Common plugin for Hardware/Software Rotation Vector

Next Part: Support in fusion sensor to handle hal (replace rv_raw)

Change-Id: I736bd022626eed5e9086b9040906b706130e161c

diff --git a/src/rotation_vector/rv/rv_sensor.cpp b/src/rotation_vector/rv/rv_sensor.cpp
index f647ef0..5114cdc 100755 (executable)
--- a/src/rotation_vector/rv/rv_sensor.cpp
+++ b/src/rotation_vector/rv/rv_sensor.cpp
@@ -57,10 +57,18 @@ rv_sensor::rv_sensor()
 : m_accel_sensor(NULL)
 , m_gyro_sensor(NULL)
 , m_magnetic_sensor(NULL)
+, m_fusion_sensor(NULL)
 , m_time(0)
 {
        cvirtual_sensor_config &config = cvirtual_sensor_config::get_instance();
 
+       // Will check if fusion_sensor is in the list of hal sensors.
+       sensor_hal *fusion_sensor_hal = sensor_plugin_loader::get_instance().get_sensor_hal(FUSION_SENSOR);
+       if (!fusion_sensor_hal)
+               m_hardware_fusion = false;
+       else
+               m_hardware_fusion = true;
+
        m_name = string(SENSOR_NAME);
        register_supported_event(ROTATION_VECTOR_RAW_DATA_EVENT);
        m_enable_orientation = 0;
@@ -115,15 +123,17 @@ bool rv_sensor::on_start(void)
 {
        AUTOLOCK(m_mutex);
 
-       m_accel_sensor->add_client(ACCELEROMETER_RAW_DATA_EVENT);
-       m_accel_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false);
-       m_accel_sensor->start();
-       m_gyro_sensor->add_client(GYROSCOPE_RAW_DATA_EVENT);
-       m_gyro_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false);
-       m_gyro_sensor->start();
-       m_magnetic_sensor->add_client(GEOMAGNETIC_RAW_DATA_EVENT);
-       m_magnetic_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false);
-       m_magnetic_sensor->start();
+       if (!m_hardware_fusion) {
+               m_accel_sensor->add_client(ACCELEROMETER_RAW_DATA_EVENT);
+               m_accel_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false);
+               m_accel_sensor->start();
+               m_gyro_sensor->add_client(GYROSCOPE_RAW_DATA_EVENT);
+               m_gyro_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false);
+               m_gyro_sensor->start();
+               m_magnetic_sensor->add_client(GEOMAGNETIC_RAW_DATA_EVENT);
+               m_magnetic_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false);
+               m_magnetic_sensor->start();
+       }
 
        m_fusion_sensor->register_supported_event(FUSION_EVENT);
        m_fusion_sensor->register_supported_event(FUSION_ROTATION_VECTOR_ENABLED);
@@ -139,15 +149,17 @@ bool rv_sensor::on_stop(void)
 {
        AUTOLOCK(m_mutex);
 
-       m_accel_sensor->delete_client(ACCELEROMETER_RAW_DATA_EVENT);
-       m_accel_sensor->delete_interval((intptr_t)this, false);
-       m_accel_sensor->stop();
-       m_gyro_sensor->delete_client(GYROSCOPE_RAW_DATA_EVENT);
-       m_gyro_sensor->delete_interval((intptr_t)this, false);
-       m_gyro_sensor->stop();
-       m_magnetic_sensor->delete_client(GEOMAGNETIC_RAW_DATA_EVENT);
-       m_magnetic_sensor->delete_interval((intptr_t)this, false);
-       m_magnetic_sensor->stop();
+       if (!m_hardware_fusion) {
+               m_accel_sensor->delete_client(ACCELEROMETER_RAW_DATA_EVENT);
+               m_accel_sensor->delete_interval((intptr_t)this, false);
+               m_accel_sensor->stop();
+               m_gyro_sensor->delete_client(GYROSCOPE_RAW_DATA_EVENT);
+               m_gyro_sensor->delete_interval((intptr_t)this, false);
+               m_gyro_sensor->stop();
+               m_magnetic_sensor->delete_client(GEOMAGNETIC_RAW_DATA_EVENT);
+               m_magnetic_sensor->delete_interval((intptr_t)this, false);
+               m_magnetic_sensor->stop();
+       }
 
        m_fusion_sensor->delete_client(FUSION_EVENT);
        m_fusion_sensor->delete_interval((intptr_t)this, false);
@@ -163,9 +175,11 @@ 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);
+       if (!m_hardware_fusion) {
+               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);
+       }
 
        m_fusion_sensor->add_interval(client_id, interval, false);
 
@@ -176,10 +190,11 @@ 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);
-
+       if (!m_hardware_fusion) {
+               m_accel_sensor->delete_interval(client_id, false);
+               m_gyro_sensor->delete_interval(client_id, false);
+               m_magnetic_sensor->delete_interval(client_id, false);
+       }
        m_fusion_sensor->delete_interval(client_id, false);
 
        return sensor_base::delete_interval(client_id, false);
@@ -221,7 +236,7 @@ int rv_sensor::get_sensor_data(unsigned int event_type, sensor_data_t &data)
        if (event_type != ROTATION_VECTOR_RAW_DATA_EVENT)
                return -1;
 
-       m_fusion_sensor->get_sensor_data(FUSION_ORIENTATION_ENABLED, fusion_data);
+       m_fusion_sensor->get_sensor_data(FUSION_ROTATION_VECTOR_ENABLED, fusion_data);
 
        data.accuracy = SENSOR_ACCURACY_GOOD;
        data.timestamp = get_timestamp();

diff --git a/src/shared/virtual_sensor.h b/src/shared/virtual_sensor.h
index 7a3b70c..d6414e3 100755 (executable)
--- a/src/shared/virtual_sensor.h
+++ b/src/shared/virtual_sensor.h
@@ -31,6 +31,7 @@ public:
        virtual void synthesize(const sensor_event_t &event, vector<sensor_event_t> &outs) = 0;
        virtual int get_sensor_data(const unsigned int event_type, sensor_data_t &data) = 0;
        bool is_virtual(void);
+       bool m_hardware_fusion;
 
 protected: