* NOTE: Both wake-up and non wake-up sensors matching the given type are * returned. Check {@link Sensor#isWakeUpSensor()} to know the wake-up properties * of the returned {@link Sensor}. *
* * @param type * of sensors requested * * @return a list of sensors matching the asked type. * * @see #getDefaultSensor(int) * @see Sensor */ public List* NOTE: Both wake-up and non wake-up sensors matching the given type are * returned. Check {@link Sensor#isWakeUpSensor()} to know the wake-up properties * of the returned {@link Sensor}. *
* * @param type of sensors requested * * @return a list of dynamic sensors matching the requested type. * * @see Sensor */ public List* For example, *
-
*
- getDefaultSensor({@link Sensor#TYPE_ACCELEROMETER}, true) returns a wake-up * accelerometer sensor if it exists. *
- getDefaultSensor({@link Sensor#TYPE_PROXIMITY}, false) returns a non wake-up * proximity sensor if it exists. *
- getDefaultSensor({@link Sensor#TYPE_PROXIMITY}, true) returns a wake-up proximity * sensor which is the same as the Sensor returned by {@link #getDefaultSensor(int)}. *
* Note: Sensors like {@link Sensor#TYPE_PROXIMITY} and {@link Sensor#TYPE_SIGNIFICANT_MOTION} * are declared as wake-up sensors by default. *
* @param type * type of sensor requested * @param wakeUp * flag to indicate whether the Sensor is a wake-up or non wake-up sensor. * @return the default sensor matching the requested type and wakeUp properties if one exists * and the application has the necessary permissions, or null otherwise. * @see Sensor#isWakeUpSensor() */ public @Nullable Sensor getDefaultSensor(int type, boolean wakeUp) { Listtrue if the sensor is supported and successfully
* enabled
*/
@Deprecated
public boolean registerListener(SensorListener listener, int sensors) {
return registerListener(listener, sensors, SENSOR_DELAY_NORMAL);
}
/**
* Registers a SensorListener for given sensors.
*
* @deprecated This method is deprecated, use
* {@link SensorManager#registerListener(SensorEventListener, Sensor, int)}
* instead.
*
* @param listener
* sensor listener object
*
* @param sensors
* a bit masks of the sensors to register to
*
* @param rate
* rate of events. This is only a hint to the system. events may be
* received faster or slower than the specified rate. Usually events
* are received faster. The value must be one of
* {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI},
* {@link #SENSOR_DELAY_GAME}, or {@link #SENSOR_DELAY_FASTEST}.
*
* @return true if the sensor is supported and successfully
* enabled
*/
@Deprecated
public boolean registerListener(SensorListener listener, int sensors, int rate) {
return getLegacySensorManager().registerListener(listener, sensors, rate);
}
/**
* Unregisters a listener for all sensors.
*
* @deprecated This method is deprecated, use
* {@link SensorManager#unregisterListener(SensorEventListener)}
* instead.
*
* @param listener
* a SensorListener object
*/
@Deprecated
public void unregisterListener(SensorListener listener) {
unregisterListener(listener, SENSOR_ALL | SENSOR_ORIENTATION_RAW);
}
/**
* Unregisters a listener for the sensors with which it is registered.
*
* @deprecated This method is deprecated, use
* {@link SensorManager#unregisterListener(SensorEventListener, Sensor)}
* instead.
*
* @param listener
* a SensorListener object
*
* @param sensors
* a bit masks of the sensors to unregister from
*/
@Deprecated
public void unregisterListener(SensorListener listener, int sensors) {
getLegacySensorManager().unregisterListener(listener, sensors);
}
/**
* Unregisters a listener for the sensors with which it is registered.
*
* * Note: Don't use this method with a one shot trigger sensor such as * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. * Use {@link #cancelTriggerSensor(TriggerEventListener, Sensor)} instead. *
* * @param listener * a SensorEventListener object * * @param sensor * the sensor to unregister from * * @see #unregisterListener(SensorEventListener) * @see #registerListener(SensorEventListener, Sensor, int) */ public void unregisterListener(SensorEventListener listener, Sensor sensor) { if (listener == null || sensor == null) { return; } unregisterListenerImpl(listener, sensor); } /** * Unregisters a listener for all sensors. * * @param listener * a SensorListener object * * @see #unregisterListener(SensorEventListener, Sensor) * @see #registerListener(SensorEventListener, Sensor, int) * */ public void unregisterListener(SensorEventListener listener) { if (listener == null) { return; } unregisterListenerImpl(listener, null); } /** @hide */ protected abstract void unregisterListenerImpl(SensorEventListener listener, Sensor sensor); /** * Registers a {@link android.hardware.SensorEventListener SensorEventListener} for the given * sensor at the given sampling frequency. ** The events will be delivered to the provided {@code SensorEventListener} as soon as they are * available. To reduce the power consumption, applications can use * {@link #registerListener(SensorEventListener, Sensor, int, int)} instead and specify a * positive non-zero maximum reporting latency. *
** In the case of non-wake-up sensors, the events are only delivered while the Application * Processor (AP) is not in suspend mode. See {@link Sensor#isWakeUpSensor()} for more details. * To ensure delivery of events from non-wake-up sensors even when the screen is OFF, the * application registering to the sensor must hold a partial wake-lock to keep the AP awake, * otherwise some events might be lost while the AP is asleep. Note that although events might * be lost while the AP is asleep, the sensor will still consume power if it is not explicitly * deactivated by the application. Applications must unregister their {@code * SensorEventListener}s in their activity's {@code onPause()} method to avoid consuming power * while the device is inactive. See {@link #registerListener(SensorEventListener, Sensor, int, * int)} for more details on hardware FIFO (queueing) capabilities and when some sensor events * might be lost. *
** In the case of wake-up sensors, each event generated by the sensor will cause the AP to * wake-up, ensuring that each event can be delivered. Because of this, registering to a wake-up * sensor has very significant power implications. Call {@link Sensor#isWakeUpSensor()} to check * whether a sensor is a wake-up sensor. See * {@link #registerListener(SensorEventListener, Sensor, int, int)} for information on how to * reduce the power impact of registering to wake-up sensors. *
** Note: Don't use this method with one-shot trigger sensors such as * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. Use * {@link #requestTriggerSensor(TriggerEventListener, Sensor)} instead. Use * {@link Sensor#getReportingMode()} to obtain the reporting mode of a given sensor. *
* * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object. * @param sensor The {@link android.hardware.Sensor Sensor} to register to. * @param samplingPeriodUs The rate {@link android.hardware.SensorEvent sensor events} are * delivered at. This is only a hint to the system. Events may be received faster or * slower than the specified rate. Usually events are received faster. The value must * be one of {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, * {@link #SENSOR_DELAY_GAME}, or {@link #SENSOR_DELAY_FASTEST} or, the desired delay * between events in microseconds. Specifying the delay in microseconds only works * from Android 2.3 (API level 9) onwards. For earlier releases, you must use one of * the {@code SENSOR_DELAY_*} constants. * @returntrue if the sensor is supported and successfully enabled.
* @see #registerListener(SensorEventListener, Sensor, int, Handler)
* @see #unregisterListener(SensorEventListener)
* @see #unregisterListener(SensorEventListener, Sensor)
*/
public boolean registerListener(SensorEventListener listener, Sensor sensor,
int samplingPeriodUs) {
return registerListener(listener, sensor, samplingPeriodUs, null);
}
/**
* Registers a {@link android.hardware.SensorEventListener SensorEventListener} for the given
* sensor at the given sampling frequency and the given maximum reporting latency.
* * This function is similar to {@link #registerListener(SensorEventListener, Sensor, int)} but * it allows events to stay temporarily in the hardware FIFO (queue) before being delivered. The * events can be stored in the hardware FIFO up to {@code maxReportLatencyUs} microseconds. Once * one of the events in the FIFO needs to be reported, all of the events in the FIFO are * reported sequentially. This means that some events will be reported before the maximum * reporting latency has elapsed. *
* When {@code maxReportLatencyUs} is 0, the call is equivalent to a call to * {@link #registerListener(SensorEventListener, Sensor, int)}, as it requires the events to be * delivered as soon as possible. *
* When {@code sensor.maxFifoEventCount()} is 0, the sensor does not use a FIFO, so the call * will also be equivalent to {@link #registerListener(SensorEventListener, Sensor, int)}. *
* Setting {@code maxReportLatencyUs} to a positive value allows to reduce the number of * interrupts the AP (Application Processor) receives, hence reducing power consumption, as the * AP can switch to a lower power state while the sensor is capturing the data. This is * especially important when registering to wake-up sensors, for which each interrupt causes the * AP to wake up if it was in suspend mode. See {@link Sensor#isWakeUpSensor()} for more * information on wake-up sensors. *
**
* Note: Don't use this method with one-shot trigger sensors such as * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. Use * {@link #requestTriggerSensor(TriggerEventListener, Sensor)} instead. * * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object * that will receive the sensor events. If the application is interested in receiving * flush complete notifications, it should register with * {@link android.hardware.SensorEventListener SensorEventListener2} instead. * @param sensor The {@link android.hardware.Sensor Sensor} to register to. * @param samplingPeriodUs The desired delay between two consecutive events in microseconds. * This is only a hint to the system. Events may be received faster or slower than * the specified rate. Usually events are received faster. Can be one of * {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, * {@link #SENSOR_DELAY_GAME}, {@link #SENSOR_DELAY_FASTEST} or the delay in * microseconds. * @param maxReportLatencyUs Maximum time in microseconds that events can be delayed before * being reported to the application. A large value allows reducing the power * consumption associated with the sensor. If maxReportLatencyUs is set to zero, * events are delivered as soon as they are available, which is equivalent to calling * {@link #registerListener(SensorEventListener, Sensor, int)}. * @returntrue if the sensor is supported and successfully enabled.
* @see #registerListener(SensorEventListener, Sensor, int)
* @see #unregisterListener(SensorEventListener)
* @see #flush(SensorEventListener)
*/
public boolean registerListener(SensorEventListener listener, Sensor sensor,
int samplingPeriodUs, int maxReportLatencyUs) {
int delay = getDelay(samplingPeriodUs);
return registerListenerImpl(listener, sensor, delay, null, maxReportLatencyUs, 0);
}
/**
* Registers a {@link android.hardware.SensorEventListener SensorEventListener} for the given
* sensor. Events are delivered in continuous mode as soon as they are available. To reduce the
* power consumption, applications can use
* {@link #registerListener(SensorEventListener, Sensor, int, int)} instead and specify a
* positive non-zero maximum reporting latency.
* *
* Note: Don't use this method with a one shot trigger sensor such as * {@link Sensor#TYPE_SIGNIFICANT_MOTION}. Use * {@link #requestTriggerSensor(TriggerEventListener, Sensor)} instead. * * @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object. * @param sensor The {@link android.hardware.Sensor Sensor} to register to. * @param samplingPeriodUs The rate {@link android.hardware.SensorEvent sensor events} are * delivered at. This is only a hint to the system. Events may be received faster or * slower than the specified rate. Usually events are received faster. The value must * be one of {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI}, * {@link #SENSOR_DELAY_GAME}, or {@link #SENSOR_DELAY_FASTEST} or, the desired * delay between events in microseconds. Specifying the delay in microseconds only * works from Android 2.3 (API level 9) onwards. For earlier releases, you must use * one of the {@code SENSOR_DELAY_*} constants. * @param handler The {@link android.os.Handler Handler} the {@link android.hardware.SensorEvent * sensor events} will be delivered to. * @returntrue if the sensor is supported and successfully enabled.
* @see #registerListener(SensorEventListener, Sensor, int)
* @see #unregisterListener(SensorEventListener)
* @see #unregisterListener(SensorEventListener, Sensor)
*/
public boolean registerListener(SensorEventListener listener, Sensor sensor,
int samplingPeriodUs, Handler handler) {
int delay = getDelay(samplingPeriodUs);
return registerListenerImpl(listener, sensor, delay, handler, 0, 0);
}
/**
* Registers a {@link android.hardware.SensorEventListener SensorEventListener} for the given
* sensor at the given sampling frequency and the given maximum reporting latency.
*
* @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object
* that will receive the sensor events. If the application is interested in receiving
* flush complete notifications, it should register with
* {@link android.hardware.SensorEventListener SensorEventListener2} instead.
* @param sensor The {@link android.hardware.Sensor Sensor} to register to.
* @param samplingPeriodUs The desired delay between two consecutive events in microseconds.
* This is only a hint to the system. Events may be received faster or slower than
* the specified rate. Usually events are received faster. Can be one of
* {@link #SENSOR_DELAY_NORMAL}, {@link #SENSOR_DELAY_UI},
* {@link #SENSOR_DELAY_GAME}, {@link #SENSOR_DELAY_FASTEST} or the delay in
* microseconds.
* @param maxReportLatencyUs Maximum time in microseconds that events can be delayed before
* being reported to the application. A large value allows reducing the power
* consumption associated with the sensor. If maxReportLatencyUs is set to zero,
* events are delivered as soon as they are available, which is equivalent to calling
* {@link #registerListener(SensorEventListener, Sensor, int)}.
* @param handler The {@link android.os.Handler Handler} the {@link android.hardware.SensorEvent
* sensor events} will be delivered to.
* @return true if the sensor is supported and successfully enabled.
* @see #registerListener(SensorEventListener, Sensor, int, int)
*/
public boolean registerListener(SensorEventListener listener, Sensor sensor,
int samplingPeriodUs, int maxReportLatencyUs, Handler handler) {
int delayUs = getDelay(samplingPeriodUs);
return registerListenerImpl(listener, sensor, delayUs, handler, maxReportLatencyUs, 0);
}
/** @hide */
protected abstract boolean registerListenerImpl(SensorEventListener listener, Sensor sensor,
int delayUs, Handler handler, int maxReportLatencyUs, int reservedFlags);
/**
* Flushes the FIFO of all the sensors registered for this listener. If there are events
* in the FIFO of the sensor, they are returned as if the maxReportLatency of the FIFO has
* expired. Events are returned in the usual way through the SensorEventListener.
* This call doesn't affect the maxReportLatency for this sensor. This call is asynchronous and
* returns immediately.
* {@link android.hardware.SensorEventListener2#onFlushCompleted onFlushCompleted} is called
* after all the events in the batch at the time of calling this method have been delivered
* successfully. If the hardware doesn't support flush, it still returns true and a trivial
* flush complete event is sent after the current event for all the clients registered for this
* sensor.
*
* @param listener A {@link android.hardware.SensorEventListener SensorEventListener} object
* which was previously used in a registerListener call.
* @return true if the flush is initiated successfully on all the sensors
* registered for this listener, false if no sensor is previously registered for this
* listener or flush on one of the sensors fails.
* @see #registerListener(SensorEventListener, Sensor, int, int)
* @throws IllegalArgumentException when listener is null.
*/
public boolean flush(SensorEventListener listener) {
return flushImpl(listener);
}
/** @hide */
protected abstract boolean flushImpl(SensorEventListener listener);
/**
* Create a sensor direct channel backed by shared memory wrapped in MemoryFile object.
*
* The resulting channel can be used for delivering sensor events to native code, other
* processes, GPU/DSP or other co-processors without CPU intervention. This is the recommended
* for high performance sensor applications that use high sensor rates (e.g. greater than 200Hz)
* and cares about sensor event latency.
*
* Use the returned {@link android.hardware.SensorDirectChannel} object to configure direct
* report of sensor events. After use, call {@link android.hardware.SensorDirectChannel#close()}
* to free up resource in sensor system associated with the direct channel.
*
* @param mem A {@link android.os.MemoryFile} shared memory object.
* @return A {@link android.hardware.SensorDirectChannel} object.
* @throws NullPointerException when mem is null.
* @throws UncheckedIOException if not able to create channel.
* @see SensorDirectChannel#close()
*/
public SensorDirectChannel createDirectChannel(MemoryFile mem) {
return createDirectChannelImpl(mem, null);
}
/**
* Create a sensor direct channel backed by shared memory wrapped in HardwareBuffer object.
*
* The resulting channel can be used for delivering sensor events to native code, other
* processes, GPU/DSP or other co-processors without CPU intervention. This is the recommended
* for high performance sensor applications that use high sensor rates (e.g. greater than 200Hz)
* and cares about sensor event latency.
*
* Use the returned {@link android.hardware.SensorDirectChannel} object to configure direct
* report of sensor events. After use, call {@link android.hardware.SensorDirectChannel#close()}
* to free up resource in sensor system associated with the direct channel.
*
* @param mem A {@link android.hardware.HardwareBuffer} shared memory object.
* @return A {@link android.hardware.SensorDirectChannel} object.
* @throws NullPointerException when mem is null.
* @throws UncheckedIOException if not able to create channel.
* @see SensorDirectChannel#close()
*/
public SensorDirectChannel createDirectChannel(HardwareBuffer mem) {
return createDirectChannelImpl(null, mem);
}
/** @hide */
protected abstract SensorDirectChannel createDirectChannelImpl(
MemoryFile memoryFile, HardwareBuffer hardwareBuffer);
/** @hide */
void destroyDirectChannel(SensorDirectChannel channel) {
destroyDirectChannelImpl(channel);
}
/** @hide */
protected abstract void destroyDirectChannelImpl(SensorDirectChannel channel);
/** @hide */
protected abstract int configureDirectChannelImpl(
SensorDirectChannel channel, Sensor s, int rate);
/**
* Used for receiving notifications from the SensorManager when dynamic sensors are connected or
* disconnected.
*/
public abstract static class DynamicSensorCallback {
/**
* Called when there is a dynamic sensor being connected to the system.
*
* @param sensor the newly connected sensor. See {@link android.hardware.Sensor Sensor}.
*/
public void onDynamicSensorConnected(Sensor sensor) {}
/**
* Called when there is a dynamic sensor being disconnected from the system.
*
* @param sensor the disconnected sensor. See {@link android.hardware.Sensor Sensor}.
*/
public void onDynamicSensorDisconnected(Sensor sensor) {}
}
/**
* Add a {@link android.hardware.SensorManager.DynamicSensorCallback
* DynamicSensorCallback} to receive dynamic sensor connection callbacks. Repeat
* registration with the already registered callback object will have no additional effect.
*
* @param callback An object that implements the
* {@link android.hardware.SensorManager.DynamicSensorCallback
* DynamicSensorCallback}
* interface for receiving callbacks.
* @see #registerDynamicSensorCallback(DynamicSensorCallback, Handler)
*
* @throws IllegalArgumentException when callback is null.
*/
public void registerDynamicSensorCallback(DynamicSensorCallback callback) {
registerDynamicSensorCallback(callback, null);
}
/**
* Add a {@link android.hardware.SensorManager.DynamicSensorCallback
* DynamicSensorCallback} to receive dynamic sensor connection callbacks. Repeat
* registration with the already registered callback object will have no additional effect.
*
* @param callback An object that implements the
* {@link android.hardware.SensorManager.DynamicSensorCallback
* DynamicSensorCallback} interface for receiving callbacks.
* @param handler The {@link android.os.Handler Handler} the {@link
* android.hardware.SensorManager.DynamicSensorCallback
* sensor connection events} will be delivered to.
*
* @throws IllegalArgumentException when callback is null.
*/
public void registerDynamicSensorCallback(
DynamicSensorCallback callback, Handler handler) {
registerDynamicSensorCallbackImpl(callback, handler);
}
/**
* Remove a {@link android.hardware.SensorManager.DynamicSensorCallback
* DynamicSensorCallback} to stop sending dynamic sensor connection events to that
* callback.
*
* @param callback An object that implements the
* {@link android.hardware.SensorManager.DynamicSensorCallback
* DynamicSensorCallback}
* interface for receiving callbacks.
*/
public void unregisterDynamicSensorCallback(DynamicSensorCallback callback) {
unregisterDynamicSensorCallbackImpl(callback);
}
/**
* Tell if dynamic sensor discovery feature is supported by system.
*
* @return true if dynamic sensor discovery is supported, false
* otherwise.
*/
public boolean isDynamicSensorDiscoverySupported() {
List* Computes the inclination matrix I as well as the rotation matrix * R transforming a vector from the device coordinate system to the * world's coordinate system which is defined as a direct orthonormal basis, * where: *
* *-
*
- X is defined as the vector product Y.Z (It is tangential to * the ground at the device's current location and roughly points East). *
- Y is tangential to the ground at the device's current location and * points towards the magnetic North Pole. *
- Z points towards the sky and is perpendicular to the ground. *
*
*
*
* By definition: *
* [0 0 g] = R * gravity (g = magnitude of gravity) *
* [0 m 0] = I * R * geomagnetic (m = magnitude of * geomagnetic field) *
* R is the identity matrix when the device is aligned with the * world's coordinate system, that is, when the device's X axis points * toward East, the Y axis points to the North Pole and the device is facing * the sky. * *
* I is a rotation matrix transforming the geomagnetic vector into * the same coordinate space as gravity (the world's coordinate space). * I is a simple rotation around the X axis. The inclination angle in * radians can be computed with {@link #getInclination}. *
* *
* Each matrix is returned either as a 3x3 or 4x4 row-major matrix depending * on the length of the passed array: *
* If the array length is 16: * *
* / M[ 0] M[ 1] M[ 2] M[ 3] \
* | M[ 4] M[ 5] M[ 6] M[ 7] |
* | M[ 8] M[ 9] M[10] M[11] |
* \ M[12] M[13] M[14] M[15] /
*
*
* This matrix is ready to be used by OpenGL ES's
* {@link javax.microedition.khronos.opengles.GL10#glLoadMatrixf(float[], int)
* glLoadMatrixf(float[], int)}.
* * Note that because OpenGL matrices are column-major matrices you must * transpose the matrix before using it. However, since the matrix is a * rotation matrix, its transpose is also its inverse, conveniently, it is * often the inverse of the rotation that is needed for rendering; it can * therefore be used with OpenGL ES directly. *
* Also note that the returned matrices always have this form: * *
* / M[ 0] M[ 1] M[ 2] 0 \
* | M[ 4] M[ 5] M[ 6] 0 |
* | M[ 8] M[ 9] M[10] 0 |
* \ 0 0 0 1 /
*
*
* * If the array length is 9: * *
* / M[ 0] M[ 1] M[ 2] \
* | M[ 3] M[ 4] M[ 5] |
* \ M[ 6] M[ 7] M[ 8] /
*
*
* *
* The inverse of each matrix can be computed easily by taking its * transpose. * *
* The matrices returned by this function are meaningful only when the * device is not free-falling and it is not close to the magnetic north. If * the device is accelerating, or placed into a strong magnetic field, the * returned matrices may be inaccurate. * * @param R * is an array of 9 floats holding the rotation matrix R when * this function returns. R can be null. *
* * @param I * is an array of 9 floats holding the rotation matrix I when * this function returns. I can be null. *
* * @param gravity * is an array of 3 floats containing the gravity vector expressed in * the device's coordinate. You can simply use the * {@link android.hardware.SensorEvent#values values} returned by a * {@link android.hardware.SensorEvent SensorEvent} of a * {@link android.hardware.Sensor Sensor} of type * {@link android.hardware.Sensor#TYPE_ACCELEROMETER * TYPE_ACCELEROMETER}. *
*
* @param geomagnetic
* is an array of 3 floats containing the geomagnetic vector
* expressed in the device's coordinate. You can simply use the
* {@link android.hardware.SensorEvent#values values} returned by a
* {@link android.hardware.SensorEvent SensorEvent} of a
* {@link android.hardware.Sensor Sensor} of type
* {@link android.hardware.Sensor#TYPE_MAGNETIC_FIELD
* TYPE_MAGNETIC_FIELD}.
*
* @return true on success, false on failure (for
* instance, if the device is in free fall). Free fall is defined as
* condition when the magnitude of the gravity is less than 1/10 of
* the nominal value. On failure the output matrices are not modified.
*
* @see #getInclination(float[])
* @see #getOrientation(float[], float[])
* @see #remapCoordinateSystem(float[], int, int, float[])
*/
public static boolean getRotationMatrix(float[] R, float[] I,
float[] gravity, float[] geomagnetic) {
// TODO: move this to native code for efficiency
float Ax = gravity[0];
float Ay = gravity[1];
float Az = gravity[2];
final float normsqA = (Ax * Ax + Ay * Ay + Az * Az);
final float g = 9.81f;
final float freeFallGravitySquared = 0.01f * g * g;
if (normsqA < freeFallGravitySquared) {
// gravity less than 10% of normal value
return false;
}
final float Ex = geomagnetic[0];
final float Ey = geomagnetic[1];
final float Ez = geomagnetic[2];
float Hx = Ey * Az - Ez * Ay;
float Hy = Ez * Ax - Ex * Az;
float Hz = Ex * Ay - Ey * Ax;
final float normH = (float) Math.sqrt(Hx * Hx + Hy * Hy + Hz * Hz);
if (normH < 0.1f) {
// device is close to free fall (or in space?), or close to
// magnetic north pole. Typical values are > 100.
return false;
}
final float invH = 1.0f / normH;
Hx *= invH;
Hy *= invH;
Hz *= invH;
final float invA = 1.0f / (float) Math.sqrt(Ax * Ax + Ay * Ay + Az * Az);
Ax *= invA;
Ay *= invA;
Az *= invA;
final float Mx = Ay * Hz - Az * Hy;
final float My = Az * Hx - Ax * Hz;
final float Mz = Ax * Hy - Ay * Hx;
if (R != null) {
if (R.length == 9) {
R[0] = Hx; R[1] = Hy; R[2] = Hz;
R[3] = Mx; R[4] = My; R[5] = Mz;
R[6] = Ax; R[7] = Ay; R[8] = Az;
} else if (R.length == 16) {
R[0] = Hx; R[1] = Hy; R[2] = Hz; R[3] = 0;
R[4] = Mx; R[5] = My; R[6] = Mz; R[7] = 0;
R[8] = Ax; R[9] = Ay; R[10] = Az; R[11] = 0;
R[12] = 0; R[13] = 0; R[14] = 0; R[15] = 1;
}
}
if (I != null) {
// compute the inclination matrix by projecting the geomagnetic
// vector onto the Z (gravity) and X (horizontal component
// of geomagnetic vector) axes.
final float invE = 1.0f / (float) Math.sqrt(Ex * Ex + Ey * Ey + Ez * Ez);
final float c = (Ex * Mx + Ey * My + Ez * Mz) * invE;
final float s = (Ex * Ax + Ey * Ay + Ez * Az) * invE;
if (I.length == 9) {
I[0] = 1; I[1] = 0; I[2] = 0;
I[3] = 0; I[4] = c; I[5] = s;
I[6] = 0; I[7] = -s; I[8] = c;
} else if (I.length == 16) {
I[0] = 1; I[1] = 0; I[2] = 0;
I[4] = 0; I[5] = c; I[6] = s;
I[8] = 0; I[9] = -s; I[10] = c;
I[3] = I[7] = I[11] = I[12] = I[13] = I[14] = 0;
I[15] = 1;
}
}
return true;
}
/**
* Computes the geomagnetic inclination angle in radians from the
* inclination matrix I returned by {@link #getRotationMatrix}.
*
* @param I
* inclination matrix see {@link #getRotationMatrix}.
*
* @return The geomagnetic inclination angle in radians.
*
* @see #getRotationMatrix(float[], float[], float[], float[])
* @see #getOrientation(float[], float[])
* @see GeomagneticField
*
*/
public static float getInclination(float[] I) {
if (I.length == 9) {
return (float) Math.atan2(I[5], I[4]);
} else {
return (float) Math.atan2(I[6], I[5]);
}
}
/**
*
* Rotates the supplied rotation matrix so it is expressed in a different * coordinate system. This is typically used when an application needs to * compute the three orientation angles of the device (see * {@link #getOrientation}) in a different coordinate system. *
* ** When the rotation matrix is used for drawing (for instance with OpenGL * ES), it usually doesn't need to be transformed by this function, * unless the screen is physically rotated, in which case you can use * {@link android.view.Display#getRotation() Display.getRotation()} to * retrieve the current rotation of the screen. Note that because the user * is generally free to rotate their screen, you often should consider the * rotation in deciding the parameters to use here. *
* ** Examples: *
* *
-
*
- Using the camera (Y axis along the camera's axis) for an augmented * reality application where the rotation angles are needed: * *
- Using the device as a mechanical compass when rotation is * {@link android.view.Surface#ROTATION_90 Surface.ROTATION_90}: * *
*
-
*
remapCoordinateSystem(inR, AXIS_X, AXIS_Z, outR);
* *
-
*
remapCoordinateSystem(inR, AXIS_Y, AXIS_MINUS_X, outR);
*
* Since the resulting coordinate system is orthonormal, only two axes need
* to be specified.
*
* @param inR
* the rotation matrix to be transformed. Usually it is the matrix
* returned by {@link #getRotationMatrix}.
*
* @param X
* defines the axis of the new coordinate system that coincide with the X axis of the
* original coordinate system.
*
* @param Y
* defines the axis of the new coordinate system that coincide with the Y axis of the
* original coordinate system.
*
* @param outR
* the transformed rotation matrix. inR and outR should not be the same
* array.
*
* @return true on success. false if the input
* parameters are incorrect, for instance if X and Y define the same
* axis. Or if inR and outR don't have the same length.
*
* @see #getRotationMatrix(float[], float[], float[], float[])
*/
public static boolean remapCoordinateSystem(float[] inR, int X, int Y, float[] outR) {
if (inR == outR) {
final float[] temp = sTempMatrix;
synchronized (temp) {
// we don't expect to have a lot of contention
if (remapCoordinateSystemImpl(inR, X, Y, temp)) {
final int size = outR.length;
for (int i = 0; i < size; i++) {
outR[i] = temp[i];
}
return true;
}
}
}
return remapCoordinateSystemImpl(inR, X, Y, outR);
}
private static boolean remapCoordinateSystemImpl(float[] inR, int X, int Y, float[] outR) {
/*
* X and Y define a rotation matrix 'r':
*
* (X==1)?((X&0x80)?-1:1):0 (X==2)?((X&0x80)?-1:1):0 (X==3)?((X&0x80)?-1:1):0
* (Y==1)?((Y&0x80)?-1:1):0 (Y==2)?((Y&0x80)?-1:1):0 (Y==3)?((X&0x80)?-1:1):0
* r[0] ^ r[1]
*
* where the 3rd line is the vector product of the first 2 lines
*
*/
final int length = outR.length;
if (inR.length != length) {
return false; // invalid parameter
}
if ((X & 0x7C) != 0 || (Y & 0x7C) != 0) {
return false; // invalid parameter
}
if (((X & 0x3) == 0) || ((Y & 0x3) == 0)) {
return false; // no axis specified
}
if ((X & 0x3) == (Y & 0x3)) {
return false; // same axis specified
}
// Z is "the other" axis, its sign is either +/- sign(X)*sign(Y)
// this can be calculated by exclusive-or'ing X and Y; except for
// the sign inversion (+/-) which is calculated below.
int Z = X ^ Y;
// extract the axis (remove the sign), offset in the range 0 to 2.
final int x = (X & 0x3) - 1;
final int y = (Y & 0x3) - 1;
final int z = (Z & 0x3) - 1;
// compute the sign of Z (whether it needs to be inverted)
final int axis_y = (z + 1) % 3;
final int axis_z = (z + 2) % 3;
if (((x ^ axis_y) | (y ^ axis_z)) != 0) {
Z ^= 0x80;
}
final boolean sx = (X >= 0x80);
final boolean sy = (Y >= 0x80);
final boolean sz = (Z >= 0x80);
// Perform R * r, in avoiding actual muls and adds.
final int rowLength = ((length == 16) ? 4 : 3);
for (int j = 0; j < 3; j++) {
final int offset = j * rowLength;
for (int i = 0; i < 3; i++) {
if (x == i) outR[offset + i] = sx ? -inR[offset + 0] : inR[offset + 0];
if (y == i) outR[offset + i] = sy ? -inR[offset + 1] : inR[offset + 1];
if (z == i) outR[offset + i] = sz ? -inR[offset + 2] : inR[offset + 2];
}
}
if (length == 16) {
outR[3] = outR[7] = outR[11] = outR[12] = outR[13] = outR[14] = 0;
outR[15] = 1;
}
return true;
}
/**
* Computes the device's orientation based on the rotation matrix.
*
* When it returns, the array values are as follows: *
-
*
- values[0]: Azimuth, angle of rotation about the -z axis. * This value represents the angle between the device's y * axis and the magnetic north pole. When facing north, this * angle is 0, when facing south, this angle is π. * Likewise, when facing east, this angle is π/2, and * when facing west, this angle is -π/2. The range of * values is -π to π. *
- values[1]: Pitch, angle of rotation about the x axis. * This value represents the angle between a plane parallel * to the device's screen and a plane parallel to the ground. * Assuming that the bottom edge of the device faces the * user and that the screen is face-up, tilting the top edge * of the device toward the ground creates a positive pitch * angle. The range of values is -π/2 to π/2. *
- values[2]: Roll, angle of rotation about the y axis. This * value represents the angle between a plane perpendicular * to the device's screen and a plane perpendicular to the * ground. Assuming that the bottom edge of the device faces * the user and that the screen is face-up, tilting the left * edge of the device toward the ground creates a positive * roll angle. The range of values is -π to π. *
* Applying these three rotations in the azimuth, pitch, roll order * transforms an identity matrix to the rotation matrix passed into this * method. Also, note that all three orientation angles are expressed in * radians. * * @param R * rotation matrix see {@link #getRotationMatrix}. * * @param values * an array of 3 floats to hold the result. * * @return The array values passed as argument. * * @see #getRotationMatrix(float[], float[], float[], float[]) * @see GeomagneticField */ public static float[] getOrientation(float[] R, float[] values) { /* * 4x4 (length=16) case: * / R[ 0] R[ 1] R[ 2] 0 \ * | R[ 4] R[ 5] R[ 6] 0 | * | R[ 8] R[ 9] R[10] 0 | * \ 0 0 0 1 / * * 3x3 (length=9) case: * / R[ 0] R[ 1] R[ 2] \ * | R[ 3] R[ 4] R[ 5] | * \ R[ 6] R[ 7] R[ 8] / * */ if (R.length == 9) { values[0] = (float) Math.atan2(R[1], R[4]); values[1] = (float) Math.asin(-R[7]); values[2] = (float) Math.atan2(-R[6], R[8]); } else { values[0] = (float) Math.atan2(R[1], R[5]); values[1] = (float) Math.asin(-R[9]); values[2] = (float) Math.atan2(-R[8], R[10]); } return values; } /** * Computes the Altitude in meters from the atmospheric pressure and the * pressure at sea level. *
* Typically the atmospheric pressure is read from a * {@link Sensor#TYPE_PRESSURE} sensor. The pressure at sea level must be * known, usually it can be retrieved from airport databases in the * vicinity. If unknown, you can use {@link #PRESSURE_STANDARD_ATMOSPHERE} * as an approximation, but absolute altitudes won't be accurate. *
** To calculate altitude differences, you must calculate the difference * between the altitudes at both points. If you don't know the altitude * as sea level, you can use {@link #PRESSURE_STANDARD_ATMOSPHERE} instead, * which will give good results considering the range of pressure typically * involved. *
*
*
* float altitude_difference =
* getAltitude(SensorManager.PRESSURE_STANDARD_ATMOSPHERE, pressure_at_point2)
* - getAltitude(SensorManager.PRESSURE_STANDARD_ATMOSPHERE, pressure_at_point1);
*
Each input matrix is either as a 3x3 or 4x4 row-major matrix * depending on the length of the passed array: *
If the array length is 9, then the array elements represent this matrix *
* / R[ 0] R[ 1] R[ 2] \
* | R[ 3] R[ 4] R[ 5] |
* \ R[ 6] R[ 7] R[ 8] /
*
* If the array length is 16, then the array elements represent this matrix *
* / R[ 0] R[ 1] R[ 2] R[ 3] \
* | R[ 4] R[ 5] R[ 6] R[ 7] |
* | R[ 8] R[ 9] R[10] R[11] |
* \ R[12] R[13] R[14] R[15] /
*
*
* See {@link #getOrientation} for more detailed definition of the output.
*
* @param R current rotation matrix
* @param prevR previous rotation matrix
* @param angleChange an an array of floats (z, x, and y) in which the angle change
* (in radians) is stored
*/
public static void getAngleChange(float[] angleChange, float[] R, float[] prevR) {
float rd1 = 0, rd4 = 0, rd6 = 0, rd7 = 0, rd8 = 0;
float ri0 = 0, ri1 = 0, ri2 = 0, ri3 = 0, ri4 = 0, ri5 = 0, ri6 = 0, ri7 = 0, ri8 = 0;
float pri0 = 0, pri1 = 0, pri2 = 0, pri3 = 0, pri4 = 0;
float pri5 = 0, pri6 = 0, pri7 = 0, pri8 = 0;
if (R.length == 9) {
ri0 = R[0];
ri1 = R[1];
ri2 = R[2];
ri3 = R[3];
ri4 = R[4];
ri5 = R[5];
ri6 = R[6];
ri7 = R[7];
ri8 = R[8];
} else if (R.length == 16) {
ri0 = R[0];
ri1 = R[1];
ri2 = R[2];
ri3 = R[4];
ri4 = R[5];
ri5 = R[6];
ri6 = R[8];
ri7 = R[9];
ri8 = R[10];
}
if (prevR.length == 9) {
pri0 = prevR[0];
pri1 = prevR[1];
pri2 = prevR[2];
pri3 = prevR[3];
pri4 = prevR[4];
pri5 = prevR[5];
pri6 = prevR[6];
pri7 = prevR[7];
pri8 = prevR[8];
} else if (prevR.length == 16) {
pri0 = prevR[0];
pri1 = prevR[1];
pri2 = prevR[2];
pri3 = prevR[4];
pri4 = prevR[5];
pri5 = prevR[6];
pri6 = prevR[8];
pri7 = prevR[9];
pri8 = prevR[10];
}
// calculate the parts of the rotation difference matrix we need
// rd[i][j] = pri[0][i] * ri[0][j] + pri[1][i] * ri[1][j] + pri[2][i] * ri[2][j];
rd1 = pri0 * ri1 + pri3 * ri4 + pri6 * ri7; //rd[0][1]
rd4 = pri1 * ri1 + pri4 * ri4 + pri7 * ri7; //rd[1][1]
rd6 = pri2 * ri0 + pri5 * ri3 + pri8 * ri6; //rd[2][0]
rd7 = pri2 * ri1 + pri5 * ri4 + pri8 * ri7; //rd[2][1]
rd8 = pri2 * ri2 + pri5 * ri5 + pri8 * ri8; //rd[2][2]
angleChange[0] = (float) Math.atan2(rd1, rd4);
angleChange[1] = (float) Math.asin(-rd7);
angleChange[2] = (float) Math.atan2(-rd6, rd8);
}
/** Helper function to convert a rotation vector to a rotation matrix.
* Given a rotation vector (presumably from a ROTATION_VECTOR sensor), returns a
* 9 or 16 element rotation matrix in the array R. R must have length 9 or 16.
* If R.length == 9, the following matrix is returned:
*
* / R[ 0] R[ 1] R[ 2] \
* | R[ 3] R[ 4] R[ 5] |
* \ R[ 6] R[ 7] R[ 8] /
*
* If R.length == 16, the following matrix is returned:
*
* / R[ 0] R[ 1] R[ 2] 0 \
* | R[ 4] R[ 5] R[ 6] 0 |
* | R[ 8] R[ 9] R[10] 0 |
* \ 0 0 0 1 /
*
* @param rotationVector the rotation vector to convert
* @param R an array of floats in which to store the rotation matrix
*/
public static void getRotationMatrixFromVector(float[] R, float[] rotationVector) {
float q0;
float q1 = rotationVector[0];
float q2 = rotationVector[1];
float q3 = rotationVector[2];
if (rotationVector.length >= 4) {
q0 = rotationVector[3];
} else {
q0 = 1 - q1 * q1 - q2 * q2 - q3 * q3;
q0 = (q0 > 0) ? (float) Math.sqrt(q0) : 0;
}
float sq_q1 = 2 * q1 * q1;
float sq_q2 = 2 * q2 * q2;
float sq_q3 = 2 * q3 * q3;
float q1_q2 = 2 * q1 * q2;
float q3_q0 = 2 * q3 * q0;
float q1_q3 = 2 * q1 * q3;
float q2_q0 = 2 * q2 * q0;
float q2_q3 = 2 * q2 * q3;
float q1_q0 = 2 * q1 * q0;
if (R.length == 9) {
R[0] = 1 - sq_q2 - sq_q3;
R[1] = q1_q2 - q3_q0;
R[2] = q1_q3 + q2_q0;
R[3] = q1_q2 + q3_q0;
R[4] = 1 - sq_q1 - sq_q3;
R[5] = q2_q3 - q1_q0;
R[6] = q1_q3 - q2_q0;
R[7] = q2_q3 + q1_q0;
R[8] = 1 - sq_q1 - sq_q2;
} else if (R.length == 16) {
R[0] = 1 - sq_q2 - sq_q3;
R[1] = q1_q2 - q3_q0;
R[2] = q1_q3 + q2_q0;
R[3] = 0.0f;
R[4] = q1_q2 + q3_q0;
R[5] = 1 - sq_q1 - sq_q3;
R[6] = q2_q3 - q1_q0;
R[7] = 0.0f;
R[8] = q1_q3 - q2_q0;
R[9] = q2_q3 + q1_q0;
R[10] = 1 - sq_q1 - sq_q2;
R[11] = 0.0f;
R[12] = R[13] = R[14] = 0.0f;
R[15] = 1.0f;
}
}
/** Helper function to convert a rotation vector to a normalized quaternion.
* Given a rotation vector (presumably from a ROTATION_VECTOR sensor), returns a normalized
* quaternion in the array Q. The quaternion is stored as [w, x, y, z]
* @param rv the rotation vector to convert
* @param Q an array of floats in which to store the computed quaternion
*/
public static void getQuaternionFromVector(float[] Q, float[] rv) {
if (rv.length >= 4) {
Q[0] = rv[3];
} else {
Q[0] = 1 - rv[0] * rv[0] - rv[1] * rv[1] - rv[2] * rv[2];
Q[0] = (Q[0] > 0) ? (float) Math.sqrt(Q[0]) : 0;
}
Q[1] = rv[0];
Q[2] = rv[1];
Q[3] = rv[2];
}
/**
* Requests receiving trigger events for a trigger sensor.
*
* * When the sensor detects a trigger event condition, such as significant motion in * the case of the {@link Sensor#TYPE_SIGNIFICANT_MOTION}, the provided trigger listener * will be invoked once and then its request to receive trigger events will be canceled. * To continue receiving trigger events, the application must request to receive trigger * events again. *
* * @param listener The listener on which the * {@link TriggerEventListener#onTrigger(TriggerEvent)} will be delivered. * @param sensor The sensor to be enabled. * * @return true if the sensor was successfully enabled. * * @throws IllegalArgumentException when sensor is null or not a trigger sensor. */ public boolean requestTriggerSensor(TriggerEventListener listener, Sensor sensor) { return requestTriggerSensorImpl(listener, sensor); } /** * @hide */ protected abstract boolean requestTriggerSensorImpl(TriggerEventListener listener, Sensor sensor); /** * Cancels receiving trigger events for a trigger sensor. * ** Note that a Trigger sensor will be auto disabled if * {@link TriggerEventListener#onTrigger(TriggerEvent)} has triggered. * This method is provided in case the user wants to explicitly cancel the request * to receive trigger events. *
* * @param listener The listener on which the * {@link TriggerEventListener#onTrigger(TriggerEvent)} * is delivered.It should be the same as the one used * in {@link #requestTriggerSensor(TriggerEventListener, Sensor)} * @param sensor The sensor for which the trigger request should be canceled. * If null, it cancels receiving trigger for all sensors associated * with the listener. * * @return true if successfully canceled. * * @throws IllegalArgumentException when sensor is a trigger sensor. */ public boolean cancelTriggerSensor(TriggerEventListener listener, Sensor sensor) { return cancelTriggerSensorImpl(listener, sensor, true); } /** * @hide */ protected abstract boolean cancelTriggerSensorImpl(TriggerEventListener listener, Sensor sensor, boolean disable); /** * @hide */ @Retention(RetentionPolicy.SOURCE) @IntDef({DATA_INJECTION, REPLAY_DATA_INJECTION, HAL_BYPASS_REPLAY_DATA_INJECTION}) public @interface DataInjectionMode {} /** * This mode is only used for testing purposes. Not all HALs support this mode. In this mode, * the HAL ignores the sensor data provided by physical sensors and accepts the data that is * injected from the SensorService as if it were the real sensor data. This mode is primarily * used for testing various algorithms like vendor provided SensorFusion, Step Counter and * Step Detector etc. Typically, in this mode, there is a client app which injects * sensor data into the HAL. Normal apps can register and unregister for any sensor * that supports injection. Registering to sensors that do not support injection will * give an error. * This is the default data injection mode. * @hide */ public static final int DATA_INJECTION = 1; /** * Mostly equivalent to DATA_INJECTION with the difference being that the injected data is * delivered to all requesting apps rather than just the package allowed to inject data. * This mode is only allowed to be used on development builds. * @hide */ public static final int REPLAY_DATA_INJECTION = 3; /** * Like REPLAY_DATA_INJECTION but injected data is not sent into the HAL. It is stored in a * buffer in the platform and played back to all requesting apps. * This is useful for playing back sensor data to test platform components without * relying on the HAL to support data injection. * @hide */ public static final int HAL_BYPASS_REPLAY_DATA_INJECTION = 4; /** * For testing purposes only. Not for third party applications. * * Initialize data injection mode and create a client for data injection. SensorService should * already be operating in DATA_INJECTION mode for this call succeed. To set SensorService into * DATA_INJECTION mode "adb shell dumpsys sensorservice data_injection" needs to be called * through adb. Typically this is done using a host side test. This mode is expected to be used * only for testing purposes. If the HAL is set to data injection mode, it will ignore the input * from physical sensors and read sensor data that is injected from the test application. This * mode is used for testing vendor implementations for various algorithms like Rotation Vector, * Significant Motion, Step Counter etc. Not all HALs support DATA_INJECTION. This method will * fail in those cases. Once this method succeeds, the test can call * {@link injectSensorData(Sensor, float[], int, long)} to inject sensor data into the HAL. * * @param enable True to initialize a client in DATA_INJECTION mode. * False to clean up the native resources. * * @return true if the HAL supports data injection and false * otherwise. * @hide */ @SystemApi public boolean initDataInjection(boolean enable) { return initDataInjectionImpl(enable, DATA_INJECTION); } /** * For testing purposes only. Not for third party applications. * * Initialize data injection mode and create a client for data injection. SensorService should * already be operating in one of DATA_INJECTION, REPLAY_DATA_INJECTION or * HAL_BYPASS_REPLAY_DATA_INJECTION modes for this call succeed. To set SensorService in * a Data Injection mode, use one of: * *-
*
- adb shell dumpsys sensorservice data_injection *
- adb shell dumpsys sensorservice replay_data_injection package_name *
- adb shell dumpsys sensorservice hal_bypass_replay_data_injection package_name *