Add RELATIVE_ORIENTATION sensor implementation on macOS to //device/generic_sensor

device/generic_sensor/platform_sensor_fusion_relative_orientation.cc

Index: device/generic_sensor/platform_sensor_fusion_relative_orientation.cc
diff --git a/device/generic_sensor/platform_sensor_fusion_relative_orientation.cc b/device/generic_sensor/platform_sensor_fusion_relative_orientation.cc
new file mode 100644
index 0000000000000000000000000000000000000000..ed7fbfd1a32cfc7ce41f8d2a8aef078a415cf129
--- /dev/null
+++ b/device/generic_sensor/platform_sensor_fusion_relative_orientation.cc
@@ -0,0 +1,141 @@
+// Copyright 2017 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.
+
+#include "device/generic_sensor/platform_sensor_fusion_relative_orientation.h"
+
+#include <stdint.h>
+
+#include <cmath>
+
+#include "base/bind.h"
+#include "base/bind_helpers.h"
+#include "base/memory/ptr_util.h"
+#include "device/generic_sensor/generic_sensor_consts.h"
+#include "device/generic_sensor/platform_sensor_provider.h"
+#include "device/generic_sensor/relative_orientation_fusion_algorithm_using_accelerometer.h"
+
+namespace {
+
+constexpr double kQuaternionThreshold = 0.01;
+
+bool IsSignificantlyDifferent(const device::SensorReading& reading1,
+                              const device::SensorReading& reading2) {
+  return (std::fabs(reading1.values[0] - reading2.values[0]) >=
+          kQuaternionThreshold) ||
+         (std::fabs(reading1.values[1] - reading2.values[1]) >=
+          kQuaternionThreshold) ||
+         (std::fabs(reading1.values[2] - reading2.values[2]) >=
+          kQuaternionThreshold) ||
+         (std::fabs(reading1.values[3] - reading2.values[3]) >=
+          kQuaternionThreshold);
+}
+
+}  // namespace
+
+namespace device {
+
+PlatformSensorFusionRelativeOrientation::
+    PlatformSensorFusionRelativeOrientation(
+        mojo::ScopedSharedBufferMapping mapping,
+        PlatformSensorProvider* provider,
+        const PlatformSensorProviderBase::CreateSensorCallback& callback)
+    : PlatformSensor(mojom::SensorType::RELATIVE_ORIENTATION,
+                     std::move(mapping),
+                     provider),
+      callback_(callback) {
+  accelerometer_ = provider->GetSensor(mojom::SensorType::ACCELEROMETER);
+  if (accelerometer_) {
+    CreateAccelerometerSucceeded();
+  } else {
+    provider->CreateSensor(mojom::SensorType::ACCELEROMETER,
+                           base::Bind(&PlatformSensorFusionRelativeOrientation::
+                                          CreateAccelerometerCallback,
+                                      base::Unretained(this)));
+  }
+}
+
+PlatformSensorFusionRelativeOrientation::
+    ~PlatformSensorFusionRelativeOrientation() {
+  if (accelerometer_)
+    accelerometer_->RemoveClient(this);
+}
+
+mojom::ReportingMode
+PlatformSensorFusionRelativeOrientation::GetReportingMode() {
+  return accelerometer_->GetReportingMode();
+}
+
+PlatformSensorConfiguration
+PlatformSensorFusionRelativeOrientation::GetDefaultConfiguration() {
+  return accelerometer_->GetDefaultConfiguration();
+}
+
+bool PlatformSensorFusionRelativeOrientation::StartSensor(
+    const PlatformSensorConfiguration& configuration) {
+  return accelerometer_->StartSensor(configuration);
+}
+
+void PlatformSensorFusionRelativeOrientation::StopSensor() {
+  accelerometer_->StopSensor();
+}
+
+void PlatformSensorFusionRelativeOrientation::OnSensorReadingChanged() {
+  SensorReading reading;
+  reading.timestamp = (base::TimeTicks::Now() - base::TimeTicks()).InSecondsF();
+
+  if (!accelerometer_->GetLatestReading(&reading))
+    return;
+
+  fusion_algorithm_->set_acceleration(reading.values[0], reading.values[1],
+                                      reading.values[2]);
+
+  fusion_algorithm_->GetRelativeOrientationData(
+      &reading.values[0].value(), &reading.values[1].value(),
+      &reading.values[2].value(), &reading.values[3].value());
+
+  if (GetReportingMode() == mojom::ReportingMode::ON_CHANGE &&
+      !IsSignificantlyDifferent(reading_, reading)) {
+    return;
+  }
+
+  reading_ = reading;
+  UpdateSensorReading(reading_,
+                      GetReportingMode() == mojom::ReportingMode::ON_CHANGE);
+}
+
+void PlatformSensorFusionRelativeOrientation::OnSensorError() {
+  NotifySensorError();
+}
+
+bool PlatformSensorFusionRelativeOrientation::IsNotificationSuspended() {
+  for (auto& client : clients_) {
+    if (!client.IsNotificationSuspended())
+      return false;
+  }
+  return true;
+}
+
+bool PlatformSensorFusionRelativeOrientation::CheckSensorConfiguration(
+    const PlatformSensorConfiguration& configuration) {
+  return accelerometer_->CheckSensorConfiguration(configuration);
+}
+
+void PlatformSensorFusionRelativeOrientation::CreateAccelerometerCallback(
+    scoped_refptr<PlatformSensor> accelerometer) {
+  accelerometer_ = accelerometer;
+  if (accelerometer_) {
+    CreateAccelerometerSucceeded();
+  } else {
+    callback_.Run(nullptr);
+  }
+}
+
+void PlatformSensorFusionRelativeOrientation::CreateAccelerometerSucceeded() {
+  accelerometer_->AddClient(this);
+  fusion_algorithm_ =
+      base::MakeUnique<RelativeOrientationFusionAlgorithmUsingAccelerometer>();
+  callback_.Run(this);
+}
+
+}  // namespace device