#include	"u.h"#include	"lib.h"#include	"dat.h"#include	"fns.h"#include	"error.h" #include <android/log.h>#include <android/sensor.h> void show_notification(char *buf);void take_picture(int id);int num_cameras(); int Ncameras = 0; uchar *cambuf = nil;int camlen; ASensorManager *sensorManager = NULL; enum{	Qdir		= 0,	Qcam		= 1,	Qaccel		= 2,	Qcompass	= 4,	Qnotification	= 6,};#define QID(p, c, y) 	(((p)<<16) | ((c)<<4) | (y)) static void androidinit(void); static voidandroidinit(void){	sensorManager = ASensorManager_getInstance(); 	Ncameras = num_cameras();} static Chan*androidattach(char *param){	Chan *c; 	c = devattach('N', param);	c->qid.path = QID(0, 0, Qdir);	c->qid.type = QTDIR;	c->qid.vers = 0; 	return c;} static intandroidgen(Chan *c, char *n, Dirtab *d, int nd, int s, Dir *dp){	Qid q; 	if (s == DEVDOTDOT) {		mkqid(&q, Qdir, 0, QTDIR);		devdir(c, q, "#N", 0, eve, 0555, dp);		return 1;	}	if (s < Ncameras) {		sprintf(up->genbuf, "cam%d.jpg", s);		mkqid(&q, (s << 16) | Qcam, 0, QTFILE);		devdir(c, q, up->genbuf, 0, eve, 0444, dp);		return 1;	}	if (s == Ncameras) {		sprintf(up->genbuf, "accel");		mkqid(&q, Qaccel, 0, QTFILE);		devdir(c, q, up->genbuf, 0, eve, 0444, dp);		return 1;	}	if (s == (Ncameras+1)) {		sprintf(up->genbuf, "compass");		mkqid(&q, Qcompass, 0, QTFILE);		devdir(c, q, up->genbuf, 0, eve, 0444, dp);		return 1;	}	if (s == (Ncameras+2)) {		sprintf(up->genbuf, "notification");		mkqid(&q, Qnotification, 0, QTFILE);		devdir(c, q, up->genbuf, 0, eve, 0222, dp);		return 1;	}	return -1;} static Walkqid*androidwalk(Chan *c, Chan *nc, char **name, int nname){	return devwalk(c, nc, name, nname, 0, 0, androidgen);} static intandroidstat(Chan *c, uchar *db, int n){	return devstat(c, db, n, 0, 0, androidgen);} static Chan*androidopen(Chan *c, int omode){	p9_uvlong s; 	c = devopen(c, omode, 0, 0, androidgen); 	if (c->qid.path & Qcam) {		s = c->qid.path >> 16;		take_picture(s);	}	c->mode = openmode(omode);	c->flag |= COPEN;	c->offset = 0;	c->iounit = 8192; 	return c;} static voidandroidclose(Chan *c){	if (c->qid.path & Qcam && cambuf != nil) {		free(cambuf);		cambuf = nil;	}} static longandroidread(Chan *c, void *v, long n, vlong off){	char *a = v;	long l;	const ASensor *sensor;	ASensorEventQueue *queue = NULL;	ASensorEvent data; 	switch((ulong)c->qid.path & 0xF) {		default:			error(Eperm);			return -1; 		case Qcam:			while(cambuf == nil)				usleep(10 * 1000); 			l = camlen - off;			if (l > n)				l = n; 			if (l > 0)				memcpy(a, cambuf + off, l); 			return l;		case Qaccel:			queue = ASensorManager_createEventQueue(sensorManager, ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS), 1, NULL, NULL);			if (queue == NULL)				return 0;			sensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_ACCELEROMETER);			if (sensor == NULL) {				ASensorManager_destroyEventQueue(sensorManager, queue);				return 0;			}			if (ASensorEventQueue_enableSensor(queue, sensor)) {				ASensorEventQueue_disableSensor(queue, sensor);				ASensorManager_destroyEventQueue(sensorManager, queue);				return 0;			}			l = 0;			if (ALooper_pollAll(1000, NULL, NULL, NULL) == 1) {				if (ASensorEventQueue_getEvents(queue, &data, 1)) {					l = snprint(a, n, "%11f %11f %11f\n", data.vector.x, data.vector.y, data.vector.z);				}			}			ASensorEventQueue_disableSensor(queue, sensor);			ASensorManager_destroyEventQueue(sensorManager, queue);			return l;		case Qcompass:			queue = ASensorManager_createEventQueue(sensorManager, ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS), 1, NULL, NULL);			if (queue == NULL)				return 0;			sensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_MAGNETIC_FIELD);			if (sensor == NULL) {				ASensorManager_destroyEventQueue(sensorManager, queue);				return 0;			}			if (ASensorEventQueue_enableSensor(queue, sensor)) {				ASensorEventQueue_disableSensor(queue, sensor);				ASensorManager_destroyEventQueue(sensorManager, queue);				return 0;			}			l = 0;			if (ALooper_pollAll(1000, NULL, NULL, NULL) == 1) {				if (ASensorEventQueue_getEvents(queue, &data, 1)) {					l = snprint(a, n, "%11f %11f %11f\n", data.vector.x, data.vector.y, data.vector.z);				}			}			ASensorEventQueue_disableSensor(queue, sensor);			ASensorManager_destroyEventQueue(sensorManager, queue);			return l;		case Qdir:			return devdirread(c, a, n, 0, 0, androidgen);	}} static longandroidwrite(Chan *c, void *vp, long n, vlong off){	char *a = vp;	char *str; 	switch((ulong)c->qid.path) {		case Qnotification:			str = malloc(n+1);			memcpy(str, a, n);			str[n] = '\0';			show_notification(str);			free(str);			return n;		default:			error(Eperm);			break;	}	return -1;} Dev androiddevtab = {	'N',	"android", 	devreset,	androidinit,	devshutdown,	androidattach,	androidwalk,	androidstat,	androidopen,	devcreate,	androidclose,	androidread,	devbread,	androidwrite,	devbwrite,	devremove,	devwstat,};