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.os.Handler; 20import android.util.Log; 21import android.util.SparseArray; 22 23import java.util.ArrayList; 24import java.util.Collections; 25import java.util.List; 26 27/** 28 * <p> 29 * SensorManager lets you access the device's {@link android.hardware.Sensor 30 * sensors}. Get an instance of this class by calling 31 * {@link android.content.Context#getSystemService(java.lang.String) 32 * Context.getSystemService()} with the argument 33 * {@link android.content.Context#SENSOR_SERVICE}. 34 * </p> 35 * <p> 36 * Always make sure to disable sensors you don't need, especially when your 37 * activity is paused. Failing to do so can drain the battery in just a few 38 * hours. Note that the system will <i>not</i> disable sensors automatically when 39 * the screen turns off. 40 * </p> 41 * <p class="note"> 42 * Note: Don't use this mechanism with a Trigger Sensor, have a look 43 * at {@link TriggerEventListener}. {@link Sensor#TYPE_SIGNIFICANT_MOTION} 44 * is an example of a trigger sensor. 45 * </p> 46 * <pre class="prettyprint"> 47 * public class SensorActivity extends Activity, implements SensorEventListener { 48 * private final SensorManager mSensorManager; 49 * private final Sensor mAccelerometer; 50 * 51 * public SensorActivity() { 52 * mSensorManager = (SensorManager)getSystemService(SENSOR_SERVICE); 53 * mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER); 54 * } 55 * 56 * protected void onResume() { 57 * super.onResume(); 58 * mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_NORMAL); 59 * } 60 * 61 * protected void onPause() { 62 * super.onPause(); 63 * mSensorManager.unregisterListener(this); 64 * } 65 * 66 * public void onAccuracyChanged(Sensor sensor, int accuracy) { 67 * } 68 * 69 * public void onSensorChanged(SensorEvent event) { 70 * } 71 * } 72 * </pre> 73 * 74 * @see SensorEventListener 75 * @see SensorEvent 76 * @see Sensor 77 * 78 */ 79public abstract class SensorManager { 80 /** @hide */ 81 protected static final String TAG = "SensorManager"; 82 83 private static final float[] mTempMatrix = new float[16]; 84 85 // Cached lists of sensors by type. Guarded by mSensorListByType. 86 private final SparseArray<List<Sensor>> mSensorListByType = 87 new SparseArray<List<Sensor>>(); 88 89 // Legacy sensor manager implementation. Guarded by mSensorListByType during initialization. 90 private LegacySensorManager mLegacySensorManager; 91 92 /* NOTE: sensor IDs must be a power of 2 */ 93 94 /** 95 * A constant describing an orientation sensor. See 96 * {@link android.hardware.SensorListener SensorListener} for more details. 97 * 98 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 99 */ 100 @Deprecated 101 public static final int SENSOR_ORIENTATION = 1 << 0; 102 103 /** 104 * A constant describing an accelerometer. See 105 * {@link android.hardware.SensorListener SensorListener} for more details. 106 * 107 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 108 */ 109 @Deprecated 110 public static final int SENSOR_ACCELEROMETER = 1 << 1; 111 112 /** 113 * A constant describing a temperature sensor See 114 * {@link android.hardware.SensorListener SensorListener} for more details. 115 * 116 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 117 */ 118 @Deprecated 119 public static final int SENSOR_TEMPERATURE = 1 << 2; 120 121 /** 122 * A constant describing a magnetic sensor See 123 * {@link android.hardware.SensorListener SensorListener} for more details. 124 * 125 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 126 */ 127 @Deprecated 128 public static final int SENSOR_MAGNETIC_FIELD = 1 << 3; 129 130 /** 131 * A constant describing an ambient light sensor See 132 * {@link android.hardware.SensorListener SensorListener} for more details. 133 * 134 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 135 */ 136 @Deprecated 137 public static final int SENSOR_LIGHT = 1 << 4; 138 139 /** 140 * A constant describing a proximity sensor See 141 * {@link android.hardware.SensorListener SensorListener} for more details. 142 * 143 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 144 */ 145 @Deprecated 146 public static final int SENSOR_PROXIMITY = 1 << 5; 147 148 /** 149 * A constant describing a Tricorder See 150 * {@link android.hardware.SensorListener SensorListener} for more details. 151 * 152 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 153 */ 154 @Deprecated 155 public static final int SENSOR_TRICORDER = 1 << 6; 156 157 /** 158 * A constant describing an orientation sensor. See 159 * {@link android.hardware.SensorListener SensorListener} for more details. 160 * 161 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 162 */ 163 @Deprecated 164 public static final int SENSOR_ORIENTATION_RAW = 1 << 7; 165 166 /** 167 * A constant that includes all sensors 168 * 169 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 170 */ 171 @Deprecated 172 public static final int SENSOR_ALL = 0x7F; 173 174 /** 175 * Smallest sensor ID 176 * 177 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 178 */ 179 @Deprecated 180 public static final int SENSOR_MIN = SENSOR_ORIENTATION; 181 182 /** 183 * Largest sensor ID 184 * 185 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 186 */ 187 @Deprecated 188 public static final int SENSOR_MAX = ((SENSOR_ALL + 1)>>1); 189 190 191 /** 192 * Index of the X value in the array returned by 193 * {@link android.hardware.SensorListener#onSensorChanged} 194 * 195 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 196 */ 197 @Deprecated 198 public static final int DATA_X = 0; 199 200 /** 201 * Index of the Y value in the array returned by 202 * {@link android.hardware.SensorListener#onSensorChanged} 203 * 204 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 205 */ 206 @Deprecated 207 public static final int DATA_Y = 1; 208 209 /** 210 * Index of the Z value in the array returned by 211 * {@link android.hardware.SensorListener#onSensorChanged} 212 * 213 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 214 */ 215 @Deprecated 216 public static final int DATA_Z = 2; 217 218 /** 219 * Offset to the untransformed values in the array returned by 220 * {@link android.hardware.SensorListener#onSensorChanged} 221 * 222 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 223 */ 224 @Deprecated 225 public static final int RAW_DATA_INDEX = 3; 226 227 /** 228 * Index of the untransformed X value in the array returned by 229 * {@link android.hardware.SensorListener#onSensorChanged} 230 * 231 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 232 */ 233 @Deprecated 234 public static final int RAW_DATA_X = 3; 235 236 /** 237 * Index of the untransformed Y value in the array returned by 238 * {@link android.hardware.SensorListener#onSensorChanged} 239 * 240 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 241 */ 242 @Deprecated 243 public static final int RAW_DATA_Y = 4; 244 245 /** 246 * Index of the untransformed Z value in the array returned by 247 * {@link android.hardware.SensorListener#onSensorChanged} 248 * 249 * @deprecated use {@link android.hardware.Sensor Sensor} instead. 250 */ 251 @Deprecated 252 public static final int RAW_DATA_Z = 5; 253 254 /** Standard gravity (g) on Earth. This value is equivalent to 1G */ 255 public static final float STANDARD_GRAVITY = 9.80665f; 256 257 /** Sun's gravity in SI units (m/s^2) */ 258 public static final float GRAVITY_SUN = 275.0f; 259 /** Mercury's gravity in SI units (m/s^2) */ 260 public static final float GRAVITY_MERCURY = 3.70f; 261 /** Venus' gravity in SI units (m/s^2) */ 262 public static final float GRAVITY_VENUS = 8.87f; 263 /** Earth's gravity in SI units (m/s^2) */ 264 public static final float GRAVITY_EARTH = 9.80665f; 265 /** The Moon's gravity in SI units (m/s^2) */ 266 public static final float GRAVITY_MOON = 1.6f; 267 /** Mars' gravity in SI units (m/s^2) */ 268 public static final float GRAVITY_MARS = 3.71f; 269 /** Jupiter's gravity in SI units (m/s^2) */ 270 public static final float GRAVITY_JUPITER = 23.12f; 271 /** Saturn's gravity in SI units (m/s^2) */ 272 public static final float GRAVITY_SATURN = 8.96f; 273 /** Uranus' gravity in SI units (m/s^2) */ 274 public static final float GRAVITY_URANUS = 8.69f; 275 /** Neptune's gravity in SI units (m/s^2) */ 276 public static final float GRAVITY_NEPTUNE = 11.0f; 277 /** Pluto's gravity in SI units (m/s^2) */ 278 public static final float GRAVITY_PLUTO = 0.6f; 279 /** Gravity (estimate) on the first Death Star in Empire units (m/s^2) */ 280 public static final float GRAVITY_DEATH_STAR_I = 0.000000353036145f; 281 /** Gravity on the island */ 282 public static final float GRAVITY_THE_ISLAND = 4.815162342f; 283 284 285 /** Maximum magnetic field on Earth's surface */ 286 public static final float MAGNETIC_FIELD_EARTH_MAX = 60.0f; 287 /** Minimum magnetic field on Earth's surface */ 288 public static final float MAGNETIC_FIELD_EARTH_MIN = 30.0f; 289 290 291 /** Standard atmosphere, or average sea-level pressure in hPa (millibar) */ 292 public static final float PRESSURE_STANDARD_ATMOSPHERE = 1013.25f; 293 294 295 /** Maximum luminance of sunlight in lux */ 296 public static final float LIGHT_SUNLIGHT_MAX = 120000.0f; 297 /** luminance of sunlight in lux */ 298 public static final float LIGHT_SUNLIGHT = 110000.0f; 299 /** luminance in shade in lux */ 300 public static final float LIGHT_SHADE = 20000.0f; 301 /** luminance under an overcast sky in lux */ 302 public static final float LIGHT_OVERCAST = 10000.0f; 303 /** luminance at sunrise in lux */ 304 public static final float LIGHT_SUNRISE = 400.0f; 305 /** luminance under a cloudy sky in lux */ 306 public static final float LIGHT_CLOUDY = 100.0f; 307 /** luminance at night with full moon in lux */ 308 public static final float LIGHT_FULLMOON = 0.25f; 309 /** luminance at night with no moon in lux*/ 310 public static final float LIGHT_NO_MOON = 0.001f; 311 312 313 /** get sensor data as fast as possible */ 314 public static final int SENSOR_DELAY_FASTEST = 0; 315 /** rate suitable for games */ 316 public static final int SENSOR_DELAY_GAME = 1; 317 /** rate suitable for the user interface */ 318 public static final int SENSOR_DELAY_UI = 2; 319 /** rate (default) suitable for screen orientation changes */ 320 public static final int SENSOR_DELAY_NORMAL = 3; 321 322 323 /** 324 * The values returned by this sensor cannot be trusted because the sensor 325 * had no contact with what it was measuring (for example, the heart rate 326 * monitor is not in contact with the user). 327 */ 328 public static final int SENSOR_STATUS_NO_CONTACT = -1; 329 330 /** 331 * The values returned by this sensor cannot be trusted, calibration is 332 * needed or the environment doesn't allow readings 333 */ 334 public static final int SENSOR_STATUS_UNRELIABLE = 0; 335 336 /** 337 * This sensor is reporting data with low accuracy, calibration with the 338 * environment is needed 339 */ 340 public static final int SENSOR_STATUS_ACCURACY_LOW = 1; 341 342 /** 343 * This sensor is reporting data with an average level of accuracy, 344 * calibration with the environment may improve the readings 345 */ 346 public static final int SENSOR_STATUS_ACCURACY_MEDIUM = 2; 347 348 /** This sensor is reporting data with maximum accuracy */ 349 public static final int SENSOR_STATUS_ACCURACY_HIGH = 3; 350 351 /** see {@link #remapCoordinateSystem} */ 352 public static final int AXIS_X = 1; 353 /** see {@link #remapCoordinateSystem} */ 354 public static final int AXIS_Y = 2; 355 /** see {@link #remapCoordinateSystem} */ 356 public static final int AXIS_Z = 3; 357 /** see {@link #remapCoordinateSystem} */ 358 public static final int AXIS_MINUS_X = AXIS_X | 0x80; 359 /** see {@link #remapCoordinateSystem} */ 360 public static final int AXIS_MINUS_Y = AXIS_Y | 0x80; 361 /** see {@link #remapCoordinateSystem} */ 362 public static final int AXIS_MINUS_Z = AXIS_Z | 0x80; 363 364 365 /** 366 * {@hide} 367 */ 368 public SensorManager() { 369 } 370 371 /** 372 * Gets the full list of sensors that are available. 373 * @hide 374 */ 375 protected abstract List<Sensor> getFullSensorList(); 376 377 /** 378 * @return available sensors. 379 * @deprecated This method is deprecated, use 380 * {@link SensorManager#getSensorList(int)} instead 381 */ 382 @Deprecated 383 public int getSensors() { 384 return getLegacySensorManager().getSensors(); 385 } 386 387 /** 388 * Use this method to get the list of available sensors of a certain type. 389 * Make multiple calls to get sensors of different types or use 390 * {@link android.hardware.Sensor#TYPE_ALL Sensor.TYPE_ALL} to get all the 391 * sensors. 392 * 393 * <p class="note"> 394 * NOTE: Both wake-up and non wake-up sensors matching the given type are 395 * returned. Check {@link Sensor#isWakeUpSensor()} to know the wake-up properties 396 * of the returned {@link Sensor}. 397 * </p> 398 * 399 * @param type 400 * of sensors requested 401 * 402 * @return a list of sensors matching the asked type. 403 * 404 * @see #getDefaultSensor(int) 405 * @see Sensor 406 */ 407 public List<Sensor> getSensorList(int type) { 408 // cache the returned lists the first time 409 List<Sensor> list; 410 final List<Sensor> fullList = getFullSensorList(); 411 synchronized (mSensorListByType) { 412 list = mSensorListByType.get(type); 413 if (list == null) { 414 if (type == Sensor.TYPE_ALL) { 415 list = fullList; 416 } else { 417 list = new ArrayList<Sensor>(); 418 for (Sensor i : fullList) { 419 if (i.getType() == type) 420 list.add(i); 421 } 422 } 423 list = Collections.unmodifiableList(list); 424 mSensorListByType.append(type, list); 425 } 426 } 427 return list; 428 } 429 430 /** 431 * Use this method to get the default sensor for a given type. Note that the 432 * returned sensor could be a composite sensor, and its data could be 433 * averaged or filtered. If you need to access the raw sensors use 434 * {@link SensorManager#getSensorList(int) getSensorList}. 435 * 436 * @param type 437 * of sensors requested 438 * 439 * @return the default sensor matching the requested type if one exists and the application 440 * has the necessary permissions, or null otherwise. 441 * 442 * @see #getSensorList(int) 443 * @see Sensor 444 */ 445 public Sensor getDefaultSensor(int type) { 446 // TODO: need to be smarter, for now, just return the 1st sensor 447 List<Sensor> l = getSensorList(type); 448 boolean wakeUpSensor = false; 449 // For the following sensor types, return a wake-up sensor. These types are by default 450 // defined as wake-up sensors. For the rest of the SDK defined sensor types return a 451 // non_wake-up version. 452 if (type == Sensor.TYPE_PROXIMITY || type == Sensor.TYPE_SIGNIFICANT_MOTION || 453 type == Sensor.TYPE_TILT_DETECTOR || type == Sensor.TYPE_WAKE_GESTURE || 454 type == Sensor.TYPE_GLANCE_GESTURE || type == Sensor.TYPE_PICK_UP_GESTURE) { 455 wakeUpSensor = true; 456 } 457 458 for (Sensor sensor : l) { 459 if (sensor.isWakeUpSensor() == wakeUpSensor) return sensor; 460 } 461 return null; 462 } 463 464 /** 465 * Return a Sensor with the given type and wakeUp properties. If multiple sensors of this 466 * type exist, any one of them may be returned. 467 * <p> 468 * For example, 469 * <ul> 470 * <li>getDefaultSensor({@link Sensor#TYPE_ACCELEROMETER}, true) returns a wake-up accelerometer 471 * sensor if it exists. </li> 472 * <li>getDefaultSensor({@link Sensor#TYPE_PROXIMITY}, false) returns a non wake-up proximity 473 * sensor if it exists. </li> 474 * <li>getDefaultSensor({@link Sensor#TYPE_PROXIMITY}, true) returns a wake-up proximity sensor 475 * which is the same as the Sensor returned by {@link #getDefaultSensor(int)}. </li> 476 * </ul> 477 * </p> 478 * <p class="note"> 479 * Note: Sensors like {@link Sensor#TYPE_PROXIMITY} and {@link Sensor#TYPE_SIGNIFICANT_MOTION} 480 * are declared as wake-up sensors by default. 481 * </p> 482 * @param type 483 * type of sensor requested 484 * @param wakeUp 485 * flag to indicate whether the Sensor is a wake-up or non wake-up sensor. 486 * @return the default sensor matching the requested type and wakeUp properties if one exists 487 * and the application has the necessary permissions, or null otherwise. 488 * @see Sensor#isWakeUpSensor() 489 */ 490 public Sensor getDefaultSensor(int type, boolean wakeUp) { 491 List<Sensor> l = getSensorList(type); 492 for (Sensor sensor : l) { 493 if (sensor.isWakeUpSensor() == wakeUp) 494 return sensor; 495 } 496 return null; 497 } 498 499 /** 500 * Registers a listener for given sensors. 501 * 502 * @deprecated This method is deprecated, use 503 * {@link SensorManager#registerListener(SensorEventListener, Sensor, int)} 504 * instead. 505 * 506 * @param listener 507 * sensor listener object 508 * 509 * @param sensors 510 * a bit masks of the sensors to register to 511 * 512 * @return <code>true</code> if the sensor is supported and successfully 513 * enabled 514 */ 515 @Deprecated 516 public boolean registerListener(SensorListener listener, int sensors) { 517 return registerListener(listener, sensors, SENSOR_DELAY_NORMAL); 518 } 519 520 /** 521 * Registers a SensorListener for given sensors. 522 * 523 * @deprecated This method is deprecated, use 524 * {@link SensorManager#registerListener(SensorEventListener, Sensor, int)} 525 * instead. 526 * 527 * @param listener 528 * sensor listener object 529 * 530 * @param sensors 531 * a bit masks of the sensors to register to 532 * 533 * @param rate 534 * rate of events. This is only a hint to the system. events may be 535 * received faster or slower than the specified rate. Usually events 536 * are received faster. The value must be one of 537 * {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, 538 * {@link #SENSOR_DELAY_GAME}, or {@link #SENSOR_DELAY_FASTEST}. 539 * 540 * @return <code>true</code> if the sensor is supported and successfully 541 * enabled 542 */ 543 @Deprecated 544 public boolean registerListener(SensorListener listener, int sensors, int rate) { 545 return getLegacySensorManager().registerListener(listener, sensors, rate); 546 } 547 548 /** 549 * Unregisters a listener for all sensors. 550 * 551 * @deprecated This method is deprecated, use 552 * {@link SensorManager#unregisterListener(SensorEventListener)} 553 * instead. 554 * 555 * @param listener 556 * a SensorListener object 557 */ 558 @Deprecated 559 public void unregisterListener(SensorListener listener) { 560 unregisterListener(listener, SENSOR_ALL | SENSOR_ORIENTATION_RAW); 561 } 562 563 /** 564 * Unregisters a listener for the sensors with which it is registered. 565 * 566 * @deprecated This method is deprecated, use 567 * {@link SensorManager#unregisterListener(SensorEventListener, Sensor)} 568 * instead. 569 * 570 * @param listener 571 * a SensorListener object 572 * 573 * @param sensors 574 * a bit masks of the sensors to unregister from 575 */ 576 @Deprecated 577 public void unregisterListener(SensorListener listener, int sensors) { 578 getLegacySensorManager().unregisterListener(listener, sensors); 579 } 580 581 /** 582 * Unregisters a listener for the sensors with which it is registered. 583 * 584 * <p class="note"></p> 585 * Note: Don't use this method with a one shot trigger sensor such as 586 * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. 587 * Use {@link #cancelTriggerSensor(TriggerEventListener, Sensor)} instead. 588 * </p> 589 * 590 * @param listener 591 * a SensorEventListener object 592 * 593 * @param sensor 594 * the sensor to unregister from 595 * 596 * @see #unregisterListener(SensorEventListener) 597 * @see #registerListener(SensorEventListener, Sensor, int) 598 */ 599 public void unregisterListener(SensorEventListener listener, Sensor sensor) { 600 if (listener == null || sensor == null) { 601 return; 602 } 603 604 unregisterListenerImpl(listener, sensor); 605 } 606 607 /** 608 * Unregisters a listener for all sensors. 609 * 610 * @param listener 611 * a SensorListener object 612 * 613 * @see #unregisterListener(SensorEventListener, Sensor) 614 * @see #registerListener(SensorEventListener, Sensor, int) 615 * 616 */ 617 public void unregisterListener(SensorEventListener listener) { 618 if (listener == null) { 619 return; 620 } 621 622 unregisterListenerImpl(listener, null); 623 } 624 625 /** @hide */ 626 protected abstract void unregisterListenerImpl(SensorEventListener listener, Sensor sensor); 627 628 /** 629 * Registers a {@link android.hardware.SensorEventListener 630 * SensorEventListener} for the given sensor. 631 * 632 * <p class="note"></p> 633 * Note: Don't use this method with a one shot trigger sensor such as 634 * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. 635 * Use {@link #requestTriggerSensor(TriggerEventListener, Sensor)} instead. 636 * </p> 637 * 638 * @param listener 639 * A {@link android.hardware.SensorEventListener SensorEventListener} 640 * object. 641 * 642 * @param sensor 643 * The {@link android.hardware.Sensor Sensor} to register to. 644 * 645 * @param rateUs 646 * The rate {@link android.hardware.SensorEvent sensor events} are 647 * delivered at. This is only a hint to the system. Events may be 648 * received faster or slower than the specified rate. Usually events 649 * are received faster. The value must be one of 650 * {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, 651 * {@link #SENSOR_DELAY_GAME}, or {@link #SENSOR_DELAY_FASTEST} 652 * or, the desired delay between events in microseconds. 653 * Specifying the delay in microseconds only works from Android 654 * 2.3 (API level 9) onwards. For earlier releases, you must use 655 * one of the {@code SENSOR_DELAY_*} constants. 656 * 657 * @return <code>true</code> if the sensor is supported and successfully 658 * enabled. 659 * 660 * @see #registerListener(SensorEventListener, Sensor, int, Handler) 661 * @see #unregisterListener(SensorEventListener) 662 * @see #unregisterListener(SensorEventListener, Sensor) 663 * 664 */ 665 public boolean registerListener(SensorEventListener listener, Sensor sensor, int rateUs) { 666 return registerListener(listener, sensor, rateUs, null); 667 } 668 669 /** 670 * Enables batch mode for a sensor with the given rate and maxBatchReportLatency. If the 671 * underlying hardware does not support batch mode, this defaults to 672 * {@link #registerListener(SensorEventListener, Sensor, int)} and other parameters are 673 * ignored. In non-batch mode, all sensor events must be reported as soon as they are detected. 674 * While in batch mode, sensor events do not need to be reported as soon as they are detected. 675 * They can be temporarily stored in batches and reported in batches, as long as no event is 676 * delayed by more than "maxBatchReportLatency" microseconds. That is, all events since the 677 * previous batch are recorded and returned all at once. This allows to reduce the amount of 678 * interrupts sent to the SoC, and allows the SoC to switch to a lower power state (Idle) while 679 * the sensor is capturing and batching data. 680 * <p> 681 * Registering to a sensor in batch mode will not prevent the SoC from going to suspend mode. In 682 * this case, the sensor will continue to gather events and store it in a hardware FIFO. If the 683 * FIFO gets full before the AP wakes up again, some events will be lost, as the older events 684 * get overwritten by new events in the hardware FIFO. This can be avoided by holding a wake 685 * lock. If the application holds a wake lock, the SoC will not go to suspend mode, so no events 686 * will be lost, as the events will be reported before the FIFO gets full. 687 * </p> 688 * <p> 689 * Batching is always best effort. If a different application requests updates in continuous 690 * mode, this application will also get events in continuous mode. Batch mode updates can be 691 * unregistered by calling {@link #unregisterListener(SensorEventListener)}. 692 * </p> 693 * <p class="note"> 694 * </p> 695 * Note: Don't use this method with a one shot trigger sensor such as 696 * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. Use 697 * {@link #requestTriggerSensor(TriggerEventListener, Sensor)} instead. </p> 698 * 699 * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object 700 * that will receive the sensor events. If the application is interested in receiving 701 * flush complete notifications, it should register with 702 * {@link android.hardware.SensorEventListener SensorEventListener2} instead. 703 * @param sensor The {@link android.hardware.Sensor Sensor} to register to. 704 * @param rateUs The desired delay between two consecutive events in microseconds. This is only 705 * a hint to the system. Events may be received faster or slower than the specified 706 * rate. Usually events are received faster. Can be one of 707 * {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, 708 * {@link #SENSOR_DELAY_GAME}, {@link #SENSOR_DELAY_FASTEST} or the delay in 709 * microseconds. 710 * @param maxBatchReportLatencyUs An event in the batch can be delayed by at most 711 * maxBatchReportLatency microseconds. More events can be batched if this value is 712 * large. If this is set to zero, batch mode is disabled and events are delivered in 713 * continuous mode as soon as they are available which is equivalent to calling 714 * {@link #registerListener(SensorEventListener, Sensor, int)}. 715 * @return <code>true</code> if batch mode is successfully enabled for this sensor, 716 * <code>false</code> otherwise. 717 * @see #registerListener(SensorEventListener, Sensor, int) 718 * @see #unregisterListener(SensorEventListener) 719 * @see #flush(SensorEventListener) 720 */ 721 public boolean registerListener(SensorEventListener listener, Sensor sensor, int rateUs, 722 int maxBatchReportLatencyUs) { 723 int delay = getDelay(rateUs); 724 return registerListenerImpl(listener, sensor, delay, null, maxBatchReportLatencyUs, 0); 725 } 726 727 /** 728 * Registers a {@link android.hardware.SensorEventListener SensorEventListener} for the given 729 * sensor. Events are delivered in continuous mode as soon as they are available. To reduce the 730 * battery usage, use {@link #registerListener(SensorEventListener, Sensor, int, int)} which 731 * enables batch mode for the sensor. 732 * 733 * <p class="note"></p> 734 * Note: Don't use this method with a one shot trigger sensor such as 735 * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. 736 * Use {@link #requestTriggerSensor(TriggerEventListener, Sensor)} instead. 737 * </p> 738 * 739 * @param listener 740 * A {@link android.hardware.SensorEventListener SensorEventListener} 741 * object. 742 * 743 * @param sensor 744 * The {@link android.hardware.Sensor Sensor} to register to. 745 * 746 * @param rateUs 747 * The rate {@link android.hardware.SensorEvent sensor events} are 748 * delivered at. This is only a hint to the system. Events may be 749 * received faster or slower than the specified rate. Usually events 750 * are received faster. The value must be one of 751 * {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, 752 * {@link #SENSOR_DELAY_GAME}, or {@link #SENSOR_DELAY_FASTEST}. 753 * or, the desired delay between events in microseconds. 754 * Specifying the delay in microseconds only works from Android 755 * 2.3 (API level 9) onwards. For earlier releases, you must use 756 * one of the {@code SENSOR_DELAY_*} constants. 757 * 758 * @param handler 759 * The {@link android.os.Handler Handler} the 760 * {@link android.hardware.SensorEvent sensor events} will be 761 * delivered to. 762 * 763 * @return <code>true</code> if the sensor is supported and successfully enabled. 764 * 765 * @see #registerListener(SensorEventListener, Sensor, int) 766 * @see #unregisterListener(SensorEventListener) 767 * @see #unregisterListener(SensorEventListener, Sensor) 768 */ 769 public boolean registerListener(SensorEventListener listener, Sensor sensor, int rateUs, 770 Handler handler) { 771 int delay = getDelay(rateUs); 772 return registerListenerImpl(listener, sensor, delay, handler, 0, 0); 773 } 774 775 /** 776 * Enables batch mode for a sensor with the given rate and maxBatchReportLatency. 777 * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object 778 * that will receive the sensor events. If the application is interested in receiving 779 * flush complete notifications, it should register with 780 * {@link android.hardware.SensorEventListener SensorEventListener2} instead. 781 * @param sensor The {@link android.hardware.Sensor Sensor} to register to. 782 * @param rateUs The desired delay between two consecutive events in microseconds. This is only 783 * a hint to the system. Events may be received faster or slower than the specified 784 * rate. Usually events are received faster. Can be one of 785 * {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, 786 * {@link #SENSOR_DELAY_GAME}, {@link #SENSOR_DELAY_FASTEST} or the delay in 787 * microseconds. 788 * @param maxBatchReportLatencyUs An event in the batch can be delayed by at most 789 * maxBatchReportLatency microseconds. More events can be batched if this value is 790 * large. If this is set to zero, batch mode is disabled and events are delivered in 791 * continuous mode as soon as they are available which is equivalent to calling 792 * {@link #registerListener(SensorEventListener, Sensor, int)}. 793 * @param handler The {@link android.os.Handler Handler} the 794 * {@link android.hardware.SensorEvent sensor events} will be delivered to. 795 * 796 * @return <code>true</code> if batch mode is successfully enabled for this sensor, 797 * <code>false</code> otherwise. 798 * @see #registerListener(SensorEventListener, Sensor, int, int) 799 */ 800 public boolean registerListener(SensorEventListener listener, Sensor sensor, int rateUs, 801 int maxBatchReportLatencyUs, Handler handler) { 802 int delayUs = getDelay(rateUs); 803 return registerListenerImpl(listener, sensor, delayUs, handler, maxBatchReportLatencyUs, 0); 804 } 805 806 /** @hide */ 807 protected abstract boolean registerListenerImpl(SensorEventListener listener, Sensor sensor, 808 int delayUs, Handler handler, int maxBatchReportLatencyUs, int reservedFlags); 809 810 811 /** 812 * Flushes the batch FIFO of all the sensors registered for this listener. If there are events 813 * in the FIFO of the sensor, they are returned as if the batch timeout in the FIFO of the 814 * sensors had expired. Events are returned in the usual way through the SensorEventListener. 815 * This call doesn't affect the batch timeout for this sensor. This call is asynchronous and 816 * returns immediately. 817 * {@link android.hardware.SensorEventListener2#onFlushCompleted onFlushCompleted} is called 818 * after all the events in the batch at the time of calling this method have been delivered 819 * successfully. If the hardware doesn't support flush, it still returns true and a trivial 820 * flush complete event is sent after the current event for all the clients registered for this 821 * sensor. 822 * 823 * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object 824 * which was previously used in a registerListener call. 825 * @return <code>true</code> if the flush is initiated successfully on all the sensors 826 * registered for this listener, false if no sensor is previously registered for this 827 * listener or flush on one of the sensors fails. 828 * @see #registerListener(SensorEventListener, Sensor, int, int) 829 * @throws IllegalArgumentException when listener is null. 830 */ 831 public boolean flush(SensorEventListener listener) { 832 return flushImpl(listener); 833 } 834 835 /** @hide */ 836 protected abstract boolean flushImpl(SensorEventListener listener); 837 838 /** 839 * <p> 840 * Computes the inclination matrix <b>I</b> as well as the rotation matrix 841 * <b>R</b> transforming a vector from the device coordinate system to the 842 * world's coordinate system which is defined as a direct orthonormal basis, 843 * where: 844 * </p> 845 * 846 * <ul> 847 * <li>X is defined as the vector product <b>Y.Z</b> (It is tangential to 848 * the ground at the device's current location and roughly points East).</li> 849 * <li>Y is tangential to the ground at the device's current location and 850 * points towards the magnetic North Pole.</li> 851 * <li>Z points towards the sky and is perpendicular to the ground.</li> 852 * </ul> 853 * 854 * <p> 855 * <center><img src="../../../images/axis_globe.png" 856 * alt="World coordinate-system diagram." border="0" /></center> 857 * </p> 858 * 859 * <p> 860 * <hr> 861 * <p> 862 * By definition: 863 * <p> 864 * [0 0 g] = <b>R</b> * <b>gravity</b> (g = magnitude of gravity) 865 * <p> 866 * [0 m 0] = <b>I</b> * <b>R</b> * <b>geomagnetic</b> (m = magnitude of 867 * geomagnetic field) 868 * <p> 869 * <b>R</b> is the identity matrix when the device is aligned with the 870 * world's coordinate system, that is, when the device's X axis points 871 * toward East, the Y axis points to the North Pole and the device is facing 872 * the sky. 873 * 874 * <p> 875 * <b>I</b> is a rotation matrix transforming the geomagnetic vector into 876 * the same coordinate space as gravity (the world's coordinate space). 877 * <b>I</b> is a simple rotation around the X axis. The inclination angle in 878 * radians can be computed with {@link #getInclination}. 879 * <hr> 880 * 881 * <p> 882 * Each matrix is returned either as a 3x3 or 4x4 row-major matrix depending 883 * on the length of the passed array: 884 * <p> 885 * <u>If the array length is 16:</u> 886 * 887 * <pre> 888 * / M[ 0] M[ 1] M[ 2] M[ 3] \ 889 * | M[ 4] M[ 5] M[ 6] M[ 7] | 890 * | M[ 8] M[ 9] M[10] M[11] | 891 * \ M[12] M[13] M[14] M[15] / 892 *</pre> 893 * 894 * This matrix is ready to be used by OpenGL ES's 895 * {@link javax.microedition.khronos.opengles.GL10#glLoadMatrixf(float[], int) 896 * glLoadMatrixf(float[], int)}. 897 * <p> 898 * Note that because OpenGL matrices are column-major matrices you must 899 * transpose the matrix before using it. However, since the matrix is a 900 * rotation matrix, its transpose is also its inverse, conveniently, it is 901 * often the inverse of the rotation that is needed for rendering; it can 902 * therefore be used with OpenGL ES directly. 903 * <p> 904 * Also note that the returned matrices always have this form: 905 * 906 * <pre> 907 * / M[ 0] M[ 1] M[ 2] 0 \ 908 * | M[ 4] M[ 5] M[ 6] 0 | 909 * | M[ 8] M[ 9] M[10] 0 | 910 * \ 0 0 0 1 / 911 *</pre> 912 * 913 * <p> 914 * <u>If the array length is 9:</u> 915 * 916 * <pre> 917 * / M[ 0] M[ 1] M[ 2] \ 918 * | M[ 3] M[ 4] M[ 5] | 919 * \ M[ 6] M[ 7] M[ 8] / 920 *</pre> 921 * 922 * <hr> 923 * <p> 924 * The inverse of each matrix can be computed easily by taking its 925 * transpose. 926 * 927 * <p> 928 * The matrices returned by this function are meaningful only when the 929 * device is not free-falling and it is not close to the magnetic north. If 930 * the device is accelerating, or placed into a strong magnetic field, the 931 * returned matrices may be inaccurate. 932 * 933 * @param R 934 * is an array of 9 floats holding the rotation matrix <b>R</b> when 935 * this function returns. R can be null. 936 * <p> 937 * 938 * @param I 939 * is an array of 9 floats holding the rotation matrix <b>I</b> when 940 * this function returns. I can be null. 941 * <p> 942 * 943 * @param gravity 944 * is an array of 3 floats containing the gravity vector expressed in 945 * the device's coordinate. You can simply use the 946 * {@link android.hardware.SensorEvent#values values} returned by a 947 * {@link android.hardware.SensorEvent SensorEvent} of a 948 * {@link android.hardware.Sensor Sensor} of type 949 * {@link android.hardware.Sensor#TYPE_ACCELEROMETER 950 * TYPE_ACCELEROMETER}. 951 * <p> 952 * 953 * @param geomagnetic 954 * is an array of 3 floats containing the geomagnetic vector 955 * expressed in the device's coordinate. You can simply use the 956 * {@link android.hardware.SensorEvent#values values} returned by a 957 * {@link android.hardware.SensorEvent SensorEvent} of a 958 * {@link android.hardware.Sensor Sensor} of type 959 * {@link android.hardware.Sensor#TYPE_MAGNETIC_FIELD 960 * TYPE_MAGNETIC_FIELD}. 961 * 962 * @return <code>true</code> on success, <code>false</code> on failure (for 963 * instance, if the device is in free fall). On failure the output 964 * matrices are not modified. 965 * 966 * @see #getInclination(float[]) 967 * @see #getOrientation(float[], float[]) 968 * @see #remapCoordinateSystem(float[], int, int, float[]) 969 */ 970 971 public static boolean getRotationMatrix(float[] R, float[] I, 972 float[] gravity, float[] geomagnetic) { 973 // TODO: move this to native code for efficiency 974 float Ax = gravity[0]; 975 float Ay = gravity[1]; 976 float Az = gravity[2]; 977 final float Ex = geomagnetic[0]; 978 final float Ey = geomagnetic[1]; 979 final float Ez = geomagnetic[2]; 980 float Hx = Ey*Az - Ez*Ay; 981 float Hy = Ez*Ax - Ex*Az; 982 float Hz = Ex*Ay - Ey*Ax; 983 final float normH = (float)Math.sqrt(Hx*Hx + Hy*Hy + Hz*Hz); 984 if (normH < 0.1f) { 985 // device is close to free fall (or in space?), or close to 986 // magnetic north pole. Typical values are > 100. 987 return false; 988 } 989 final float invH = 1.0f / normH; 990 Hx *= invH; 991 Hy *= invH; 992 Hz *= invH; 993 final float invA = 1.0f / (float)Math.sqrt(Ax*Ax + Ay*Ay + Az*Az); 994 Ax *= invA; 995 Ay *= invA; 996 Az *= invA; 997 final float Mx = Ay*Hz - Az*Hy; 998 final float My = Az*Hx - Ax*Hz; 999 final float Mz = Ax*Hy - Ay*Hx; 1000 if (R != null) { 1001 if (R.length == 9) { 1002 R[0] = Hx; R[1] = Hy; R[2] = Hz; 1003 R[3] = Mx; R[4] = My; R[5] = Mz; 1004 R[6] = Ax; R[7] = Ay; R[8] = Az; 1005 } else if (R.length == 16) { 1006 R[0] = Hx; R[1] = Hy; R[2] = Hz; R[3] = 0; 1007 R[4] = Mx; R[5] = My; R[6] = Mz; R[7] = 0; 1008 R[8] = Ax; R[9] = Ay; R[10] = Az; R[11] = 0; 1009 R[12] = 0; R[13] = 0; R[14] = 0; R[15] = 1; 1010 } 1011 } 1012 if (I != null) { 1013 // compute the inclination matrix by projecting the geomagnetic 1014 // vector onto the Z (gravity) and X (horizontal component 1015 // of geomagnetic vector) axes. 1016 final float invE = 1.0f / (float)Math.sqrt(Ex*Ex + Ey*Ey + Ez*Ez); 1017 final float c = (Ex*Mx + Ey*My + Ez*Mz) * invE; 1018 final float s = (Ex*Ax + Ey*Ay + Ez*Az) * invE; 1019 if (I.length == 9) { 1020 I[0] = 1; I[1] = 0; I[2] = 0; 1021 I[3] = 0; I[4] = c; I[5] = s; 1022 I[6] = 0; I[7] =-s; I[8] = c; 1023 } else if (I.length == 16) { 1024 I[0] = 1; I[1] = 0; I[2] = 0; 1025 I[4] = 0; I[5] = c; I[6] = s; 1026 I[8] = 0; I[9] =-s; I[10]= c; 1027 I[3] = I[7] = I[11] = I[12] = I[13] = I[14] = 0; 1028 I[15] = 1; 1029 } 1030 } 1031 return true; 1032 } 1033 1034 /** 1035 * Computes the geomagnetic inclination angle in radians from the 1036 * inclination matrix <b>I</b> returned by {@link #getRotationMatrix}. 1037 * 1038 * @param I 1039 * inclination matrix see {@link #getRotationMatrix}. 1040 * 1041 * @return The geomagnetic inclination angle in radians. 1042 * 1043 * @see #getRotationMatrix(float[], float[], float[], float[]) 1044 * @see #getOrientation(float[], float[]) 1045 * @see GeomagneticField 1046 * 1047 */ 1048 public static float getInclination(float[] I) { 1049 if (I.length == 9) { 1050 return (float)Math.atan2(I[5], I[4]); 1051 } else { 1052 return (float)Math.atan2(I[6], I[5]); 1053 } 1054 } 1055 1056 /** 1057 * <p> 1058 * Rotates the supplied rotation matrix so it is expressed in a different 1059 * coordinate system. This is typically used when an application needs to 1060 * compute the three orientation angles of the device (see 1061 * {@link #getOrientation}) in a different coordinate system. 1062 * </p> 1063 * 1064 * <p> 1065 * When the rotation matrix is used for drawing (for instance with OpenGL 1066 * ES), it usually <b>doesn't need</b> to be transformed by this function, 1067 * unless the screen is physically rotated, in which case you can use 1068 * {@link android.view.Display#getRotation() Display.getRotation()} to 1069 * retrieve the current rotation of the screen. Note that because the user 1070 * is generally free to rotate their screen, you often should consider the 1071 * rotation in deciding the parameters to use here. 1072 * </p> 1073 * 1074 * <p> 1075 * <u>Examples:</u> 1076 * <p> 1077 * 1078 * <ul> 1079 * <li>Using the camera (Y axis along the camera's axis) for an augmented 1080 * reality application where the rotation angles are needed:</li> 1081 * 1082 * <p> 1083 * <ul> 1084 * <code>remapCoordinateSystem(inR, AXIS_X, AXIS_Z, outR);</code> 1085 * </ul> 1086 * </p> 1087 * 1088 * <li>Using the device as a mechanical compass when rotation is 1089 * {@link android.view.Surface#ROTATION_90 Surface.ROTATION_90}:</li> 1090 * 1091 * <p> 1092 * <ul> 1093 * <code>remapCoordinateSystem(inR, AXIS_Y, AXIS_MINUS_X, outR);</code> 1094 * </ul> 1095 * </p> 1096 * 1097 * Beware of the above example. This call is needed only to account for a 1098 * rotation from its natural orientation when calculating the rotation 1099 * angles (see {@link #getOrientation}). If the rotation matrix is also used 1100 * for rendering, it may not need to be transformed, for instance if your 1101 * {@link android.app.Activity Activity} is running in landscape mode. 1102 * </ul> 1103 * 1104 * <p> 1105 * Since the resulting coordinate system is orthonormal, only two axes need 1106 * to be specified. 1107 * 1108 * @param inR 1109 * the rotation matrix to be transformed. Usually it is the matrix 1110 * returned by {@link #getRotationMatrix}. 1111 * 1112 * @param X 1113 * defines on which world axis and direction the X axis of the device 1114 * is mapped. 1115 * 1116 * @param Y 1117 * defines on which world axis and direction the Y axis of the device 1118 * is mapped. 1119 * 1120 * @param outR 1121 * the transformed rotation matrix. inR and outR should not be the same 1122 * array. 1123 * 1124 * @return <code>true</code> on success. <code>false</code> if the input 1125 * parameters are incorrect, for instance if X and Y define the same 1126 * axis. Or if inR and outR don't have the same length. 1127 * 1128 * @see #getRotationMatrix(float[], float[], float[], float[]) 1129 */ 1130 1131 public static boolean remapCoordinateSystem(float[] inR, int X, int Y, 1132 float[] outR) 1133 { 1134 if (inR == outR) { 1135 final float[] temp = mTempMatrix; 1136 synchronized(temp) { 1137 // we don't expect to have a lot of contention 1138 if (remapCoordinateSystemImpl(inR, X, Y, temp)) { 1139 final int size = outR.length; 1140 for (int i=0 ; i<size ; i++) 1141 outR[i] = temp[i]; 1142 return true; 1143 } 1144 } 1145 } 1146 return remapCoordinateSystemImpl(inR, X, Y, outR); 1147 } 1148 1149 private static boolean remapCoordinateSystemImpl(float[] inR, int X, int Y, 1150 float[] outR) 1151 { 1152 /* 1153 * X and Y define a rotation matrix 'r': 1154 * 1155 * (X==1)?((X&0x80)?-1:1):0 (X==2)?((X&0x80)?-1:1):0 (X==3)?((X&0x80)?-1:1):0 1156 * (Y==1)?((Y&0x80)?-1:1):0 (Y==2)?((Y&0x80)?-1:1):0 (Y==3)?((X&0x80)?-1:1):0 1157 * r[0] ^ r[1] 1158 * 1159 * where the 3rd line is the vector product of the first 2 lines 1160 * 1161 */ 1162 1163 final int length = outR.length; 1164 if (inR.length != length) 1165 return false; // invalid parameter 1166 if ((X & 0x7C)!=0 || (Y & 0x7C)!=0) 1167 return false; // invalid parameter 1168 if (((X & 0x3)==0) || ((Y & 0x3)==0)) 1169 return false; // no axis specified 1170 if ((X & 0x3) == (Y & 0x3)) 1171 return false; // same axis specified 1172 1173 // Z is "the other" axis, its sign is either +/- sign(X)*sign(Y) 1174 // this can be calculated by exclusive-or'ing X and Y; except for 1175 // the sign inversion (+/-) which is calculated below. 1176 int Z = X ^ Y; 1177 1178 // extract the axis (remove the sign), offset in the range 0 to 2. 1179 final int x = (X & 0x3)-1; 1180 final int y = (Y & 0x3)-1; 1181 final int z = (Z & 0x3)-1; 1182 1183 // compute the sign of Z (whether it needs to be inverted) 1184 final int axis_y = (z+1)%3; 1185 final int axis_z = (z+2)%3; 1186 if (((x^axis_y)|(y^axis_z)) != 0) 1187 Z ^= 0x80; 1188 1189 final boolean sx = (X>=0x80); 1190 final boolean sy = (Y>=0x80); 1191 final boolean sz = (Z>=0x80); 1192 1193 // Perform R * r, in avoiding actual muls and adds. 1194 final int rowLength = ((length==16)?4:3); 1195 for (int j=0 ; j<3 ; j++) { 1196 final int offset = j*rowLength; 1197 for (int i=0 ; i<3 ; i++) { 1198 if (x==i) outR[offset+i] = sx ? -inR[offset+0] : inR[offset+0]; 1199 if (y==i) outR[offset+i] = sy ? -inR[offset+1] : inR[offset+1]; 1200 if (z==i) outR[offset+i] = sz ? -inR[offset+2] : inR[offset+2]; 1201 } 1202 } 1203 if (length == 16) { 1204 outR[3] = outR[7] = outR[11] = outR[12] = outR[13] = outR[14] = 0; 1205 outR[15] = 1; 1206 } 1207 return true; 1208 } 1209 1210 /** 1211 * Computes the device's orientation based on the rotation matrix. 1212 * <p> 1213 * When it returns, the array values is filled with the result: 1214 * <ul> 1215 * <li>values[0]: <i>azimuth</i>, rotation around the Z axis.</li> 1216 * <li>values[1]: <i>pitch</i>, rotation around the X axis.</li> 1217 * <li>values[2]: <i>roll</i>, rotation around the Y axis.</li> 1218 * </ul> 1219 * <p>The reference coordinate-system used is different from the world 1220 * coordinate-system defined for the rotation matrix:</p> 1221 * <ul> 1222 * <li>X is defined as the vector product <b>Y.Z</b> (It is tangential to 1223 * the ground at the device's current location and roughly points West).</li> 1224 * <li>Y is tangential to the ground at the device's current location and 1225 * points towards the magnetic North Pole.</li> 1226 * <li>Z points towards the center of the Earth and is perpendicular to the ground.</li> 1227 * </ul> 1228 * 1229 * <p> 1230 * <center><img src="../../../images/axis_globe_inverted.png" 1231 * alt="Inverted world coordinate-system diagram." border="0" /></center> 1232 * </p> 1233 * <p> 1234 * All three angles above are in <b>radians</b> and <b>positive</b> in the 1235 * <b>counter-clockwise</b> direction. 1236 * 1237 * @param R 1238 * rotation matrix see {@link #getRotationMatrix}. 1239 * 1240 * @param values 1241 * an array of 3 floats to hold the result. 1242 * 1243 * @return The array values passed as argument. 1244 * 1245 * @see #getRotationMatrix(float[], float[], float[], float[]) 1246 * @see GeomagneticField 1247 */ 1248 public static float[] getOrientation(float[] R, float values[]) { 1249 /* 1250 * 4x4 (length=16) case: 1251 * / R[ 0] R[ 1] R[ 2] 0 \ 1252 * | R[ 4] R[ 5] R[ 6] 0 | 1253 * | R[ 8] R[ 9] R[10] 0 | 1254 * \ 0 0 0 1 / 1255 * 1256 * 3x3 (length=9) case: 1257 * / R[ 0] R[ 1] R[ 2] \ 1258 * | R[ 3] R[ 4] R[ 5] | 1259 * \ R[ 6] R[ 7] R[ 8] / 1260 * 1261 */ 1262 if (R.length == 9) { 1263 values[0] = (float)Math.atan2(R[1], R[4]); 1264 values[1] = (float)Math.asin(-R[7]); 1265 values[2] = (float)Math.atan2(-R[6], R[8]); 1266 } else { 1267 values[0] = (float)Math.atan2(R[1], R[5]); 1268 values[1] = (float)Math.asin(-R[9]); 1269 values[2] = (float)Math.atan2(-R[8], R[10]); 1270 } 1271 return values; 1272 } 1273 1274 /** 1275 * Computes the Altitude in meters from the atmospheric pressure and the 1276 * pressure at sea level. 1277 * <p> 1278 * Typically the atmospheric pressure is read from a 1279 * {@link Sensor#TYPE_PRESSURE} sensor. The pressure at sea level must be 1280 * known, usually it can be retrieved from airport databases in the 1281 * vicinity. If unknown, you can use {@link #PRESSURE_STANDARD_ATMOSPHERE} 1282 * as an approximation, but absolute altitudes won't be accurate. 1283 * </p> 1284 * <p> 1285 * To calculate altitude differences, you must calculate the difference 1286 * between the altitudes at both points. If you don't know the altitude 1287 * as sea level, you can use {@link #PRESSURE_STANDARD_ATMOSPHERE} instead, 1288 * which will give good results considering the range of pressure typically 1289 * involved. 1290 * </p> 1291 * <p> 1292 * <code><ul> 1293 * float altitude_difference = 1294 * getAltitude(SensorManager.PRESSURE_STANDARD_ATMOSPHERE, pressure_at_point2) 1295 * - getAltitude(SensorManager.PRESSURE_STANDARD_ATMOSPHERE, pressure_at_point1); 1296 * </ul></code> 1297 * </p> 1298 * 1299 * @param p0 pressure at sea level 1300 * @param p atmospheric pressure 1301 * @return Altitude in meters 1302 */ 1303 public static float getAltitude(float p0, float p) { 1304 final float coef = 1.0f / 5.255f; 1305 return 44330.0f * (1.0f - (float)Math.pow(p/p0, coef)); 1306 } 1307 1308 /** Helper function to compute the angle change between two rotation matrices. 1309 * Given a current rotation matrix (R) and a previous rotation matrix 1310 * (prevR) computes the rotation around the z,x, and y axes which 1311 * transforms prevR to R. 1312 * outputs a 3 element vector containing the z,x, and y angle 1313 * change at indexes 0, 1, and 2 respectively. 1314 * <p> Each input matrix is either as a 3x3 or 4x4 row-major matrix 1315 * depending on the length of the passed array: 1316 * <p>If the array length is 9, then the array elements represent this matrix 1317 * <pre> 1318 * / R[ 0] R[ 1] R[ 2] \ 1319 * | R[ 3] R[ 4] R[ 5] | 1320 * \ R[ 6] R[ 7] R[ 8] / 1321 *</pre> 1322 * <p>If the array length is 16, then the array elements represent this matrix 1323 * <pre> 1324 * / R[ 0] R[ 1] R[ 2] R[ 3] \ 1325 * | R[ 4] R[ 5] R[ 6] R[ 7] | 1326 * | R[ 8] R[ 9] R[10] R[11] | 1327 * \ R[12] R[13] R[14] R[15] / 1328 *</pre> 1329 * @param R current rotation matrix 1330 * @param prevR previous rotation matrix 1331 * @param angleChange an an array of floats (z, x, and y) in which the angle change is stored 1332 */ 1333 1334 public static void getAngleChange( float[] angleChange, float[] R, float[] prevR) { 1335 float rd1=0,rd4=0, rd6=0,rd7=0, rd8=0; 1336 float ri0=0,ri1=0,ri2=0,ri3=0,ri4=0,ri5=0,ri6=0,ri7=0,ri8=0; 1337 float pri0=0, pri1=0, pri2=0, pri3=0, pri4=0, pri5=0, pri6=0, pri7=0, pri8=0; 1338 1339 if(R.length == 9) { 1340 ri0 = R[0]; 1341 ri1 = R[1]; 1342 ri2 = R[2]; 1343 ri3 = R[3]; 1344 ri4 = R[4]; 1345 ri5 = R[5]; 1346 ri6 = R[6]; 1347 ri7 = R[7]; 1348 ri8 = R[8]; 1349 } else if(R.length == 16) { 1350 ri0 = R[0]; 1351 ri1 = R[1]; 1352 ri2 = R[2]; 1353 ri3 = R[4]; 1354 ri4 = R[5]; 1355 ri5 = R[6]; 1356 ri6 = R[8]; 1357 ri7 = R[9]; 1358 ri8 = R[10]; 1359 } 1360 1361 if(prevR.length == 9) { 1362 pri0 = prevR[0]; 1363 pri1 = prevR[1]; 1364 pri2 = prevR[2]; 1365 pri3 = prevR[3]; 1366 pri4 = prevR[4]; 1367 pri5 = prevR[5]; 1368 pri6 = prevR[6]; 1369 pri7 = prevR[7]; 1370 pri8 = prevR[8]; 1371 } else if(prevR.length == 16) { 1372 pri0 = prevR[0]; 1373 pri1 = prevR[1]; 1374 pri2 = prevR[2]; 1375 pri3 = prevR[4]; 1376 pri4 = prevR[5]; 1377 pri5 = prevR[6]; 1378 pri6 = prevR[8]; 1379 pri7 = prevR[9]; 1380 pri8 = prevR[10]; 1381 } 1382 1383 // calculate the parts of the rotation difference matrix we need 1384 // rd[i][j] = pri[0][i] * ri[0][j] + pri[1][i] * ri[1][j] + pri[2][i] * ri[2][j]; 1385 1386 rd1 = pri0 * ri1 + pri3 * ri4 + pri6 * ri7; //rd[0][1] 1387 rd4 = pri1 * ri1 + pri4 * ri4 + pri7 * ri7; //rd[1][1] 1388 rd6 = pri2 * ri0 + pri5 * ri3 + pri8 * ri6; //rd[2][0] 1389 rd7 = pri2 * ri1 + pri5 * ri4 + pri8 * ri7; //rd[2][1] 1390 rd8 = pri2 * ri2 + pri5 * ri5 + pri8 * ri8; //rd[2][2] 1391 1392 angleChange[0] = (float)Math.atan2(rd1, rd4); 1393 angleChange[1] = (float)Math.asin(-rd7); 1394 angleChange[2] = (float)Math.atan2(-rd6, rd8); 1395 1396 } 1397 1398 /** Helper function to convert a rotation vector to a rotation matrix. 1399 * Given a rotation vector (presumably from a ROTATION_VECTOR sensor), returns a 1400 * 9 or 16 element rotation matrix in the array R. R must have length 9 or 16. 1401 * If R.length == 9, the following matrix is returned: 1402 * <pre> 1403 * / R[ 0] R[ 1] R[ 2] \ 1404 * | R[ 3] R[ 4] R[ 5] | 1405 * \ R[ 6] R[ 7] R[ 8] / 1406 *</pre> 1407 * If R.length == 16, the following matrix is returned: 1408 * <pre> 1409 * / R[ 0] R[ 1] R[ 2] 0 \ 1410 * | R[ 4] R[ 5] R[ 6] 0 | 1411 * | R[ 8] R[ 9] R[10] 0 | 1412 * \ 0 0 0 1 / 1413 *</pre> 1414 * @param rotationVector the rotation vector to convert 1415 * @param R an array of floats in which to store the rotation matrix 1416 */ 1417 public static void getRotationMatrixFromVector(float[] R, float[] rotationVector) { 1418 1419 float q0; 1420 float q1 = rotationVector[0]; 1421 float q2 = rotationVector[1]; 1422 float q3 = rotationVector[2]; 1423 1424 if (rotationVector.length >= 4) { 1425 q0 = rotationVector[3]; 1426 } else { 1427 q0 = 1 - q1*q1 - q2*q2 - q3*q3; 1428 q0 = (q0 > 0) ? (float)Math.sqrt(q0) : 0; 1429 } 1430 1431 float sq_q1 = 2 * q1 * q1; 1432 float sq_q2 = 2 * q2 * q2; 1433 float sq_q3 = 2 * q3 * q3; 1434 float q1_q2 = 2 * q1 * q2; 1435 float q3_q0 = 2 * q3 * q0; 1436 float q1_q3 = 2 * q1 * q3; 1437 float q2_q0 = 2 * q2 * q0; 1438 float q2_q3 = 2 * q2 * q3; 1439 float q1_q0 = 2 * q1 * q0; 1440 1441 if(R.length == 9) { 1442 R[0] = 1 - sq_q2 - sq_q3; 1443 R[1] = q1_q2 - q3_q0; 1444 R[2] = q1_q3 + q2_q0; 1445 1446 R[3] = q1_q2 + q3_q0; 1447 R[4] = 1 - sq_q1 - sq_q3; 1448 R[5] = q2_q3 - q1_q0; 1449 1450 R[6] = q1_q3 - q2_q0; 1451 R[7] = q2_q3 + q1_q0; 1452 R[8] = 1 - sq_q1 - sq_q2; 1453 } else if (R.length == 16) { 1454 R[0] = 1 - sq_q2 - sq_q3; 1455 R[1] = q1_q2 - q3_q0; 1456 R[2] = q1_q3 + q2_q0; 1457 R[3] = 0.0f; 1458 1459 R[4] = q1_q2 + q3_q0; 1460 R[5] = 1 - sq_q1 - sq_q3; 1461 R[6] = q2_q3 - q1_q0; 1462 R[7] = 0.0f; 1463 1464 R[8] = q1_q3 - q2_q0; 1465 R[9] = q2_q3 + q1_q0; 1466 R[10] = 1 - sq_q1 - sq_q2; 1467 R[11] = 0.0f; 1468 1469 R[12] = R[13] = R[14] = 0.0f; 1470 R[15] = 1.0f; 1471 } 1472 } 1473 1474 /** Helper function to convert a rotation vector to a normalized quaternion. 1475 * Given a rotation vector (presumably from a ROTATION_VECTOR sensor), returns a normalized 1476 * quaternion in the array Q. The quaternion is stored as [w, x, y, z] 1477 * @param rv the rotation vector to convert 1478 * @param Q an array of floats in which to store the computed quaternion 1479 */ 1480 public static void getQuaternionFromVector(float[] Q, float[] rv) { 1481 if (rv.length >= 4) { 1482 Q[0] = rv[3]; 1483 } else { 1484 Q[0] = 1 - rv[0]*rv[0] - rv[1]*rv[1] - rv[2]*rv[2]; 1485 Q[0] = (Q[0] > 0) ? (float)Math.sqrt(Q[0]) : 0; 1486 } 1487 Q[1] = rv[0]; 1488 Q[2] = rv[1]; 1489 Q[3] = rv[2]; 1490 } 1491 1492 /** 1493 * Requests receiving trigger events for a trigger sensor. 1494 * 1495 * <p> 1496 * When the sensor detects a trigger event condition, such as significant motion in 1497 * the case of the {@link Sensor#TYPE_SIGNIFICANT_MOTION}, the provided trigger listener 1498 * will be invoked once and then its request to receive trigger events will be canceled. 1499 * To continue receiving trigger events, the application must request to receive trigger 1500 * events again. 1501 * </p> 1502 * 1503 * @param listener The listener on which the 1504 * {@link TriggerEventListener#onTrigger(TriggerEvent)} will be delivered. 1505 * @param sensor The sensor to be enabled. 1506 * 1507 * @return true if the sensor was successfully enabled. 1508 * 1509 * @throws IllegalArgumentException when sensor is null or not a trigger sensor. 1510 */ 1511 public boolean requestTriggerSensor(TriggerEventListener listener, Sensor sensor) { 1512 return requestTriggerSensorImpl(listener, sensor); 1513 } 1514 1515 /** 1516 * @hide 1517 */ 1518 protected abstract boolean requestTriggerSensorImpl(TriggerEventListener listener, 1519 Sensor sensor); 1520 1521 /** 1522 * Cancels receiving trigger events for a trigger sensor. 1523 * 1524 * <p> 1525 * Note that a Trigger sensor will be auto disabled if 1526 * {@link TriggerEventListener#onTrigger(TriggerEvent)} has triggered. 1527 * This method is provided in case the user wants to explicitly cancel the request 1528 * to receive trigger events. 1529 * </p> 1530 * 1531 * @param listener The listener on which the 1532 * {@link TriggerEventListener#onTrigger(TriggerEvent)} 1533 * is delivered.It should be the same as the one used 1534 * in {@link #requestTriggerSensor(TriggerEventListener, Sensor)} 1535 * @param sensor The sensor for which the trigger request should be canceled. 1536 * If null, it cancels receiving trigger for all sensors associated 1537 * with the listener. 1538 * 1539 * @return true if successfully canceled. 1540 * 1541 * @throws IllegalArgumentException when sensor is a trigger sensor. 1542 */ 1543 public boolean cancelTriggerSensor(TriggerEventListener listener, Sensor sensor) { 1544 return cancelTriggerSensorImpl(listener, sensor, true); 1545 } 1546 1547 /** 1548 * @hide 1549 */ 1550 protected abstract boolean cancelTriggerSensorImpl(TriggerEventListener listener, 1551 Sensor sensor, boolean disable); 1552 1553 1554 private LegacySensorManager getLegacySensorManager() { 1555 synchronized (mSensorListByType) { 1556 if (mLegacySensorManager == null) { 1557 Log.i(TAG, "This application is using deprecated SensorManager API which will " 1558 + "be removed someday. Please consider switching to the new API."); 1559 mLegacySensorManager = new LegacySensorManager(this); 1560 } 1561 return mLegacySensorManager; 1562 } 1563 } 1564 1565 private static int getDelay(int rate) { 1566 int delay = -1; 1567 switch (rate) { 1568 case SENSOR_DELAY_FASTEST: 1569 delay = 0; 1570 break; 1571 case SENSOR_DELAY_GAME: 1572 delay = 20000; 1573 break; 1574 case SENSOR_DELAY_UI: 1575 delay = 66667; 1576 break; 1577 case SENSOR_DELAY_NORMAL: 1578 delay = 200000; 1579 break; 1580 default: 1581 delay = rate; 1582 break; 1583 } 1584 return delay; 1585 } 1586} 1587
