Index: chrome/browser/device_orientation/accelerometer_mac.cc |
diff --git a/chrome/browser/device_orientation/accelerometer_mac.cc b/chrome/browser/device_orientation/accelerometer_mac.cc |
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+// Copyright (c) 2010 The Chromium Authors. All rights reserved. |
+// Use of this source code is governed by a BSD-style license that can be |
+// found in the LICENSE file. |
+// |
+// This file is based on the SMSLib library. |
+// |
+// SMSLib Sudden Motion Sensor Access Library |
+// Copyright (c) 2010 Suitable Systems |
+// All rights reserved. |
+// |
+// Developed by: Daniel Griscom |
+// Suitable Systems |
+// http://www.suitable.com |
+// |
+// Permission is hereby granted, free of charge, to any person obtaining a |
+// copy of this software and associated documentation files (the |
+// "Software"), to deal with the Software without restriction, including |
+// without limitation the rights to use, copy, modify, merge, publish, |
+// distribute, sublicense, and/or sell copies of the Software, and to |
+// permit persons to whom the Software is furnished to do so, subject to |
+// the following conditions: |
+// |
+// - Redistributions of source code must retain the above copyright notice, |
+// this list of conditions and the following disclaimers. |
+// |
+// - Redistributions in binary form must reproduce the above copyright |
+// notice, this list of conditions and the following disclaimers in the |
+// documentation and/or other materials provided with the distribution. |
+// |
+// - Neither the names of Suitable Systems nor the names of its |
+// contributors may be used to endorse or promote products derived from |
+// this Software without specific prior written permission. |
+// |
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS |
+// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
+// IN NO EVENT SHALL THE CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR |
+// ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, |
+// TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE |
+// SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE SOFTWARE. |
+// |
+// For more information about SMSLib, see |
+// <http://www.suitable.com/tools/smslib.html> |
+// or contact |
+// Daniel Griscom |
+// Suitable Systems |
+// 1 Centre Street, Suite 204 |
+// Wakefield, MA 01880 |
+// (781) 665-0053 |
+ |
+#include "chrome/browser/device_orientation/accelerometer_mac.h" |
+ |
+#include <math.h> // For isfinite. |
+#include <sys/sysctl.h> |
+ |
+#include "base/logging.h" |
+#include "base/scoped_ptr.h" |
+#include "chrome/browser/device_orientation/orientation.h" |
+ |
+namespace device_orientation { |
+ |
+// Per-axis sensor data. |
+struct AccelerometerMac::AxisData { |
+ // Non-zero if the axis is valid in this sensor. |
+ int enabled; |
+ |
+ // Location in struct of first byte. |
+ int index; |
+ |
+ // Number of bytes of the axis data. |
+ int size; |
+ |
+ // Value meaning "zero g". |
+ float zero_g; |
+ |
+ // (can be negative if the sensor axis is reversed). |
+ float one_g; |
+}; |
+ |
+// Sudden Motion Sensor descriptor. |
+struct AccelerometerMac::SensorDescriptor { |
+ // Prefix of model to be tested. |
+ const char* model_name; |
+ |
+ // Name of device to be read. |
+ const char* service_name; |
+ |
+ // Kernel function index. |
+ unsigned int function; |
+ |
+ // Size of record to be sent/received. |
+ unsigned int record_size; |
+ |
+ // Description of three axes (x,y,z). |
+ AxisData axes[3]; |
+}; |
+ |
+// Supported sensor descriptors. Add entries here to enhance compatibility. |
+// All non-tested entries from SMSLib have been removed. |
+const AccelerometerMac::SensorDescriptor |
+ AccelerometerMac::kSupportedSensors[] = { |
+ // Tested by leandrogracia on a 15'' MacBook Pro. |
+ { "MacBookPro5,4", "SMCMotionSensor", 5, 40, { |
+ { 1, 0, 2, 0, 251 }, |
+ { 1, 2, 2, 0, 251 }, |
+ { 1, 4, 2, 0, 251 } |
+ } }, |
+ |
+ // Tested by leandrogracia on a 13'' MacBook Pro. |
+ { "MacBookPro5,5", "SMCMotionSensor", 5, 40, { |
+ { 1, 0, 2, 0, -251 }, |
+ { 1, 2, 2, 0, -251 }, |
+ { 1, 4, 2, 0, 251 } |
+ } }, |
+ |
+ // Generic MacBook accelerometer sensor data. |
+ // Added for forward compatibility (there may be problems with inverted axes). |
+ {"", "SMCMotionSensor", 5, 40, { |
+ { 1, 0, 2, 0, -251 }, |
+ { 1, 2, 2, 0, -251 }, |
+ { 1, 4, 2, 0, 251 } |
+ } } |
+}; |
+ |
+// Create a AccelerometerMac object and return NULL if no valid sensor found. |
+DataFetcher* AccelerometerMac::Create() { |
+ scoped_ptr<AccelerometerMac> accelerometer(new AccelerometerMac); |
+ return accelerometer->Init() ? accelerometer.release() : NULL; |
+} |
+ |
+AccelerometerMac::~AccelerometerMac() { |
+ IOServiceClose(io_connection_); |
+} |
+ |
+AccelerometerMac::AccelerometerMac() |
+ : sensor_(NULL), |
+ io_connection_(0) { |
+} |
+ |
+// Retrieve per-axis accelerometer values. |
+// |
+// Axes and angles are defined according to the W3C DeviceOrientation Draft. |
+// See here: http://dev.w3.org/geo/api/spec-source-orientation.html |
+// |
+// Note: only beta and gamma angles are provided. Alpha is set to zero. |
+// |
+// Returns false in case of error or non-properly initialized object. |
+// |
+bool AccelerometerMac::GetOrientation(Orientation* orientation) { |
+ DCHECK(sensor_); |
+ |
+ // Reset output record memory buffer. |
+ std::fill(output_record_.begin(), output_record_.end(), 0x00); |
+ |
+ // Read record data from memory. |
+ const size_t kInputSize = sensor_->record_size; |
+ size_t output_size = sensor_->record_size; |
+ |
+ if (IOConnectCallStructMethod(io_connection_, sensor_->function, |
+ static_cast<const char *>(&input_record_[0]), kInputSize, |
+ &output_record_[0], &output_size) != KERN_SUCCESS) { |
+ return false; |
+ } |
+ |
+ // Calculate per-axis calibrated values. |
+ float axis_value[3]; |
+ |
+ for (int i = 0; i < 3; ++i) { |
+ int sensor_value = 0; |
+ int size = sensor_->axes[i].size; |
+ int index = sensor_->axes[i].index; |
+ |
+ // Important Note: little endian is assumed as this code is mac-only |
+ // and PowerPC is currently not supported. |
+ memcpy(&sensor_value, &output_record_[index], size); |
+ |
+ sensor_value = ExtendSign(sensor_value, size); |
+ |
+ // Correct value using the current calibration. |
+ axis_value[i] = static_cast<float>(sensor_value - sensor_->axes[i].zero_g) / |
+ sensor_->axes[i].one_g; |
+ |
+ // Make sure we reject any NaN or infinite values. |
+ if (!isfinite(axis_value[i])) |
+ return false; |
+ |
+ // Clamp value to the [-1, 1] range. |
+ if (axis_value[i] < -1.0) |
+ axis_value[i] = -1.0; |
+ else if (axis_value[i] > 1.0) |
+ axis_value[i] = 1.0; |
+ } |
+ |
+ // Transform the accelerometer values to W3C draft angles. |
+ // |
+ // Accelerometer values are just dot products of the sensor axes |
+ // by the gravity vector 'g' with the result for the z axis inverted. |
+ // |
+ // To understand this transformation calculate the 3rd row of the z-x-y |
+ // Euler angles rotation matrix (because of the 'g' vector, only 3rd row |
+ // affects to the result). Note that z-x-y matrix means R = Ry * Rx * Rz. |
+ // Then, assume alpha = 0 and you get this: |
+ // |
+ // x_acc = sin(gamma) |
+ // y_acc = - cos(gamma) * sin(beta) |
+ // z_acc = cos(beta) * cos(gamma) |
+ // |
+ // After that the rest is just a bit of trigonometry. |
+ // |
+ // Also note that alpha can't be provided but it's assumed to be always zero. |
+ // This is necessary in order to provide enough information to solve |
+ // the equations. |
+ // |
+ const double kRad2deg = 180.0 / M_PI; |
+ |
+ orientation->alpha_ = 0.0; |
+ orientation->beta_ = kRad2deg * atan2(-axis_value[1], axis_value[2]); |
+ orientation->gamma_ = kRad2deg * asin(axis_value[0]); |
+ |
+ // Make sure that the interval boundaries comply with the specification. |
+ if (orientation->beta_ >= 180.0) |
+ orientation->beta_ -= 360.0; |
+ if (orientation->gamma_ >= 90.0) |
+ orientation->gamma_ -= 180.0; |
+ |
+ DCHECK_GE(orientation->beta_, -180.0); |
+ DCHECK_LT(orientation->beta_, 180.0); |
+ DCHECK_GE(orientation->gamma_, -90.0); |
+ DCHECK_LT(orientation->gamma_, 90.0); |
+ |
+ orientation->can_provide_alpha_ = false; |
+ orientation->can_provide_beta_ = true; |
+ orientation->can_provide_gamma_ = true; |
+ |
+ return true; |
+} |
+ |
+// Probe the local hardware looking for a supported sensor device |
+// and initialize an I/O connection to it. |
+bool AccelerometerMac::Init() { |
+ // Allocate local variables for model name string (size from SMSLib). |
+ static const int kNameSize = 32; |
+ char local_model[kNameSize]; |
+ |
+ // Request model name to the kernel. |
+ size_t name_size = kNameSize; |
+ int params[2] = { CTL_HW, HW_MODEL }; |
+ if (sysctl(params, 2, local_model, &name_size, NULL, 0) != 0) |
+ return NULL; |
+ |
+ const SensorDescriptor* sensor_candidate = NULL; |
+ |
+ // Look for the current model in the supported sensor list. |
+ io_object_t device = 0; |
+ const int kNumSensors = arraysize(kSupportedSensors); |
+ |
+ for (int i = 0; i < kNumSensors; ++i) { |
+ // Check if the supported sensor model name is a prefix |
+ // of the local hardware model (empty names are accepted). |
+ const char* p1 = kSupportedSensors[i].model_name; |
+ for (const char* p2 = local_model; *p1 != '\0' && *p1 == *p2; ++p1, ++p2) |
+ continue; |
+ if (*p1 != '\0') |
+ continue; |
+ |
+ // Local hardware found in the supported sensor list. |
+ sensor_candidate = &kSupportedSensors[i]; |
+ |
+ // Get a dictionary of the services matching to the one in the sensor. |
+ CFMutableDictionaryRef dict = |
+ IOServiceMatching(sensor_candidate->service_name); |
+ if (dict == NULL) |
+ continue; |
+ |
+ // Get an iterator for the matching services. |
+ io_iterator_t device_iterator; |
+ if (IOServiceGetMatchingServices(kIOMasterPortDefault, dict, |
+ &device_iterator) != KERN_SUCCESS) { |
+ continue; |
+ } |
+ |
+ // Get the first device in the list. |
+ if ((device = IOIteratorNext(device_iterator)) == 0) |
+ continue; |
+ |
+ // Try to open device. |
+ kern_return_t result; |
+ result = IOServiceOpen(device, mach_task_self(), 0, &io_connection_); |
+ IOObjectRelease(device); |
+ if (result != KERN_SUCCESS || io_connection_ == 0) |
+ return false; |
+ |
+ // Local sensor service confirmed by IOKit. |
+ sensor_ = sensor_candidate; |
+ break; |
+ } |
+ |
+ if (sensor_ == NULL) |
+ return false; |
+ |
+ // Allocate and initialize input/output records. |
+ input_record_.resize(sensor_->record_size, 0x01); |
+ output_record_.resize(sensor_->record_size, 0x00); |
+ |
+ // Try to retrieve the current orientation. |
+ Orientation test_orientation; |
+ return GetOrientation(&test_orientation); |
+} |
+ |
+// Extend the sign of an integer of less than 32 bits to a 32-bit integer. |
+int AccelerometerMac::ExtendSign(int value, size_t size) { |
+ switch (size) { |
+ case 1: |
+ if (value & 0x00000080) |
+ return value | 0xffffff00; |
+ break; |
+ |
+ case 2: |
+ if (value & 0x00008000) |
+ return value | 0xffff0000; |
+ break; |
+ |
+ case 3: |
+ if (value & 0x00800000) |
+ return value | 0xff000000; |
+ break; |
+ |
+ default: |
+ LOG(FATAL) << "Invalid integer size for sign extension: " << size; |
+ } |
+ |
+ return value; |
+} |
+ |
+} // namespace device_orientation |