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/*
* Copyright (c) 2018 Samsung Electronics Co., Ltd.
*
* Licensed under the Flora License, Version 1.1 (the License);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://floralicense.org/license/
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <sensor.h>
#include "gear-racing-controller.h"
#include "model/model_sensors.h"
#include "log.h"
#define VALUE_LIST_SIZE 10
typedef struct _s_data_history {
int current_index;
float sum;
float array[VALUE_LIST_SIZE];
} s_data_history;
typedef struct _s_model_sensors {
t_model_sensors_update_cb sensors_update_cb;
sensor_h sensor;
sensor_listener_h listener;
float initial_sensor_data[3];
s_data_history velocity;
s_data_history direction;
} s_model_sensors;
static s_model_sensors s_info = {
.initial_sensor_data = { 0, },
.direction = { 0, },
};
static inline float _vector_length(float *vector, int count)
{
float len = 0;
int i = 0;
for (i = 0; i < count; ++i) {
len += vector[i] * vector[i];
}
return sqrtf(len);
}
static inline void _vector_diff(float *vector_1, float *vector_2, float *vector_out, int count)
{
int i;
for (i = 0; i < count; ++i) {
vector_out[i] = vector_1[i] - vector_2[i];
}
}
static inline float _range_map(float value, float input_min, float input_max, float output_min, float output_max)
{
float result = ((value - input_min) / (input_max - input_min)) * (output_max - output_min) + output_min;
if (result < output_min) {
result = output_min;
} else if (result > output_max) {
result = output_max;
}
return result;
}
static void _update_data_history(float value, s_data_history *parameter)
{
parameter->sum = parameter->sum - parameter->array[parameter->current_index] + value;
parameter->array[parameter->current_index] = value;
++parameter->current_index;
parameter->current_index %= VALUE_LIST_SIZE;
}
static inline float _get_average_parameter_from_history(float value, s_data_history *parameter)
{
_update_data_history(value, parameter);
return parameter->sum / VALUE_LIST_SIZE;
}
static void _sensor_event_cb(sensor_h sensor, sensor_event_s *event, void *data)
{
static s_model_sensors_cb_data model_data = {
.type = MODEL_TYPE_UPDATE,
};
float vector[3] = { 0,};
float len = 0;
_vector_diff(event->values, s_info.initial_sensor_data, &vector[0], 3);
len = _vector_length(&vector[0], 3);
float direction = vector[0];
float velocity = vector[1];
direction = _get_average_parameter_from_history(direction, &s_info.direction);
model_data.direction = _range_map(direction, -8.00f, 8.00f, -1.0f, 1.0f);
model_data.velocity = velocity;
_D("MODEL VALUES{%f}: dir:% .4f ranged:% .4f", len, direction, model_data.direction);
if (s_info.sensors_update_cb) {
s_info.sensors_update_cb(&model_data);
}
}
void model_sensors_set_initial_values(void)
{
sensor_event_s event = { 0, };
int ret = sensor_listener_read_data(s_info.listener, &event);
ASSERT_FUNCTION(ret != SENSOR_ERROR_NONE);
memcpy(s_info.initial_sensor_data, event.values, sizeof(s_info.initial_sensor_data));
_D("Initial sensor data: {%f, %f, %f}", s_info.initial_sensor_data[0], s_info.initial_sensor_data[1],
s_info.initial_sensor_data[2]);
}
void model_sensors_init(void)
{
bool supported = false;
int ret = sensor_is_supported(SENSOR_ACCELEROMETER, &supported);
ASSERT_FUNCTION(ret != SENSOR_ERROR_NONE);
ASSERT(!supported, "Sensor %d is not supported", SENSOR_ACCELEROMETER)
ret = sensor_get_default_sensor(SENSOR_ACCELEROMETER, &s_info.sensor);
ASSERT_FUNCTION(ret != SENSOR_ERROR_NONE);
ret = sensor_create_listener(s_info.sensor, &s_info.listener);
ASSERT_FUNCTION(ret != SENSOR_ERROR_NONE);
ret = sensor_listener_set_event_cb(s_info.listener, 1000, _sensor_event_cb, NULL);
ASSERT_FUNCTION(ret != SENSOR_ERROR_NONE);
sensor_listener_start(s_info.listener);
model_sensors_set_initial_values();
}
void model_sensors_subscribe_event(t_model_sensors_update_cb model_update_cb)
{
s_info.sensors_update_cb = model_update_cb;
}
void model_sensors_unsubscirbe_event(void)
{
s_info.sensors_update_cb = NULL;
}
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