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Compass.android.cs
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Compass.android.cs
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using System;
using Android.Hardware;
using Android.Runtime;
namespace Xamarin.Essentials
{
public static partial class Compass
{
internal static bool IsSupported =>
Platform.SensorManager?.GetDefaultSensor(SensorType.Accelerometer) != null &&
Platform.SensorManager?.GetDefaultSensor(SensorType.MagneticField) != null;
static SensorListener listener;
static Sensor magnetometer;
static Sensor accelerometer;
internal static void PlatformStart(SensorSpeed sensorSpeed)
{
var delay = SensorDelay.Normal;
switch (sensorSpeed)
{
case SensorSpeed.Normal:
delay = SensorDelay.Normal;
break;
case SensorSpeed.Fastest:
delay = SensorDelay.Fastest;
break;
case SensorSpeed.Game:
delay = SensorDelay.Game;
break;
case SensorSpeed.UI:
delay = SensorDelay.Ui;
break;
}
accelerometer = Platform.SensorManager.GetDefaultSensor(SensorType.Accelerometer);
magnetometer = Platform.SensorManager.GetDefaultSensor(SensorType.MagneticField);
listener = new SensorListener(accelerometer.Name, magnetometer.Name, delay);
Platform.SensorManager.RegisterListener(listener, accelerometer, delay);
Platform.SensorManager.RegisterListener(listener, magnetometer, delay);
}
internal static void PlatformStop()
{
if (listener == null)
return;
Platform.SensorManager.UnregisterListener(listener, accelerometer);
Platform.SensorManager.UnregisterListener(listener, magnetometer);
listener.Dispose();
listener = null;
}
}
class SensorListener : Java.Lang.Object, ISensorEventListener, IDisposable
{
LowPassFilter filter = new LowPassFilter();
float[] lastAccelerometer = new float[3];
float[] lastMagnetometer = new float[3];
bool lastAccelerometerSet;
bool lastMagnetometerSet;
float[] r = new float[9];
float[] orientation = new float[3];
string magnetometer;
string accelerometer;
internal SensorListener(string accelerometer, string magnetometer, SensorDelay delay)
{
this.magnetometer = magnetometer;
this.accelerometer = accelerometer;
}
void ISensorEventListener.OnAccuracyChanged(Sensor sensor, [GeneratedEnum] SensorStatus accuracy)
{
}
void ISensorEventListener.OnSensorChanged(SensorEvent e)
{
if (e.Sensor.Name == accelerometer && !lastAccelerometerSet)
{
e.Values.CopyTo(lastAccelerometer, 0);
lastAccelerometerSet = true;
}
else if (e.Sensor.Name == magnetometer && !lastMagnetometerSet)
{
e.Values.CopyTo(lastMagnetometer, 0);
lastMagnetometerSet = true;
}
if (lastAccelerometerSet && lastMagnetometerSet)
{
SensorManager.GetRotationMatrix(r, null, lastAccelerometer, lastMagnetometer);
SensorManager.GetOrientation(r, orientation);
var azimuthInRadians = orientation[0];
if (Compass.ApplyLowPassFilter)
{
filter.Add(azimuthInRadians);
azimuthInRadians = filter.Average();
}
var azimuthInDegress = (Java.Lang.Math.ToDegrees(azimuthInRadians) + 360.0) % 360.0;
var data = new CompassData(azimuthInDegress);
Compass.OnChanged(data);
lastMagnetometerSet = false;
lastAccelerometerSet = false;
}
}
}
}