mEnabled(false), mGyroTime(0)
{
sensor_t const* list;
- size_t count = mSensorDevice.getSensorList(&list);
- for (size_t i=0 ; i<count ; i++) {
- if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
- mAcc = Sensor(list + i);
- }
- if (list[i].type == SENSOR_TYPE_MAGNETIC_FIELD) {
- mMag = Sensor(list + i);
- }
- 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;
+ ssize_t count = mSensorDevice.getSensorList(&list);
+ if (count > 0) {
+ for (size_t i=0 ; i<size_t(count) ; i++) {
+ if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
+ mAcc = Sensor(list + i);
+ }
+ if (list[i].type == SENSOR_TYPE_MAGNETIC_FIELD) {
+ mMag = Sensor(list + i);
+ }
+ 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;
+ }
}
+ mFusion.init();
}
- mFusion.init();
}
void SensorFusion::process(const sensors_event_t& event) {
SensorDevice& dev(SensorDevice::getInstance());
if (dev.initCheck() == NO_ERROR) {
- ssize_t orientationIndex = -1;
- bool hasGyro = false;
- uint32_t virtualSensorsNeeds =
- (1<<SENSOR_TYPE_GRAVITY) |
- (1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
- (1<<SENSOR_TYPE_ROTATION_VECTOR);
sensor_t const* list;
- int count = dev.getSensorList(&list);
- mLastEventSeen.setCapacity(count);
- for (int i=0 ; i<count ; i++) {
- registerSensor( new HardwareSensor(list[i]) );
- switch (list[i].type) {
- case SENSOR_TYPE_ORIENTATION:
- orientationIndex = i;
- break;
- case SENSOR_TYPE_GYROSCOPE:
- hasGyro = true;
- break;
- case SENSOR_TYPE_GRAVITY:
- case SENSOR_TYPE_LINEAR_ACCELERATION:
- case SENSOR_TYPE_ROTATION_VECTOR:
- virtualSensorsNeeds &= ~(1<<list[i].type);
- break;
+ ssize_t count = dev.getSensorList(&list);
+ if (count > 0) {
+ ssize_t orientationIndex = -1;
+ bool hasGyro = false;
+ uint32_t virtualSensorsNeeds =
+ (1<<SENSOR_TYPE_GRAVITY) |
+ (1<<SENSOR_TYPE_LINEAR_ACCELERATION) |
+ (1<<SENSOR_TYPE_ROTATION_VECTOR);
+
+ mLastEventSeen.setCapacity(count);
+ for (ssize_t i=0 ; i<count ; i++) {
+ registerSensor( new HardwareSensor(list[i]) );
+ switch (list[i].type) {
+ case SENSOR_TYPE_ORIENTATION:
+ orientationIndex = i;
+ break;
+ case SENSOR_TYPE_GYROSCOPE:
+ hasGyro = true;
+ break;
+ case SENSOR_TYPE_GRAVITY:
+ case SENSOR_TYPE_LINEAR_ACCELERATION:
+ case SENSOR_TYPE_ROTATION_VECTOR:
+ virtualSensorsNeeds &= ~(1<<list[i].type);
+ break;
+ }
}
- }
- // it's safe to instantiate the SensorFusion object here
- // (it wants to be instantiated after h/w sensors have been
- // 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) );
-
- // virtual debugging sensors...
- char value[PROPERTY_VALUE_MAX];
- property_get("debug.sensors", value, "0");
- if (atoi(value)) {
- registerVirtualSensor( new GyroDriftSensor() );
+ // it's safe to instantiate the SensorFusion object here
+ // (it wants to be instantiated after h/w sensors have been
+ // 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) );
+
+ // virtual debugging sensors...
+ char value[PROPERTY_VALUE_MAX];
+ property_get("debug.sensors", value, "0");
+ if (atoi(value)) {
+ registerVirtualSensor( new GyroDriftSensor() );
+ }
}
- }
- // build the sensor list returned to users
- mUserSensorList = mSensorList;
- 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);
+ // build the sensor list returned to users
+ mUserSensorList = mSensorList;
+ 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);
+ }
}
- }
- run("SensorService", PRIORITY_URGENT_DISPLAY);
- mInitCheck = NO_ERROR;
+ run("SensorService", PRIORITY_URGENT_DISPLAY);
+ mInitCheck = NO_ERROR;
+ }
}
}