1 files changed, 90 insertions, 0 deletions
diff --git a/services/sensorservice/OrientationSensor.cpp b/services/sensorservice/OrientationSensor.cpp
new file mode 100644
index 0000000..037adaa
--- /dev/null
+++ b/services/sensorservice/OrientationSensor.cpp
@@ -0,0 +1,90 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <stdint.h>
+#include <math.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+
+#include <hardware/sensors.h>
+
+#include "OrientationSensor.h"
+#include "SensorDevice.h"
+#include "SensorFusion.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+OrientationSensor::OrientationSensor()
+    : mSensorDevice(SensorDevice::getInstance()),
+      mSensorFusion(SensorFusion::getInstance())
+{
+}
+
+bool OrientationSensor::process(sensors_event_t* outEvent,
+        const sensors_event_t& event)
+{
+    if (event.type == SENSOR_TYPE_ACCELEROMETER) {
+        if (mSensorFusion.hasEstimate()) {
+            vec3_t g;
+            const float rad2deg = 180 / M_PI;
+            const mat33_t R(mSensorFusion.getRotationMatrix());
+            g[0] = atan2f(-R[1][0], R[0][0])    * rad2deg;
+            g[1] = atan2f(-R[2][1], R[2][2])    * rad2deg;
+            g[2] = asinf ( R[2][0])             * rad2deg;
+            if (g[0] < 0)
+                g[0] += 360;
+
+            *outEvent = event;
+            outEvent->orientation.azimuth = g.x;
+            outEvent->orientation.pitch   = g.y;
+            outEvent->orientation.roll    = g.z;
+            outEvent->orientation.status  = SENSOR_STATUS_ACCURACY_HIGH;
+            outEvent->sensor = '_ypr';
+            outEvent->type = SENSOR_TYPE_ORIENTATION;
+            return true;
+        }
+    }
+    return false;
+}
+
+status_t OrientationSensor::activate(void* ident, bool enabled) {
+    return mSensorFusion.activate(this, enabled);
+}
+
+status_t OrientationSensor::setDelay(void* ident, int handle, int64_t ns) {
+    return mSensorFusion.setDelay(this, ns);
+}
+
+Sensor OrientationSensor::getSensor() const {
+    sensor_t hwSensor;
+    hwSensor.name       = "Orientation Sensor";
+    hwSensor.vendor     = "Google Inc.";
+    hwSensor.version    = 1;
+    hwSensor.handle     = '_ypr';
+    hwSensor.type       = SENSOR_TYPE_ORIENTATION;
+    hwSensor.maxRange   = 360.0f;
+    hwSensor.resolution = 1.0f/256.0f; // FIXME: real value here
+    hwSensor.power      = mSensorFusion.getPowerUsage();
+    hwSensor.minDelay   = mSensorFusion.getMinDelay();
+    Sensor sensor(&hwSensor);
+    return sensor;
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+