From: Ramasamy <ram.kannan@samsung.com>
Date: Fri, 2 Jan 2015 04:43:05 +0000 (+0530)
Subject: Adding lock in virtual sensor layer for sensor fusion library
X-Git-Tag: submit/tizen/20150113.012540~38^2
X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=30340892dbba88cb6705648789fa69b2c3dddff5;p=platform%2Fcore%2Fsystem%2Fsensord.git

Adding lock in virtual sensor layer for sensor fusion library

- Adding mutex lock in virtual sensor layer to restrict usage and
access to sensor fusion library.
- adding lock for event driven and polling based calls

Change-Id: I2202d046544de4d8474606179a516a5e38b77548
---

diff --git a/src/orientation/orientation_sensor.cpp b/src/orientation/orientation_sensor.cpp
index 7653ef3..02afcd1 100755
--- a/src/orientation/orientation_sensor.cpp
+++ b/src/orientation/orientation_sensor.cpp
@@ -343,7 +343,10 @@ void orientation_sensor::synthesize(const sensor_event_t &event, vector<sensor_e
 		m_orientation.m_azimuth_phase_compensation = m_azimuth_rotation_compensation;
 		m_orientation.m_magnetic_alignment_factor = m_magnetic_alignment_factor;
 
-		euler_orientation = m_orientation.get_orientation(m_accel, m_gyro, m_magnetic);
+		{
+			AUTOLOCK(m_fusion_mutex);
+			euler_orientation = m_orientation.get_orientation(m_accel, m_gyro, m_magnetic);
+		}
 
 		if(m_raw_data_unit == "DEGREES") {
 			euler_orientation = rad2deg(euler_orientation);
@@ -403,7 +406,10 @@ int orientation_sensor::get_sensor_data(const unsigned int event_type, sensor_da
 	m_orientation.m_azimuth_phase_compensation = m_azimuth_rotation_compensation;
 	m_orientation.m_magnetic_alignment_factor = m_magnetic_alignment_factor;
 
-	euler_orientation = m_orientation.get_orientation(accel, gyro, magnetic);
+	{
+		AUTOLOCK(m_fusion_mutex);
+		euler_orientation = m_orientation.get_orientation(m_accel, m_gyro, m_magnetic);
+	}
 
 	if(m_raw_data_unit == "DEGREES") {
 		euler_orientation = rad2deg(euler_orientation);
diff --git a/src/rotation_vector/rv/rv_sensor.cpp b/src/rotation_vector/rv/rv_sensor.cpp
index cee3a94..e37ff33 100755
--- a/src/rotation_vector/rv/rv_sensor.cpp
+++ b/src/rotation_vector/rv/rv_sensor.cpp
@@ -341,18 +341,44 @@ void rv_sensor::synthesize(const sensor_event_t& event, vector<sensor_event_t> &
 
 int rv_sensor::get_sensor_data(unsigned int data_id, sensor_data_t &data)
 {
-	if (data_id != ROTATION_VECTOR_BASE_DATA_SET)
-		return -1;
+	sensor_data<float> accel;
+	sensor_data<float> gyro;
+	sensor_data<float> magnetic;
 
-	data.accuracy = SENSOR_ACCURACY_GOOD;
+	sensor_data_t accel_data;
+	sensor_data_t gyro_data;
+	sensor_data_t magnetic_data;
+
+	quaternion<float> quaternion_orientation;
 
-	AUTOLOCK(m_value_mutex);
+	m_accel_sensor->get_sensor_data(ACCELEROMETER_EVENT_RAW_DATA_REPORT_ON_TIME, accel_data);
+	m_gyro_sensor->get_sensor_data(GYROSCOPE_EVENT_RAW_DATA_REPORT_ON_TIME, gyro_data);
+	m_magnetic_sensor->get_sensor_data(GEOMAGNETIC_EVENT_RAW_DATA_REPORT_ON_TIME, magnetic_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(magnetic, magnetic_data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, m_geomagnetic_scale);
+	accel.m_time_stamp = accel_data.timestamp;
+	gyro.m_time_stamp = gyro_data.timestamp;
+	magnetic.m_time_stamp = magnetic_data.timestamp;
+
+	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);
+	}
+
+	data.accuracy = SENSOR_ACCURACY_GOOD;
 	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;
+	data.values[0] = quaternion_orientation.m_quat.m_vec[1];
+	data.values[1] = quaternion_orientation.m_quat.m_vec[2];
+	data.values[2] = quaternion_orientation.m_quat.m_vec[3];
+	data.values[3] = quaternion_orientation.m_quat.m_vec[0];
 
 	return 0;
 }
diff --git a/src/shared/virtual_sensor.h b/src/shared/virtual_sensor.h
index d592ce6..3cb79fb 100755
--- a/src/shared/virtual_sensor.h
+++ b/src/shared/virtual_sensor.h
@@ -33,6 +33,8 @@ public:
 	bool is_virtual(void);
 
 protected:
+	cmutex m_fusion_mutex;
+
 	bool activate(void);
 	bool deactivate(void);