From 03683613d484c5b625391557704db3ac2723dc0f Mon Sep 17 00:00:00 2001 From: Adarsh Shree Ram Date: Wed, 2 Dec 2015 15:45:18 +0530 Subject: [PATCH] Cleanup of xml file and related changes Change-Id: Iee4990a20246b8d73e1bbbd5f16c50bbe5139342 --- src/server/plugins/fusion/fusion_sensor.cpp | 36 ++++------------------ src/server/plugins/fusion/fusion_sensor.h | 3 -- .../plugins/linear_accel/linear_accel_sensor.cpp | 20 ++++-------- .../plugins/linear_accel/linear_accel_sensor.h | 1 - .../rotation_vector/gaming_rv/gaming_rv_sensor.cpp | 22 +++---------- .../rotation_vector/gaming_rv/gaming_rv_sensor.h | 3 -- .../plugins/sensor_fusion/orientation_filter.h | 3 ++ src/server/plugins/sensor_fusion/sensor_data.cpp | 2 +- src/server/plugins/sensor_fusion/sensor_data.h | 2 +- virtual_sensors.xml | 18 ----------- 10 files changed, 21 insertions(+), 89 deletions(-) diff --git a/src/server/plugins/fusion/fusion_sensor.cpp b/src/server/plugins/fusion/fusion_sensor.cpp index 669f330..9830117 100755 --- a/src/server/plugins/fusion/fusion_sensor.cpp +++ b/src/server/plugins/fusion/fusion_sensor.cpp @@ -68,9 +68,6 @@ using std::vector; #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" #define ELEMENT_PITCH_ROTATION_COMPENSATION "PITCH_ROTATION_COMPENSATION" #define ELEMENT_ROLL_ROTATION_COMPENSATION "ROLL_ROTATION_COMPENSATION" @@ -149,27 +146,6 @@ fusion_sensor::fusion_sensor() 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_FUSION, 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_FUSION, 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_FUSION, 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_FUSION, ELEMENT_MAGNETIC_ALIGNMENT_FACTOR, &m_magnetic_alignment_factor)) { ERR("[MAGNETIC_ALIGNMENT_FACTOR] is empty\n"); throw ENXIO; @@ -268,7 +244,7 @@ void fusion_sensor::synthesize(const sensor_event_t &event, vectorget_sensor_data(ACCELEROMETER_RAW_DATA_EVENT, accel_data); - pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale); + pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE); accel.m_time_stamp = accel_data.timestamp; if (event_type == FUSION_ORIENTATION_ENABLED || @@ -402,7 +378,7 @@ int fusion_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t event_type == FUSION_GYROSCOPE_UNCAL_ENABLED) { m_gyro_sensor->get_sensor_data(GYROSCOPE_RAW_DATA_EVENT, gyro_data); - pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale); + pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE); gyro.m_time_stamp = gyro_data.timestamp; } @@ -412,7 +388,7 @@ int fusion_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t event_type == FUSION_GYROSCOPE_UNCAL_ENABLED) { m_magnetic_sensor->get_sensor_data(GEOMAGNETIC_RAW_DATA_EVENT, magnetic_data); - pre_process_data(magnetic, magnetic_data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, m_geomagnetic_scale); + pre_process_data(magnetic, magnetic_data.values, m_geomagnetic_static_bias, m_geomagnetic_rotation_direction_compensation, GEOMAGNETIC_SCALE); magnetic.m_time_stamp = magnetic_data.timestamp; } diff --git a/src/server/plugins/fusion/fusion_sensor.h b/src/server/plugins/fusion/fusion_sensor.h index e057ff0..4985f15 100755 --- a/src/server/plugins/fusion/fusion_sensor.h +++ b/src/server/plugins/fusion/fusion_sensor.h @@ -72,9 +72,6 @@ private: int m_accel_rotation_direction_compensation[3]; int m_gyro_rotation_direction_compensation[3]; int m_geomagnetic_rotation_direction_compensation[3]; - float m_accel_scale; - float m_gyro_scale; - float m_geomagnetic_scale; int m_magnetic_alignment_factor; bool on_start(void); diff --git a/src/server/plugins/linear_accel/linear_accel_sensor.cpp b/src/server/plugins/linear_accel/linear_accel_sensor.cpp index 9acda38..71a3c9a 100755 --- a/src/server/plugins/linear_accel/linear_accel_sensor.cpp +++ b/src/server/plugins/linear_accel/linear_accel_sensor.cpp @@ -128,14 +128,6 @@ linear_accel_sensor::linear_accel_sensor() 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_LINEAR_ACCEL, 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_GRAVITY, ELEMENT_GRAVITY_SIGN_COMPENSATION, m_gravity_sign_compensation, 3)) { ERR("[GRAVITY_SIGN_COMPENSATION] is empty\n"); throw ENXIO; @@ -358,9 +350,9 @@ void linear_accel_sensor::synthesize(const sensor_event_t &event, vectorget_sensor_data(ACCELEROMETER_RAW_DATA_EVENT, accel_data); m_gyro_sensor->get_sensor_data(GYROSCOPE_RAW_DATA_EVENT, gyro_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(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, ACCEL_SCALE); + pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, GYRO_SCALE); accel.m_time_stamp = accel_data.timestamp; gyro.m_time_stamp = gyro_data.timestamp; diff --git a/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h b/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h index 1b748b1..3307263 100755 --- a/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h +++ b/src/server/plugins/rotation_vector/gaming_rv/gaming_rv_sensor.h @@ -66,9 +66,6 @@ private: float m_gyro_static_bias[3]; int m_accel_rotation_direction_compensation[3]; int m_gyro_rotation_direction_compensation[3]; - float m_accel_scale; - float m_gyro_scale; - bool on_start(void); bool on_stop(void); }; diff --git a/src/server/plugins/sensor_fusion/orientation_filter.h b/src/server/plugins/sensor_fusion/orientation_filter.h index 3133f8b..ea6143d 100644 --- a/src/server/plugins/sensor_fusion/orientation_filter.h +++ b/src/server/plugins/sensor_fusion/orientation_filter.h @@ -36,6 +36,9 @@ #define V1x3S 3 #define V1x4S 4 #define V1x6S 6 +#define ACCEL_SCALE 1 +#define GYRO_SCALE 1146 +#define GEOMAGNETIC_SCALE 1 template class orientation_filter { diff --git a/src/server/plugins/sensor_fusion/sensor_data.cpp b/src/server/plugins/sensor_fusion/sensor_data.cpp index b1191bb..9f730cc 100644 --- a/src/server/plugins/sensor_fusion/sensor_data.cpp +++ b/src/server/plugins/sensor_fusion/sensor_data.cpp @@ -117,7 +117,7 @@ quaternion sensor_data2quat(const sensor_data data, const vect -void pre_process_data(sensor_data &data_out, const T *data_in, T *bias, int *sign, T scale) +void pre_process_data(sensor_data &data_out, const T *data_in, T *bias, int *sign, int 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; diff --git a/src/server/plugins/sensor_fusion/sensor_data.h b/src/server/plugins/sensor_fusion/sensor_data.h index 78d0d49..1fa3c5c 100644 --- a/src/server/plugins/sensor_fusion/sensor_data.h +++ b/src/server/plugins/sensor_fusion/sensor_data.h @@ -50,7 +50,7 @@ public: template friend quaternion sensor_data2quat(const sensor_data data, const vect ref_vec); template friend void pre_process_data(sensor_data &data_out, - const T *data_in, T *bias, int *sign, T scale); + const T *data_in, T *bias, int *sign, int scale); }; diff --git a/virtual_sensors.xml b/virtual_sensors.xml index 32fa33d..68282e8 100755 --- a/virtual_sensors.xml +++ b/virtual_sensors.xml @@ -12,9 +12,6 @@ - - - @@ -43,7 +40,6 @@ - @@ -67,8 +63,6 @@ - - @@ -100,9 +94,6 @@ - - - @@ -138,7 +129,6 @@ - @@ -162,8 +152,6 @@ - - @@ -195,9 +183,6 @@ - - - @@ -233,7 +218,6 @@ - @@ -257,8 +241,6 @@ - - -- 2.7.4