Adding orientation_sensor virtual sensor class

 - Adding class definition and implementation for orientation virtual
   sensor
 - Adding test code for orientation_sensor class
 - interface to sensor framework for virtual class will be added
   during porting

signed-off-by: Ramasamy <ram.kannan@samsung.com>
Change-Id: I17becdbe159345c446e6944596900db4557d51ba

diff --git a/src/sensor_fusion/standalone/orientation_sensor.cpp b/src/sensor_fusion/standalone/orientation_sensor.cpp
new file mode 100644 (file)
index 0000000..b86919d
--- /dev/null
+++ b/src/sensor_fusion/standalone/orientation_sensor.cpp
@@ -0,0 +1,34 @@
+/*
+ * 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 _ORIENTATION_SENSOR_H
+
+euler_angles<float> orientation_sensor::get_orientation(const sensor_data<float> accel,
+               const sensor_data<float> gyro, const sensor_data<float> magnetic)
+{
+       return orien_filter.get_orientation(accel, gyro, magnetic);
+}
+
+rotation_matrix<float> orientation_sensor::get_rotation_matrix(const sensor_data<float> accel,
+               const sensor_data<float> gyro, const sensor_data<float> magnetic)
+{
+       return orien_filter.get_rotation_matrix(accel, gyro, magnetic);
+}
+
+#endif

diff --git a/src/sensor_fusion/standalone/orientation_sensor.h b/src/sensor_fusion/standalone/orientation_sensor.h
new file mode 100644 (file)
index 0000000..89312c3
--- /dev/null
+++ b/src/sensor_fusion/standalone/orientation_sensor.h
@@ -0,0 +1,38 @@
+/*
+ * 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 _ORIENTATION_SENSOR_H
+#define _ORIENTATION_SENSOR_H
+
+#include "./util/orientation_filter.h"
+
+class orientation_sensor
+{
+public:
+       orientation_filter<float> orien_filter;
+
+       euler_angles<float> get_orientation(const sensor_data<float> accel,
+                       const sensor_data<float> gyro, const sensor_data<float> magnetic);
+       rotation_matrix<float> get_rotation_matrix(const sensor_data<float> accel,
+                       const sensor_data<float> gyro, const sensor_data<float> magnetic);
+};
+
+#include "orientation_sensor.cpp"
+
+#endif /* _ORIENTATION_SENSOR_H */

diff --git a/src/sensor_fusion/standalone/util/test/orientation_sensor_test/.cproject b/src/sensor_fusion/standalone/util/test/orientation_sensor_test/.cproject
new file mode 100644 (file)
index 0000000..65deaf8
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/orientation_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/orientation_sensor_test/.project b/src/sensor_fusion/standalone/util/test/orientation_sensor_test/.project
new file mode 100644 (file)
index 0000000..7ceec3c
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/orientation_sensor_test/.project
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+       <name>orientation_sensor_test</name>
+       <comment></comment>
+       <projects>
+       </projects>
+       <buildSpec>
+               <buildCommand>
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+                                       <value>true</value>
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+                                       <key>org.eclipse.cdt.make.core.buildLocation</key>
+                                       <value>${workspace_loc:/orientation_sensor_test/Debug}</value>
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+                                       <value>true</value>
+                               </dictionary>
+                       </arguments>
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+                       <triggers>full,incremental,</triggers>
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+               <buildCommand>
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diff --git a/src/sensor_fusion/standalone/util/test/orientation_sensor_test/orientation_sensor_main.cpp b/src/sensor_fusion/standalone/util/test/orientation_sensor_test/orientation_sensor_main.cpp
new file mode 100644 (file)
index 0000000..c755cbe
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/orientation_sensor_test/orientation_sensor_main.cpp
@@ -0,0 +1,96 @@
+/*
+ * 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 "../../../orientation_sensor.h"
+#include <stdlib.h>
+#include <iostream>
+#include <fstream>
+#include <string>
+using namespace std;
+
+#define ORIENTATION_DATA_PATH "../../../../design/data/100ms/orientation/roll_pitch_yaw/"
+#define ORIENTATION_DATA_SIZE 1095
+
+int main()
+{
+       int data_available = ORIENTATION_DATA_SIZE;
+       ifstream accel_in, gyro_in, mag_in;
+       ofstream orien_file;
+       string line_accel, line_gyro, line_magnetic;
+       float sdata[3];
+       unsigned long long time_stamp;
+       euler_angles<float> orientation;
+       rotation_matrix<float> orientation_mat;
+       orientation_sensor orien_sensor1, orien_sensor2;
+
+       accel_in.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
+       gyro_in.open(((string)ORIENTATION_DATA_PATH + (string)"gyro.txt").c_str());
+       mag_in.open(((string)ORIENTATION_DATA_PATH + (string)"magnetic.txt").c_str());
+
+       orien_file.open(((string)"orientation.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";
+
+               orientation = orien_sensor1.get_orientation(accel_data, gyro_data, magnetic_data);
+
+               orien_file << orientation.m_ang;
+
+               cout << "Orientation angles\t" << orientation.m_ang << "\n\n";
+
+               orientation_mat = orien_sensor1.get_rotation_matrix(accel_data, gyro_data, magnetic_data);
+
+               cout << "Orientation matrix\t" << orientation_mat.m_rot_mat << "\n\n";
+       }
+
+       accel_in.close();
+       gyro_in.close();
+       mag_in.close();
+       orien_file.close();
+
+       return 0;
+}