Add sensor pose provider
This is a small utility for wrapping the Sensor NDK APIs with a
simpler, higher-level interface, intended for providing pose
data into the head-tracking processing library.
Bug: 188502620
Test: Manual verification by running the included example binary.
Change-Id: I7ce4f351242c957321af93875f8710aec8b3bf90
diff --git a/media/libheadtracking/SensorPoseProvider-example.cpp b/media/libheadtracking/SensorPoseProvider-example.cpp
new file mode 100644
index 0000000..30c6537
--- /dev/null
+++ b/media/libheadtracking/SensorPoseProvider-example.cpp
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <unistd.h>
+#include <iostream>
+
+#include <android/sensor.h>
+#include <hardware/sensors.h>
+
+#include <media/SensorPoseProvider.h>
+
+using android::media::Pose3f;
+using android::media::SensorPoseProvider;
+using android::media::Twist3f;
+
+const char kPackageName[] = "SensorPoseProvider-example";
+
+class Listener : public SensorPoseProvider::Listener {
+ public:
+ void onPose(int64_t timestamp, int32_t handle, const Pose3f& pose,
+ const std::optional<Twist3f>& twist) override {
+ std::cout << "onPose t=" << timestamp << " sensor=" << handle << " pose=" << pose
+ << " twist=";
+ if (twist.has_value()) {
+ std::cout << twist.value();
+ } else {
+ std::cout << "<none>";
+ }
+ std::cout << std::endl;
+ }
+};
+
+int main() {
+ ASensorManager* sensor_manager = ASensorManager_getInstanceForPackage(kPackageName);
+ if (!sensor_manager) {
+ std::cerr << "Failed to get a sensor manager" << std::endl;
+ return 1;
+ }
+
+ const ASensor* headSensor =
+ ASensorManager_getDefaultSensor(sensor_manager, SENSOR_TYPE_GAME_ROTATION_VECTOR);
+ const ASensor* screenSensor =
+ ASensorManager_getDefaultSensor(sensor_manager, SENSOR_TYPE_ROTATION_VECTOR);
+
+ Listener listener;
+
+ std::unique_ptr<SensorPoseProvider> provider =
+ SensorPoseProvider::create(kPackageName, &listener);
+ int32_t headHandle = provider->startSensor(headSensor, std::chrono::milliseconds(500));
+ sleep(2);
+ provider->startSensor(screenSensor, std::chrono::milliseconds(500));
+ sleep(2);
+ provider->stopSensor(headHandle);
+ sleep(2);
+ return 0;
+}