/*
* Copyright (c) 2016 Samsung Electronics Co., Ltd All Rights Reserved
*
* 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.
*/
using System;
namespace Tizen.Sensor
{
///
/// The UncalibratedGyroscope sensor class is used for registering callbacks for the uncalibrated gyroscope and getting the uncalibrated gyroscope data.
///
/// 3
public sealed class UncalibratedGyroscope : Sensor
{
private static string UncalibratedGyroscopeKey = "http://tizen.org/feature/sensor.gyroscope.uncalibrated";
///
/// Gets the X component of the acceleration.
///
/// 3
/// X
public float X { get; private set; } = float.MinValue;
///
/// Gets the Y component of the acceleration.
///
/// 3
/// Y
public float Y { get; private set; } = float.MinValue;
///
/// Gets the Z component of the acceleration.
///
/// 3
/// Z
public float Z { get; private set; } = float.MinValue;
///
/// Gets the BiasX component of the uncalibrated gyroscope data.
///
/// 3
/// The X bias.
public float BiasX { get; private set; } = 0;
///
/// Gets the BiasY component of the uncalibrated gyroscope data.
///
/// 3
/// The Y bias.
public float BiasY { get; private set; } = 0;
///
/// Gets the BiasZ component of the uncalibrated gyroscope data.
///
/// 3
/// The Z bias.
public float BiasZ { get; private set; } = 0;
///
/// Returns true or false based on whether the uncalibrated gyroscope sensor is supported by the device.
///
/// 3
/// true if supported; otherwise false.
public static bool IsSupported
{
get
{
Log.Info(Globals.LogTag, "Checking if the UncalibratedGyroscope sensor is supported");
return CheckIfSupported(SensorType.UncalibratedGyroscope, UncalibratedGyroscopeKey);
}
}
///
/// Returns the number of the uncalibrated gyroscope sensors available on the device.
///
/// 3
/// The count of the uncalibrated gyroscope sensors.
public static int Count
{
get
{
Log.Info(Globals.LogTag, "Getting the count of uncalibrated gyroscope sensors");
return GetCount();
}
}
///
/// Initializes a new instance of the class.
///
/// 3
/// http://tizen.org/feature/sensor.gyroscope.uncalibrated
/// Thrown when an invalid argument is used.
/// Thrown when the sensor is not supported.
/// Thrown when the operation is invalid for the current state.
///
/// Index. Default value for this is 0. Index refers to a particular uncalibrated gyroscope sensor in case of multiple sensors.
///
public UncalibratedGyroscope(uint index = 0) : base(index)
{
Log.Info(Globals.LogTag, "Creating UncalibratedGyroscope object");
}
internal override SensorType GetSensorType()
{
return SensorType.UncalibratedGyroscope;
}
///
/// An event handler for storing the callback functions for the event corresponding to the change in the uncalibrated gyroscope sensor data.
///
/// 3
public event EventHandler DataUpdated;
private static int GetCount()
{
IntPtr list;
int count;
int error = Interop.SensorManager.GetSensorList(SensorType.UncalibratedGyroscope, out list, out count);
if (error != (int)SensorError.None)
{
Log.Error(Globals.LogTag, "Error getting sensor list for uncalibrated gyroscope");
count = 0;
}
else
Interop.Libc.Free(list);
return count;
}
///
/// Read uncalibrated gyroscope data synchronously.
///
internal override void ReadData()
{
Interop.SensorEventStruct sensorData;
int error = Interop.SensorListener.ReadData(ListenerHandle, out sensorData);
if (error != (int)SensorError.None)
{
Log.Error(Globals.LogTag, "Error reading uncalibrated gyroscope data");
throw SensorErrorFactory.CheckAndThrowException(error, "Reading uncalibrated gyroscope data failed");
}
Timestamp = sensorData.timestamp;
X = sensorData.values[0];
Y = sensorData.values[1];
Z = sensorData.values[2];
BiasX = sensorData.values[3];
BiasY = sensorData.values[4];
BiasZ = sensorData.values[5];
}
private static Interop.SensorListener.SensorEventsCallback _callback;
internal override void EventListenStart()
{
_callback = (IntPtr sensorHandle, IntPtr eventPtr, uint events_count, IntPtr data) => {
updateBatchEvents(eventPtr, events_count);
Interop.SensorEventStruct sensorData = latestEvent();
Timestamp = sensorData.timestamp;
X = sensorData.values[0];
Y = sensorData.values[1];
Z = sensorData.values[2];
BiasX = sensorData.values[3];
BiasY = sensorData.values[4];
BiasZ = sensorData.values[5];
DataUpdated?.Invoke(this, new UncalibratedGyroscopeDataUpdatedEventArgs(sensorData.values));
};
int error = Interop.SensorListener.SetEventsCallback(ListenerHandle, _callback, IntPtr.Zero);
if (error != (int)SensorError.None)
{
Log.Error(Globals.LogTag, "Error setting event callback for uncalibrated gyroscope sensor");
throw SensorErrorFactory.CheckAndThrowException(error, "Unable to set event callback for uncalibrated gyroscope");
}
}
internal override void EventListenStop()
{
int error = Interop.SensorListener.UnsetEventsCallback(ListenerHandle);
if (error != (int)SensorError.None)
{
Log.Error(Globals.LogTag, "Error unsetting event callback for uncalibrated gyroscope sensor");
throw SensorErrorFactory.CheckAndThrowException(error, "Unable to unset event callback for uncalibrated gyroscope");
}
}
}
}