AndroidSensor.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_ANDROID_ANDROID_SENSOR_H
#define META_OCEAN_DEVICES_ANDROID_ANDROID_SENSOR_H
 
#include "ocean/devices/android/Android.h"
#include "ocean/devices/android/AndroidDevice.h"
 
#include "ocean/base/Singleton.h"
#include "ocean/base/Timestamp.h"
#include "ocean/base/Thread.h"
 
#include "ocean/devices/Sensor.h"
 
#include <android/sensor.h>
 
namespace Ocean
{
 
namespace Devices
{
 
namespace Android
{
 
/**
 * This class implements a sensor for the Android library.
 * The coordinate system of each Android sensor is defined so that the origin of the coordinate system is located in the center of the device.<br>
 * The x-axis is horizontal and pointing to the right of the device (if the device is held in default orientation).<br>
 * The y-axis is vertical and pointing to the top of the device.<br>
 * The z-axis is perpendicular to the screen plane and pointing towards the user (a right handed coordinate system).
 * @ingroup devicesandroid
 */
class OCEAN_DEVICES_ANDROID_EXPORT AndroidSensor :
    virtual public AndroidDevice,
    virtual public Sensor
{
    protected:
 
        /**
         * This class implements the manager for the looper thread.
         */
        class LooperManager :
            public Singleton<LooperManager>,
            protected Thread
        {
            friend class Singleton<LooperManager>;
 
            public:
 
                /**
                 * Returns the looper of the manager.
                 * @return Looper of the manager, will be valid
                 */
                ALooper* looper();
 
            protected:
 
                /**
                 * Creates a new manager object and creates a looper.
                 */
                LooperManager();
 
                /**
                 * Thread run function.
                 * @see Thread::threadRun().
                 */
                void threadRun() override;
 
            protected:
 
                /// The looper of this manager.
                ALooper* looper_ = nullptr;
        };
 
    public:
 
        /**
         * Definition of Android sensor types as defined by the Android API.
         * The values are defined by the NDK Android API and thus must not changed.
         */
        enum AndroidSensorType
        {
            /// Measures the acceleration force in m/s2 that is applied to a device on all three physical axes (x, y, and z), including the force of gravity.
            AST_ACCELEROMETER = 1,
            /// Measures the ambient geomagnetic field for all three physical axes (x, y, z) in microT.
            AST_MAGNETIC_FIELD = 2,
            /// Measures degrees of rotation that a device makes around all three physical axes (x, y, z), deprecated since 2.2.
            AST_ORIENTATION = 3,
            /// Measures a device's rate of rotation in rad/s around each of the three physical axes (x, y, and z).
            AST_GYROSCOPE = 4,
            /// Measures the ambient light level (illumination) in lx.
            AST_LIGHT = 5,
            /// Measures the ambient air pressure in hPa or mbar.
            AST_PRESSURE = 6,
            /// Measures the temperature of the device in degrees Celsius. This sensor implementation varies across devices and this sensor was replaced with the TYPE_AMBIENT_TEMPERATURE sensor in API Level 14
            AST_TEMPERATURE = 7,
            /// Measures the proximity of an object in cm relative to the view screen of a device. This sensor is typically used to determine whether a handset is being held up to a person's ear.
            AST_PROXIMITY = 8,
            /// Measures the force of gravity in m/s2 that is applied to a device on all three physical axes (x, y, z).
            AST_GRAVITY = 9,
            /// Measures the acceleration force in m/s2 that is applied to a device on all three physical axes (x, y, and z), excluding the force of gravity.
            AST_LINEAR_ACCELERATION = 10,
            /// Measures the orientation of a device by providing the three elements of the device's rotation vector.
            AST_ROTATION_VECTOR = 11,
            /// Measures the relative ambient humidity in percent (%).
            AST_RELATIVE_HUMIDITY = 12,
            /// Measures the ambient room temperature in degrees Celsius.
            AST_AMBIENT_TEMPERATURE = 13,
            AST_MAGNETIC_FIELD_UNCALIBRATED = 14,
            AST_GAME_ROTATION_VECTOR = 15,
            AST_GYROSCOPE_UNCALIBRATED = 16,
            AST_SIGNIFICANT_MOTION = 17,
            AST_STEP_DETECTOR = 18,
            AST_STEP_COUNTER = 19,
            AST_GEOMAGNETIC_ROTATION_VECTOR = 20,
            AST_HEART_RATE = 21,
            AST_POSE_6DOF = 28,
            AST_STATIONARY_DETECT = 29,
            AST_MOTION_DETECT = 30,
            AST_HEART_BEAT = 31,
            AST_DYNAMIC_SENSOR_META = 32,
            AST_ADDITIONAL_INFO = 33,
            AST_LOW_LATENCY_OFFBODY_DETECT = 34,
            AST_ACCELEROMETER_UNCALIBRATED = 35,
            AST_HINGE_ANGLE = 36,
            AST_HEAD_TRACKER = 37,
            AST_ACCELEROMETER_LIMITED_AXES = 38,
            AST_GYROSCOPE_LIMITED_AXES = 39,
            AST_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED = 40,
            AST_GYROSCOPE_LIMITED_AXES_UNCALIBRATED = 41,
            AST_HEADING = 42,
 
            AST_END = 43
        };
 
    public:
 
        /**
         * Starts the device.
         * @see Device::start().
         */
        bool start() override;
 
        /**
         * Pauses the device.
         * @see Device::pause().
         */
        bool pause() override;
 
        /**
         * Stops the device.
         * @see Device::stop().
         */
        bool stop() override;
 
        /**
         * Returns the instance of the sensor manager.
         * @return The sensor manager instance
         */
        static ASensorManager* sensorManager();
 
    protected:
 
        /**
         * Creates a new sensor by its name and type.
         * @param name The name of the sensor
         * @param type Major and minor device type of the sensor
         */
        AndroidSensor(const std::string& name, const DeviceType type);
 
        /**
         * Registers this sensor for the event function.
         * @param sensorManager The sensor manager which has been used to create the sensor, must be valid
         */
        bool registerForEventFunction(ASensorManager* sensorManager);
 
        /**
         * Returns the relative and unix timestamp of an Android sensor event.
         * @param sensorEvent The Android sensor event
         * @param relativeTimestamp The resulting relative timestamp
         * @return The resulting unix timestamp
         */
        Timestamp convertTimestamp(const ASensorEvent& sensorEvent, Timestamp& relativeTimestamp);
 
        /**
         * The actual event function of this device.
         * @return 1 to receive further events, 0 to stop receiving events
         */
        virtual int onEventFunction() = 0;
 
    private:
 
        /**
         * The static event function.
         * @param fd File descriptor
         * @param events The number of events
         * @param data The event data information, if any
         * @return 1 to receive further events, 0 to stop receiving events
         */
        static inline int onEventFunctionStatic(int fd, int events, void* data);
 
        /**
         * Returns the timestamp converter for all android sensors.
         * @return The timestamp converter
         */
        static Timestamp::TimestampConverter& timestampConverter();
 
    protected:
 
        /// The object id of this sensor.
        ObjectId sensorObjectId_ = invalidObjectId();
 
        /// The sensor manager of this device.
        ASensorManager* sensorManager_ = nullptr;
 
        /// The Android NDK sensor of this device.
        const ASensor* sensor_ = nullptr;
 
        /// The Android NDK event queue of this device.
        ASensorEventQueue* eventQueue_ = nullptr;
 
        /// True, if this sensor is started.
        bool isStarted_ = false;
 
        /// The timestamp converter of this sensor.
        Timestamp::TimestampConverter& timestampConverter_;
};
 
inline int AndroidSensor::onEventFunctionStatic(int fd, int events, void* data)
{
    if (data == nullptr)
    {
        return 0;
    }
 
    AndroidDevice* androidDevice = static_cast<AndroidDevice*>(data);
 
    if (androidDevice == nullptr)
    {
        return 0;
    }
 
    AndroidSensor* androidSensor = dynamic_cast<AndroidSensor*>(androidDevice);
    ocean_assert(androidSensor != nullptr);
 
    if (androidSensor)
    {
        return androidSensor->onEventFunction();
    }
 
    return 0;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ANDROID_ANDROID_SENSOR_H