commit f66684a6fb2a2991e84a085673629db2a0494fc6
author Peng Xu <pengxu@google.com> Thu Jul 23 11:41:53 2015 -0700
committer Peng Xu <pengxu@google.com> Wed Aug 12 17:15:37 2015 -0700
tree 5694808f00cb981b09beb688f50a87b9227ad7d6
parent d2c2b74d18dbf02673986401ae10d866733575f3

Add AOSP Geomag and Game Rotation, and Gravity

Providing AOSP software implementation of Geomag Rotation Vector, Game
Rotation Vector and Gravity sensors for platforms that does not have
hardware implementation of these sensors but do have primitive sensors
(accelerometers, gyrometers and magnetometers).

Previously, AOSP Gravity sensor is enabled only when all primitive sensors are
available. This is changed so that AOSP Gravity will be available even
no magnetometer is in the device.

Related bug/feature request:
    * b/17508800
    * b/22610016

Change-Id: I4e2d3e544884047d66e7fdbce2282f1f8234eae9

services/sensorservice/SensorFusion.h

diff --git a/services/sensorservice/SensorFusion.h b/services/sensorservice/SensorFusion.h
index 432adbc..ad636d5 100644
--- a/services/sensorservice/SensorFusion.h
+++ b/services/sensorservice/SensorFusion.h
@@ -42,30 +42,52 @@
     Sensor mAcc;
     Sensor mMag;
     Sensor mGyro;
-    Fusion mFusion;
-    bool mEnabled;
+
+    Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro
+
+    bool mEnabled[NUM_FUSION_MODE];
+
+    vec4_t &mAttitude;
+    vec4_t mAttitudes[NUM_FUSION_MODE];
+
+    SortedVector<void*> mClients[3];
+
     float mEstimatedGyroRate;
     nsecs_t mTargetDelayNs;
+
     nsecs_t mGyroTime;
-    vec4_t mAttitude;
-    SortedVector<void*> mClients;
+    nsecs_t mAccTime;
 
     SensorFusion();
 
 public:
     void process(const sensors_event_t& event);
 
-    bool isEnabled() const { return mEnabled; }
-    bool hasEstimate() const { return mFusion.hasEstimate(); }
-    mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
-    vec4_t getAttitude() const { return mAttitude; }
-    vec3_t getGyroBias() const { return mFusion.getBias(); }
+    bool isEnabled() const {
+        return mEnabled[FUSION_9AXIS] ||
+                mEnabled[FUSION_NOMAG] ||
+                mEnabled[FUSION_NOGYRO];
+    }
+
+    bool hasEstimate(int mode = FUSION_9AXIS) const {
+        return mFusions[mode].hasEstimate();
+    }
+
+    mat33_t getRotationMatrix(int mode = FUSION_9AXIS) const {
+        return mFusions[mode].getRotationMatrix();
+    }
+
+    vec4_t getAttitude(int mode = FUSION_9AXIS) const {
+        return mAttitudes[mode];
+    }
+
+    vec3_t getGyroBias() const { return mFusions[FUSION_9AXIS].getBias(); }
     float getEstimatedRate() const { return mEstimatedGyroRate; }
 
-    status_t activate(void* ident, bool enabled);
-    status_t setDelay(void* ident, int64_t ns);
+    status_t activate(int mode, void* ident, bool enabled);
+    status_t setDelay(int mode, void* ident, int64_t ns);
 
-    float getPowerUsage() const;
+    float getPowerUsage(int mode=FUSION_9AXIS) const;
     int32_t getMinDelay() const;
 
     void dump(String8& result);