sensors_simulator.h

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/*
 * Copyright (C) 2023 The Android Open Source Project
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * 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.
 */
 
#pragma once
 
#include <chrono>
#include <functional>
#include <mutex>
#include <string>
 
#include "Eigen/Dense"
 
#include "cuttlefish/common/libs/sensors/sensors.h"
 
namespace cuttlefish {
namespace sensors {
 
struct SensorsData {
  Eigen::Vector3d v;
  float f;
 
  SensorsData() : v(Eigen::Vector3d::Zero()), f(0.0f) {}
};
 
class SensorsSimulator {
 public:
  SensorsSimulator(bool is_auto);
 
  using SensorsChangedCallback = std::function<void(SensorsMask)>;
  // Registers a callback invoked whenever one or more sensors in |mask| are
  // updated.
  void SetSensorsChangedCallback(SensorsMask mask,
                                 SensorsChangedCallback callback);
 
  void SetMotion(double x, double y, double z);
  void SetHingeAngle(float angle);
 
  // Return a string with serialized sensors data in ascending order of
  // sensor id. A bitmask is used to specify which sensors to include.
  // Each bit maps to a sensor type, and a set bit indicates that the
  // corresponding sensor should be included in the returned data. Assuming
  // accelerometer and gyroscope are specified, the returned string would be
  // formatted as "<acc.x>:<acc.y>:<acc.z> <gyro.x>:<gyro.y>:<gyro.z>".
  std::string GetSensorsData(SensorsMask mask);
 
 private:
  void NotifySensorsChanged(SensorsMask changed);
 
  std::mutex sensors_data_mtx_;
  SensorsMask sensors_changed_mask_ = 0;
  SensorsChangedCallback sensors_changed_callback_;
  SensorsData sensors_data_[kMaxSensorId + 1];
  Eigen::Matrix3d current_rotation_matrix_;
  std::chrono::time_point<std::chrono::high_resolution_clock>
      last_event_timestamp_;
  bool is_auto_;
};
 
}  // namespace sensors
}  // namespace cuttlefish