upload android base code part6
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android/system/chre/apps/sensor_world/sensor_world.cc
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315
android/system/chre/apps/sensor_world/sensor_world.cc
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/*
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* Copyright (C) 2016 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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#include <chre.h>
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#include <cinttypes>
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#include "chre/util/macros.h"
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#include "chre/util/nanoapp/log.h"
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#include "chre/util/nanoapp/sensor.h"
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#include "chre/util/time.h"
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#define LOG_TAG "[SensorWorld]"
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#ifdef CHRE_NANOAPP_INTERNAL
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namespace chre {
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namespace {
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#endif // CHRE_NANOAPP_INTERNAL
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namespace {
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//! Enable/disable all sensors by default.
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// This allows disabling all sensens by default and enabling only targeted
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// sensors for testing by locally overriding 'enable' field in SensorState.
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constexpr bool kEnableDefault = true;
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struct SensorState {
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const uint8_t type;
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uint32_t handle;
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bool isInitialized;
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bool enable;
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uint64_t interval; // nsec
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uint64_t latency; // nsec
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chreSensorInfo info;
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};
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SensorState sensors[] = {
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{ .type = CHRE_SENSOR_TYPE_ACCELEROMETER,
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.enable = kEnableDefault,
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.interval = Milliseconds(80).toRawNanoseconds(),
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.latency = Seconds(4).toRawNanoseconds(),
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},
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{ .type = CHRE_SENSOR_TYPE_INSTANT_MOTION_DETECT,
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.enable = false, // InstantMotion is triggered by Prox
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},
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{ .type = CHRE_SENSOR_TYPE_STATIONARY_DETECT,
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.enable = false, // StationaryDetect is triggered by Prox
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},
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{ .type = CHRE_SENSOR_TYPE_GYROSCOPE,
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.enable = kEnableDefault,
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.interval = Milliseconds(80).toRawNanoseconds(),
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.latency = Seconds(4).toRawNanoseconds(),
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},
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{ .type = CHRE_SENSOR_TYPE_GEOMAGNETIC_FIELD,
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.enable = kEnableDefault,
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.interval = Milliseconds(80).toRawNanoseconds(),
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.latency = Seconds(4).toRawNanoseconds(),
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},
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{ .type = CHRE_SENSOR_TYPE_PRESSURE,
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.enable = kEnableDefault,
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.interval = Milliseconds(200).toRawNanoseconds(),
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.latency = Seconds(4).toRawNanoseconds(),
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},
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{ .type = CHRE_SENSOR_TYPE_LIGHT,
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.enable = kEnableDefault,
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.interval = Milliseconds(200).toRawNanoseconds(),
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.latency = 0,
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},
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{ .type = CHRE_SENSOR_TYPE_PROXIMITY,
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.enable = kEnableDefault,
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.interval = Milliseconds(200).toRawNanoseconds(),
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.latency = 0,
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},
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{ .type = CHRE_SENSOR_TYPE_ACCELEROMETER_TEMPERATURE,
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.enable = kEnableDefault,
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.interval = Seconds(2).toRawNanoseconds(),
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.latency = 0,
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},
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{ .type = CHRE_SENSOR_TYPE_GYROSCOPE_TEMPERATURE,
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.enable = kEnableDefault,
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.interval = Seconds(2).toRawNanoseconds(),
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.latency = 0,
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},
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{ .type = CHRE_SENSOR_TYPE_UNCALIBRATED_ACCELEROMETER,
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.enable = kEnableDefault,
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.interval = Milliseconds(80).toRawNanoseconds(),
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.latency = Seconds(4).toRawNanoseconds(),
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},
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{ .type = CHRE_SENSOR_TYPE_UNCALIBRATED_GYROSCOPE,
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.enable = kEnableDefault,
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.interval = Milliseconds(80).toRawNanoseconds(),
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.latency = Seconds(4).toRawNanoseconds(),
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},
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{ .type = CHRE_SENSOR_TYPE_UNCALIBRATED_GEOMAGNETIC_FIELD,
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.enable = kEnableDefault,
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.interval = Milliseconds(80).toRawNanoseconds(),
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.latency = Seconds(4).toRawNanoseconds(),
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},
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};
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// Helpers for testing InstantMotion and StationaryDetect
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enum class MotionMode {
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Instant,
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Stationary,
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};
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// Storage to help access InstantMotion and StationaryDetect sensor handle and
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// info
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size_t motionSensorIndices[2];
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MotionMode motionMode = MotionMode::Instant;
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size_t getMotionSensorIndex() {
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motionMode = (motionMode == MotionMode::Instant) ?
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MotionMode::Stationary : MotionMode::Instant;
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return motionSensorIndices[static_cast<size_t>(motionMode)];
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}
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size_t statusIndex = 0;
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} // namespace
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bool nanoappStart() {
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LOGI("App started on platform ID %" PRIx64, chreGetPlatformId());
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for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) {
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SensorState& sensor = sensors[i];
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sensor.isInitialized = chreSensorFindDefault(sensor.type, &sensor.handle);
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LOGI("Sensor %d initialized: %s with handle %" PRIu32,
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i, sensor.isInitialized ? "true" : "false", sensor.handle);
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if (sensor.type == CHRE_SENSOR_TYPE_INSTANT_MOTION_DETECT) {
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motionSensorIndices[static_cast<size_t>(MotionMode::Instant)] = i;
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} else if (sensor.type == CHRE_SENSOR_TYPE_STATIONARY_DETECT) {
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motionSensorIndices[static_cast<size_t>(MotionMode::Stationary)] = i;
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}
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if (sensor.isInitialized) {
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// Get sensor info
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chreSensorInfo& info = sensor.info;
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bool infoStatus = chreGetSensorInfo(sensor.handle, &info);
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if (infoStatus) {
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LOGI("SensorInfo: %s, Type=%" PRIu8 " OnChange=%d"
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" OneShot=%d minInterval=%" PRIu64 "nsec",
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info.sensorName, info.sensorType, info.isOnChange,
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info.isOneShot, info.minInterval);
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} else {
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LOGE("chreGetSensorInfo failed");
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}
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// Subscribe to sensors
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if (sensor.enable) {
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float odrHz = 1e9f / sensor.interval;
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float latencySec = sensor.latency / 1e9f;
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bool status = chreSensorConfigure(sensor.handle,
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CHRE_SENSOR_CONFIGURE_MODE_CONTINUOUS, sensor.interval,
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sensor.latency);
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LOGI("Requested data: odr %f Hz, latency %f sec, %s",
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odrHz, latencySec, status ? "success" : "failure");
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}
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}
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}
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return true;
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}
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void nanoappHandleEvent(uint32_t senderInstanceId,
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uint16_t eventType,
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const void *eventData) {
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uint64_t chreTime = chreGetTime();
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uint64_t sampleTime;
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switch (eventType) {
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case CHRE_EVENT_SENSOR_ACCELEROMETER_DATA:
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case CHRE_EVENT_SENSOR_UNCALIBRATED_ACCELEROMETER_DATA:
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case CHRE_EVENT_SENSOR_GYROSCOPE_DATA:
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case CHRE_EVENT_SENSOR_UNCALIBRATED_GYROSCOPE_DATA:
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case CHRE_EVENT_SENSOR_GEOMAGNETIC_FIELD_DATA:
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case CHRE_EVENT_SENSOR_UNCALIBRATED_GEOMAGNETIC_FIELD_DATA: {
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const auto *ev = static_cast<const chreSensorThreeAxisData *>(eventData);
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const auto header = ev->header;
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const auto *data = ev->readings;
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sampleTime = header.baseTimestamp;
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float x = 0, y = 0, z = 0;
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for (size_t i = 0; i < header.readingCount; i++) {
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x += data[i].v[0];
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y += data[i].v[1];
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z += data[i].v[2];
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sampleTime += data[i].timestampDelta;
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}
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x /= header.readingCount;
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y /= header.readingCount;
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z /= header.readingCount;
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LOGI("%s, %d samples: %f %f %f",
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getSensorNameForEventType(eventType), header.readingCount, x, y, z);
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if (eventType == CHRE_EVENT_SENSOR_UNCALIBRATED_GYROSCOPE_DATA) {
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LOGI("UncalGyro time: first %" PRIu64 " last %" PRIu64 " chre %" PRIu64
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" delta [%" PRId64 ", %" PRId64 "]ms",
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header.baseTimestamp, sampleTime, chreTime,
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static_cast<int64_t>(header.baseTimestamp - chreTime) / 1000000,
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static_cast<int64_t>(sampleTime - chreTime) / 1000000);
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}
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break;
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}
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case CHRE_EVENT_SENSOR_PRESSURE_DATA:
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case CHRE_EVENT_SENSOR_LIGHT_DATA:
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case CHRE_EVENT_SENSOR_ACCELEROMETER_TEMPERATURE_DATA:
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case CHRE_EVENT_SENSOR_GYROSCOPE_TEMPERATURE_DATA: {
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const auto *ev = static_cast<const chreSensorFloatData *>(eventData);
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const auto header = ev->header;
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float v = 0;
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for (size_t i = 0; i < header.readingCount; i++) {
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v += ev->readings[i].value;
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}
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v /= header.readingCount;
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LOGI("%s, %d samples: %f",
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getSensorNameForEventType(eventType), header.readingCount, v);
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break;
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}
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case CHRE_EVENT_SENSOR_PROXIMITY_DATA: {
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const auto *ev = static_cast<const chreSensorByteData *>(eventData);
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const auto header = ev->header;
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const auto reading = ev->readings[0];
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sampleTime = header.baseTimestamp;
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LOGI("%s, %d samples: isNear %d, invalid %d",
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getSensorNameForEventType(eventType), header.readingCount,
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reading.isNear, reading.invalid);
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LOGI("Prox time: sample %" PRIu64 " chre %" PRIu64 " delta %" PRId64 "ms",
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header.baseTimestamp, chreTime,
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static_cast<int64_t>(sampleTime - chreTime) / 1000000);
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// Enable InstantMotion and StationaryDetect alternatively on near->far.
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if (reading.isNear == 0) {
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size_t motionSensorIndex = getMotionSensorIndex();
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bool status = chreSensorConfigure(sensors[motionSensorIndex].handle,
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CHRE_SENSOR_CONFIGURE_MODE_ONE_SHOT,
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CHRE_SENSOR_INTERVAL_DEFAULT,
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CHRE_SENSOR_LATENCY_DEFAULT);
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LOGI("Requested %s: %s", sensors[motionSensorIndex].info.sensorName,
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status ? "success" : "failure");
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}
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// Exercise chreGetSensorSamplingStatus on one sensor on near->far.
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if (sensors[statusIndex].isInitialized && reading.isNear == 0) {
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struct chreSensorSamplingStatus status;
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bool success = chreGetSensorSamplingStatus(sensors[statusIndex].handle,
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&status);
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LOGI("%s success %d: enabled %d interval %" PRIu64 " latency %" PRIu64,
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sensors[statusIndex].info.sensorName, success, status.enabled,
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status.interval, status.latency);
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}
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statusIndex = (statusIndex + 1) % ARRAY_SIZE(sensors);
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break;
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}
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case CHRE_EVENT_SENSOR_INSTANT_MOTION_DETECT_DATA:
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case CHRE_EVENT_SENSOR_STATIONARY_DETECT_DATA: {
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const auto *ev = static_cast<const chreSensorOccurrenceData *>(eventData);
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const auto header = ev->header;
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LOGI("%s, %d samples",
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getSensorNameForEventType(eventType), header.readingCount);
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break;
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}
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case CHRE_EVENT_SENSOR_SAMPLING_CHANGE: {
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const auto *ev = static_cast<const chreSensorSamplingStatusEvent *>(
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eventData);
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LOGI("Sampling Change: handle %" PRIu32 ", status: interval %" PRIu64
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" latency %" PRIu64 " enabled %d",
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ev->sensorHandle, ev->status.interval, ev->status.latency,
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ev->status.enabled);
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break;
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}
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default:
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LOGW("Unhandled event %d", eventType);
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break;
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}
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}
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void nanoappEnd() {
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LOGI("Stopped");
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}
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#ifdef CHRE_NANOAPP_INTERNAL
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} // anonymous namespace
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} // namespace chre
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#include "chre/util/nanoapp/app_id.h"
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#include "chre/platform/static_nanoapp_init.h"
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CHRE_STATIC_NANOAPP_INIT(SensorWorld, chre::kSensorWorldAppId, 0);
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#endif // CHRE_NANOAPP_INTERNAL
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12
android/system/chre/apps/sensor_world/sensor_world.mk
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android/system/chre/apps/sensor_world/sensor_world.mk
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#
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# Sensor World Makefile
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#
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# Common Compiler Flags ########################################################
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# Include paths.
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COMMON_CFLAGS += -Iapps/sensor_world/include
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# Common Source Files ##########################################################
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COMMON_SRCS += apps/sensor_world/sensor_world.cc
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