1 /* 2 * Copyright (C) 2021 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 #pragma once 17 18 #include <chrono> 19 #include <memory> 20 #include <optional> 21 22 #include <android/sensor.h> 23 #include <sensor/Sensor.h> 24 25 #include "Pose.h" 26 #include "Twist.h" 27 28 namespace android { 29 namespace media { 30 31 // Timeout for Spatializer dumpsys trylock, don't block for more than 3 seconds. 32 constexpr auto kSpatializerDumpSysTimeOutInSecond = std::chrono::seconds(3); 33 34 /** 35 * A utility providing streaming of pose data from motion sensors provided by the Sensor Framework. 36 * 37 * A live instance of this interface keeps around some resources required for accessing sensor 38 * readings (e.g. a thread and a queue). Those would be released when the instance is deleted. 39 * 40 * Once alive, individual sensors can be subscribed to using startSensor() and updates can be 41 * stopped via stopSensor(). Those two methods should not be called concurrently and correct usage 42 * is assumed. 43 */ 44 class SensorPoseProvider { 45 public: 46 static constexpr int32_t INVALID_HANDLE = ASENSOR_INVALID; 47 48 /** 49 * Interface for consuming pose-related sensor events. 50 * 51 * The listener will be provided with a stream of events, each including: 52 * - A handle of the sensor responsible for the event. 53 * - Timestamp. 54 * - Pose. 55 * - Optional twist (time-derivative of pose). 56 * 57 * Sensors having only orientation data will have the translation part of the pose set to 58 * identity. 59 * 60 * Events are delivered in a serialized manner (i.e. callbacks do not need to be reentrant). 61 * Callbacks should not block. 62 */ 63 class Listener { 64 public: 65 virtual ~Listener() = default; 66 67 virtual void onPose(int64_t timestamp, int32_t handle, const Pose3f& pose, 68 const std::optional<Twist3f>& twist, bool isNewReference) = 0; 69 }; 70 71 /** 72 * Creates a new SensorPoseProvider instance. 73 * Events will be delivered to the listener as long as the returned instance is kept alive. 74 * @param packageName Client's package name. 75 * @param listener The listener that will get the events. 76 * @return The new instance, or nullptr in case of failure. 77 */ 78 static std::unique_ptr<SensorPoseProvider> create(const char* packageName, Listener* listener); 79 80 virtual ~SensorPoseProvider() = default; 81 82 /** 83 * Start receiving pose updates from a given sensor. 84 * Attempting to start a sensor that has already been started results in undefined behavior. 85 * @param sensor The sensor to subscribe to. 86 * @param samplingPeriod Sampling interval, in microseconds. Actual rate might be slightly 87 * different. 88 * @return true iff succeeded. 89 */ 90 virtual bool startSensor(int32_t sensor, std::chrono::microseconds samplingPeriod) = 0; 91 92 /** 93 * Stop a sensor, previously started with startSensor(). It is not required to stop all sensors 94 * before deleting the SensorPoseProvider instance. 95 * @param handle The sensor handle, as provided to startSensor(). 96 */ 97 virtual void stopSensor(int32_t handle) = 0; 98 99 /** 100 * Returns the sensor or nullopt if it does not exist. 101 * 102 * The Sensor object has const methods that can be used to 103 * discover properties of the sensor. 104 */ 105 virtual std::optional<const Sensor> getSensorByHandle(int32_t handle) = 0; 106 107 /** 108 * Dump SensorPoseProvider parameters and history data. 109 */ 110 virtual std::string toString(unsigned level) = 0; 111 }; 112 113 } // namespace media 114 } // namespace android 115