Jeff Brown | 4481d9c | 2012-04-16 16:14:44 -0700 | [diff] [blame^] | 1 | /* |
| 2 | * Copyright (C) 2012 The Android Open Source Project |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | package android.hardware; |
| 18 | |
| 19 | import android.os.RemoteException; |
| 20 | import android.os.ServiceManager; |
| 21 | import android.view.IRotationWatcher; |
| 22 | import android.view.IWindowManager; |
| 23 | import android.view.Surface; |
| 24 | |
| 25 | import java.util.HashMap; |
| 26 | import java.util.List; |
| 27 | |
| 28 | /** |
| 29 | * Helper class for implementing the legacy sensor manager API. |
| 30 | * @hide |
| 31 | */ |
| 32 | @SuppressWarnings("deprecation") |
| 33 | final class LegacySensorManager { |
| 34 | private static boolean sInitialized; |
| 35 | private static IWindowManager sWindowManager; |
| 36 | private static int sRotation = Surface.ROTATION_0; |
| 37 | |
| 38 | private final SensorManager mSensorManager; |
| 39 | |
| 40 | // List of legacy listeners. Guarded by mLegacyListenersMap. |
| 41 | private final HashMap<SensorListener, LegacyListener> mLegacyListenersMap = |
| 42 | new HashMap<SensorListener, LegacyListener>(); |
| 43 | |
| 44 | public LegacySensorManager(SensorManager sensorManager) { |
| 45 | mSensorManager = sensorManager; |
| 46 | |
| 47 | synchronized (SensorManager.class) { |
| 48 | if (!sInitialized) { |
| 49 | sWindowManager = IWindowManager.Stub.asInterface( |
| 50 | ServiceManager.getService("window")); |
| 51 | if (sWindowManager != null) { |
| 52 | // if it's null we're running in the system process |
| 53 | // which won't get the rotated values |
| 54 | try { |
| 55 | sRotation = sWindowManager.watchRotation( |
| 56 | new IRotationWatcher.Stub() { |
| 57 | public void onRotationChanged(int rotation) { |
| 58 | LegacySensorManager.onRotationChanged(rotation); |
| 59 | } |
| 60 | } |
| 61 | ); |
| 62 | } catch (RemoteException e) { |
| 63 | } |
| 64 | } |
| 65 | } |
| 66 | } |
| 67 | } |
| 68 | |
| 69 | public int getSensors() { |
| 70 | int result = 0; |
| 71 | final List<Sensor> fullList = mSensorManager.getFullSensorList(); |
| 72 | for (Sensor i : fullList) { |
| 73 | switch (i.getType()) { |
| 74 | case Sensor.TYPE_ACCELEROMETER: |
| 75 | result |= SensorManager.SENSOR_ACCELEROMETER; |
| 76 | break; |
| 77 | case Sensor.TYPE_MAGNETIC_FIELD: |
| 78 | result |= SensorManager.SENSOR_MAGNETIC_FIELD; |
| 79 | break; |
| 80 | case Sensor.TYPE_ORIENTATION: |
| 81 | result |= SensorManager.SENSOR_ORIENTATION |
| 82 | | SensorManager.SENSOR_ORIENTATION_RAW; |
| 83 | break; |
| 84 | } |
| 85 | } |
| 86 | return result; |
| 87 | } |
| 88 | |
| 89 | public boolean registerListener(SensorListener listener, int sensors, int rate) { |
| 90 | if (listener == null) { |
| 91 | return false; |
| 92 | } |
| 93 | boolean result = false; |
| 94 | result = registerLegacyListener(SensorManager.SENSOR_ACCELEROMETER, |
| 95 | Sensor.TYPE_ACCELEROMETER, listener, sensors, rate) || result; |
| 96 | result = registerLegacyListener(SensorManager.SENSOR_MAGNETIC_FIELD, |
| 97 | Sensor.TYPE_MAGNETIC_FIELD, listener, sensors, rate) || result; |
| 98 | result = registerLegacyListener(SensorManager.SENSOR_ORIENTATION_RAW, |
| 99 | Sensor.TYPE_ORIENTATION, listener, sensors, rate) || result; |
| 100 | result = registerLegacyListener(SensorManager.SENSOR_ORIENTATION, |
| 101 | Sensor.TYPE_ORIENTATION, listener, sensors, rate) || result; |
| 102 | result = registerLegacyListener(SensorManager.SENSOR_TEMPERATURE, |
| 103 | Sensor.TYPE_TEMPERATURE, listener, sensors, rate) || result; |
| 104 | return result; |
| 105 | } |
| 106 | |
| 107 | private boolean registerLegacyListener(int legacyType, int type, |
| 108 | SensorListener listener, int sensors, int rate) { |
| 109 | boolean result = false; |
| 110 | // Are we activating this legacy sensor? |
| 111 | if ((sensors & legacyType) != 0) { |
| 112 | // if so, find a suitable Sensor |
| 113 | Sensor sensor = mSensorManager.getDefaultSensor(type); |
| 114 | if (sensor != null) { |
| 115 | // We do all of this work holding the legacy listener lock to ensure |
| 116 | // that the invariants around listeners are maintained. This is safe |
| 117 | // because neither registerLegacyListener nor unregisterLegacyListener |
| 118 | // are called reentrantly while sensors are being registered or unregistered. |
| 119 | synchronized (mLegacyListenersMap) { |
| 120 | // If we don't already have one, create a LegacyListener |
| 121 | // to wrap this listener and process the events as |
| 122 | // they are expected by legacy apps. |
| 123 | LegacyListener legacyListener = mLegacyListenersMap.get(listener); |
| 124 | if (legacyListener == null) { |
| 125 | // we didn't find a LegacyListener for this client, |
| 126 | // create one, and put it in our list. |
| 127 | legacyListener = new LegacyListener(listener); |
| 128 | mLegacyListenersMap.put(listener, legacyListener); |
| 129 | } |
| 130 | |
| 131 | // register this legacy sensor with this legacy listener |
| 132 | if (legacyListener.registerSensor(legacyType)) { |
| 133 | // and finally, register the legacy listener with the new apis |
| 134 | result = mSensorManager.registerListener(legacyListener, sensor, rate); |
| 135 | } else { |
| 136 | result = true; // sensor already enabled |
| 137 | } |
| 138 | } |
| 139 | } |
| 140 | } |
| 141 | return result; |
| 142 | } |
| 143 | |
| 144 | public void unregisterListener(SensorListener listener, int sensors) { |
| 145 | if (listener == null) { |
| 146 | return; |
| 147 | } |
| 148 | unregisterLegacyListener(SensorManager.SENSOR_ACCELEROMETER, Sensor.TYPE_ACCELEROMETER, |
| 149 | listener, sensors); |
| 150 | unregisterLegacyListener(SensorManager.SENSOR_MAGNETIC_FIELD, Sensor.TYPE_MAGNETIC_FIELD, |
| 151 | listener, sensors); |
| 152 | unregisterLegacyListener(SensorManager.SENSOR_ORIENTATION_RAW, Sensor.TYPE_ORIENTATION, |
| 153 | listener, sensors); |
| 154 | unregisterLegacyListener(SensorManager.SENSOR_ORIENTATION, Sensor.TYPE_ORIENTATION, |
| 155 | listener, sensors); |
| 156 | unregisterLegacyListener(SensorManager.SENSOR_TEMPERATURE, Sensor.TYPE_TEMPERATURE, |
| 157 | listener, sensors); |
| 158 | } |
| 159 | |
| 160 | private void unregisterLegacyListener(int legacyType, int type, |
| 161 | SensorListener listener, int sensors) { |
| 162 | // Are we deactivating this legacy sensor? |
| 163 | if ((sensors & legacyType) != 0) { |
| 164 | // if so, find the corresponding Sensor |
| 165 | Sensor sensor = mSensorManager.getDefaultSensor(type); |
| 166 | if (sensor != null) { |
| 167 | // We do all of this work holding the legacy listener lock to ensure |
| 168 | // that the invariants around listeners are maintained. This is safe |
| 169 | // because neither registerLegacyListener nor unregisterLegacyListener |
| 170 | // are called re-entrantly while sensors are being registered or unregistered. |
| 171 | synchronized (mLegacyListenersMap) { |
| 172 | // do we know about this listener? |
| 173 | LegacyListener legacyListener = mLegacyListenersMap.get(listener); |
| 174 | if (legacyListener != null) { |
| 175 | // unregister this legacy sensor and if we don't |
| 176 | // need the corresponding Sensor, unregister it too |
| 177 | if (legacyListener.unregisterSensor(legacyType)) { |
| 178 | // corresponding sensor not needed, unregister |
| 179 | mSensorManager.unregisterListener(legacyListener, sensor); |
| 180 | |
| 181 | // finally check if we still need the legacyListener |
| 182 | // in our mapping, if not, get rid of it too. |
| 183 | if (!legacyListener.hasSensors()) { |
| 184 | mLegacyListenersMap.remove(listener); |
| 185 | } |
| 186 | } |
| 187 | } |
| 188 | } |
| 189 | } |
| 190 | } |
| 191 | } |
| 192 | |
| 193 | static void onRotationChanged(int rotation) { |
| 194 | synchronized (SensorManager.class) { |
| 195 | sRotation = rotation; |
| 196 | } |
| 197 | } |
| 198 | |
| 199 | static int getRotation() { |
| 200 | synchronized (SensorManager.class) { |
| 201 | return sRotation; |
| 202 | } |
| 203 | } |
| 204 | |
| 205 | private static final class LegacyListener implements SensorEventListener { |
| 206 | private float mValues[] = new float[6]; |
| 207 | private SensorListener mTarget; |
| 208 | private int mSensors; |
| 209 | private final LmsFilter mYawfilter = new LmsFilter(); |
| 210 | |
| 211 | LegacyListener(SensorListener target) { |
| 212 | mTarget = target; |
| 213 | mSensors = 0; |
| 214 | } |
| 215 | |
| 216 | boolean registerSensor(int legacyType) { |
| 217 | if ((mSensors & legacyType) != 0) { |
| 218 | return false; |
| 219 | } |
| 220 | boolean alreadyHasOrientationSensor = hasOrientationSensor(mSensors); |
| 221 | mSensors |= legacyType; |
| 222 | if (alreadyHasOrientationSensor && hasOrientationSensor(legacyType)) { |
| 223 | return false; // don't need to re-register the orientation sensor |
| 224 | } |
| 225 | return true; |
| 226 | } |
| 227 | |
| 228 | boolean unregisterSensor(int legacyType) { |
| 229 | if ((mSensors & legacyType) == 0) { |
| 230 | return false; |
| 231 | } |
| 232 | mSensors &= ~legacyType; |
| 233 | if (hasOrientationSensor(legacyType) && hasOrientationSensor(mSensors)) { |
| 234 | return false; // can't unregister the orientation sensor just yet |
| 235 | } |
| 236 | return true; |
| 237 | } |
| 238 | |
| 239 | boolean hasSensors() { |
| 240 | return mSensors != 0; |
| 241 | } |
| 242 | |
| 243 | private static boolean hasOrientationSensor(int sensors) { |
| 244 | return (sensors & (SensorManager.SENSOR_ORIENTATION |
| 245 | | SensorManager.SENSOR_ORIENTATION_RAW)) != 0; |
| 246 | } |
| 247 | |
| 248 | public void onAccuracyChanged(Sensor sensor, int accuracy) { |
| 249 | try { |
| 250 | mTarget.onAccuracyChanged(getLegacySensorType(sensor.getType()), accuracy); |
| 251 | } catch (AbstractMethodError e) { |
| 252 | // old app that doesn't implement this method |
| 253 | // just ignore it. |
| 254 | } |
| 255 | } |
| 256 | |
| 257 | public void onSensorChanged(SensorEvent event) { |
| 258 | final float v[] = mValues; |
| 259 | v[0] = event.values[0]; |
| 260 | v[1] = event.values[1]; |
| 261 | v[2] = event.values[2]; |
| 262 | int type = event.sensor.getType(); |
| 263 | int legacyType = getLegacySensorType(type); |
| 264 | mapSensorDataToWindow(legacyType, v, LegacySensorManager.getRotation()); |
| 265 | if (type == Sensor.TYPE_ORIENTATION) { |
| 266 | if ((mSensors & SensorManager.SENSOR_ORIENTATION_RAW)!=0) { |
| 267 | mTarget.onSensorChanged(SensorManager.SENSOR_ORIENTATION_RAW, v); |
| 268 | } |
| 269 | if ((mSensors & SensorManager.SENSOR_ORIENTATION)!=0) { |
| 270 | v[0] = mYawfilter.filter(event.timestamp, v[0]); |
| 271 | mTarget.onSensorChanged(SensorManager.SENSOR_ORIENTATION, v); |
| 272 | } |
| 273 | } else { |
| 274 | mTarget.onSensorChanged(legacyType, v); |
| 275 | } |
| 276 | } |
| 277 | |
| 278 | /* |
| 279 | * Helper function to convert the specified sensor's data to the windows's |
| 280 | * coordinate space from the device's coordinate space. |
| 281 | * |
| 282 | * output: 3,4,5: values in the old API format |
| 283 | * 0,1,2: transformed values in the old API format |
| 284 | * |
| 285 | */ |
| 286 | private void mapSensorDataToWindow(int sensor, |
| 287 | float[] values, int orientation) { |
| 288 | float x = values[0]; |
| 289 | float y = values[1]; |
| 290 | float z = values[2]; |
| 291 | |
| 292 | switch (sensor) { |
| 293 | case SensorManager.SENSOR_ORIENTATION: |
| 294 | case SensorManager.SENSOR_ORIENTATION_RAW: |
| 295 | z = -z; |
| 296 | break; |
| 297 | case SensorManager.SENSOR_ACCELEROMETER: |
| 298 | x = -x; |
| 299 | y = -y; |
| 300 | z = -z; |
| 301 | break; |
| 302 | case SensorManager.SENSOR_MAGNETIC_FIELD: |
| 303 | x = -x; |
| 304 | y = -y; |
| 305 | break; |
| 306 | } |
| 307 | values[0] = x; |
| 308 | values[1] = y; |
| 309 | values[2] = z; |
| 310 | values[3] = x; |
| 311 | values[4] = y; |
| 312 | values[5] = z; |
| 313 | |
| 314 | if ((orientation & Surface.ROTATION_90) != 0) { |
| 315 | // handles 90 and 270 rotation |
| 316 | switch (sensor) { |
| 317 | case SensorManager.SENSOR_ACCELEROMETER: |
| 318 | case SensorManager.SENSOR_MAGNETIC_FIELD: |
| 319 | values[0] =-y; |
| 320 | values[1] = x; |
| 321 | values[2] = z; |
| 322 | break; |
| 323 | case SensorManager.SENSOR_ORIENTATION: |
| 324 | case SensorManager.SENSOR_ORIENTATION_RAW: |
| 325 | values[0] = x + ((x < 270) ? 90 : -270); |
| 326 | values[1] = z; |
| 327 | values[2] = y; |
| 328 | break; |
| 329 | } |
| 330 | } |
| 331 | if ((orientation & Surface.ROTATION_180) != 0) { |
| 332 | x = values[0]; |
| 333 | y = values[1]; |
| 334 | z = values[2]; |
| 335 | // handles 180 (flip) and 270 (flip + 90) rotation |
| 336 | switch (sensor) { |
| 337 | case SensorManager.SENSOR_ACCELEROMETER: |
| 338 | case SensorManager.SENSOR_MAGNETIC_FIELD: |
| 339 | values[0] =-x; |
| 340 | values[1] =-y; |
| 341 | values[2] = z; |
| 342 | break; |
| 343 | case SensorManager.SENSOR_ORIENTATION: |
| 344 | case SensorManager.SENSOR_ORIENTATION_RAW: |
| 345 | values[0] = (x >= 180) ? (x - 180) : (x + 180); |
| 346 | values[1] =-y; |
| 347 | values[2] =-z; |
| 348 | break; |
| 349 | } |
| 350 | } |
| 351 | } |
| 352 | |
| 353 | private static int getLegacySensorType(int type) { |
| 354 | switch (type) { |
| 355 | case Sensor.TYPE_ACCELEROMETER: |
| 356 | return SensorManager.SENSOR_ACCELEROMETER; |
| 357 | case Sensor.TYPE_MAGNETIC_FIELD: |
| 358 | return SensorManager.SENSOR_MAGNETIC_FIELD; |
| 359 | case Sensor.TYPE_ORIENTATION: |
| 360 | return SensorManager.SENSOR_ORIENTATION_RAW; |
| 361 | case Sensor.TYPE_TEMPERATURE: |
| 362 | return SensorManager.SENSOR_TEMPERATURE; |
| 363 | } |
| 364 | return 0; |
| 365 | } |
| 366 | } |
| 367 | |
| 368 | private static final class LmsFilter { |
| 369 | private static final int SENSORS_RATE_MS = 20; |
| 370 | private static final int COUNT = 12; |
| 371 | private static final float PREDICTION_RATIO = 1.0f/3.0f; |
| 372 | private static final float PREDICTION_TIME = (SENSORS_RATE_MS*COUNT/1000.0f)*PREDICTION_RATIO; |
| 373 | private float mV[] = new float[COUNT*2]; |
| 374 | private float mT[] = new float[COUNT*2]; |
| 375 | private int mIndex; |
| 376 | |
| 377 | public LmsFilter() { |
| 378 | mIndex = COUNT; |
| 379 | } |
| 380 | |
| 381 | public float filter(long time, float in) { |
| 382 | float v = in; |
| 383 | final float ns = 1.0f / 1000000000.0f; |
| 384 | final float t = time*ns; |
| 385 | float v1 = mV[mIndex]; |
| 386 | if ((v-v1) > 180) { |
| 387 | v -= 360; |
| 388 | } else if ((v1-v) > 180) { |
| 389 | v += 360; |
| 390 | } |
| 391 | /* Manage the circular buffer, we write the data twice spaced |
| 392 | * by COUNT values, so that we don't have to copy the array |
| 393 | * when it's full |
| 394 | */ |
| 395 | mIndex++; |
| 396 | if (mIndex >= COUNT*2) |
| 397 | mIndex = COUNT; |
| 398 | mV[mIndex] = v; |
| 399 | mT[mIndex] = t; |
| 400 | mV[mIndex-COUNT] = v; |
| 401 | mT[mIndex-COUNT] = t; |
| 402 | |
| 403 | float A, B, C, D, E; |
| 404 | float a, b; |
| 405 | int i; |
| 406 | |
| 407 | A = B = C = D = E = 0; |
| 408 | for (i=0 ; i<COUNT-1 ; i++) { |
| 409 | final int j = mIndex - 1 - i; |
| 410 | final float Z = mV[j]; |
| 411 | final float T = 0.5f*(mT[j] + mT[j+1]) - t; |
| 412 | float dT = mT[j] - mT[j+1]; |
| 413 | dT *= dT; |
| 414 | A += Z*dT; |
| 415 | B += T*(T*dT); |
| 416 | C += (T*dT); |
| 417 | D += Z*(T*dT); |
| 418 | E += dT; |
| 419 | } |
| 420 | b = (A*B + C*D) / (E*B + C*C); |
| 421 | a = (E*b - A) / C; |
| 422 | float f = b + PREDICTION_TIME*a; |
| 423 | |
| 424 | // Normalize |
| 425 | f *= (1.0f / 360.0f); |
| 426 | if (((f>=0)?f:-f) >= 0.5f) |
| 427 | f = f - (float)Math.ceil(f + 0.5f) + 1.0f; |
| 428 | if (f < 0) |
| 429 | f += 1.0f; |
| 430 | f *= 360.0f; |
| 431 | return f; |
| 432 | } |
| 433 | } |
| 434 | } |