/*
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* Copyright (C) 2011 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef ANDROID_SENSOR_FUSION_H
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#define ANDROID_SENSOR_FUSION_H
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#include <stdint.h>
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#include <sys/types.h>
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#include <utils/SortedVector.h>
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#include <utils/Singleton.h>
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#include <utils/String8.h>
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#include <sensor/Sensor.h>
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#include "Fusion.h"
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// ---------------------------------------------------------------------------
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namespace android {
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// ---------------------------------------------------------------------------
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class SensorDevice;
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class SensorFusion : public Singleton<SensorFusion> {
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friend class Singleton<SensorFusion>;
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SensorDevice& mSensorDevice;
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Sensor mAcc;
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Sensor mMag;
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Sensor mGyro;
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Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro
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bool mEnabled[NUM_FUSION_MODE];
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vec4_t &mAttitude;
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vec4_t mAttitudes[NUM_FUSION_MODE];
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SortedVector<void*> mClients[3];
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float mEstimatedGyroRate;
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nsecs_t mTargetDelayNs;
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nsecs_t mGyroTime;
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nsecs_t mAccTime;
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SensorFusion();
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public:
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void process(const sensors_event_t& event);
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bool isEnabled() const {
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return mEnabled[FUSION_9AXIS] ||
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mEnabled[FUSION_NOMAG] ||
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mEnabled[FUSION_NOGYRO];
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}
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bool hasEstimate(int mode = FUSION_9AXIS) const {
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return mFusions[mode].hasEstimate();
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}
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mat33_t getRotationMatrix(int mode = FUSION_9AXIS) const {
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return mFusions[mode].getRotationMatrix();
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}
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vec4_t getAttitude(int mode = FUSION_9AXIS) const {
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return mAttitudes[mode];
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}
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vec3_t getGyroBias() const { return mFusions[FUSION_9AXIS].getBias(); }
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float getEstimatedRate() const { return mEstimatedGyroRate; }
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status_t activate(int mode, void* ident, bool enabled);
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status_t setDelay(int mode, void* ident, int64_t ns);
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float getPowerUsage(int mode=FUSION_9AXIS) const;
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int32_t getMinDelay() const;
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void dump(String8& result);
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};
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// ---------------------------------------------------------------------------
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}; // namespace android
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#endif // ANDROID_SENSOR_FUSION_H
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