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1 // Copyright 2017 The Chromium Authors. All rights reserved. | |
2 // Use of this source code is governed by a BSD-style license that can be | |
3 // found in the LICENSE file. | |
4 | |
5 #include "device/generic_sensor/platform_sensor_fusion_relative_orientation.h" | |
6 | |
7 #include <stdint.h> | |
8 | |
9 #include <cmath> | |
10 | |
11 #include "base/bind.h" | |
12 #include "base/bind_helpers.h" | |
13 #include "base/memory/ptr_util.h" | |
14 #include "device/generic_sensor/generic_sensor_consts.h" | |
15 #include "device/generic_sensor/platform_sensor_provider.h" | |
16 #include "device/generic_sensor/public/cpp/sensor_shared_buffer_reader.h" | |
17 #include "device/generic_sensor/relative_orientation_fusion_algorithm_using_acce lerometer.h" | |
18 | |
19 namespace { | |
20 | |
21 constexpr double kQuaternionThreshold = 0.01; | |
Mikhail
2017/06/20 13:50:00
where did this value come from?
juncai
2017/06/20 19:50:55
The quaternion is a unit quaternion so I thought 0
timvolodine
2017/06/21 18:22:11
There should be some rational explanation for this
juncai
2017/07/20 00:22:16
In the new CL:
https://chromium-review.googlesourc
| |
22 | |
23 bool IsSignificantlyDifferent(const device::SensorReading& reading1, | |
24 const device::SensorReading& reading2) { | |
25 return (std::fabs(reading1.values[0] - reading2.values[0]) >= | |
26 kQuaternionThreshold) || | |
27 (std::fabs(reading1.values[1] - reading2.values[1]) >= | |
28 kQuaternionThreshold) || | |
29 (std::fabs(reading1.values[2] - reading2.values[2]) >= | |
30 kQuaternionThreshold); | |
31 } | |
32 | |
33 } // namespace | |
34 | |
35 namespace device { | |
36 | |
37 PlatformSensorFusionRelativeOrientation:: | |
38 PlatformSensorFusionRelativeOrientation( | |
39 mojo::ScopedSharedBufferMapping mapping, | |
40 PlatformSensorProvider* provider, | |
41 const PlatformSensorProviderBase::CreateSensorCallback& callback) | |
42 : PlatformSensor(mojom::SensorType::RELATIVE_ORIENTATION, | |
43 std::move(mapping), | |
44 provider), | |
45 callback_(callback) { | |
46 provider->CreateSensor( | |
Mikhail
2017/06/20 13:50:00
think it's worth first look for existing sensors u
juncai
2017/06/20 19:50:55
Done.
| |
47 mojom::SensorType::ACCELEROMETER, | |
48 base::Bind( | |
49 &PlatformSensorFusionRelativeOrientation::CreateAccelerometerCallback, | |
50 base::Unretained(this))); | |
51 } | |
52 | |
53 PlatformSensorFusionRelativeOrientation:: | |
54 ~PlatformSensorFusionRelativeOrientation() { | |
55 if (accelerometer_) | |
56 accelerometer_->RemoveClient(this); | |
57 } | |
58 | |
59 mojom::ReportingMode | |
60 PlatformSensorFusionRelativeOrientation::GetReportingMode() { | |
61 return accelerometer_->GetReportingMode(); | |
62 } | |
63 | |
64 PlatformSensorConfiguration | |
65 PlatformSensorFusionRelativeOrientation::GetDefaultConfiguration() { | |
66 return PlatformSensorConfiguration(kDefaultAccelerometerFrequencyHz); | |
Mikhail
2017/06/20 13:50:00
why not use accelerometer_->GetDefaultConfiguratio
juncai
2017/06/20 19:50:55
Done.
| |
67 } | |
68 | |
69 bool PlatformSensorFusionRelativeOrientation::StartSensor( | |
70 const PlatformSensorConfiguration& configuration) { | |
71 if (!accelerometer_->StartSensor(configuration)) | |
72 return false; | |
73 | |
74 accelerometer_reader_ = base::MakeUnique<SensorSharedBufferReader>( | |
Mikhail
2017/06/20 13:50:00
instead of introducing SensorSharedBufferReader I'
juncai
2017/06/20 19:50:55
Done.
| |
75 static_cast<const SensorReadingSharedBuffer*>( | |
76 accelerometer_->shared_buffer_mapping().get())); | |
77 | |
78 return true; | |
79 } | |
80 | |
81 void PlatformSensorFusionRelativeOrientation::StopSensor() { | |
82 accelerometer_->StopSensor(); | |
83 } | |
84 | |
85 void PlatformSensorFusionRelativeOrientation::OnSensorReadingChanged() { | |
86 SensorReading reading; | |
87 reading.timestamp = (base::TimeTicks::Now() - base::TimeTicks()).InSecondsF(); | |
88 | |
89 if (!accelerometer_reader_->GetSensorReading(&reading)) | |
90 return; | |
91 | |
92 fusion_algorithm_->set_acceleration(reading.values[0], reading.values[1], | |
93 reading.values[2]); | |
94 | |
95 fusion_algorithm_->GetRelativeOrientationData( | |
96 &reading.values[0].value(), &reading.values[1].value(), | |
97 &reading.values[2].value(), &reading.values[3].value()); | |
98 | |
99 if (GetReportingMode() == mojom::ReportingMode::ON_CHANGE && | |
100 !IsSignificantlyDifferent(reading_, reading)) { | |
101 return; | |
102 } | |
103 | |
104 reading_ = reading; | |
105 UpdateSensorReading(reading_, | |
106 GetReportingMode() == mojom::ReportingMode::ON_CHANGE); | |
107 } | |
108 | |
109 void PlatformSensorFusionRelativeOrientation::OnSensorError() { | |
110 NotifySensorError(); | |
111 } | |
112 | |
113 bool PlatformSensorFusionRelativeOrientation::IsNotificationSuspended() { | |
Mikhail
2017/06/20 13:50:00
think here the suspend status of its own clients s
juncai
2017/06/20 19:50:55
Done.
| |
114 return false; | |
115 } | |
116 | |
117 bool PlatformSensorFusionRelativeOrientation::CheckSensorConfiguration( | |
118 const PlatformSensorConfiguration& configuration) { | |
119 return configuration.frequency() > 0 && | |
Mikhail
2017/06/20 13:50:00
why not forward this call to the contained "accele
juncai
2017/06/20 19:50:55
Done.
| |
120 configuration.frequency() <= | |
121 mojom::SensorConfiguration::kMaxAllowedFrequency; | |
122 } | |
123 | |
124 void PlatformSensorFusionRelativeOrientation::CreateAccelerometerCallback( | |
125 scoped_refptr<PlatformSensor> accelerometer) { | |
126 accelerometer_ = accelerometer; | |
127 if (accelerometer_) { | |
128 accelerometer_->AddClient(this); | |
129 fusion_algorithm_ = base::MakeUnique< | |
130 RelativeOrientationFusionAlgorithmUsingAccelerometer>(); | |
131 callback_.Run(scoped_refptr<PlatformSensor>(this)); | |
132 } else { | |
133 callback_.Run(nullptr); | |
134 } | |
135 } | |
136 | |
137 } // namespace device | |
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