Hamlib/rotators/androidsensor/ndkimu.h

58 wiersze
1.5 KiB
C++

#ifndef NDKIMU_H
#define NDKIMU_H
#include <dlfcn.h>
#include <GLES2/gl2.h>
#include <android/looper.h>
#include <android/sensor.h>
#include <cstdint>
#include <cassert>
#include <string>
static const int LOOPER_ID_USER = 3;
static const int SENSOR_HISTORY_LENGTH = 100;
static const int SENSOR_REFRESH_RATE_HZ = 100;
static constexpr int32_t SENSOR_REFRESH_PERIOD_US = int32_t(1000000 / SENSOR_REFRESH_RATE_HZ);
static const float SENSOR_FILTER_ALPHA = 0.1f;
class NdkImu
{
public:
NdkImu(char kPackageName[] = NULL);
~NdkImu();
static ASensorManager *AcquireASensorManagerInstance(char kPackageName[]);
static bool getRotationMatrix(float R[], size_t Rlength, float I[], size_t Ilength, float gravity[], float geomagnetic[]);
static float *getOrientation(float R[], size_t Rlength, float valuesBuf[] = NULL);
private:
ASensorManager *sensorManager;
const ASensor *accelerometer;
ASensorEventQueue *accelerometerEventQueue;
const ASensor *geomagnetic;
ASensorEventQueue *geomagneticEventQueue;
ALooper *looper;
struct SensorData {
GLfloat x;
GLfloat y;
GLfloat z;
};
SensorData sensorAccData[SENSOR_HISTORY_LENGTH*2];
SensorData sensorAccDataFilter;
SensorData sensorMagData[SENSOR_HISTORY_LENGTH*2];
SensorData sensorMagDataFilter;
int sensorAccDataIndex;
int sensorMagDataIndex;
public:
void update();
float *getAccData(float accDataBuf[] = NULL);
float *getMagData(float magDataBuf[] = NULL);
};
#endif // NDKIMU_H