to call the function method function in the Android HAL package library, so that the software operating system can actually call the Android HAL package by calling a function method function in its own package library The corresponding function method function in the library completes the call to the HAL interface of the Android dynamic library. In this embodiment, the function method function in the packaging library of the Android HAL may be a function method function called by the packaging library of the Android HAL from the C basic library of Android loaded by the device.

Based on the above S101 to S102, the software operating system calls the function method function in the Android HAL package library through the preset compatible linker, and based on this compatible linker, the software operating system is compatible with the interface of the Android dynamic library HAL interface , to ensure that the software operating system can run normally on Android HAL-based devices, and overcome the defects in related technologies that the software operating system cannot run normally on Android HAL-based devices because the software operating system cannot be compatible with the Android dynamic library HAL interface . The method that the software operating system provided in this embodiment calls the Android dynamic library HAL interface solves the problem of how to make other software operating systems compatible with the Android HAL interface except Android, so that these software operating systems can run normally on devices based on the Android HAL .

S102 will be described below.

In an implementation of the above S102, if the target function method function in the packaging library of Android HAL does not need to call other target function method functions in the Android C basic library loaded by the device at runtime, then the call based on the compatible linker When the target function method function in the Android HAL package library, you can directly call the target function method function in the Android HAL package library; if the target function method function in the Android HAL package library needs to call the Android other target functions and methods in the C basic library, then when calling the target functions and methods in the package library of Android HAL based on the compatible linker, you can use the following S11 to S13 to call the above other target functions and methods that need to be called:

S11: Determine whether there is a conflict between the above-mentioned other target function method functions in the C basic library of Android and the above-mentioned other target function method functions in the C basic library of the software operating system; if the above-mentioned other target function method functions in the Android C basic library If there is a conflict with the above-mentioned other target function method function in the C basic library of the software operating system, then go to S12; if there is no conflict, then go to S13.

The conflict refers to the difference in method implementation between the target function method function in the C base library of Android and the target function method function in the C base library of the software operating system. If in the same process, the Android HAL and the software operating system call the target function method function in their respective C base libraries, it will cause the process to crash, which will cause the software operating system to fail to run normally on the device. For example, there is a difference in the memory location of the thread local storage (Thread Local Storage, TLS) in the C base library of Android and the C base library of the Linux operating system, which will cause conflicts between the two thread local storages.

S12: calling the above-mentioned other target functions and methods in the C basic library of the software operating system based on the compatible linker.

In one embodiment, the above-mentioned other target functions and methods in the C basic library of the software operating system can be called based on a compatible linker and through Hooks. Hook is a way to modify the linking package library of the linker. Through Hook, the behavior of linking the package library of the compatible linker can be modified, so that the compatible linker can call the above-mentioned other target functions and methods in the C basic library of the software operating system.

S13: call the above-mentioned other target function method function in the C basic library of Android based on the compatible linker.

Through the above S11 to S13, when there is a conflict between the target function method function in the C basic library of Android and the above-mentioned other target function method functions in the C basic library of the software operating system, the software operating system can call the above-mentioned function in the C basic library of the software operating system. Other target function method functions, to avoid process crashes caused by calling the above-mentioned other target function method functions in the C base library of Android, and cannot run normally.

Referring to accompanying drawing 2, with Linux application program (Application, APP) (the application program based on Linux operating system) needs to call Android HAL and faces a function in the Open Graphics Library for Embedded Systems (OpenGLES) encapsulation library of the Open Graphics Library for Embedded Systems The method function is taken as an example to describe how the Linux operating system invokes the HAL interface of the Android dynamic library.

Call the Linux OpenGLES packaging library through the Linux process of the Linux APP. The Linux OpenGLES packaging library will call the compatible linker when it is initialized. The compatible linker calls the function method function in the Android HAL OpenGLES packaging library, and the compatible linker will call the function. The method function returns to the Linux OpenGLES package library, so that the Linux process can actually call this function method function in the Android HAL OpenGLES package library.

When this function method needs to call other target function methods in the Android C base library during runtime, if the C base library (Linux Glibc) of the Linux operating system and the above-mentioned other functions in the Android C base library (Android Bionic) If there is a conflict in the target function method, you can call the other target function method function from Linux Glibc based on the compatible linker, and the compatible linker will return the called target function method function to the Linux OpenGLES package library; if the Linux operating system If there is no conflict between the C base library (Linux Glibc) and the above-mentioned other target function method functions in the Android C base library (Android Bionic), then the above-mentioned other target function method functions can be called from Android Bionic based on the compatible linker, and the compatible link The compiler will return the called target function method function to the Linux OpenGLES package library.

In addition, when a Linux APP needs to call a function method function in the C basic library of the Linux operating system, the Linux process can directly call the function method function in the Linux Glibc.

In another embodiment of the method for the software operating system to call the Android dynamic library HAL interface, the method for the software operating system to call the Android dynamic library HAL interface can not only include the above S101 to S102, but also include S100 before performing the above S101 and S102 , by executing S100, the resource isolation of the software operating system and the Android HAL can be performed so that the software operating system and the Android HAL run independently on the device. Among them, resource isolation includes: operating environment isolation and file isolation. By isolating resources between the software operating system and the Android HAL, it can be ensured that when the software operating system is running on an Android HAL-based device, the software operating system and the Android HAL will not conflict and interfere with each other, thereby ensuring the normal operation of the software operating system.

In an implementation of this embodiment, the software operating system and the Android HAL can be resource-isolated by changing the root directory, for example, using the chroot (change root directory) command to change the root directory of the software operating system or the Android HAL to achieve The software operating system is isolated from the resources of the Android HAL. In another implementation of this embodiment, an isolated container can be created based on the NameSpace mechanism and a software operating system or Android HAL can be run in the isolated container, that is, a system (software operating system or Android HAL) is placed to run in the isolated container, and the Another system (Android HAL or software operating system) runs outside the isolated container, even if the process with the same process number runs in the software operating system and Android HAL at the same time, since the process of a system runs in an isolated container, the software operation There is no conflict between the system and the Android HAL, and both can run normally.

The startup process of the device mainly includes the BootLoader boot phase, the Linux kernel startup phase and the software/Android HAL startup phase. Wherein, the BootLoader guide phase and the Linux kernel startup phase are respectively the same as the BootLoader boot phase and the Linux kernel startup phase in the conventional Android startup method, and the main difference between this embodiment and the conventional Android startup method is the software/Android HAL startup phase. In this embodiment, when the Linux kernel startup phase is completed, the first kernel state process is converted into a user state process and enters the software/Android HAL startup phase. In the software/Android HAL startup phase, an isolated container can be created based on the NameSpace mechanism and stored in the isolated container. Start the software operating system or Android HAL to run the software operating system or Android HAL inside the isolated container.

In one embodiment, if the first user state process is an Android HAL process, an isolated container can be created based on the NameSpace mechanism and the software operating system can be started and run in the isolated container through the following S21 to S22:

S21: When starting the device, if the first user state process is the Android HAL process, start the Android HAL and create an isolated container (container Service) based on the NameSpace mechanism after the Android HAL startup is completed.

In this embodiment, the conventional Android HAL startup method in the computer technology field can be used to start the Android HAL, such as mounting the Android basic file system, system partition, vendor partition, etc., and simultaneously starting the Android Service Manager, Android HAL Service, Android Native Service and other services.

S22: Start the software operating system in the isolated container, so as to run the software operating system in the isolated container.

In this embodiment, a conventional software startup method in the field of computer technology can also be used to start the software operating system in the isolation container. Referring to accompanying drawing 3, if the software operating system is a Linux operating system, starting the Linux operating system in the isolated container includes: mounting the basic file system, Dbus, etc. of the Linux operating system, and simultaneously starting services such as Linux Service.

Through the above S21 to S22, the software operating system can be started and run in the isolated container to realize resource isolation between the Android HAL and the software operating system.

In one embodiment, if the first user state process is a Linux process, an isolated container can be created based on the NameSpace mechanism and the Android HAL can be started and run in the isolated container through the following S31 to S33:

S31: When starting the device, if the first user state process is a software process, start the non-core service of the software operating system and create an isolated container based on the NameSpace mechanism after the non-core service is started.

In this embodiment, a conventional software startup method in the computer technology field can be used to start the software operating system, but since the core service of the software operating system needs to be started after the hardware initialization of the device is completed, in this embodiment, you can first Start the non-core services of the software operating system, and then start the core services of the software operating system after the Android HAL is started, so as to ensure that the software operating system can be successfully started and run normally. Referring to Figure 4, if the software operating system is a Linux operating system, you can start the non-core service Linux Service of the Linux operating system and create an isolated container based on the NameSpace mechanism after the non-core service Linux Service is started, that is, create an Android container based on the container Service .

S32: Start the Android HAL in the isolated container, so as to run the Android HAL in the isolated container.

In this embodiment, the Android HAL can be started by using a conventional Android HAL startup method in the field of computer technology, such as mounting Android's basic file system, system partition, vendor partition, etc., and simultaneously starting Android Service Manager, Android HAL Service, Android Native Service and other services.

S33: Continue to start the core service of the software operating system after the Android HAL is started.

Through the above S31 to S33, the Android HAL can be started and run in the isolated container, so as to realize resource isolation between the Android HAL and the software operating system.

Although multiple steps are described in a specific order in the above embodiments, in order to achieve the effect of the present application, different steps do not have to be performed in this order, and they can be performed simultaneously (parallel) or in other orders , these changes are all within the protection scope of the present application.

All or part of the process in the method of the above-mentioned embodiment of the present application can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the steps in the above multiple method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signals, telecommunication signals, and software distribution media, etc. The content contained in the computer-readable storage medium may be appropriately increased or decreased according to the requirements of the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, the computer-readable storage medium does not include the electronic carrier signals and telecommunication signals.

As shown in FIG. 5 , the present application also provides a computer device. In an embodiment of a computer device, the computer device includes a processor 10 and a storage device 20, the storage device 20 may be configured to store a program for executing the method in which the software operating system of the method embodiment calls the Android dynamic library HAL interface, and the processor 10 It may be configured to execute a program in the storage device 20 , the program includes a program that executes the method of calling the Android dynamic library HAL interface by the software operating system of the above method embodiment. For ease of description, only the parts related to the embodiments of the present application are shown, and for technical details not disclosed, please refer to the method part of the embodiments of the present application. The computer device may be a control device device formed including various electronic devices.

The present application also provides a computer-readable storage medium. In a computer-readable storage medium embodiment, the computer-readable storage medium may be configured to store a program for executing the method in which the software operating system of the above method embodiment calls the Android dynamic library HAL interface, and the program may be loaded and run by the processor In order to realize the method of calling the Android dynamic library HAL interface by the above-mentioned software operating system. For ease of description, only the parts related to the embodiments of the present application are shown, and for technical details not disclosed, please refer to the method part of the embodiments of the present application. The computer-readable storage medium may be a storage device formed by including various electronic devices. For example, the computer-readable storage medium in the embodiment of the present application is a non-transitory computer-readable storage medium.

Claims

A method for a software operating system to call an Android dynamic library hardware abstraction layer HAL interface, applied to a software operating system running on an Android HAL-based device, including:

When the software process of the software operating system calls a function method function in the packaging library of the software operating system, control the software process to call the packaging library of the software operating system, and when the packaging library is initialized Call the preset compatible linker;

Based on the compatible linker calling the target function method function corresponding to the function method function in the encapsulation library of the Android HAL, to complete the calling of the Android dynamic library HAL interface by the software operating system.
The method for calling the Android dynamic library HAL interface according to the software operating system according to claim 1, wherein, in the encapsulation library of the Android HAL, the target function method function corresponding to a function method function needs to call the device at runtime In the case of other target function method functions in the C base library of Android loaded, the target function method function corresponding to the one function method function in the encapsulation library of the Android HAL based on the compatible linker call includes:

Judging whether there is a conflict between the other target function method functions in the C basic library of the Android and the other target function method functions in the C basic library of the software operating system;

In response to conflicts between the other target function method functions in the C base library of the Android and the other target function method functions in the C base library of the software operating system, calling the software based on the compatible linker The other target function method function in the C basic library of the operating system;

In response to the fact that there is no conflict between the other target function method function in the C base library of the Android and the other target function method function in the C base library of the software operating system, based on the compatible linker calling the The other target function method functions in Android's C base library.
The method for calling the Android dynamic library HAL interface by the software operating system according to claim 2, wherein the method of calling the target function method function in the C basic library of the software operating system based on the compatible linker includes:

Calling the target function method function in the C basic library of the software operating system based on the compatible linker through Hook mode.
The method for calling the Android dynamic library HAL interface according to the software operating system described in claim 1 satisfies at least one of the following:

The controlling the software process to call the encapsulation library of the software operating system includes: controlling the software process to call the encapsulation library of the software operating system by linking a dynamic library;

The corresponding function method function in the packaging library of the Android HAL is the function method function that the packaging library of the Android HAL calls from the C basic library of Android loaded by the device;

or

Described software operating system is Linux operating system, and the encapsulation storehouse of described Linux operating system is the OpenGLES encapsulation storehouse of Linux-oriented open graphics library for embedded systems, and the encapsulation storehouse of described Android HAL is Android HAL OpenGLES encapsulation storehouse.
The method for calling the Android dynamic library HAL interface by the software operating system according to any one of claims 1 to 4, wherein, before the control of the software process calls the encapsulation library of the software operating system, it also includes:

Resource isolation is performed on the software operating system and the Android HAL, so that the software operating system and the Android HAL run independently on the device.
The method for calling the Android dynamic library HAL interface according to the software operating system according to claim 5, wherein said resource isolation to said software operating system and said Android HAL comprises:

Create an isolated container based on the NameSpace mechanism and run the software operating system or the Android HAL in the isolated container.
The method for calling the Android dynamic library HAL interface by the software operating system according to claim 6, wherein, creating an isolated container based on the NameSpace mechanism and running the software operating system or the Android HAL in the isolated container, comprising:

When the device is started, and the first user state process is an Android HAL process, then start the Android HAL and create the isolated container based on the NameSpace mechanism after the Android HAL startup is complete;

The software operating system is started in the isolated container to run the software operating system in the isolated container.
The method for calling the Android dynamic library HAL interface by the software operating system according to claim 6, wherein, creating an isolated container based on the NameSpace mechanism and running the software operating system or the Android HAL in the isolated container, comprising:

When the device is started and the first user state process is a software process, start the non-core service of the software operating system and create the isolated container based on the NameSpace mechanism after the non-core service is started;

launching said Android HAL within said isolated container to run said Android HAL within said isolated container;

Continue to start the core service of the software operating system after the Android HAL startup is completed.
A computer device comprising a processor and a storage device, the storage device being adapted to store a plurality of pieces of program code, wherein the program code is adapted to be loaded and run by the processor to perform any one of claims 1 to 8 The software operating system described in the item calls the method of the Android dynamic library HAL interface.
A computer-readable storage medium storing a plurality of program codes, wherein the program codes are adapted to be loaded and run by a processor to execute the software operating system described in any one of claims 1 to 8 to call the Android dynamic library Methods of the HAL interface.