commit 85186b58fdc8bce374e572800da7a90518661238
author Andy Hung <hunga@google.com> Mon May 09 13:15:46 2022 -0700
committer Andy Hung <hunga@google.com> Mon May 09 13:18:23 2022 -0700
tree 20007b59d7147accfd9353e44539d747a35d448f
parent 70142153ea60e2f94a34a104706028bc0cd5d773

SensorPoseProvider: Remove custom sensor handling

Created for sc-v2 dev use, no longer needed in T.
Use ASENSOR_TYPE_HEAD_TRACKER instead.

Test: head tracking BT buds works fine
Bug: 231977974
Change-Id: I498d83a18eff11e54aca51eb8a79f505fa18822f

media/libheadtracking/SensorPoseProvider.cpp

diff --git a/media/libheadtracking/SensorPoseProvider.cpp b/media/libheadtracking/SensorPoseProvider.cpp
index f3f9b77..4884ae4 100644
--- a/media/libheadtracking/SensorPoseProvider.cpp
+++ b/media/libheadtracking/SensorPoseProvider.cpp
@@ -158,7 +158,6 @@
     enum DataFormat {
         kUnknown,
         kQuaternion,
-        kRotationVectorsAndFlags,
         kRotationVectorsAndDiscontinuityCount,
     };
 
@@ -283,10 +282,6 @@
             return DataFormat::kRotationVectorsAndDiscontinuityCount;
         }
 
-        if (sensor->getStringType() == "com.google.hardware.sensor.hid_dynamic.headtracker") {
-            return DataFormat::kRotationVectorsAndFlags;
-        }
-
         return DataFormat::kUnknown;
     }
 
@@ -332,21 +327,6 @@
                 return PoseEvent{Pose3f(quat), std::optional<Twist3f>(), false};
             }
 
-            case DataFormat::kRotationVectorsAndFlags: {
-                // Custom sensor, assumed to contain:
-                // 3 floats representing orientation as a rotation vector (in rad).
-                // 3 floats representing angular velocity as a rotation vector (in rad/s).
-                // 1 uint32_t of flags, where:
-                // - LSb is '1' iff the given sample is the first one in a new frame of reference.
-                // - The rest of the bits are reserved for future use.
-                Eigen::Vector3f rotation = {event.data[0], event.data[1], event.data[2]};
-                Eigen::Vector3f twist = {event.data[3], event.data[4], event.data[5]};
-                Eigen::Quaternionf quat = rotationVectorToQuaternion(rotation);
-                uint32_t flags = *reinterpret_cast<const uint32_t*>(&event.data[6]);
-                return PoseEvent{Pose3f(quat), Twist3f(Eigen::Vector3f::Zero(), twist),
-                                 (flags & (1 << 0)) != 0};
-            }
-
             case DataFormat::kRotationVectorsAndDiscontinuityCount: {
                 Eigen::Vector3f rotation = {event.head_tracker.rx, event.head_tracker.ry,
                                             event.head_tracker.rz};