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composesensors/src/main/java/com/mutualmobile/composesensors/Pose6DOFSensorState.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,185 @@ | ||
| package com.mutualmobile.composesensors | ||
|
|
||
| import android.os.Build | ||
| import androidx.annotation.RequiresApi | ||
| import androidx.compose.runtime.Composable | ||
| import androidx.compose.runtime.Immutable | ||
| import androidx.compose.runtime.LaunchedEffect | ||
| import androidx.compose.runtime.mutableStateOf | ||
| import androidx.compose.runtime.remember | ||
|
|
||
| /** | ||
| * A Pose6DOF event consists of a rotation expressed as a quaternion and a translation expressed in | ||
| * SI units. The event also contains a delta rotation and translation that show how the device's | ||
| * pose has changed since the previous sequence numbered pose. The event uses the canonical Android | ||
| * Sensor axes. | ||
| * | ||
| * For more info, please refer the [Android Documentation Reference](https://developer.android.com/reference/android/hardware/SensorEvent#sensor.type_pose_6dof) | ||
| * @param xScaledSinValue Represents the value x*sin(θ/2) | ||
| * @param yScaledSinValue Represents the value y*sin(θ/2) | ||
| * @param zScaledSinValue Represents the value z*sin(θ/2) | ||
| * @param cosValue Represents the value cos(θ/2) | ||
| * @param xTranslation Translation along x-axis from an arbitrary origin | ||
| * @param yTranslation Translation along y-axis from an arbitrary origin | ||
| * @param zTranslation Translation along z-axis from an arbitrary origin | ||
| * @param xScaledSinDeltaRotation Represents the delta quaternion rotation x*sin(θ/2) | ||
| * @param yScaledSinDeltaRotation Represents the delta quaternion rotation y*sin(θ/2) | ||
| * @param zScaledSinDeltaRotation Represents the delta quaternion rotation z*sin(θ/2) | ||
| * @param cosDeltaRotation Represents the delta quaternion rotation cos(θ/2) | ||
| * @param xDeltaTranslation Delta translation along x-axis | ||
| * @param yDeltaTranslation Delta translation along y-axis | ||
| * @param zDeltaTranslation Delta translation along z-axis | ||
| * @param sequenceNumber Represents the Sequence number | ||
| * @param isAvailable Whether the current device has a Pose6DOF sensor. Defaults to false. | ||
| * @param accuracy Accuracy factor of the Pose6DOF sensor. Defaults to 0. | ||
| */ | ||
| @RequiresApi(Build.VERSION_CODES.N) | ||
| @Immutable | ||
| class Pose6DOFSensorState internal constructor( | ||
| val xScaledSinValue: Float = 0f, | ||
| val yScaledSinValue: Float = 0f, | ||
| val zScaledSinValue: Float = 0f, | ||
| val cosValue: Float = 0f, | ||
| val xTranslation: Float = 0f, | ||
| val yTranslation: Float = 0f, | ||
| val zTranslation: Float = 0f, | ||
| val xScaledSinDeltaRotation: Float = 0f, | ||
| val yScaledSinDeltaRotation: Float = 0f, | ||
| val zScaledSinDeltaRotation: Float = 0f, | ||
| val cosDeltaRotation: Float = 0f, | ||
| val xDeltaTranslation: Float = 0f, | ||
| val yDeltaTranslation: Float = 0f, | ||
| val zDeltaTranslation: Float = 0f, | ||
| val sequenceNumber: Float = 0f, | ||
| val isAvailable: Boolean = false, | ||
| val accuracy: Int = 0, | ||
| private val startListeningEvents: (() -> Unit)? = null, | ||
| private val stopListeningEvents: (() -> Unit)? = null | ||
| ) : SensorStateListener { | ||
| override fun equals(other: Any?): Boolean { | ||
| if (this === other) return true | ||
| if (other !is Pose6DOFSensorState) return false | ||
|
|
||
| if (xScaledSinValue != other.xScaledSinValue) return false | ||
| if (yScaledSinValue != other.yScaledSinValue) return false | ||
| if (zScaledSinValue != other.zScaledSinValue) return false | ||
| if (cosValue != other.cosValue) return false | ||
| if (xTranslation != other.xTranslation) return false | ||
| if (yTranslation != other.yTranslation) return false | ||
| if (zTranslation != other.zTranslation) return false | ||
| if (xScaledSinDeltaRotation != other.xScaledSinDeltaRotation) return false | ||
| if (yScaledSinDeltaRotation != other.yScaledSinDeltaRotation) return false | ||
| if (zScaledSinDeltaRotation != other.zScaledSinDeltaRotation) return false | ||
| if (cosDeltaRotation != other.cosDeltaRotation) return false | ||
| if (xDeltaTranslation != other.xDeltaTranslation) return false | ||
| if (yDeltaTranslation != other.yDeltaTranslation) return false | ||
| if (zDeltaTranslation != other.zDeltaTranslation) return false | ||
| if (sequenceNumber != other.sequenceNumber) return false | ||
| if (isAvailable != other.isAvailable) return false | ||
| if (accuracy != other.accuracy) return false | ||
| if (startListeningEvents != other.startListeningEvents) return false | ||
| if (stopListeningEvents != other.stopListeningEvents) return false | ||
|
|
||
| return true | ||
| } | ||
|
|
||
| override fun hashCode(): Int { | ||
| var result = xScaledSinValue.hashCode() | ||
| result = 31 * result + yScaledSinValue.hashCode() | ||
| result = 31 * result + zScaledSinValue.hashCode() | ||
| result = 31 * result + cosValue.hashCode() | ||
| result = 31 * result + xTranslation.hashCode() | ||
| result = 31 * result + yTranslation.hashCode() | ||
| result = 31 * result + zTranslation.hashCode() | ||
| result = 31 * result + xScaledSinDeltaRotation.hashCode() | ||
| result = 31 * result + yScaledSinDeltaRotation.hashCode() | ||
| result = 31 * result + zScaledSinDeltaRotation.hashCode() | ||
| result = 31 * result + cosDeltaRotation.hashCode() | ||
| result = 31 * result + xDeltaTranslation.hashCode() | ||
| result = 31 * result + yDeltaTranslation.hashCode() | ||
| result = 31 * result + zDeltaTranslation.hashCode() | ||
| result = 31 * result + sequenceNumber.hashCode() | ||
| result = 31 * result + isAvailable.hashCode() | ||
| result = 31 * result + accuracy.hashCode() | ||
| result = 31 * result + startListeningEvents.hashCode() | ||
| result = 31 * result + stopListeningEvents.hashCode() | ||
| return result | ||
| } | ||
|
|
||
| override fun toString(): String { | ||
| return "Pose6DOFSensorState(xScaledSinValue=$xScaledSinValue," + | ||
| " yScaledSinValue=$yScaledSinValue, zScaledSinValue=$zScaledSinValue, " + | ||
| " cosValue=$cosValue, xTranslation=$xTranslation, yTranslation=$yTranslation," + | ||
| " zTranslation=$zTranslation, xScaledSinDeltaRotation=$xScaledSinDeltaRotation," + | ||
| " yScaledSinDeltaRotation=$yScaledSinDeltaRotation," + | ||
| " zScaledSinDeltaRotation=$zScaledSinDeltaRotation," + | ||
| " cosDeltaRotation=$cosDeltaRotation, xDeltaTranslation=$xDeltaTranslation," + | ||
| " yDeltaTranslation=$yDeltaTranslation, zDeltaTranslation=$zDeltaTranslation," + | ||
| " sequenceNumber=$sequenceNumber, isAvailable=$isAvailable, " + | ||
| "accuracy=$accuracy)" | ||
| } | ||
|
|
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| override fun startListening() { | ||
| startListeningEvents?.invoke() | ||
| } | ||
|
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||
| override fun stopListening() { | ||
| stopListeningEvents?.invoke() | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Creates and [remember]s an instance of [Pose6DOFSensorState]. | ||
| * @param autoStart Start listening to sensor events as soon as sensor state is initialised. | ||
| * Defaults to true. | ||
| * @param sensorDelay The rate at which the raw sensor data should be received. | ||
| * Defaults to [SensorDelay.Normal]. | ||
| * @param onError Callback invoked on every error state. | ||
| */ | ||
| @RequiresApi(Build.VERSION_CODES.N) | ||
| @Composable | ||
| fun rememberPose6DOFSensorState( | ||
| autoStart: Boolean = true, | ||
| sensorDelay: SensorDelay = SensorDelay.Normal, | ||
| onError: (throwable: Throwable) -> Unit = {} | ||
| ): Pose6DOFSensorState { | ||
| val sensorState = rememberSensorState( | ||
| sensorType = SensorType.Pose6DOF, | ||
| sensorDelay = sensorDelay, | ||
| autoStart = autoStart, | ||
| onError = onError | ||
| ) | ||
| val pose6DOFSensorState = remember { mutableStateOf(Pose6DOFSensorState()) } | ||
|
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| LaunchedEffect( | ||
| key1 = sensorState, | ||
| block = { | ||
| val sensorStateValues = sensorState.data | ||
| if (sensorStateValues.isNotEmpty()) { | ||
| pose6DOFSensorState.value = Pose6DOFSensorState( | ||
| xScaledSinValue = sensorStateValues[0], | ||
| yScaledSinValue = sensorStateValues[1], | ||
| zScaledSinValue = sensorStateValues[2], | ||
| cosValue = sensorStateValues[3], | ||
| xTranslation = sensorStateValues[4], | ||
| yTranslation = sensorStateValues[5], | ||
| zTranslation = sensorStateValues[6], | ||
| xScaledSinDeltaRotation = sensorStateValues[7], | ||
| yScaledSinDeltaRotation = sensorStateValues[8], | ||
| zScaledSinDeltaRotation = sensorStateValues[9], | ||
| cosDeltaRotation = sensorStateValues[10], | ||
| xDeltaTranslation = sensorStateValues[11], | ||
| yDeltaTranslation = sensorStateValues[12], | ||
| zDeltaTranslation = sensorStateValues[13], | ||
| sequenceNumber = sensorStateValues[14], | ||
| isAvailable = sensorState.isAvailable, | ||
| accuracy = sensorState.accuracy, | ||
| startListeningEvents = sensorState::startListening, | ||
| stopListeningEvents = sensorState::stopListening | ||
| ) | ||
| } | ||
| } | ||
| ) | ||
|
|
||
| return pose6DOFSensorState.value | ||
| } |
159 changes: 159 additions & 0 deletions
159
.../main/java/com/mutualmobile/composesensors/UncalibratedLimitedAxesGyroscopeSensorState.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,159 @@ | ||
| package com.mutualmobile.composesensors | ||
|
|
||
| import android.os.Build | ||
| import androidx.annotation.RequiresApi | ||
| import androidx.compose.runtime.Composable | ||
| import androidx.compose.runtime.Immutable | ||
| import androidx.compose.runtime.LaunchedEffect | ||
| import androidx.compose.runtime.mutableStateOf | ||
| import androidx.compose.runtime.remember | ||
|
|
||
| /** | ||
| * Measures a device's rate of rotation in rad/s around each of the three | ||
| * physical axes (x, y, and z). Uncalibrated gyroscope sensor estimates an | ||
| * extra drift on x, y, z axes, to the effect that uncalibrated_value = | ||
| * calibrated_value + drift in that particular axis. | ||
| * | ||
| * Equivalent to [UncalibratedGyroscopeSensorState], but supporting cases where one or two axes are | ||
| * not supported. The last three values represent whether the angular speed value for a given axis | ||
| * is supported. The supported axes should be determined at build time and these values do not | ||
| * change during runtime. The angular speed values and drift values for axes that are not supported | ||
| * are set to 0. | ||
| * | ||
| * For more info, please refer the [Android Documentation Reference](https://developer.android.com/reference/android/hardware/SensorEvent#sensor.type_gyroscope_limited_axes_uncalibrated:) | ||
| * | ||
| * @param xRotation Angular speed (w/o drift compensation) around the X axis (if supported). | ||
| * Defaults to 0f. | ||
| * @param yRotation Angular speed (w/o drift compensation) around the Y axis (if supported). | ||
| * Defaults to 0f. | ||
| * @param zRotation Angular speed (w/o drift compensation) around the Z axis (if supported). | ||
| * Defaults to 0f. | ||
| * @param xBias estimated drift around X axis (if supported). Defaults to 0f. | ||
| * @param yBias estimated drift around Y axis (if supported). Defaults to 0f. | ||
| * @param zBias estimated drift around Z axis (if supported). Defaults to 0f. | ||
| * @param xAxisSupported Whether angular speed supported for x-axis. Defaults to false. | ||
| * @param yAxisSupported Whether angular speed supported for y-axis. Defaults to false. | ||
| * @param zAxisSupported Whether angular speed supported for z-axis. Defaults to false. | ||
| * @param isAvailable Whether the current device has a gyroscope sensor. | ||
| * Defaults to false. | ||
| * @param accuracy Accuracy factor of the gyroscope sensor. Defaults to 0. | ||
| */ | ||
| @RequiresApi(Build.VERSION_CODES.TIRAMISU) | ||
| @Immutable | ||
| class UncalibratedLimitedAxesGyroscopeSensorState internal constructor( | ||
| val xRotation: Float = 0f, | ||
| val yRotation: Float = 0f, | ||
| val zRotation: Float = 0f, | ||
| val xBias: Float = 0f, | ||
| val yBias: Float = 0f, | ||
| val zBias: Float = 0f, | ||
| val xAxisSupported: Boolean = false, | ||
| val yAxisSupported: Boolean = false, | ||
| val zAxisSupported: Boolean = false, | ||
| val isAvailable: Boolean = false, | ||
| val accuracy: Int = 0, | ||
| private val startListeningEvents: (() -> Unit)? = null, | ||
| private val stopListeningEvents: (() -> Unit)? = null | ||
| ) : SensorStateListener { | ||
| override fun equals(other: Any?): Boolean { | ||
| if (this === other) return true | ||
| if (other !is UncalibratedLimitedAxesGyroscopeSensorState) return false | ||
|
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| if (xRotation != other.xRotation) return false | ||
| if (yRotation != other.yRotation) return false | ||
| if (zRotation != other.zRotation) return false | ||
| if (xBias != other.xBias) return false | ||
| if (yBias != other.yBias) return false | ||
| if (zBias != other.zBias) return false | ||
| if (xAxisSupported != other.xAxisSupported) return false | ||
| if (yAxisSupported != other.yAxisSupported) return false | ||
| if (zAxisSupported != other.zAxisSupported) return false | ||
| if (isAvailable != other.isAvailable) return false | ||
| if (accuracy != other.accuracy) return false | ||
| if (startListeningEvents != other.startListeningEvents) return false | ||
| if (stopListeningEvents != other.stopListeningEvents) return false | ||
|
|
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| return true | ||
| } | ||
|
|
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| override fun hashCode(): Int { | ||
| var result = xRotation.hashCode() | ||
| result = 31 * result + yRotation.hashCode() | ||
| result = 31 * result + zRotation.hashCode() | ||
| result = 31 * result + xBias.hashCode() | ||
| result = 31 * result + yBias.hashCode() | ||
| result = 31 * result + zBias.hashCode() | ||
| result = 31 * result + xAxisSupported.hashCode() | ||
| result = 31 * result + yAxisSupported.hashCode() | ||
| result = 31 * result + zAxisSupported.hashCode() | ||
| result = 31 * result + isAvailable.hashCode() | ||
| result = 31 * result + accuracy.hashCode() | ||
| result = 31 * result + startListeningEvents.hashCode() | ||
| result = 31 * result + stopListeningEvents.hashCode() | ||
| return result | ||
| } | ||
|
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| override fun toString(): String { | ||
| return "UncalibratedGyroscopeSensorState(xRotation=$xRotation, yRotation=$yRotation," + | ||
| " zRotation=$zRotation," + "xBias=$xBias," + "yBias=$yBias," + "zBias=$zBias," + | ||
| " xAxisSupported=$xAxisSupported, yAxisSupported=$yAxisSupported," + | ||
| " zAxisSupported=$zAxisSupported, isAvailable=$isAvailable, accuracy=$accuracy)" | ||
| } | ||
|
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| override fun startListening() { | ||
| startListeningEvents?.invoke() | ||
| } | ||
|
|
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| override fun stopListening() { | ||
| stopListeningEvents?.invoke() | ||
| } | ||
| } | ||
|
|
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| /** | ||
| * Creates and [remember]s an instance of [UncalibratedLimitedAxesGyroscopeSensorState]. | ||
| * @param autoStart Start listening to sensor events as soon as sensor state is initialised. | ||
| * Defaults to true. | ||
| * @param sensorDelay The rate at which the raw sensor data should be received. Defaults to | ||
| * [SensorDelay.Normal]. | ||
| * @param onError Callback invoked on every error state. | ||
| */ | ||
| @RequiresApi(Build.VERSION_CODES.TIRAMISU) | ||
| @Composable | ||
| fun rememberUncalibratedLimitedAxesGyroscopeSensorState( | ||
| autoStart: Boolean = true, | ||
| sensorDelay: SensorDelay = SensorDelay.Normal, | ||
| onError: (throwable: Throwable) -> Unit = {} | ||
| ): UncalibratedLimitedAxesGyroscopeSensorState { | ||
| val sensorState = rememberSensorState( | ||
| sensorType = SensorType.GyroscopeLimitedAxesUncalibrated, | ||
| sensorDelay = sensorDelay, | ||
| autoStart = autoStart, | ||
| onError = onError | ||
| ) | ||
| val uncalibratedLimitedAxesGyroscopeSensorState = | ||
| remember { mutableStateOf(UncalibratedLimitedAxesGyroscopeSensorState()) } | ||
|
|
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| LaunchedEffect( | ||
| key1 = sensorState, | ||
| block = { | ||
| val sensorStateValues = sensorState.data | ||
| if (sensorStateValues.isNotEmpty()) { | ||
| uncalibratedLimitedAxesGyroscopeSensorState.value = | ||
| UncalibratedLimitedAxesGyroscopeSensorState( | ||
| xRotation = sensorStateValues[0], | ||
| yRotation = sensorStateValues[1], | ||
| zRotation = sensorStateValues[2], | ||
| xBias = sensorStateValues[3], | ||
| yBias = sensorStateValues[4], | ||
| zBias = sensorStateValues[5], | ||
| isAvailable = sensorState.isAvailable, | ||
| accuracy = sensorState.accuracy, | ||
| startListeningEvents = sensorState::startListening, | ||
| stopListeningEvents = sensorState::stopListening | ||
| ) | ||
| } | ||
| } | ||
| ) | ||
|
|
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| return uncalibratedLimitedAxesGyroscopeSensorState.value | ||
| } |