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82 lines
2.7 KiB
82 lines
2.7 KiB
/*
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* Copyright (C) 2021 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <unistd.h>
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#include <iostream>
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#include <android/sensor.h>
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#include <hardware/sensors.h>
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#include <utils/SystemClock.h>
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#include <media/SensorPoseProvider.h>
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#include <sensor/Sensor.h>
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#include <sensor/SensorManager.h>
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using android::elapsedRealtimeNano;
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using android::Sensor;
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using android::SensorManager;
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using android::String16;
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using android::media::Pose3f;
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using android::media::SensorPoseProvider;
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using android::media::Twist3f;
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using namespace std::chrono_literals;
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const char kPackageName[] = "SensorPoseProvider-example";
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class Listener : public SensorPoseProvider::Listener {
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public:
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void onPose(int64_t timestamp, int32_t handle, const Pose3f& pose,
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const std::optional<Twist3f>& twist, bool isNewReference) override {
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int64_t now = elapsedRealtimeNano();
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std::cout << "onPose t=" << timestamp
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<< " lag=" << ((now - timestamp) / 1e6) << "[ms]"
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<< " sensor=" << handle
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<< " pose=" << pose
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<< " twist=";
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if (twist.has_value()) {
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std::cout << twist.value();
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} else {
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std::cout << "<none>";
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}
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std::cout << " isNewReference=" << isNewReference << std::endl;
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}
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};
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int main() {
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SensorManager& sensorManager = SensorManager::getInstanceForPackage(String16(kPackageName));
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const Sensor* headSensor = sensorManager.getDefaultSensor(SENSOR_TYPE_GAME_ROTATION_VECTOR);
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const Sensor* screenSensor = sensorManager.getDefaultSensor(SENSOR_TYPE_ROTATION_VECTOR);
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Listener listener;
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std::unique_ptr<SensorPoseProvider> provider =
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SensorPoseProvider::create(kPackageName, &listener);
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if (!provider->startSensor(headSensor->getHandle(), 500ms)) {
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std::cout << "Failed to start head sensor" << std::endl;
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}
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sleep(2);
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if (!provider->startSensor(screenSensor->getHandle(), 500ms)) {
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std::cout << "Failed to start screenSensor sensor" << std::endl;
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}
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sleep(2);
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provider->stopSensor(headSensor->getHandle());
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sleep(2);
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return 0;
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}
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