Spatial Audio: Add sensor logging
Required to identify failure in head tracking.
Also tracks timestamp latency from sensor service.
Test: adb shell dumpsys media.audio_policy
Test: Observe data when head and screen move around.
Bug: 269620212
Bug: 269683154
Change-Id: I360f487164c0400d9e7b632ae55ef45020b00862
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index ab1b6f7..2ac2af7 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -13,6 +13,7 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*/
+
#include "SpatializerPoseController.h"
#include <android-base/stringprintf.h>
#include <chrono>
@@ -23,6 +24,7 @@
//#define LOG_NDEBUG 0
#include <sensor/Sensor.h>
#include <media/MediaMetricsItem.h>
+#include <media/QuaternionUtil.h>
#include <utils/Log.h>
#include <utils/SystemClock.h>
@@ -282,7 +284,29 @@
void SpatializerPoseController::onPose(int64_t timestamp, int32_t sensor, const Pose3f& pose,
const std::optional<Twist3f>& twist, bool isNewReference) {
std::lock_guard lock(mMutex);
+ constexpr float NANOS_TO_MILLIS = 1e-6;
+ constexpr float RAD_TO_DEGREE = 180.f / M_PI;
+
+ const float delayMs = (elapsedRealtimeNano() - timestamp) * NANOS_TO_MILLIS; // CLOCK_BOOTTIME
+
if (sensor == mHeadSensor) {
+ std::vector<float> pryxyzdt(8); // pitch, roll, yaw, rot_vel_x, rot_vel_y, rot_vel_z,
+ // discontinuity, timestamp_delay
+ media::quaternionToAngles(pose.rotation(), &pryxyzdt[0], &pryxyzdt[1], &pryxyzdt[2]);
+ if (twist) {
+ const auto rotationalVelocity = twist->rotationalVelocity();
+ for (size_t i = 0; i < 3; ++i) {
+ pryxyzdt[i + 3] = rotationalVelocity[i];
+ }
+ }
+ pryxyzdt[6] = isNewReference;
+ pryxyzdt[7] = delayMs;
+ for (size_t i = 0; i < 3; ++i) { // pitch, roll, yaw only. rotational velocity in rad/s.
+ pryxyzdt[i] *= RAD_TO_DEGREE;
+ }
+ mHeadSensorRecorder.record(pryxyzdt);
+ mHeadSensorDurableRecorder.record(pryxyzdt);
+
mProcessor->setWorldToHeadPose(timestamp, pose,
twist.value_or(Twist3f()) / kTicksPerSecond);
if (isNewReference) {
@@ -290,6 +314,14 @@
}
}
if (sensor == mScreenSensor) {
+ std::vector<float> pryt{ 0.f, 0.f, 0.f, delayMs}; // pitch, roll, yaw, timestamp_delay
+ media::quaternionToAngles(pose.rotation(), &pryt[0], &pryt[1], &pryt[2]);
+ for (size_t i = 0; i < 3; ++i) {
+ pryt[i] *= RAD_TO_DEGREE;
+ }
+ mScreenSensorRecorder.record(pryt);
+ mScreenSensorDurableRecorder.record(pryt);
+
mProcessor->setWorldToScreenPose(timestamp, pose);
if (isNewReference) {
mProcessor->recenter(false, true, __func__);
@@ -298,8 +330,7 @@
}
std::string SpatializerPoseController::toString(unsigned level) const {
- std::string prefixSpace;
- prefixSpace.append(level, ' ');
+ std::string prefixSpace(level, ' ');
std::string ss = prefixSpace + "SpatializerPoseController:\n";
bool needUnlock = false;
@@ -315,14 +346,30 @@
if (mHeadSensor == INVALID_SENSOR) {
ss += "HeadSensor: INVALID\n";
} else {
- base::StringAppendF(&ss, "HeadSensor: 0x%08x\n", mHeadSensor);
+ base::StringAppendF(&ss, "HeadSensor: 0x%08x (active world-to-head) "
+ "[ pitch, roll, yaw, vx, vy, vz, disc, delay ] "
+ "(degrees, rad/s, bool, ms)\n", mHeadSensor);
+ ss.append(prefixSpace)
+ .append(" PerMinuteHistory:\n")
+ .append(mHeadSensorDurableRecorder.toString(level + 2))
+ .append(prefixSpace)
+ .append(" PerSecondHistory:\n")
+ .append(mHeadSensorRecorder.toString(level + 2));
}
ss += prefixSpace;
if (mScreenSensor == INVALID_SENSOR) {
ss += "ScreenSensor: INVALID\n";
} else {
- base::StringAppendF(&ss, "ScreenSensor: 0x%08x\n", mScreenSensor);
+ base::StringAppendF(&ss, "ScreenSensor: 0x%08x (active world-to-screen) "
+ "[ pitch, roll, yaw, delay ] "
+ "(degrees, ms)\n", mScreenSensor);
+ ss.append(prefixSpace)
+ .append(" PerMinuteHistory:\n")
+ .append(mScreenSensorDurableRecorder.toString(level + 2))
+ .append(prefixSpace)
+ .append(" PerSecondHistory:\n")
+ .append(mScreenSensorRecorder.toString(level + 2));
}
ss += prefixSpace;
diff --git a/services/audiopolicy/service/SpatializerPoseController.h b/services/audiopolicy/service/SpatializerPoseController.h
index 233f94c..ee2c2be 100644
--- a/services/audiopolicy/service/SpatializerPoseController.h
+++ b/services/audiopolicy/service/SpatializerPoseController.h
@@ -24,6 +24,7 @@
#include <media/HeadTrackingProcessor.h>
#include <media/SensorPoseProvider.h>
+#include <media/VectorRecorder.h>
namespace android {
@@ -131,6 +132,16 @@
bool mShouldExit = false;
bool mCalculated = false;
+ media::VectorRecorder mHeadSensorRecorder{
+ 8 /* vectorSize */, std::chrono::seconds(1), 10 /* maxLogLine */};
+ media::VectorRecorder mHeadSensorDurableRecorder{
+ 8 /* vectorSize */, std::chrono::minutes(1), 10 /* maxLogLine */};
+
+ media::VectorRecorder mScreenSensorRecorder{
+ 4 /* vectorSize */, std::chrono::seconds(1), 10 /* maxLogLine */};
+ media::VectorRecorder mScreenSensorDurableRecorder{
+ 4 /* vectorSize */, std::chrono::minutes(1), 10 /* maxLogLine */};
+
// It's important that mThread is the last variable in this class
// since we starts mThread in initializer list
std::thread mThread;