1 /* 2 * Copyright (C) 2023 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 17 #pragma once 18 19 #include <chrono> 20 #include <string> 21 22 #include <Eigen/Dense> 23 24 #include "common/libs/sensors/sensors.h" 25 26 namespace cuttlefish { 27 namespace sensors { 28 29 class SensorsSimulator { 30 public: 31 SensorsSimulator(); 32 // Update sensor values based on new rotation status. 33 void RefreshSensors(double x, double y, double z); 34 35 // Return a string with serialized sensors data in ascending order of 36 // sensor id. A bitmask is used to specify which sensors to include. 37 // Each bit maps to a sensor type, and a set bit indicates that the 38 // corresponding sensor should be included in the returned data. Assuming 39 // accelerometer and gyroscope are specified, the returned string would be 40 // formatted as "<acc.x>:<acc.y>:<acc.z> <gyro.x>:<gyro.y>:<gyro.z>". 41 std::string GetSensorsData(const SensorsMask mask); 42 43 private: 44 std::mutex sensors_data_mtx_; 45 Eigen::Vector3d sensors_data_[kMaxSensorId + 1]; 46 Eigen::Matrix3d prior_rotation_matrix_, current_rotation_matrix_; 47 std::chrono::time_point<std::chrono::high_resolution_clock> 48 last_event_timestamp_; 49 }; 50 51 } // namespace sensors 52 } // namespace cuttlefish