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
17 #include <unistd.h>
18 #include <iostream>
19
20 #include <android/sensor.h>
21 #include <hardware/sensors.h>
22 #include <utils/SystemClock.h>
23
24 #include <media/SensorPoseProvider.h>
25 #include <sensor/Sensor.h>
26 #include <sensor/SensorManager.h>
27
28 using android::elapsedRealtimeNano;
29 using android::Sensor;
30 using android::SensorManager;
31 using android::String16;
32 using android::media::Pose3f;
33 using android::media::SensorPoseProvider;
34 using android::media::Twist3f;
35
36 using namespace std::chrono_literals;
37
38 const char kPackageName[] = "SensorPoseProvider-example";
39
40 class Listener : public SensorPoseProvider::Listener {
41 public:
onPose(int64_t timestamp,int32_t handle,const Pose3f & pose,const std::optional<Twist3f> & twist,bool isNewReference)42 void onPose(int64_t timestamp, int32_t handle, const Pose3f& pose,
43 const std::optional<Twist3f>& twist, bool isNewReference) override {
44 int64_t now = elapsedRealtimeNano();
45
46 std::cout << "onPose t=" << timestamp
47 << " lag=" << ((now - timestamp) / 1e6) << "[ms]"
48 << " sensor=" << handle
49 << " pose=" << pose
50 << " twist=";
51 if (twist.has_value()) {
52 std::cout << twist.value();
53 } else {
54 std::cout << "<none>";
55 }
56 std::cout << " isNewReference=" << isNewReference << std::endl;
57 }
58 };
59
main()60 int main() {
61 SensorManager& sensorManager = SensorManager::getInstanceForPackage(String16(kPackageName));
62
63 const Sensor* headSensor = sensorManager.getDefaultSensor(SENSOR_TYPE_GAME_ROTATION_VECTOR);
64 const Sensor* screenSensor = sensorManager.getDefaultSensor(SENSOR_TYPE_ROTATION_VECTOR);
65
66 Listener listener;
67
68 std::unique_ptr<SensorPoseProvider> provider =
69 SensorPoseProvider::create(kPackageName, &listener);
70 if (!provider->startSensor(headSensor->getHandle(), 500ms)) {
71 std::cout << "Failed to start head sensor" << std::endl;
72 }
73 sleep(2);
74 if (!provider->startSensor(screenSensor->getHandle(), 500ms)) {
75 std::cout << "Failed to start screenSensor sensor" << std::endl;
76 }
77 sleep(2);
78 provider->stopSensor(headSensor->getHandle());
79 sleep(2);
80 return 0;
81 }
82