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Merge "various fixes to the sensorservice"

This commit is contained in:
Mathias Agopian 2013-05-17 01:49:42 +00:00 committed by Android (Google) Code Review
parent ddd466abc1 0319306670
commit a6fee1904f
8 changed files with 62 additions and 55 deletions
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2
services/sensorservice/CorrectedGyroSensor.cpp
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@ -69,7 +69,7 @@ status_t CorrectedGyroSensor::setDelay(void* ident, int handle, int64_t ns) {
Sensor CorrectedGyroSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Corrected Gyroscope Sensor";
hwSensor.vendor = "Google Inc.";
hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_cgy';
hwSensor.type = SENSOR_TYPE_GYROSCOPE;

2
services/sensorservice/GravitySensor.cpp
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@ -77,7 +77,7 @@ status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns) {
Sensor GravitySensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Gravity Sensor";
hwSensor.vendor = "Google Inc.";
hwSensor.vendor = "AOSP";
hwSensor.version = 3;
hwSensor.handle = '_grv';
hwSensor.type = SENSOR_TYPE_GRAVITY;

2
services/sensorservice/LinearAccelerationSensor.cpp
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@ -62,7 +62,7 @@ Sensor LinearAccelerationSensor::getSensor() const {
Sensor gsensor(mGravitySensor.getSensor());
sensor_t hwSensor;
hwSensor.name = "Linear Acceleration Sensor";
hwSensor.vendor = "Google Inc.";
hwSensor.vendor = "AOSP";
hwSensor.version = gsensor.getVersion();
hwSensor.handle = '_lin';
hwSensor.type = SENSOR_TYPE_LINEAR_ACCELERATION;

5
services/sensorservice/OrientationSensor.cpp
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@ -33,6 +33,9 @@ OrientationSensor::OrientationSensor()
: mSensorDevice(SensorDevice::getInstance()),
mSensorFusion(SensorFusion::getInstance())
{
// FIXME: instead of using the SensorFusion code, we should use
// the SENSOR_TYPE_ROTATION_VECTOR instead. This way we could use the
// HAL's implementation.
}
bool OrientationSensor::process(sensors_event_t* outEvent,
@ -73,7 +76,7 @@ status_t OrientationSensor::setDelay(void* ident, int handle, int64_t ns) {
Sensor OrientationSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Orientation Sensor";
hwSensor.vendor = "Google Inc.";
hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_ypr';
hwSensor.type = SENSOR_TYPE_ORIENTATION;

4
services/sensorservice/RotationVectorSensor.cpp
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@ -63,7 +63,7 @@ status_t RotationVectorSensor::setDelay(void* ident, int handle, int64_t ns) {
Sensor RotationVectorSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Rotation Vector Sensor";
hwSensor.vendor = "Google Inc.";
hwSensor.vendor = "AOSP";
hwSensor.version = 3;
hwSensor.handle = '_rov';
hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR;
@ -112,7 +112,7 @@ status_t GyroDriftSensor::setDelay(void* ident, int handle, int64_t ns) {
Sensor GyroDriftSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Gyroscope Bias (debug)";
hwSensor.vendor = "Google Inc.";
hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_gbs';
hwSensor.type = SENSOR_TYPE_ACCELEROMETER;

20
services/sensorservice/SensorFusion.cpp
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@ -28,6 +28,7 @@ SensorFusion::SensorFusion()
mEnabled(false), mGyroTime(0)
{
sensor_t const* list;
Sensor uncalibratedGyro;
ssize_t count = mSensorDevice.getSensorList(&list);
if (count > 0) {
for (size_t i=0 ; i<size_t(count) ; i++) {
@ -39,18 +40,27 @@ SensorFusion::SensorFusion()
}
if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
mGyro = Sensor(list + i);
// 200 Hz for gyro events is a good compromise between precision
// and power/cpu usage.
mGyroRate = 200;
mTargetDelayNs = 1000000000LL/mGyroRate;
}
if (list[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
uncalibratedGyro = Sensor(list + i);
}
}
// Use the uncalibrated gyroscope for sensor fusion when available
if (uncalibratedGyro.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
mGyro = uncalibratedGyro;
}
// 200 Hz for gyro events is a good compromise between precision
// and power/cpu usage.
mGyroRate = 200;
mTargetDelayNs = 1000000000LL/mGyroRate;
mFusion.init();
}
}
void SensorFusion::process(const sensors_event_t& event) {
if (event.type == SENSOR_TYPE_GYROSCOPE) {
if (event.type == mGyro.getType()) {
if (mGyroTime != 0) {
const float dT = (event.timestamp - mGyroTime) / 1000000000.0f;
const float freq = 1 / dT;

78
services/sensorservice/SensorService.cpp
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@ -93,6 +93,7 @@ void SensorService::onFirstRef()
orientationIndex = i;
break;
case SENSOR_TYPE_GYROSCOPE:
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
hasGyro = true;
break;
case SENSOR_TYPE_GRAVITY:
@ -108,54 +109,44 @@ void SensorService::onFirstRef()
// registered)
const SensorFusion& fusion(SensorFusion::getInstance());
if (hasGyro) {
// Always instantiate Android's virtual sensors. Since they are
// instantiated behind sensors from the HAL, they won't
// interfere with applications, unless they looks specifically
// for them (by name).
registerVirtualSensor( new RotationVectorSensor() );
registerVirtualSensor( new GravitySensor(list, count) );
registerVirtualSensor( new LinearAccelerationSensor(list, count) );
// these are optional
registerVirtualSensor( new OrientationSensor() );
registerVirtualSensor( new CorrectedGyroSensor(list, count) );
}
// build the sensor list returned to users
mUserSensorList = mSensorList;
if (hasGyro) {
Sensor aSensor;
// Add Android virtual sensors if they're not already
// available in the HAL
aSensor = registerVirtualSensor( new RotationVectorSensor() );
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
mUserSensorList.add(aSensor);
}
aSensor = registerVirtualSensor( new GravitySensor(list, count) );
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_GRAVITY)) {
mUserSensorList.add(aSensor);
}
aSensor = registerVirtualSensor( new LinearAccelerationSensor(list, count) );
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_LINEAR_ACCELERATION)) {
mUserSensorList.add(aSensor);
}
aSensor = registerVirtualSensor( new OrientationSensor() );
if (virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR)) {
// if we are doing our own rotation-vector, also add
// the orientation sensor and remove the HAL provided one.
mUserSensorList.replaceAt(aSensor, orientationIndex);
}
// virtual debugging sensors are not added to mUserSensorList
registerVirtualSensor( new CorrectedGyroSensor(list, count) );
registerVirtualSensor( new GyroDriftSensor() );
}
if (hasGyro &&
(virtualSensorsNeeds & (1<<SENSOR_TYPE_ROTATION_VECTOR))) {
// if we have the fancy sensor fusion, and it's not provided by the
// HAL, use our own (fused) orientation sensor by removing the
// HAL supplied one form the user list.
if (orientationIndex >= 0) {
mUserSensorList.removeItemsAt(orientationIndex);
}
}
// debugging sensor list
for (size_t i=0 ; i<mSensorList.size() ; i++) {
switch (mSensorList[i].getType()) {
case SENSOR_TYPE_GRAVITY:
case SENSOR_TYPE_LINEAR_ACCELERATION:
case SENSOR_TYPE_ROTATION_VECTOR:
if (strstr(mSensorList[i].getVendor().string(), "Google")) {
mUserSensorListDebug.add(mSensorList[i]);
}
break;
default:
mUserSensorListDebug.add(mSensorList[i]);
break;
}
}
mUserSensorListDebug = mSensorList;
run("SensorService", PRIORITY_URGENT_DISPLAY);
mInitCheck = NO_ERROR;
@ -163,7 +154,7 @@ void SensorService::onFirstRef()
}
}
void SensorService::registerSensor(SensorInterface* s)
Sensor SensorService::registerSensor(SensorInterface* s)
{
sensors_event_t event;
memset(&event, 0, sizeof(event));
@ -175,12 +166,15 @@ void SensorService::registerSensor(SensorInterface* s)
mSensorMap.add(sensor.getHandle(), s);
// create an entry in the mLastEventSeen array
mLastEventSeen.add(sensor.getHandle(), event);
return sensor;
}
void SensorService::registerVirtualSensor(SensorInterface* s)
Sensor SensorService::registerVirtualSensor(SensorInterface* s)
{
registerSensor(s);
Sensor sensor = registerSensor(s);
mVirtualSensorList.add( s );
return sensor;
}
SensorService::~SensorService()

4
services/sensorservice/SensorService.h
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@ -114,8 +114,8 @@ class SensorService :
int getSensorType(int handle) const;
void recordLastValue(sensors_event_t const * buffer, size_t count);
static void sortEventBuffer(sensors_event_t* buffer, size_t count);
void registerSensor(SensorInterface* sensor);
void registerVirtualSensor(SensorInterface* sensor);
Sensor registerSensor(SensorInterface* sensor);
Sensor registerVirtualSensor(SensorInterface* sensor);
status_t cleanupWithoutDisable(const sp<SensorEventConnection>& connection,
int handle);
void cleanupAutoDisabledSensor(const sp<SensorEventConnection>& connection,