xl_ekf_context *xl_ekf_context_create() {
xl_ekf_context *ctx = (xl_ekf_context *) malloc(sizeof(xl_ekf_context));
memset(ctx, 0, sizeof(xl_ekf_context));
// ctx->sensor_manager = ASensorManager_getInstanceForPackage("com.cls.xl.xl");
ctx->sensor_manager = ASensorManager_getInstance();
ctx->acc = ASensorManager_getDefaultSensor(ctx->sensor_manager, ASENSOR_TYPE_ACCELEROMETER);
ctx->gyro = ASensorManager_getDefaultSensor(ctx->sensor_manager, ASENSOR_TYPE_GYROSCOPE);
ctx->acc_min_delay = ASensor_getMinDelay(ctx->acc);
ctx->gyro_min_delay = ASensor_getMinDelay(ctx->gyro);
if (ctx->acc == NULL || ctx->gyro == NULL) {
free(ctx);
return NULL;
}
ctx->looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
ctx->event_queue = ASensorManager_createEventQueue(
ctx->sensor_manager,
ctx->looper,
LOOPER_ID_USER,
NULL,
NULL
);
ASensorEventQueue_enableSensor(ctx->event_queue, ctx->acc);
ASensorEventQueue_enableSensor(ctx->event_queue, ctx->gyro);
int acc_delay = 20000;
int gyro_delay = 20000;
acc_delay = acc_delay > ctx->acc_min_delay ? acc_delay : ctx->acc_min_delay;
gyro_delay = gyro_delay > ctx->gyro_min_delay ? gyro_delay : ctx->gyro_min_delay;
ASensorEventQueue_setEventRate(ctx->event_queue, ctx->acc, acc_delay);
ASensorEventQueue_setEventRate(ctx->event_queue, ctx->gyro, gyro_delay);
ctx->lock = malloc(sizeof(pthread_mutex_t));
pthread_mutex_init(ctx->lock, NULL);
return ctx;
}
void SensorCollector::EnableSensors(bool enableAccel, bool enableGyro, bool enableMagneto)
{
if (!(enableAccel || enableGyro || enableMagneto))
{
LOGW(LOGTAG_SENSOR,"All sensor enable selections are false...");
return;
}
int defaultRate = 15;
bool success = true;
if (enableAccel)
{
LOGI(LOGTAG_SENSOR,"Enabling accelerometer");
int resultEnable = ASensorEventQueue_enableSensor(sensorQueue,accelSensor);
int resultQueue = ASensorEventQueue_setEventRate(sensorQueue,accelSensor, (1000L/ defaultRate)*1000);
if (resultEnable < 0)
LOGE("Error enabling accelerometer sensor");
if (resultQueue < 0)
LOGE("Error setting event rate for accelerometer");
accelEnabled = (resultEnable >= 0 && resultQueue >= 0);
success = success && accelEnabled;
}
if (enableGyro)
{
LOGI(LOGTAG_SENSOR,"Enabling gyroscope");
int resultEnable = ASensorEventQueue_enableSensor(sensorQueue,gyroSensor);
int resultQueue =ASensorEventQueue_setEventRate(sensorQueue,gyroSensor, (1000L/ defaultRate)*1000);
if (resultEnable < 0)
LOGE("Error enabling gyroscope sensor");
if (resultQueue < 0)
LOGE("Error setting event rate for gyroscope");
gyroEnabled = (resultEnable >= 0 && resultQueue >= 0);
success = success && gyroEnabled;
}
if (enableMagneto)
{
LOGI(LOGTAG_SENSOR,"Enabling magnetic field sensor");
int resultEnable = ASensorEventQueue_enableSensor(sensorQueue,magnetoSensor);
int resultQueue =ASensorEventQueue_setEventRate(sensorQueue,magnetoSensor, (1000L/ defaultRate)*1000);
if (resultEnable < 0)
LOGE("Error enabling magnetic sensor");
if (resultQueue < 0)
LOGE("Error setting event rate for magnetic sensor");
magEnabled = (resultEnable >= 0 && resultQueue >= 0);
success = success && magEnabled;
}
if (success)
LOGI(LOGTAG_SENSOR,"All sensors enabled successfully!");
}
void setup_sensors() {
ASensorEvent event;
int events, ident;
ASensorManager * sensorManager;
const ASensor* accSensor;
const ASensor* gyroSensor;
const ASensor* magSensor;
void* sensor_data = malloc(10000);
LOGI("sensorValue() - ALooper_forThread()");
SENSORS_ENABLED = 1;
ALooper* looper = ALooper_forThread();
if (looper == NULL) {
looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
}
sensorManager = ASensorManager_getInstance();
accSensor = ASensorManager_getDefaultSensor(sensorManager,
ASENSOR_TYPE_ACCELEROMETER);
gyroSensor = ASensorManager_getDefaultSensor(sensorManager,
ASENSOR_TYPE_GYROSCOPE);
magSensor = ASensorManager_getDefaultSensor(sensorManager,
ASENSOR_TYPE_MAGNETIC_FIELD);
sensorEventQueue = ASensorManager_createEventQueue(sensorManager, looper, LOOPER_ID,
(ALooper_callbackFunc)get_sensorevents, sensor_data);
ASensorEventQueue_enableSensor(sensorEventQueue, accSensor);
ASensorEventQueue_enableSensor(sensorEventQueue, gyroSensor);
ASensorEventQueue_enableSensor(sensorEventQueue, magSensor);
//Sampling rate: 100Hz
int a = ASensor_getMinDelay(accSensor);
int b = ASensor_getMinDelay(gyroSensor);
int c = ASensor_getMinDelay(magSensor);
LOGI("min-delay: %d, %d, %d", a, b, c);
ASensorEventQueue_setEventRate(sensorEventQueue, accSensor, (1000L/SAMP_PER_SEC)*1000);
ASensorEventQueue_setEventRate(sensorEventQueue, gyroSensor, (1000L/SAMP_PER_SEC)*1000);
ASensorEventQueue_setEventRate(sensorEventQueue, magSensor, (1000L/SAMP_PER_SEC)*1000);
LOGI("sensorValue() - START");
while ((ident = ALooper_pollAll(-1, NULL, &events, NULL) >= 0)) {
// If a sensor has data, process it now.
if (ident == LOOPER_ID) {
ASensorEvent event;
while (ASensorEventQueue_getEvents(sensorEventQueue, &event, 1) > 0) {
LOGI("accelerometer X = %f y = %f z=%f ", event.acceleration.x, event.acceleration.y, event.acceleration.z);
}
}
}
}
/**
* 繝｡繧､繝ｳ繧ｳ繝槭Φ繝峨�蜃ｦ逅� */
static void engine_handle_cmd(struct android_app* app, int32_t cmd) {
struct engine* engine = (struct engine*) app->userData;
switch (cmd) {
case APP_CMD_SAVE_STATE:
engine->app->savedState = malloc(sizeof(struct saved_state));
*((struct saved_state*) engine->app->savedState) = engine->state;
engine->app->savedStateSize = sizeof(struct saved_state);
break;
case APP_CMD_INIT_WINDOW:
if (engine->app->window != NULL) {
engine_init_display(engine);
engine_draw_frame(engine);
}
break;
case APP_CMD_TERM_WINDOW:
engine_term_display(engine);
break;
case APP_CMD_GAINED_FOCUS:
if (engine->accelerometerSensor != NULL) {
ASensorEventQueue_enableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
ASensorEventQueue_setEventRate(engine->sensorEventQueue,
engine->accelerometerSensor, (1000L / 60) * 1000);
}
break;
case APP_CMD_LOST_FOCUS:
if (engine->accelerometerSensor != NULL) {
ASensorEventQueue_disableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
}
engine->animating = 0;
engine_draw_frame(engine);
break;
}
}
void resume() {
ASensorEventQueue_enableSensor(accelerometerEventQueue, accelerometer);
auto status = ASensorEventQueue_setEventRate(accelerometerEventQueue,
accelerometer,
SENSOR_REFRESH_PERIOD_US);
assert(status >= 0);
}
status Sensor::enable()
{
if (mEventLoop.mEnabled)
{
mSensor = ASensorManager_getDefaultSensor(mEventLoop.mSensorManager, mSensorType);
if (mSensor != NULL)
{
if (ASensorEventQueue_enableSensor(mEventLoop.mSensorEventQueue, mSensor) < 0)
{
goto ERROR;
}
int32_t lMinDelay = ASensor_getMinDelay(mSensor);
if (ASensorEventQueue_setEventRate(mEventLoop.mSensorEventQueue, mSensor, lMinDelay) < 0)
{
goto ERROR;
}
} else
{
Pegas_log_error("No sensor type %d", mSensorType);
}
}
return STATUS_OK;
ERROR:
Pegas_log_error("Error while activating sensor.");
disable();
return STATUS_KO;
}
/*
* Class: io_quadroid_ndk_QuadroidLib
* Method: init
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_io_quadroid_UDPSensor_ndk_QuadroidLib_init(JNIEnv *env, jclass clazz) {
sensorManager = ASensorManager_getInstance();
looper = ALooper_forThread();
if(looper == NULL) {
looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
}
queue = ASensorManager_createEventQueue(sensorManager, looper, LOOPER_ID, get_sensor_events, NULL);
if(USE_PRESSURE==1) {
pressureSensor = ASensorManager_getDefaultSensor(sensorManager, 6);
ASensorEventQueue_enableSensor(queue, pressureSensor);
ASensorEventQueue_setEventRate(queue, pressureSensor, SAMP_PER_SEC);
}
if(USE_ACCELEROMETER==1) {
acceSensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_ACCELEROMETER);
ASensorEventQueue_enableSensor(queue, acceSensor);
ASensorEventQueue_setEventRate(queue, acceSensor, SAMP_PER_SEC);
log_acce = ASensor_getMinDelay(acceSensor);
}
if(USE_GYROSCOPE==1) {
gyroSensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_GYROSCOPE);
ASensorEventQueue_enableSensor(queue, gyroSensor);
ASensorEventQueue_setEventRate(queue, gyroSensor, SAMP_PER_SEC);
log_gyro = ASensor_getMinDelay(gyroSensor);
}
if(USE_MAGNETIC==1) {
magnSensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_MAGNETIC_FIELD);
ASensorEventQueue_enableSensor(queue, magnSensor);
ASensorEventQueue_setEventRate(queue, magnSensor, SAMP_PER_SEC);
log_magn = ASensor_getMinDelay(magnSensor);
}
if(USE_DISTANCE==1) {
proxSensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_PROXIMITY);
ASensorEventQueue_enableSensor(queue, proxSensor);
ASensorEventQueue_setEventRate(queue, proxSensor, SAMP_PER_SEC);
}
currentTime = time(0);
ALooper_pollAll(-1, NULL, &events, NULL);
}
static TCGvoid EngineHandleCmd(struct android_app* app, TCGint cmd)
{
struct Engine* engine = (struct Engine*)app->userData;
switch (cmd)
{
case APP_CMD_SAVE_STATE:
// The system has asked us to save our current state. Do so.
engine->app->savedState = TCG_MALLOC(sizeof(struct SavedState), eTCG_MAIN);
*((struct SavedState*)engine->app->savedState) = engine->state;
engine->app->savedStateSize = sizeof(struct SavedState);
break;
case APP_CMD_INIT_WINDOW:
//窗口初始化
_Lock.Lock();
g_bWindowMax = TCG_TRUE;
_Lock.UnLock();
if (engine->app->window != NULL)
{
g_WindowType = engine->app->window;
}
break;
case APP_CMD_TERM_WINDOW:
//窗口销毁
_Lock.Lock();
g_bWindowMax = TCG_FALSE;
_Lock.UnLock();
break;
case APP_CMD_GAINED_FOCUS:
// When our app gains focus, we start monitoring the accelerometer.
if (engine->accelerometerSensor != NULL)
{
ASensorEventQueue_enableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(engine->sensorEventQueue,
engine->accelerometerSensor, (1000L/60)*1000);
}
break;
case APP_CMD_LOST_FOCUS:
// When our app loses focus, we stop monitoring the accelerometer.
// This is to avoid consuming battery while not being used.
if (engine->accelerometerSensor != NULL)
{
ASensorEventQueue_disableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
}
// Also stop animating.
engine->animating = 0;
break;
default:
break;
}
}
static void enableSensorManager()
{
if(sstJoystick.u32Frequency > 0 && !sstJoystick.bAccelerometerEnabled)
{
ASensorEventQueue_enableSensor(sstJoystick.sensorEventQueue, sstJoystick.accelerometerSensor);
ASensorEventQueue_setEventRate(sstJoystick.sensorEventQueue, sstJoystick.accelerometerSensor, (1000L/sstJoystick.u32Frequency)*1000);
sstJoystick.bAccelerometerEnabled = orxTRUE;
}
}
JNIEXPORT void JNICALL Java_org_nzdis_sensorspeed_CMagneticField_magneticFieldStartup (JNIEnv *e, jclass c, jobject handler) {
updateHandler = handler;
env = e;
jclass handlerClass = env->FindClass("org/nzdis/sensorspeed/CMagneticField");
if (handlerClass == NULL) {
LOGI("big error 1");
}
mid = env->GetMethodID(handlerClass, "onSensorChanged", "()V");
if (mid == NULL) {
LOGI("big error 2");
}
ASensorEvent event;
int events, ident;
ASensorManager * sensorManager;
const ASensor* magSensor;
void* sensor_data = malloc(10000);
SENSORS_ENABLED = 1;
ALooper* looper = ALooper_forThread();
if (looper == NULL) {
looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
}
sensorManager = ASensorManager_getInstance();
magSensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_MAGNETIC_FIELD);
sensorEventQueue = ASensorManager_createEventQueue(sensorManager, looper, LOOPER_ID,
(ALooper_callbackFunc)get_sensorevents, sensor_data);
ASensorEventQueue_enableSensor(sensorEventQueue, magSensor);
int minDelay = ASensor_getMinDelay(magSensor);
//LOGI("min-delay: %d", minDelay);
ASensorEventQueue_setEventRate(sensorEventQueue, magSensor, (1000L/SAMP_PER_SEC)*1000);
while ((ident = ALooper_pollAll(-1, NULL, &events, NULL) >= 0)) {
// If a sensor has data, process it now.
if (ident == LOOPER_ID) {
LOGI("magneticFieldStartup() - LOOPER!!!!!!!!");
ASensorEvent event;
while (ASensorEventQueue_getEvents(sensorEventQueue, &event, 1) > 0) {
if (event.type == ASENSOR_TYPE_MAGNETIC_FIELD) {
env->CallVoidMethod(updateHandler, mid);
magneticfield_x = event.magnetic.x;
magneticfield_y = event.magnetic.y;
magneticfield_z = event.magnetic.z;
}
}
} else {
LOGI("magneticFieldStartup() - else!!!!!!!!!!!!!");
}
}
}
void Engine::ResumeSensors() {
// When our app gains focus, we start monitoring the accelerometer.
if (accelerometer_sensor_ != NULL) {
ASensorEventQueue_enableSensor(sensor_event_queue_, accelerometer_sensor_);
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(sensor_event_queue_, accelerometer_sensor_,
(1000L / 60) * 1000);
}
}
void SensorManager::Resume() {
// When the app gains focus, start monitoring the accelerometer.
if (accelerometerSensor_ != NULL) {
ASensorEventQueue_enableSensor(sensorEventQueue_, accelerometerSensor_);
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(sensorEventQueue_, accelerometerSensor_,
(1000L / 60) * 1000);
}
}
void Engine::resumeSensors()
{
// When our app gains focus, we start monitoring the accelerometer.
if( mAccelerometerSensor != NULL )
{
ASensorEventQueue_enableSensor( mSensorEventQueue, mAccelerometerSensor );
ASensorEventQueue_setEventRate( mSensorEventQueue, mAccelerometerSensor, (1000L / 30) * 1000 );
}
}
static void setEnableAccelerometer(int32_t framerate){
if(sensors.accelerometerSensor){
ASensorEventQueue_enableSensor(sensors.sensorEventQueue,
sensors.accelerometerSensor);
ASensorEventQueue_setEventRate(
sensors.sensorEventQueue,
sensors.accelerometerSensor,
framerate);
}
}
int GoAndroid_enableSensor(int s, int32_t usec) {
ASensorManager* manager = ASensorManager_getInstance();
const ASensor* sensor = ASensorManager_getDefaultSensor(manager, s);
if (sensor == NULL) {
return 1;
}
ASensorEventQueue_enableSensor(queue, sensor);
ASensorEventQueue_setEventRate(queue, sensor, usec);
return 0;
}
/**
* Process the next main command.
*/
static void engine_handle_cmd(struct android_app* app, int32_t cmd)
{
struct engine* engine = (struct engine*)app->userData;
switch (cmd) {
case APP_CMD_SAVE_STATE:
// The system has asked us to save our current state. Do so.
engine->app->savedState = malloc(sizeof(struct saved_state));
*((struct saved_state*)engine->app->savedState) = engine->state;
engine->app->savedStateSize = sizeof(struct saved_state);
break;
case APP_CMD_INIT_WINDOW:
// The window is being shown, get it ready.
if (engine->app->window != NULL)
{
engine_init_display(engine);
nuiAndroidBridge::androidResize(ANativeWindow_getWidth(app->window), ANativeWindow_getHeight(app->window));
nuiButton* pButton = new nuiButton("Prout!");
// pButton->SetPosition(nuiCenter);
gpBridge->AddChild(pButton);
engine_draw_frame(engine);
engine->animating = 1;
}
break;
case APP_CMD_TERM_WINDOW:
// The window is being hidden or closed, clean it up.
engine_term_display(engine);
break;
case APP_CMD_GAINED_FOCUS:
// When our app gains focus, we start monitoring the accelerometer.
if (engine->accelerometerSensor != NULL)
{
ASensorEventQueue_enableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(engine->sensorEventQueue,
engine->accelerometerSensor, (1000L/60)*1000);
}
break;
case APP_CMD_LOST_FOCUS:
// When our app loses focus, we stop monitoring the accelerometer.
// This is to avoid consuming battery while not being used.
if (engine->accelerometerSensor != NULL)
{
ASensorEventQueue_disableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
}
// Also stop animating.
engine->animating = 1;
engine_draw_frame(engine);
break;
}
}
bool CIrrDeviceAndroid::activateAccelerometer(float updateInterval)
{
if (!isAccelerometerAvailable())
return false;
ASensorEventQueue_enableSensor(SensorEventQueue, Accelerometer);
ASensorEventQueue_setEventRate(SensorEventQueue, Accelerometer, (int32_t)(updateInterval*1000.f*1000.f)); // in microseconds
os::Printer::log("Activated accelerometer", ELL_DEBUG);
return true;
}
bool CIrrDeviceAndroid::activateGyroscope(float updateInterval)
{
if (!isGyroscopeAvailable())
return false;
ASensorEventQueue_enableSensor(SensorEventQueue, Gyroscope);
ASensorEventQueue_setEventRate(SensorEventQueue, Gyroscope, (int32_t)(updateInterval*1000.f*1000.f)); // in microseconds
os::Printer::log("Activated gyroscope", ELL_DEBUG);
return true;
}
/***********************************************************************************
* Process the next main command.
**********************************************************************************/
static void engine_handle_cmd(struct android_app* app, int32_t cmd)
{
struct engine* engine = (struct engine*)app->userData;
switch (cmd)
{
case APP_CMD_SAVE_STATE:
// The system has asked us to save our current state. Do so.
engine->app->savedState = malloc(sizeof(struct saved_state));
*((struct saved_state*)engine->app->savedState) = engine->state;
engine->app->savedStateSize = sizeof(struct saved_state);
break;
case APP_CMD_INIT_WINDOW:
// The window is being shown, get it ready.
LOGI("APP_CMD_INIT_WINDOW 11");
if (engine->app->window != NULL)
{
engine_init_display(engine);
//engine_draw_frame(engine);
}
break;
case APP_CMD_TERM_WINDOW:
LOGI("APP_CMD_TERM_WINDOW 11");
// The window is being hidden or closed, clean it up.
engine_term_display(engine);
break;
case APP_CMD_GAINED_FOCUS:
// When our app gains focus, we start monitoring the accelerometer.
if (engine->accelerometerSensor != NULL)
{
ASensorEventQueue_enableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(engine->sensorEventQueue,
engine->accelerometerSensor, (1000L/60)*1000);
}
break;
case APP_CMD_LOST_FOCUS:
// When our app loses focus, we stop monitoring the accelerometer.
// This is to avoid consuming battery while not being used.
if (engine->accelerometerSensor != NULL)
{
ASensorEventQueue_disableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
}
//engine_draw_frame(engine);
break;
}
}
void SensorHandler::InitializeHandler() {
// Set and prepare looper
SensorHandler::tsInstance().looper = ALooper_forThread();
if (SensorHandler::tsInstance().looper == NULL) {
SensorHandler::tsInstance().looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
}
SensorHandler::tsInstance().sensorManager = ASensorManager_getInstance();
SensorHandler::tsInstance().accelerometerSensor = ASensorManager_getDefaultSensor(
SensorHandler::tsInstance().sensorManager, ASENSOR_TYPE_ACCELEROMETER);
SensorHandler::tsInstance().magneticSensor = ASensorManager_getDefaultSensor(
SensorHandler::tsInstance().sensorManager, ASENSOR_TYPE_MAGNETIC_FIELD);
SensorHandler::tsInstance().gyroscopeSensor = ASensorManager_getDefaultSensor(
SensorHandler::tsInstance().sensorManager, ASENSOR_TYPE_GYROSCOPE);
// Create event queue for sensor events
SensorHandler::tsInstance().sensorEventQueue = ASensorManager_createEventQueue(
SensorHandler::tsInstance().sensorManager, SensorHandler::tsInstance().looper,
3, SensorCallback, sensor_data);
ASensorEventQueue_enableSensor(SensorHandler::tsInstance().sensorEventQueue,
SensorHandler::tsInstance().accelerometerSensor);
ASensorEventQueue_enableSensor(SensorHandler::tsInstance().sensorEventQueue,
SensorHandler::tsInstance().magneticSensor);
ASensorEventQueue_enableSensor(SensorHandler::tsInstance().sensorEventQueue,
SensorHandler::tsInstance().gyroscopeSensor);
// Target sampling rate 100Hz
int a = ASensor_getMinDelay(accelerometerSensor);
int b = ASensor_getMinDelay(magneticSensor);
int c = ASensor_getMinDelay(gyroscopeSensor);
LOGI("Minimum delay; acceleration = %d magnetic = %d gyroscope = %d",a,b,c);
ASensorEventQueue_setEventRate(SensorHandler::tsInstance().sensorEventQueue,
SensorHandler::tsInstance().accelerometerSensor, 100000);
ASensorEventQueue_setEventRate(SensorHandler::tsInstance().sensorEventQueue,
SensorHandler::tsInstance().magneticSensor, 100000);
ASensorEventQueue_setEventRate(SensorHandler::tsInstance().sensorEventQueue,
SensorHandler::tsInstance().gyroscopeSensor, 100000);
}
void enableAccelerometer(void) {
LOGI("enableAccelerometer()");
if (engine.accelerometerSensor != NULL) {
ASensorEventQueue_enableSensor(engine.sensorEventQueue,
engine.accelerometerSensor);
// Set a default sample rate
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(engine.sensorEventQueue,
engine.accelerometerSensor, (1000L/60)*1000);
}
}
// センサーからの値取得を許可する
void enable_sensors(struct engine* engine) {
int i;
for (i = 0; i < SENSOR_MAX; i++) {
sensor_type* st = &engine->sensors[i];
if (st->sensor != NULL) {
ASensorEventQueue_enableSensor(engine->sensorEventQueue, /////-----(1)
st->sensor);
// 値を取得する周期を設定する
ASensorEventQueue_setEventRate(engine->sensorEventQueue, /////-----(2)
st->sensor, (1000L / 60) * 1000);
}
}
}
/**
* Process the next main command.
*/
static void engine_handle_cmd(struct android_app* app, int32_t cmd) {
struct engine* engine = (struct engine*)app->userData;
switch (cmd) {
case APP_CMD_SAVE_STATE:
LOGI("from APP_CMD_SAVE_STATE\n");
saveState(app);
break;
case APP_CMD_INIT_WINDOW:
LOGI("from APP_CMD_INIT_WINDOW\n");
// The window is being shown, get it ready.
if (engine->app->window != NULL) {
engine_init_display(engine);
engine_init_shaders(engine);
engine_draw_frame(engine);
}
break;
case APP_CMD_TERM_WINDOW:
LOGI("from APP_CMD_TERM_WINDOW\n");
// The window is being hidden or closed, clean it up.
cleanup(engine);
break;
case APP_CMD_GAINED_FOCUS:
saveState(app);
#if 0
// When our app gains focus, we start monitoring the accelerometer.
if (engine->accelerometerSensor != NULL) {
ASensorEventQueue_enableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(engine->sensorEventQueue,
engine->accelerometerSensor, (1000L/60)*1000);
}
#endif
LOGI("from APP_CMD_GAINED_FOCUS\n");
break;
case APP_CMD_LOST_FOCUS:
LOGI("from APP_CMD_LOST_FOCUS\n");
// When our app loses focus, we stop monitoring the accelerometer.
// This is to avoid consuming battery while not being used.
if (engine->accelerometerSensor != NULL) {
ASensorEventQueue_disableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
}
// Also stop animating.
engine->animating = 0;
engine_draw_frame(engine);
break;
}
}
/**
* Process the next main command.
*/
static void window_handle_cmd(struct android_app* app, int32_t cmd) {
la_window_t* window = (la_window_t*)app->userData;
switch (cmd) {
case APP_CMD_SAVE_STATE:
la_print("---------------------------- app save state");
// The system has asked us to save our current state. Do so.
// window->app->savedState = malloc(sizeof(struct saved_state));
// *((struct saved_state*)window->app->savedState) = NULL;//window->state;
// window->app->savedStateSize = sizeof(struct saved_state);
break;
case APP_CMD_INIT_WINDOW:
// The window is being shown, get it ready.
if (window->app->window != NULL) {
window_init_display(window);
la_port_swap_buffers(window);
}
main(0, NULL);
break;
case APP_CMD_TERM_WINDOW:
// The cross-platform window kill.
la_window_kill__(window);
// The window is being hidden or closed, clean it up.
window_term_display(window);
break;
case APP_CMD_GAINED_FOCUS:
// When our app gains focus, we start monitoring the accelerometer.
if (window->accelerometerSensor != NULL) {
ASensorEventQueue_enableSensor(window->sensorEventQueue,
window->accelerometerSensor);
// We'd like to get 60 events per second (in us).
ASensorEventQueue_setEventRate(window->sensorEventQueue,
window->accelerometerSensor, (1000L/60)*1000);
}
break;
case APP_CMD_LOST_FOCUS:
// When our app loses focus, we stop monitoring the accelerometer.
// This is to avoid consuming battery while not being used.
if (window->accelerometerSensor != NULL) {
ASensorEventQueue_disableSensor(window->sensorEventQueue,
window->accelerometerSensor);
}
la_port_swap_buffers(window);
break;
}
}
void gdk_android_handle_glue_cmd(struct android_app* app, int32_t cmd)
{
GError *err = NULL;
//GTKAndroidInitPhase *engine = (GTKAndroidInitPhase *) app->userData;
switch (cmd)
{
case APP_CMD_SAVE_STATE:
// The system has asked us to save our current state. Do so.
app->savedState = NULL;
app->savedStateSize = 0;
break;
case APP_CMD_INIT_WINDOW:
// The window is being shown, get it ready.
if (app->window != NULL && !gdk_android_init_display(app, &err))
{
g_error("%s", err->message);
g_error_free(err);
}
break;
case APP_CMD_TERM_WINDOW:
if (gdk_android_stop)
gdk_android_stop();
break;
case APP_CMD_PAUSE:
case APP_CMD_STOP:
if (gdk_android_stop)
gdk_android_stop();
break;
case APP_CMD_GAINED_FOCUS:
// When our app gains focus, we start monitoring the accelerometer.
if (accelerometerSensor != NULL)
{
ASensorEventQueue_enableSensor(sensorEventQueue, accelerometerSensor);
ASensorEventQueue_setEventRate(sensorEventQueue, accelerometerSensor, 0.5);
}
break;
case APP_CMD_LOST_FOCUS:
// When our app loses focus, we stop monitoring the accelerometer.
// This is to avoid consuming battery while not being used.
if (accelerometerSensor != NULL)
ASensorEventQueue_disableSensor(sensorEventQueue, accelerometerSensor);
break;
}
}
/**
*处理下一主命令。
*/
static void engine_handle_cmd(struct android_app* app, int32_t cmd) {
struct engine* engine = (struct engine*)app->userData;
switch (cmd) {
case APP_CMD_SAVE_STATE:
//系统已经要求我们保存当前状态。就这样做。
engine->app->savedState = malloc(sizeof(struct saved_state));
*((struct saved_state*)engine->app->savedState) = engine->state;
engine->app->savedStateSize = sizeof(struct saved_state);
break;
case APP_CMD_INIT_WINDOW:
//正在显示窗口，让其准备就绪。
if (engine->app->window != NULL) {
engine_init_display(engine);
engine_draw_frame(engine);
}
break;
case APP_CMD_TERM_WINDOW:
//正在隐藏或关闭窗口，请其进行清理。
engine_term_display(engine);
break;
case APP_CMD_GAINED_FOCUS:
//当我们的应用获得焦点时，我们开始监控加速计。
if (engine->accelerometerSensor != NULL) {
ASensorEventQueue_enableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
//我们想要每秒获得 60 个事件(在美国)。
ASensorEventQueue_setEventRate(engine->sensorEventQueue,
engine->accelerometerSensor, (1000L / 60) * 1000);
}
break;
case APP_CMD_LOST_FOCUS:
//当我们的应用程序失去焦点时，我们会停止监控加速计。
//这可在不使用时避免使用电池。
if (engine->accelerometerSensor != NULL) {
ASensorEventQueue_disableSensor(engine->sensorEventQueue,
engine->accelerometerSensor);
}
//另外，停止动画。
engine->animating = 0;
engine_draw_frame(engine);
break;
}
}
bool SensorImpl::open(Sensor::Type sensor)
{
// Get the default sensor matching the type
m_sensor = getDefaultSensor(sensor);
// Sensor not available, stop here
if (!m_sensor)
return false;
// Get the minimum delay allowed between events
Time minimumDelay = microseconds(ASensor_getMinDelay(m_sensor));
// Set the event rate (not to consume too much battery)
ASensorEventQueue_setEventRate(sensorEventQueue, m_sensor, minimumDelay.asMicroseconds());
// Save the index of the sensor
m_index = static_cast<unsigned int>(sensor);
return true;
}
static void engine_handle_command(struct android_app* app, int32_t cmd)
{
struct engine* engine = (struct engine*)app->userData;
switch (cmd)
{
case APP_CMD_SAVE_STATE:
app_save_state_callback();
break;
case APP_CMD_INIT_WINDOW:
if (engine->app->window != nullptr)
{
engine_init_display(engine);
engine_draw_frame(engine);
}
break;
case APP_CMD_TERM_WINDOW:
engine_term_display(engine);
break;
case APP_CMD_GAINED_FOCUS:
if (engine->accelerometerSensor != nullptr)
{
ASensorEventQueue_enableSensor(engine->sensorEventQueue, engine->accelerometerSensor);
ASensorEventQueue_setEventRate(engine->sensorEventQueue, engine->accelerometerSensor, (1000L/60)*1000);
accelerometer_enable_callback();
}
break;
case APP_CMD_LOST_FOCUS:
if (engine->accelerometerSensor != nullptr)
{
ASensorEventQueue_disableSensor(engine->sensorEventQueue, engine->accelerometerSensor);
accelerometer_disable_callback();
}
engine_draw_frame(engine);
break;
}
}
void init(AAssetManager *assetManager) {
AAsset *vertexShaderAsset = AAssetManager_open(assetManager, "shader.glslv",
AASSET_MODE_BUFFER);
assert(vertexShaderAsset != NULL);
const void *vertexShaderBuf = AAsset_getBuffer(vertexShaderAsset);
assert(vertexShaderBuf != NULL);
off_t vertexShaderLength = AAsset_getLength(vertexShaderAsset);
vertexShaderSource = std::string((const char*)vertexShaderBuf,
(size_t)vertexShaderLength);
AAsset_close(vertexShaderAsset);
AAsset *fragmentShaderAsset = AAssetManager_open(assetManager, "shader.glslf",
AASSET_MODE_BUFFER);
assert(fragmentShaderAsset != NULL);
const void *fragmentShaderBuf = AAsset_getBuffer(fragmentShaderAsset);
assert(fragmentShaderBuf != NULL);
off_t fragmentShaderLength = AAsset_getLength(fragmentShaderAsset);
fragmentShaderSource = std::string((const char*)fragmentShaderBuf,
(size_t)fragmentShaderLength);
AAsset_close(fragmentShaderAsset);
sensorManager = AcquireASensorManagerInstance();
assert(sensorManager != NULL);
accelerometer = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_ACCELEROMETER);
assert(accelerometer != NULL);
looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
assert(looper != NULL);
accelerometerEventQueue = ASensorManager_createEventQueue(sensorManager, looper,
LOOPER_ID_USER, NULL, NULL);
assert(accelerometerEventQueue != NULL);
auto status = ASensorEventQueue_enableSensor(accelerometerEventQueue,
accelerometer);
assert(status >= 0);
status = ASensorEventQueue_setEventRate(accelerometerEventQueue,
accelerometer,
SENSOR_REFRESH_PERIOD_US);
assert(status >= 0);
(void)status; //to silent unused compiler warning
generateXPos();
}
void SensorImpl::setEnabled(const bool enabled)
{
if (enabled == isEnabled() || !isAvailable())
return;
if (enabled)
{
if (ASensorEventQueue_enableSensor(ns_sensorEventQueue, getDefault(m_type)) >= 0)
{
m_sensor = getDefault(m_type);
if (auto rate = ASensor_getMinDelay(m_sensor))
ASensorEventQueue_setEventRate(ns_sensorEventQueue, m_sensor, rate);
}
}
else
{
ASensorEventQueue_disableSensor(ns_sensorEventQueue, m_sensor);
m_sensor = NULL;
}
}
