SensorManager.java revision 15ab3eae2ec3d73b3e8aa60b33ae41445bf83f4b
1/* 2 * Copyright (C) 2008 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17package android.hardware; 18 19import android.content.Context; 20import android.os.Binder; 21import android.os.Looper; 22import android.os.ParcelFileDescriptor; 23import android.os.Process; 24import android.os.RemoteException; 25import android.os.Handler; 26import android.os.Message; 27import android.os.ServiceManager; 28import android.util.Log; 29import android.util.SparseArray; 30import android.view.IRotationWatcher; 31import android.view.IWindowManager; 32import android.view.Surface; 33 34import java.io.FileDescriptor; 35import java.io.IOException; 36import java.util.ArrayList; 37import java.util.Collections; 38import java.util.HashMap; 39import java.util.List; 40 41/** 42 * Class that lets you access the device's sensors. Get an instance of this 43 * class by calling {@link android.content.Context#getSystemService(java.lang.String) 44 * Context.getSystemService()} with an argument of {@link android.content.Context#SENSOR_SERVICE}. 45 */ 46public class SensorManager extends IRotationWatcher.Stub 47{ 48 private static final String TAG = "SensorManager"; 49 private static final float[] mTempMatrix = new float[16]; 50 51 /* NOTE: sensor IDs must be a power of 2 */ 52 53 /** 54 * A constant describing an orientation sensor. 55 * See {@link android.hardware.SensorListener SensorListener} for more details. 56 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 57 */ 58 @Deprecated 59 public static final int SENSOR_ORIENTATION = 1 << 0; 60 61 /** 62 * A constant describing an accelerometer. 63 * See {@link android.hardware.SensorListener SensorListener} for more details. 64 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 65 */ 66 @Deprecated 67 public static final int SENSOR_ACCELEROMETER = 1 << 1; 68 69 /** 70 * A constant describing a temperature sensor 71 * See {@link android.hardware.SensorListener SensorListener} for more details. 72 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 73 */ 74 @Deprecated 75 public static final int SENSOR_TEMPERATURE = 1 << 2; 76 77 /** 78 * A constant describing a magnetic sensor 79 * See {@link android.hardware.SensorListener SensorListener} for more details. 80 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 81 */ 82 @Deprecated 83 public static final int SENSOR_MAGNETIC_FIELD = 1 << 3; 84 85 /** 86 * A constant describing an ambient light sensor 87 * See {@link android.hardware.SensorListener SensorListener} for more details. 88 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 89 */ 90 @Deprecated 91 public static final int SENSOR_LIGHT = 1 << 4; 92 93 /** 94 * A constant describing a proximity sensor 95 * See {@link android.hardware.SensorListener SensorListener} for more details. 96 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 97 */ 98 @Deprecated 99 public static final int SENSOR_PROXIMITY = 1 << 5; 100 101 /** 102 * A constant describing a Tricorder 103 * See {@link android.hardware.SensorListener SensorListener} for more details. 104 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 105 */ 106 @Deprecated 107 public static final int SENSOR_TRICORDER = 1 << 6; 108 109 /** 110 * A constant describing an orientation sensor. 111 * See {@link android.hardware.SensorListener SensorListener} for more details. 112 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 113 */ 114 @Deprecated 115 public static final int SENSOR_ORIENTATION_RAW = 1 << 7; 116 117 /** A constant that includes all sensors */ 118 @Deprecated 119 public static final int SENSOR_ALL = 0x7F; 120 121 /** Smallest sensor ID */ 122 @Deprecated 123 public static final int SENSOR_MIN = SENSOR_ORIENTATION; 124 125 /** Largest sensor ID */ 126 @Deprecated 127 public static final int SENSOR_MAX = ((SENSOR_ALL + 1)>>1); 128 129 130 /** Index of the X value in the array returned by 131 * {@link android.hardware.SensorListener#onSensorChanged} */ 132 @Deprecated 133 public static final int DATA_X = 0; 134 /** Index of the Y value in the array returned by 135 * {@link android.hardware.SensorListener#onSensorChanged} */ 136 @Deprecated 137 public static final int DATA_Y = 1; 138 /** Index of the Z value in the array returned by 139 * {@link android.hardware.SensorListener#onSensorChanged} */ 140 @Deprecated 141 public static final int DATA_Z = 2; 142 143 /** Offset to the untransformed values in the array returned by 144 * {@link android.hardware.SensorListener#onSensorChanged} */ 145 @Deprecated 146 public static final int RAW_DATA_INDEX = 3; 147 148 /** Index of the untransformed X value in the array returned by 149 * {@link android.hardware.SensorListener#onSensorChanged} */ 150 @Deprecated 151 public static final int RAW_DATA_X = 3; 152 /** Index of the untransformed Y value in the array returned by 153 * {@link android.hardware.SensorListener#onSensorChanged} */ 154 @Deprecated 155 public static final int RAW_DATA_Y = 4; 156 /** Index of the untransformed Z value in the array returned by 157 * {@link android.hardware.SensorListener#onSensorChanged} */ 158 @Deprecated 159 public static final int RAW_DATA_Z = 5; 160 161 162 /** Standard gravity (g) on Earth. This value is equivalent to 1G */ 163 public static final float STANDARD_GRAVITY = 9.80665f; 164 165 /** values returned by the accelerometer in various locations in the universe. 166 * all values are in SI units (m/s^2) */ 167 public static final float GRAVITY_SUN = 275.0f; 168 public static final float GRAVITY_MERCURY = 3.70f; 169 public static final float GRAVITY_VENUS = 8.87f; 170 public static final float GRAVITY_EARTH = 9.80665f; 171 public static final float GRAVITY_MOON = 1.6f; 172 public static final float GRAVITY_MARS = 3.71f; 173 public static final float GRAVITY_JUPITER = 23.12f; 174 public static final float GRAVITY_SATURN = 8.96f; 175 public static final float GRAVITY_URANUS = 8.69f; 176 public static final float GRAVITY_NEPTUNE = 11.0f; 177 public static final float GRAVITY_PLUTO = 0.6f; 178 public static final float GRAVITY_DEATH_STAR_I = 0.000000353036145f; 179 public static final float GRAVITY_THE_ISLAND = 4.815162342f; 180 181 182 /** Maximum magnetic field on Earth's surface */ 183 public static final float MAGNETIC_FIELD_EARTH_MAX = 60.0f; 184 185 /** Minimum magnetic field on Earth's surface */ 186 public static final float MAGNETIC_FIELD_EARTH_MIN = 30.0f; 187 188 189 /** Various luminance values during the day (lux) */ 190 public static final float LIGHT_SUNLIGHT_MAX = 120000.0f; 191 public static final float LIGHT_SUNLIGHT = 110000.0f; 192 public static final float LIGHT_SHADE = 20000.0f; 193 public static final float LIGHT_OVERCAST = 10000.0f; 194 public static final float LIGHT_SUNRISE = 400.0f; 195 public static final float LIGHT_CLOUDY = 100.0f; 196 /** Various luminance values during the night (lux) */ 197 public static final float LIGHT_FULLMOON = 0.25f; 198 public static final float LIGHT_NO_MOON = 0.001f; 199 200 /** get sensor data as fast as possible */ 201 public static final int SENSOR_DELAY_FASTEST = 0; 202 /** rate suitable for games */ 203 public static final int SENSOR_DELAY_GAME = 1; 204 /** rate suitable for the user interface */ 205 public static final int SENSOR_DELAY_UI = 2; 206 /** rate (default) suitable for screen orientation changes */ 207 public static final int SENSOR_DELAY_NORMAL = 3; 208 209 210 /** The values returned by this sensor cannot be trusted, calibration 211 * is needed or the environment doesn't allow readings */ 212 public static final int SENSOR_STATUS_UNRELIABLE = 0; 213 214 /** This sensor is reporting data with low accuracy, calibration with the 215 * environment is needed */ 216 public static final int SENSOR_STATUS_ACCURACY_LOW = 1; 217 218 /** This sensor is reporting data with an average level of accuracy, 219 * calibration with the environment may improve the readings */ 220 public static final int SENSOR_STATUS_ACCURACY_MEDIUM = 2; 221 222 /** This sensor is reporting data with maximum accuracy */ 223 public static final int SENSOR_STATUS_ACCURACY_HIGH = 3; 224 225 /** see {@link #remapCoordinateSystem} */ 226 public static final int AXIS_X = 1; 227 /** see {@link #remapCoordinateSystem} */ 228 public static final int AXIS_Y = 2; 229 /** see {@link #remapCoordinateSystem} */ 230 public static final int AXIS_Z = 3; 231 /** see {@link #remapCoordinateSystem} */ 232 public static final int AXIS_MINUS_X = AXIS_X | 0x80; 233 /** see {@link #remapCoordinateSystem} */ 234 public static final int AXIS_MINUS_Y = AXIS_Y | 0x80; 235 /** see {@link #remapCoordinateSystem} */ 236 public static final int AXIS_MINUS_Z = AXIS_Z | 0x80; 237 238 /*-----------------------------------------------------------------------*/ 239 240 private ISensorService mSensorService; 241 Looper mMainLooper; 242 @SuppressWarnings("deprecation") 243 private HashMap<SensorListener, LegacyListener> mLegacyListenersMap = 244 new HashMap<SensorListener, LegacyListener>(); 245 246 /*-----------------------------------------------------------------------*/ 247 248 private static final int SENSOR_DISABLE = -1; 249 private static boolean sSensorModuleInitialized = false; 250 private static ArrayList<Sensor> sFullSensorsList = new ArrayList<Sensor>(); 251 private static SparseArray<List<Sensor>> sSensorListByType = new SparseArray<List<Sensor>>(); 252 private static IWindowManager sWindowManager; 253 private static int sRotation = Surface.ROTATION_0; 254 /* The thread and the sensor list are global to the process 255 * but the actual thread is spawned on demand */ 256 private static SensorThread sSensorThread; 257 258 // Used within this module from outside SensorManager, don't make private 259 static SparseArray<Sensor> sHandleToSensor = new SparseArray<Sensor>(); 260 static final ArrayList<ListenerDelegate> sListeners = 261 new ArrayList<ListenerDelegate>(); 262 263 /*-----------------------------------------------------------------------*/ 264 265 static private class SensorThread { 266 267 Thread mThread; 268 269 SensorThread() { 270 // this gets to the sensor module. We can have only one per process. 271 sensors_data_init(); 272 } 273 274 @Override 275 protected void finalize() { 276 sensors_data_uninit(); 277 } 278 279 // must be called with sListeners lock 280 void startLocked(ISensorService service) { 281 try { 282 if (mThread == null) { 283 ParcelFileDescriptor fd = service.getDataChanel(); 284 mThread = new Thread(new SensorThreadRunnable(fd), 285 SensorThread.class.getName()); 286 mThread.start(); 287 } 288 } catch (RemoteException e) { 289 Log.e(TAG, "RemoteException in startLocked: ", e); 290 } 291 } 292 293 private class SensorThreadRunnable implements Runnable { 294 private ParcelFileDescriptor mSensorDataFd; 295 SensorThreadRunnable(ParcelFileDescriptor fd) { 296 mSensorDataFd = fd; 297 } 298 public void run() { 299 //Log.d(TAG, "entering main sensor thread"); 300 final float[] values = new float[3]; 301 final int[] status = new int[1]; 302 final long timestamp[] = new long[1]; 303 Process.setThreadPriority(Process.THREAD_PRIORITY_DISPLAY); 304 305 if (mSensorDataFd == null) { 306 Log.e(TAG, "mSensorDataFd == NULL, exiting"); 307 return; 308 } 309 // this thread is guaranteed to be unique 310 sensors_data_open(mSensorDataFd.getFileDescriptor()); 311 try { 312 mSensorDataFd.close(); 313 } catch (IOException e) { 314 // *shrug* 315 Log.e(TAG, "IOException: ", e); 316 } 317 mSensorDataFd = null; 318 319 320 while (true) { 321 // wait for an event 322 final int sensor = sensors_data_poll(values, status, timestamp); 323 324 if (sensor == -1) { 325 // we lost the connection to the event stream. this happens 326 // when the last listener is removed. 327 Log.d(TAG, "_sensors_data_poll() failed, we bail out."); 328 break; 329 } 330 331 int accuracy = status[0]; 332 synchronized (sListeners) { 333 if (sListeners.isEmpty()) { 334 // we have no more listeners, terminate the thread 335 sensors_data_close(); 336 mThread = null; 337 break; 338 } 339 final Sensor sensorObject = sHandleToSensor.get(sensor); 340 if (sensorObject != null) { 341 // report the sensor event to all listeners that 342 // care about it. 343 final int size = sListeners.size(); 344 for (int i=0 ; i<size ; i++) { 345 ListenerDelegate listener = sListeners.get(i); 346 if (listener.hasSensor(sensorObject)) { 347 // this is asynchronous (okay to call 348 // with sListeners lock held). 349 listener.onSensorChangedLocked(sensorObject, 350 values, timestamp, accuracy); 351 } 352 } 353 } 354 } 355 } 356 //Log.d(TAG, "exiting main sensor thread"); 357 } 358 } 359 } 360 361 /*-----------------------------------------------------------------------*/ 362 363 private class ListenerDelegate extends Binder { 364 final SensorEventListener mSensorEventListener; 365 private final ArrayList<Sensor> mSensorList = new ArrayList<Sensor>(); 366 private final Handler mHandler; 367 private SensorEvent mValuesPool; 368 public int mSensors; 369 370 ListenerDelegate(SensorEventListener listener, Sensor sensor, Handler handler) { 371 mSensorEventListener = listener; 372 Looper looper = (handler != null) ? handler.getLooper() : mMainLooper; 373 // currently we create one Handler instance per listener, but we could 374 // have one per looper (we'd need to pass the ListenerDelegate 375 // instance to handleMessage and keep track of them separately). 376 mHandler = new Handler(looper) { 377 @Override 378 public void handleMessage(Message msg) { 379 SensorEvent t = (SensorEvent)msg.obj; 380 if (t.accuracy >= 0) { 381 mSensorEventListener.onAccuracyChanged(t.sensor, t.accuracy); 382 } 383 mSensorEventListener.onSensorChanged(t); 384 returnToPool(t); 385 } 386 }; 387 addSensor(sensor); 388 } 389 390 protected SensorEvent createSensorEvent() { 391 // maximal size for all legacy events is 3 392 return new SensorEvent(3); 393 } 394 395 protected SensorEvent getFromPool() { 396 SensorEvent t = null; 397 synchronized (this) { 398 // remove the array from the pool 399 t = mValuesPool; 400 mValuesPool = null; 401 } 402 if (t == null) { 403 // the pool was empty, we need a new one 404 t = createSensorEvent(); 405 } 406 return t; 407 } 408 409 protected void returnToPool(SensorEvent t) { 410 synchronized (this) { 411 // put back the array into the pool 412 if (mValuesPool == null) { 413 mValuesPool = t; 414 } 415 } 416 } 417 418 Object getListener() { 419 return mSensorEventListener; 420 } 421 422 int addSensor(Sensor sensor) { 423 mSensors |= 1<<sensor.getHandle(); 424 mSensorList.add(sensor); 425 return mSensors; 426 } 427 int removeSensor(Sensor sensor) { 428 mSensors &= ~(1<<sensor.getHandle()); 429 mSensorList.remove(sensor); 430 return mSensors; 431 } 432 boolean hasSensor(Sensor sensor) { 433 return ((mSensors & (1<<sensor.getHandle())) != 0); 434 } 435 List<Sensor> getSensors() { 436 return mSensorList; 437 } 438 439 void onSensorChangedLocked(Sensor sensor, float[] values, long[] timestamp, int accuracy) { 440 SensorEvent t = getFromPool(); 441 final float[] v = t.values; 442 v[0] = values[0]; 443 v[1] = values[1]; 444 v[2] = values[2]; 445 t.timestamp = timestamp[0]; 446 t.accuracy = accuracy; 447 t.sensor = sensor; 448 Message msg = Message.obtain(); 449 msg.what = 0; 450 msg.obj = t; 451 mHandler.sendMessage(msg); 452 } 453 } 454 455 /** 456 * {@hide} 457 */ 458 public SensorManager(Looper mainLooper) { 459 mSensorService = ISensorService.Stub.asInterface( 460 ServiceManager.getService(Context.SENSOR_SERVICE)); 461 mMainLooper = mainLooper; 462 463 464 synchronized(sListeners) { 465 if (!sSensorModuleInitialized) { 466 sSensorModuleInitialized = true; 467 468 nativeClassInit(); 469 470 sWindowManager = IWindowManager.Stub.asInterface( 471 ServiceManager.getService("window")); 472 if (sWindowManager != null) { 473 // if it's null we're running in the system process 474 // which won't get the rotated values 475 try { 476 sRotation = sWindowManager.watchRotation(this); 477 } catch (RemoteException e) { 478 } 479 } 480 481 // initialize the sensor list 482 sensors_module_init(); 483 final ArrayList<Sensor> fullList = sFullSensorsList; 484 int i = 0; 485 do { 486 Sensor sensor = new Sensor(); 487 i = sensors_module_get_next_sensor(sensor, i); 488 489 if (i>=0) { 490 Log.d(TAG, "found sensor: " + sensor.getName() + 491 ", handle=" + sensor.getHandle()); 492 sensor.setLegacyType(getLegacySensorType(sensor.getType())); 493 fullList.add(sensor); 494 sHandleToSensor.append(sensor.getHandle(), sensor); 495 } 496 } while (i>0); 497 498 sSensorThread = new SensorThread(); 499 } 500 } 501 } 502 503 private int getLegacySensorType(int type) { 504 switch (type) { 505 case Sensor.TYPE_ACCELEROMETER: 506 return SENSOR_ACCELEROMETER; 507 case Sensor.TYPE_MAGNETIC_FIELD: 508 return SENSOR_MAGNETIC_FIELD; 509 case Sensor.TYPE_ORIENTATION: 510 return SENSOR_ORIENTATION_RAW; 511 case Sensor.TYPE_TEMPERATURE: 512 return SENSOR_TEMPERATURE; 513 } 514 return 0; 515 } 516 517 /** @return available sensors. 518 * @deprecated This method is deprecated, use 519 * {@link SensorManager#getSensorList(int)} instead 520 */ 521 @Deprecated 522 public int getSensors() { 523 int result = 0; 524 final ArrayList<Sensor> fullList = sFullSensorsList; 525 for (Sensor i : fullList) { 526 switch (i.getType()) { 527 case Sensor.TYPE_ACCELEROMETER: 528 result |= SensorManager.SENSOR_ACCELEROMETER; 529 break; 530 case Sensor.TYPE_MAGNETIC_FIELD: 531 result |= SensorManager.SENSOR_MAGNETIC_FIELD; 532 break; 533 case Sensor.TYPE_ORIENTATION: 534 result |= SensorManager.SENSOR_ORIENTATION | 535 SensorManager.SENSOR_ORIENTATION_RAW; 536 break; 537 } 538 } 539 return result; 540 } 541 542 /** 543 * Use this method to get the list of available sensors of a certain 544 * type. Make multiple calls to get sensors of different types or use 545 * {@link android.hardware.Sensor#TYPE_ALL Sensor.TYPE_ALL} to get all 546 * the sensors. 547 * 548 * @param type of sensors requested 549 * @return a list of sensors matching the asked type. 550 */ 551 public List<Sensor> getSensorList(int type) { 552 // cache the returned lists the first time 553 List<Sensor> list; 554 final ArrayList<Sensor> fullList = sFullSensorsList; 555 synchronized(fullList) { 556 list = sSensorListByType.get(type); 557 if (list == null) { 558 if (type == Sensor.TYPE_ALL) { 559 list = fullList; 560 } else { 561 list = new ArrayList<Sensor>(); 562 for (Sensor i : fullList) { 563 if (i.getType() == type) 564 list.add(i); 565 } 566 } 567 list = Collections.unmodifiableList(list); 568 sSensorListByType.append(type, list); 569 } 570 } 571 return list; 572 } 573 574 /** 575 * Use this method to get the default sensor for a given type. Note that 576 * the returned sensor could be a composite sensor, and its data could be 577 * averaged or filtered. If you need to access the raw sensors use 578 * {@link SensorManager#getSensorList(int) getSensorList}. 579 * 580 * 581 * @param type of sensors requested 582 * @return the default sensors matching the asked type. 583 */ 584 public Sensor getDefaultSensor(int type) { 585 // TODO: need to be smarter, for now, just return the 1st sensor 586 List<Sensor> l = getSensorList(type); 587 return l.isEmpty() ? null : l.get(0); 588 } 589 590 591 /** 592 * Registers a listener for given sensors. 593 * @deprecated This method is deprecated, use 594 * {@link SensorManager#registerListener(SensorEventListener, Sensor, int)} 595 * instead. 596 * 597 * @param listener sensor listener object 598 * @param sensors a bit masks of the sensors to register to 599 * 600 * @return true if the sensor is supported and successfully enabled 601 */ 602 @Deprecated 603 public boolean registerListener(SensorListener listener, int sensors) { 604 return registerListener(listener, sensors, SENSOR_DELAY_NORMAL); 605 } 606 607 /** 608 * Registers a SensorListener for given sensors. 609 * @deprecated This method is deprecated, use 610 * {@link SensorManager#registerListener(SensorEventListener, Sensor, int)} 611 * instead. 612 * 613 * @param listener sensor listener object 614 * @param sensors a bit masks of the sensors to register to 615 * @param rate rate of events. This is only a hint to the system. events 616 * may be received faster or slower than the specified rate. Usually events 617 * are received faster. 618 * 619 * @return true if the sensor is supported and successfully enabled 620 */ 621 @Deprecated 622 public boolean registerListener(SensorListener listener, int sensors, int rate) { 623 if (listener == null) { 624 return false; 625 } 626 boolean result = false; 627 result = registerLegacyListener(SENSOR_ACCELEROMETER, Sensor.TYPE_ACCELEROMETER, 628 listener, sensors, rate) || result; 629 result = registerLegacyListener(SENSOR_MAGNETIC_FIELD, Sensor.TYPE_MAGNETIC_FIELD, 630 listener, sensors, rate) || result; 631 result = registerLegacyListener(SENSOR_ORIENTATION_RAW, Sensor.TYPE_ORIENTATION, 632 listener, sensors, rate) || result; 633 result = registerLegacyListener(SENSOR_ORIENTATION, Sensor.TYPE_ORIENTATION, 634 listener, sensors, rate) || result; 635 result = registerLegacyListener(SENSOR_TEMPERATURE, Sensor.TYPE_TEMPERATURE, 636 listener, sensors, rate) || result; 637 return result; 638 } 639 640 @SuppressWarnings("deprecation") 641 private boolean registerLegacyListener(int legacyType, int type, 642 SensorListener listener, int sensors, int rate) 643 { 644 if (listener == null) { 645 return false; 646 } 647 boolean result = false; 648 // Are we activating this legacy sensor? 649 if ((sensors & legacyType) != 0) { 650 // if so, find a suitable Sensor 651 Sensor sensor = getDefaultSensor(type); 652 if (sensor != null) { 653 // If we don't already have one, create a LegacyListener 654 // to wrap this listener and process the events as 655 // they are expected by legacy apps. 656 LegacyListener legacyListener = null; 657 synchronized (mLegacyListenersMap) { 658 legacyListener = mLegacyListenersMap.get(listener); 659 if (legacyListener == null) { 660 // we didn't find a LegacyListener for this client, 661 // create one, and put it in our list. 662 legacyListener = new LegacyListener(listener); 663 mLegacyListenersMap.put(listener, legacyListener); 664 } 665 } 666 // register this legacy sensor with this legacy listener 667 legacyListener.registerSensor(legacyType); 668 // and finally, register the legacy listener with the new apis 669 result = registerListener(legacyListener, sensor, rate); 670 } 671 } 672 return result; 673 } 674 675 /** 676 * Unregisters a listener for the sensors with which it is registered. 677 * @deprecated This method is deprecated, use 678 * {@link SensorManager#unregisterListener(SensorEventListener, Sensor)} 679 * instead. 680 * 681 * @param listener a SensorListener object 682 * @param sensors a bit masks of the sensors to unregister from 683 */ 684 @Deprecated 685 public void unregisterListener(SensorListener listener, int sensors) { 686 unregisterLegacyListener(SENSOR_ACCELEROMETER, Sensor.TYPE_ACCELEROMETER, 687 listener, sensors); 688 unregisterLegacyListener(SENSOR_MAGNETIC_FIELD, Sensor.TYPE_MAGNETIC_FIELD, 689 listener, sensors); 690 unregisterLegacyListener(SENSOR_ORIENTATION_RAW, Sensor.TYPE_ORIENTATION, 691 listener, sensors); 692 unregisterLegacyListener(SENSOR_ORIENTATION, Sensor.TYPE_ORIENTATION, 693 listener, sensors); 694 unregisterLegacyListener(SENSOR_TEMPERATURE, Sensor.TYPE_TEMPERATURE, 695 listener, sensors); 696 } 697 698 @SuppressWarnings("deprecation") 699 private void unregisterLegacyListener(int legacyType, int type, 700 SensorListener listener, int sensors) 701 { 702 if (listener == null) { 703 return; 704 } 705 // do we know about this listener? 706 LegacyListener legacyListener = null; 707 synchronized (mLegacyListenersMap) { 708 legacyListener = mLegacyListenersMap.get(listener); 709 } 710 if (legacyListener != null) { 711 // Are we deactivating this legacy sensor? 712 if ((sensors & legacyType) != 0) { 713 // if so, find the corresponding Sensor 714 Sensor sensor = getDefaultSensor(type); 715 if (sensor != null) { 716 // unregister this legacy sensor and if we don't 717 // need the corresponding Sensor, unregister it too 718 if (legacyListener.unregisterSensor(legacyType)) { 719 // corresponding sensor not needed, unregister 720 unregisterListener(legacyListener, sensor); 721 // finally check if we still need the legacyListener 722 // in our mapping, if not, get rid of it too. 723 synchronized(sListeners) { 724 boolean found = false; 725 for (ListenerDelegate i : sListeners) { 726 if (i.getListener() == legacyListener) { 727 found = true; 728 break; 729 } 730 } 731 if (!found) { 732 synchronized (mLegacyListenersMap) { 733 mLegacyListenersMap.remove(listener); 734 } 735 } 736 } 737 } 738 } 739 } 740 } 741 } 742 743 /** 744 * Unregisters a listener for all sensors. 745 * @deprecated This method is deprecated, use 746 * {@link SensorManager#unregisterListener(SensorEventListener)} 747 * instead. 748 * 749 * @param listener a SensorListener object 750 */ 751 @Deprecated 752 public void unregisterListener(SensorListener listener) { 753 unregisterListener(listener, SENSOR_ALL | SENSOR_ORIENTATION_RAW); 754 } 755 756 /** 757 * Unregisters a listener for the sensors with which it is registered. 758 * 759 * @param listener a SensorEventListener object 760 * @param sensor the sensor to unregister from 761 * 762 */ 763 public void unregisterListener(SensorEventListener listener, Sensor sensor) { 764 unregisterListener((Object)listener, sensor); 765 } 766 767 /** 768 * Unregisters a listener for all sensors. 769 * 770 * @param listener a SensorListener object 771 * 772 */ 773 public void unregisterListener(SensorEventListener listener) { 774 unregisterListener((Object)listener); 775 } 776 777 778 /** 779 * Registers a {@link android.hardware.SensorEventListener SensorEventListener} 780 * for the given sensor. 781 * 782 * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object. 783 * @param sensor The {@link android.hardware.Sensor Sensor} to register to. 784 * @param rate The rate {@link android.hardware.SensorEvent sensor events} are delivered at. 785 * This is only a hint to the system. Events may be received faster or 786 * slower than the specified rate. Usually events are received faster. 787 * 788 * @return true if the sensor is supported and successfully enabled. 789 * 790 */ 791 public boolean registerListener(SensorEventListener listener, Sensor sensor, int rate) { 792 return registerListener(listener, sensor, rate, null); 793 } 794 795 /** 796 * Registers a {@link android.hardware.SensorEventListener SensorEventListener} 797 * for the given sensor. 798 * 799 * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object. 800 * @param sensor The {@link android.hardware.Sensor Sensor} to register to. 801 * @param rate The rate {@link android.hardware.SensorEvent sensor events} are delivered at. 802 * This is only a hint to the system. Events may be received faster or 803 * slower than the specified rate. Usually events are received faster. 804 * @param handler The {@link android.os.Handler Handler} the 805 * {@link android.hardware.SensorEvent sensor events} will be delivered to. 806 * 807 * @return true if the sensor is supported and successfully enabled. 808 * 809 */ 810 public boolean registerListener(SensorEventListener listener, Sensor sensor, int rate, 811 Handler handler) { 812 if (listener == null || sensor == null) { 813 return false; 814 } 815 boolean result; 816 int delay = -1; 817 switch (rate) { 818 case SENSOR_DELAY_FASTEST: 819 delay = 0; 820 break; 821 case SENSOR_DELAY_GAME: 822 delay = 20; 823 break; 824 case SENSOR_DELAY_UI: 825 delay = 60; 826 break; 827 case SENSOR_DELAY_NORMAL: 828 delay = 200; 829 break; 830 default: 831 return false; 832 } 833 834 try { 835 synchronized (sListeners) { 836 ListenerDelegate l = null; 837 for (ListenerDelegate i : sListeners) { 838 if (i.getListener() == listener) { 839 l = i; 840 break; 841 } 842 } 843 844 String name = sensor.getName(); 845 int handle = sensor.getHandle(); 846 if (l == null) { 847 l = new ListenerDelegate(listener, sensor, handler); 848 result = mSensorService.enableSensor(l, name, handle, delay); 849 if (result) { 850 sListeners.add(l); 851 sListeners.notify(); 852 } 853 if (!sListeners.isEmpty()) { 854 sSensorThread.startLocked(mSensorService); 855 } 856 } else { 857 result = mSensorService.enableSensor(l, name, handle, delay); 858 if (result) { 859 l.addSensor(sensor); 860 } 861 } 862 } 863 } catch (RemoteException e) { 864 Log.e(TAG, "RemoteException in registerListener: ", e); 865 result = false; 866 } 867 return result; 868 } 869 870 private void unregisterListener(Object listener, Sensor sensor) { 871 if (listener == null || sensor == null) { 872 return; 873 } 874 try { 875 synchronized (sListeners) { 876 final int size = sListeners.size(); 877 for (int i=0 ; i<size ; i++) { 878 ListenerDelegate l = sListeners.get(i); 879 if (l.getListener() == listener) { 880 // disable these sensors 881 String name = sensor.getName(); 882 int handle = sensor.getHandle(); 883 mSensorService.enableSensor(l, name, handle, SENSOR_DISABLE); 884 // if we have no more sensors enabled on this listener, 885 // take it off the list. 886 if (l.removeSensor(sensor) == 0) { 887 sListeners.remove(i); 888 } 889 break; 890 } 891 } 892 } 893 } catch (RemoteException e) { 894 Log.e(TAG, "RemoteException in unregisterListener: ", e); 895 } 896 } 897 898 private void unregisterListener(Object listener) { 899 if (listener == null) { 900 return; 901 } 902 try { 903 synchronized (sListeners) { 904 final int size = sListeners.size(); 905 for (int i=0 ; i<size ; i++) { 906 ListenerDelegate l = sListeners.get(i); 907 if (l.getListener() == listener) { 908 // disable all sensors for this listener 909 for (Sensor sensor : l.getSensors()) { 910 String name = sensor.getName(); 911 int handle = sensor.getHandle(); 912 mSensorService.enableSensor(l, name, handle, SENSOR_DISABLE); 913 } 914 sListeners.remove(i); 915 break; 916 } 917 } 918 } 919 } catch (RemoteException e) { 920 Log.e(TAG, "RemoteException in unregisterListener: ", e); 921 } 922 } 923 924 /** 925 * Computes the inclination matrix <b>I</b> as well as the rotation 926 * matrix <b>R</b> transforming a vector from the 927 * device coordinate system to the world's coordinate system which is 928 * defined as a direct orthonormal basis, where: 929 * 930 * <li>X is defined as the vector product <b>Y.Z</b> (It is tangential to 931 * the ground at the device's current location and roughly points East).</li> 932 * <li>Y is tangential to the ground at the device's current location and 933 * points towards the magnetic North Pole.</li> 934 * <li>Z points towards the sky and is perpendicular to the ground.</li> 935 * <p> 936 * <hr> 937 * <p>By definition: 938 * <p>[0 0 g] = <b>R</b> * <b>gravity</b> (g = magnitude of gravity) 939 * <p>[0 m 0] = <b>I</b> * <b>R</b> * <b>geomagnetic</b> 940 * (m = magnitude of geomagnetic field) 941 * <p><b>R</b> is the identity matrix when the device is aligned with the 942 * world's coordinate system, that is, when the device's X axis points 943 * toward East, the Y axis points to the North Pole and the device is facing 944 * the sky. 945 * 946 * <p><b>I</b> is a rotation matrix transforming the geomagnetic 947 * vector into the same coordinate space as gravity (the world's coordinate 948 * space). <b>I</b> is a simple rotation around the X axis. 949 * The inclination angle in radians can be computed with 950 * {@link #getInclination}. 951 * <hr> 952 * 953 * <p> Each matrix is returned either as a 3x3 or 4x4 row-major matrix 954 * depending on the length of the passed array: 955 * <p><u>If the array length is 16:</u> 956 * <pre> 957 * / M[ 0] M[ 1] M[ 2] M[ 3] \ 958 * | M[ 4] M[ 5] M[ 6] M[ 7] | 959 * | M[ 8] M[ 9] M[10] M[11] | 960 * \ M[12] M[13] M[14] M[15] / 961 *</pre> 962 * This matrix is ready to be used by OpenGL ES's 963 * {@link javax.microedition.khronos.opengles.GL10#glLoadMatrixf(float[], int) 964 * glLoadMatrixf(float[], int)}. 965 * <p>Note that because OpenGL matrices are column-major matrices you must 966 * transpose the matrix before using it. However, since the matrix is a 967 * rotation matrix, its transpose is also its inverse, conveniently, it is 968 * often the inverse of the rotation that is needed for rendering; it can 969 * therefore be used with OpenGL ES directly. 970 * <p> 971 * Also note that the returned matrices always have this form: 972 * <pre> 973 * / M[ 0] M[ 1] M[ 2] 0 \ 974 * | M[ 4] M[ 5] M[ 6] 0 | 975 * | M[ 8] M[ 9] M[10] 0 | 976 * \ 0 0 0 1 / 977 *</pre> 978 * <p><u>If the array length is 9:</u> 979 * <pre> 980 * / M[ 0] M[ 1] M[ 2] \ 981 * | M[ 3] M[ 4] M[ 5] | 982 * \ M[ 6] M[ 7] M[ 8] / 983 *</pre> 984 * 985 * <hr> 986 * <p>The inverse of each matrix can be computed easily by taking its 987 * transpose. 988 * 989 * <p>The matrices returned by this function are meaningful only when the 990 * device is not free-falling and it is not close to the magnetic north. 991 * If the device is accelerating, or placed into a strong magnetic field, 992 * the returned matrices may be inaccurate. 993 * 994 * @param R is an array of 9 floats holding the rotation matrix <b>R</b> 995 * when this function returns. R can be null.<p> 996 * @param I is an array of 9 floats holding the rotation matrix <b>I</b> 997 * when this function returns. I can be null.<p> 998 * @param gravity is an array of 3 floats containing the gravity vector 999 * expressed in the device's coordinate. You can simply use the 1000 * {@link android.hardware.SensorEvent#values values} 1001 * returned by a {@link android.hardware.SensorEvent SensorEvent} of a 1002 * {@link android.hardware.Sensor Sensor} of type 1003 * {@link android.hardware.Sensor#TYPE_ACCELEROMETER TYPE_ACCELEROMETER}.<p> 1004 * @param geomagnetic is an array of 3 floats containing the geomagnetic 1005 * vector expressed in the device's coordinate. You can simply use the 1006 * {@link android.hardware.SensorEvent#values values} 1007 * returned by a {@link android.hardware.SensorEvent SensorEvent} of a 1008 * {@link android.hardware.Sensor Sensor} of type 1009 * {@link android.hardware.Sensor#TYPE_MAGNETIC_FIELD TYPE_MAGNETIC_FIELD}. 1010 * @return 1011 * true on success<p> 1012 * false on failure (for instance, if the device is in free fall). 1013 * On failure the output matrices are not modified. 1014 */ 1015 1016 public static boolean getRotationMatrix(float[] R, float[] I, 1017 float[] gravity, float[] geomagnetic) { 1018 // TODO: move this to native code for efficiency 1019 float Ax = gravity[0]; 1020 float Ay = gravity[1]; 1021 float Az = gravity[2]; 1022 final float Ex = geomagnetic[0]; 1023 final float Ey = geomagnetic[1]; 1024 final float Ez = geomagnetic[2]; 1025 float Hx = Ey*Az - Ez*Ay; 1026 float Hy = Ez*Ax - Ex*Az; 1027 float Hz = Ex*Ay - Ey*Ax; 1028 final float normH = (float)Math.sqrt(Hx*Hx + Hy*Hy + Hz*Hz); 1029 if (normH < 0.1f) { 1030 // device is close to free fall (or in space?), or close to 1031 // magnetic north pole. Typical values are > 100. 1032 return false; 1033 } 1034 final float invH = 1.0f / normH; 1035 Hx *= invH; 1036 Hy *= invH; 1037 Hz *= invH; 1038 final float invA = 1.0f / (float)Math.sqrt(Ax*Ax + Ay*Ay + Az*Az); 1039 Ax *= invA; 1040 Ay *= invA; 1041 Az *= invA; 1042 final float Mx = Ay*Hz - Az*Hy; 1043 final float My = Az*Hx - Ax*Hz; 1044 final float Mz = Ax*Hy - Ay*Hx; 1045 if (R != null) { 1046 if (R.length == 9) { 1047 R[0] = Hx; R[1] = Hy; R[2] = Hz; 1048 R[3] = Mx; R[4] = My; R[5] = Mz; 1049 R[6] = Ax; R[7] = Ay; R[8] = Az; 1050 } else if (R.length == 16) { 1051 R[0] = Hx; R[1] = Hy; R[2] = Hz; R[3] = 0; 1052 R[4] = Mx; R[5] = My; R[6] = Mz; R[7] = 0; 1053 R[8] = Ax; R[9] = Ay; R[10] = Az; R[11] = 0; 1054 R[12] = 0; R[13] = 0; R[14] = 0; R[15] = 1; 1055 } 1056 } 1057 if (I != null) { 1058 // compute the inclination matrix by projecting the geomagnetic 1059 // vector onto the Z (gravity) and X (horizontal component 1060 // of geomagnetic vector) axes. 1061 final float invE = 1.0f / (float)Math.sqrt(Ex*Ex + Ey*Ey + Ez*Ez); 1062 final float c = (Ex*Mx + Ey*My + Ez*Mz) * invE; 1063 final float s = (Ex*Ax + Ey*Ay + Ez*Az) * invE; 1064 if (I.length == 9) { 1065 I[0] = 1; I[1] = 0; I[2] = 0; 1066 I[3] = 0; I[4] = c; I[5] = s; 1067 I[6] = 0; I[7] =-s; I[8] = c; 1068 } else if (I.length == 16) { 1069 I[0] = 1; I[1] = 0; I[2] = 0; 1070 I[4] = 0; I[5] = c; I[6] = s; 1071 I[8] = 0; I[9] =-s; I[10]= c; 1072 I[3] = I[7] = I[11] = I[12] = I[13] = I[14] = 0; 1073 I[15] = 1; 1074 } 1075 } 1076 return true; 1077 } 1078 1079 /** 1080 * Computes the geomagnetic inclination angle in radians from the 1081 * inclination matrix <b>I</b> returned by {@link #getRotationMatrix}. 1082 * @param I inclination matrix see {@link #getRotationMatrix}. 1083 * @return The geomagnetic inclination angle in radians. 1084 */ 1085 public static float getInclination(float[] I) { 1086 if (I.length == 9) { 1087 return (float)Math.atan2(I[5], I[4]); 1088 } else { 1089 return (float)Math.atan2(I[6], I[5]); 1090 } 1091 } 1092 1093 /** 1094 * Rotates the supplied rotation matrix so it is expressed in a 1095 * different coordinate system. This is typically used when an application 1096 * needs to compute the three orientation angles of the device (see 1097 * {@link #getOrientation}) in a different coordinate system. 1098 * 1099 * <p>When the rotation matrix is used for drawing (for instance with 1100 * OpenGL ES), it usually <b>doesn't need</b> to be transformed by this 1101 * function, unless the screen is physically rotated, such as when used 1102 * in landscape mode. 1103 * 1104 * <p><u>Examples:</u><p> 1105 * 1106 * <li>Using the camera (Y axis along the camera's axis) for an augmented 1107 * reality application where the rotation angles are needed :</li><p> 1108 * 1109 * <code>remapCoordinateSystem(inR, AXIS_X, AXIS_Z, outR);</code><p> 1110 * 1111 * <li>Using the device as a mechanical compass in landscape mode:</li><p> 1112 * 1113 * <code>remapCoordinateSystem(inR, AXIS_Y, AXIS_MINUS_X, outR);</code><p> 1114 * 1115 * Beware of the above example. This call is needed only if the device is 1116 * physically used in landscape mode to calculate the rotation angles (see 1117 * {@link #getOrientation}). 1118 * If the rotation matrix is also used for rendering, it may not need to 1119 * be transformed, for instance if your {@link android.app.Activity 1120 * Activity} is running in landscape mode. 1121 * 1122 * <p>Since the resulting coordinate system is orthonormal, only two axes 1123 * need to be specified. 1124 * 1125 * @param inR the rotation matrix to be transformed. Usually it is the 1126 * matrix returned by {@link #getRotationMatrix}. 1127 * @param X defines on which world axis and direction the X axis of the 1128 * device is mapped. 1129 * @param Y defines on which world axis and direction the Y axis of the 1130 * device is mapped. 1131 * @param outR the transformed rotation matrix. inR and outR can be the same 1132 * array, but it is not recommended for performance reason. 1133 * @return true on success. false if the input parameters are incorrect, for 1134 * instance if X and Y define the same axis. Or if inR and outR don't have 1135 * the same length. 1136 */ 1137 1138 public static boolean remapCoordinateSystem(float[] inR, int X, int Y, 1139 float[] outR) 1140 { 1141 if (inR == outR) { 1142 final float[] temp = mTempMatrix; 1143 synchronized(temp) { 1144 // we don't expect to have a lot of contention 1145 if (remapCoordinateSystemImpl(inR, X, Y, temp)) { 1146 final int size = outR.length; 1147 for (int i=0 ; i<size ; i++) 1148 outR[i] = temp[i]; 1149 return true; 1150 } 1151 } 1152 } 1153 return remapCoordinateSystemImpl(inR, X, Y, outR); 1154 } 1155 1156 private static boolean remapCoordinateSystemImpl(float[] inR, int X, int Y, 1157 float[] outR) 1158 { 1159 /* 1160 * X and Y define a rotation matrix 'r': 1161 * 1162 * (X==1)?((X&0x80)?-1:1):0 (X==2)?((X&0x80)?-1:1):0 (X==3)?((X&0x80)?-1:1):0 1163 * (Y==1)?((Y&0x80)?-1:1):0 (Y==2)?((Y&0x80)?-1:1):0 (Y==3)?((X&0x80)?-1:1):0 1164 * r[0] ^ r[1] 1165 * 1166 * where the 3rd line is the vector product of the first 2 lines 1167 * 1168 */ 1169 1170 final int length = outR.length; 1171 if (inR.length != length) 1172 return false; // invalid parameter 1173 if ((X & 0x7C)!=0 || (Y & 0x7C)!=0) 1174 return false; // invalid parameter 1175 if (((X & 0x3)==0) || ((Y & 0x3)==0)) 1176 return false; // no axis specified 1177 if ((X & 0x3) == (Y & 0x3)) 1178 return false; // same axis specified 1179 1180 // Z is "the other" axis, its sign is either +/- sign(X)*sign(Y) 1181 // this can be calculated by exclusive-or'ing X and Y; except for 1182 // the sign inversion (+/-) which is calculated below. 1183 int Z = X ^ Y; 1184 1185 // extract the axis (remove the sign), offset in the range 0 to 2. 1186 final int x = (X & 0x3)-1; 1187 final int y = (Y & 0x3)-1; 1188 final int z = (Z & 0x3)-1; 1189 1190 // compute the sign of Z (whether it needs to be inverted) 1191 final int axis_y = (z+1)%3; 1192 final int axis_z = (z+2)%3; 1193 if (((x^axis_y)|(y^axis_z)) != 0) 1194 Z ^= 0x80; 1195 1196 final boolean sx = (X>=0x80); 1197 final boolean sy = (Y>=0x80); 1198 final boolean sz = (Z>=0x80); 1199 1200 // Perform R * r, in avoiding actual muls and adds. 1201 final int rowLength = ((length==16)?4:3); 1202 for (int j=0 ; j<3 ; j++) { 1203 final int offset = j*rowLength; 1204 for (int i=0 ; i<3 ; i++) { 1205 if (x==i) outR[offset+i] = sx ? -inR[offset+0] : inR[offset+0]; 1206 if (y==i) outR[offset+i] = sy ? -inR[offset+1] : inR[offset+1]; 1207 if (z==i) outR[offset+i] = sz ? -inR[offset+2] : inR[offset+2]; 1208 } 1209 } 1210 if (length == 16) { 1211 outR[3] = outR[7] = outR[11] = outR[12] = outR[13] = outR[14] = 0; 1212 outR[15] = 1; 1213 } 1214 return true; 1215 } 1216 1217 /** 1218 * Computes the device's orientation based on the rotation matrix. 1219 * <p> When it returns, the array values is filled with the result: 1220 * <li>values[0]: <i>azimuth</i>, rotation around the Z axis.</li> 1221 * <li>values[1]: <i>pitch</i>, rotation around the X axis.</li> 1222 * <li>values[2]: <i>roll</i>, rotation around the Y axis.</li> 1223 * <p> 1224 * 1225 * @param R rotation matrix see {@link #getRotationMatrix}. 1226 * @param values an array of 3 floats to hold the result. 1227 * @return The array values passed as argument. 1228 */ 1229 public static float[] getOrientation(float[] R, float values[]) { 1230 /* 1231 * 4x4 (length=16) case: 1232 * / R[ 0] R[ 1] R[ 2] 0 \ 1233 * | R[ 4] R[ 5] R[ 6] 0 | 1234 * | R[ 8] R[ 9] R[10] 0 | 1235 * \ 0 0 0 1 / 1236 * 1237 * 3x3 (length=9) case: 1238 * / R[ 0] R[ 1] R[ 2] \ 1239 * | R[ 3] R[ 4] R[ 5] | 1240 * \ R[ 6] R[ 7] R[ 8] / 1241 * 1242 */ 1243 if (R.length == 9) { 1244 values[0] = (float)Math.atan2(R[1], R[4]); 1245 values[1] = (float)Math.asin(-R[7]); 1246 values[2] = (float)Math.atan2(-R[6], R[8]); 1247 } else { 1248 values[0] = (float)Math.atan2(R[1], R[5]); 1249 values[1] = (float)Math.asin(-R[9]); 1250 values[2] = (float)Math.atan2(-R[8], R[10]); 1251 } 1252 return values; 1253 } 1254 1255 1256 /** 1257 * {@hide} 1258 */ 1259 public void onRotationChanged(int rotation) { 1260 synchronized(sListeners) { 1261 sRotation = rotation; 1262 } 1263 } 1264 1265 static int getRotation() { 1266 synchronized(sListeners) { 1267 return sRotation; 1268 } 1269 } 1270 1271 private class LegacyListener implements SensorEventListener { 1272 private float mValues[] = new float[6]; 1273 @SuppressWarnings("deprecation") 1274 private SensorListener mTarget; 1275 private int mSensors; 1276 private final LmsFilter mYawfilter = new LmsFilter(); 1277 1278 @SuppressWarnings("deprecation") 1279 LegacyListener(SensorListener target) { 1280 mTarget = target; 1281 mSensors = 0; 1282 } 1283 1284 void registerSensor(int legacyType) { 1285 mSensors |= legacyType; 1286 } 1287 1288 boolean unregisterSensor(int legacyType) { 1289 mSensors &= ~legacyType; 1290 int mask = SENSOR_ORIENTATION|SENSOR_ORIENTATION_RAW; 1291 if (((legacyType&mask)!=0) && ((mSensors&mask)!=0)) { 1292 return false; 1293 } 1294 return true; 1295 } 1296 1297 @SuppressWarnings("deprecation") 1298 public void onAccuracyChanged(Sensor sensor, int accuracy) { 1299 try { 1300 mTarget.onAccuracyChanged(sensor.getLegacyType(), accuracy); 1301 } catch (AbstractMethodError e) { 1302 // old app that doesn't implement this method 1303 // just ignore it. 1304 } 1305 } 1306 1307 @SuppressWarnings("deprecation") 1308 public void onSensorChanged(SensorEvent event) { 1309 final float v[] = mValues; 1310 v[0] = event.values[0]; 1311 v[1] = event.values[1]; 1312 v[2] = event.values[2]; 1313 int legacyType = event.sensor.getLegacyType(); 1314 mapSensorDataToWindow(legacyType, v, SensorManager.getRotation()); 1315 if (event.sensor.getType() == Sensor.TYPE_ORIENTATION) { 1316 if ((mSensors & SENSOR_ORIENTATION_RAW)!=0) { 1317 mTarget.onSensorChanged(SENSOR_ORIENTATION_RAW, v); 1318 } 1319 if ((mSensors & SENSOR_ORIENTATION)!=0) { 1320 v[0] = mYawfilter.filter(event.timestamp, v[0]); 1321 mTarget.onSensorChanged(SENSOR_ORIENTATION, v); 1322 } 1323 } else { 1324 mTarget.onSensorChanged(legacyType, v); 1325 } 1326 } 1327 1328 /* 1329 * Helper function to convert the specified sensor's data to the windows's 1330 * coordinate space from the device's coordinate space. 1331 * 1332 * output: 3,4,5: values in the old API format 1333 * 0,1,2: transformed values in the old API format 1334 * 1335 */ 1336 private void mapSensorDataToWindow(int sensor, 1337 float[] values, int orientation) { 1338 float x = values[0]; 1339 float y = values[1]; 1340 float z = values[2]; 1341 1342 switch (sensor) { 1343 case SensorManager.SENSOR_ORIENTATION: 1344 case SensorManager.SENSOR_ORIENTATION_RAW: 1345 z = -z; 1346 break; 1347 case SensorManager.SENSOR_ACCELEROMETER: 1348 x = -x; 1349 y = -y; 1350 z = -z; 1351 break; 1352 case SensorManager.SENSOR_MAGNETIC_FIELD: 1353 x = -x; 1354 y = -y; 1355 break; 1356 } 1357 values[0] = x; 1358 values[1] = y; 1359 values[2] = z; 1360 values[3] = x; 1361 values[4] = y; 1362 values[5] = z; 1363 // TODO: add support for 180 and 270 orientations 1364 if (orientation == Surface.ROTATION_90) { 1365 switch (sensor) { 1366 case SENSOR_ACCELEROMETER: 1367 case SENSOR_MAGNETIC_FIELD: 1368 values[0] =-y; 1369 values[1] = x; 1370 values[2] = z; 1371 break; 1372 case SENSOR_ORIENTATION: 1373 case SENSOR_ORIENTATION_RAW: 1374 values[0] = x + ((x < 270) ? 90 : -270); 1375 values[1] = z; 1376 values[2] = y; 1377 break; 1378 } 1379 } 1380 } 1381 } 1382 1383 class LmsFilter { 1384 private static final int SENSORS_RATE_MS = 20; 1385 private static final int COUNT = 12; 1386 private static final float PREDICTION_RATIO = 1.0f/3.0f; 1387 private static final float PREDICTION_TIME = (SENSORS_RATE_MS*COUNT/1000.0f)*PREDICTION_RATIO; 1388 private float mV[] = new float[COUNT*2]; 1389 private float mT[] = new float[COUNT*2]; 1390 private int mIndex; 1391 1392 public LmsFilter() { 1393 mIndex = COUNT; 1394 } 1395 1396 public float filter(long time, float in) { 1397 float v = in; 1398 final float ns = 1.0f / 1000000000.0f; 1399 final float t = time*ns; 1400 float v1 = mV[mIndex]; 1401 if ((v-v1) > 180) { 1402 v -= 360; 1403 } else if ((v1-v) > 180) { 1404 v += 360; 1405 } 1406 /* Manage the circular buffer, we write the data twice spaced 1407 * by COUNT values, so that we don't have to copy the array 1408 * when it's full 1409 */ 1410 mIndex++; 1411 if (mIndex >= COUNT*2) 1412 mIndex = COUNT; 1413 mV[mIndex] = v; 1414 mT[mIndex] = t; 1415 mV[mIndex-COUNT] = v; 1416 mT[mIndex-COUNT] = t; 1417 1418 float A, B, C, D, E; 1419 float a, b; 1420 int i; 1421 1422 A = B = C = D = E = 0; 1423 for (i=0 ; i<COUNT-1 ; i++) { 1424 final int j = mIndex - 1 - i; 1425 final float Z = mV[j]; 1426 final float T = 0.5f*(mT[j] + mT[j+1]) - t; 1427 float dT = mT[j] - mT[j+1]; 1428 dT *= dT; 1429 A += Z*dT; 1430 B += T*(T*dT); 1431 C += (T*dT); 1432 D += Z*(T*dT); 1433 E += dT; 1434 } 1435 b = (A*B + C*D) / (E*B + C*C); 1436 a = (E*b - A) / C; 1437 float f = b + PREDICTION_TIME*a; 1438 1439 // Normalize 1440 f *= (1.0f / 360.0f); 1441 if (((f>=0)?f:-f) >= 0.5f) 1442 f = f - (float)Math.ceil(f + 0.5f) + 1.0f; 1443 if (f < 0) 1444 f += 1.0f; 1445 f *= 360.0f; 1446 return f; 1447 } 1448 } 1449 1450 1451 private static native void nativeClassInit(); 1452 1453 private static native int sensors_module_init(); 1454 private static native int sensors_module_get_next_sensor(Sensor sensor, int next); 1455 1456 // Used within this module from outside SensorManager, don't make private 1457 static native int sensors_data_init(); 1458 static native int sensors_data_uninit(); 1459 static native int sensors_data_open(FileDescriptor fd); 1460 static native int sensors_data_close(); 1461 static native int sensors_data_poll(float[] values, int[] status, long[] timestamp); 1462} 1463