1/*
2 * Copyright (C) 2011 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
17#ifndef ANDROID_SENSOR_FUSION_H
18#define ANDROID_SENSOR_FUSION_H
19
20#include <stdint.h>
21#include <sys/types.h>
22
23#include <utils/SortedVector.h>
24#include <utils/Singleton.h>
25#include <utils/String8.h>
26
27#include <gui/Sensor.h>
28
29#include "Fusion.h"
30
31// ---------------------------------------------------------------------------
32
33namespace android {
34// ---------------------------------------------------------------------------
35
36class SensorDevice;
37
38class SensorFusion : public Singleton<SensorFusion> {
39    friend class Singleton<SensorFusion>;
40
41    SensorDevice& mSensorDevice;
42    Sensor mAcc;
43    Sensor mMag;
44    Sensor mGyro;
45    Fusion mFusion;
46    bool mEnabled;
47    float mEstimatedGyroRate;
48    nsecs_t mTargetDelayNs;
49    nsecs_t mGyroTime;
50    vec4_t mAttitude;
51    SortedVector<void*> mClients;
52
53    SensorFusion();
54
55public:
56    void process(const sensors_event_t& event);
57
58    bool isEnabled() const { return mEnabled; }
59    bool hasEstimate() const { return mFusion.hasEstimate(); }
60    mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
61    vec4_t getAttitude() const { return mAttitude; }
62    vec3_t getGyroBias() const { return mFusion.getBias(); }
63    float getEstimatedRate() const { return mEstimatedGyroRate; }
64
65    status_t activate(void* ident, bool enabled);
66    status_t setDelay(void* ident, int64_t ns);
67
68    float getPowerUsage() const;
69    int32_t getMinDelay() const;
70
71    void dump(String8& result);
72};
73
74
75// ---------------------------------------------------------------------------
76}; // namespace android
77
78#endif // ANDROID_SENSOR_FUSION_H
79