287 lines
8.5 KiB
C++
287 lines
8.5 KiB
C++
/*
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* Copyright (C) 2016 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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#ifndef CONTEXTHUB_H_
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#define CONTEXTHUB_H_
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#include "nanomessage.h"
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#include "noncopyable.h"
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#include <bitset>
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#include <functional>
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#include <vector>
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namespace android {
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class AppToHostEvent;
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class SensorEvent;
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// Array length helper macro
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#define ARRAY_LEN(arr) (sizeof(arr) / sizeof(arr[0]))
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enum class SensorType {
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Invalid_ = 0,
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// The order of this enum must correspond to sensor types in nanohub's
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// sensType.h
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Accel,
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AnyMotion,
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NoMotion,
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SignificantMotion,
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Flat,
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Gyro,
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GyroUncal,
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Magnetometer,
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MagnetometerUncal,
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Barometer,
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Temperature,
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AmbientLightSensor,
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Proximity,
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Orientation,
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HeartRateECG,
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HeartRatePPG,
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Gravity,
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LinearAccel,
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RotationVector,
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GeomagneticRotationVector,
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GameRotationVector,
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StepCount,
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StepDetect,
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Gesture,
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Tilt,
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DoubleTwist,
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DoubleTap,
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WindowOrientation,
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Hall,
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Activity,
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Vsync,
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CompressedAccel,
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WristTilt = 39,
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CompressedMag = 59,
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Humidity = 61,
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Max_
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};
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// Overloaded values of rate used in sensor enable request (see sensors.h)
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enum class SensorSpecialRate : uint32_t {
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None = 0,
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OnDemand = 0xFFFFFF00,
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OnChange = 0xFFFFFF01,
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OneShot = 0xFFFFFF02,
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};
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struct SensorSpec {
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SensorType sensor_type = SensorType::Invalid_;
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// When enabling a sensor, rate can be specified in Hz or as one of the
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// special values
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SensorSpecialRate special_rate = SensorSpecialRate::None;
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float rate_hz = -1;
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uint64_t latency_ns = 0;
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// Reference value (ground truth) used for calibration
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bool have_cal_ref = false;
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float cal_ref;
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};
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/*
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* An interface for communicating with a ContextHub.
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*/
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class ContextHub : public NonCopyable {
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public:
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virtual ~ContextHub() {};
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static std::string SensorTypeToAbbrevName(SensorType sensor_type);
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static SensorType SensorAbbrevNameToType(const char *abbrev_name);
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static SensorType SensorAbbrevNameToType(const std::string& abbrev_name);
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static std::string ListAllSensorAbbrevNames();
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/*
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* Performs initialization to allow commands to be sent to the context hub.
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* Must be called before any other functions that send commands. Returns
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* true on success, false on failure.
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*/
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virtual bool Initialize() = 0;
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/*
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* Configures the ContextHub to allow logs to be printed to stdout.
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*/
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virtual void SetLoggingEnabled(bool logging_enabled) = 0;
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/*
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* Loads a new firmware image to the ContextHub. The firmware image is
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* specified by filename. Returns false if an error occurs.
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*/
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bool Flash(const std::string& filename);
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/*
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* Performs the sensor calibration routine and writes the resulting data to
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* a file.
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*/
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bool CalibrateSensors(const std::vector<SensorSpec>& sensors);
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/*
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* Performs the sensor self-test routine.
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*/
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bool TestSensors(const std::vector<SensorSpec>& sensors);
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/*
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* Sends a sensor enable request to the context hub.
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*/
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bool EnableSensor(const SensorSpec& sensor);
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bool EnableSensors(const std::vector<SensorSpec>& sensors);
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/*
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* Sends a disable sensor request to context hub. Note that this always
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* results in sending a request, i.e. this does not check whether the sensor
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* is currently enabled or not.
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*/
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bool DisableSensor(SensorType sensor_type);
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bool DisableSensors(const std::vector<SensorSpec>& sensors);
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/*
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* Sends a disable sensor request for every sensor type we know about.
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*/
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bool DisableAllSensors();
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/*
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* Calls DisableSensor() on all active sensors (i.e. those which have been
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* enabled but not yet disabled). This should be called from the destructor
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* of derived classes before tearing down communications to ensure we don't
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* leave sensors enabled after exiting.
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*/
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bool DisableActiveSensors();
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/*
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* Sends all data stored in the calibration file to the context hub.
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*/
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virtual bool LoadCalibration();
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/*
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* Prints up to <limit> incoming events. If limit is 0, then continues
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* indefinitely.
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*/
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void PrintAllEvents(unsigned int limit);
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/*
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* Requests bridge version information
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*/
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bool PrintBridgeVersion();
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/*
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* Prints up to <sample_limit> incoming sensor samples corresponding to the
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* given SensorType, ignoring other events. If sample_limit is 0, then
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* continues indefinitely.
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*/
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void PrintSensorEvents(SensorType sensor_type, int sample_limit);
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void PrintSensorEvents(const std::vector<SensorSpec>& sensors,
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int sample_limit);
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protected:
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enum class TransportResult {
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Success,
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GeneralFailure,
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Timeout,
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ParseFailure,
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Canceled,
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// Add more specific error reasons as needed
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};
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// Performs the calibration routine, but does not call SaveCalibration()
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bool CalibrateSingleSensor(const SensorSpec& sensor);
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// Performs the self-test routine
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bool TestSingleSensor(const SensorSpec& sensor);
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/*
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* Iterates over sensors, invoking the given callback on each element.
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* Returns true if all callbacks returned true. Exits early on failure.
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*/
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bool ForEachSensor(const std::vector<SensorSpec>& sensors,
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std::function<bool(const SensorSpec&)> callback);
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/*
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* Parses a calibration result event and invokes the appropriate
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* SetCalibration function with the calibration data.
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*/
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bool HandleCalibrationResult(const SensorSpec& sensor,
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const AppToHostEvent &event);
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/*
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* Parses a self-test result event
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*/
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bool HandleTestResult(const SensorSpec& sensor,
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const AppToHostEvent &event);
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/*
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* Same as ReadSensorEvents, but filters on AppToHostEvent instead of
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* SensorEvent.
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*/
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TransportResult ReadAppEvents(std::function<bool(const AppToHostEvent&)> callback,
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int timeout_ms = 0);
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/*
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* Calls ReadEvent in a loop, handling errors and ignoring events that
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* didn't originate from a sensor. Valid SensorEvents are passed to the
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* callback for further processing. The callback should return a boolean
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* indicating whether to continue (true) or exit the read loop (false).
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*/
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void ReadSensorEvents(std::function<bool(const SensorEvent&)> callback);
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/*
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* Sends the given calibration data down to the hub
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*/
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bool SendCalibrationData(SensorType sensor_type,
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const std::vector<uint8_t>& cal_data);
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/*
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* Read an event from the sensor hub. Block until a event is successfully
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* read, no event traffic is generated for the timeout period, or an error
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* occurs, such as a CRC check failure.
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*/
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virtual TransportResult ReadEvent(std::vector<uint8_t>& response,
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int timeout_ms) = 0;
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virtual TransportResult WriteEvent(const std::vector<uint8_t>& request) = 0;
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// Implements the firmware loading functionality for the sensor hub. Returns
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// false if an error occurs while writing the firmware to the device.
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virtual bool FlashSensorHub(const std::vector<uint8_t>& bytes) = 0;
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// Convenience functions that build on top of the more generic byte-level
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// interface
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TransportResult ReadEvent(std::unique_ptr<ReadEventResponse>* response,
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int timeout_ms = 0);
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TransportResult WriteEvent(const WriteEventRequest& request);
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// Override these if saving calibration data to persistent storage is
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// supported on the platform
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virtual bool SetCalibration(SensorType sensor_type, int32_t data);
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virtual bool SetCalibration(SensorType sensor_type, float data);
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virtual bool SetCalibration(SensorType sensor_type, int32_t x,
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int32_t y, int32_t z);
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virtual bool SetCalibration(SensorType sensor_type, int32_t x,
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int32_t y, int32_t z, int32_t w);
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virtual bool SaveCalibration();
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private:
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std::bitset<static_cast<int>(SensorType::Max_)> sensor_is_active_;
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};
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} // namespace android
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#endif // CONTEXTHUB_H_
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