--- /dev/null
+/*
+ * sensord
+ *
+ * Copyright (c) 2014 Samsung Electronics Co., Ltd.
+ *
+ * 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.
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <math.h>
+#include <time.h>
+#include <sys/types.h>
+#include <dlfcn.h>
+#include <common.h>
+#include <sf_common.h>
+#include <rv_sensor.h>
+#include <sensor_plugin_loader.h>
+#include <orientation_filter.h>
+#include <cvirtual_sensor_config.h>
+
+#define SENSOR_NAME "RV_SENSOR"
+#define SENSOR_TYPE_RV "ROTATION_VECTOR"
+
+#define ACCELEROMETER_ENABLED 0x01
+#define GYROSCOPE_ENABLED 0x02
+#define GEOMAGNETIC_ENABLED 0x04
+#define ORIENTATION_ENABLED 7
+
+#define INITIAL_VALUE -1
+
+#define MS_TO_US 1000
+
+#define ELEMENT_NAME "NAME"
+#define ELEMENT_VENDOR "VENDOR"
+#define ELEMENT_RAW_DATA_UNIT "RAW_DATA_UNIT"
+#define ELEMENT_DEFAULT_SAMPLING_TIME "DEFAULT_SAMPLING_TIME"
+#define ELEMENT_ACCEL_STATIC_BIAS "ACCEL_STATIC_BIAS"
+#define ELEMENT_GYRO_STATIC_BIAS "GYRO_STATIC_BIAS"
+#define ELEMENT_GEOMAGNETIC_STATIC_BIAS "GEOMAGNETIC_STATIC_BIAS"
+#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"
+
+void pre_process_data(sensor_data<float> &data_out, const float *data_in, float *bias, int *sign, float 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;
+ data_out.m_data.m_vec[2] = sign[2] * (data_in[2] - bias[2]) / scale;
+}
+
+rv_sensor::rv_sensor()
+: m_accel_sensor(NULL)
+, m_gyro_sensor(NULL)
+, m_magnetic_sensor(NULL)
+, m_x(-1)
+, m_y(-1)
+, m_z(-1)
+, m_w(-1)
+, m_accuracy(-1)
+, m_time(0)
+{
+ cvirtual_sensor_config &config = cvirtual_sensor_config::get_instance();
+
+ m_name = string(SENSOR_NAME);
+ register_supported_event(ROTATION_VECTOR_EVENT_RAW_DATA_REPORT_ON_TIME);
+ m_enable_orientation = 0;
+
+ if (!config.get(SENSOR_TYPE_RV, ELEMENT_VENDOR, m_vendor)) {
+ ERR("[VENDOR] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_vendor = %s", m_vendor.c_str());
+
+ if (!config.get(SENSOR_TYPE_RV, ELEMENT_DEFAULT_SAMPLING_TIME, &m_default_sampling_time)) {
+ ERR("[DEFAULT_SAMPLING_TIME] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_default_sampling_time = %d", m_default_sampling_time);
+
+ if (!config.get(SENSOR_TYPE_RV, ELEMENT_ACCEL_STATIC_BIAS, m_accel_static_bias, 3)) {
+ ERR("[ACCEL_STATIC_BIAS] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_accel_static_bias = (%f, %f, %f)", m_accel_static_bias[0], m_accel_static_bias[1], m_accel_static_bias[2]);
+
+ if (!config.get(SENSOR_TYPE_RV, ELEMENT_GYRO_STATIC_BIAS, m_gyro_static_bias,3)) {
+ ERR("[GYRO_STATIC_BIAS] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_gyro_static_bias = (%f, %f, %f)", m_gyro_static_bias[0], m_gyro_static_bias[1], m_gyro_static_bias[2]);
+
+ if (!config.get(SENSOR_TYPE_RV, ELEMENT_GEOMAGNETIC_STATIC_BIAS, m_geomagnetic_static_bias, 3)) {
+ ERR("[GEOMAGNETIC_STATIC_BIAS] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_geomagnetic_static_bias = (%f, %f, %f)", m_geomagnetic_static_bias[0], m_geomagnetic_static_bias[1], m_geomagnetic_static_bias[2]);
+
+ if (!config.get(SENSOR_TYPE_RV, ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION, m_accel_rotation_direction_compensation, 3)) {
+ ERR("[ACCEL_ROTATION_DIRECTION_COMPENSATION] is empty\n");
+ throw ENXIO;
+ }
+
+ 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_RV, ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION, m_gyro_rotation_direction_compensation, 3)) {
+ ERR("[GYRO_ROTATION_DIRECTION_COMPENSATION] is empty\n");
+ throw ENXIO;
+ }
+
+ 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_RV, ELEMENT_GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION, m_geomagnetic_rotation_direction_compensation, 3)) {
+ ERR("[GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION] is empty\n");
+ throw ENXIO;
+ }
+
+ 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_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_RV, 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_RV, 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_RV, ELEMENT_MAGNETIC_ALIGNMENT_FACTOR, &m_magnetic_alignment_factor)) {
+ ERR("[MAGNETIC_ALIGNMENT_FACTOR] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_magnetic_alignment_factor = %d", m_magnetic_alignment_factor);
+
+ m_interval = m_default_sampling_time * MS_TO_US;
+
+}
+
+rv_sensor::~rv_sensor()
+{
+ INFO("rv_sensor is destroyed!\n");
+}
+
+bool rv_sensor::init()
+{
+ m_accel_sensor = sensor_plugin_loader::get_instance().get_sensor(ACCELEROMETER_SENSOR);
+ m_gyro_sensor = sensor_plugin_loader::get_instance().get_sensor(GYROSCOPE_SENSOR);
+ m_magnetic_sensor = sensor_plugin_loader::get_instance().get_sensor(GEOMAGNETIC_SENSOR);
+
+ if (!m_accel_sensor || !m_gyro_sensor || !m_magnetic_sensor) {
+ ERR("Failed to load sensors, accel: 0x%x, gyro: 0x%x, mag: 0x%x",
+ m_accel_sensor, m_gyro_sensor, m_magnetic_sensor);
+ return false;
+ }
+
+ INFO("%s is created!\n", sensor_base::get_name());
+
+ return true;
+}
+
+sensor_type_t rv_sensor::get_type(void)
+{
+ return ROTATION_VECTOR_SENSOR;
+}
+
+bool rv_sensor::on_start(void)
+{
+ AUTOLOCK(m_mutex);
+
+ m_accel_sensor->add_client(ACCELEROMETER_EVENT_RAW_DATA_REPORT_ON_TIME);
+ m_accel_sensor->add_interval((int)this, (m_interval/MS_TO_US), false);
+ m_accel_sensor->start();
+ m_gyro_sensor->add_client(GYROSCOPE_EVENT_RAW_DATA_REPORT_ON_TIME);
+ m_gyro_sensor->add_interval((int)this, (m_interval/MS_TO_US), false);
+ m_gyro_sensor->start();
+ m_magnetic_sensor->add_client(GEOMAGNETIC_EVENT_RAW_DATA_REPORT_ON_TIME);
+ m_magnetic_sensor->add_interval((int)this, (m_interval/MS_TO_US), false);
+ m_magnetic_sensor->start();
+
+ activate();
+ return true;
+}
+
+bool rv_sensor::on_stop(void)
+{
+ AUTOLOCK(m_mutex);
+
+ m_accel_sensor->delete_client(ACCELEROMETER_EVENT_RAW_DATA_REPORT_ON_TIME);
+ m_accel_sensor->delete_interval((int)this, false);
+ m_accel_sensor->stop();
+ m_gyro_sensor->delete_client(GYROSCOPE_EVENT_RAW_DATA_REPORT_ON_TIME);
+ m_gyro_sensor->delete_interval((int)this, false);
+ m_gyro_sensor->stop();
+ m_magnetic_sensor->delete_client(GEOMAGNETIC_EVENT_RAW_DATA_REPORT_ON_TIME);
+ m_magnetic_sensor->delete_interval((int)this, false);
+ m_magnetic_sensor->stop();
+
+ deactivate();
+ return true;
+}
+
+bool rv_sensor::add_interval(int client_id, unsigned int interval)
+{
+ AUTOLOCK(m_mutex);
+
+ m_accel_sensor->add_interval(client_id, interval, false);
+ m_gyro_sensor->add_interval(client_id, interval, false);
+ m_magnetic_sensor->add_interval(client_id, interval, false);
+
+ return sensor_base::add_interval(client_id, interval, false);
+}
+
+bool rv_sensor::delete_interval(int client_id)
+{
+ AUTOLOCK(m_mutex);
+
+ m_accel_sensor->delete_interval(client_id, false);
+ m_gyro_sensor->delete_interval(client_id, false);
+ m_magnetic_sensor->delete_interval(client_id, false);
+
+ return sensor_base::delete_interval(client_id, false);
+}
+
+void rv_sensor::synthesize(const sensor_event_t& event, vector<sensor_event_t> &outs)
+{
+ const float MIN_DELIVERY_DIFF_FACTOR = 0.75f;
+ unsigned long long diff_time;
+
+ sensor_event_t rv_event;
+ quaternion<float> quaternion_orientation;
+
+ if (event.event_type == ACCELEROMETER_EVENT_RAW_DATA_REPORT_ON_TIME) {
+ diff_time = event.data.timestamp - m_time;
+
+ 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);
+
+ m_accel.m_time_stamp = event.data.timestamp;
+
+ m_enable_orientation |= ACCELEROMETER_ENABLED;
+ }
+ else if (event.event_type == GYROSCOPE_EVENT_RAW_DATA_REPORT_ON_TIME) {
+ diff_time = event.data.timestamp - m_time;
+
+ 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);
+
+ m_gyro.m_time_stamp = event.data.timestamp;
+
+ m_enable_orientation |= GYROSCOPE_ENABLED;
+ }
+ else if (event.event_type == GEOMAGNETIC_EVENT_RAW_DATA_REPORT_ON_TIME) {
+ diff_time = event.data.timestamp - m_time;
+
+ 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);
+
+ m_magnetic.m_time_stamp = event.data.timestamp;
+
+ m_enable_orientation |= GEOMAGNETIC_ENABLED;
+ }
+
+ if (m_enable_orientation == ORIENTATION_ENABLED) {
+ m_enable_orientation = 0;
+
+ m_orientation.m_pitch_phase_compensation = m_pitch_rotation_compensation;
+ m_orientation.m_roll_phase_compensation = m_roll_rotation_compensation;
+ m_orientation.m_azimuth_phase_compensation = m_azimuth_rotation_compensation;
+ m_orientation.m_magnetic_alignment_factor = m_magnetic_alignment_factor;
+
+ {
+ AUTOLOCK(m_fusion_mutex);
+ quaternion_orientation = m_orientation.get_quaternion(m_accel, m_gyro, m_magnetic);
+ }
+
+ rv_event.sensor_id = get_id();
+ rv_event.event_type = ROTATION_VECTOR_EVENT_RAW_DATA_REPORT_ON_TIME;
+ rv_event.data.accuracy = SENSOR_ACCURACY_GOOD;
+ rv_event.data.timestamp = get_timestamp();
+ rv_event.data.value_count = 4;
+ rv_event.data.values[0] = quaternion_orientation.m_quat.m_vec[1];
+ rv_event.data.values[1] = quaternion_orientation.m_quat.m_vec[2];
+ rv_event.data.values[2] = quaternion_orientation.m_quat.m_vec[3];
+ rv_event.data.values[3] = quaternion_orientation.m_quat.m_vec[0];
+
+ push(rv_event);
+
+ {
+ AUTOLOCK(m_value_mutex);
+ m_time = rv_event.data.value_count;
+ m_x = rv_event.data.values[0];
+ m_y = rv_event.data.values[1];
+ m_z = rv_event.data.values[2];
+ m_w = rv_event.data.values[3];
+ }
+ }
+
+ return;
+}
+
+int rv_sensor::get_sensor_data(unsigned int data_id, sensor_data_t &data)
+{
+ if (data_id != ROTATION_VECTOR_BASE_DATA_SET)
+ return -1;
+
+ data.accuracy = SENSOR_ACCURACY_GOOD;
+
+ AUTOLOCK(m_value_mutex);
+ data.timestamp = m_time;
+ data.values[0] = m_x;
+ data.values[1] = m_y;
+ data.values[2] = m_z;
+ data.values[3] = m_w;
+ data.value_count = 4;
+
+ return 0;
+}
+
+bool rv_sensor::get_properties(sensor_properties_t &properties)
+{
+ properties.vendor = m_vendor;
+ properties.name = SENSOR_NAME;
+ properties.min_range = 0;
+ properties.max_range = 1;
+ properties.resolution = 0.000001;
+ properties.fifo_count = 0;
+ properties.max_batch_count = 0;
+ properties.min_interval = 1;
+
+ return true;
+}
+
+extern "C" sensor_module* create(void)
+{
+ rv_sensor *sensor;
+
+ try {
+ sensor = new(std::nothrow) rv_sensor;
+ } catch (int err) {
+ ERR("Failed to create module, err: %d, cause: %s", err, strerror(err));
+ return NULL;
+ }
+
+ sensor_module *module = new(std::nothrow) sensor_module;
+ retvm_if(!module || !sensor, NULL, "Failed to allocate memory");
+
+ module->sensors.push_back(sensor);
+ return module;
+}
projects / platform / core / system / sensord.git / commitdiff