kopia lustrzana https://github.com/Hamlib/Hamlib
Michael Black
GitHub
commit
1f9ffe3035
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@ -49,3 +49,6 @@ include $(TOP_PATH)/rotators/satel/Android.mk
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include $(TOP_PATH)/rotators/spid/Android.mk
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include $(TOP_PATH)/rotators/ts7400/Android.mk
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include $(TOP_PATH)/rotators/radant/Android.mk
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include $(TOP_PATH)/rotators/androidsensor/Android.mk
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include $(TOP_PATH)/tests/Android.mk
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@ -619,6 +619,11 @@
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#define ROT_MODEL_RADANT ROT_MAKE_MODEL(ROT_RADANT, 1)
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#define ROT_ANDROIDSENSOR 23
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#define ROT_BACKEND_ANDROIDSENSOR "androidsensor"
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#define ROT_MODEL_ANDROIDSENSOR ROT_MAKE_MODEL(ROT_ANDROIDSENSOR, 1)
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/**
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* \brief Convenience type definition for a rotator model.
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*
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@ -0,0 +1,12 @@
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LOCAL_PATH:= $(call my-dir)
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include $(CLEAR_VARS)
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LOCAL_SRC_FILES := androidsensor.cpp ndkimu.cpp
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LOCAL_MODULE := androidsensor
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LOCAL_CFLAGS := -DHAVE_CONFIG_H
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LOCAL_C_INCLUDES := android include src
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LOCAL_LDLIBS := -lhamlib -Lobj/local/$(TARGET_ARCH_ABI)
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include $(BUILD_STATIC_LIBRARY)
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@ -0,0 +1,137 @@
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/*
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* Hamlib Rotator backend - Radant
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* Copyright (c) 2001-2003 by Stephane Fillod
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* Contributed by Francois Retief <fgretief@sun.ac.za>
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* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h> /* String function definitions */
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#include <unistd.h> /* UNIX standard function definitions */
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#include <math.h>
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#include "hamlib/rotator.h"
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#include "register.h"
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#include "androidsensor.h"
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#include "ndkimu.cpp"
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/* ************************************************************************* */
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static NdkImu *imu;
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static int
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androidsensor_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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// To-Do
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return RIG_OK;
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}
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static int
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androidsensor_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called: ", __func__);
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imu->update();
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float accData[3], magData[3];
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imu->getAccData(accData);
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imu->getMagData(magData);
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float R[9] = {0}, I[9] = {0}, orientation[3] = {0};
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bool status = imu->getRotationMatrix(R, 9, I, 9, accData, magData);
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if(status)
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imu->getOrientation(R, 9, orientation);
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*az = (orientation[0] / M_PI * 180 );
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*el = (orientation[1] / M_PI * 180 ) * -1;
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rig_debug(RIG_DEBUG_TRACE, "%f %f\n", az, el);
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return RIG_OK;
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}
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static int
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androidsensor_rot_stop(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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// To-Do
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return RIG_OK;
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}
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static int
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androidsensor_rot_init(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called, make new NdkImu\n", __func__);
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imu = new NdkImu();
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return RIG_OK;
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}
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static int
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androidsensor_rot_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called, delete imu\n", __func__);
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delete imu;
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return RIG_OK;
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}
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/* ************************************************************************* */
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const struct rot_caps androidsensor_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_ANDROIDSENSOR),
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.model_name = "ACC/MAG",
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.mfg_name = "Android Sensor",
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.version = "20210925.0",
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.copyright = "LGPL",
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.rot_type = ROT_TYPE_AZEL,
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.port_type = RIG_PORT_NONE,
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.min_az = -180.0,
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.max_az = 180.0,
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.min_el = -180.0,
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.max_el = 180.0,
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.priv = NULL, /* priv */
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.set_position = androidsensor_rot_set_position,
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.get_position = androidsensor_rot_get_position,
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.stop = androidsensor_rot_stop,
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.rot_init = androidsensor_rot_init,
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.rot_cleanup = androidsensor_rot_cleanup,
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};
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/* ************************************************************************* */
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DECLARE_INITROT_BACKEND(androidsensor)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&androidsensor_rot_caps);
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return RIG_OK;
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}
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/* ************************************************************************* */
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/* end of file */
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@ -0,0 +1,29 @@
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/*
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* Hamlib Rotator backend - Easycomm interface protocol
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* Copyright (c) 2001-2003 by Stephane Fillod
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* Contributed by Francois Retief <fgretief@sun.ac.za>
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* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifndef _ROT_ANDROIDSENSOR_H
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#define _ROT_ANDROIDSENSOR_H 1
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extern const struct rot_caps androidsensor_rot_caps;
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#endif /* _ROT_ANDROIDSENSOR_H */
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@ -0,0 +1,207 @@
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#include "ndkimu.h"
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#include <cmath>
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NdkImu::NdkImu(char kPackageName[])
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{
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sensorManager = AcquireASensorManagerInstance(kPackageName);
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assert(sensorManager != NULL);
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accelerometer = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_ACCELEROMETER);
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geomagnetic = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_MAGNETIC_FIELD);
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assert(accelerometer != NULL);
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looper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
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assert(looper != NULL);
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accelerometerEventQueue = ASensorManager_createEventQueue(sensorManager, looper,
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LOOPER_ID_USER, NULL, NULL);
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geomagneticEventQueue = ASensorManager_createEventQueue(sensorManager, looper,
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LOOPER_ID_USER, NULL, NULL);
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assert(accelerometerEventQueue != NULL);
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auto status = ASensorEventQueue_enableSensor(accelerometerEventQueue,
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accelerometer);
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assert(status >= 0);
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status = ASensorEventQueue_setEventRate(accelerometerEventQueue,
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accelerometer,
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SENSOR_REFRESH_PERIOD_US);
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assert(status >= 0);
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status = ASensorEventQueue_enableSensor(geomagneticEventQueue,
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geomagnetic);
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assert(status >= 0);
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status = ASensorEventQueue_setEventRate(geomagneticEventQueue,
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geomagnetic,
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SENSOR_REFRESH_PERIOD_US);
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assert(status >= 0);
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}
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NdkImu::~NdkImu()
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{
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auto status = ASensorEventQueue_disableSensor(accelerometerEventQueue,
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accelerometer);
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assert(status >= 0);
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status = ASensorEventQueue_disableSensor(geomagneticEventQueue,
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geomagnetic);
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assert(status >= 0);
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}
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ASensorManager *NdkImu::AcquireASensorManagerInstance(char kPackageName[])
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{
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typedef ASensorManager *(*PF_GETINSTANCEFORPACKAGE)(const char *name);
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void* androidHandle = dlopen("libandroid.so", RTLD_NOW);
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PF_GETINSTANCEFORPACKAGE getInstanceForPackageFunc = (PF_GETINSTANCEFORPACKAGE)
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dlsym(androidHandle, "ASensorManager_getInstanceForPackage");
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if (getInstanceForPackageFunc) {
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return getInstanceForPackageFunc(kPackageName);
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}
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typedef ASensorManager *(*PF_GETINSTANCE)();
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PF_GETINSTANCE getInstanceFunc = (PF_GETINSTANCE)
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dlsym(androidHandle, "ASensorManager_getInstance");
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// by all means at this point, ASensorManager_getInstance should be available
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assert(getInstanceFunc);
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return getInstanceFunc();
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}
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/*
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* https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java
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* blob: 9e78a6bb476061b4e20378ba20a00a2761e1ed7e
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* line 1174
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*/
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bool NdkImu::getRotationMatrix(float R[], size_t Rlength, float I[], size_t Ilength, float gravity[], float geomagnetic[])
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{
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// TODO: move this to native code for efficiency
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float Ax = gravity[0];
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float Ay = gravity[1];
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float Az = gravity[2];
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const float normsqA = (Ax * Ax + Ay * Ay + Az * Az);
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const float g = 9.81f;
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const float freeFallGravitySquared = 0.01f * g * g;
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if (normsqA < freeFallGravitySquared) {
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// gravity less than 10% of normal value
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return false;
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}
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const float Ex = geomagnetic[0];
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const float Ey = geomagnetic[1];
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const float Ez = geomagnetic[2];
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float Hx = Ey * Az - Ez * Ay;
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float Hy = Ez * Ax - Ex * Az;
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float Hz = Ex * Ay - Ey * Ax;
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const float normH = (float) std::sqrt(Hx * Hx + Hy * Hy + Hz * Hz);
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if (normH < 0.1f) {
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// device is close to free fall (or in space?), or close to
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// magnetic north pole. Typical values are > 100.
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return false;
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}
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const float invH = 1.0f / normH;
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Hx *= invH;
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Hy *= invH;
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Hz *= invH;
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const float invA = 1.0f / (float) std::sqrt(Ax * Ax + Ay * Ay + Az * Az);
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Ax *= invA;
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Ay *= invA;
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Az *= invA;
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const float Mx = Ay * Hz - Az * Hy;
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const float My = Az * Hx - Ax * Hz;
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const float Mz = Ax * Hy - Ay * Hx;
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if (R != NULL) {
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if (Rlength == 9) {
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R[0] = Hx; R[1] = Hy; R[2] = Hz;
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R[3] = Mx; R[4] = My; R[5] = Mz;
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R[6] = Ax; R[7] = Ay; R[8] = Az;
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} else if (Rlength == 16) {
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R[0] = Hx; R[1] = Hy; R[2] = Hz; R[3] = 0;
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R[4] = Mx; R[5] = My; R[6] = Mz; R[7] = 0;
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R[8] = Ax; R[9] = Ay; R[10] = Az; R[11] = 0;
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R[12] = 0; R[13] = 0; R[14] = 0; R[15] = 1;
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}
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}
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if (I != NULL) {
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// compute the inclination matrix by projecting the geomagnetic
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// vector onto the Z (gravity) and X (horizontal component
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// of geomagnetic vector) axes.
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const float invE = 1.0f / (float) std::sqrt(Ex * Ex + Ey * Ey + Ez * Ez);
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const float c = (Ex * Mx + Ey * My + Ez * Mz) * invE;
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const float s = (Ex * Ax + Ey * Ay + Ez * Az) * invE;
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if (Ilength == 9) {
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I[0] = 1; I[1] = 0; I[2] = 0;
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I[3] = 0; I[4] = c; I[5] = s;
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I[6] = 0; I[7] = -s; I[8] = c;
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} else if (Ilength == 16) {
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I[0] = 1; I[1] = 0; I[2] = 0;
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I[4] = 0; I[5] = c; I[6] = s;
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I[8] = 0; I[9] = -s; I[10] = c;
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I[3] = I[7] = I[11] = I[12] = I[13] = I[14] = 0;
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I[15] = 1;
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}
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}
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return true;
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}
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/*
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* https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java
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* blob: 9e78a6bb476061b4e20378ba20a00a2761e1ed7e
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* line 1469
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*/
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float *NdkImu::getOrientation(float R[], size_t Rlength, float valuesBuf[])
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{
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if(valuesBuf == NULL)
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valuesBuf = (float*)malloc(sizeof (float)*3);
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if (Rlength == 9) {
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valuesBuf[0] = (float) std::atan2(R[1], R[4]);
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valuesBuf[1] = (float) std::asin(-R[7]);
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valuesBuf[2] = (float) std::atan2(-R[6], R[8]);
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} else {
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valuesBuf[0] = (float) std::atan2(R[1], R[5]);
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valuesBuf[1] = (float) std::asin(-R[9]);
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valuesBuf[2] = (float) std::atan2(-R[8], R[10]);
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}
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return valuesBuf;
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}
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void NdkImu::update()
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{
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ALooper_pollAll(0, NULL, NULL, NULL);
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ASensorEvent event;
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const float a = SENSOR_FILTER_ALPHA;
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while (ASensorEventQueue_getEvents(accelerometerEventQueue, &event, 1) > 0) {
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sensorAccDataFilter.x = a * event.acceleration.x + (1.0f - a) * sensorAccDataFilter.x;
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sensorAccDataFilter.y = a * event.acceleration.y + (1.0f - a) * sensorAccDataFilter.y;
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sensorAccDataFilter.z = a * event.acceleration.z + (1.0f - a) * sensorAccDataFilter.z;
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}
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sensorAccData[sensorAccDataIndex] = sensorAccDataFilter;
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sensorAccData[SENSOR_HISTORY_LENGTH+sensorAccDataIndex] = sensorAccDataFilter;
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sensorAccDataIndex = (sensorAccDataIndex + 1) % SENSOR_HISTORY_LENGTH;
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while (ASensorEventQueue_getEvents(geomagneticEventQueue, &event, 1) > 0) {
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sensorMagDataFilter.x = a * event.magnetic.x + (1.0f - a) * sensorMagDataFilter.x;
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sensorMagDataFilter.y = a * event.magnetic.y + (1.0f - a) * sensorMagDataFilter.y;
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sensorMagDataFilter.z = a * event.magnetic.z + (1.0f - a) * sensorMagDataFilter.z;
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}
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sensorMagData[sensorMagDataIndex] = sensorMagDataFilter;
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sensorMagData[SENSOR_HISTORY_LENGTH+sensorMagDataIndex] = sensorMagDataFilter;
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sensorMagDataIndex = (sensorMagDataIndex + 1) % SENSOR_HISTORY_LENGTH;
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}
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float *NdkImu::getAccData(float accDataBuf[])
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{
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if(accDataBuf == NULL)
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accDataBuf = (float*)malloc(sizeof (float)*3);
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accDataBuf[0] = sensorAccDataFilter.x;
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accDataBuf[1] = sensorAccDataFilter.y;
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accDataBuf[2] = sensorAccDataFilter.z;
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return accDataBuf;
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}
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float *NdkImu::getMagData(float magDataBuf[])
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{
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if(magDataBuf == NULL)
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magDataBuf = (float*)malloc(sizeof (float)*3);
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magDataBuf[0] = sensorMagDataFilter.x;
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magDataBuf[1] = sensorMagDataFilter.y;
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magDataBuf[2] = sensorMagDataFilter.z;
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return magDataBuf;
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}
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@ -0,0 +1,57 @@
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#ifndef NDKIMU_H
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#define NDKIMU_H
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#include <dlfcn.h>
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#include <GLES2/gl2.h>
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#include <android/looper.h>
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#include <android/sensor.h>
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#include <cstdint>
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#include <cassert>
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#include <string>
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static const int LOOPER_ID_USER = 3;
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static const int SENSOR_HISTORY_LENGTH = 100;
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static const int SENSOR_REFRESH_RATE_HZ = 100;
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static constexpr int32_t SENSOR_REFRESH_PERIOD_US = int32_t(1000000 / SENSOR_REFRESH_RATE_HZ);
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static const float SENSOR_FILTER_ALPHA = 0.1f;
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class NdkImu
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{
|
||||
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
|
||||
|
|
@ -39,8 +39,8 @@ LOCAL_STATIC_LIBRARIES := adat alinco amsat aor ars barrett celestron cnctrk \
|
|||
gs232a heathkit icmarine icom ioptron jrc kachina kenwood kit \
|
||||
lowe m2 meade pcr prm80 prosistel racal rft \
|
||||
rotorez rs sartek satel skanti spid tapr tentec ts7400 tuner \
|
||||
uniden wj yaesu radant
|
||||
uniden wj yaesu radant androidsensor
|
||||
|
||||
LOCAL_LDLIBS := -llog
|
||||
LOCAL_LDLIBS := -llog -landroid
|
||||
|
||||
include $(BUILD_SHARED_LIBRARY)
|
||||
|
|
|
|||
|
|
@ -89,6 +89,9 @@ DEFINE_INITROT_BACKEND(radant);
|
|||
#if HAVE_LIBINDI
|
||||
DEFINE_INITROT_BACKEND(indi);
|
||||
#endif
|
||||
#if defined(ANDROID) || defined(__ANDROID__)
|
||||
DEFINE_INITROT_BACKEND(androidsensor);
|
||||
#endif
|
||||
//! @endcond
|
||||
|
||||
/**
|
||||
|
|
@ -132,6 +135,9 @@ static struct
|
|||
{ ROT_RADANT, ROT_BACKEND_RADANT, ROT_FUNCNAMA(radant)},
|
||||
#if HAVE_LIBINDI
|
||||
{ ROT_INDI, ROT_BACKEND_INDI, ROT_FUNCNAMA(indi) },
|
||||
#endif
|
||||
#if defined(ANDROID) || defined(__ANDROID__)
|
||||
{ ROT_ANDROIDSENSOR, ROT_BACKEND_ANDROIDSENSOR, ROT_FUNCNAMA(androidsensor) },
|
||||
#endif
|
||||
{ 0, NULL }, /* end */
|
||||
};
|
||||
|
|
|
|||
|
|
@ -0,0 +1,12 @@
|
|||
LOCAL_PATH:= $(call my-dir)
|
||||
|
||||
include $(CLEAR_VARS)
|
||||
|
||||
LOCAL_SRC_FILES := rotctld.c rotctl_parse.c dumpcaps_rot.c ../src/rot_settings.c
|
||||
LOCAL_MODULE := rotctld
|
||||
|
||||
LOCAL_CFLAGS := -DHAVE_CONFIG_H
|
||||
LOCAL_C_INCLUDES := android include src
|
||||
LOCAL_LDLIBS := -lhamlib -Lobj/local/$(TARGET_ARCH_ABI)
|
||||
|
||||
include $(BUILD_EXECUTABLE)
|
||||
|
|
@ -664,6 +664,9 @@ void *handle_socket(void *arg)
|
|||
}
|
||||
|
||||
fsockin = _fdopen(sock_osfhandle, "rb");
|
||||
#elif defined(ANDROID) || defined(__ANDROID__)
|
||||
// fdsan does not allow fdopen the same fd twice in Android
|
||||
fsockin = fdopen(dup(handle_data_arg->sock), "rb");
|
||||
#else
|
||||
fsockin = fdopen(handle_data_arg->sock, "rb");
|
||||
#endif
|
||||
|
|
@ -676,6 +679,9 @@ void *handle_socket(void *arg)
|
|||
|
||||
#ifdef __MINGW32__
|
||||
fsockout = _fdopen(sock_osfhandle, "wb");
|
||||
#elif defined(ANDROID) || defined(__ANDROID__)
|
||||
// fdsan does not allow fdopen the same fd twice in Android
|
||||
fsockout = fdopen(dup(handle_data_arg->sock), "wb");
|
||||
#else
|
||||
fsockout = fdopen(handle_data_arg->sock, "wb");
|
||||
#endif
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue