src/server/plugins/fusion/fusion_sensor.cpp

   1 /*
   2  * sensord
   3  *
   4  * Copyright (c) 2015 Samsung Electronics Co., Ltd.
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  * http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  *
  18  */
  19
  20 #include <stdio.h>
  21 #include <stdlib.h>
  22 #include <unistd.h>
  23 #include <errno.h>
  24 #include <math.h>
  25 #include <time.h>
  26 #include <sys/types.h>
  27 #include <dlfcn.h>
  28 #include <sensor_logs.h>
  29 #include <fusion_sensor.h>
  30 #include <sensor_loader.h>
  31 #include <orientation_filter.h>
  32 #include <virtual_sensor_config.h>
  33 #include <algorithm>
  34
  35 using std::string;
  36 using std::vector;
  37
  38 #define SENSOR_NAME "FUSION_SENSOR"
  39 #define SENSOR_TYPE_FUSION              "FUSION"
  40
  41 #define ACCELEROMETER_ENABLED 0x01
  42 #define GYROSCOPE_ENABLED 0x02
  43 #define GEOMAGNETIC_ENABLED 0x04
  44 #define TILT_ENABLED 1
  45 #define GAMING_RV_ENABLED 3
  46 #define GEOMAGNETIC_RV_ENABLED 5
  47 #define ORIENTATION_ENABLED 7
  48 #define ROTATION_VECTOR_ENABLED 7
  49 #define GYROSCOPE_UNCAL_ENABLED 7
  50
  51 #define INITIAL_VALUE -1
  52
  53 #define MS_TO_US 1000
  54 #define MIN_DELIVERY_DIFF_FACTOR 0.75f
  55
  56 #define PI 3.141593
  57 #define AZIMUTH_OFFSET_DEGREES 360
  58 #define AZIMUTH_OFFSET_RADIANS (2 * PI)
  59
  60 #define ELEMENT_NAME                                                                                    "NAME"
  61 #define ELEMENT_VENDOR                                                                                  "VENDOR"
  62 #define ELEMENT_RAW_DATA_UNIT                                                                   "RAW_DATA_UNIT"
  63 #define ELEMENT_DEFAULT_SAMPLING_TIME                                                   "DEFAULT_SAMPLING_TIME"
  64 #define ELEMENT_ACCEL_STATIC_BIAS                                                               "ACCEL_STATIC_BIAS"
  65 #define ELEMENT_GYRO_STATIC_BIAS                                                                "GYRO_STATIC_BIAS"
  66 #define ELEMENT_GEOMAGNETIC_STATIC_BIAS                                                 "GEOMAGNETIC_STATIC_BIAS"
  67 #define ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION                   "ACCEL_ROTATION_DIRECTION_COMPENSATION"
  68 #define ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION                    "GYRO_ROTATION_DIRECTION_COMPENSATION"
  69 #define ELEMENT_GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION             "GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION"
  70 #define ELEMENT_MAGNETIC_ALIGNMENT_FACTOR                                               "MAGNETIC_ALIGNMENT_FACTOR"
  71 #define ELEMENT_PITCH_ROTATION_COMPENSATION                                             "PITCH_ROTATION_COMPENSATION"
  72 #define ELEMENT_ROLL_ROTATION_COMPENSATION                                              "ROLL_ROTATION_COMPENSATION"
  73 #define ELEMENT_AZIMUTH_ROTATION_COMPENSATION                                   "AZIMUTH_ROTATION_COMPENSATION"
  74
  75 fusion_sensor::fusion_sensor()
  76 : m_accel_sensor(NULL)
  77 , m_gyro_sensor(NULL)
  78 , m_magnetic_sensor(NULL)
  79 , m_time(0)
  80 {
  81         virtual_sensor_config &config = virtual_sensor_config::get_instance();
  82         m_name = string(SENSOR_NAME);
  83         m_enable_fusion = 0;
  84
  85         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_VENDOR, m_vendor)) {
  86                 ERR("[VENDOR] is empty\n");
  87                 throw ENXIO;
  88         }
  89
  90         INFO("m_vendor = %s", m_vendor.c_str());
  91
  92         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_RAW_DATA_UNIT, m_raw_data_unit)) {
  93                 ERR("[RAW_DATA_UNIT] is empty\n");
  94                 throw ENXIO;
  95         }
  96
  97         INFO("m_raw_data_unit = %s", m_raw_data_unit.c_str());
  98
  99         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_DEFAULT_SAMPLING_TIME, &m_default_sampling_time)) {
 100                 ERR("[DEFAULT_SAMPLING_TIME] is empty\n");
 101                 throw ENXIO;
 102         }
 103
 104         INFO("m_default_sampling_time = %d", m_default_sampling_time);
 105
 106         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_ACCEL_STATIC_BIAS, m_accel_static_bias, 3)) {
 107                 ERR("[ACCEL_STATIC_BIAS] is empty\n");
 108                 throw ENXIO;
 109         }
 110
 111         INFO("m_accel_static_bias = (%f, %f, %f)", m_accel_static_bias[0], m_accel_static_bias[1], m_accel_static_bias[2]);
 112
 113         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_GYRO_STATIC_BIAS, m_gyro_static_bias,3)) {
 114                 ERR("[GYRO_STATIC_BIAS] is empty\n");
 115                 throw ENXIO;
 116         }
 117
 118         INFO("m_gyro_static_bias = (%f, %f, %f)", m_gyro_static_bias[0], m_gyro_static_bias[1], m_gyro_static_bias[2]);
 119
 120         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_GEOMAGNETIC_STATIC_BIAS, m_geomagnetic_static_bias, 3)) {
 121                 ERR("[GEOMAGNETIC_STATIC_BIAS] is empty\n");
 122                 throw ENXIO;
 123         }
 124
 125         INFO("m_geomagnetic_static_bias = (%f, %f, %f)", m_geomagnetic_static_bias[0], m_geomagnetic_static_bias[1], m_geomagnetic_static_bias[2]);
 126
 127         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION, m_accel_rotation_direction_compensation, 3)) {
 128                 ERR("[ACCEL_ROTATION_DIRECTION_COMPENSATION] is empty\n");
 129                 throw ENXIO;
 130         }
 131
 132         INFO("m_accel_rotation_direction_compensation = (%d, %d, %d)", m_accel_rotation_direction_compensation[0], m_accel_rotation_direction_compensation[1], m_accel_rotation_direction_compensation[2]);
 133
 134         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION, m_gyro_rotation_direction_compensation, 3)) {
 135                 ERR("[GYRO_ROTATION_DIRECTION_COMPENSATION] is empty\n");
 136                 throw ENXIO;
 137         }
 138
 139         INFO("m_gyro_rotation_direction_compensation = (%d, %d, %d)", m_gyro_rotation_direction_compensation[0], m_gyro_rotation_direction_compensation[1], m_gyro_rotation_direction_compensation[2]);
 140
 141         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION, m_geomagnetic_rotation_direction_compensation, 3)) {
 142                 ERR("[GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION] is empty\n");
 143                 throw ENXIO;
 144         }
 145
 146         INFO("m_geomagnetic_rotation_direction_compensation = (%d, %d, %d)", m_geomagnetic_rotation_direction_compensation[0], m_geomagnetic_rotation_direction_compensation[1], m_geomagnetic_rotation_direction_compensation[2]);
 147
 148         if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_MAGNETIC_ALIGNMENT_FACTOR, &m_magnetic_alignment_factor)) {
 149                 ERR("[MAGNETIC_ALIGNMENT_FACTOR] is empty\n");
 150                 throw ENXIO;
 151         }
 152
 153         INFO("m_magnetic_alignment_factor = %d", m_magnetic_alignment_factor);
 154
 155         m_interval = m_default_sampling_time * MS_TO_US;
 156
 157         m_accel_ptr = m_gyro_ptr = m_magnetic_ptr = NULL;
 158 }
 159
 160 fusion_sensor::~fusion_sensor()
 161 {
 162         INFO("fusion_sensor is destroyed!\n");
 163 }
 164
 165 bool fusion_sensor::init(void)
 166 {
 167         m_accel_sensor = sensor_loader::get_instance().get_sensor(ACCELEROMETER_SENSOR);
 168         m_gyro_sensor = sensor_loader::get_instance().get_sensor(GYROSCOPE_SENSOR);
 169         m_magnetic_sensor = sensor_loader::get_instance().get_sensor(GEOMAGNETIC_SENSOR);
 170
 171         if (!m_accel_sensor) {
 172                 ERR("Failed to load accel sensor: 0x%x", m_accel_sensor);
 173                 return false;
 174         }
 175
 176         if (!m_gyro_sensor)
 177                 INFO("Failed to load gyro sensor: 0x%x", m_gyro_sensor);
 178
 179         if (!m_magnetic_sensor)
 180                 INFO("Failed to load geomagnetic sensor: 0x%x", m_magnetic_sensor);
 181
 182         INFO("%s is created!", sensor_base::get_name());
 183         return true;
 184 }
 185
 186 void fusion_sensor::get_types(vector<sensor_type_t> &types)
 187 {
 188         types.push_back(FUSION_SENSOR);
 189 }
 190
 191 bool fusion_sensor::on_start(void)
 192 {
 193         AUTOLOCK(m_mutex);
 194         activate();
 195         return true;
 196 }
 197
 198 bool fusion_sensor::on_stop(void)
 199 {
 200         AUTOLOCK(m_mutex);
 201         deactivate();
 202         return true;
 203 }
 204
 205 bool fusion_sensor::add_interval(int client_id, unsigned int interval)
 206 {
 207         bool retval;
 208
 209         AUTOLOCK(m_mutex);
 210         retval = sensor_base::add_interval(client_id, interval, false);
 211
 212         m_interval = sensor_base::get_interval(client_id, false);
 213
 214         if (m_interval != 0)
 215                 retval = true;
 216
 217         return retval;
 218 }
 219
 220 bool fusion_sensor::delete_interval(int client_id)
 221 {
 222         bool retval;
 223
 224         AUTOLOCK(m_mutex);
 225         retval = sensor_base::delete_interval(client_id, false);
 226
 227         m_interval = sensor_base::get_interval(client_id, false);
 228
 229         if (m_interval != 0)
 230                 retval = true;
 231
 232         return retval;
 233 }
 234
 235 void fusion_sensor::synthesize(const sensor_event_t &event, vector<sensor_event_t> &outs)
 236 {
 237         unsigned long long diff_time;
 238         euler_angles<float> euler_orientation;
 239
 240         if (event.event_type == ACCELEROMETER_RAW_DATA_EVENT) {
 241                 diff_time = event.data.timestamp - m_time;
 242
 243                 if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
 244                         return;
 245
 246                 pre_process_data(m_accel, event.data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE);
 247
 248                 m_accel.m_time_stamp = event.data.timestamp;
 249
 250                 m_accel_ptr = &m_accel;
 251
 252                 m_enable_fusion |= ACCELEROMETER_ENABLED;
 253         }
 254
 255         if (sensor_base::is_supported(FUSION_ORIENTATION_ENABLED) ||
 256                         sensor_base::is_supported(FUSION_ROTATION_VECTOR_ENABLED) ||
 257                         sensor_base::is_supported(FUSION_GEOMAGNETIC_ROTATION_VECTOR_ENABLED) ||
 258                         sensor_base::is_supported(FUSION_GYROSCOPE_UNCAL_ENABLED)) {
 259                 if (event.event_type == GEOMAGNETIC_RAW_DATA_EVENT) {
 260                         diff_time = event.data.timestamp - m_time;
 261
 262                         if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
 263                                 return;
 264
 265                         pre_process_data(m_magnetic, event.data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, GEOMAGNETIC_SCALE);
 266
 267                         m_magnetic.m_time_stamp = event.data.timestamp;
 268
 269                         m_magnetic_ptr = &m_magnetic;
 270
 271                         m_enable_fusion |= GEOMAGNETIC_ENABLED;
 272                 }
 273         }
 274
 275         if (sensor_base::is_supported(FUSION_ORIENTATION_ENABLED) ||
 276                         sensor_base::is_supported(FUSION_ROTATION_VECTOR_ENABLED) ||
 277                         sensor_base::is_supported(FUSION_GAMING_ROTATION_VECTOR_ENABLED) ||
 278                         sensor_base::is_supported(FUSION_GYROSCOPE_UNCAL_ENABLED)) {
 279                 if (event.event_type == GYROSCOPE_RAW_DATA_EVENT) {
 280                                 diff_time = event.data.timestamp - m_time;
 281
 282                                 if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
 283                                         return;
 284
 285                                 pre_process_data(m_gyro, event.data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE);
 286
 287                                 m_gyro.m_time_stamp = event.data.timestamp;
 288
 289                                 m_gyro_ptr = &m_gyro;
 290
 291                                 m_enable_fusion |= GYROSCOPE_ENABLED;
 292                 }
 293         }
 294
 295         if ((m_enable_fusion == TILT_ENABLED && sensor_base::is_supported(FUSION_TILT_ENABLED)) ||
 296                         (m_enable_fusion == ORIENTATION_ENABLED && sensor_base::is_supported(FUSION_ORIENTATION_ENABLED)) ||
 297                         (m_enable_fusion == ROTATION_VECTOR_ENABLED && sensor_base::is_supported(FUSION_ROTATION_VECTOR_ENABLED)) ||
 298                         (m_enable_fusion == GAMING_RV_ENABLED && sensor_base::is_supported(FUSION_GAMING_ROTATION_VECTOR_ENABLED)) ||
 299                         (m_enable_fusion == GEOMAGNETIC_RV_ENABLED && sensor_base::is_supported(FUSION_GEOMAGNETIC_ROTATION_VECTOR_ENABLED)) ||
 300                         (m_enable_fusion == GYROSCOPE_UNCAL_ENABLED && sensor_base::is_supported(FUSION_GYROSCOPE_UNCAL_ENABLED))) {
 301                 sensor_event_t fusion_event;
 302
 303                 m_orientation_filter.m_magnetic_alignment_factor = m_magnetic_alignment_factor;
 304
 305                 m_orientation_filter.get_device_orientation(m_accel_ptr, m_gyro_ptr, m_magnetic_ptr);
 306
 307
 308
 309                 if (m_enable_fusion == GYROSCOPE_UNCAL_ENABLED && sensor_base::is_supported(FUSION_GYROSCOPE_UNCAL_ENABLED)) {
 310                         m_time = get_timestamp();
 311                         fusion_event.sensor_id = get_id();
 312                         fusion_event.data.timestamp = m_time;
 313                         fusion_event.data.accuracy = SENSOR_ACCURACY_GOOD;
 314                         fusion_event.event_type = FUSION_GYROSCOPE_UNCAL_EVENT;
 315                         fusion_event.data.value_count = 3;
 316                         fusion_event.data.values[0] = m_orientation_filter.m_gyro_bias.m_vec[0];
 317                         fusion_event.data.values[1] = m_orientation_filter.m_gyro_bias.m_vec[1];
 318                         fusion_event.data.values[2] = m_orientation_filter.m_gyro_bias.m_vec[2];
 319
 320                         push(fusion_event);
 321                 }
 322
 323                 if ((m_enable_fusion == TILT_ENABLED && sensor_base::is_supported(FUSION_TILT_ENABLED)) ||
 324                                 (m_enable_fusion == ORIENTATION_ENABLED && sensor_base::is_supported(FUSION_ORIENTATION_ENABLED)) ||
 325                                 (m_enable_fusion == ROTATION_VECTOR_ENABLED && sensor_base::is_supported(FUSION_ROTATION_VECTOR_ENABLED)) ||
 326                                 (m_enable_fusion == GAMING_RV_ENABLED && sensor_base::is_supported(FUSION_GAMING_ROTATION_VECTOR_ENABLED)) ||
 327                                 (m_enable_fusion == GEOMAGNETIC_RV_ENABLED && sensor_base::is_supported(FUSION_GEOMAGNETIC_ROTATION_VECTOR_ENABLED))) {
 328                         m_time = get_timestamp();
 329                         fusion_event.sensor_id = get_id();
 330                         fusion_event.data.timestamp = m_time;
 331                         fusion_event.data.accuracy = SENSOR_ACCURACY_GOOD;
 332                         fusion_event.event_type = FUSION_EVENT;
 333                         fusion_event.data.value_count = 4;
 334                         fusion_event.data.values[0] = m_orientation_filter.m_quaternion.m_quat.m_vec[0];
 335                         fusion_event.data.values[1] = m_orientation_filter.m_quaternion.m_quat.m_vec[1];
 336                         fusion_event.data.values[2] = m_orientation_filter.m_quaternion.m_quat.m_vec[2];
 337                         fusion_event.data.values[3] = m_orientation_filter.m_quaternion.m_quat.m_vec[3];
 338
 339                         push(fusion_event);
 340                 }
 341
 342                 m_enable_fusion = 0;
 343
 344                 m_accel_ptr = m_gyro_ptr = m_magnetic_ptr = NULL;
 345         }
 346
 347         return;
 348 }
 349
 350 int fusion_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t &data)
 351 {
 352         sensor_data<float> accel;
 353         sensor_data<float> gyro;
 354         sensor_data<float> magnetic;
 355
 356         sensor_data_t accel_data;
 357         sensor_data_t gyro_data;
 358         sensor_data_t magnetic_data;
 359
 360         euler_angles<float> euler_orientation;
 361
 362         if (event_type != FUSION_ORIENTATION_ENABLED &&
 363                         event_type != FUSION_ROTATION_VECTOR_ENABLED &&
 364                         event_type != FUSION_GAMING_ROTATION_VECTOR_ENABLED &&
 365                         event_type != FUSION_TILT_ENABLED &&
 366                         event_type != FUSION_GEOMAGNETIC_ROTATION_VECTOR_ENABLED &&
 367                         event_type != FUSION_GYROSCOPE_UNCAL_ENABLED)
 368                 return -1;
 369
 370         m_accel_sensor->get_sensor_data(ACCELEROMETER_RAW_DATA_EVENT, accel_data);
 371         pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE);
 372         accel.m_time_stamp = accel_data.timestamp;
 373
 374         if (event_type == FUSION_ORIENTATION_ENABLED ||
 375                         event_type == FUSION_ROTATION_VECTOR_ENABLED ||
 376                         event_type == FUSION_GAMING_ROTATION_VECTOR_ENABLED ||
 377                         event_type == FUSION_GYROSCOPE_UNCAL_ENABLED)
 378         {
 379                 m_gyro_sensor->get_sensor_data(GYROSCOPE_RAW_DATA_EVENT, gyro_data);
 380                 pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE);
 381                 gyro.m_time_stamp = gyro_data.timestamp;
 382         }
 383
 384         if (event_type == FUSION_ORIENTATION_ENABLED ||
 385                         event_type == FUSION_ROTATION_VECTOR_ENABLED ||
 386                         event_type == FUSION_GEOMAGNETIC_ROTATION_VECTOR_ENABLED ||
 387                         event_type == FUSION_GYROSCOPE_UNCAL_ENABLED)
 388         {
 389                 m_magnetic_sensor->get_sensor_data(GEOMAGNETIC_RAW_DATA_EVENT, magnetic_data);
 390                 pre_process_data(magnetic, magnetic_data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, GEOMAGNETIC_SCALE);
 391                 magnetic.m_time_stamp = magnetic_data.timestamp;
 392         }
 393
 394         m_orientation_filter_poll.m_magnetic_alignment_factor = m_magnetic_alignment_factor;
 395
 396         if (event_type == FUSION_ORIENTATION_ENABLED ||
 397                         event_type == FUSION_ROTATION_VECTOR_ENABLED ||
 398                         event_type == FUSION_GYROSCOPE_UNCAL_ENABLED)
 399                 m_orientation_filter_poll.get_device_orientation(&accel, &gyro, &magnetic);
 400         else if (event_type == FUSION_GAMING_ROTATION_VECTOR_ENABLED)
 401                 m_orientation_filter_poll.get_device_orientation(&accel, &gyro, NULL);
 402         else if (event_type == FUSION_GEOMAGNETIC_ROTATION_VECTOR_ENABLED)
 403                 m_orientation_filter_poll.get_device_orientation(&accel, NULL, &magnetic);
 404         else if (event_type == FUSION_TILT_ENABLED)
 405                         m_orientation_filter_poll.get_device_orientation(&accel, NULL, NULL);
 406
 407         if (event_type == FUSION_GYROSCOPE_UNCAL_ENABLED) {
 408                 data.accuracy = SENSOR_ACCURACY_GOOD;
 409                 data.timestamp = get_timestamp();
 410                 data.value_count = 3;
 411                 data.values[0] = m_orientation_filter_poll.m_gyro_bias.m_vec[0];
 412                 data.values[1] = m_orientation_filter_poll.m_gyro_bias.m_vec[1];
 413                 data.values[2] = m_orientation_filter_poll.m_gyro_bias.m_vec[2];
 414         }
 415         else if (event_type == FUSION_ORIENTATION_ENABLED ||
 416                         event_type == FUSION_ROTATION_VECTOR_ENABLED ||
 417                         event_type == FUSION_GAMING_ROTATION_VECTOR_ENABLED ||
 418                         event_type == FUSION_TILT_ENABLED ||
 419                         event_type == FUSION_GEOMAGNETIC_ROTATION_VECTOR_ENABLED) {
 420                 data.accuracy = SENSOR_ACCURACY_GOOD;
 421                 data.timestamp = get_timestamp();
 422                 data.value_count = 4;
 423                 data.values[0] = m_orientation_filter_poll.m_quaternion.m_quat.m_vec[0];
 424                 data.values[1] = m_orientation_filter_poll.m_quaternion.m_quat.m_vec[1];
 425                 data.values[2] = m_orientation_filter_poll.m_quaternion.m_quat.m_vec[2];
 426                 data.values[3] = m_orientation_filter_poll.m_quaternion.m_quat.m_vec[3];
 427         }
 428
 429         return 0;
 430 }
 431
 432 bool fusion_sensor::get_properties(sensor_type_t sensor_type, sensor_properties_s &properties)
 433 {
 434         properties.min_range = 0;
 435         properties.max_range = 0;
 436         properties.resolution = 0;
 437         properties.vendor = m_vendor;
 438         properties.name = SENSOR_NAME;
 439         properties.min_interval = 0;
 440         properties.fifo_count = 0;
 441         properties.max_batch_count = 0;
 442
 443         return true;
 444 }