Cleanup of xml file and related changes

Change-Id: Iee4990a20246b8d73e1bbbd5f16c50bbe5139342

diff --git a/src/server/plugins/fusion/fusion_sensor.cpp b/src/server/plugins/fusion/fusion_sensor.cpp
index 669f330..9830117 100755 (executable)
--- a/src/server/plugins/fusion/fusion_sensor.cpp
+++ b/src/server/plugins/fusion/fusion_sensor.cpp
@@ -68,9 +68,6 @@ using std::vector;
 #define ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION                  "ACCEL_ROTATION_DIRECTION_COMPENSATION"
 #define ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION                   "GYRO_ROTATION_DIRECTION_COMPENSATION"
 #define ELEMENT_GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION            "GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION"
-#define ELEMENT_ACCEL_SCALE                                                                            "ACCEL_SCALE"
-#define ELEMENT_GYRO_SCALE                                                                             "GYRO_SCALE"
-#define ELEMENT_GEOMAGNETIC_SCALE                                                              "GEOMAGNETIC_SCALE"
 #define ELEMENT_MAGNETIC_ALIGNMENT_FACTOR                                              "MAGNETIC_ALIGNMENT_FACTOR"
 #define ELEMENT_PITCH_ROTATION_COMPENSATION                                            "PITCH_ROTATION_COMPENSATION"
 #define ELEMENT_ROLL_ROTATION_COMPENSATION                                             "ROLL_ROTATION_COMPENSATION"
@@ -149,27 +146,6 @@ fusion_sensor::fusion_sensor()
 
        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]);
 
-       if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_ACCEL_SCALE, &m_accel_scale)) {
-               ERR("[ACCEL_SCALE] is empty\n");
-               throw ENXIO;
-       }
-
-       INFO("m_accel_scale = %f", m_accel_scale);
-
-       if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_GYRO_SCALE, &m_gyro_scale)) {
-               ERR("[GYRO_SCALE] is empty\n");
-               throw ENXIO;
-       }
-
-       INFO("m_gyro_scale = %f", m_gyro_scale);
-
-       if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_GEOMAGNETIC_SCALE, &m_geomagnetic_scale)) {
-               ERR("[GEOMAGNETIC_SCALE] is empty\n");
-               throw ENXIO;
-       }
-
-       INFO("m_geomagnetic_scale = %f", m_geomagnetic_scale);
-
        if (!config.get(SENSOR_TYPE_FUSION, ELEMENT_MAGNETIC_ALIGNMENT_FACTOR, &m_magnetic_alignment_factor)) {
                ERR("[MAGNETIC_ALIGNMENT_FACTOR] is empty\n");
                throw ENXIO;
@@ -268,7 +244,7 @@ void fusion_sensor::synthesize(const sensor_event_t &event, vector<sensor_event_
                if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
                        return;
 
-               pre_process_data(m_accel, event.data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale);
+               pre_process_data(m_accel, event.data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE);
 
                m_accel.m_time_stamp = event.data.timestamp;
 
@@ -287,7 +263,7 @@ void fusion_sensor::synthesize(const sensor_event_t &event, vector<sensor_event_
                        if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
                                return;
 
-                       pre_process_data(m_magnetic, event.data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, m_geomagnetic_scale);
+                       pre_process_data(m_magnetic, event.data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, GEOMAGNETIC_SCALE);
 
                        m_magnetic.m_time_stamp = event.data.timestamp;
 
@@ -307,7 +283,7 @@ void fusion_sensor::synthesize(const sensor_event_t &event, vector<sensor_event_
                                if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
                                        return;
 
-                               pre_process_data(m_gyro, event.data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale);
+                               pre_process_data(m_gyro, event.data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE);
 
                                m_gyro.m_time_stamp = event.data.timestamp;
 
@@ -393,7 +369,7 @@ int fusion_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t
                return -1;
 
        m_accel_sensor->get_sensor_data(ACCELEROMETER_RAW_DATA_EVENT, accel_data);
-       pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale);
+       pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE);
        accel.m_time_stamp = accel_data.timestamp;
 
        if (event_type == FUSION_ORIENTATION_ENABLED ||
@@ -402,7 +378,7 @@ int fusion_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t
                        event_type == FUSION_GYROSCOPE_UNCAL_ENABLED)
        {
                m_gyro_sensor->get_sensor_data(GYROSCOPE_RAW_DATA_EVENT, gyro_data);
-               pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale);
+               pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE);
                gyro.m_time_stamp = gyro_data.timestamp;
        }
 
@@ -412,7 +388,7 @@ int fusion_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t
                        event_type == FUSION_GYROSCOPE_UNCAL_ENABLED)
        {
                m_magnetic_sensor->get_sensor_data(GEOMAGNETIC_RAW_DATA_EVENT, magnetic_data);
-               pre_process_data(magnetic, magnetic_data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, m_geomagnetic_scale);
+               pre_process_data(magnetic, magnetic_data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, GEOMAGNETIC_SCALE);
                magnetic.m_time_stamp = magnetic_data.timestamp;
        }
 

diff --git a/src/server/plugins/fusion/fusion_sensor.h b/src/server/plugins/fusion/fusion_sensor.h
index e057ff0..4985f15 100755 (executable)
--- a/src/server/plugins/fusion/fusion_sensor.h
+++ b/src/server/plugins/fusion/fusion_sensor.h
@@ -72,9 +72,6 @@ private:
        int m_accel_rotation_direction_compensation[3];
        int m_gyro_rotation_direction_compensation[3];
        int m_geomagnetic_rotation_direction_compensation[3];
-       float m_accel_scale;
-       float m_gyro_scale;
-       float m_geomagnetic_scale;
        int m_magnetic_alignment_factor;
 
        bool on_start(void);

diff --git a/src/server/plugins/linear_accel/linear_accel_sensor.cpp b/src/server/plugins/linear_accel/linear_accel_sensor.cpp
index 9acda38..71a3c9a 100755 (executable)
--- a/src/server/plugins/linear_accel/linear_accel_sensor.cpp
+++ b/src/server/plugins/linear_accel/linear_accel_sensor.cpp
@@ -128,14 +128,6 @@ linear_accel_sensor::linear_accel_sensor()
 
        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]);
 
-
-       if (!config.get(SENSOR_TYPE_LINEAR_ACCEL, ELEMENT_ACCEL_SCALE, &m_accel_scale)) {
-               ERR("[ACCEL_SCALE] is empty\n");
-               throw ENXIO;
-       }
-
-       INFO("m_accel_scale = %f", m_accel_scale);
-
        if (!config.get(SENSOR_TYPE_GRAVITY, ELEMENT_GRAVITY_SIGN_COMPENSATION, m_gravity_sign_compensation, 3)) {
                ERR("[GRAVITY_SIGN_COMPENSATION] is empty\n");
                throw ENXIO;
@@ -358,9 +350,9 @@ void linear_accel_sensor::synthesize(const sensor_event_t &event, vector<sensor_
                if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
                        return;
 
-               m_accel.m_data.m_vec[0] = m_accel_rotation_direction_compensation[0] * (event.data.values[0] - m_accel_static_bias[0]) / m_accel_scale;
-               m_accel.m_data.m_vec[1] = m_accel_rotation_direction_compensation[1] * (event.data.values[1] - m_accel_static_bias[1]) / m_accel_scale;
-               m_accel.m_data.m_vec[2] = m_accel_rotation_direction_compensation[2] * (event.data.values[2] - m_accel_static_bias[2]) / m_accel_scale;
+               m_accel.m_data.m_vec[0] = m_accel_rotation_direction_compensation[0] * (event.data.values[0] - m_accel_static_bias[0]) / ACCEL_SCALE;
+               m_accel.m_data.m_vec[1] = m_accel_rotation_direction_compensation[1] * (event.data.values[1] - m_accel_static_bias[1]) / ACCEL_SCALE;
+               m_accel.m_data.m_vec[2] = m_accel_rotation_direction_compensation[2] * (event.data.values[2] - m_accel_static_bias[2]) / ACCEL_SCALE;
 
                m_accel.m_time_stamp = event.data.timestamp;
 
@@ -403,9 +395,9 @@ int linear_accel_sensor::get_sensor_data(const unsigned int event_type, sensor_d
 
        gravity_data = calculate_gravity(fusion_data);
 
-       accel_data.values[0] = m_accel_rotation_direction_compensation[0] * (accel_data.values[0] - m_accel_static_bias[0]) / m_accel_scale;
-       accel_data.values[1] = m_accel_rotation_direction_compensation[1] * (accel_data.values[1] - m_accel_static_bias[1]) / m_accel_scale;
-       accel_data.values[2] = m_accel_rotation_direction_compensation[2] * (accel_data.values[2] - m_accel_static_bias[2]) / m_accel_scale;
+       accel_data.values[0] = m_accel_rotation_direction_compensation[0] * (accel_data.values[0] - m_accel_static_bias[0]) / ACCEL_SCALE;
+       accel_data.values[1] = m_accel_rotation_direction_compensation[1] * (accel_data.values[1] - m_accel_static_bias[1]) / ACCEL_SCALE;
+       accel_data.values[2] = m_accel_rotation_direction_compensation[2] * (accel_data.values[2] - m_accel_static_bias[2]) / ACCEL_SCALE;
 
        if (event_type != LINEAR_ACCEL_RAW_DATA_EVENT)
                return -1;

diff --git a/src/server/plugins/linear_accel/linear_accel_sensor.h b/src/server/plugins/linear_accel/linear_accel_sensor.h
index e201b93..a9219cd 100755 (executable)
--- a/src/server/plugins/linear_accel/linear_accel_sensor.h
+++ b/src/server/plugins/linear_accel/linear_accel_sensor.h
@@ -62,7 +62,6 @@ private:
        int m_default_sampling_time;
        float m_accel_static_bias[3];
        int m_accel_rotation_direction_compensation[3];
-       float m_accel_scale;
        int m_linear_accel_sign_compensation[3];
        int m_gravity_sign_compensation[3];
        int m_azimuth_rotation_compensation;

diff --git a/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.cpp b/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.cpp
index 606a231..f7b3367 100755 (executable)
--- a/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.cpp
+++ b/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.cpp
@@ -119,20 +119,6 @@ gaming_rv_sensor::gaming_rv_sensor()
 
        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]);
 
-       if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_ACCEL_SCALE, &m_accel_scale)) {
-               ERR("[ACCEL_SCALE] is empty\n");
-               throw ENXIO;
-       }
-
-       INFO("m_accel_scale = %f", m_accel_scale);
-
-       if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_GYRO_SCALE, &m_gyro_scale)) {
-               ERR("[GYRO_SCALE] is empty\n");
-               throw ENXIO;
-       }
-
-       INFO("m_gyro_scale = %f", m_gyro_scale);
-
        m_interval = m_default_sampling_time * MS_TO_US;
 }
 
@@ -234,7 +220,7 @@ void gaming_rv_sensor::synthesize(const sensor_event_t& event, vector<sensor_eve
                if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
                        return;
 
-               pre_process_data(m_accel, event.data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale);
+               pre_process_data(m_accel, event.data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE);
 
                m_accel.m_time_stamp = event.data.timestamp;
 
@@ -245,7 +231,7 @@ void gaming_rv_sensor::synthesize(const sensor_event_t& event, vector<sensor_eve
                if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
                        return;
 
-               pre_process_data(m_gyro, event.data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale);
+               pre_process_data(m_gyro, event.data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE);
 
                m_gyro.m_time_stamp = event.data.timestamp;
 
@@ -292,8 +278,8 @@ int gaming_rv_sensor::get_sensor_data(unsigned int event_type, sensor_data_t &da
        m_accel_sensor->get_sensor_data(ACCELEROMETER_RAW_DATA_EVENT, accel_data);
        m_gyro_sensor->get_sensor_data(GYROSCOPE_RAW_DATA_EVENT, gyro_data);
 
-       pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale);
-       pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale);
+       pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE);
+       pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE);
        accel.m_time_stamp = accel_data.timestamp;
        gyro.m_time_stamp = gyro_data.timestamp;
 

diff --git a/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h b/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h
index 1b748b1..3307263 100755 (executable)
--- a/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h
+++ b/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h
@@ -66,9 +66,6 @@ private:
        float m_gyro_static_bias[3];
        int m_accel_rotation_direction_compensation[3];
        int m_gyro_rotation_direction_compensation[3];
-       float m_accel_scale;
-       float m_gyro_scale;
-
        bool on_start(void);
        bool on_stop(void);
 };

diff --git a/src/server/plugins/sensor_fusion/orientation_filter.h b/src/server/plugins/sensor_fusion/orientation_filter.h
index 3133f8b..ea6143d 100644 (file)
--- a/src/server/plugins/sensor_fusion/orientation_filter.h
+++ b/src/server/plugins/sensor_fusion/orientation_filter.h
@@ -36,6 +36,9 @@
 #define V1x3S  3
 #define V1x4S  4
 #define V1x6S  6
+#define ACCEL_SCALE 1
+#define GYRO_SCALE 1146
+#define GEOMAGNETIC_SCALE 1
 
 template <typename TYPE>
 class orientation_filter {

diff --git a/src/server/plugins/sensor_fusion/sensor_data.cpp b/src/server/plugins/sensor_fusion/sensor_data.cpp
index b1191bb..9f730cc 100644 (file)
--- a/src/server/plugins/sensor_fusion/sensor_data.cpp
+++ b/src/server/plugins/sensor_fusion/sensor_data.cpp
@@ -117,7 +117,7 @@ quaternion<T> sensor_data2quat(const sensor_data<T> data, const vect<T, REF_VEC_
 }
 
 template<typename T>
-void pre_process_data(sensor_data<T> &data_out, const T *data_in, T *bias, int *sign, T scale)
+void pre_process_data(sensor_data<T> &data_out, const T *data_in, T *bias, int *sign, int scale)
 {
        data_out.m_data.m_vec[0] = sign[0] * (data_in[0] - bias[0]) / scale;
        data_out.m_data.m_vec[1] = sign[1] * (data_in[1] - bias[1]) / scale;

diff --git a/src/server/plugins/sensor_fusion/sensor_data.h b/src/server/plugins/sensor_fusion/sensor_data.h
index 78d0d49..1fa3c5c 100644 (file)
--- a/src/server/plugins/sensor_fusion/sensor_data.h
+++ b/src/server/plugins/sensor_fusion/sensor_data.h
@@ -50,7 +50,7 @@ public:
        template<typename T> friend quaternion<T> sensor_data2quat(const sensor_data<T> data,
                        const vect<T, REF_VEC_SIZE> ref_vec);
        template<typename T> friend void pre_process_data(sensor_data<T> &data_out,
-                       const T *data_in, T *bias, int *sign, T scale);
+                       const T *data_in, T *bias, int *sign, int scale);
 
 };
 

diff --git a/virtual_sensors.xml b/virtual_sensors.xml
index 32fa33d..68282e8 100755 (executable)
--- a/virtual_sensors.xml
+++ b/virtual_sensors.xml
@@ -12,9 +12,6 @@
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="-1" value3="-1" />
                        <GYRO_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
                        <GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="-1" value3="-1" />
-                       <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1146" />
-                       <GEOMAGNETIC_SCALE value="1" />
                        <MAGNETIC_ALIGNMENT_FACTOR value="1" />
                </FUSION>
 
@@ -43,7 +40,6 @@
                        <DEFAULT_SAMPLING_TIME value="100" />
                        <ACCEL_STATIC_BIAS value1="0" value2="0" value3="0" />
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="-1" value3="-1" />
-                       <ACCEL_SCALE value="1" />
                        <LINEAR_ACCEL_SIGN_COMPENSATION value1="1" value2="1" value3="1" />
                </LINEAR_ACCEL>
 
@@ -67,8 +63,6 @@
                        <GYRO_STATIC_BIAS value1="0" value2="0" value3="0" />
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="-1" value3="-1" />
                        <GYRO_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
-                       <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1146" />
                </GAMING_ROTATION_VECTOR>
 
                <TILT>
@@ -100,9 +94,6 @@
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
                        <GYRO_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
                        <GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
-                       <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1150" />
-                       <GEOMAGNETIC_SCALE value="1" />
                        <MAGNETIC_ALIGNMENT_FACTOR value="1" />
                </FUSION>
 
@@ -138,7 +129,6 @@
                        <DEFAULT_SAMPLING_TIME value="100" />
                        <ACCEL_STATIC_BIAS value1="0" value2="0" value3="0" />
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
-                       <ACCEL_SCALE value="1" />
                        <LINEAR_ACCEL_SIGN_COMPENSATION value1="1" value2="1" value3="1" />
                </LINEAR_ACCEL>
 
@@ -162,8 +152,6 @@
                        <GYRO_STATIC_BIAS value1="3.5638" value2="-5.8288" value3="-0.79750" />
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
                        <GYRO_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
-                       <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1150" />
                </GAMING_ROTATION_VECTOR>
 
                <TILT>
@@ -195,9 +183,6 @@
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
                        <GYRO_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="1" value3="-1" />
                        <GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
-                       <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1150" />
-                       <GEOMAGNETIC_SCALE value="1" />
                        <MAGNETIC_ALIGNMENT_FACTOR value="-1" />
                </FUSION>
 
@@ -233,7 +218,6 @@
                        <DEFAULT_SAMPLING_TIME value="100" />
                        <ACCEL_STATIC_BIAS value1="0" value2="0" value3="0" />
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
-                       <ACCEL_SCALE value="1" />
                        <LINEAR_ACCEL_SIGN_COMPENSATION value1="1" value2="1" value3="1" />
                </LINEAR_ACCEL>
 
@@ -257,8 +241,6 @@
                        <GYRO_STATIC_BIAS value1="-0.54385" value2="0.24325" value3="0.87875" />
                        <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
                        <GYRO_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="1" value3="-1" />
-                       <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1150" />
                </GAMING_ROTATION_VECTOR>
 
                <TILT>