Adding linear_acceleration_sensor class

 - Adding class definition and implementation for linear acceleration
   virtual sensor
 - Adding test code for linear_acceleration_sensor class
 - interface to sensor framework for virtual class will be added
   during porting

signed-off-by: Ramasamy <ram.kannan@samsung.com>
Change-Id: Id0c979fb771e60cd5675e6759de7a83f4f18807f

diff --git a/src/sensor_fusion/standalone/linear_acceleration_sensor.cpp b/src/sensor_fusion/standalone/linear_acceleration_sensor.cpp
new file mode 100644 (file)
index 0000000..ea219cc
--- /dev/null
+++ b/src/sensor_fusion/standalone/linear_acceleration_sensor.cpp
@@ -0,0 +1,39 @@
+/*
+ * 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.
+ *
+ */
+
+#ifdef _LINEAR_ACCELERATION_SENSOR_H
+
+sensor_data<float> linear_acceleration_sensor::get_linear_acceleration(const sensor_data<float> accel,
+                               const sensor_data<float> gyro, const sensor_data<float> magnetic)
+{
+       sensor_data<float> gravity_data;
+       float la_x, la_y, la_z;
+
+       gravity_data = comp_grav.orientation2gravity(accel, gyro, magnetic);
+
+       la_x = accel.m_data.m_vec[0] - gravity_data.m_data.m_vec[1];
+       la_y = accel.m_data.m_vec[1] - gravity_data.m_data.m_vec[0];
+       la_z = accel.m_data.m_vec[2] - gravity_data.m_data.m_vec[2];
+
+       sensor_data<float> lin_accel_data(la_x, la_y, la_z);
+
+       return lin_accel_data;
+}
+
+#endif

diff --git a/src/sensor_fusion/standalone/linear_acceleration_sensor.h b/src/sensor_fusion/standalone/linear_acceleration_sensor.h
new file mode 100644 (file)
index 0000000..81e8d91
--- /dev/null
+++ b/src/sensor_fusion/standalone/linear_acceleration_sensor.h
@@ -0,0 +1,36 @@
+/*
+ * 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.
+ *
+ */
+
+#ifndef _LINEAR_ACCELERATION_SENSOR_H
+#define _LINEAR_ACCELERATION_SENSOR_H
+
+#include "./util/compute_gravity.h"
+
+class linear_acceleration_sensor
+{
+public:
+       compute_gravity<float> comp_grav;
+
+       sensor_data<float> get_linear_acceleration(const sensor_data<float> accel,
+                               const sensor_data<float> gyro, const sensor_data<float> magnetic);
+};
+
+#include "linear_acceleration_sensor.cpp"
+
+#endif /* _LINEAR_ACCELERATION_SENSOR_H */

diff --git a/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/.cproject b/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/.cproject
new file mode 100644 (file)
index 0000000..2cab1cd
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/.cproject
@@ -0,0 +1,112 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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diff --git a/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/.project b/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/.project
new file mode 100644 (file)
index 0000000..b5b1ce9
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/.project
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+       <name>linear_acceleration_sensor_test</name>
+       <comment></comment>
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+       </projects>
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diff --git a/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/linear_acceleration_sensor_main.cpp b/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/linear_acceleration_sensor_main.cpp
new file mode 100644 (file)
index 0000000..b5686ba
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/linear_acceleration_sensor_test/linear_acceleration_sensor_main.cpp
@@ -0,0 +1,91 @@
+/*
+ * 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 "../../../linear_acceleration_sensor.h"
+#include <stdlib.h>
+#include <iostream>
+#include <fstream>
+#include <string>
+using namespace std;
+
+#define LA_DATA_PATH "../../../../design/data/100ms/linear_acceleration/move_x_y_z/"
+#define LA_DATA_SIZE 170
+
+int main()
+{
+       int data_available = LA_DATA_SIZE;
+       ifstream accel_in, gyro_in, mag_in;
+       ofstream la_file;
+       string line_accel, line_gyro, line_magnetic;
+       float sdata[3];
+       unsigned long long time_stamp;
+       sensor_data<float> lin_accel;
+       linear_acceleration_sensor la_sensor;
+
+       accel_in.open(((string)LA_DATA_PATH + (string)"accel.txt").c_str());
+       gyro_in.open(((string)LA_DATA_PATH + (string)"gyro.txt").c_str());
+       mag_in.open(((string)LA_DATA_PATH + (string)"magnetic.txt").c_str());
+
+       la_file.open(((string)"linear_acceleration.txt").c_str());
+
+       char *token = NULL;
+
+       while (data_available-- > 0)
+       {
+               getline(accel_in, line_accel);
+               sdata[0] = strtof(line_accel.c_str(), &token);
+               sdata[1] = strtof(token, &token);
+               sdata[2] = strtof(token, &token);
+               time_stamp = strtoull (token, NULL, 10);
+               sensor_data<float> accel_data(sdata[0], sdata[1], sdata[2], time_stamp);
+
+               cout << "Accel Data\t" << accel_data.m_data << "\t Time Stamp\t" << accel_data.m_time_stamp << "\n\n";
+
+               getline(gyro_in, line_gyro);
+               sdata[0] = strtof(line_gyro.c_str(), &token);
+               sdata[1] = strtof(token, &token);
+               sdata[2] = strtof(token, &token);
+               time_stamp = strtoull (token, NULL, 10);
+               sensor_data<float> gyro_data(sdata[0], sdata[1], sdata[2], time_stamp);
+
+               cout << "Gyro Data\t" << gyro_data.m_data << "\t Time Stamp\t" << gyro_data.m_time_stamp << "\n\n";
+
+               getline(mag_in, line_magnetic);
+               sdata[0] = strtof(line_magnetic.c_str(), &token);
+               sdata[1] = strtof(token, &token);
+               sdata[2] = strtof(token, &token);
+               time_stamp = strtoull (token, NULL, 10);
+               sensor_data<float> magnetic_data(sdata[0], sdata[1], sdata[2], time_stamp);
+
+               cout << "Magnetic Data\t" << magnetic_data.m_data << "\t Time Stamp\t" << magnetic_data.m_time_stamp << "\n\n";
+
+               lin_accel = la_sensor.get_linear_acceleration(accel_data, gyro_data, magnetic_data);
+
+               la_file << lin_accel.m_data;
+
+               cout << "Linear Acceleration Data\t" << lin_accel.m_data << "\n\n";
+       }
+
+       accel_in.close();
+       gyro_in.close();
+       mag_in.close();
+       la_file.close();
+
+       return 0;
+}