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