1/*
2 * Copyright (C) Texas Instruments - http://www.ti.com/
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/**
18* @file SensorListener.cpp
19*
20* This file listens and propogates sensor events to CameraHal.
21*
22*/
23
24#include "SensorListener.h"
25
26#include <stdint.h>
27#include <math.h>
28#include <sys/types.h>
29
30namespace Ti {
31namespace Camera {
32
33/*** static declarations ***/
34static const float RADIANS_2_DEG = (float) (180 / M_PI);
35// measured values on device...might need tuning
36static const int DEGREES_90_THRESH = 50;
37static const int DEGREES_180_THRESH = 170;
38static const int DEGREES_270_THRESH = 250;
39
40static int sensor_events_listener(int fd, int events, void* data)
41{
42    SensorListener* listener = (SensorListener*) data;
43    ssize_t num_sensors;
44    ASensorEvent sen_events[8];
45    while ((num_sensors = listener->mSensorEventQueue->read(sen_events, 8)) > 0) {
46        for (int i = 0; i < num_sensors; i++) {
47            if (sen_events[i].type == android::Sensor::TYPE_ACCELEROMETER) {
48                float x = sen_events[i].vector.azimuth;
49                float y = sen_events[i].vector.pitch;
50                float z = sen_events[i].vector.roll;
51                float radius = 0;
52                int tilt = 0, orient = 0;
53
54                CAMHAL_LOGVA("ACCELEROMETER EVENT");
55                CAMHAL_LOGVB(" azimuth = %f pitch = %f roll = %f",
56                             sen_events[i].vector.azimuth,
57                             sen_events[i].vector.pitch,
58                             sen_events[i].vector.roll);
59                // see http://en.wikipedia.org/wiki/Spherical_coordinate_system#Cartesian_coordinates
60                // about conversion from cartesian to spherical for orientation calculations
61                radius = (float) sqrt(x * x + y * y + z * z);
62                tilt = (int) asinf(z / radius) * RADIANS_2_DEG;
63                orient = (int) atan2f(-x, y) * RADIANS_2_DEG;
64
65                if (orient < 0) {
66                    orient += 360;
67                }
68
69                if (orient >= DEGREES_270_THRESH) {
70                    orient = 270;
71                } else if (orient >= DEGREES_180_THRESH) {
72                    orient = 180;
73                } else if (orient >= DEGREES_90_THRESH) {
74                    orient = 90;
75                } else {
76                    orient = 0;
77                }
78                listener->handleOrientation(orient, tilt);
79                CAMHAL_LOGVB(" tilt = %d orientation = %d", tilt, orient);
80            } else if (sen_events[i].type == android::Sensor::TYPE_GYROSCOPE) {
81                CAMHAL_LOGVA("GYROSCOPE EVENT");
82            }
83        }
84    }
85
86    if (num_sensors < 0 && num_sensors != -EAGAIN) {
87        CAMHAL_LOGEB("reading events failed: %s", strerror(-num_sensors));
88    }
89
90    return 1;
91}
92
93/****** public - member functions ******/
94SensorListener::SensorListener() {
95    LOG_FUNCTION_NAME;
96
97    sensorsEnabled = 0;
98    mOrientationCb = NULL;
99    mSensorEventQueue = NULL;
100    mSensorLooperThread = NULL;
101
102    LOG_FUNCTION_NAME_EXIT;
103}
104
105SensorListener::~SensorListener() {
106    LOG_FUNCTION_NAME;
107
108    CAMHAL_LOGDA("Kill looper thread");
109    if (mSensorLooperThread.get()) {
110        // 1. Request exit
111        // 2. Wake up looper which should be polling for an event
112        // 3. Wait for exit
113        mSensorLooperThread->requestExit();
114        mSensorLooperThread->wake();
115        mSensorLooperThread->join();
116        mSensorLooperThread.clear();
117        mSensorLooperThread = NULL;
118    }
119
120    CAMHAL_LOGDA("Kill looper");
121    if (mLooper.get()) {
122        mLooper->removeFd(mSensorEventQueue->getFd());
123        mLooper.clear();
124        mLooper = NULL;
125    }
126    CAMHAL_LOGDA("SensorListener destroyed");
127
128    LOG_FUNCTION_NAME_EXIT;
129}
130
131status_t SensorListener::initialize() {
132    status_t ret = NO_ERROR;
133    android::SensorManager& mgr(android::SensorManager::getInstance());
134
135    LOG_FUNCTION_NAME;
136
137    android::sp<android::Looper> mLooper;
138
139    mSensorEventQueue = mgr.createEventQueue();
140    if (mSensorEventQueue == NULL) {
141        CAMHAL_LOGEA("createEventQueue returned NULL");
142        ret = NO_INIT;
143        goto out;
144    }
145
146    mLooper = new android::Looper(false);
147    mLooper->addFd(mSensorEventQueue->getFd(), 0, ALOOPER_EVENT_INPUT, sensor_events_listener, this);
148
149    if (mSensorLooperThread.get() == NULL)
150            mSensorLooperThread = new SensorLooperThread(mLooper.get());
151
152    if (mSensorLooperThread.get() == NULL) {
153        CAMHAL_LOGEA("Couldn't create sensor looper thread");
154        ret = NO_MEMORY;
155        goto out;
156    }
157
158    ret = mSensorLooperThread->run("sensor looper thread", android::PRIORITY_URGENT_DISPLAY);
159    if (ret == INVALID_OPERATION){
160        CAMHAL_LOGDA("thread already running ?!?");
161    } else if (ret != NO_ERROR) {
162        CAMHAL_LOGEA("couldn't run thread");
163        goto out;
164    }
165
166 out:
167    LOG_FUNCTION_NAME_EXIT;
168    return ret;
169}
170
171void SensorListener::setCallbacks(orientation_callback_t orientation_cb, void *cookie) {
172    LOG_FUNCTION_NAME;
173
174    if (orientation_cb) {
175        mOrientationCb = orientation_cb;
176    }
177    mCbCookie = cookie;
178
179    LOG_FUNCTION_NAME_EXIT;
180}
181
182void SensorListener::handleOrientation(uint32_t orientation, uint32_t tilt) {
183    LOG_FUNCTION_NAME;
184
185    android::AutoMutex lock(&mLock);
186
187    if (mOrientationCb && (sensorsEnabled & SENSOR_ORIENTATION)) {
188        mOrientationCb(orientation, tilt, mCbCookie);
189    }
190
191    LOG_FUNCTION_NAME_EXIT;
192}
193
194void SensorListener::enableSensor(sensor_type_t type) {
195    android::Sensor const* sensor;
196    android::SensorManager& mgr(android::SensorManager::getInstance());
197
198    LOG_FUNCTION_NAME;
199
200    android::AutoMutex lock(&mLock);
201
202    if ((type & SENSOR_ORIENTATION) && !(sensorsEnabled & SENSOR_ORIENTATION)) {
203        sensor = mgr.getDefaultSensor(android::Sensor::TYPE_ACCELEROMETER);
204        if(sensor) {
205            CAMHAL_LOGDB("orientation = %p (%s)", sensor, sensor->getName().string());
206            mSensorEventQueue->enableSensor(sensor);
207            mSensorEventQueue->setEventRate(sensor, ms2ns(100));
208            sensorsEnabled |= SENSOR_ORIENTATION;
209        } else {
210            CAMHAL_LOGDB("not enabling absent orientation sensor");
211        }
212    }
213
214    LOG_FUNCTION_NAME_EXIT;
215}
216
217void SensorListener::disableSensor(sensor_type_t type) {
218    android::Sensor const* sensor;
219    android::SensorManager& mgr(android::SensorManager::getInstance());
220
221    LOG_FUNCTION_NAME;
222
223    android::AutoMutex lock(&mLock);
224
225    if ((type & SENSOR_ORIENTATION) && (sensorsEnabled & SENSOR_ORIENTATION)) {
226        sensor = mgr.getDefaultSensor(android::Sensor::TYPE_ACCELEROMETER);
227        CAMHAL_LOGDB("orientation = %p (%s)", sensor, sensor->getName().string());
228        mSensorEventQueue->disableSensor(sensor);
229        sensorsEnabled &= ~SENSOR_ORIENTATION;
230    }
231
232    LOG_FUNCTION_NAME_EXIT;
233}
234
235} // namespace Camera
236} // namespace Ti
237