| /* |
| * Copyright (C) 2008 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| package android.hardware; |
| |
| import android.content.Context; |
| import android.os.Binder; |
| import android.os.Bundle; |
| import android.os.Looper; |
| import android.os.Parcelable; |
| import android.os.ParcelFileDescriptor; |
| import android.os.Process; |
| import android.os.RemoteException; |
| import android.os.Handler; |
| import android.os.Message; |
| import android.os.ServiceManager; |
| import android.util.Log; |
| import android.util.SparseArray; |
| import android.view.IRotationWatcher; |
| import android.view.IWindowManager; |
| import android.view.Surface; |
| |
| import java.io.FileDescriptor; |
| import java.io.IOException; |
| import java.util.ArrayList; |
| import java.util.Collections; |
| import java.util.HashMap; |
| import java.util.List; |
| |
| /** |
| * Class that lets you access the device's sensors. Get an instance of this |
| * class by calling {@link android.content.Context#getSystemService(java.lang.String) |
| * Context.getSystemService()} with an argument of {@link android.content.Context#SENSOR_SERVICE}. |
| */ |
| public class SensorManager |
| { |
| private static final String TAG = "SensorManager"; |
| private static final float[] mTempMatrix = new float[16]; |
| |
| /* NOTE: sensor IDs must be a power of 2 */ |
| |
| /** |
| * A constant describing an orientation sensor. |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_ORIENTATION = 1 << 0; |
| |
| /** |
| * A constant describing an accelerometer. |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_ACCELEROMETER = 1 << 1; |
| |
| /** |
| * A constant describing a temperature sensor |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_TEMPERATURE = 1 << 2; |
| |
| /** |
| * A constant describing a magnetic sensor |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_MAGNETIC_FIELD = 1 << 3; |
| |
| /** |
| * A constant describing an ambient light sensor |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_LIGHT = 1 << 4; |
| |
| /** |
| * A constant describing a proximity sensor |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_PROXIMITY = 1 << 5; |
| |
| /** |
| * A constant describing a Tricorder |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_TRICORDER = 1 << 6; |
| |
| /** |
| * A constant describing an orientation sensor. |
| * See {@link android.hardware.SensorListener SensorListener} for more details. |
| * @deprecated use {@link android.hardware.Sensor Sensor} instead. |
| */ |
| @Deprecated |
| public static final int SENSOR_ORIENTATION_RAW = 1 << 7; |
| |
| /** A constant that includes all sensors */ |
| @Deprecated |
| public static final int SENSOR_ALL = 0x7F; |
| |
| /** Smallest sensor ID */ |
| @Deprecated |
| public static final int SENSOR_MIN = SENSOR_ORIENTATION; |
| |
| /** Largest sensor ID */ |
| @Deprecated |
| public static final int SENSOR_MAX = ((SENSOR_ALL + 1)>>1); |
| |
| |
| /** Index of the X value in the array returned by |
| * {@link android.hardware.SensorListener#onSensorChanged} */ |
| @Deprecated |
| public static final int DATA_X = 0; |
| /** Index of the Y value in the array returned by |
| * {@link android.hardware.SensorListener#onSensorChanged} */ |
| @Deprecated |
| public static final int DATA_Y = 1; |
| /** Index of the Z value in the array returned by |
| * {@link android.hardware.SensorListener#onSensorChanged} */ |
| @Deprecated |
| public static final int DATA_Z = 2; |
| |
| /** Offset to the untransformed values in the array returned by |
| * {@link android.hardware.SensorListener#onSensorChanged} */ |
| @Deprecated |
| public static final int RAW_DATA_INDEX = 3; |
| |
| /** Index of the untransformed X value in the array returned by |
| * {@link android.hardware.SensorListener#onSensorChanged} */ |
| @Deprecated |
| public static final int RAW_DATA_X = 3; |
| /** Index of the untransformed Y value in the array returned by |
| * {@link android.hardware.SensorListener#onSensorChanged} */ |
| @Deprecated |
| public static final int RAW_DATA_Y = 4; |
| /** Index of the untransformed Z value in the array returned by |
| * {@link android.hardware.SensorListener#onSensorChanged} */ |
| @Deprecated |
| public static final int RAW_DATA_Z = 5; |
| |
| |
| /** Standard gravity (g) on Earth. This value is equivalent to 1G */ |
| public static final float STANDARD_GRAVITY = 9.80665f; |
| |
| /** values returned by the accelerometer in various locations in the universe. |
| * all values are in SI units (m/s^2) */ |
| public static final float GRAVITY_SUN = 275.0f; |
| public static final float GRAVITY_MERCURY = 3.70f; |
| public static final float GRAVITY_VENUS = 8.87f; |
| public static final float GRAVITY_EARTH = 9.80665f; |
| public static final float GRAVITY_MOON = 1.6f; |
| public static final float GRAVITY_MARS = 3.71f; |
| public static final float GRAVITY_JUPITER = 23.12f; |
| public static final float GRAVITY_SATURN = 8.96f; |
| public static final float GRAVITY_URANUS = 8.69f; |
| public static final float GRAVITY_NEPTUNE = 11.0f; |
| public static final float GRAVITY_PLUTO = 0.6f; |
| public static final float GRAVITY_DEATH_STAR_I = 0.000000353036145f; |
| public static final float GRAVITY_THE_ISLAND = 4.815162342f; |
| |
| |
| /** Maximum magnetic field on Earth's surface */ |
| public static final float MAGNETIC_FIELD_EARTH_MAX = 60.0f; |
| |
| /** Minimum magnetic field on Earth's surface */ |
| public static final float MAGNETIC_FIELD_EARTH_MIN = 30.0f; |
| |
| |
| /** Various luminance values during the day (lux) */ |
| public static final float LIGHT_SUNLIGHT_MAX = 120000.0f; |
| public static final float LIGHT_SUNLIGHT = 110000.0f; |
| public static final float LIGHT_SHADE = 20000.0f; |
| public static final float LIGHT_OVERCAST = 10000.0f; |
| public static final float LIGHT_SUNRISE = 400.0f; |
| public static final float LIGHT_CLOUDY = 100.0f; |
| /** Various luminance values during the night (lux) */ |
| public static final float LIGHT_FULLMOON = 0.25f; |
| public static final float LIGHT_NO_MOON = 0.001f; |
| |
| /** get sensor data as fast as possible */ |
| public static final int SENSOR_DELAY_FASTEST = 0; |
| /** rate suitable for games */ |
| public static final int SENSOR_DELAY_GAME = 1; |
| /** rate suitable for the user interface */ |
| public static final int SENSOR_DELAY_UI = 2; |
| /** rate (default) suitable for screen orientation changes */ |
| public static final int SENSOR_DELAY_NORMAL = 3; |
| |
| |
| /** The values returned by this sensor cannot be trusted, calibration |
| * is needed or the environment doesn't allow readings */ |
| public static final int SENSOR_STATUS_UNRELIABLE = 0; |
| |
| /** This sensor is reporting data with low accuracy, calibration with the |
| * environment is needed */ |
| public static final int SENSOR_STATUS_ACCURACY_LOW = 1; |
| |
| /** This sensor is reporting data with an average level of accuracy, |
| * calibration with the environment may improve the readings */ |
| public static final int SENSOR_STATUS_ACCURACY_MEDIUM = 2; |
| |
| /** This sensor is reporting data with maximum accuracy */ |
| public static final int SENSOR_STATUS_ACCURACY_HIGH = 3; |
| |
| /** see {@link #remapCoordinateSystem} */ |
| public static final int AXIS_X = 1; |
| /** see {@link #remapCoordinateSystem} */ |
| public static final int AXIS_Y = 2; |
| /** see {@link #remapCoordinateSystem} */ |
| public static final int AXIS_Z = 3; |
| /** see {@link #remapCoordinateSystem} */ |
| public static final int AXIS_MINUS_X = AXIS_X | 0x80; |
| /** see {@link #remapCoordinateSystem} */ |
| public static final int AXIS_MINUS_Y = AXIS_Y | 0x80; |
| /** see {@link #remapCoordinateSystem} */ |
| public static final int AXIS_MINUS_Z = AXIS_Z | 0x80; |
| |
| /*-----------------------------------------------------------------------*/ |
| |
| private ISensorService mSensorService; |
| Looper mMainLooper; |
| @SuppressWarnings("deprecation") |
| private HashMap<SensorListener, LegacyListener> mLegacyListenersMap = |
| new HashMap<SensorListener, LegacyListener>(); |
| |
| /*-----------------------------------------------------------------------*/ |
| |
| private static final int SENSOR_DISABLE = -1; |
| private static boolean sSensorModuleInitialized = false; |
| private static ArrayList<Sensor> sFullSensorsList = new ArrayList<Sensor>(); |
| private static SparseArray<List<Sensor>> sSensorListByType = new SparseArray<List<Sensor>>(); |
| private static IWindowManager sWindowManager; |
| private static int sRotation = Surface.ROTATION_0; |
| /* The thread and the sensor list are global to the process |
| * but the actual thread is spawned on demand */ |
| private static SensorThread sSensorThread; |
| |
| // Used within this module from outside SensorManager, don't make private |
| static SparseArray<Sensor> sHandleToSensor = new SparseArray<Sensor>(); |
| static final ArrayList<ListenerDelegate> sListeners = |
| new ArrayList<ListenerDelegate>(); |
| |
| /*-----------------------------------------------------------------------*/ |
| |
| static private class SensorThread { |
| |
| Thread mThread; |
| |
| SensorThread() { |
| // this gets to the sensor module. We can have only one per process. |
| sensors_data_init(); |
| } |
| |
| @Override |
| protected void finalize() { |
| sensors_data_uninit(); |
| } |
| |
| // must be called with sListeners lock |
| void startLocked(ISensorService service) { |
| try { |
| if (mThread == null) { |
| Bundle dataChannel = service.getDataChannel(); |
| mThread = new Thread(new SensorThreadRunnable(dataChannel), |
| SensorThread.class.getName()); |
| mThread.start(); |
| } |
| } catch (RemoteException e) { |
| Log.e(TAG, "RemoteException in startLocked: ", e); |
| } |
| } |
| |
| private class SensorThreadRunnable implements Runnable { |
| private Bundle mDataChannel; |
| SensorThreadRunnable(Bundle dataChannel) { |
| mDataChannel = dataChannel; |
| } |
| |
| private boolean open() { |
| if (mDataChannel == null) { |
| Log.e(TAG, "mDataChannel == NULL, exiting"); |
| synchronized (sListeners) { |
| mThread = null; |
| } |
| return false; |
| } |
| |
| // this thread is guaranteed to be unique |
| Parcelable[] pfds = mDataChannel.getParcelableArray("fds"); |
| FileDescriptor[] fds; |
| if (pfds != null) { |
| int length = pfds.length; |
| fds = new FileDescriptor[length]; |
| for (int i = 0; i < length; i++) { |
| ParcelFileDescriptor pfd = (ParcelFileDescriptor)pfds[i]; |
| fds[i] = pfd.getFileDescriptor(); |
| } |
| } else { |
| fds = null; |
| } |
| int[] ints = mDataChannel.getIntArray("ints"); |
| sensors_data_open(fds, ints); |
| if (pfds != null) { |
| try { |
| // close our copies of the file descriptors, |
| // since we are just passing these to the JNI code and not using them here. |
| for (int i = pfds.length - 1; i >= 0; i--) { |
| ParcelFileDescriptor pfd = (ParcelFileDescriptor)pfds[i]; |
| pfd.close(); |
| } |
| } catch (IOException e) { |
| // *shrug* |
| Log.e(TAG, "IOException: ", e); |
| } |
| } |
| mDataChannel = null; |
| return true; |
| } |
| |
| public void run() { |
| //Log.d(TAG, "entering main sensor thread"); |
| final float[] values = new float[3]; |
| final int[] status = new int[1]; |
| final long timestamp[] = new long[1]; |
| Process.setThreadPriority(Process.THREAD_PRIORITY_DISPLAY); |
| |
| if (!open()) { |
| return; |
| } |
| |
| while (true) { |
| // wait for an event |
| final int sensor = sensors_data_poll(values, status, timestamp); |
| |
| int accuracy = status[0]; |
| synchronized (sListeners) { |
| if (sensor == -1 || sListeners.isEmpty()) { |
| if (sensor == -1) { |
| // we lost the connection to the event stream. this happens |
| // when the last listener is removed. |
| Log.d(TAG, "_sensors_data_poll() failed, we bail out."); |
| } |
| |
| // we have no more listeners or polling failed, terminate the thread |
| sensors_data_close(); |
| mThread = null; |
| break; |
| } |
| final Sensor sensorObject = sHandleToSensor.get(sensor); |
| if (sensorObject != null) { |
| // report the sensor event to all listeners that |
| // care about it. |
| final int size = sListeners.size(); |
| for (int i=0 ; i<size ; i++) { |
| ListenerDelegate listener = sListeners.get(i); |
| if (listener.hasSensor(sensorObject)) { |
| // this is asynchronous (okay to call |
| // with sListeners lock held). |
| listener.onSensorChangedLocked(sensorObject, |
| values, timestamp, accuracy); |
| } |
| } |
| } |
| } |
| } |
| //Log.d(TAG, "exiting main sensor thread"); |
| } |
| } |
| } |
| |
| /*-----------------------------------------------------------------------*/ |
| |
| private class ListenerDelegate extends Binder { |
| final SensorEventListener mSensorEventListener; |
| private final ArrayList<Sensor> mSensorList = new ArrayList<Sensor>(); |
| private final Handler mHandler; |
| private SensorEvent mValuesPool; |
| public int mSensors; |
| |
| ListenerDelegate(SensorEventListener listener, Sensor sensor, Handler handler) { |
| mSensorEventListener = listener; |
| Looper looper = (handler != null) ? handler.getLooper() : mMainLooper; |
| // currently we create one Handler instance per listener, but we could |
| // have one per looper (we'd need to pass the ListenerDelegate |
| // instance to handleMessage and keep track of them separately). |
| mHandler = new Handler(looper) { |
| @Override |
| public void handleMessage(Message msg) { |
| SensorEvent t = (SensorEvent)msg.obj; |
| if (t.accuracy >= 0) { |
| mSensorEventListener.onAccuracyChanged(t.sensor, t.accuracy); |
| } |
| mSensorEventListener.onSensorChanged(t); |
| returnToPool(t); |
| } |
| }; |
| addSensor(sensor); |
| } |
| |
| protected SensorEvent createSensorEvent() { |
| // maximal size for all legacy events is 3 |
| return new SensorEvent(3); |
| } |
| |
| protected SensorEvent getFromPool() { |
| SensorEvent t = null; |
| synchronized (this) { |
| // remove the array from the pool |
| t = mValuesPool; |
| mValuesPool = null; |
| } |
| if (t == null) { |
| // the pool was empty, we need a new one |
| t = createSensorEvent(); |
| } |
| return t; |
| } |
| |
| protected void returnToPool(SensorEvent t) { |
| synchronized (this) { |
| // put back the array into the pool |
| if (mValuesPool == null) { |
| mValuesPool = t; |
| } |
| } |
| } |
| |
| Object getListener() { |
| return mSensorEventListener; |
| } |
| |
| int addSensor(Sensor sensor) { |
| mSensors |= 1<<sensor.getHandle(); |
| mSensorList.add(sensor); |
| return mSensors; |
| } |
| int removeSensor(Sensor sensor) { |
| mSensors &= ~(1<<sensor.getHandle()); |
| mSensorList.remove(sensor); |
| return mSensors; |
| } |
| boolean hasSensor(Sensor sensor) { |
| return ((mSensors & (1<<sensor.getHandle())) != 0); |
| } |
| List<Sensor> getSensors() { |
| return mSensorList; |
| } |
| |
| void onSensorChangedLocked(Sensor sensor, float[] values, long[] timestamp, int accuracy) { |
| SensorEvent t = getFromPool(); |
| final float[] v = t.values; |
| v[0] = values[0]; |
| v[1] = values[1]; |
| v[2] = values[2]; |
| t.timestamp = timestamp[0]; |
| t.accuracy = accuracy; |
| t.sensor = sensor; |
| Message msg = Message.obtain(); |
| msg.what = 0; |
| msg.obj = t; |
| mHandler.sendMessage(msg); |
| } |
| } |
| |
| /** |
| * {@hide} |
| */ |
| public SensorManager(Looper mainLooper) { |
| mSensorService = ISensorService.Stub.asInterface( |
| ServiceManager.getService(Context.SENSOR_SERVICE)); |
| mMainLooper = mainLooper; |
| |
| |
| synchronized(sListeners) { |
| if (!sSensorModuleInitialized) { |
| sSensorModuleInitialized = true; |
| |
| nativeClassInit(); |
| |
| sWindowManager = IWindowManager.Stub.asInterface( |
| ServiceManager.getService("window")); |
| if (sWindowManager != null) { |
| // if it's null we're running in the system process |
| // which won't get the rotated values |
| try { |
| sRotation = sWindowManager.watchRotation( |
| new IRotationWatcher.Stub() { |
| public void onRotationChanged(int rotation) { |
| SensorManager.this.onRotationChanged(rotation); |
| } |
| } |
| ); |
| } catch (RemoteException e) { |
| } |
| } |
| |
| // initialize the sensor list |
| sensors_module_init(); |
| final ArrayList<Sensor> fullList = sFullSensorsList; |
| int i = 0; |
| do { |
| Sensor sensor = new Sensor(); |
| i = sensors_module_get_next_sensor(sensor, i); |
| |
| if (i>=0) { |
| Log.d(TAG, "found sensor: " + sensor.getName() + |
| ", handle=" + sensor.getHandle()); |
| sensor.setLegacyType(getLegacySensorType(sensor.getType())); |
| fullList.add(sensor); |
| sHandleToSensor.append(sensor.getHandle(), sensor); |
| } |
| } while (i>0); |
| |
| sSensorThread = new SensorThread(); |
| } |
| } |
| } |
| |
| private int getLegacySensorType(int type) { |
| switch (type) { |
| case Sensor.TYPE_ACCELEROMETER: |
| return SENSOR_ACCELEROMETER; |
| case Sensor.TYPE_MAGNETIC_FIELD: |
| return SENSOR_MAGNETIC_FIELD; |
| case Sensor.TYPE_ORIENTATION: |
| return SENSOR_ORIENTATION_RAW; |
| case Sensor.TYPE_TEMPERATURE: |
| return SENSOR_TEMPERATURE; |
| } |
| return 0; |
| } |
| |
| /** @return available sensors. |
| * @deprecated This method is deprecated, use |
| * {@link SensorManager#getSensorList(int)} instead |
| */ |
| @Deprecated |
| public int getSensors() { |
| int result = 0; |
| final ArrayList<Sensor> fullList = sFullSensorsList; |
| for (Sensor i : fullList) { |
| switch (i.getType()) { |
| case Sensor.TYPE_ACCELEROMETER: |
| result |= SensorManager.SENSOR_ACCELEROMETER; |
| break; |
| case Sensor.TYPE_MAGNETIC_FIELD: |
| result |= SensorManager.SENSOR_MAGNETIC_FIELD; |
| break; |
| case Sensor.TYPE_ORIENTATION: |
| result |= SensorManager.SENSOR_ORIENTATION | |
| SensorManager.SENSOR_ORIENTATION_RAW; |
| break; |
| } |
| } |
| return result; |
| } |
| |
| /** |
| * Use this method to get the list of available sensors of a certain |
| * type. Make multiple calls to get sensors of different types or use |
| * {@link android.hardware.Sensor#TYPE_ALL Sensor.TYPE_ALL} to get all |
| * the sensors. |
| * |
| * @param type of sensors requested |
| * @return a list of sensors matching the asked type. |
| */ |
| public List<Sensor> getSensorList(int type) { |
| // cache the returned lists the first time |
| List<Sensor> list; |
| final ArrayList<Sensor> fullList = sFullSensorsList; |
| synchronized(fullList) { |
| list = sSensorListByType.get(type); |
| if (list == null) { |
| if (type == Sensor.TYPE_ALL) { |
| list = fullList; |
| } else { |
| list = new ArrayList<Sensor>(); |
| for (Sensor i : fullList) { |
| if (i.getType() == type) |
| list.add(i); |
| } |
| } |
| list = Collections.unmodifiableList(list); |
| sSensorListByType.append(type, list); |
| } |
| } |
| return list; |
| } |
| |
| /** |
| * Use this method to get the default sensor for a given type. Note that |
| * the returned sensor could be a composite sensor, and its data could be |
| * averaged or filtered. If you need to access the raw sensors use |
| * {@link SensorManager#getSensorList(int) getSensorList}. |
| * |
| * |
| * @param type of sensors requested |
| * @return the default sensors matching the asked type. |
| */ |
| public Sensor getDefaultSensor(int type) { |
| // TODO: need to be smarter, for now, just return the 1st sensor |
| List<Sensor> l = getSensorList(type); |
| return l.isEmpty() ? null : l.get(0); |
| } |
| |
| |
| /** |
| * Registers a listener for given sensors. |
| * @deprecated This method is deprecated, use |
| * {@link SensorManager#registerListener(SensorEventListener, Sensor, int)} |
| * instead. |
| * |
| * @param listener sensor listener object |
| * @param sensors a bit masks of the sensors to register to |
| * |
| * @return true if the sensor is supported and successfully enabled |
| */ |
| @Deprecated |
| public boolean registerListener(SensorListener listener, int sensors) { |
| return registerListener(listener, sensors, SENSOR_DELAY_NORMAL); |
| } |
| |
| /** |
| * Registers a SensorListener for given sensors. |
| * @deprecated This method is deprecated, use |
| * {@link SensorManager#registerListener(SensorEventListener, Sensor, int)} |
| * instead. |
| * |
| * @param listener sensor listener object |
| * @param sensors a bit masks of the sensors to register to |
| * @param rate rate of events. This is only a hint to the system. events |
| * may be received faster or slower than the specified rate. Usually events |
| * are received faster. The value must be one of {@link #SENSOR_DELAY_NORMAL}, |
| * {@link #SENSOR_DELAY_UI}, {@link #SENSOR_DELAY_GAME}, or {@link #SENSOR_DELAY_FASTEST}. |
| * |
| * @return true if the sensor is supported and successfully enabled |
| */ |
| @Deprecated |
| public boolean registerListener(SensorListener listener, int sensors, int rate) { |
| if (listener == null) { |
| return false; |
| } |
| boolean result = false; |
| result = registerLegacyListener(SENSOR_ACCELEROMETER, Sensor.TYPE_ACCELEROMETER, |
| listener, sensors, rate) || result; |
| result = registerLegacyListener(SENSOR_MAGNETIC_FIELD, Sensor.TYPE_MAGNETIC_FIELD, |
| listener, sensors, rate) || result; |
| result = registerLegacyListener(SENSOR_ORIENTATION_RAW, Sensor.TYPE_ORIENTATION, |
| listener, sensors, rate) || result; |
| result = registerLegacyListener(SENSOR_ORIENTATION, Sensor.TYPE_ORIENTATION, |
| listener, sensors, rate) || result; |
| result = registerLegacyListener(SENSOR_TEMPERATURE, Sensor.TYPE_TEMPERATURE, |
| listener, sensors, rate) || result; |
| return result; |
| } |
| |
| @SuppressWarnings("deprecation") |
| private boolean registerLegacyListener(int legacyType, int type, |
| SensorListener listener, int sensors, int rate) |
| { |
| if (listener == null) { |
| return false; |
| } |
| boolean result = false; |
| // Are we activating this legacy sensor? |
| if ((sensors & legacyType) != 0) { |
| // if so, find a suitable Sensor |
| Sensor sensor = getDefaultSensor(type); |
| if (sensor != null) { |
| // If we don't already have one, create a LegacyListener |
| // to wrap this listener and process the events as |
| // they are expected by legacy apps. |
| LegacyListener legacyListener = null; |
| synchronized (mLegacyListenersMap) { |
| legacyListener = mLegacyListenersMap.get(listener); |
| if (legacyListener == null) { |
| // we didn't find a LegacyListener for this client, |
| // create one, and put it in our list. |
| legacyListener = new LegacyListener(listener); |
| mLegacyListenersMap.put(listener, legacyListener); |
| } |
| } |
| // register this legacy sensor with this legacy listener |
| legacyListener.registerSensor(legacyType); |
| // and finally, register the legacy listener with the new apis |
| result = registerListener(legacyListener, sensor, rate); |
| } |
| } |
| return result; |
| } |
| |
| /** |
| * Unregisters a listener for the sensors with which it is registered. |
| * @deprecated This method is deprecated, use |
| * {@link SensorManager#unregisterListener(SensorEventListener, Sensor)} |
| * instead. |
| * |
| * @param listener a SensorListener object |
| * @param sensors a bit masks of the sensors to unregister from |
| */ |
| @Deprecated |
| public void unregisterListener(SensorListener listener, int sensors) { |
| unregisterLegacyListener(SENSOR_ACCELEROMETER, Sensor.TYPE_ACCELEROMETER, |
| listener, sensors); |
| unregisterLegacyListener(SENSOR_MAGNETIC_FIELD, Sensor.TYPE_MAGNETIC_FIELD, |
| listener, sensors); |
| unregisterLegacyListener(SENSOR_ORIENTATION_RAW, Sensor.TYPE_ORIENTATION, |
| listener, sensors); |
| unregisterLegacyListener(SENSOR_ORIENTATION, Sensor.TYPE_ORIENTATION, |
| listener, sensors); |
| unregisterLegacyListener(SENSOR_TEMPERATURE, Sensor.TYPE_TEMPERATURE, |
| listener, sensors); |
| } |
| |
| @SuppressWarnings("deprecation") |
| private void unregisterLegacyListener(int legacyType, int type, |
| SensorListener listener, int sensors) |
| { |
| if (listener == null) { |
| return; |
| } |
| // do we know about this listener? |
| LegacyListener legacyListener = null; |
| synchronized (mLegacyListenersMap) { |
| legacyListener = mLegacyListenersMap.get(listener); |
| } |
| if (legacyListener != null) { |
| // Are we deactivating this legacy sensor? |
| if ((sensors & legacyType) != 0) { |
| // if so, find the corresponding Sensor |
| Sensor sensor = getDefaultSensor(type); |
| if (sensor != null) { |
| // unregister this legacy sensor and if we don't |
| // need the corresponding Sensor, unregister it too |
| if (legacyListener.unregisterSensor(legacyType)) { |
| // corresponding sensor not needed, unregister |
| unregisterListener(legacyListener, sensor); |
| // finally check if we still need the legacyListener |
| // in our mapping, if not, get rid of it too. |
| synchronized(sListeners) { |
| boolean found = false; |
| for (ListenerDelegate i : sListeners) { |
| if (i.getListener() == legacyListener) { |
| found = true; |
| break; |
| } |
| } |
| if (!found) { |
| synchronized (mLegacyListenersMap) { |
| mLegacyListenersMap.remove(listener); |
| } |
| } |
| } |
| } |
| } |
| } |
| } |
| } |
| |
| /** |
| * Unregisters a listener for all sensors. |
| * @deprecated This method is deprecated, use |
| * {@link SensorManager#unregisterListener(SensorEventListener)} |
| * instead. |
| * |
| * @param listener a SensorListener object |
| */ |
| @Deprecated |
| public void unregisterListener(SensorListener listener) { |
| unregisterListener(listener, SENSOR_ALL | SENSOR_ORIENTATION_RAW); |
| } |
| |
| /** |
| * Unregisters a listener for the sensors with which it is registered. |
| * |
| * @param listener a SensorEventListener object |
| * @param sensor the sensor to unregister from |
| * |
| */ |
| public void unregisterListener(SensorEventListener listener, Sensor sensor) { |
| unregisterListener((Object)listener, sensor); |
| } |
| |
| /** |
| * Unregisters a listener for all sensors. |
| * |
| * @param listener a SensorListener object |
| * |
| */ |
| public void unregisterListener(SensorEventListener listener) { |
| unregisterListener((Object)listener); |
| } |
| |
| |
| /** |
| * Registers a {@link android.hardware.SensorEventListener SensorEventListener} |
| * for the given sensor. |
| * |
| * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object. |
| * @param sensor The {@link android.hardware.Sensor Sensor} to register to. |
| * @param rate The rate {@link android.hardware.SensorEvent sensor events} are delivered at. |
| * This is only a hint to the system. Events may be received faster or |
| * slower than the specified rate. Usually events are received faster. The value must be |
| * one of {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, {@link #SENSOR_DELAY_GAME}, |
| * or {@link #SENSOR_DELAY_FASTEST}. |
| * |
| * @return true if the sensor is supported and successfully enabled. |
| * |
| */ |
| public boolean registerListener(SensorEventListener listener, Sensor sensor, int rate) { |
| return registerListener(listener, sensor, rate, null); |
| } |
| |
| /** |
| * Registers a {@link android.hardware.SensorEventListener SensorEventListener} |
| * for the given sensor. |
| * |
| * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object. |
| * @param sensor The {@link android.hardware.Sensor Sensor} to register to. |
| * @param rate The rate {@link android.hardware.SensorEvent sensor events} are delivered at. |
| * This is only a hint to the system. Events may be received faster or |
| * slower than the specified rate. Usually events are received faster. The value must be one |
| * of {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, {@link #SENSOR_DELAY_GAME}, or |
| * {@link #SENSOR_DELAY_FASTEST}. |
| * @param handler The {@link android.os.Handler Handler} the |
| * {@link android.hardware.SensorEvent sensor events} will be delivered to. |
| * |
| * @return true if the sensor is supported and successfully enabled. |
| * |
| */ |
| public boolean registerListener(SensorEventListener listener, Sensor sensor, int rate, |
| Handler handler) { |
| if (listener == null || sensor == null) { |
| return false; |
| } |
| boolean result; |
| int delay = -1; |
| switch (rate) { |
| case SENSOR_DELAY_FASTEST: |
| delay = 0; |
| break; |
| case SENSOR_DELAY_GAME: |
| delay = 20; |
| break; |
| case SENSOR_DELAY_UI: |
| delay = 60; |
| break; |
| case SENSOR_DELAY_NORMAL: |
| delay = 200; |
| break; |
| default: |
| return false; |
| } |
| |
| try { |
| synchronized (sListeners) { |
| ListenerDelegate l = null; |
| for (ListenerDelegate i : sListeners) { |
| if (i.getListener() == listener) { |
| l = i; |
| break; |
| } |
| } |
| |
| String name = sensor.getName(); |
| int handle = sensor.getHandle(); |
| if (l == null) { |
| l = new ListenerDelegate(listener, sensor, handler); |
| result = mSensorService.enableSensor(l, name, handle, delay); |
| if (result) { |
| sListeners.add(l); |
| sListeners.notify(); |
| } |
| if (!sListeners.isEmpty()) { |
| sSensorThread.startLocked(mSensorService); |
| } |
| } else { |
| result = mSensorService.enableSensor(l, name, handle, delay); |
| if (result) { |
| l.addSensor(sensor); |
| } |
| } |
| } |
| } catch (RemoteException e) { |
| Log.e(TAG, "RemoteException in registerListener: ", e); |
| result = false; |
| } |
| return result; |
| } |
| |
| private void unregisterListener(Object listener, Sensor sensor) { |
| if (listener == null || sensor == null) { |
| return; |
| } |
| try { |
| synchronized (sListeners) { |
| final int size = sListeners.size(); |
| for (int i=0 ; i<size ; i++) { |
| ListenerDelegate l = sListeners.get(i); |
| if (l.getListener() == listener) { |
| // disable these sensors |
| String name = sensor.getName(); |
| int handle = sensor.getHandle(); |
| mSensorService.enableSensor(l, name, handle, SENSOR_DISABLE); |
| // if we have no more sensors enabled on this listener, |
| // take it off the list. |
| if (l.removeSensor(sensor) == 0) { |
| sListeners.remove(i); |
| } |
| break; |
| } |
| } |
| } |
| } catch (RemoteException e) { |
| Log.e(TAG, "RemoteException in unregisterListener: ", e); |
| } |
| } |
| |
| private void unregisterListener(Object listener) { |
| if (listener == null) { |
| return; |
| } |
| try { |
| synchronized (sListeners) { |
| final int size = sListeners.size(); |
| for (int i=0 ; i<size ; i++) { |
| ListenerDelegate l = sListeners.get(i); |
| if (l.getListener() == listener) { |
| // disable all sensors for this listener |
| for (Sensor sensor : l.getSensors()) { |
| String name = sensor.getName(); |
| int handle = sensor.getHandle(); |
| mSensorService.enableSensor(l, name, handle, SENSOR_DISABLE); |
| } |
| sListeners.remove(i); |
| break; |
| } |
| } |
| } |
| } catch (RemoteException e) { |
| Log.e(TAG, "RemoteException in unregisterListener: ", e); |
| } |
| } |
| |
| /** |
| * Computes the inclination matrix <b>I</b> as well as the rotation |
| * matrix <b>R</b> transforming a vector from the |
| * device coordinate system to the world's coordinate system which is |
| * defined as a direct orthonormal basis, where: |
| * |
| * <li>X is defined as the vector product <b>Y.Z</b> (It is tangential to |
| * the ground at the device's current location and roughly points East).</li> |
| * <li>Y is tangential to the ground at the device's current location and |
| * points towards the magnetic North Pole.</li> |
| * <li>Z points towards the sky and is perpendicular to the ground.</li> |
| * <p> |
| * <hr> |
| * <p>By definition: |
| * <p>[0 0 g] = <b>R</b> * <b>gravity</b> (g = magnitude of gravity) |
| * <p>[0 m 0] = <b>I</b> * <b>R</b> * <b>geomagnetic</b> |
| * (m = magnitude of geomagnetic field) |
| * <p><b>R</b> is the identity matrix when the device is aligned with the |
| * world's coordinate system, that is, when the device's X axis points |
| * toward East, the Y axis points to the North Pole and the device is facing |
| * the sky. |
| * |
| * <p><b>I</b> is a rotation matrix transforming the geomagnetic |
| * vector into the same coordinate space as gravity (the world's coordinate |
| * space). <b>I</b> is a simple rotation around the X axis. |
| * The inclination angle in radians can be computed with |
| * {@link #getInclination}. |
| * <hr> |
| * |
| * <p> Each matrix is returned either as a 3x3 or 4x4 row-major matrix |
| * depending on the length of the passed array: |
| * <p><u>If the array length is 16:</u> |
| * <pre> |
| * / M[ 0] M[ 1] M[ 2] M[ 3] \ |
| * | M[ 4] M[ 5] M[ 6] M[ 7] | |
| * | M[ 8] M[ 9] M[10] M[11] | |
| * \ M[12] M[13] M[14] M[15] / |
| *</pre> |
| * This matrix is ready to be used by OpenGL ES's |
| * {@link javax.microedition.khronos.opengles.GL10#glLoadMatrixf(float[], int) |
| * glLoadMatrixf(float[], int)}. |
| * <p>Note that because OpenGL matrices are column-major matrices you must |
| * transpose the matrix before using it. However, since the matrix is a |
| * rotation matrix, its transpose is also its inverse, conveniently, it is |
| * often the inverse of the rotation that is needed for rendering; it can |
| * therefore be used with OpenGL ES directly. |
| * <p> |
| * Also note that the returned matrices always have this form: |
| * <pre> |
| * / M[ 0] M[ 1] M[ 2] 0 \ |
| * | M[ 4] M[ 5] M[ 6] 0 | |
| * | M[ 8] M[ 9] M[10] 0 | |
| * \ 0 0 0 1 / |
| *</pre> |
| * <p><u>If the array length is 9:</u> |
| * <pre> |
| * / M[ 0] M[ 1] M[ 2] \ |
| * | M[ 3] M[ 4] M[ 5] | |
| * \ M[ 6] M[ 7] M[ 8] / |
| *</pre> |
| * |
| * <hr> |
| * <p>The inverse of each matrix can be computed easily by taking its |
| * transpose. |
| * |
| * <p>The matrices returned by this function are meaningful only when the |
| * device is not free-falling and it is not close to the magnetic north. |
| * If the device is accelerating, or placed into a strong magnetic field, |
| * the returned matrices may be inaccurate. |
| * |
| * @param R is an array of 9 floats holding the rotation matrix <b>R</b> |
| * when this function returns. R can be null.<p> |
| * @param I is an array of 9 floats holding the rotation matrix <b>I</b> |
| * when this function returns. I can be null.<p> |
| * @param gravity is an array of 3 floats containing the gravity vector |
| * expressed in the device's coordinate. You can simply use the |
| * {@link android.hardware.SensorEvent#values values} |
| * returned by a {@link android.hardware.SensorEvent SensorEvent} of a |
| * {@link android.hardware.Sensor Sensor} of type |
| * {@link android.hardware.Sensor#TYPE_ACCELEROMETER TYPE_ACCELEROMETER}.<p> |
| * @param geomagnetic is an array of 3 floats containing the geomagnetic |
| * vector expressed in the device's coordinate. You can simply use the |
| * {@link android.hardware.SensorEvent#values values} |
| * returned by a {@link android.hardware.SensorEvent SensorEvent} of a |
| * {@link android.hardware.Sensor Sensor} of type |
| * {@link android.hardware.Sensor#TYPE_MAGNETIC_FIELD TYPE_MAGNETIC_FIELD}. |
| * @return |
| * true on success<p> |
| * false on failure (for instance, if the device is in free fall). |
| * On failure the output matrices are not modified. |
| */ |
| |
| public static boolean getRotationMatrix(float[] R, float[] I, |
| float[] gravity, float[] geomagnetic) { |
| // TODO: move this to native code for efficiency |
| float Ax = gravity[0]; |
| float Ay = gravity[1]; |
| float Az = gravity[2]; |
| final float Ex = geomagnetic[0]; |
| final float Ey = geomagnetic[1]; |
| final float Ez = geomagnetic[2]; |
| float Hx = Ey*Az - Ez*Ay; |
| float Hy = Ez*Ax - Ex*Az; |
| float Hz = Ex*Ay - Ey*Ax; |
| final float normH = (float)Math.sqrt(Hx*Hx + Hy*Hy + Hz*Hz); |
| if (normH < 0.1f) { |
| // device is close to free fall (or in space?), or close to |
| // magnetic north pole. Typical values are > 100. |
| return false; |
| } |
| final float invH = 1.0f / normH; |
| Hx *= invH; |
| Hy *= invH; |
| Hz *= invH; |
| final float invA = 1.0f / (float)Math.sqrt(Ax*Ax + Ay*Ay + Az*Az); |
| Ax *= invA; |
| Ay *= invA; |
| Az *= invA; |
| final float Mx = Ay*Hz - Az*Hy; |
| final float My = Az*Hx - Ax*Hz; |
| final float Mz = Ax*Hy - Ay*Hx; |
| if (R != null) { |
| if (R.length == 9) { |
| R[0] = Hx; R[1] = Hy; R[2] = Hz; |
| R[3] = Mx; R[4] = My; R[5] = Mz; |
| R[6] = Ax; R[7] = Ay; R[8] = Az; |
| } else if (R.length == 16) { |
| R[0] = Hx; R[1] = Hy; R[2] = Hz; R[3] = 0; |
| R[4] = Mx; R[5] = My; R[6] = Mz; R[7] = 0; |
| R[8] = Ax; R[9] = Ay; R[10] = Az; R[11] = 0; |
| R[12] = 0; R[13] = 0; R[14] = 0; R[15] = 1; |
| } |
| } |
| if (I != null) { |
| // compute the inclination matrix by projecting the geomagnetic |
| // vector onto the Z (gravity) and X (horizontal component |
| // of geomagnetic vector) axes. |
| final float invE = 1.0f / (float)Math.sqrt(Ex*Ex + Ey*Ey + Ez*Ez); |
| final float c = (Ex*Mx + Ey*My + Ez*Mz) * invE; |
| final float s = (Ex*Ax + Ey*Ay + Ez*Az) * invE; |
| if (I.length == 9) { |
| I[0] = 1; I[1] = 0; I[2] = 0; |
| I[3] = 0; I[4] = c; I[5] = s; |
| I[6] = 0; I[7] =-s; I[8] = c; |
| } else if (I.length == 16) { |
| I[0] = 1; I[1] = 0; I[2] = 0; |
| I[4] = 0; I[5] = c; I[6] = s; |
| I[8] = 0; I[9] =-s; I[10]= c; |
| I[3] = I[7] = I[11] = I[12] = I[13] = I[14] = 0; |
| I[15] = 1; |
| } |
| } |
| return true; |
| } |
| |
| /** |
| * Computes the geomagnetic inclination angle in radians from the |
| * inclination matrix <b>I</b> returned by {@link #getRotationMatrix}. |
| * @param I inclination matrix see {@link #getRotationMatrix}. |
| * @return The geomagnetic inclination angle in radians. |
| */ |
| public static float getInclination(float[] I) { |
| if (I.length == 9) { |
| return (float)Math.atan2(I[5], I[4]); |
| } else { |
| return (float)Math.atan2(I[6], I[5]); |
| } |
| } |
| |
| /** |
| * Rotates the supplied rotation matrix so it is expressed in a |
| * different coordinate system. This is typically used when an application |
| * needs to compute the three orientation angles of the device (see |
| * {@link #getOrientation}) in a different coordinate system. |
| * |
| * <p>When the rotation matrix is used for drawing (for instance with |
| * OpenGL ES), it usually <b>doesn't need</b> to be transformed by this |
| * function, unless the screen is physically rotated, such as when used |
| * in landscape mode. |
| * |
| * <p><u>Examples:</u><p> |
| * |
| * <li>Using the camera (Y axis along the camera's axis) for an augmented |
| * reality application where the rotation angles are needed :</li><p> |
| * |
| * <code>remapCoordinateSystem(inR, AXIS_X, AXIS_Z, outR);</code><p> |
| * |
| * <li>Using the device as a mechanical compass in landscape mode:</li><p> |
| * |
| * <code>remapCoordinateSystem(inR, AXIS_Y, AXIS_MINUS_X, outR);</code><p> |
| * |
| * Beware of the above example. This call is needed only if the device is |
| * physically used in landscape mode to calculate the rotation angles (see |
| * {@link #getOrientation}). |
| * If the rotation matrix is also used for rendering, it may not need to |
| * be transformed, for instance if your {@link android.app.Activity |
| * Activity} is running in landscape mode. |
| * |
| * <p>Since the resulting coordinate system is orthonormal, only two axes |
| * need to be specified. |
| * |
| * @param inR the rotation matrix to be transformed. Usually it is the |
| * matrix returned by {@link #getRotationMatrix}. |
| * @param X defines on which world axis and direction the X axis of the |
| * device is mapped. |
| * @param Y defines on which world axis and direction the Y axis of the |
| * device is mapped. |
| * @param outR the transformed rotation matrix. inR and outR can be the same |
| * array, but it is not recommended for performance reason. |
| * @return true on success. false if the input parameters are incorrect, for |
| * instance if X and Y define the same axis. Or if inR and outR don't have |
| * the same length. |
| */ |
| |
| public static boolean remapCoordinateSystem(float[] inR, int X, int Y, |
| float[] outR) |
| { |
| if (inR == outR) { |
| final float[] temp = mTempMatrix; |
| synchronized(temp) { |
| // we don't expect to have a lot of contention |
| if (remapCoordinateSystemImpl(inR, X, Y, temp)) { |
| final int size = outR.length; |
| for (int i=0 ; i<size ; i++) |
| outR[i] = temp[i]; |
| return true; |
| } |
| } |
| } |
| return remapCoordinateSystemImpl(inR, X, Y, outR); |
| } |
| |
| private static boolean remapCoordinateSystemImpl(float[] inR, int X, int Y, |
| float[] outR) |
| { |
| /* |
| * X and Y define a rotation matrix 'r': |
| * |
| * (X==1)?((X&0x80)?-1:1):0 (X==2)?((X&0x80)?-1:1):0 (X==3)?((X&0x80)?-1:1):0 |
| * (Y==1)?((Y&0x80)?-1:1):0 (Y==2)?((Y&0x80)?-1:1):0 (Y==3)?((X&0x80)?-1:1):0 |
| * r[0] ^ r[1] |
| * |
| * where the 3rd line is the vector product of the first 2 lines |
| * |
| */ |
| |
| final int length = outR.length; |
| if (inR.length != length) |
| return false; // invalid parameter |
| if ((X & 0x7C)!=0 || (Y & 0x7C)!=0) |
| return false; // invalid parameter |
| if (((X & 0x3)==0) || ((Y & 0x3)==0)) |
| return false; // no axis specified |
| if ((X & 0x3) == (Y & 0x3)) |
| return false; // same axis specified |
| |
| // Z is "the other" axis, its sign is either +/- sign(X)*sign(Y) |
| // this can be calculated by exclusive-or'ing X and Y; except for |
| // the sign inversion (+/-) which is calculated below. |
| int Z = X ^ Y; |
| |
| // extract the axis (remove the sign), offset in the range 0 to 2. |
| final int x = (X & 0x3)-1; |
| final int y = (Y & 0x3)-1; |
| final int z = (Z & 0x3)-1; |
| |
| // compute the sign of Z (whether it needs to be inverted) |
| final int axis_y = (z+1)%3; |
| final int axis_z = (z+2)%3; |
| if (((x^axis_y)|(y^axis_z)) != 0) |
| Z ^= 0x80; |
| |
| final boolean sx = (X>=0x80); |
| final boolean sy = (Y>=0x80); |
| final boolean sz = (Z>=0x80); |
| |
| // Perform R * r, in avoiding actual muls and adds. |
| final int rowLength = ((length==16)?4:3); |
| for (int j=0 ; j<3 ; j++) { |
| final int offset = j*rowLength; |
| for (int i=0 ; i<3 ; i++) { |
| if (x==i) outR[offset+i] = sx ? -inR[offset+0] : inR[offset+0]; |
| if (y==i) outR[offset+i] = sy ? -inR[offset+1] : inR[offset+1]; |
| if (z==i) outR[offset+i] = sz ? -inR[offset+2] : inR[offset+2]; |
| } |
| } |
| if (length == 16) { |
| outR[3] = outR[7] = outR[11] = outR[12] = outR[13] = outR[14] = 0; |
| outR[15] = 1; |
| } |
| return true; |
| } |
| |
| /** |
| * Computes the device's orientation based on the rotation matrix. |
| * <p> When it returns, the array values is filled with the result: |
| * <li>values[0]: <i>azimuth</i>, rotation around the Z axis.</li> |
| * <li>values[1]: <i>pitch</i>, rotation around the X axis.</li> |
| * <li>values[2]: <i>roll</i>, rotation around the Y axis.</li> |
| * <p> |
| * |
| * @param R rotation matrix see {@link #getRotationMatrix}. |
| * @param values an array of 3 floats to hold the result. |
| * @return The array values passed as argument. |
| */ |
| public static float[] getOrientation(float[] R, float values[]) { |
| /* |
| * 4x4 (length=16) case: |
| * / R[ 0] R[ 1] R[ 2] 0 \ |
| * | R[ 4] R[ 5] R[ 6] 0 | |
| * | R[ 8] R[ 9] R[10] 0 | |
| * \ 0 0 0 1 / |
| * |
| * 3x3 (length=9) case: |
| * / R[ 0] R[ 1] R[ 2] \ |
| * | R[ 3] R[ 4] R[ 5] | |
| * \ R[ 6] R[ 7] R[ 8] / |
| * |
| */ |
| if (R.length == 9) { |
| values[0] = (float)Math.atan2(R[1], R[4]); |
| values[1] = (float)Math.asin(-R[7]); |
| values[2] = (float)Math.atan2(-R[6], R[8]); |
| } else { |
| values[0] = (float)Math.atan2(R[1], R[5]); |
| values[1] = (float)Math.asin(-R[9]); |
| values[2] = (float)Math.atan2(-R[8], R[10]); |
| } |
| return values; |
| } |
| |
| |
| /** |
| * {@hide} |
| */ |
| public void onRotationChanged(int rotation) { |
| synchronized(sListeners) { |
| sRotation = rotation; |
| } |
| } |
| |
| static int getRotation() { |
| synchronized(sListeners) { |
| return sRotation; |
| } |
| } |
| |
| private class LegacyListener implements SensorEventListener { |
| private float mValues[] = new float[6]; |
| @SuppressWarnings("deprecation") |
| private SensorListener mTarget; |
| private int mSensors; |
| private final LmsFilter mYawfilter = new LmsFilter(); |
| |
| @SuppressWarnings("deprecation") |
| LegacyListener(SensorListener target) { |
| mTarget = target; |
| mSensors = 0; |
| } |
| |
| void registerSensor(int legacyType) { |
| mSensors |= legacyType; |
| } |
| |
| boolean unregisterSensor(int legacyType) { |
| mSensors &= ~legacyType; |
| int mask = SENSOR_ORIENTATION|SENSOR_ORIENTATION_RAW; |
| if (((legacyType&mask)!=0) && ((mSensors&mask)!=0)) { |
| return false; |
| } |
| return true; |
| } |
| |
| @SuppressWarnings("deprecation") |
| public void onAccuracyChanged(Sensor sensor, int accuracy) { |
| try { |
| mTarget.onAccuracyChanged(sensor.getLegacyType(), accuracy); |
| } catch (AbstractMethodError e) { |
| // old app that doesn't implement this method |
| // just ignore it. |
| } |
| } |
| |
| @SuppressWarnings("deprecation") |
| public void onSensorChanged(SensorEvent event) { |
| final float v[] = mValues; |
| v[0] = event.values[0]; |
| v[1] = event.values[1]; |
| v[2] = event.values[2]; |
| int legacyType = event.sensor.getLegacyType(); |
| mapSensorDataToWindow(legacyType, v, SensorManager.getRotation()); |
| if (event.sensor.getType() == Sensor.TYPE_ORIENTATION) { |
| if ((mSensors & SENSOR_ORIENTATION_RAW)!=0) { |
| mTarget.onSensorChanged(SENSOR_ORIENTATION_RAW, v); |
| } |
| if ((mSensors & SENSOR_ORIENTATION)!=0) { |
| v[0] = mYawfilter.filter(event.timestamp, v[0]); |
| mTarget.onSensorChanged(SENSOR_ORIENTATION, v); |
| } |
| } else { |
| mTarget.onSensorChanged(legacyType, v); |
| } |
| } |
| |
| /* |
| * Helper function to convert the specified sensor's data to the windows's |
| * coordinate space from the device's coordinate space. |
| * |
| * output: 3,4,5: values in the old API format |
| * 0,1,2: transformed values in the old API format |
| * |
| */ |
| private void mapSensorDataToWindow(int sensor, |
| float[] values, int orientation) { |
| float x = values[0]; |
| float y = values[1]; |
| float z = values[2]; |
| |
| switch (sensor) { |
| case SensorManager.SENSOR_ORIENTATION: |
| case SensorManager.SENSOR_ORIENTATION_RAW: |
| z = -z; |
| break; |
| case SensorManager.SENSOR_ACCELEROMETER: |
| x = -x; |
| y = -y; |
| z = -z; |
| break; |
| case SensorManager.SENSOR_MAGNETIC_FIELD: |
| x = -x; |
| y = -y; |
| break; |
| } |
| values[0] = x; |
| values[1] = y; |
| values[2] = z; |
| values[3] = x; |
| values[4] = y; |
| values[5] = z; |
| // TODO: add support for 180 and 270 orientations |
| if (orientation == Surface.ROTATION_90) { |
| switch (sensor) { |
| case SENSOR_ACCELEROMETER: |
| case SENSOR_MAGNETIC_FIELD: |
| values[0] =-y; |
| values[1] = x; |
| values[2] = z; |
| break; |
| case SENSOR_ORIENTATION: |
| case SENSOR_ORIENTATION_RAW: |
| values[0] = x + ((x < 270) ? 90 : -270); |
| values[1] = z; |
| values[2] = y; |
| break; |
| } |
| } |
| } |
| } |
| |
| class LmsFilter { |
| private static final int SENSORS_RATE_MS = 20; |
| private static final int COUNT = 12; |
| private static final float PREDICTION_RATIO = 1.0f/3.0f; |
| private static final float PREDICTION_TIME = (SENSORS_RATE_MS*COUNT/1000.0f)*PREDICTION_RATIO; |
| private float mV[] = new float[COUNT*2]; |
| private float mT[] = new float[COUNT*2]; |
| private int mIndex; |
| |
| public LmsFilter() { |
| mIndex = COUNT; |
| } |
| |
| public float filter(long time, float in) { |
| float v = in; |
| final float ns = 1.0f / 1000000000.0f; |
| final float t = time*ns; |
| float v1 = mV[mIndex]; |
| if ((v-v1) > 180) { |
| v -= 360; |
| } else if ((v1-v) > 180) { |
| v += 360; |
| } |
| /* Manage the circular buffer, we write the data twice spaced |
| * by COUNT values, so that we don't have to copy the array |
| * when it's full |
| */ |
| mIndex++; |
| if (mIndex >= COUNT*2) |
| mIndex = COUNT; |
| mV[mIndex] = v; |
| mT[mIndex] = t; |
| mV[mIndex-COUNT] = v; |
| mT[mIndex-COUNT] = t; |
| |
| float A, B, C, D, E; |
| float a, b; |
| int i; |
| |
| A = B = C = D = E = 0; |
| for (i=0 ; i<COUNT-1 ; i++) { |
| final int j = mIndex - 1 - i; |
| final float Z = mV[j]; |
| final float T = 0.5f*(mT[j] + mT[j+1]) - t; |
| float dT = mT[j] - mT[j+1]; |
| dT *= dT; |
| A += Z*dT; |
| B += T*(T*dT); |
| C += (T*dT); |
| D += Z*(T*dT); |
| E += dT; |
| } |
| b = (A*B + C*D) / (E*B + C*C); |
| a = (E*b - A) / C; |
| float f = b + PREDICTION_TIME*a; |
| |
| // Normalize |
| f *= (1.0f / 360.0f); |
| if (((f>=0)?f:-f) >= 0.5f) |
| f = f - (float)Math.ceil(f + 0.5f) + 1.0f; |
| if (f < 0) |
| f += 1.0f; |
| f *= 360.0f; |
| return f; |
| } |
| } |
| |
| |
| private static native void nativeClassInit(); |
| |
| private static native int sensors_module_init(); |
| private static native int sensors_module_get_next_sensor(Sensor sensor, int next); |
| |
| // Used within this module from outside SensorManager, don't make private |
| static native int sensors_data_init(); |
| static native int sensors_data_uninit(); |
| static native int sensors_data_open(FileDescriptor[] fds, int[] ints); |
| static native int sensors_data_close(); |
| static native int sensors_data_poll(float[] values, int[] status, long[] timestamp); |
| } |